diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/config.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/config.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a7e99df881ec09f3f0408c530715e59011cf4e --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/config.json @@ -0,0 +1,70 @@ +{ + "action_dim": 32, + "action_head_cfg": { + "action_dim": 32, + "action_horizon": 16, + "add_pos_embed": true, + "backbone_embedding_dim": 2048, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "cross_attention_dim": 2048, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 16, + "output_dim": 1024, + "positional_embeddings": null + }, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "max_action_dim": 32, + "max_state_dim": 64, + "model_dtype": "float32", + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_inference_timesteps": 4, + "num_target_vision_tokens": 32, + "num_timestep_buckets": 1000, + "tune_diffusion_model": true, + "tune_projector": true, + "use_vlln": true, + "vl_self_attention_cfg": { + "attention_head_dim": 64, + "dropout": 0.2, + "final_dropout": true, + "num_attention_heads": 32, + "num_layers": 4, + "positional_embeddings": null + } + }, + "action_horizon": 16, + "architectures": [ + "GR00T_N1_5_RKD" + ], + "attn_implementation": null, + "backbone_cfg": { + "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops", + "load_bf16": false, + "project_to_dim": null, + "reproject_vision": false, + "select_layer": 12, + "tune_llm": false, + "tune_visual": true, + "use_flash_attention": true + }, + "compute_dtype": "bfloat16", + "hidden_size": 2048, + "model_dtype": "float32", + "model_type": "gr00t_n1_5", + "rkd_action_temp": 0.05, + "rkd_enabled": false, + "rkd_fm_loss_weight": 1.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode": "token_pair_mean", + "rkd_vlm_temp": 0.05, + "torch_dtype": "bfloat16", + "transformers_version": "4.51.3" +} diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model-00001-of-00002.safetensors b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model-00001-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..4e11817b0110c66e71ebaafda74a26fdaf72baa7 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model-00001-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2b6f2668c98b27c0c012143030aa93fa6ef617152176a730f2caa642826ab28 +size 4999367032 diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model-00002-of-00002.safetensors b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model-00002-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..1952be8049222c7ba03799f75210286ff60b773e --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model-00002-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cda9d781b3987b44ecbb433f218dcde347ff03f6a3906d5f87ca94bb2169fa5d +size 2586705312 diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model.safetensors.index.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model.safetensors.index.json new file mode 100644 index 0000000000000000000000000000000000000000..5ef5f247b61eb93e89601c7da8334fc087e19750 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/model.safetensors.index.json @@ -0,0 +1,906 @@ +{ + "metadata": { + "total_size": 7585939328 + }, + "weight_map": { + "action_head.action_decoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.b": "model-00002-of-00002.safetensors", + "action_head.future_tokens.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.weight": "model-00002-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.weight": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.position_embedding.weight": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vlln.bias": "model-00002-of-00002.safetensors", + "action_head.vlln.weight": "model-00002-of-00002.safetensors", + "backbone.eagle_model.language_model.lm_head.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.embed_tokens.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.position_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.probe": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.weight": "model-00001-of-00002.safetensors" + } +} diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/trainer_state.json b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/trainer_state.json new file mode 100644 index 0000000000000000000000000000000000000000..a5d00dc7828635ed4753c96b4c5b2581571bb004 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/trainer_state.json @@ -0,0 +1,36043 @@ +{ + "best_global_step": null, + "best_metric": null, + "best_model_checkpoint": null, + "epoch": 8.728542333430317, + "eval_steps": 500, + "global_step": 30000, + "is_hyper_param_search": false, + "is_local_process_zero": true, + "is_world_process_zero": true, + "log_history": [ + { + "epoch": 0.002909514111143439, + "flow_matching_loss": 0.1860492616891861, + "grad_norm": 1.2521960735321045, + "learning_rate": 1.8e-07, + "loss": 0.186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10 + }, + { + "epoch": 0.005819028222286878, + "flow_matching_loss": 0.1824683241546154, + "grad_norm": 1.3159724473953247, + "learning_rate": 3.8e-07, + "loss": 0.1825, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20 + }, + { + "epoch": 0.008728542333430317, + "flow_matching_loss": 0.17781600058078767, + "grad_norm": 1.6992638111114502, + "learning_rate": 5.800000000000001e-07, + "loss": 0.1778, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 30 + }, + { + "epoch": 0.011638056444573755, + "flow_matching_loss": 0.13519678637385368, + "grad_norm": 0.7939733862876892, + "learning_rate": 7.799999999999999e-07, + "loss": 0.1352, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 40 + }, + { + "epoch": 0.014547570555717195, + "flow_matching_loss": 0.13413065522909165, + "grad_norm": 0.8849323987960815, + "learning_rate": 9.8e-07, + "loss": 0.1341, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 50 + }, + { + "epoch": 0.017457084666860634, + "flow_matching_loss": 0.1417342394590378, + "grad_norm": 0.978141188621521, + "learning_rate": 1.18e-06, + "loss": 0.1417, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 60 + }, + { + "epoch": 0.020366598778004074, + "flow_matching_loss": 0.14392503425478936, + "grad_norm": 0.851152777671814, + "learning_rate": 1.38e-06, + "loss": 0.1439, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 70 + }, + { + "epoch": 0.02327611288914751, + "flow_matching_loss": 0.11253789365291596, + "grad_norm": 0.5422236323356628, + "learning_rate": 1.5800000000000001e-06, + "loss": 0.1125, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 80 + }, + { + "epoch": 0.02618562700029095, + "flow_matching_loss": 0.12030355259776115, + "grad_norm": 0.6136128902435303, + "learning_rate": 1.7800000000000001e-06, + "loss": 0.1203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 90 + }, + { + "epoch": 0.02909514111143439, + "flow_matching_loss": 0.10629363805055618, + "grad_norm": 0.5252764225006104, + "learning_rate": 1.98e-06, + "loss": 0.1063, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 100 + }, + { + "epoch": 0.03200465522257783, + "flow_matching_loss": 0.12278652265667915, + "grad_norm": 0.4338347315788269, + "learning_rate": 2.1800000000000003e-06, + "loss": 0.1228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 110 + }, + { + "epoch": 0.03491416933372127, + "flow_matching_loss": 0.10332521349191666, + "grad_norm": 0.33665403723716736, + "learning_rate": 2.38e-06, + "loss": 0.1033, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 120 + }, + { + "epoch": 0.037823683444864704, + "flow_matching_loss": 0.10781109631061554, + "grad_norm": 0.6059206128120422, + "learning_rate": 2.58e-06, + "loss": 0.1078, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 130 + }, + { + "epoch": 0.04073319755600815, + "flow_matching_loss": 0.11314442977309228, + "grad_norm": 0.2356417179107666, + "learning_rate": 2.78e-06, + "loss": 0.1131, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 140 + }, + { + "epoch": 0.043642711667151585, + "flow_matching_loss": 0.11663755476474762, + "grad_norm": 0.6334015727043152, + "learning_rate": 2.98e-06, + "loss": 0.1166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 150 + }, + { + "epoch": 0.04655222577829502, + "flow_matching_loss": 0.1100200891494751, + "grad_norm": 0.43426933884620667, + "learning_rate": 3.18e-06, + "loss": 0.11, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 160 + }, + { + "epoch": 0.049461739889438465, + "flow_matching_loss": 0.09193756766617298, + "grad_norm": 0.495574414730072, + "learning_rate": 3.38e-06, + "loss": 0.0919, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 170 + }, + { + "epoch": 0.0523712540005819, + "flow_matching_loss": 0.08375357650220394, + "grad_norm": 0.5359174609184265, + "learning_rate": 3.58e-06, + "loss": 0.0838, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 180 + }, + { + "epoch": 0.055280768111725345, + "flow_matching_loss": 0.09140447825193405, + "grad_norm": 0.412543922662735, + "learning_rate": 3.7800000000000002e-06, + "loss": 0.0914, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 190 + }, + { + "epoch": 0.05819028222286878, + "flow_matching_loss": 0.08668655343353748, + "grad_norm": 0.3472142815589905, + "learning_rate": 3.98e-06, + "loss": 0.0867, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 200 + }, + { + "epoch": 0.06109979633401222, + "flow_matching_loss": 0.08706553354859352, + "grad_norm": 0.43123093247413635, + "learning_rate": 4.18e-06, + "loss": 0.0871, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 210 + }, + { + "epoch": 0.06400931044515566, + "flow_matching_loss": 0.08903071284294128, + "grad_norm": 0.32518845796585083, + "learning_rate": 4.3799999999999996e-06, + "loss": 0.089, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 220 + }, + { + "epoch": 0.06691882455629909, + "flow_matching_loss": 0.09203565120697021, + "grad_norm": 0.30770647525787354, + "learning_rate": 4.58e-06, + "loss": 0.092, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 230 + }, + { + "epoch": 0.06982833866744254, + "flow_matching_loss": 0.09785648062825203, + "grad_norm": 0.37588632106781006, + "learning_rate": 4.78e-06, + "loss": 0.0979, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 240 + }, + { + "epoch": 0.07273785277858598, + "flow_matching_loss": 0.0854327768087387, + "grad_norm": 0.4050331711769104, + "learning_rate": 4.980000000000001e-06, + "loss": 0.0854, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 250 + }, + { + "epoch": 0.07564736688972941, + "flow_matching_loss": 0.07572595700621605, + "grad_norm": 0.2905215620994568, + "learning_rate": 5.18e-06, + "loss": 0.0757, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 260 + }, + { + "epoch": 0.07855688100087285, + "flow_matching_loss": 0.08345183096826077, + "grad_norm": 0.3735477924346924, + "learning_rate": 5.38e-06, + "loss": 0.0835, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 270 + }, + { + "epoch": 0.0814663951120163, + "flow_matching_loss": 0.07446478307247162, + "grad_norm": 0.32581833004951477, + "learning_rate": 5.58e-06, + "loss": 0.0745, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 280 + }, + { + "epoch": 0.08437590922315973, + "flow_matching_loss": 0.07138223610818387, + "grad_norm": 0.17892171442508698, + "learning_rate": 5.7800000000000006e-06, + "loss": 0.0714, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 290 + }, + { + "epoch": 0.08728542333430317, + "flow_matching_loss": 0.08326401300728321, + "grad_norm": 0.3075959086418152, + "learning_rate": 5.98e-06, + "loss": 0.0833, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 300 + }, + { + "epoch": 0.09019493744544661, + "flow_matching_loss": 0.07710759341716766, + "grad_norm": 0.3706028461456299, + "learning_rate": 6.18e-06, + "loss": 0.0771, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 310 + }, + { + "epoch": 0.09310445155659004, + "flow_matching_loss": 0.05937488004565239, + "grad_norm": 0.3598215878009796, + "learning_rate": 6.38e-06, + "loss": 0.0594, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 320 + }, + { + "epoch": 0.09601396566773349, + "flow_matching_loss": 0.07077617943286896, + "grad_norm": 0.3813272714614868, + "learning_rate": 6.58e-06, + "loss": 0.0708, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 330 + }, + { + "epoch": 0.09892347977887693, + "flow_matching_loss": 0.07520687989890576, + "grad_norm": 0.34624630212783813, + "learning_rate": 6.78e-06, + "loss": 0.0752, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 340 + }, + { + "epoch": 0.10183299389002037, + "flow_matching_loss": 0.06398097202181816, + "grad_norm": 0.29195815324783325, + "learning_rate": 6.98e-06, + "loss": 0.064, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 350 + }, + { + "epoch": 0.1047425080011638, + "flow_matching_loss": 0.07003864459693432, + "grad_norm": 0.2316424548625946, + "learning_rate": 7.180000000000001e-06, + "loss": 0.07, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 360 + }, + { + "epoch": 0.10765202211230725, + "flow_matching_loss": 0.05770733933895826, + "grad_norm": 0.23744791746139526, + "learning_rate": 7.3800000000000005e-06, + "loss": 0.0577, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 370 + }, + { + "epoch": 0.11056153622345069, + "flow_matching_loss": 0.057193301245570184, + "grad_norm": 0.16807281970977783, + "learning_rate": 7.5799999999999994e-06, + "loss": 0.0572, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 380 + }, + { + "epoch": 0.11347105033459412, + "flow_matching_loss": 0.0539808839559555, + "grad_norm": 0.19567008316516876, + "learning_rate": 7.780000000000002e-06, + "loss": 0.054, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 390 + }, + { + "epoch": 0.11638056444573756, + "flow_matching_loss": 0.05652157254517078, + "grad_norm": 0.2634461522102356, + "learning_rate": 7.98e-06, + "loss": 0.0565, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 400 + }, + { + "epoch": 0.11929007855688101, + "flow_matching_loss": 0.059658515453338626, + "grad_norm": 0.1935940533876419, + "learning_rate": 8.18e-06, + "loss": 0.0597, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 410 + }, + { + "epoch": 0.12219959266802444, + "flow_matching_loss": 0.05467582531273365, + "grad_norm": 0.15554508566856384, + "learning_rate": 8.38e-06, + "loss": 0.0547, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 420 + }, + { + "epoch": 0.12510910677916787, + "flow_matching_loss": 0.06370065473020077, + "grad_norm": 0.40517404675483704, + "learning_rate": 8.58e-06, + "loss": 0.0637, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 430 + }, + { + "epoch": 0.12801862089031132, + "flow_matching_loss": 0.055180533602833745, + "grad_norm": 0.21030853688716888, + "learning_rate": 8.78e-06, + "loss": 0.0552, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 440 + }, + { + "epoch": 0.13092813500145475, + "flow_matching_loss": 0.04865171685814858, + "grad_norm": 0.1543821543455124, + "learning_rate": 8.98e-06, + "loss": 0.0487, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 450 + }, + { + "epoch": 0.13383764911259818, + "flow_matching_loss": 0.049746411852538586, + "grad_norm": 0.2193290740251541, + "learning_rate": 9.18e-06, + "loss": 0.0497, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 460 + }, + { + "epoch": 0.13674716322374164, + "flow_matching_loss": 0.050649715960025786, + "grad_norm": 0.1515974998474121, + "learning_rate": 9.38e-06, + "loss": 0.0506, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 470 + }, + { + "epoch": 0.13965667733488507, + "flow_matching_loss": 0.0514680415391922, + "grad_norm": 0.17156173288822174, + "learning_rate": 9.580000000000001e-06, + "loss": 0.0515, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 480 + }, + { + "epoch": 0.1425661914460285, + "flow_matching_loss": 0.04953202567994595, + "grad_norm": 0.21310760080814362, + "learning_rate": 9.780000000000001e-06, + "loss": 0.0495, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 490 + }, + { + "epoch": 0.14547570555717196, + "flow_matching_loss": 0.04736860804259777, + "grad_norm": 0.2184978425502777, + "learning_rate": 9.980000000000001e-06, + "loss": 0.0474, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 500 + }, + { + "epoch": 0.1483852196683154, + "flow_matching_loss": 0.045309359580278395, + "grad_norm": 0.20593248307704926, + "learning_rate": 1.0179999999999999e-05, + "loss": 0.0453, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 510 + }, + { + "epoch": 0.15129473377945882, + "flow_matching_loss": 0.048638447746634485, + "grad_norm": 0.18745505809783936, + "learning_rate": 1.0379999999999999e-05, + "loss": 0.0486, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 520 + }, + { + "epoch": 0.15420424789060228, + "flow_matching_loss": 0.0480686467140913, + "grad_norm": 0.20819872617721558, + "learning_rate": 1.058e-05, + "loss": 0.0481, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 530 + }, + { + "epoch": 0.1571137620017457, + "flow_matching_loss": 0.05070754177868366, + "grad_norm": 0.20956100523471832, + "learning_rate": 1.078e-05, + "loss": 0.0507, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 540 + }, + { + "epoch": 0.16002327611288913, + "flow_matching_loss": 0.04053542427718639, + "grad_norm": 0.22601279616355896, + "learning_rate": 1.098e-05, + "loss": 0.0405, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 550 + }, + { + "epoch": 0.1629327902240326, + "flow_matching_loss": 0.04649731852114201, + "grad_norm": 0.16262803971767426, + "learning_rate": 1.118e-05, + "loss": 0.0465, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 560 + }, + { + "epoch": 0.16584230433517602, + "flow_matching_loss": 0.0459743469953537, + "grad_norm": 0.17181864380836487, + "learning_rate": 1.1380000000000001e-05, + "loss": 0.046, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 570 + }, + { + "epoch": 0.16875181844631945, + "flow_matching_loss": 0.04636876210570336, + "grad_norm": 0.18523214757442474, + "learning_rate": 1.1580000000000001e-05, + "loss": 0.0464, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 580 + }, + { + "epoch": 0.1716613325574629, + "flow_matching_loss": 0.043754502385854724, + "grad_norm": 0.15684615075588226, + "learning_rate": 1.178e-05, + "loss": 0.0438, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 590 + }, + { + "epoch": 0.17457084666860634, + "flow_matching_loss": 0.04539998136460781, + "grad_norm": 0.15788747370243073, + "learning_rate": 1.198e-05, + "loss": 0.0454, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 600 + }, + { + "epoch": 0.17748036077974977, + "flow_matching_loss": 0.040715192630887034, + "grad_norm": 0.16841524839401245, + "learning_rate": 1.2180000000000002e-05, + "loss": 0.0407, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 610 + }, + { + "epoch": 0.18038987489089323, + "flow_matching_loss": 0.043075418844819066, + "grad_norm": 0.1349296122789383, + "learning_rate": 1.238e-05, + "loss": 0.0431, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 620 + }, + { + "epoch": 0.18329938900203666, + "flow_matching_loss": 0.04539042674005032, + "grad_norm": 0.15860840678215027, + "learning_rate": 1.258e-05, + "loss": 0.0454, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 630 + }, + { + "epoch": 0.18620890311318009, + "flow_matching_loss": 0.04398832637816667, + "grad_norm": 0.17684023082256317, + "learning_rate": 1.278e-05, + "loss": 0.044, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 640 + }, + { + "epoch": 0.18911841722432354, + "flow_matching_loss": 0.042588728107512, + "grad_norm": 0.14394421875476837, + "learning_rate": 1.298e-05, + "loss": 0.0426, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 650 + }, + { + "epoch": 0.19202793133546697, + "flow_matching_loss": 0.04312685988843441, + "grad_norm": 0.21984781324863434, + "learning_rate": 1.3180000000000001e-05, + "loss": 0.0431, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 660 + }, + { + "epoch": 0.1949374454466104, + "flow_matching_loss": 0.03898720983415842, + "grad_norm": 0.16214166581630707, + "learning_rate": 1.338e-05, + "loss": 0.039, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 670 + }, + { + "epoch": 0.19784695955775386, + "flow_matching_loss": 0.038595879822969435, + "grad_norm": 0.24570786952972412, + "learning_rate": 1.358e-05, + "loss": 0.0386, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 680 + }, + { + "epoch": 0.2007564736688973, + "flow_matching_loss": 0.037113028950989245, + "grad_norm": 0.17663851380348206, + "learning_rate": 1.378e-05, + "loss": 0.0371, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 690 + }, + { + "epoch": 0.20366598778004075, + "flow_matching_loss": 0.038092763908207414, + "grad_norm": 0.1559055894613266, + "learning_rate": 1.3980000000000002e-05, + "loss": 0.0381, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 700 + }, + { + "epoch": 0.20657550189118418, + "flow_matching_loss": 0.040376033075153826, + "grad_norm": 0.19008052349090576, + "learning_rate": 1.4180000000000001e-05, + "loss": 0.0404, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 710 + }, + { + "epoch": 0.2094850160023276, + "flow_matching_loss": 0.039497988671064375, + "grad_norm": 0.14297601580619812, + "learning_rate": 1.438e-05, + "loss": 0.0395, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 720 + }, + { + "epoch": 0.21239453011347106, + "flow_matching_loss": 0.0373327299952507, + "grad_norm": 0.15158334374427795, + "learning_rate": 1.458e-05, + "loss": 0.0373, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 730 + }, + { + "epoch": 0.2153040442246145, + "flow_matching_loss": 0.04146526977419853, + "grad_norm": 0.19042734801769257, + "learning_rate": 1.4779999999999999e-05, + "loss": 0.0415, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 740 + }, + { + "epoch": 0.21821355833575792, + "flow_matching_loss": 0.04175802208483219, + "grad_norm": 0.20741026103496552, + "learning_rate": 1.498e-05, + "loss": 0.0418, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 750 + }, + { + "epoch": 0.22112307244690138, + "flow_matching_loss": 0.039895704574882986, + "grad_norm": 0.22488544881343842, + "learning_rate": 1.518e-05, + "loss": 0.0399, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 760 + }, + { + "epoch": 0.2240325865580448, + "flow_matching_loss": 0.04619959536939859, + "grad_norm": 0.2622610628604889, + "learning_rate": 1.5380000000000002e-05, + "loss": 0.0462, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 770 + }, + { + "epoch": 0.22694210066918824, + "flow_matching_loss": 0.036834773048758505, + "grad_norm": 0.1779647171497345, + "learning_rate": 1.558e-05, + "loss": 0.0368, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 780 + }, + { + "epoch": 0.2298516147803317, + "flow_matching_loss": 0.03894434012472629, + "grad_norm": 0.1753809154033661, + "learning_rate": 1.578e-05, + "loss": 0.0389, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 790 + }, + { + "epoch": 0.23276112889147513, + "flow_matching_loss": 0.03899246584624052, + "grad_norm": 0.20111031830310822, + "learning_rate": 1.598e-05, + "loss": 0.039, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 800 + }, + { + "epoch": 0.23567064300261856, + "flow_matching_loss": 0.03479898404330015, + "grad_norm": 0.14188989996910095, + "learning_rate": 1.618e-05, + "loss": 0.0348, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 810 + }, + { + "epoch": 0.23858015711376201, + "flow_matching_loss": 0.03831170089542866, + "grad_norm": 0.17529650032520294, + "learning_rate": 1.6380000000000002e-05, + "loss": 0.0383, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 820 + }, + { + "epoch": 0.24148967122490544, + "flow_matching_loss": 0.03522377833724022, + "grad_norm": 0.16373851895332336, + "learning_rate": 1.658e-05, + "loss": 0.0352, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 830 + }, + { + "epoch": 0.24439918533604887, + "flow_matching_loss": 0.0386498661711812, + "grad_norm": 0.17796432971954346, + "learning_rate": 1.6780000000000002e-05, + "loss": 0.0386, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 840 + }, + { + "epoch": 0.24730869944719233, + "flow_matching_loss": 0.03902084659785032, + "grad_norm": 0.1867731809616089, + "learning_rate": 1.698e-05, + "loss": 0.039, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 850 + }, + { + "epoch": 0.25021821355833573, + "flow_matching_loss": 0.0375509237870574, + "grad_norm": 0.16632241010665894, + "learning_rate": 1.718e-05, + "loss": 0.0376, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 860 + }, + { + "epoch": 0.2531277276694792, + "flow_matching_loss": 0.038444047793745995, + "grad_norm": 0.19171923398971558, + "learning_rate": 1.7380000000000003e-05, + "loss": 0.0384, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 870 + }, + { + "epoch": 0.25603724178062265, + "flow_matching_loss": 0.04020859096199274, + "grad_norm": 0.1807740330696106, + "learning_rate": 1.758e-05, + "loss": 0.0402, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 880 + }, + { + "epoch": 0.2589467558917661, + "flow_matching_loss": 0.036462953127920625, + "grad_norm": 0.15103194117546082, + "learning_rate": 1.778e-05, + "loss": 0.0365, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 890 + }, + { + "epoch": 0.2618562700029095, + "flow_matching_loss": 0.038364550657570363, + "grad_norm": 0.13562853634357452, + "learning_rate": 1.798e-05, + "loss": 0.0384, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 900 + }, + { + "epoch": 0.26476578411405294, + "flow_matching_loss": 0.03604355659335852, + "grad_norm": 0.16159573197364807, + "learning_rate": 1.818e-05, + "loss": 0.036, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 910 + }, + { + "epoch": 0.26767529822519637, + "flow_matching_loss": 0.03536961078643799, + "grad_norm": 0.14933399856090546, + "learning_rate": 1.838e-05, + "loss": 0.0354, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 920 + }, + { + "epoch": 0.27058481233633985, + "flow_matching_loss": 0.03965236283838749, + "grad_norm": 0.24772675335407257, + "learning_rate": 1.8579999999999998e-05, + "loss": 0.0397, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 930 + }, + { + "epoch": 0.2734943264474833, + "flow_matching_loss": 0.03780505266040564, + "grad_norm": 0.1645383983850479, + "learning_rate": 1.878e-05, + "loss": 0.0378, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 940 + }, + { + "epoch": 0.2764038405586267, + "flow_matching_loss": 0.03574238494038582, + "grad_norm": 0.19401982426643372, + "learning_rate": 1.898e-05, + "loss": 0.0357, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 950 + }, + { + "epoch": 0.27931335466977014, + "flow_matching_loss": 0.03578732218593359, + "grad_norm": 0.18633855879306793, + "learning_rate": 1.918e-05, + "loss": 0.0358, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 960 + }, + { + "epoch": 0.28222286878091357, + "flow_matching_loss": 0.035631757229566574, + "grad_norm": 0.23870252072811127, + "learning_rate": 1.938e-05, + "loss": 0.0356, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 970 + }, + { + "epoch": 0.285132382892057, + "flow_matching_loss": 0.033016094379127024, + "grad_norm": 0.14893068373203278, + "learning_rate": 1.958e-05, + "loss": 0.033, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 980 + }, + { + "epoch": 0.2880418970032005, + "flow_matching_loss": 0.04017696566879749, + "grad_norm": 0.20744480192661285, + "learning_rate": 1.978e-05, + "loss": 0.0402, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 990 + }, + { + "epoch": 0.2909514111143439, + "flow_matching_loss": 0.03521541021764278, + "grad_norm": 0.1298225373029709, + "learning_rate": 1.9980000000000002e-05, + "loss": 0.0352, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1000 + }, + { + "epoch": 0.29386092522548735, + "flow_matching_loss": 0.03474254813045263, + "grad_norm": 0.26444247364997864, + "learning_rate": 2.018e-05, + "loss": 0.0347, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1010 + }, + { + "epoch": 0.2967704393366308, + "flow_matching_loss": 0.038766773976385595, + "grad_norm": 0.19125911593437195, + "learning_rate": 2.038e-05, + "loss": 0.0388, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1020 + }, + { + "epoch": 0.2996799534477742, + "flow_matching_loss": 0.033565234020352365, + "grad_norm": 0.17539186775684357, + "learning_rate": 2.0580000000000003e-05, + "loss": 0.0336, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1030 + }, + { + "epoch": 0.30258946755891764, + "flow_matching_loss": 0.0340626509860158, + "grad_norm": 0.1362495720386505, + "learning_rate": 2.078e-05, + "loss": 0.0341, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1040 + }, + { + "epoch": 0.3054989816700611, + "flow_matching_loss": 0.03370733093470335, + "grad_norm": 0.16637451946735382, + "learning_rate": 2.0980000000000002e-05, + "loss": 0.0337, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1050 + }, + { + "epoch": 0.30840849578120455, + "flow_matching_loss": 0.03206757865846157, + "grad_norm": 0.16897982358932495, + "learning_rate": 2.118e-05, + "loss": 0.0321, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1060 + }, + { + "epoch": 0.311318009892348, + "flow_matching_loss": 0.033784826099872586, + "grad_norm": 0.1820913553237915, + "learning_rate": 2.1380000000000002e-05, + "loss": 0.0338, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1070 + }, + { + "epoch": 0.3142275240034914, + "flow_matching_loss": 0.03647465277463198, + "grad_norm": 0.2171189785003662, + "learning_rate": 2.1580000000000003e-05, + "loss": 0.0365, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1080 + }, + { + "epoch": 0.31713703811463484, + "flow_matching_loss": 0.03276779446750879, + "grad_norm": 0.19965478777885437, + "learning_rate": 2.178e-05, + "loss": 0.0328, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1090 + }, + { + "epoch": 0.32004655222577827, + "flow_matching_loss": 0.033340141735970975, + "grad_norm": 0.1565159112215042, + "learning_rate": 2.198e-05, + "loss": 0.0333, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1100 + }, + { + "epoch": 0.32295606633692175, + "flow_matching_loss": 0.03200836908072233, + "grad_norm": 0.1627085655927658, + "learning_rate": 2.2179999999999998e-05, + "loss": 0.032, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1110 + }, + { + "epoch": 0.3258655804480652, + "flow_matching_loss": 0.03330581616610288, + "grad_norm": 0.18416905403137207, + "learning_rate": 2.238e-05, + "loss": 0.0333, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1120 + }, + { + "epoch": 0.3287750945592086, + "flow_matching_loss": 0.03644749950617552, + "grad_norm": 0.2933216989040375, + "learning_rate": 2.258e-05, + "loss": 0.0364, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1130 + }, + { + "epoch": 0.33168460867035204, + "flow_matching_loss": 0.03573957253247499, + "grad_norm": 0.15459901094436646, + "learning_rate": 2.278e-05, + "loss": 0.0357, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1140 + }, + { + "epoch": 0.3345941227814955, + "flow_matching_loss": 0.03155625313520431, + "grad_norm": 0.17307713627815247, + "learning_rate": 2.298e-05, + "loss": 0.0316, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1150 + }, + { + "epoch": 0.3375036368926389, + "flow_matching_loss": 0.03436068650335074, + "grad_norm": 0.14161863923072815, + "learning_rate": 2.3179999999999998e-05, + "loss": 0.0344, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1160 + }, + { + "epoch": 0.3404131510037824, + "flow_matching_loss": 0.036543565429747106, + "grad_norm": 0.13565698266029358, + "learning_rate": 2.338e-05, + "loss": 0.0365, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1170 + }, + { + "epoch": 0.3433226651149258, + "flow_matching_loss": 0.03611878398805857, + "grad_norm": 0.18255430459976196, + "learning_rate": 2.358e-05, + "loss": 0.0361, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1180 + }, + { + "epoch": 0.34623217922606925, + "flow_matching_loss": 0.031546831503510474, + "grad_norm": 0.17895293235778809, + "learning_rate": 2.378e-05, + "loss": 0.0315, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1190 + }, + { + "epoch": 0.3491416933372127, + "flow_matching_loss": 0.037933350540697575, + "grad_norm": 0.1551971137523651, + "learning_rate": 2.398e-05, + "loss": 0.0379, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1200 + }, + { + "epoch": 0.3520512074483561, + "flow_matching_loss": 0.03202807251363993, + "grad_norm": 0.17377042770385742, + "learning_rate": 2.4180000000000002e-05, + "loss": 0.032, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1210 + }, + { + "epoch": 0.35496072155949954, + "flow_matching_loss": 0.03268245104700327, + "grad_norm": 0.15779028832912445, + "learning_rate": 2.438e-05, + "loss": 0.0327, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1220 + }, + { + "epoch": 0.357870235670643, + "flow_matching_loss": 0.034587196074426174, + "grad_norm": 0.19553381204605103, + "learning_rate": 2.4580000000000002e-05, + "loss": 0.0346, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1230 + }, + { + "epoch": 0.36077974978178645, + "flow_matching_loss": 0.03168499618768692, + "grad_norm": 0.1605469286441803, + "learning_rate": 2.478e-05, + "loss": 0.0317, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1240 + }, + { + "epoch": 0.3636892638929299, + "flow_matching_loss": 0.030539331026375294, + "grad_norm": 0.1738279163837433, + "learning_rate": 2.498e-05, + "loss": 0.0305, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1250 + }, + { + "epoch": 0.3665987780040733, + "flow_matching_loss": 0.031670634262263776, + "grad_norm": 0.17701619863510132, + "learning_rate": 2.5180000000000003e-05, + "loss": 0.0317, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1260 + }, + { + "epoch": 0.36950829211521674, + "flow_matching_loss": 0.031246262975037097, + "grad_norm": 0.16339795291423798, + "learning_rate": 2.538e-05, + "loss": 0.0312, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1270 + }, + { + "epoch": 0.37241780622636017, + "flow_matching_loss": 0.03349357601255178, + "grad_norm": 0.1848854273557663, + "learning_rate": 2.5580000000000002e-05, + "loss": 0.0335, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1280 + }, + { + "epoch": 0.37532732033750366, + "flow_matching_loss": 0.03281604405492544, + "grad_norm": 0.18601258099079132, + "learning_rate": 2.578e-05, + "loss": 0.0328, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1290 + }, + { + "epoch": 0.3782368344486471, + "flow_matching_loss": 0.031355825066566465, + "grad_norm": 0.13864299654960632, + "learning_rate": 2.5980000000000002e-05, + "loss": 0.0314, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1300 + }, + { + "epoch": 0.3811463485597905, + "flow_matching_loss": 0.028872013650834562, + "grad_norm": 0.16271144151687622, + "learning_rate": 2.618e-05, + "loss": 0.0289, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1310 + }, + { + "epoch": 0.38405586267093395, + "flow_matching_loss": 0.02588593102991581, + "grad_norm": 0.1353677362203598, + "learning_rate": 2.6379999999999998e-05, + "loss": 0.0259, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1320 + }, + { + "epoch": 0.3869653767820774, + "flow_matching_loss": 0.0377034991979599, + "grad_norm": 0.17147953808307648, + "learning_rate": 2.658e-05, + "loss": 0.0377, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1330 + }, + { + "epoch": 0.3898748908932208, + "flow_matching_loss": 0.033058435656130314, + "grad_norm": 0.19544410705566406, + "learning_rate": 2.678e-05, + "loss": 0.0331, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1340 + }, + { + "epoch": 0.3927844050043643, + "flow_matching_loss": 0.03269040621817112, + "grad_norm": 0.18549636006355286, + "learning_rate": 2.698e-05, + "loss": 0.0327, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1350 + }, + { + "epoch": 0.3956939191155077, + "flow_matching_loss": 0.03187027256935835, + "grad_norm": 0.1639733463525772, + "learning_rate": 2.718e-05, + "loss": 0.0319, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1360 + }, + { + "epoch": 0.39860343322665115, + "flow_matching_loss": 0.0343277495354414, + "grad_norm": 0.15323063731193542, + "learning_rate": 2.738e-05, + "loss": 0.0343, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1370 + }, + { + "epoch": 0.4015129473377946, + "flow_matching_loss": 0.02905546147376299, + "grad_norm": 0.15509454905986786, + "learning_rate": 2.758e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1380 + }, + { + "epoch": 0.404422461448938, + "flow_matching_loss": 0.030212065763771535, + "grad_norm": 0.15091557800769806, + "learning_rate": 2.778e-05, + "loss": 0.0302, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1390 + }, + { + "epoch": 0.4073319755600815, + "flow_matching_loss": 0.029807882197201253, + "grad_norm": 0.18090105056762695, + "learning_rate": 2.798e-05, + "loss": 0.0298, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1400 + }, + { + "epoch": 0.4102414896712249, + "flow_matching_loss": 0.028752713277935982, + "grad_norm": 0.22700826823711395, + "learning_rate": 2.818e-05, + "loss": 0.0288, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1410 + }, + { + "epoch": 0.41315100378236835, + "flow_matching_loss": 0.03231028150767088, + "grad_norm": 0.17595428228378296, + "learning_rate": 2.838e-05, + "loss": 0.0323, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1420 + }, + { + "epoch": 0.4160605178935118, + "flow_matching_loss": 0.029398155491799118, + "grad_norm": 0.10983891785144806, + "learning_rate": 2.858e-05, + "loss": 0.0294, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1430 + }, + { + "epoch": 0.4189700320046552, + "flow_matching_loss": 0.028958181478083135, + "grad_norm": 0.12364225834608078, + "learning_rate": 2.8780000000000002e-05, + "loss": 0.029, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1440 + }, + { + "epoch": 0.42187954611579864, + "flow_matching_loss": 0.028287657909095286, + "grad_norm": 0.15706035494804382, + "learning_rate": 2.898e-05, + "loss": 0.0283, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1450 + }, + { + "epoch": 0.42478906022694213, + "flow_matching_loss": 0.03623244594782591, + "grad_norm": 0.18152889609336853, + "learning_rate": 2.9180000000000002e-05, + "loss": 0.0362, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1460 + }, + { + "epoch": 0.42769857433808556, + "flow_matching_loss": 0.027956776320934296, + "grad_norm": 0.11307841539382935, + "learning_rate": 2.938e-05, + "loss": 0.028, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1470 + }, + { + "epoch": 0.430608088449229, + "flow_matching_loss": 0.03267465140670538, + "grad_norm": 0.1613827645778656, + "learning_rate": 2.958e-05, + "loss": 0.0327, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1480 + }, + { + "epoch": 0.4335176025603724, + "flow_matching_loss": 0.03139820732176304, + "grad_norm": 0.19898827373981476, + "learning_rate": 2.9780000000000003e-05, + "loss": 0.0314, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1490 + }, + { + "epoch": 0.43642711667151585, + "flow_matching_loss": 0.02899476606398821, + "grad_norm": 0.2092961221933365, + "learning_rate": 2.998e-05, + "loss": 0.029, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1500 + }, + { + "epoch": 0.4393366307826593, + "flow_matching_loss": 0.031342617608606814, + "grad_norm": 0.17234821617603302, + "learning_rate": 2.9999992618302022e-05, + "loss": 0.0313, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1510 + }, + { + "epoch": 0.44224614489380276, + "flow_matching_loss": 0.02894053664058447, + "grad_norm": 0.13951148092746735, + "learning_rate": 2.999996710133069e-05, + "loss": 0.0289, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1520 + }, + { + "epoch": 0.4451556590049462, + "flow_matching_loss": 0.029359749518334866, + "grad_norm": 0.1372431367635727, + "learning_rate": 2.9999923357984923e-05, + "loss": 0.0294, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1530 + }, + { + "epoch": 0.4480651731160896, + "flow_matching_loss": 0.03238293658941984, + "grad_norm": 0.26609036326408386, + "learning_rate": 2.9999861388317874e-05, + "loss": 0.0324, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1540 + }, + { + "epoch": 0.45097468722723305, + "flow_matching_loss": 0.03138094898313284, + "grad_norm": 0.17503595352172852, + "learning_rate": 2.9999781192404847e-05, + "loss": 0.0314, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1550 + }, + { + "epoch": 0.4538842013383765, + "flow_matching_loss": 0.03219643887132406, + "grad_norm": 0.1334252655506134, + "learning_rate": 2.9999682770343283e-05, + "loss": 0.0322, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1560 + }, + { + "epoch": 0.4567937154495199, + "flow_matching_loss": 0.03311229459941387, + "grad_norm": 0.16679447889328003, + "learning_rate": 2.9999566122252777e-05, + "loss": 0.0331, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1570 + }, + { + "epoch": 0.4597032295606634, + "flow_matching_loss": 0.030636302009224892, + "grad_norm": 0.20106066763401031, + "learning_rate": 2.9999431248275065e-05, + "loss": 0.0306, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1580 + }, + { + "epoch": 0.4626127436718068, + "flow_matching_loss": 0.031038725934922694, + "grad_norm": 0.1508432924747467, + "learning_rate": 2.9999278148574027e-05, + "loss": 0.031, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1590 + }, + { + "epoch": 0.46552225778295026, + "flow_matching_loss": 0.03332867752760649, + "grad_norm": 0.22503678500652313, + "learning_rate": 2.9999106823335705e-05, + "loss": 0.0333, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1600 + }, + { + "epoch": 0.4684317718940937, + "flow_matching_loss": 0.030324641987681387, + "grad_norm": 0.16794846951961517, + "learning_rate": 2.999891727276827e-05, + "loss": 0.0303, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1610 + }, + { + "epoch": 0.4713412860052371, + "flow_matching_loss": 0.029163323901593687, + "grad_norm": 0.10791004449129105, + "learning_rate": 2.9998709497102037e-05, + "loss": 0.0292, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1620 + }, + { + "epoch": 0.47425080011638054, + "flow_matching_loss": 0.03213507235050202, + "grad_norm": 0.1680632084608078, + "learning_rate": 2.9998483496589485e-05, + "loss": 0.0321, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1630 + }, + { + "epoch": 0.47716031422752403, + "flow_matching_loss": 0.028367817215621472, + "grad_norm": 0.14397954940795898, + "learning_rate": 2.9998239271505217e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1640 + }, + { + "epoch": 0.48006982833866746, + "flow_matching_loss": 0.028430745378136633, + "grad_norm": 0.14936968684196472, + "learning_rate": 2.9997976822145995e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1650 + }, + { + "epoch": 0.4829793424498109, + "flow_matching_loss": 0.02750595398247242, + "grad_norm": 0.17846639454364777, + "learning_rate": 2.9997696148830714e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1660 + }, + { + "epoch": 0.4858888565609543, + "flow_matching_loss": 0.03149937950074673, + "grad_norm": 0.18767625093460083, + "learning_rate": 2.9997397251900423e-05, + "loss": 0.0315, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1670 + }, + { + "epoch": 0.48879837067209775, + "flow_matching_loss": 0.03036681804805994, + "grad_norm": 0.12755146622657776, + "learning_rate": 2.999708013171831e-05, + "loss": 0.0304, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1680 + }, + { + "epoch": 0.4917078847832412, + "flow_matching_loss": 0.032534473948180674, + "grad_norm": 0.1628335863351822, + "learning_rate": 2.9996744788669705e-05, + "loss": 0.0325, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1690 + }, + { + "epoch": 0.49461739889438466, + "flow_matching_loss": 0.03443134538829327, + "grad_norm": 0.1975334733724594, + "learning_rate": 2.999639122316208e-05, + "loss": 0.0344, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1700 + }, + { + "epoch": 0.4975269130055281, + "flow_matching_loss": 0.028843481838703156, + "grad_norm": 0.16761232912540436, + "learning_rate": 2.999601943562505e-05, + "loss": 0.0288, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1710 + }, + { + "epoch": 0.5004364271166715, + "flow_matching_loss": 0.029151923954486847, + "grad_norm": 0.2332676351070404, + "learning_rate": 2.9995629426510377e-05, + "loss": 0.0292, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1720 + }, + { + "epoch": 0.503345941227815, + "flow_matching_loss": 0.03174650240689516, + "grad_norm": 0.180254265666008, + "learning_rate": 2.9995221196291952e-05, + "loss": 0.0317, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1730 + }, + { + "epoch": 0.5062554553389584, + "flow_matching_loss": 0.028352319821715356, + "grad_norm": 0.18886125087738037, + "learning_rate": 2.999479474546582e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1740 + }, + { + "epoch": 0.5091649694501018, + "flow_matching_loss": 0.032411500066518786, + "grad_norm": 0.18974363803863525, + "learning_rate": 2.9994350074550153e-05, + "loss": 0.0324, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1750 + }, + { + "epoch": 0.5120744835612453, + "flow_matching_loss": 0.027506806328892706, + "grad_norm": 0.15209075808525085, + "learning_rate": 2.9993887184085273e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1760 + }, + { + "epoch": 0.5149839976723887, + "flow_matching_loss": 0.032204963453114036, + "grad_norm": 0.2178356647491455, + "learning_rate": 2.9993406074633628e-05, + "loss": 0.0322, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1770 + }, + { + "epoch": 0.5178935117835322, + "flow_matching_loss": 0.02908999901264906, + "grad_norm": 0.16046147048473358, + "learning_rate": 2.9992906746779824e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1780 + }, + { + "epoch": 0.5208030258946756, + "flow_matching_loss": 0.030698816291987896, + "grad_norm": 0.27208957076072693, + "learning_rate": 2.9992389201130576e-05, + "loss": 0.0307, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1790 + }, + { + "epoch": 0.523712540005819, + "flow_matching_loss": 0.031570052914321425, + "grad_norm": 0.1563369780778885, + "learning_rate": 2.999185343831476e-05, + "loss": 0.0316, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1800 + }, + { + "epoch": 0.5266220541169625, + "flow_matching_loss": 0.028487960621714593, + "grad_norm": 0.18578380346298218, + "learning_rate": 2.999129945898338e-05, + "loss": 0.0285, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1810 + }, + { + "epoch": 0.5295315682281059, + "flow_matching_loss": 0.02968454360961914, + "grad_norm": 0.15369051694869995, + "learning_rate": 2.999072726380957e-05, + "loss": 0.0297, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1820 + }, + { + "epoch": 0.5324410823392494, + "flow_matching_loss": 0.027403669618070125, + "grad_norm": 0.1876620203256607, + "learning_rate": 2.9990136853488603e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1830 + }, + { + "epoch": 0.5353505964503927, + "flow_matching_loss": 0.03203430082648993, + "grad_norm": 0.1621556282043457, + "learning_rate": 2.9989528228737878e-05, + "loss": 0.032, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1840 + }, + { + "epoch": 0.5382601105615362, + "flow_matching_loss": 0.031240092217922212, + "grad_norm": 0.16912275552749634, + "learning_rate": 2.9988901390296935e-05, + "loss": 0.0312, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1850 + }, + { + "epoch": 0.5411696246726797, + "flow_matching_loss": 0.03144208379089832, + "grad_norm": 0.23802974820137024, + "learning_rate": 2.9988256338927442e-05, + "loss": 0.0314, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1860 + }, + { + "epoch": 0.5440791387838231, + "flow_matching_loss": 0.027511195838451387, + "grad_norm": 0.1735277622938156, + "learning_rate": 2.9987593075413198e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1870 + }, + { + "epoch": 0.5469886528949666, + "flow_matching_loss": 0.028807953745126725, + "grad_norm": 0.161550834774971, + "learning_rate": 2.9986911600560128e-05, + "loss": 0.0288, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1880 + }, + { + "epoch": 0.5498981670061099, + "flow_matching_loss": 0.03186465669423342, + "grad_norm": 0.15612155199050903, + "learning_rate": 2.998621191519629e-05, + "loss": 0.0319, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1890 + }, + { + "epoch": 0.5528076811172534, + "flow_matching_loss": 0.02834370732307434, + "grad_norm": 0.237492173910141, + "learning_rate": 2.9985494020171873e-05, + "loss": 0.0283, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1900 + }, + { + "epoch": 0.5557171952283969, + "flow_matching_loss": 0.02994824983179569, + "grad_norm": 0.13942965865135193, + "learning_rate": 2.9984757916359176e-05, + "loss": 0.0299, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1910 + }, + { + "epoch": 0.5586267093395403, + "flow_matching_loss": 0.028942357376217843, + "grad_norm": 0.16391722857952118, + "learning_rate": 2.998400360465264e-05, + "loss": 0.0289, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1920 + }, + { + "epoch": 0.5615362234506838, + "flow_matching_loss": 0.029996210522949696, + "grad_norm": 0.1792987436056137, + "learning_rate": 2.998323108596883e-05, + "loss": 0.03, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1930 + }, + { + "epoch": 0.5644457375618271, + "flow_matching_loss": 0.030030428990721704, + "grad_norm": 0.14131148159503937, + "learning_rate": 2.9982440361246422e-05, + "loss": 0.03, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1940 + }, + { + "epoch": 0.5673552516729706, + "flow_matching_loss": 0.028495851531624795, + "grad_norm": 0.14056119322776794, + "learning_rate": 2.998163143144622e-05, + "loss": 0.0285, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1950 + }, + { + "epoch": 0.570264765784114, + "flow_matching_loss": 0.028177665174007417, + "grad_norm": 0.1468091905117035, + "learning_rate": 2.9980804297551155e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1960 + }, + { + "epoch": 0.5731742798952575, + "flow_matching_loss": 0.03013808820396662, + "grad_norm": 0.19286803901195526, + "learning_rate": 2.997995896056627e-05, + "loss": 0.0301, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1970 + }, + { + "epoch": 0.576083794006401, + "flow_matching_loss": 0.030020366422832012, + "grad_norm": 0.18085238337516785, + "learning_rate": 2.997909542151873e-05, + "loss": 0.03, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1980 + }, + { + "epoch": 0.5789933081175443, + "flow_matching_loss": 0.03169953897595405, + "grad_norm": 0.1885683387517929, + "learning_rate": 2.9978213681457823e-05, + "loss": 0.0317, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 1990 + }, + { + "epoch": 0.5819028222286878, + "flow_matching_loss": 0.026987086981534958, + "grad_norm": 0.16707946360111237, + "learning_rate": 2.9977313741454933e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2000 + }, + { + "epoch": 0.5848123363398312, + "flow_matching_loss": 0.028396482579410076, + "grad_norm": 0.17132309079170227, + "learning_rate": 2.997639560260358e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2010 + }, + { + "epoch": 0.5877218504509747, + "flow_matching_loss": 0.03149782102555036, + "grad_norm": 0.17684099078178406, + "learning_rate": 2.9975459266019387e-05, + "loss": 0.0315, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2020 + }, + { + "epoch": 0.5906313645621182, + "flow_matching_loss": 0.030466559715569018, + "grad_norm": 0.1844836175441742, + "learning_rate": 2.9974504732840092e-05, + "loss": 0.0305, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2030 + }, + { + "epoch": 0.5935408786732616, + "flow_matching_loss": 0.02827164325863123, + "grad_norm": 0.13805079460144043, + "learning_rate": 2.997353200422555e-05, + "loss": 0.0283, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2040 + }, + { + "epoch": 0.596450392784405, + "flow_matching_loss": 0.029653065837919712, + "grad_norm": 0.17703978717327118, + "learning_rate": 2.99725410813577e-05, + "loss": 0.0297, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2050 + }, + { + "epoch": 0.5993599068955484, + "flow_matching_loss": 0.02833838127553463, + "grad_norm": 0.15715131163597107, + "learning_rate": 2.997153196544063e-05, + "loss": 0.0283, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2060 + }, + { + "epoch": 0.6022694210066919, + "flow_matching_loss": 0.03152303695678711, + "grad_norm": 0.20153675973415375, + "learning_rate": 2.997050465770049e-05, + "loss": 0.0315, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2070 + }, + { + "epoch": 0.6051789351178353, + "flow_matching_loss": 0.026292633451521396, + "grad_norm": 0.17407727241516113, + "learning_rate": 2.9969459159385562e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2080 + }, + { + "epoch": 0.6080884492289788, + "flow_matching_loss": 0.03063387591391802, + "grad_norm": 0.212941512465477, + "learning_rate": 2.9968395471766237e-05, + "loss": 0.0306, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2090 + }, + { + "epoch": 0.6109979633401222, + "flow_matching_loss": 0.029082266427576543, + "grad_norm": 0.12703050673007965, + "learning_rate": 2.996731359613498e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2100 + }, + { + "epoch": 0.6139074774512656, + "flow_matching_loss": 0.027291298285126685, + "grad_norm": 0.16399694979190826, + "learning_rate": 2.996621353380638e-05, + "loss": 0.0273, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2110 + }, + { + "epoch": 0.6168169915624091, + "flow_matching_loss": 0.02792246490716934, + "grad_norm": 0.18128059804439545, + "learning_rate": 2.9965095286117113e-05, + "loss": 0.0279, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2120 + }, + { + "epoch": 0.6197265056735525, + "flow_matching_loss": 0.0315125647932291, + "grad_norm": 0.15811923146247864, + "learning_rate": 2.996395885442596e-05, + "loss": 0.0315, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2130 + }, + { + "epoch": 0.622636019784696, + "flow_matching_loss": 0.025817509554326535, + "grad_norm": 0.1827792525291443, + "learning_rate": 2.996280424011379e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2140 + }, + { + "epoch": 0.6255455338958394, + "flow_matching_loss": 0.02754370719194412, + "grad_norm": 0.19883300364017487, + "learning_rate": 2.9961631444583565e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2150 + }, + { + "epoch": 0.6284550480069828, + "flow_matching_loss": 0.02583942860364914, + "grad_norm": 0.1541813611984253, + "learning_rate": 2.9960440469260347e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2160 + }, + { + "epoch": 0.6313645621181263, + "flow_matching_loss": 0.02562258979305625, + "grad_norm": 0.18629203736782074, + "learning_rate": 2.995923131559128e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2170 + }, + { + "epoch": 0.6342740762292697, + "flow_matching_loss": 0.02905263602733612, + "grad_norm": 0.17690183222293854, + "learning_rate": 2.99580039850456e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2180 + }, + { + "epoch": 0.6371835903404132, + "flow_matching_loss": 0.02747125457972288, + "grad_norm": 0.19684338569641113, + "learning_rate": 2.9956758479114635e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2190 + }, + { + "epoch": 0.6400931044515565, + "flow_matching_loss": 0.03288604747503996, + "grad_norm": 0.23796242475509644, + "learning_rate": 2.9955494799311787e-05, + "loss": 0.0329, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2200 + }, + { + "epoch": 0.6430026185627, + "flow_matching_loss": 0.028896312601864337, + "grad_norm": 0.17322421073913574, + "learning_rate": 2.995421294717254e-05, + "loss": 0.0289, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2210 + }, + { + "epoch": 0.6459121326738435, + "flow_matching_loss": 0.030431535840034486, + "grad_norm": 0.2029915452003479, + "learning_rate": 2.995291292425448e-05, + "loss": 0.0304, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2220 + }, + { + "epoch": 0.6488216467849869, + "flow_matching_loss": 0.02741475235670805, + "grad_norm": 0.16157883405685425, + "learning_rate": 2.9951594732137248e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2230 + }, + { + "epoch": 0.6517311608961304, + "flow_matching_loss": 0.028311889618635178, + "grad_norm": 0.18866609036922455, + "learning_rate": 2.995025837242257e-05, + "loss": 0.0283, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2240 + }, + { + "epoch": 0.6546406750072737, + "flow_matching_loss": 0.0301102789118886, + "grad_norm": 0.16682185232639313, + "learning_rate": 2.994890384673426e-05, + "loss": 0.0301, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2250 + }, + { + "epoch": 0.6575501891184172, + "flow_matching_loss": 0.030332158505916595, + "grad_norm": 0.1467481553554535, + "learning_rate": 2.9947531156718174e-05, + "loss": 0.0303, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2260 + }, + { + "epoch": 0.6604597032295607, + "flow_matching_loss": 0.02820594385266304, + "grad_norm": 0.15117692947387695, + "learning_rate": 2.994614030404228e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2270 + }, + { + "epoch": 0.6633692173407041, + "flow_matching_loss": 0.02519326824694872, + "grad_norm": 0.19849194586277008, + "learning_rate": 2.994473129039659e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2280 + }, + { + "epoch": 0.6662787314518476, + "flow_matching_loss": 0.027754554711282253, + "grad_norm": 0.17924760282039642, + "learning_rate": 2.9943304117493183e-05, + "loss": 0.0278, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2290 + }, + { + "epoch": 0.669188245562991, + "flow_matching_loss": 0.02957642376422882, + "grad_norm": 0.231113463640213, + "learning_rate": 2.9941858787066207e-05, + "loss": 0.0296, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2300 + }, + { + "epoch": 0.6720977596741344, + "flow_matching_loss": 0.029313593357801437, + "grad_norm": 0.16740520298480988, + "learning_rate": 2.9940395300871888e-05, + "loss": 0.0293, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2310 + }, + { + "epoch": 0.6750072737852778, + "flow_matching_loss": 0.02773402612656355, + "grad_norm": 0.1939052790403366, + "learning_rate": 2.993891366068849e-05, + "loss": 0.0277, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2320 + }, + { + "epoch": 0.6779167878964213, + "flow_matching_loss": 0.03116530142724514, + "grad_norm": 0.15261206030845642, + "learning_rate": 2.993741386831634e-05, + "loss": 0.0312, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2330 + }, + { + "epoch": 0.6808263020075648, + "flow_matching_loss": 0.02611561454832554, + "grad_norm": 0.16734610497951508, + "learning_rate": 2.9935895925577837e-05, + "loss": 0.0261, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2340 + }, + { + "epoch": 0.6837358161187082, + "flow_matching_loss": 0.03144133016467095, + "grad_norm": 0.1411180943250656, + "learning_rate": 2.9934359834317425e-05, + "loss": 0.0314, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2350 + }, + { + "epoch": 0.6866453302298516, + "flow_matching_loss": 0.02908557765185833, + "grad_norm": 0.15346789360046387, + "learning_rate": 2.993280559640159e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2360 + }, + { + "epoch": 0.689554844340995, + "flow_matching_loss": 0.02753601986914873, + "grad_norm": 0.15024155378341675, + "learning_rate": 2.9931233213718887e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2370 + }, + { + "epoch": 0.6924643584521385, + "flow_matching_loss": 0.027546766959130765, + "grad_norm": 0.15398871898651123, + "learning_rate": 2.992964268817991e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2380 + }, + { + "epoch": 0.695373872563282, + "flow_matching_loss": 0.027949385717511176, + "grad_norm": 0.11516205221414566, + "learning_rate": 2.9928034021717286e-05, + "loss": 0.0279, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2390 + }, + { + "epoch": 0.6982833866744254, + "flow_matching_loss": 0.029278473928570747, + "grad_norm": 0.14502906799316406, + "learning_rate": 2.9926407216285707e-05, + "loss": 0.0293, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2400 + }, + { + "epoch": 0.7011929007855688, + "flow_matching_loss": 0.02566213198006153, + "grad_norm": 0.21931277215480804, + "learning_rate": 2.9924762273861894e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2410 + }, + { + "epoch": 0.7041024148967122, + "flow_matching_loss": 0.032929584570229056, + "grad_norm": 0.12384428828954697, + "learning_rate": 2.992309919644461e-05, + "loss": 0.0329, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2420 + }, + { + "epoch": 0.7070119290078557, + "flow_matching_loss": 0.027447422966361046, + "grad_norm": 0.1314510554075241, + "learning_rate": 2.9921417986054633e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2430 + }, + { + "epoch": 0.7099214431189991, + "flow_matching_loss": 0.027700059674680234, + "grad_norm": 0.20379719138145447, + "learning_rate": 2.9919718644734815e-05, + "loss": 0.0277, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2440 + }, + { + "epoch": 0.7128309572301426, + "flow_matching_loss": 0.028654644452035426, + "grad_norm": 0.17096492648124695, + "learning_rate": 2.991800117455e-05, + "loss": 0.0287, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2450 + }, + { + "epoch": 0.715740471341286, + "flow_matching_loss": 0.026165415346622468, + "grad_norm": 0.15276212990283966, + "learning_rate": 2.9916265577587085e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2460 + }, + { + "epoch": 0.7186499854524294, + "flow_matching_loss": 0.02880007605999708, + "grad_norm": 0.16206124424934387, + "learning_rate": 2.9914511855954986e-05, + "loss": 0.0288, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2470 + }, + { + "epoch": 0.7215594995635729, + "flow_matching_loss": 0.025520996563136576, + "grad_norm": 0.1315498650074005, + "learning_rate": 2.9912740011784626e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2480 + }, + { + "epoch": 0.7244690136747163, + "flow_matching_loss": 0.03128327280282974, + "grad_norm": 0.17120102047920227, + "learning_rate": 2.991095004722898e-05, + "loss": 0.0313, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2490 + }, + { + "epoch": 0.7273785277858598, + "flow_matching_loss": 0.028181725181639194, + "grad_norm": 0.14248795807361603, + "learning_rate": 2.9909141964463017e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2500 + }, + { + "epoch": 0.7302880418970032, + "flow_matching_loss": 0.028172311000525953, + "grad_norm": 0.12613195180892944, + "learning_rate": 2.990731576568372e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2510 + }, + { + "epoch": 0.7331975560081466, + "flow_matching_loss": 0.028145283833146094, + "grad_norm": 0.1324279010295868, + "learning_rate": 2.99054714531101e-05, + "loss": 0.0281, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2520 + }, + { + "epoch": 0.7361070701192901, + "flow_matching_loss": 0.028730516508221626, + "grad_norm": 0.17652934789657593, + "learning_rate": 2.9903609028983178e-05, + "loss": 0.0287, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2530 + }, + { + "epoch": 0.7390165842304335, + "flow_matching_loss": 0.02543574422597885, + "grad_norm": 0.16435867547988892, + "learning_rate": 2.990172849556596e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2540 + }, + { + "epoch": 0.741926098341577, + "flow_matching_loss": 0.029645521380007266, + "grad_norm": 0.14059555530548096, + "learning_rate": 2.989982985514348e-05, + "loss": 0.0296, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2550 + }, + { + "epoch": 0.7448356124527203, + "flow_matching_loss": 0.029310410656034947, + "grad_norm": 0.1571151167154312, + "learning_rate": 2.9897913110022766e-05, + "loss": 0.0293, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2560 + }, + { + "epoch": 0.7477451265638638, + "flow_matching_loss": 0.02505904696881771, + "grad_norm": 0.1793096512556076, + "learning_rate": 2.989597826253284e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2570 + }, + { + "epoch": 0.7506546406750073, + "flow_matching_loss": 0.02742764465510845, + "grad_norm": 0.20821447670459747, + "learning_rate": 2.989402531502473e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2580 + }, + { + "epoch": 0.7535641547861507, + "flow_matching_loss": 0.02352275522425771, + "grad_norm": 0.1409565955400467, + "learning_rate": 2.989205426987144e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2590 + }, + { + "epoch": 0.7564736688972942, + "flow_matching_loss": 0.03030286394059658, + "grad_norm": 0.18022337555885315, + "learning_rate": 2.9890065129467988e-05, + "loss": 0.0303, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2600 + }, + { + "epoch": 0.7593831830084375, + "flow_matching_loss": 0.02731314655393362, + "grad_norm": 0.16048458218574524, + "learning_rate": 2.9888057896231364e-05, + "loss": 0.0273, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2610 + }, + { + "epoch": 0.762292697119581, + "flow_matching_loss": 0.02800155133008957, + "grad_norm": 0.18058191239833832, + "learning_rate": 2.988603257260054e-05, + "loss": 0.028, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2620 + }, + { + "epoch": 0.7652022112307245, + "flow_matching_loss": 0.02700406275689602, + "grad_norm": 0.17350715398788452, + "learning_rate": 2.988398916103648e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2630 + }, + { + "epoch": 0.7681117253418679, + "flow_matching_loss": 0.028527675196528435, + "grad_norm": 0.16960617899894714, + "learning_rate": 2.988192766402212e-05, + "loss": 0.0285, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2640 + }, + { + "epoch": 0.7710212394530114, + "flow_matching_loss": 0.028325798735022546, + "grad_norm": 0.23766972124576569, + "learning_rate": 2.9879848084062378e-05, + "loss": 0.0283, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2650 + }, + { + "epoch": 0.7739307535641547, + "flow_matching_loss": 0.02839689329266548, + "grad_norm": 0.2087736874818802, + "learning_rate": 2.9877750423684132e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2660 + }, + { + "epoch": 0.7768402676752982, + "flow_matching_loss": 0.028008022159337998, + "grad_norm": 0.14939525723457336, + "learning_rate": 2.987563468543624e-05, + "loss": 0.028, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2670 + }, + { + "epoch": 0.7797497817864416, + "flow_matching_loss": 0.029047126509249212, + "grad_norm": 0.20091238617897034, + "learning_rate": 2.9873500871889533e-05, + "loss": 0.029, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2680 + }, + { + "epoch": 0.7826592958975851, + "flow_matching_loss": 0.028997405990958215, + "grad_norm": 0.17097650468349457, + "learning_rate": 2.9871348985636778e-05, + "loss": 0.029, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2690 + }, + { + "epoch": 0.7855688100087286, + "flow_matching_loss": 0.02907650303095579, + "grad_norm": 0.1837335228919983, + "learning_rate": 2.986917902929273e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2700 + }, + { + "epoch": 0.788478324119872, + "flow_matching_loss": 0.02716945335268974, + "grad_norm": 0.18019220232963562, + "learning_rate": 2.9866991005494095e-05, + "loss": 0.0272, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2710 + }, + { + "epoch": 0.7913878382310154, + "flow_matching_loss": 0.027685607224702834, + "grad_norm": 0.19824381172657013, + "learning_rate": 2.986478491689952e-05, + "loss": 0.0277, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2720 + }, + { + "epoch": 0.7942973523421588, + "flow_matching_loss": 0.028175600059330463, + "grad_norm": 0.18357275426387787, + "learning_rate": 2.986256076618961e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2730 + }, + { + "epoch": 0.7972068664533023, + "flow_matching_loss": 0.02692517712712288, + "grad_norm": 0.17897780239582062, + "learning_rate": 2.986031855606692e-05, + "loss": 0.0269, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2740 + }, + { + "epoch": 0.8001163805644458, + "flow_matching_loss": 0.025440667942166328, + "grad_norm": 0.14985264837741852, + "learning_rate": 2.9858058289255954e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2750 + }, + { + "epoch": 0.8030258946755892, + "flow_matching_loss": 0.025967648066580296, + "grad_norm": 0.13411569595336914, + "learning_rate": 2.985577996850314e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2760 + }, + { + "epoch": 0.8059354087867326, + "flow_matching_loss": 0.029208510369062423, + "grad_norm": 0.11840520799160004, + "learning_rate": 2.9853483596576856e-05, + "loss": 0.0292, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2770 + }, + { + "epoch": 0.808844922897876, + "flow_matching_loss": 0.027042581513524056, + "grad_norm": 0.14867724478244781, + "learning_rate": 2.9851169176267412e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2780 + }, + { + "epoch": 0.8117544370090195, + "flow_matching_loss": 0.027012063562870024, + "grad_norm": 0.19562168419361115, + "learning_rate": 2.9848836710387044e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2790 + }, + { + "epoch": 0.814663951120163, + "flow_matching_loss": 0.02533544655889273, + "grad_norm": 0.15481579303741455, + "learning_rate": 2.9846486201769917e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2800 + }, + { + "epoch": 0.8175734652313064, + "flow_matching_loss": 0.030381106957793235, + "grad_norm": 0.1836109310388565, + "learning_rate": 2.9844117653272122e-05, + "loss": 0.0304, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2810 + }, + { + "epoch": 0.8204829793424498, + "flow_matching_loss": 0.028467237949371338, + "grad_norm": 0.20992620289325714, + "learning_rate": 2.9841731067771676e-05, + "loss": 0.0285, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2820 + }, + { + "epoch": 0.8233924934535932, + "flow_matching_loss": 0.02543970514088869, + "grad_norm": 0.17606817185878754, + "learning_rate": 2.9839326448168492e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2830 + }, + { + "epoch": 0.8263020075647367, + "flow_matching_loss": 0.026039817929267885, + "grad_norm": 0.15134425461292267, + "learning_rate": 2.983690379738442e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2840 + }, + { + "epoch": 0.8292115216758801, + "flow_matching_loss": 0.025330027379095555, + "grad_norm": 0.11919436603784561, + "learning_rate": 2.9834463118363204e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2850 + }, + { + "epoch": 0.8321210357870236, + "flow_matching_loss": 0.029926660098135473, + "grad_norm": 0.1588139683008194, + "learning_rate": 2.98320044140705e-05, + "loss": 0.0299, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2860 + }, + { + "epoch": 0.835030549898167, + "flow_matching_loss": 0.02789307702332735, + "grad_norm": 0.12485087662935257, + "learning_rate": 2.9829527687493868e-05, + "loss": 0.0279, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2870 + }, + { + "epoch": 0.8379400640093104, + "flow_matching_loss": 0.027375056967139245, + "grad_norm": 0.157403826713562, + "learning_rate": 2.9827032941642765e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2880 + }, + { + "epoch": 0.8408495781204539, + "flow_matching_loss": 0.02957820352166891, + "grad_norm": 0.15082542598247528, + "learning_rate": 2.9824520179548535e-05, + "loss": 0.0296, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2890 + }, + { + "epoch": 0.8437590922315973, + "flow_matching_loss": 0.02630593441426754, + "grad_norm": 0.1588846892118454, + "learning_rate": 2.9821989404264428e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2900 + }, + { + "epoch": 0.8466686063427408, + "flow_matching_loss": 0.02597834374755621, + "grad_norm": 0.20843902230262756, + "learning_rate": 2.9819440618865572e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2910 + }, + { + "epoch": 0.8495781204538843, + "flow_matching_loss": 0.02913254704326391, + "grad_norm": 0.13963836431503296, + "learning_rate": 2.981687382644898e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2920 + }, + { + "epoch": 0.8524876345650276, + "flow_matching_loss": 0.028505408391356468, + "grad_norm": 0.1659596562385559, + "learning_rate": 2.9814289030133556e-05, + "loss": 0.0285, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2930 + }, + { + "epoch": 0.8553971486761711, + "flow_matching_loss": 0.028638989292085172, + "grad_norm": 0.20344267785549164, + "learning_rate": 2.9811686233060058e-05, + "loss": 0.0286, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2940 + }, + { + "epoch": 0.8583066627873145, + "flow_matching_loss": 0.026834051497280596, + "grad_norm": 0.19993123412132263, + "learning_rate": 2.9809065438391138e-05, + "loss": 0.0268, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2950 + }, + { + "epoch": 0.861216176898458, + "flow_matching_loss": 0.027836056984961034, + "grad_norm": 0.18713854253292084, + "learning_rate": 2.9806426649311304e-05, + "loss": 0.0278, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2960 + }, + { + "epoch": 0.8641256910096013, + "flow_matching_loss": 0.02712766397744417, + "grad_norm": 0.1778106689453125, + "learning_rate": 2.980376986902694e-05, + "loss": 0.0271, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2970 + }, + { + "epoch": 0.8670352051207448, + "flow_matching_loss": 0.02752254866063595, + "grad_norm": 0.21533893048763275, + "learning_rate": 2.9801095100766276e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2980 + }, + { + "epoch": 0.8699447192318883, + "flow_matching_loss": 0.025727480091154574, + "grad_norm": 0.1906757950782776, + "learning_rate": 2.979840234777942e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 2990 + }, + { + "epoch": 0.8728542333430317, + "flow_matching_loss": 0.024831818230450154, + "grad_norm": 0.17644350230693817, + "learning_rate": 2.979569161333831e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3000 + }, + { + "epoch": 0.8757637474541752, + "flow_matching_loss": 0.025452526286244392, + "grad_norm": 0.15432003140449524, + "learning_rate": 2.9792962900736744e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3010 + }, + { + "epoch": 0.8786732615653186, + "flow_matching_loss": 0.027252769470214842, + "grad_norm": 0.14510692656040192, + "learning_rate": 2.9790216213290372e-05, + "loss": 0.0273, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3020 + }, + { + "epoch": 0.881582775676462, + "flow_matching_loss": 0.02401513382792473, + "grad_norm": 0.13812366127967834, + "learning_rate": 2.9787451554336672e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3030 + }, + { + "epoch": 0.8844922897876055, + "flow_matching_loss": 0.027759389951825142, + "grad_norm": 0.17200368642807007, + "learning_rate": 2.9784668927234972e-05, + "loss": 0.0278, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3040 + }, + { + "epoch": 0.8874018038987489, + "flow_matching_loss": 0.024956330470740796, + "grad_norm": 0.14926135540008545, + "learning_rate": 2.9781868335366418e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3050 + }, + { + "epoch": 0.8903113180098924, + "flow_matching_loss": 0.026700961962342264, + "grad_norm": 0.14855781197547913, + "learning_rate": 2.9779049782134e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3060 + }, + { + "epoch": 0.8932208321210358, + "flow_matching_loss": 0.0246215945109725, + "grad_norm": 0.12217573821544647, + "learning_rate": 2.9776213270962523e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3070 + }, + { + "epoch": 0.8961303462321792, + "flow_matching_loss": 0.02645603660494089, + "grad_norm": 0.12270332127809525, + "learning_rate": 2.977335880529861e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3080 + }, + { + "epoch": 0.8990398603433226, + "flow_matching_loss": 0.026989665068686008, + "grad_norm": 0.17338548600673676, + "learning_rate": 2.977048638861072e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3090 + }, + { + "epoch": 0.9019493744544661, + "flow_matching_loss": 0.029101496934890746, + "grad_norm": 0.11749324202537537, + "learning_rate": 2.97675960243891e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3100 + }, + { + "epoch": 0.9048588885656096, + "flow_matching_loss": 0.024786760099232197, + "grad_norm": 0.14245089888572693, + "learning_rate": 2.976468771614582e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3110 + }, + { + "epoch": 0.907768402676753, + "flow_matching_loss": 0.02578040100634098, + "grad_norm": 0.11846806854009628, + "learning_rate": 2.9761761467414736e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3120 + }, + { + "epoch": 0.9106779167878964, + "flow_matching_loss": 0.029348335415124892, + "grad_norm": 0.14903153479099274, + "learning_rate": 2.9758817281751538e-05, + "loss": 0.0293, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3130 + }, + { + "epoch": 0.9135874308990398, + "flow_matching_loss": 0.027176663838326932, + "grad_norm": 0.14283788204193115, + "learning_rate": 2.975585516273367e-05, + "loss": 0.0272, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3140 + }, + { + "epoch": 0.9164969450101833, + "flow_matching_loss": 0.025614722073078154, + "grad_norm": 0.12641561031341553, + "learning_rate": 2.975287511396039e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3150 + }, + { + "epoch": 0.9194064591213268, + "flow_matching_loss": 0.026033484749495982, + "grad_norm": 0.1771577000617981, + "learning_rate": 2.9749877139052745e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3160 + }, + { + "epoch": 0.9223159732324702, + "flow_matching_loss": 0.02356771528720856, + "grad_norm": 0.1042114868760109, + "learning_rate": 2.9746861241653555e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3170 + }, + { + "epoch": 0.9252254873436137, + "flow_matching_loss": 0.024021099880337717, + "grad_norm": 0.13779155910015106, + "learning_rate": 2.9743827425427416e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3180 + }, + { + "epoch": 0.928135001454757, + "flow_matching_loss": 0.02724199239164591, + "grad_norm": 0.1775287240743637, + "learning_rate": 2.9740775694060704e-05, + "loss": 0.0272, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3190 + }, + { + "epoch": 0.9310445155659005, + "flow_matching_loss": 0.025670248828828336, + "grad_norm": 0.12401523441076279, + "learning_rate": 2.973770605126156e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3200 + }, + { + "epoch": 0.9339540296770439, + "flow_matching_loss": 0.027227780781686306, + "grad_norm": 0.14200356602668762, + "learning_rate": 2.9734618500759886e-05, + "loss": 0.0272, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3210 + }, + { + "epoch": 0.9368635437881874, + "flow_matching_loss": 0.024894628673791885, + "grad_norm": 0.22066079080104828, + "learning_rate": 2.9731513046307356e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3220 + }, + { + "epoch": 0.9397730578993309, + "flow_matching_loss": 0.02265121415257454, + "grad_norm": 0.17873185873031616, + "learning_rate": 2.972838969167738e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3230 + }, + { + "epoch": 0.9426825720104742, + "flow_matching_loss": 0.025526216439902782, + "grad_norm": 0.16814406216144562, + "learning_rate": 2.972524844066513e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3240 + }, + { + "epoch": 0.9455920861216177, + "flow_matching_loss": 0.02473417390137911, + "grad_norm": 0.1706385612487793, + "learning_rate": 2.9722089297087524e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3250 + }, + { + "epoch": 0.9485016002327611, + "flow_matching_loss": 0.026833497919142246, + "grad_norm": 0.2442021518945694, + "learning_rate": 2.971891226478322e-05, + "loss": 0.0268, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3260 + }, + { + "epoch": 0.9514111143439046, + "flow_matching_loss": 0.025193646922707556, + "grad_norm": 0.13649260997772217, + "learning_rate": 2.9715717347612615e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3270 + }, + { + "epoch": 0.9543206284550481, + "flow_matching_loss": 0.027597185969352723, + "grad_norm": 0.16145600378513336, + "learning_rate": 2.971250454945783e-05, + "loss": 0.0276, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3280 + }, + { + "epoch": 0.9572301425661914, + "flow_matching_loss": 0.03196374345570803, + "grad_norm": 0.17208606004714966, + "learning_rate": 2.970927387422272e-05, + "loss": 0.032, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3290 + }, + { + "epoch": 0.9601396566773349, + "flow_matching_loss": 0.024940467812120913, + "grad_norm": 0.14742706716060638, + "learning_rate": 2.9706025325832858e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3300 + }, + { + "epoch": 0.9630491707884783, + "flow_matching_loss": 0.02583905328065157, + "grad_norm": 0.15255627036094666, + "learning_rate": 2.9702758908235534e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3310 + }, + { + "epoch": 0.9659586848996218, + "flow_matching_loss": 0.02782445289194584, + "grad_norm": 0.15797793865203857, + "learning_rate": 2.9699474625399765e-05, + "loss": 0.0278, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3320 + }, + { + "epoch": 0.9688681990107652, + "flow_matching_loss": 0.02625163160264492, + "grad_norm": 0.12660519778728485, + "learning_rate": 2.9696172481316246e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3330 + }, + { + "epoch": 0.9717777131219086, + "flow_matching_loss": 0.026357612013816832, + "grad_norm": 0.18338118493556976, + "learning_rate": 2.9692852479997407e-05, + "loss": 0.0264, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3340 + }, + { + "epoch": 0.9746872272330521, + "flow_matching_loss": 0.02633723020553589, + "grad_norm": 0.14443844556808472, + "learning_rate": 2.9689514625477364e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3350 + }, + { + "epoch": 0.9775967413441955, + "flow_matching_loss": 0.0261368777602911, + "grad_norm": 0.23275358974933624, + "learning_rate": 2.968615892181192e-05, + "loss": 0.0261, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3360 + }, + { + "epoch": 0.980506255455339, + "flow_matching_loss": 0.02801312245428562, + "grad_norm": 0.20125973224639893, + "learning_rate": 2.9682785373078567e-05, + "loss": 0.028, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3370 + }, + { + "epoch": 0.9834157695664824, + "flow_matching_loss": 0.02439260222017765, + "grad_norm": 0.20113740861415863, + "learning_rate": 2.9679393983376493e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3380 + }, + { + "epoch": 0.9863252836776258, + "flow_matching_loss": 0.0233715508133173, + "grad_norm": 0.1708751767873764, + "learning_rate": 2.9675984756826545e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3390 + }, + { + "epoch": 0.9892347977887693, + "flow_matching_loss": 0.028186874464154243, + "grad_norm": 0.19867640733718872, + "learning_rate": 2.9672557697571273e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3400 + }, + { + "epoch": 0.9921443118999127, + "flow_matching_loss": 0.023167946189641953, + "grad_norm": 0.15620800852775574, + "learning_rate": 2.966911280977486e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3410 + }, + { + "epoch": 0.9950538260110562, + "flow_matching_loss": 0.0222082007676363, + "grad_norm": 0.13536876440048218, + "learning_rate": 2.966565009762318e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3420 + }, + { + "epoch": 0.9979633401221996, + "flow_matching_loss": 0.026519239135086536, + "grad_norm": 0.18009056150913239, + "learning_rate": 2.966216956532375e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3430 + }, + { + "epoch": 1.000872854233343, + "flow_matching_loss": 0.029559250548481943, + "grad_norm": 0.1799631267786026, + "learning_rate": 2.9658671217105744e-05, + "loss": 0.0296, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3440 + }, + { + "epoch": 1.0037823683444864, + "flow_matching_loss": 0.026487034000456332, + "grad_norm": 0.1504381150007248, + "learning_rate": 2.965515505721999e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3450 + }, + { + "epoch": 1.00669188245563, + "flow_matching_loss": 0.03031103890389204, + "grad_norm": 0.16942594945430756, + "learning_rate": 2.9651621089938948e-05, + "loss": 0.0303, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3460 + }, + { + "epoch": 1.0096013965667734, + "flow_matching_loss": 0.024166059494018555, + "grad_norm": 0.15296590328216553, + "learning_rate": 2.9648069319556725e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3470 + }, + { + "epoch": 1.0125109106779169, + "flow_matching_loss": 0.028221002593636513, + "grad_norm": 0.21889032423496246, + "learning_rate": 2.9644499750389057e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3480 + }, + { + "epoch": 1.0154204247890601, + "flow_matching_loss": 0.025274140760302544, + "grad_norm": 0.1501605361700058, + "learning_rate": 2.9640912386773305e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3490 + }, + { + "epoch": 1.0183299389002036, + "flow_matching_loss": 0.025058876164257525, + "grad_norm": 0.13444137573242188, + "learning_rate": 2.9637307233068455e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3500 + }, + { + "epoch": 1.021239453011347, + "flow_matching_loss": 0.02442960310727358, + "grad_norm": 0.11877978593111038, + "learning_rate": 2.9633684293655108e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3510 + }, + { + "epoch": 1.0241489671224906, + "flow_matching_loss": 0.026739639416337013, + "grad_norm": 0.13274329900741577, + "learning_rate": 2.963004357293548e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3520 + }, + { + "epoch": 1.027058481233634, + "flow_matching_loss": 0.027741985209286214, + "grad_norm": 0.11280832439661026, + "learning_rate": 2.962638507533339e-05, + "loss": 0.0277, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3530 + }, + { + "epoch": 1.0299679953447773, + "flow_matching_loss": 0.025508834794163705, + "grad_norm": 0.09723849594593048, + "learning_rate": 2.962270880529425e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3540 + }, + { + "epoch": 1.0328775094559208, + "flow_matching_loss": 0.026418836787343025, + "grad_norm": 0.1536998152732849, + "learning_rate": 2.9619014767285084e-05, + "loss": 0.0264, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3550 + }, + { + "epoch": 1.0357870235670643, + "flow_matching_loss": 0.024527433700859545, + "grad_norm": 0.17132437229156494, + "learning_rate": 2.9615302965794488e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3560 + }, + { + "epoch": 1.0386965376782078, + "flow_matching_loss": 0.02615140937268734, + "grad_norm": 0.1886245310306549, + "learning_rate": 2.961157340533266e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3570 + }, + { + "epoch": 1.0416060517893513, + "flow_matching_loss": 0.028189025074243545, + "grad_norm": 0.13170185685157776, + "learning_rate": 2.9607826090431364e-05, + "loss": 0.0282, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3580 + }, + { + "epoch": 1.0445155659004945, + "flow_matching_loss": 0.0273584745824337, + "grad_norm": 0.14668966829776764, + "learning_rate": 2.9604061025643936e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3590 + }, + { + "epoch": 1.047425080011638, + "flow_matching_loss": 0.02673367243260145, + "grad_norm": 0.1537695676088333, + "learning_rate": 2.9600278215545292e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3600 + }, + { + "epoch": 1.0503345941227815, + "flow_matching_loss": 0.024198741279542448, + "grad_norm": 0.19584713876247406, + "learning_rate": 2.95964776647319e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3610 + }, + { + "epoch": 1.053244108233925, + "flow_matching_loss": 0.02370735928416252, + "grad_norm": 0.13676415383815765, + "learning_rate": 2.9592659377821787e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3620 + }, + { + "epoch": 1.0561536223450685, + "flow_matching_loss": 0.023490883875638247, + "grad_norm": 0.16405336558818817, + "learning_rate": 2.9588823359454528e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3630 + }, + { + "epoch": 1.0590631364562118, + "flow_matching_loss": 0.026131775230169296, + "grad_norm": 0.17605407536029816, + "learning_rate": 2.958496961429126e-05, + "loss": 0.0261, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3640 + }, + { + "epoch": 1.0619726505673552, + "flow_matching_loss": 0.027975175343453885, + "grad_norm": 0.16975124180316925, + "learning_rate": 2.9581098147014628e-05, + "loss": 0.028, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3650 + }, + { + "epoch": 1.0648821646784987, + "flow_matching_loss": 0.026803624629974366, + "grad_norm": 0.14687977731227875, + "learning_rate": 2.9577208962328843e-05, + "loss": 0.0268, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3660 + }, + { + "epoch": 1.0677916787896422, + "flow_matching_loss": 0.02654431387782097, + "grad_norm": 0.14399771392345428, + "learning_rate": 2.9573302064959633e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3670 + }, + { + "epoch": 1.0707011929007855, + "flow_matching_loss": 0.025100241787731646, + "grad_norm": 0.19693198800086975, + "learning_rate": 2.9569377459654235e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3680 + }, + { + "epoch": 1.073610707011929, + "flow_matching_loss": 0.02597036175429821, + "grad_norm": 0.1445228010416031, + "learning_rate": 2.9565435151181424e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3690 + }, + { + "epoch": 1.0765202211230724, + "flow_matching_loss": 0.02694720569998026, + "grad_norm": 0.1250554919242859, + "learning_rate": 2.9561475144331473e-05, + "loss": 0.0269, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3700 + }, + { + "epoch": 1.079429735234216, + "flow_matching_loss": 0.02633629608899355, + "grad_norm": 0.14058327674865723, + "learning_rate": 2.9557497443916162e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3710 + }, + { + "epoch": 1.0823392493453594, + "flow_matching_loss": 0.026704944111406802, + "grad_norm": 0.17370575666427612, + "learning_rate": 2.9553502054768774e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3720 + }, + { + "epoch": 1.0852487634565027, + "flow_matching_loss": 0.024717876873910426, + "grad_norm": 0.14491532742977142, + "learning_rate": 2.954948898174409e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3730 + }, + { + "epoch": 1.0881582775676462, + "flow_matching_loss": 0.02545058596879244, + "grad_norm": 0.1539333611726761, + "learning_rate": 2.954545822971836e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3740 + }, + { + "epoch": 1.0910677916787896, + "flow_matching_loss": 0.02626747190952301, + "grad_norm": 0.16194555163383484, + "learning_rate": 2.9541409803589335e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3750 + }, + { + "epoch": 1.0939773057899331, + "flow_matching_loss": 0.025581181235611438, + "grad_norm": 0.15282899141311646, + "learning_rate": 2.9537343708276235e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3760 + }, + { + "epoch": 1.0968868199010766, + "flow_matching_loss": 0.024452867545187475, + "grad_norm": 0.16520541906356812, + "learning_rate": 2.953325994871975e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3770 + }, + { + "epoch": 1.0997963340122199, + "flow_matching_loss": 0.02403130177408457, + "grad_norm": 0.15225499868392944, + "learning_rate": 2.9529158529882023e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3780 + }, + { + "epoch": 1.1027058481233634, + "flow_matching_loss": 0.02547062234953046, + "grad_norm": 0.134725883603096, + "learning_rate": 2.9525039456746677e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3790 + }, + { + "epoch": 1.1056153622345068, + "flow_matching_loss": 0.026093628816306592, + "grad_norm": 0.14159740507602692, + "learning_rate": 2.952090273431877e-05, + "loss": 0.0261, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3800 + }, + { + "epoch": 1.1085248763456503, + "flow_matching_loss": 0.024690575338900088, + "grad_norm": 0.14240871369838715, + "learning_rate": 2.9516748367624808e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3810 + }, + { + "epoch": 1.1114343904567938, + "flow_matching_loss": 0.02583774011582136, + "grad_norm": 0.12508021295070648, + "learning_rate": 2.951257636171274e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3820 + }, + { + "epoch": 1.114343904567937, + "flow_matching_loss": 0.0260144529864192, + "grad_norm": 0.12708526849746704, + "learning_rate": 2.9508386721651944e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3830 + }, + { + "epoch": 1.1172534186790806, + "flow_matching_loss": 0.025218443386256693, + "grad_norm": 0.14217068254947662, + "learning_rate": 2.9504179452533228e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3840 + }, + { + "epoch": 1.120162932790224, + "flow_matching_loss": 0.025043966062366963, + "grad_norm": 0.1221313327550888, + "learning_rate": 2.9499954559468826e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3850 + }, + { + "epoch": 1.1230724469013675, + "flow_matching_loss": 0.02585233934223652, + "grad_norm": 0.14964289963245392, + "learning_rate": 2.9495712047592378e-05, + "loss": 0.0259, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3860 + }, + { + "epoch": 1.1259819610125108, + "flow_matching_loss": 0.026504718512296677, + "grad_norm": 0.1357347071170807, + "learning_rate": 2.949145192205893e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3870 + }, + { + "epoch": 1.1288914751236543, + "flow_matching_loss": 0.02511182092130184, + "grad_norm": 0.1861932873725891, + "learning_rate": 2.9487174188044953e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3880 + }, + { + "epoch": 1.1318009892347978, + "flow_matching_loss": 0.02499838750809431, + "grad_norm": 0.18538013100624084, + "learning_rate": 2.9482878850748276e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3890 + }, + { + "epoch": 1.1347105033459413, + "flow_matching_loss": 0.025799406319856645, + "grad_norm": 0.17231106758117676, + "learning_rate": 2.9478565915388157e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3900 + }, + { + "epoch": 1.1376200174570847, + "flow_matching_loss": 0.028558222204446794, + "grad_norm": 0.15320904552936554, + "learning_rate": 2.9474235387205207e-05, + "loss": 0.0286, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3910 + }, + { + "epoch": 1.140529531568228, + "flow_matching_loss": 0.029086433909833433, + "grad_norm": 0.23256100714206696, + "learning_rate": 2.946988727146143e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3920 + }, + { + "epoch": 1.1434390456793715, + "flow_matching_loss": 0.022970026172697545, + "grad_norm": 0.12549342215061188, + "learning_rate": 2.9465521573440196e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3930 + }, + { + "epoch": 1.146348559790515, + "flow_matching_loss": 0.024967141356319188, + "grad_norm": 0.15390634536743164, + "learning_rate": 2.946113829844624e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3940 + }, + { + "epoch": 1.1492580739016585, + "flow_matching_loss": 0.024806711450219156, + "grad_norm": 0.18944504857063293, + "learning_rate": 2.945673745180566e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3950 + }, + { + "epoch": 1.152167588012802, + "flow_matching_loss": 0.026822612807154655, + "grad_norm": 0.1507008820772171, + "learning_rate": 2.945231903886589e-05, + "loss": 0.0268, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3960 + }, + { + "epoch": 1.1550771021239452, + "flow_matching_loss": 0.025765601731836795, + "grad_norm": 0.14284402132034302, + "learning_rate": 2.9447883064995728e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3970 + }, + { + "epoch": 1.1579866162350887, + "flow_matching_loss": 0.03195174820721149, + "grad_norm": 0.14299044013023376, + "learning_rate": 2.9443429535585288e-05, + "loss": 0.032, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3980 + }, + { + "epoch": 1.1608961303462322, + "flow_matching_loss": 0.029437869414687158, + "grad_norm": 0.17692705988883972, + "learning_rate": 2.9438958456046044e-05, + "loss": 0.0294, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 3990 + }, + { + "epoch": 1.1638056444573757, + "flow_matching_loss": 0.025051534362137317, + "grad_norm": 0.1537310630083084, + "learning_rate": 2.9434469831810765e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4000 + }, + { + "epoch": 1.1667151585685192, + "flow_matching_loss": 0.027632931247353554, + "grad_norm": 0.1427846997976303, + "learning_rate": 2.9429963668333566e-05, + "loss": 0.0276, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4010 + }, + { + "epoch": 1.1696246726796624, + "flow_matching_loss": 0.025131678953766824, + "grad_norm": 0.14028030633926392, + "learning_rate": 2.9425439971089845e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4020 + }, + { + "epoch": 1.172534186790806, + "flow_matching_loss": 0.02436931449919939, + "grad_norm": 0.16248391568660736, + "learning_rate": 2.9420898745576336e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4030 + }, + { + "epoch": 1.1754437009019494, + "flow_matching_loss": 0.024596088007092475, + "grad_norm": 0.11759926378726959, + "learning_rate": 2.9416339997311044e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4040 + }, + { + "epoch": 1.1783532150130929, + "flow_matching_loss": 0.022978498972952364, + "grad_norm": 0.16919024288654327, + "learning_rate": 2.941176373183329e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4050 + }, + { + "epoch": 1.1812627291242364, + "flow_matching_loss": 0.02546235341578722, + "grad_norm": 0.1433243453502655, + "learning_rate": 2.9407169954703653e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4060 + }, + { + "epoch": 1.1841722432353796, + "flow_matching_loss": 0.02552403062582016, + "grad_norm": 0.14567044377326965, + "learning_rate": 2.9402558671504018e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4070 + }, + { + "epoch": 1.187081757346523, + "flow_matching_loss": 0.026122984290122987, + "grad_norm": 0.10598009079694748, + "learning_rate": 2.9397929887837524e-05, + "loss": 0.0261, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4080 + }, + { + "epoch": 1.1899912714576666, + "flow_matching_loss": 0.02674930766224861, + "grad_norm": 0.14985574781894684, + "learning_rate": 2.939328360932858e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4090 + }, + { + "epoch": 1.19290078556881, + "flow_matching_loss": 0.025142936781048775, + "grad_norm": 0.15153998136520386, + "learning_rate": 2.938861984162285e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4100 + }, + { + "epoch": 1.1958102996799536, + "flow_matching_loss": 0.02710981070995331, + "grad_norm": 0.1466710865497589, + "learning_rate": 2.938393859038726e-05, + "loss": 0.0271, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4110 + }, + { + "epoch": 1.1987198137910968, + "flow_matching_loss": 0.02468177452683449, + "grad_norm": 0.14694108068943024, + "learning_rate": 2.9379239861309964e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4120 + }, + { + "epoch": 1.2016293279022403, + "flow_matching_loss": 0.0221886919811368, + "grad_norm": 0.16517910361289978, + "learning_rate": 2.937452366010036e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4130 + }, + { + "epoch": 1.2045388420133838, + "flow_matching_loss": 0.03025226816534996, + "grad_norm": 0.1347641944885254, + "learning_rate": 2.936978999248908e-05, + "loss": 0.0303, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4140 + }, + { + "epoch": 1.2074483561245273, + "flow_matching_loss": 0.025062821432948114, + "grad_norm": 0.13963817059993744, + "learning_rate": 2.936503886422798e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4150 + }, + { + "epoch": 1.2103578702356708, + "flow_matching_loss": 0.028688580729067326, + "grad_norm": 0.14461849629878998, + "learning_rate": 2.9360270281090122e-05, + "loss": 0.0287, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4160 + }, + { + "epoch": 1.213267384346814, + "flow_matching_loss": 0.025320819951593874, + "grad_norm": 0.11288133263587952, + "learning_rate": 2.935548424886979e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4170 + }, + { + "epoch": 1.2161768984579575, + "flow_matching_loss": 0.025237809494137765, + "grad_norm": 0.1813010275363922, + "learning_rate": 2.935068077338246e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4180 + }, + { + "epoch": 1.219086412569101, + "flow_matching_loss": 0.023407611809670926, + "grad_norm": 0.1171451285481453, + "learning_rate": 2.934585986046481e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4190 + }, + { + "epoch": 1.2219959266802445, + "flow_matching_loss": 0.022224419936537742, + "grad_norm": 0.13620126247406006, + "learning_rate": 2.93410215159747e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4200 + }, + { + "epoch": 1.2249054407913877, + "flow_matching_loss": 0.023483438417315483, + "grad_norm": 0.13777005672454834, + "learning_rate": 2.933616574579118e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4210 + }, + { + "epoch": 1.2278149549025312, + "flow_matching_loss": 0.023922235798090698, + "grad_norm": 0.14782971143722534, + "learning_rate": 2.933129255581447e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4220 + }, + { + "epoch": 1.2307244690136747, + "flow_matching_loss": 0.023241651058197022, + "grad_norm": 0.16577738523483276, + "learning_rate": 2.9326401951965954e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4230 + }, + { + "epoch": 1.2336339831248182, + "flow_matching_loss": 0.027409305423498155, + "grad_norm": 0.24003532528877258, + "learning_rate": 2.9321493940188165e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4240 + }, + { + "epoch": 1.2365434972359617, + "flow_matching_loss": 0.024020479433238505, + "grad_norm": 0.15859057009220123, + "learning_rate": 2.931656852644482e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4250 + }, + { + "epoch": 1.239453011347105, + "flow_matching_loss": 0.024646000377833842, + "grad_norm": 0.1240561231970787, + "learning_rate": 2.9311625716720748e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4260 + }, + { + "epoch": 1.2423625254582484, + "flow_matching_loss": 0.02194093419238925, + "grad_norm": 0.19666758179664612, + "learning_rate": 2.9306665517021927e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4270 + }, + { + "epoch": 1.245272039569392, + "flow_matching_loss": 0.026320025511085986, + "grad_norm": 0.1309906244277954, + "learning_rate": 2.9301687933375483e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4280 + }, + { + "epoch": 1.2481815536805354, + "flow_matching_loss": 0.02621953971683979, + "grad_norm": 0.17676985263824463, + "learning_rate": 2.929669297182963e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4290 + }, + { + "epoch": 1.2510910677916787, + "flow_matching_loss": 0.025474748015403746, + "grad_norm": 0.17658843100070953, + "learning_rate": 2.929168063845373e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4300 + }, + { + "epoch": 1.2540005819028222, + "flow_matching_loss": 0.02623455934226513, + "grad_norm": 0.1463492512702942, + "learning_rate": 2.9286650939338236e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4310 + }, + { + "epoch": 1.2569100960139656, + "flow_matching_loss": 0.023093613609671593, + "grad_norm": 0.1524265557527542, + "learning_rate": 2.9281603880594706e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4320 + }, + { + "epoch": 1.2598196101251091, + "flow_matching_loss": 0.02724173627793789, + "grad_norm": 0.13520441949367523, + "learning_rate": 2.9276539468355796e-05, + "loss": 0.0272, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4330 + }, + { + "epoch": 1.2627291242362526, + "flow_matching_loss": 0.027806067280471324, + "grad_norm": 0.22218577563762665, + "learning_rate": 2.9271457708775244e-05, + "loss": 0.0278, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4340 + }, + { + "epoch": 1.2656386383473959, + "flow_matching_loss": 0.024895263835787773, + "grad_norm": 0.15908028185367584, + "learning_rate": 2.9266358608027863e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4350 + }, + { + "epoch": 1.2685481524585394, + "flow_matching_loss": 0.024865296483039857, + "grad_norm": 0.14040572941303253, + "learning_rate": 2.9261242172309543e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4360 + }, + { + "epoch": 1.2714576665696828, + "flow_matching_loss": 0.02464301362633705, + "grad_norm": 0.14195264875888824, + "learning_rate": 2.925610840783723e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4370 + }, + { + "epoch": 1.2743671806808263, + "flow_matching_loss": 0.027854810655117034, + "grad_norm": 0.16193847358226776, + "learning_rate": 2.9250957320848946e-05, + "loss": 0.0279, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4380 + }, + { + "epoch": 1.2772766947919698, + "flow_matching_loss": 0.026014162786304952, + "grad_norm": 0.1382753700017929, + "learning_rate": 2.924578891760374e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4390 + }, + { + "epoch": 1.280186208903113, + "flow_matching_loss": 0.026954554580152036, + "grad_norm": 0.13963274657726288, + "learning_rate": 2.924060320438171e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4400 + }, + { + "epoch": 1.2830957230142566, + "flow_matching_loss": 0.027155990712344646, + "grad_norm": 0.20537014305591583, + "learning_rate": 2.9235400187483978e-05, + "loss": 0.0272, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4410 + }, + { + "epoch": 1.2860052371254, + "flow_matching_loss": 0.025458901561796664, + "grad_norm": 0.14669397473335266, + "learning_rate": 2.9230179873232716e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4420 + }, + { + "epoch": 1.2889147512365435, + "flow_matching_loss": 0.026372885145246983, + "grad_norm": 0.12357312440872192, + "learning_rate": 2.922494226797108e-05, + "loss": 0.0264, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4430 + }, + { + "epoch": 1.291824265347687, + "flow_matching_loss": 0.02451511025428772, + "grad_norm": 0.14583714306354523, + "learning_rate": 2.9219687378063275e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4440 + }, + { + "epoch": 1.2947337794588303, + "flow_matching_loss": 0.02533282544463873, + "grad_norm": 0.1942819356918335, + "learning_rate": 2.921441520989447e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4450 + }, + { + "epoch": 1.2976432935699738, + "flow_matching_loss": 0.022766332887113095, + "grad_norm": 0.14677314460277557, + "learning_rate": 2.9209125769870854e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4460 + }, + { + "epoch": 1.3005528076811173, + "flow_matching_loss": 0.023358035273849963, + "grad_norm": 0.1151701807975769, + "learning_rate": 2.92038190644196e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4470 + }, + { + "epoch": 1.3034623217922607, + "flow_matching_loss": 0.026460359059274196, + "grad_norm": 0.20336855947971344, + "learning_rate": 2.9198495099988843e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4480 + }, + { + "epoch": 1.3063718359034042, + "flow_matching_loss": 0.025562254898250102, + "grad_norm": 0.1521555632352829, + "learning_rate": 2.9193153883047712e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4490 + }, + { + "epoch": 1.3092813500145475, + "flow_matching_loss": 0.025928464904427528, + "grad_norm": 0.19794408977031708, + "learning_rate": 2.9187795420086287e-05, + "loss": 0.0259, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4500 + }, + { + "epoch": 1.312190864125691, + "flow_matching_loss": 0.021419458836317063, + "grad_norm": 0.1181068941950798, + "learning_rate": 2.9182419717615602e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4510 + }, + { + "epoch": 1.3151003782368345, + "flow_matching_loss": 0.023226909153163434, + "grad_norm": 0.14211224019527435, + "learning_rate": 2.917702678216765e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4520 + }, + { + "epoch": 1.318009892347978, + "flow_matching_loss": 0.023768491111695766, + "grad_norm": 0.12144163995981216, + "learning_rate": 2.9171616620295347e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4530 + }, + { + "epoch": 1.3209194064591214, + "flow_matching_loss": 0.02406474333256483, + "grad_norm": 0.17512133717536926, + "learning_rate": 2.9166189238572554e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4540 + }, + { + "epoch": 1.3238289205702647, + "flow_matching_loss": 0.025092295557260513, + "grad_norm": 0.16143754124641418, + "learning_rate": 2.9160744643594052e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4550 + }, + { + "epoch": 1.3267384346814082, + "flow_matching_loss": 0.0256309412419796, + "grad_norm": 0.17092202603816986, + "learning_rate": 2.915528284197554e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4560 + }, + { + "epoch": 1.3296479487925517, + "flow_matching_loss": 0.02210902199149132, + "grad_norm": 0.16334713995456696, + "learning_rate": 2.914980384035362e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4570 + }, + { + "epoch": 1.3325574629036951, + "flow_matching_loss": 0.027001922763884068, + "grad_norm": 0.15142878890037537, + "learning_rate": 2.9144307645385787e-05, + "loss": 0.027, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4580 + }, + { + "epoch": 1.3354669770148386, + "flow_matching_loss": 0.02769463453441858, + "grad_norm": 0.15005919337272644, + "learning_rate": 2.9138794263750454e-05, + "loss": 0.0277, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4590 + }, + { + "epoch": 1.338376491125982, + "flow_matching_loss": 0.023160794749855995, + "grad_norm": 0.19158534705638885, + "learning_rate": 2.913326370214688e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4600 + }, + { + "epoch": 1.3412860052371254, + "flow_matching_loss": 0.027946720086038112, + "grad_norm": 0.18028664588928223, + "learning_rate": 2.9127715967295234e-05, + "loss": 0.0279, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4610 + }, + { + "epoch": 1.3441955193482689, + "flow_matching_loss": 0.02618558220565319, + "grad_norm": 0.16586269438266754, + "learning_rate": 2.912215106593653e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4620 + }, + { + "epoch": 1.3471050334594123, + "flow_matching_loss": 0.024441617354750634, + "grad_norm": 0.14645305275917053, + "learning_rate": 2.911656900483265e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4630 + }, + { + "epoch": 1.3500145475705558, + "flow_matching_loss": 0.022325043566524982, + "grad_norm": 0.16659045219421387, + "learning_rate": 2.9110969790766322e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4640 + }, + { + "epoch": 1.352924061681699, + "flow_matching_loss": 0.024523174203932286, + "grad_norm": 0.14939580857753754, + "learning_rate": 2.910535343054112e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4650 + }, + { + "epoch": 1.3558335757928426, + "flow_matching_loss": 0.023712510988116265, + "grad_norm": 0.1444704532623291, + "learning_rate": 2.909971993098145e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4660 + }, + { + "epoch": 1.358743089903986, + "flow_matching_loss": 0.02732396237552166, + "grad_norm": 0.13874873518943787, + "learning_rate": 2.9094069298932552e-05, + "loss": 0.0273, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4670 + }, + { + "epoch": 1.3616526040151296, + "flow_matching_loss": 0.02530003394931555, + "grad_norm": 0.15724989771842957, + "learning_rate": 2.908840154126047e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4680 + }, + { + "epoch": 1.364562118126273, + "flow_matching_loss": 0.027341967262327672, + "grad_norm": 0.16345730423927307, + "learning_rate": 2.9082716664852063e-05, + "loss": 0.0273, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4690 + }, + { + "epoch": 1.3674716322374163, + "flow_matching_loss": 0.026649215258657932, + "grad_norm": 0.1332678198814392, + "learning_rate": 2.9077014676615e-05, + "loss": 0.0266, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4700 + }, + { + "epoch": 1.3703811463485598, + "flow_matching_loss": 0.0246761966496706, + "grad_norm": 0.11940170079469681, + "learning_rate": 2.9071295583477724e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4710 + }, + { + "epoch": 1.3732906604597033, + "flow_matching_loss": 0.02603677920997143, + "grad_norm": 0.15776842832565308, + "learning_rate": 2.906555939238948e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4720 + }, + { + "epoch": 1.3762001745708465, + "flow_matching_loss": 0.02425273172557354, + "grad_norm": 0.16926118731498718, + "learning_rate": 2.905980611032028e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4730 + }, + { + "epoch": 1.3791096886819902, + "flow_matching_loss": 0.024193397350609304, + "grad_norm": 0.1657392978668213, + "learning_rate": 2.9054035744260904e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4740 + }, + { + "epoch": 1.3820192027931335, + "flow_matching_loss": 0.0286212719976902, + "grad_norm": 0.2784864902496338, + "learning_rate": 2.9048248301222885e-05, + "loss": 0.0286, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4750 + }, + { + "epoch": 1.384928716904277, + "flow_matching_loss": 0.0243248688057065, + "grad_norm": 0.17902772128582, + "learning_rate": 2.904244378823852e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4760 + }, + { + "epoch": 1.3878382310154205, + "flow_matching_loss": 0.02570738811045885, + "grad_norm": 0.14257226884365082, + "learning_rate": 2.9036622212360836e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4770 + }, + { + "epoch": 1.3907477451265637, + "flow_matching_loss": 0.026882939226925372, + "grad_norm": 0.13045094907283783, + "learning_rate": 2.9030783580663596e-05, + "loss": 0.0269, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4780 + }, + { + "epoch": 1.3936572592377072, + "flow_matching_loss": 0.026087034214287996, + "grad_norm": 0.17098985612392426, + "learning_rate": 2.902492790024129e-05, + "loss": 0.0261, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4790 + }, + { + "epoch": 1.3965667733488507, + "flow_matching_loss": 0.02229566974565387, + "grad_norm": 0.12743471562862396, + "learning_rate": 2.901905517820912e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4800 + }, + { + "epoch": 1.3994762874599942, + "flow_matching_loss": 0.027996549010276796, + "grad_norm": 0.16832418739795685, + "learning_rate": 2.9013165421703e-05, + "loss": 0.028, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4810 + }, + { + "epoch": 1.4023858015711377, + "flow_matching_loss": 0.026171650364995004, + "grad_norm": 0.10946693271398544, + "learning_rate": 2.9007258637879534e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4820 + }, + { + "epoch": 1.405295315682281, + "flow_matching_loss": 0.025024954602122305, + "grad_norm": 0.12700483202934265, + "learning_rate": 2.9001334833916025e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4830 + }, + { + "epoch": 1.4082048297934244, + "flow_matching_loss": 0.025236240401864053, + "grad_norm": 0.16179309785366058, + "learning_rate": 2.899539401701046e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4840 + }, + { + "epoch": 1.411114343904568, + "flow_matching_loss": 0.023786571994423866, + "grad_norm": 0.14038406312465668, + "learning_rate": 2.8989436194381474e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4850 + }, + { + "epoch": 1.4140238580157114, + "flow_matching_loss": 0.026722987182438374, + "grad_norm": 0.18088023364543915, + "learning_rate": 2.8983461373268404e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4860 + }, + { + "epoch": 1.4169333721268549, + "flow_matching_loss": 0.025773227959871293, + "grad_norm": 0.14129410684108734, + "learning_rate": 2.8977469560931205e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4870 + }, + { + "epoch": 1.4198428862379981, + "flow_matching_loss": 0.025565495900809764, + "grad_norm": 0.147248312830925, + "learning_rate": 2.8971460764650502e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4880 + }, + { + "epoch": 1.4227524003491416, + "flow_matching_loss": 0.022579418029636145, + "grad_norm": 0.09753800183534622, + "learning_rate": 2.8965434991727545e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4890 + }, + { + "epoch": 1.4256619144602851, + "flow_matching_loss": 0.024214138649404048, + "grad_norm": 0.11361506581306458, + "learning_rate": 2.895939224948422e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4900 + }, + { + "epoch": 1.4285714285714286, + "flow_matching_loss": 0.02519617136567831, + "grad_norm": 0.16868238151073456, + "learning_rate": 2.895333254526303e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4910 + }, + { + "epoch": 1.431480942682572, + "flow_matching_loss": 0.028603440336883067, + "grad_norm": 0.18000838160514832, + "learning_rate": 2.8947255886427084e-05, + "loss": 0.0286, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4920 + }, + { + "epoch": 1.4343904567937154, + "flow_matching_loss": 0.025661297701299192, + "grad_norm": 0.1643441915512085, + "learning_rate": 2.8941162280360095e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4930 + }, + { + "epoch": 1.4372999709048588, + "flow_matching_loss": 0.023263429570943118, + "grad_norm": 0.13597498834133148, + "learning_rate": 2.8935051734466368e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4940 + }, + { + "epoch": 1.4402094850160023, + "flow_matching_loss": 0.02532685063779354, + "grad_norm": 0.14063729345798492, + "learning_rate": 2.8928924256170792e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4950 + }, + { + "epoch": 1.4431189991271458, + "flow_matching_loss": 0.026152809895575047, + "grad_norm": 0.12268900871276855, + "learning_rate": 2.8922779852918836e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4960 + }, + { + "epoch": 1.4460285132382893, + "flow_matching_loss": 0.02470654435455799, + "grad_norm": 0.16173012554645538, + "learning_rate": 2.8916618532176526e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4970 + }, + { + "epoch": 1.4489380273494326, + "flow_matching_loss": 0.02501650173217058, + "grad_norm": 0.13056258857250214, + "learning_rate": 2.891044030143045e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4980 + }, + { + "epoch": 1.451847541460576, + "flow_matching_loss": 0.023611931689083578, + "grad_norm": 0.1367703378200531, + "learning_rate": 2.890424516818774e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 4990 + }, + { + "epoch": 1.4547570555717195, + "flow_matching_loss": 0.02547117155045271, + "grad_norm": 0.18535496294498444, + "learning_rate": 2.8898033139976057e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5000 + }, + { + "epoch": 1.457666569682863, + "flow_matching_loss": 0.024521525390446185, + "grad_norm": 0.1539682149887085, + "learning_rate": 2.889180422434362e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5010 + }, + { + "epoch": 1.4605760837940065, + "flow_matching_loss": 0.02462023850530386, + "grad_norm": 0.1661023199558258, + "learning_rate": 2.8885558428859136e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5020 + }, + { + "epoch": 1.4634855979051498, + "flow_matching_loss": 0.025370490178465842, + "grad_norm": 0.17300420999526978, + "learning_rate": 2.8879295761111835e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5030 + }, + { + "epoch": 1.4663951120162932, + "flow_matching_loss": 0.024481727462261915, + "grad_norm": 0.08406531065702438, + "learning_rate": 2.8873016228711452e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5040 + }, + { + "epoch": 1.4693046261274367, + "flow_matching_loss": 0.023386810906231403, + "grad_norm": 0.15700358152389526, + "learning_rate": 2.8866719839288215e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5050 + }, + { + "epoch": 1.4722141402385802, + "flow_matching_loss": 0.023869168665260076, + "grad_norm": 0.1822592169046402, + "learning_rate": 2.886040660049283e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5060 + }, + { + "epoch": 1.4751236543497237, + "flow_matching_loss": 0.02310804035514593, + "grad_norm": 0.11011053621768951, + "learning_rate": 2.8854076519996467e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5070 + }, + { + "epoch": 1.478033168460867, + "flow_matching_loss": 0.024636149778962134, + "grad_norm": 0.1329481452703476, + "learning_rate": 2.884772960549078e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5080 + }, + { + "epoch": 1.4809426825720104, + "flow_matching_loss": 0.023853330686688424, + "grad_norm": 0.15911370515823364, + "learning_rate": 2.8841365864687867e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5090 + }, + { + "epoch": 1.483852196683154, + "flow_matching_loss": 0.024547286704182623, + "grad_norm": 0.13969489932060242, + "learning_rate": 2.8834985305320276e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5100 + }, + { + "epoch": 1.4867617107942974, + "flow_matching_loss": 0.025767570547759532, + "grad_norm": 0.17625656723976135, + "learning_rate": 2.882858793514098e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5110 + }, + { + "epoch": 1.489671224905441, + "flow_matching_loss": 0.023509868048131467, + "grad_norm": 0.13357697427272797, + "learning_rate": 2.8822173761923398e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5120 + }, + { + "epoch": 1.4925807390165842, + "flow_matching_loss": 0.02504678200930357, + "grad_norm": 0.18851634860038757, + "learning_rate": 2.8815742793461343e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5130 + }, + { + "epoch": 1.4954902531277277, + "flow_matching_loss": 0.0291216392070055, + "grad_norm": 0.15856942534446716, + "learning_rate": 2.880929503756906e-05, + "loss": 0.0291, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5140 + }, + { + "epoch": 1.4983997672388711, + "flow_matching_loss": 0.025996128842234612, + "grad_norm": 0.09967806935310364, + "learning_rate": 2.880283050208117e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5150 + }, + { + "epoch": 1.5013092813500144, + "flow_matching_loss": 0.02603494208306074, + "grad_norm": 0.14980190992355347, + "learning_rate": 2.8796349194852704e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5160 + }, + { + "epoch": 1.504218795461158, + "flow_matching_loss": 0.023442664369940757, + "grad_norm": 0.12885122001171112, + "learning_rate": 2.8789851123759052e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5170 + }, + { + "epoch": 1.5071283095723014, + "flow_matching_loss": 0.02286391509696841, + "grad_norm": 0.11334294080734253, + "learning_rate": 2.8783336296695985e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5180 + }, + { + "epoch": 1.5100378236834449, + "flow_matching_loss": 0.02759842723608017, + "grad_norm": 0.1592893898487091, + "learning_rate": 2.877680472157964e-05, + "loss": 0.0276, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5190 + }, + { + "epoch": 1.5129473377945883, + "flow_matching_loss": 0.023136775754392148, + "grad_norm": 0.1227080300450325, + "learning_rate": 2.8770256406346483e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5200 + }, + { + "epoch": 1.5158568519057316, + "flow_matching_loss": 0.0240891819819808, + "grad_norm": 0.23067361116409302, + "learning_rate": 2.8763691358953348e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5210 + }, + { + "epoch": 1.5187663660168753, + "flow_matching_loss": 0.024014935456216337, + "grad_norm": 0.1572355180978775, + "learning_rate": 2.8757109587377377e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5220 + }, + { + "epoch": 1.5216758801280186, + "flow_matching_loss": 0.024272217974066736, + "grad_norm": 0.12956129014492035, + "learning_rate": 2.8750511099616047e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5230 + }, + { + "epoch": 1.524585394239162, + "flow_matching_loss": 0.023762484639883043, + "grad_norm": 0.148040309548378, + "learning_rate": 2.8743895903687143e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5240 + }, + { + "epoch": 1.5274949083503055, + "flow_matching_loss": 0.02434292873367667, + "grad_norm": 0.1413414627313614, + "learning_rate": 2.8737264007628753e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5250 + }, + { + "epoch": 1.5304044224614488, + "flow_matching_loss": 0.027537889406085016, + "grad_norm": 0.18691430985927582, + "learning_rate": 2.8730615419499247e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5260 + }, + { + "epoch": 1.5333139365725925, + "flow_matching_loss": 0.023638374730944635, + "grad_norm": 0.1357005536556244, + "learning_rate": 2.8723950147377303e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5270 + }, + { + "epoch": 1.5362234506837358, + "flow_matching_loss": 0.023787632025778292, + "grad_norm": 0.1782829910516739, + "learning_rate": 2.871726819936184e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5280 + }, + { + "epoch": 1.5391329647948793, + "flow_matching_loss": 0.023772339895367624, + "grad_norm": 0.11804739385843277, + "learning_rate": 2.8710569583572068e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5290 + }, + { + "epoch": 1.5420424789060228, + "flow_matching_loss": 0.024434016458690165, + "grad_norm": 0.12433389574289322, + "learning_rate": 2.870385430814742e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5300 + }, + { + "epoch": 1.544951993017166, + "flow_matching_loss": 0.023102836310863496, + "grad_norm": 0.13909971714019775, + "learning_rate": 2.8697122381247605e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5310 + }, + { + "epoch": 1.5478615071283097, + "flow_matching_loss": 0.025249293074011803, + "grad_norm": 0.11132974922657013, + "learning_rate": 2.8690373811052545e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5320 + }, + { + "epoch": 1.550771021239453, + "flow_matching_loss": 0.0230326060205698, + "grad_norm": 0.19160541892051697, + "learning_rate": 2.8683608605762378e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5330 + }, + { + "epoch": 1.5536805353505965, + "flow_matching_loss": 0.02446903344243765, + "grad_norm": 0.1285342425107956, + "learning_rate": 2.8676826773597485e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5340 + }, + { + "epoch": 1.55659004946174, + "flow_matching_loss": 0.022762046940624715, + "grad_norm": 0.15853305160999298, + "learning_rate": 2.8670028322798413e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5350 + }, + { + "epoch": 1.5594995635728832, + "flow_matching_loss": 0.02378190355375409, + "grad_norm": 0.1239461824297905, + "learning_rate": 2.8663213261625932e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5360 + }, + { + "epoch": 1.562409077684027, + "flow_matching_loss": 0.024376974627375602, + "grad_norm": 0.14243923127651215, + "learning_rate": 2.865638159836098e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5370 + }, + { + "epoch": 1.5653185917951702, + "flow_matching_loss": 0.024412678368389607, + "grad_norm": 0.13134540617465973, + "learning_rate": 2.8649533341304677e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5380 + }, + { + "epoch": 1.5682281059063137, + "flow_matching_loss": 0.026199351996183395, + "grad_norm": 0.11884168535470963, + "learning_rate": 2.8642668498778297e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5390 + }, + { + "epoch": 1.5711376200174572, + "flow_matching_loss": 0.02553892768919468, + "grad_norm": 0.20074215531349182, + "learning_rate": 2.8635787079123268e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5400 + }, + { + "epoch": 1.5740471341286004, + "flow_matching_loss": 0.024791746214032174, + "grad_norm": 0.13206416368484497, + "learning_rate": 2.8628889090701175e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5410 + }, + { + "epoch": 1.576956648239744, + "flow_matching_loss": 0.025298931822180747, + "grad_norm": 0.13686934113502502, + "learning_rate": 2.862197454189371e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5420 + }, + { + "epoch": 1.5798661623508874, + "flow_matching_loss": 0.02310339715331793, + "grad_norm": 0.1223936527967453, + "learning_rate": 2.8615043441102708e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5430 + }, + { + "epoch": 1.5827756764620309, + "flow_matching_loss": 0.022452268935739993, + "grad_norm": 0.17772842943668365, + "learning_rate": 2.860809579675011e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5440 + }, + { + "epoch": 1.5856851905731744, + "flow_matching_loss": 0.023385263234376907, + "grad_norm": 0.12095744162797928, + "learning_rate": 2.860113161727796e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5450 + }, + { + "epoch": 1.5885947046843176, + "flow_matching_loss": 0.021763797290623187, + "grad_norm": 0.17619244754314423, + "learning_rate": 2.8594150911148393e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5460 + }, + { + "epoch": 1.5915042187954611, + "flow_matching_loss": 0.024990706518292428, + "grad_norm": 0.1031036376953125, + "learning_rate": 2.8587153686843626e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5470 + }, + { + "epoch": 1.5944137329066046, + "flow_matching_loss": 0.024873621948063373, + "grad_norm": 0.13219992816448212, + "learning_rate": 2.858013995286594e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5480 + }, + { + "epoch": 1.597323247017748, + "flow_matching_loss": 0.024971690960228443, + "grad_norm": 0.16169802844524384, + "learning_rate": 2.857310971773769e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5490 + }, + { + "epoch": 1.6002327611288916, + "flow_matching_loss": 0.028413051553070546, + "grad_norm": 0.11827974021434784, + "learning_rate": 2.8566062990001274e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5500 + }, + { + "epoch": 1.6031422752400348, + "flow_matching_loss": 0.023660877905786037, + "grad_norm": 0.1520756036043167, + "learning_rate": 2.8558999778219126e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5510 + }, + { + "epoch": 1.6060517893511783, + "flow_matching_loss": 0.023904439248144626, + "grad_norm": 0.12178356945514679, + "learning_rate": 2.8551920090973722e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5520 + }, + { + "epoch": 1.6089613034623218, + "flow_matching_loss": 0.02234454108402133, + "grad_norm": 0.1283026784658432, + "learning_rate": 2.854482393686754e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5530 + }, + { + "epoch": 1.6118708175734653, + "flow_matching_loss": 0.025979840941727162, + "grad_norm": 0.1324464976787567, + "learning_rate": 2.8537711324523086e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5540 + }, + { + "epoch": 1.6147803316846088, + "flow_matching_loss": 0.0235435351729393, + "grad_norm": 0.12227553129196167, + "learning_rate": 2.8530582262582845e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5550 + }, + { + "epoch": 1.617689845795752, + "flow_matching_loss": 0.02615090161561966, + "grad_norm": 0.13081441819667816, + "learning_rate": 2.8523436759709306e-05, + "loss": 0.0262, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5560 + }, + { + "epoch": 1.6205993599068955, + "flow_matching_loss": 0.024121651984751226, + "grad_norm": 0.12817992269992828, + "learning_rate": 2.8516274824584926e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5570 + }, + { + "epoch": 1.623508874018039, + "flow_matching_loss": 0.02755750883370638, + "grad_norm": 0.1476633995771408, + "learning_rate": 2.8509096465912136e-05, + "loss": 0.0276, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5580 + }, + { + "epoch": 1.6264183881291823, + "flow_matching_loss": 0.024363415874540807, + "grad_norm": 0.11622324585914612, + "learning_rate": 2.8501901692413315e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5590 + }, + { + "epoch": 1.629327902240326, + "flow_matching_loss": 0.02761650551110506, + "grad_norm": 0.13621345162391663, + "learning_rate": 2.8494690512830788e-05, + "loss": 0.0276, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5600 + }, + { + "epoch": 1.6322374163514692, + "flow_matching_loss": 0.02598667871206999, + "grad_norm": 0.13410471379756927, + "learning_rate": 2.8487462935926823e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5610 + }, + { + "epoch": 1.6351469304626127, + "flow_matching_loss": 0.024090498220175505, + "grad_norm": 0.10759177058935165, + "learning_rate": 2.8480218970483606e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5620 + }, + { + "epoch": 1.6380564445737562, + "flow_matching_loss": 0.02571474090218544, + "grad_norm": 0.14017897844314575, + "learning_rate": 2.847295862530324e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5630 + }, + { + "epoch": 1.6409659586848995, + "flow_matching_loss": 0.02272211145609617, + "grad_norm": 0.13425448536872864, + "learning_rate": 2.846568190920773e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5640 + }, + { + "epoch": 1.6438754727960432, + "flow_matching_loss": 0.02647576853632927, + "grad_norm": 0.14160151779651642, + "learning_rate": 2.8458388831038965e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5650 + }, + { + "epoch": 1.6467849869071864, + "flow_matching_loss": 0.02350055743008852, + "grad_norm": 0.16536302864551544, + "learning_rate": 2.8451079399658725e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5660 + }, + { + "epoch": 1.64969450101833, + "flow_matching_loss": 0.02632702998816967, + "grad_norm": 0.2214515656232834, + "learning_rate": 2.8443753623948665e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5670 + }, + { + "epoch": 1.6526040151294734, + "flow_matching_loss": 0.021847856417298316, + "grad_norm": 0.1733960509300232, + "learning_rate": 2.8436411512810288e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5680 + }, + { + "epoch": 1.6555135292406167, + "flow_matching_loss": 0.026708765514194967, + "grad_norm": 0.1213567927479744, + "learning_rate": 2.842905307516495e-05, + "loss": 0.0267, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5690 + }, + { + "epoch": 1.6584230433517604, + "flow_matching_loss": 0.021139498427510263, + "grad_norm": 0.13028456270694733, + "learning_rate": 2.8421678319953854e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5700 + }, + { + "epoch": 1.6613325574629036, + "flow_matching_loss": 0.026438825018703937, + "grad_norm": 0.17163264751434326, + "learning_rate": 2.841428725613801e-05, + "loss": 0.0264, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5710 + }, + { + "epoch": 1.6642420715740471, + "flow_matching_loss": 0.024750666134059428, + "grad_norm": 0.1651315540075302, + "learning_rate": 2.8406879892698272e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5720 + }, + { + "epoch": 1.6671515856851906, + "flow_matching_loss": 0.02969774082303047, + "grad_norm": 0.15913154184818268, + "learning_rate": 2.8399456238635274e-05, + "loss": 0.0297, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5730 + }, + { + "epoch": 1.6700610997963339, + "flow_matching_loss": 0.02500296998769045, + "grad_norm": 0.19016505777835846, + "learning_rate": 2.8392016302969457e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5740 + }, + { + "epoch": 1.6729706139074776, + "flow_matching_loss": 0.022891916893422605, + "grad_norm": 0.11438190191984177, + "learning_rate": 2.8384560094741055e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5750 + }, + { + "epoch": 1.6758801280186209, + "flow_matching_loss": 0.02271317131817341, + "grad_norm": 0.13244907557964325, + "learning_rate": 2.8377087623010054e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5760 + }, + { + "epoch": 1.6787896421297643, + "flow_matching_loss": 0.02378838285803795, + "grad_norm": 0.15216751396656036, + "learning_rate": 2.8369598896856213e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5770 + }, + { + "epoch": 1.6816991562409078, + "flow_matching_loss": 0.02395770289003849, + "grad_norm": 0.12673285603523254, + "learning_rate": 2.836209392537904e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5780 + }, + { + "epoch": 1.684608670352051, + "flow_matching_loss": 0.021024778392165898, + "grad_norm": 0.125627338886261, + "learning_rate": 2.8354572717697787e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5790 + }, + { + "epoch": 1.6875181844631948, + "flow_matching_loss": 0.023751809634268282, + "grad_norm": 0.12152893096208572, + "learning_rate": 2.8347035282951428e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5800 + }, + { + "epoch": 1.690427698574338, + "flow_matching_loss": 0.02351013571023941, + "grad_norm": 0.13972081243991852, + "learning_rate": 2.8339481630298653e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5810 + }, + { + "epoch": 1.6933372126854815, + "flow_matching_loss": 0.022940328065305948, + "grad_norm": 0.11660003662109375, + "learning_rate": 2.833191176891787e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5820 + }, + { + "epoch": 1.696246726796625, + "flow_matching_loss": 0.02358836680650711, + "grad_norm": 0.12315183877944946, + "learning_rate": 2.832432570800717e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5830 + }, + { + "epoch": 1.6991562409077683, + "flow_matching_loss": 0.023017019405961035, + "grad_norm": 0.15191330015659332, + "learning_rate": 2.8316723456784332e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5840 + }, + { + "epoch": 1.702065755018912, + "flow_matching_loss": 0.023782576899975538, + "grad_norm": 0.19321954250335693, + "learning_rate": 2.8309105024486808e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5850 + }, + { + "epoch": 1.7049752691300553, + "flow_matching_loss": 0.023656392749398947, + "grad_norm": 0.12517893314361572, + "learning_rate": 2.830147042037172e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5860 + }, + { + "epoch": 1.7078847832411987, + "flow_matching_loss": 0.02231073509901762, + "grad_norm": 0.10884521901607513, + "learning_rate": 2.8293819653715816e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5870 + }, + { + "epoch": 1.7107942973523422, + "flow_matching_loss": 0.024887533392757177, + "grad_norm": 0.11498996615409851, + "learning_rate": 2.828615273381551e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5880 + }, + { + "epoch": 1.7137038114634855, + "flow_matching_loss": 0.0203475589863956, + "grad_norm": 0.13862760365009308, + "learning_rate": 2.827846966998683e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5890 + }, + { + "epoch": 1.7166133255746292, + "flow_matching_loss": 0.02359612174332142, + "grad_norm": 0.159555584192276, + "learning_rate": 2.8270770471565422e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5900 + }, + { + "epoch": 1.7195228396857725, + "flow_matching_loss": 0.022271190676838158, + "grad_norm": 0.14153800904750824, + "learning_rate": 2.826305514790654e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5910 + }, + { + "epoch": 1.722432353796916, + "flow_matching_loss": 0.025022901594638824, + "grad_norm": 0.1330643892288208, + "learning_rate": 2.825532370838503e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5920 + }, + { + "epoch": 1.7253418679080594, + "flow_matching_loss": 0.02641751114279032, + "grad_norm": 0.18230664730072021, + "learning_rate": 2.824757616239532e-05, + "loss": 0.0264, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5930 + }, + { + "epoch": 1.7282513820192027, + "flow_matching_loss": 0.025095426104962827, + "grad_norm": 0.1312989443540573, + "learning_rate": 2.8239812519351404e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5940 + }, + { + "epoch": 1.7311608961303462, + "flow_matching_loss": 0.026615205220878124, + "grad_norm": 0.20917263627052307, + "learning_rate": 2.823203278868685e-05, + "loss": 0.0266, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5950 + }, + { + "epoch": 1.7340704102414897, + "flow_matching_loss": 0.024156640376895668, + "grad_norm": 0.14870581030845642, + "learning_rate": 2.8224236979854752e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5960 + }, + { + "epoch": 1.7369799243526332, + "flow_matching_loss": 0.022256787680089474, + "grad_norm": 0.14455564320087433, + "learning_rate": 2.821642510232776e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5970 + }, + { + "epoch": 1.7398894384637766, + "flow_matching_loss": 0.021477902121841908, + "grad_norm": 0.12255280464887619, + "learning_rate": 2.8208597165598046e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5980 + }, + { + "epoch": 1.74279895257492, + "flow_matching_loss": 0.02433424610644579, + "grad_norm": 0.1553295999765396, + "learning_rate": 2.8200753179177285e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 5990 + }, + { + "epoch": 1.7457084666860634, + "flow_matching_loss": 0.022223322093486785, + "grad_norm": 0.11468901485204697, + "learning_rate": 2.819289315259666e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6000 + }, + { + "epoch": 1.7486179807972069, + "flow_matching_loss": 0.024454742297530176, + "grad_norm": 0.15156148374080658, + "learning_rate": 2.8185017095406845e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6010 + }, + { + "epoch": 1.7515274949083504, + "flow_matching_loss": 0.024142324365675448, + "grad_norm": 0.14907966554164886, + "learning_rate": 2.8177125017177998e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6020 + }, + { + "epoch": 1.7544370090194938, + "flow_matching_loss": 0.02749516796320677, + "grad_norm": 0.19960173964500427, + "learning_rate": 2.8169216927499727e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6030 + }, + { + "epoch": 1.757346523130637, + "flow_matching_loss": 0.021468933671712875, + "grad_norm": 0.15116281807422638, + "learning_rate": 2.816129283598112e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6040 + }, + { + "epoch": 1.7602560372417806, + "flow_matching_loss": 0.023748036101460458, + "grad_norm": 0.1070428192615509, + "learning_rate": 2.815335275225068e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6050 + }, + { + "epoch": 1.763165551352924, + "flow_matching_loss": 0.023744091391563416, + "grad_norm": 0.12550534307956696, + "learning_rate": 2.8145396685956374e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6060 + }, + { + "epoch": 1.7660750654640673, + "flow_matching_loss": 0.023046823032200337, + "grad_norm": 0.1285734325647354, + "learning_rate": 2.813742464676556e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6070 + }, + { + "epoch": 1.768984579575211, + "flow_matching_loss": 0.02782214041799307, + "grad_norm": 0.12211577594280243, + "learning_rate": 2.8129436644365025e-05, + "loss": 0.0278, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6080 + }, + { + "epoch": 1.7718940936863543, + "flow_matching_loss": 0.023615209385752678, + "grad_norm": 0.13875730335712433, + "learning_rate": 2.8121432688460938e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6090 + }, + { + "epoch": 1.7748036077974978, + "flow_matching_loss": 0.02230990380048752, + "grad_norm": 0.13857397437095642, + "learning_rate": 2.8113412788778867e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6100 + }, + { + "epoch": 1.7777131219086413, + "flow_matching_loss": 0.024903105199337007, + "grad_norm": 0.14385561645030975, + "learning_rate": 2.8105376955063744e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6110 + }, + { + "epoch": 1.7806226360197845, + "flow_matching_loss": 0.02554260715842247, + "grad_norm": 0.1228492334485054, + "learning_rate": 2.8097325197079862e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6120 + }, + { + "epoch": 1.7835321501309283, + "flow_matching_loss": 0.024579497054219246, + "grad_norm": 0.12209916859865189, + "learning_rate": 2.808925752461087e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6130 + }, + { + "epoch": 1.7864416642420715, + "flow_matching_loss": 0.02442519124597311, + "grad_norm": 0.152769535779953, + "learning_rate": 2.808117394745975e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6140 + }, + { + "epoch": 1.789351178353215, + "flow_matching_loss": 0.02127491161227226, + "grad_norm": 0.10569784045219421, + "learning_rate": 2.807307447544881e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6150 + }, + { + "epoch": 1.7922606924643585, + "flow_matching_loss": 0.023942339792847635, + "grad_norm": 0.12598398327827454, + "learning_rate": 2.806495911841967e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6160 + }, + { + "epoch": 1.7951702065755017, + "flow_matching_loss": 0.020600279606878758, + "grad_norm": 0.1132965087890625, + "learning_rate": 2.8056827886233255e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6170 + }, + { + "epoch": 1.7980797206866455, + "flow_matching_loss": 0.023059160634875297, + "grad_norm": 0.1447487473487854, + "learning_rate": 2.8048680788769783e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6180 + }, + { + "epoch": 1.8009892347977887, + "flow_matching_loss": 0.022303610946983098, + "grad_norm": 0.15869535505771637, + "learning_rate": 2.8040517835928742e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6190 + }, + { + "epoch": 1.8038987489089322, + "flow_matching_loss": 0.02276346329599619, + "grad_norm": 0.17212027311325073, + "learning_rate": 2.803233903762889e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6200 + }, + { + "epoch": 1.8068082630200757, + "flow_matching_loss": 0.024715935438871385, + "grad_norm": 0.10809541493654251, + "learning_rate": 2.8024144403808235e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6210 + }, + { + "epoch": 1.809717777131219, + "flow_matching_loss": 0.021738110389560462, + "grad_norm": 0.12706105411052704, + "learning_rate": 2.8015933944424037e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6220 + }, + { + "epoch": 1.8126272912423627, + "flow_matching_loss": 0.023066115751862525, + "grad_norm": 0.1406761109828949, + "learning_rate": 2.800770766945277e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6230 + }, + { + "epoch": 1.815536805353506, + "flow_matching_loss": 0.024639014899730683, + "grad_norm": 0.123615562915802, + "learning_rate": 2.7999465588890135e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6240 + }, + { + "epoch": 1.8184463194646494, + "flow_matching_loss": 0.022005772963166238, + "grad_norm": 0.16174384951591492, + "learning_rate": 2.799120771275105e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6250 + }, + { + "epoch": 1.821355833575793, + "flow_matching_loss": 0.022609811462461948, + "grad_norm": 0.11071781814098358, + "learning_rate": 2.7982934051069597e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6260 + }, + { + "epoch": 1.8242653476869362, + "flow_matching_loss": 0.022384561970829962, + "grad_norm": 0.12078134715557098, + "learning_rate": 2.7974644613899063e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6270 + }, + { + "epoch": 1.8271748617980799, + "flow_matching_loss": 0.020374797843396665, + "grad_norm": 0.10256242007017136, + "learning_rate": 2.796633941131189e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6280 + }, + { + "epoch": 1.8300843759092231, + "flow_matching_loss": 0.024509489163756372, + "grad_norm": 0.15368029475212097, + "learning_rate": 2.795801845339969e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6290 + }, + { + "epoch": 1.8329938900203666, + "flow_matching_loss": 0.0229819156229496, + "grad_norm": 0.1329030841588974, + "learning_rate": 2.7949681750273208e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6300 + }, + { + "epoch": 1.83590340413151, + "flow_matching_loss": 0.02185848243534565, + "grad_norm": 0.11552242189645767, + "learning_rate": 2.7941329312062322e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6310 + }, + { + "epoch": 1.8388129182426534, + "flow_matching_loss": 0.022704438865184785, + "grad_norm": 0.14395961165428162, + "learning_rate": 2.7932961148916037e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6320 + }, + { + "epoch": 1.841722432353797, + "flow_matching_loss": 0.024495299346745013, + "grad_norm": 0.12317883968353271, + "learning_rate": 2.7924577271002456e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6330 + }, + { + "epoch": 1.8446319464649403, + "flow_matching_loss": 0.02166303638368845, + "grad_norm": 0.10458696633577347, + "learning_rate": 2.7916177688508782e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6340 + }, + { + "epoch": 1.8475414605760838, + "flow_matching_loss": 0.02768204566091299, + "grad_norm": 0.14902089536190033, + "learning_rate": 2.7907762411641302e-05, + "loss": 0.0277, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6350 + }, + { + "epoch": 1.8504509746872273, + "flow_matching_loss": 0.02234783284366131, + "grad_norm": 0.15589666366577148, + "learning_rate": 2.7899331450625367e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6360 + }, + { + "epoch": 1.8533604887983706, + "flow_matching_loss": 0.022192906867712737, + "grad_norm": 0.13379280269145966, + "learning_rate": 2.7890884815705397e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6370 + }, + { + "epoch": 1.8562700029095143, + "flow_matching_loss": 0.023513520322740077, + "grad_norm": 0.17094184458255768, + "learning_rate": 2.788242251714484e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6380 + }, + { + "epoch": 1.8591795170206575, + "flow_matching_loss": 0.02502396646887064, + "grad_norm": 0.1077052429318428, + "learning_rate": 2.787394456522619e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6390 + }, + { + "epoch": 1.862089031131801, + "flow_matching_loss": 0.025996742770075798, + "grad_norm": 0.15695270895957947, + "learning_rate": 2.7865450970250965e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6400 + }, + { + "epoch": 1.8649985452429445, + "flow_matching_loss": 0.025718207098543645, + "grad_norm": 0.1781679391860962, + "learning_rate": 2.7856941742539676e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6410 + }, + { + "epoch": 1.8679080593540878, + "flow_matching_loss": 0.02404104024171829, + "grad_norm": 0.12326450645923615, + "learning_rate": 2.784841689243184e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6420 + }, + { + "epoch": 1.8708175734652313, + "flow_matching_loss": 0.02299760403111577, + "grad_norm": 0.16992108523845673, + "learning_rate": 2.783987643028595e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6430 + }, + { + "epoch": 1.8737270875763747, + "flow_matching_loss": 0.024382176995277404, + "grad_norm": 0.1585732251405716, + "learning_rate": 2.783132036647948e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6440 + }, + { + "epoch": 1.8766366016875182, + "flow_matching_loss": 0.024005651660263538, + "grad_norm": 0.12170694023370743, + "learning_rate": 2.7822748711408852e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6450 + }, + { + "epoch": 1.8795461157986617, + "flow_matching_loss": 0.024074002355337142, + "grad_norm": 0.17226369678974152, + "learning_rate": 2.7814161475489428e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6460 + }, + { + "epoch": 1.882455629909805, + "flow_matching_loss": 0.02101823454722762, + "grad_norm": 0.13594383001327515, + "learning_rate": 2.780555866915552e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6470 + }, + { + "epoch": 1.8853651440209485, + "flow_matching_loss": 0.022756479680538177, + "grad_norm": 0.12076950818300247, + "learning_rate": 2.7796940302860338e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6480 + }, + { + "epoch": 1.888274658132092, + "flow_matching_loss": 0.02471319381147623, + "grad_norm": 0.12669703364372253, + "learning_rate": 2.7788306387076018e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6490 + }, + { + "epoch": 1.8911841722432354, + "flow_matching_loss": 0.02422335185110569, + "grad_norm": 0.12755130231380463, + "learning_rate": 2.7779656932293584e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6500 + }, + { + "epoch": 1.894093686354379, + "flow_matching_loss": 0.02637392599135637, + "grad_norm": 0.15551277995109558, + "learning_rate": 2.777099194902293e-05, + "loss": 0.0264, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6510 + }, + { + "epoch": 1.8970032004655222, + "flow_matching_loss": 0.023286672495305537, + "grad_norm": 0.17286254465579987, + "learning_rate": 2.776231144779283e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6520 + }, + { + "epoch": 1.8999127145766657, + "flow_matching_loss": 0.023440809547901155, + "grad_norm": 0.13472677767276764, + "learning_rate": 2.775361543915091e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6530 + }, + { + "epoch": 1.9028222286878091, + "flow_matching_loss": 0.02105284659191966, + "grad_norm": 0.1392565816640854, + "learning_rate": 2.774490393366365e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6540 + }, + { + "epoch": 1.9057317427989524, + "flow_matching_loss": 0.023928477987647058, + "grad_norm": 0.16190844774246216, + "learning_rate": 2.7736176941916346e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6550 + }, + { + "epoch": 1.9086412569100961, + "flow_matching_loss": 0.025096040964126588, + "grad_norm": 0.13632813096046448, + "learning_rate": 2.772743447451311e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6560 + }, + { + "epoch": 1.9115507710212394, + "flow_matching_loss": 0.0250669177621603, + "grad_norm": 0.13735568523406982, + "learning_rate": 2.7718676542076872e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6570 + }, + { + "epoch": 1.9144602851323829, + "flow_matching_loss": 0.02082933681085706, + "grad_norm": 0.1435137391090393, + "learning_rate": 2.770990315524934e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6580 + }, + { + "epoch": 1.9173697992435264, + "flow_matching_loss": 0.02338800337165594, + "grad_norm": 0.12594066560268402, + "learning_rate": 2.7701114324691015e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6590 + }, + { + "epoch": 1.9202793133546696, + "flow_matching_loss": 0.02435908783227205, + "grad_norm": 0.1605255901813507, + "learning_rate": 2.7692310061081145e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6600 + }, + { + "epoch": 1.9231888274658133, + "flow_matching_loss": 0.02421186976134777, + "grad_norm": 0.15296410024166107, + "learning_rate": 2.7683490375117742e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6610 + }, + { + "epoch": 1.9260983415769566, + "flow_matching_loss": 0.026341256499290467, + "grad_norm": 0.1676870882511139, + "learning_rate": 2.7674655277517556e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6620 + }, + { + "epoch": 1.9290078556881, + "flow_matching_loss": 0.0256503751501441, + "grad_norm": 0.18816497921943665, + "learning_rate": 2.7665804779016072e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6630 + }, + { + "epoch": 1.9319173697992436, + "flow_matching_loss": 0.02598706856369972, + "grad_norm": 0.15007703006267548, + "learning_rate": 2.765693889036747e-05, + "loss": 0.026, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6640 + }, + { + "epoch": 1.9348268839103868, + "flow_matching_loss": 0.028124879114329815, + "grad_norm": 0.12334592640399933, + "learning_rate": 2.764805762234465e-05, + "loss": 0.0281, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6650 + }, + { + "epoch": 1.9377363980215305, + "flow_matching_loss": 0.021554932091385128, + "grad_norm": 0.14868564903736115, + "learning_rate": 2.7639160985739182e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6660 + }, + { + "epoch": 1.9406459121326738, + "flow_matching_loss": 0.024786939658224583, + "grad_norm": 0.14767122268676758, + "learning_rate": 2.7630248991361317e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6670 + }, + { + "epoch": 1.9435554262438173, + "flow_matching_loss": 0.0213842467404902, + "grad_norm": 0.1464526206254959, + "learning_rate": 2.762132165003998e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6680 + }, + { + "epoch": 1.9464649403549608, + "flow_matching_loss": 0.022140775434672834, + "grad_norm": 0.1312238872051239, + "learning_rate": 2.7612378972622722e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6690 + }, + { + "epoch": 1.949374454466104, + "flow_matching_loss": 0.022786722145974637, + "grad_norm": 0.13585884869098663, + "learning_rate": 2.7603420969975743e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6700 + }, + { + "epoch": 1.9522839685772477, + "flow_matching_loss": 0.025080757215619087, + "grad_norm": 0.12297417968511581, + "learning_rate": 2.7594447652983862e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6710 + }, + { + "epoch": 1.955193482688391, + "flow_matching_loss": 0.02792223896831274, + "grad_norm": 0.1899918168783188, + "learning_rate": 2.7585459032550497e-05, + "loss": 0.0279, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6720 + }, + { + "epoch": 1.9581029967995345, + "flow_matching_loss": 0.024398276396095753, + "grad_norm": 0.18020114302635193, + "learning_rate": 2.7576455119597684e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6730 + }, + { + "epoch": 1.961012510910678, + "flow_matching_loss": 0.02214480806142092, + "grad_norm": 0.1152721643447876, + "learning_rate": 2.7567435925066012e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6740 + }, + { + "epoch": 1.9639220250218212, + "flow_matching_loss": 0.02736442759633064, + "grad_norm": 0.12523360550403595, + "learning_rate": 2.7558401459914665e-05, + "loss": 0.0274, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6750 + }, + { + "epoch": 1.966831539132965, + "flow_matching_loss": 0.02487059831619263, + "grad_norm": 0.1589033156633377, + "learning_rate": 2.7549351735121362e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6760 + }, + { + "epoch": 1.9697410532441082, + "flow_matching_loss": 0.025229304656386377, + "grad_norm": 0.1291133016347885, + "learning_rate": 2.7540286761682377e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6770 + }, + { + "epoch": 1.9726505673552517, + "flow_matching_loss": 0.024349964782595636, + "grad_norm": 0.15186724066734314, + "learning_rate": 2.75312065506125e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6780 + }, + { + "epoch": 1.9755600814663952, + "flow_matching_loss": 0.023083348665386437, + "grad_norm": 0.13933317363262177, + "learning_rate": 2.7522111112945052e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6790 + }, + { + "epoch": 1.9784695955775384, + "flow_matching_loss": 0.02413683496415615, + "grad_norm": 0.1157083585858345, + "learning_rate": 2.751300045973184e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6800 + }, + { + "epoch": 1.9813791096886821, + "flow_matching_loss": 0.02540582064539194, + "grad_norm": 0.1465865671634674, + "learning_rate": 2.750387460204317e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6810 + }, + { + "epoch": 1.9842886237998254, + "flow_matching_loss": 0.027507674135267734, + "grad_norm": 0.14169874787330627, + "learning_rate": 2.7494733550967827e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6820 + }, + { + "epoch": 1.9871981379109689, + "flow_matching_loss": 0.02224279996007681, + "grad_norm": 0.10891606658697128, + "learning_rate": 2.748557731761304e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6830 + }, + { + "epoch": 1.9901076520221124, + "flow_matching_loss": 0.02442383011803031, + "grad_norm": 0.14947685599327087, + "learning_rate": 2.74764059131045e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6840 + }, + { + "epoch": 1.9930171661332556, + "flow_matching_loss": 0.02324928380548954, + "grad_norm": 0.10865505039691925, + "learning_rate": 2.7467219348586322e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6850 + }, + { + "epoch": 1.9959266802443993, + "flow_matching_loss": 0.024349433742463587, + "grad_norm": 0.143776074051857, + "learning_rate": 2.7458017635221056e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6860 + }, + { + "epoch": 1.9988361943555426, + "flow_matching_loss": 0.022612627781927585, + "grad_norm": 0.13026101887226105, + "learning_rate": 2.7448800784189652e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6870 + }, + { + "epoch": 2.001745708466686, + "flow_matching_loss": 0.023839173838496208, + "grad_norm": 0.15322379767894745, + "learning_rate": 2.7439568806691448e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6880 + }, + { + "epoch": 2.0046552225778296, + "flow_matching_loss": 0.023184315394610168, + "grad_norm": 0.0937097892165184, + "learning_rate": 2.7430321713944167e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6890 + }, + { + "epoch": 2.007564736688973, + "flow_matching_loss": 0.024193538539111614, + "grad_norm": 0.15882042050361633, + "learning_rate": 2.7421059517183906e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6900 + }, + { + "epoch": 2.0104742508001165, + "flow_matching_loss": 0.02578495964407921, + "grad_norm": 0.13140550255775452, + "learning_rate": 2.7411782227665097e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6910 + }, + { + "epoch": 2.01338376491126, + "flow_matching_loss": 0.023157872818410398, + "grad_norm": 0.10482872277498245, + "learning_rate": 2.7402489856660528e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6920 + }, + { + "epoch": 2.016293279022403, + "flow_matching_loss": 0.02389764357358217, + "grad_norm": 0.16455769538879395, + "learning_rate": 2.7393182415461307e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6930 + }, + { + "epoch": 2.019202793133547, + "flow_matching_loss": 0.02121623195707798, + "grad_norm": 0.12310706824064255, + "learning_rate": 2.7383859915376853e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6940 + }, + { + "epoch": 2.02211230724469, + "flow_matching_loss": 0.023767521046102046, + "grad_norm": 0.16117440164089203, + "learning_rate": 2.7374522367734875e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6950 + }, + { + "epoch": 2.0250218213558338, + "flow_matching_loss": 0.024461878649890422, + "grad_norm": 0.16611574590206146, + "learning_rate": 2.7365169783881378e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6960 + }, + { + "epoch": 2.027931335466977, + "flow_matching_loss": 0.023503969050943853, + "grad_norm": 0.13429443538188934, + "learning_rate": 2.735580217518064e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6970 + }, + { + "epoch": 2.0308408495781203, + "flow_matching_loss": 0.02408811580389738, + "grad_norm": 0.130142942070961, + "learning_rate": 2.7346419553015175e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6980 + }, + { + "epoch": 2.033750363689264, + "flow_matching_loss": 0.02195131666958332, + "grad_norm": 0.13351832330226898, + "learning_rate": 2.733702192878577e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 6990 + }, + { + "epoch": 2.0366598778004072, + "flow_matching_loss": 0.022102522291243078, + "grad_norm": 0.1330736130475998, + "learning_rate": 2.732760931391141e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7000 + }, + { + "epoch": 2.039569391911551, + "flow_matching_loss": 0.024315168149769306, + "grad_norm": 0.15428945422172546, + "learning_rate": 2.731818171982932e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7010 + }, + { + "epoch": 2.042478906022694, + "flow_matching_loss": 0.021205801982432604, + "grad_norm": 0.119630366563797, + "learning_rate": 2.730873915799491e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7020 + }, + { + "epoch": 2.0453884201338375, + "flow_matching_loss": 0.021353614702820777, + "grad_norm": 0.1538415104150772, + "learning_rate": 2.7299281639881783e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7030 + }, + { + "epoch": 2.048297934244981, + "flow_matching_loss": 0.023453503660857678, + "grad_norm": 0.14653730392456055, + "learning_rate": 2.728980917698172e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7040 + }, + { + "epoch": 2.0512074483561245, + "flow_matching_loss": 0.02269607512280345, + "grad_norm": 0.1451479196548462, + "learning_rate": 2.7280321780804655e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7050 + }, + { + "epoch": 2.054116962467268, + "flow_matching_loss": 0.021279280725866555, + "grad_norm": 0.11608699709177017, + "learning_rate": 2.7270819462878666e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7060 + }, + { + "epoch": 2.0570264765784114, + "flow_matching_loss": 0.024070763029158115, + "grad_norm": 0.13035598397254944, + "learning_rate": 2.7261302234749965e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7070 + }, + { + "epoch": 2.0599359906895547, + "flow_matching_loss": 0.02035402078181505, + "grad_norm": 0.1640634834766388, + "learning_rate": 2.7251770107982888e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7080 + }, + { + "epoch": 2.0628455048006984, + "flow_matching_loss": 0.022526257671415806, + "grad_norm": 0.15992850065231323, + "learning_rate": 2.7242223094159856e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7090 + }, + { + "epoch": 2.0657550189118417, + "flow_matching_loss": 0.022197386249899864, + "grad_norm": 0.10155229270458221, + "learning_rate": 2.7232661204881408e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7100 + }, + { + "epoch": 2.0686645330229854, + "flow_matching_loss": 0.022537300549447536, + "grad_norm": 0.12571923434734344, + "learning_rate": 2.7223084451766123e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7110 + }, + { + "epoch": 2.0715740471341286, + "flow_matching_loss": 0.02340607326477766, + "grad_norm": 0.10500054806470871, + "learning_rate": 2.721349284645067e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7120 + }, + { + "epoch": 2.074483561245272, + "flow_matching_loss": 0.024130824208259582, + "grad_norm": 0.14848636090755463, + "learning_rate": 2.7203886400589752e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7130 + }, + { + "epoch": 2.0773930753564156, + "flow_matching_loss": 0.0220431299880147, + "grad_norm": 0.1409723311662674, + "learning_rate": 2.7194265125856105e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7140 + }, + { + "epoch": 2.080302589467559, + "flow_matching_loss": 0.020620698016136883, + "grad_norm": 0.13927596807479858, + "learning_rate": 2.718462903394049e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7150 + }, + { + "epoch": 2.0832121035787026, + "flow_matching_loss": 0.024121594615280628, + "grad_norm": 0.13853104412555695, + "learning_rate": 2.7174978136551662e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7160 + }, + { + "epoch": 2.086121617689846, + "flow_matching_loss": 0.023926084488630296, + "grad_norm": 0.1819310039281845, + "learning_rate": 2.716531244541637e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7170 + }, + { + "epoch": 2.089031131800989, + "flow_matching_loss": 0.02362675331532955, + "grad_norm": 0.17667999863624573, + "learning_rate": 2.715563197227934e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7180 + }, + { + "epoch": 2.091940645912133, + "flow_matching_loss": 0.023831562884151936, + "grad_norm": 0.1372445523738861, + "learning_rate": 2.714593672890327e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7190 + }, + { + "epoch": 2.094850160023276, + "flow_matching_loss": 0.022474059835076332, + "grad_norm": 0.1501215547323227, + "learning_rate": 2.7136226727068783e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7200 + }, + { + "epoch": 2.0977596741344193, + "flow_matching_loss": 0.022777984756976365, + "grad_norm": 0.1145797148346901, + "learning_rate": 2.712650197857445e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7210 + }, + { + "epoch": 2.100669188245563, + "flow_matching_loss": 0.02060458166524768, + "grad_norm": 0.101673424243927, + "learning_rate": 2.7116762495236763e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7220 + }, + { + "epoch": 2.1035787023567063, + "flow_matching_loss": 0.023747635819017888, + "grad_norm": 0.1329323649406433, + "learning_rate": 2.7107008288890106e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7230 + }, + { + "epoch": 2.10648821646785, + "flow_matching_loss": 0.025030968617647885, + "grad_norm": 0.13829123973846436, + "learning_rate": 2.709723937138676e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7240 + }, + { + "epoch": 2.1093977305789933, + "flow_matching_loss": 0.02047284012660384, + "grad_norm": 0.1332845240831375, + "learning_rate": 2.7087455754596883e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7250 + }, + { + "epoch": 2.112307244690137, + "flow_matching_loss": 0.020757609233260154, + "grad_norm": 0.1482817381620407, + "learning_rate": 2.7077657450408498e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7260 + }, + { + "epoch": 2.1152167588012802, + "flow_matching_loss": 0.02423451514914632, + "grad_norm": 0.14302097260951996, + "learning_rate": 2.7067844470727456e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7270 + }, + { + "epoch": 2.1181262729124235, + "flow_matching_loss": 0.02424383144825697, + "grad_norm": 0.13594865798950195, + "learning_rate": 2.7058016827477455e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7280 + }, + { + "epoch": 2.121035787023567, + "flow_matching_loss": 0.025583548191934823, + "grad_norm": 0.16080118715763092, + "learning_rate": 2.7048174532600018e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7290 + }, + { + "epoch": 2.1239453011347105, + "flow_matching_loss": 0.02205797899514437, + "grad_norm": 0.14736150205135345, + "learning_rate": 2.7038317598054455e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7300 + }, + { + "epoch": 2.1268548152458537, + "flow_matching_loss": 0.02305854605510831, + "grad_norm": 0.15005207061767578, + "learning_rate": 2.702844603581787e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7310 + }, + { + "epoch": 2.1297643293569974, + "flow_matching_loss": 0.025100331380963327, + "grad_norm": 0.11895003914833069, + "learning_rate": 2.701855985788514e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7320 + }, + { + "epoch": 2.1326738434681407, + "flow_matching_loss": 0.022786409966647624, + "grad_norm": 0.09577933698892593, + "learning_rate": 2.7008659076268912e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7330 + }, + { + "epoch": 2.1355833575792844, + "flow_matching_loss": 0.02300622072070837, + "grad_norm": 0.09562094509601593, + "learning_rate": 2.6998743702999562e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7340 + }, + { + "epoch": 2.1384928716904277, + "flow_matching_loss": 0.02337186336517334, + "grad_norm": 0.1288784295320511, + "learning_rate": 2.6988813750125202e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7350 + }, + { + "epoch": 2.141402385801571, + "flow_matching_loss": 0.027492752112448216, + "grad_norm": 0.146310493350029, + "learning_rate": 2.6978869229711668e-05, + "loss": 0.0275, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7360 + }, + { + "epoch": 2.1443118999127146, + "flow_matching_loss": 0.0257422361522913, + "grad_norm": 0.159430593252182, + "learning_rate": 2.6968910153842484e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7370 + }, + { + "epoch": 2.147221414023858, + "flow_matching_loss": 0.024032287951558828, + "grad_norm": 0.126685231924057, + "learning_rate": 2.6958936534618874e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7380 + }, + { + "epoch": 2.1501309281350016, + "flow_matching_loss": 0.025615565851330756, + "grad_norm": 0.1535138040781021, + "learning_rate": 2.694894838415971e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7390 + }, + { + "epoch": 2.153040442246145, + "flow_matching_loss": 0.020617507863789797, + "grad_norm": 0.11991406977176666, + "learning_rate": 2.6938945714601555e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7400 + }, + { + "epoch": 2.155949956357288, + "flow_matching_loss": 0.022683351300656796, + "grad_norm": 0.1213471069931984, + "learning_rate": 2.6928928538098587e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7410 + }, + { + "epoch": 2.158859470468432, + "flow_matching_loss": 0.02255390156060457, + "grad_norm": 0.15761741995811462, + "learning_rate": 2.6918896866822615e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7420 + }, + { + "epoch": 2.161768984579575, + "flow_matching_loss": 0.022359190322458745, + "grad_norm": 0.11058831959962845, + "learning_rate": 2.690885071296308e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7430 + }, + { + "epoch": 2.164678498690719, + "flow_matching_loss": 0.022427423670887948, + "grad_norm": 0.1405395269393921, + "learning_rate": 2.6898790088726993e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7440 + }, + { + "epoch": 2.167588012801862, + "flow_matching_loss": 0.022498826775699855, + "grad_norm": 0.11225788295269012, + "learning_rate": 2.6888715006338968e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7450 + }, + { + "epoch": 2.1704975269130053, + "flow_matching_loss": 0.025171638838946818, + "grad_norm": 0.1452331244945526, + "learning_rate": 2.6878625478041172e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7460 + }, + { + "epoch": 2.173407041024149, + "flow_matching_loss": 0.022293405421078206, + "grad_norm": 0.12427420169115067, + "learning_rate": 2.6868521516093342e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7470 + }, + { + "epoch": 2.1763165551352923, + "flow_matching_loss": 0.02091340087354183, + "grad_norm": 0.14677052199840546, + "learning_rate": 2.6858403132772745e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7480 + }, + { + "epoch": 2.179226069246436, + "flow_matching_loss": 0.020881787221878768, + "grad_norm": 0.09985506534576416, + "learning_rate": 2.6848270340374162e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7490 + }, + { + "epoch": 2.1821355833575793, + "flow_matching_loss": 0.025448531471192838, + "grad_norm": 0.19415126740932465, + "learning_rate": 2.68381231512099e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7500 + }, + { + "epoch": 2.1850450974687226, + "flow_matching_loss": 0.022673538140952586, + "grad_norm": 0.11214090883731842, + "learning_rate": 2.6827961577609745e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7510 + }, + { + "epoch": 2.1879546115798663, + "flow_matching_loss": 0.024588159658014773, + "grad_norm": 0.11934559047222137, + "learning_rate": 2.681778563192097e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7520 + }, + { + "epoch": 2.1908641256910095, + "flow_matching_loss": 0.02155427997931838, + "grad_norm": 0.10865949839353561, + "learning_rate": 2.6807595326508308e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7530 + }, + { + "epoch": 2.1937736398021532, + "flow_matching_loss": 0.021025780774652957, + "grad_norm": 0.1212984099984169, + "learning_rate": 2.679739067375394e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7540 + }, + { + "epoch": 2.1966831539132965, + "flow_matching_loss": 0.023167931754142047, + "grad_norm": 0.1601601243019104, + "learning_rate": 2.6787171686057487e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7550 + }, + { + "epoch": 2.1995926680244398, + "flow_matching_loss": 0.025594298262149096, + "grad_norm": 0.14722830057144165, + "learning_rate": 2.677693837583597e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7560 + }, + { + "epoch": 2.2025021821355835, + "flow_matching_loss": 0.021945173386484385, + "grad_norm": 0.1345837116241455, + "learning_rate": 2.6766690755523836e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7570 + }, + { + "epoch": 2.2054116962467267, + "flow_matching_loss": 0.021834703534841536, + "grad_norm": 0.13251332938671112, + "learning_rate": 2.675642883757291e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7580 + }, + { + "epoch": 2.2083212103578704, + "flow_matching_loss": 0.020788036845624448, + "grad_norm": 0.13810966908931732, + "learning_rate": 2.674615263445239e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7590 + }, + { + "epoch": 2.2112307244690137, + "flow_matching_loss": 0.02219445798546076, + "grad_norm": 0.12760275602340698, + "learning_rate": 2.673586215864882e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7600 + }, + { + "epoch": 2.214140238580157, + "flow_matching_loss": 0.02208505179733038, + "grad_norm": 0.10139608383178711, + "learning_rate": 2.6725557422666113e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7610 + }, + { + "epoch": 2.2170497526913007, + "flow_matching_loss": 0.021924489922821522, + "grad_norm": 0.1421399563550949, + "learning_rate": 2.6715238439025493e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7620 + }, + { + "epoch": 2.219959266802444, + "flow_matching_loss": 0.023352745920419693, + "grad_norm": 0.14049403369426727, + "learning_rate": 2.6704905220265493e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7630 + }, + { + "epoch": 2.2228687809135876, + "flow_matching_loss": 0.022286269441246988, + "grad_norm": 0.17470304667949677, + "learning_rate": 2.6694557778941947e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7640 + }, + { + "epoch": 2.225778295024731, + "flow_matching_loss": 0.02379682715982199, + "grad_norm": 0.1458423137664795, + "learning_rate": 2.6684196127627977e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7650 + }, + { + "epoch": 2.228687809135874, + "flow_matching_loss": 0.028404022008180617, + "grad_norm": 0.1534554809331894, + "learning_rate": 2.6673820278913963e-05, + "loss": 0.0284, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7660 + }, + { + "epoch": 2.231597323247018, + "flow_matching_loss": 0.023241152986884117, + "grad_norm": 0.1420104205608368, + "learning_rate": 2.6663430245407544e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7670 + }, + { + "epoch": 2.234506837358161, + "flow_matching_loss": 0.022325318213552235, + "grad_norm": 0.14614583551883698, + "learning_rate": 2.6653026039733585e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7680 + }, + { + "epoch": 2.237416351469305, + "flow_matching_loss": 0.020806248486042022, + "grad_norm": 0.17567315697669983, + "learning_rate": 2.6642607674534176e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7690 + }, + { + "epoch": 2.240325865580448, + "flow_matching_loss": 0.02756620217114687, + "grad_norm": 0.14456208050251007, + "learning_rate": 2.663217516246862e-05, + "loss": 0.0276, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7700 + }, + { + "epoch": 2.2432353796915914, + "flow_matching_loss": 0.024094248563051222, + "grad_norm": 0.16751603782176971, + "learning_rate": 2.66217285162134e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7710 + }, + { + "epoch": 2.246144893802735, + "flow_matching_loss": 0.021349752321839333, + "grad_norm": 0.13401640951633453, + "learning_rate": 2.6611267748462175e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7720 + }, + { + "epoch": 2.2490544079138783, + "flow_matching_loss": 0.022900236956775188, + "grad_norm": 0.1592203974723816, + "learning_rate": 2.6600792871925764e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7730 + }, + { + "epoch": 2.2519639220250216, + "flow_matching_loss": 0.021678611263632776, + "grad_norm": 0.14335981011390686, + "learning_rate": 2.659030389933213e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7740 + }, + { + "epoch": 2.2548734361361653, + "flow_matching_loss": 0.023006318882107735, + "grad_norm": 0.13676920533180237, + "learning_rate": 2.6579800843426358e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7750 + }, + { + "epoch": 2.2577829502473086, + "flow_matching_loss": 0.023640684224665164, + "grad_norm": 0.12211540341377258, + "learning_rate": 2.656928371697067e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7760 + }, + { + "epoch": 2.2606924643584523, + "flow_matching_loss": 0.026543292962014676, + "grad_norm": 0.14078760147094727, + "learning_rate": 2.6558752532744346e-05, + "loss": 0.0265, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7770 + }, + { + "epoch": 2.2636019784695955, + "flow_matching_loss": 0.021137335523962974, + "grad_norm": 0.13074734807014465, + "learning_rate": 2.654820730354377e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7780 + }, + { + "epoch": 2.2665114925807393, + "flow_matching_loss": 0.022128908429294825, + "grad_norm": 0.13688816130161285, + "learning_rate": 2.6537648042182406e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7790 + }, + { + "epoch": 2.2694210066918825, + "flow_matching_loss": 0.021388356667011978, + "grad_norm": 0.10008224844932556, + "learning_rate": 2.6527074761490735e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7800 + }, + { + "epoch": 2.2723305208030258, + "flow_matching_loss": 0.023199679888784887, + "grad_norm": 0.12830482423305511, + "learning_rate": 2.6516487474316303e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7810 + }, + { + "epoch": 2.2752400349141695, + "flow_matching_loss": 0.019089433178305627, + "grad_norm": 0.1112048476934433, + "learning_rate": 2.650588619352365e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7820 + }, + { + "epoch": 2.2781495490253127, + "flow_matching_loss": 0.024570091720670463, + "grad_norm": 0.21612845361232758, + "learning_rate": 2.649527093199434e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7830 + }, + { + "epoch": 2.281059063136456, + "flow_matching_loss": 0.02199663147330284, + "grad_norm": 0.11955477297306061, + "learning_rate": 2.6484641702626914e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7840 + }, + { + "epoch": 2.2839685772475997, + "flow_matching_loss": 0.022126136533915996, + "grad_norm": 0.13411320745944977, + "learning_rate": 2.647399851833689e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7850 + }, + { + "epoch": 2.286878091358743, + "flow_matching_loss": 0.02306329142302275, + "grad_norm": 0.11738477647304535, + "learning_rate": 2.6463341392056735e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7860 + }, + { + "epoch": 2.2897876054698867, + "flow_matching_loss": 0.022116564400494098, + "grad_norm": 0.15441599488258362, + "learning_rate": 2.6452670336735867e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7870 + }, + { + "epoch": 2.29269711958103, + "flow_matching_loss": 0.02386444415897131, + "grad_norm": 0.1417495459318161, + "learning_rate": 2.644198536534063e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7880 + }, + { + "epoch": 2.295606633692173, + "flow_matching_loss": 0.025020633824169636, + "grad_norm": 0.19361476600170135, + "learning_rate": 2.6431286490854255e-05, + "loss": 0.025, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7890 + }, + { + "epoch": 2.298516147803317, + "flow_matching_loss": 0.02334739677608013, + "grad_norm": 0.17299745976924896, + "learning_rate": 2.6420573726276903e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7900 + }, + { + "epoch": 2.30142566191446, + "flow_matching_loss": 0.022440566774457694, + "grad_norm": 0.13052286207675934, + "learning_rate": 2.6409847084625575e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7910 + }, + { + "epoch": 2.304335176025604, + "flow_matching_loss": 0.02180586839094758, + "grad_norm": 0.11399237811565399, + "learning_rate": 2.6399106578934167e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7920 + }, + { + "epoch": 2.307244690136747, + "flow_matching_loss": 0.02272658534348011, + "grad_norm": 0.09909702092409134, + "learning_rate": 2.63883522222534e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7930 + }, + { + "epoch": 2.3101542042478904, + "flow_matching_loss": 0.023921578377485275, + "grad_norm": 0.14617331326007843, + "learning_rate": 2.6377584027650827e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7940 + }, + { + "epoch": 2.313063718359034, + "flow_matching_loss": 0.023184734024107458, + "grad_norm": 0.11481165140867233, + "learning_rate": 2.636680200821083e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7950 + }, + { + "epoch": 2.3159732324701774, + "flow_matching_loss": 0.024349329806864262, + "grad_norm": 0.1692267656326294, + "learning_rate": 2.635600617703457e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7960 + }, + { + "epoch": 2.318882746581321, + "flow_matching_loss": 0.024913828074932098, + "grad_norm": 0.13886679708957672, + "learning_rate": 2.6345196547240007e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7970 + }, + { + "epoch": 2.3217922606924644, + "flow_matching_loss": 0.022036652825772763, + "grad_norm": 0.12186431139707565, + "learning_rate": 2.6334373131961854e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7980 + }, + { + "epoch": 2.3247017748036076, + "flow_matching_loss": 0.024471455626189707, + "grad_norm": 0.14607512950897217, + "learning_rate": 2.6323535944351583e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 7990 + }, + { + "epoch": 2.3276112889147513, + "flow_matching_loss": 0.02338235005736351, + "grad_norm": 0.1369205266237259, + "learning_rate": 2.63126849975774e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8000 + }, + { + "epoch": 2.3305208030258946, + "flow_matching_loss": 0.019778738729655743, + "grad_norm": 0.11261700093746185, + "learning_rate": 2.6301820304824234e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8010 + }, + { + "epoch": 2.3334303171370383, + "flow_matching_loss": 0.02062745289877057, + "grad_norm": 0.1390094757080078, + "learning_rate": 2.6290941879293703e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8020 + }, + { + "epoch": 2.3363398312481816, + "flow_matching_loss": 0.02277110479772091, + "grad_norm": 0.12091301381587982, + "learning_rate": 2.628004973420412e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8030 + }, + { + "epoch": 2.339249345359325, + "flow_matching_loss": 0.02405534088611603, + "grad_norm": 0.15626151859760284, + "learning_rate": 2.626914388279047e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8040 + }, + { + "epoch": 2.3421588594704685, + "flow_matching_loss": 0.02230503670871258, + "grad_norm": 0.12589387595653534, + "learning_rate": 2.6258224338304394e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8050 + }, + { + "epoch": 2.345068373581612, + "flow_matching_loss": 0.022901284508407116, + "grad_norm": 0.12181161344051361, + "learning_rate": 2.6247291114014166e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8060 + }, + { + "epoch": 2.347977887692755, + "flow_matching_loss": 0.022237195260822774, + "grad_norm": 0.15568403899669647, + "learning_rate": 2.6236344223204683e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8070 + }, + { + "epoch": 2.3508874018038988, + "flow_matching_loss": 0.023258466366678478, + "grad_norm": 0.14363795518875122, + "learning_rate": 2.6225383679177453e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8080 + }, + { + "epoch": 2.353796915915042, + "flow_matching_loss": 0.022888862155377866, + "grad_norm": 0.11983133107423782, + "learning_rate": 2.6214409495250568e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8090 + }, + { + "epoch": 2.3567064300261857, + "flow_matching_loss": 0.024240120872855188, + "grad_norm": 0.11793273687362671, + "learning_rate": 2.620342168475869e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8100 + }, + { + "epoch": 2.359615944137329, + "flow_matching_loss": 0.02168186316266656, + "grad_norm": 0.16426724195480347, + "learning_rate": 2.619242026105306e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8110 + }, + { + "epoch": 2.3625254582484727, + "flow_matching_loss": 0.02401181273162365, + "grad_norm": 0.16390448808670044, + "learning_rate": 2.618140523750143e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8120 + }, + { + "epoch": 2.365434972359616, + "flow_matching_loss": 0.02446702290326357, + "grad_norm": 0.14003194868564606, + "learning_rate": 2.6170376627488103e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8130 + }, + { + "epoch": 2.3683444864707592, + "flow_matching_loss": 0.02104292893782258, + "grad_norm": 0.1368069350719452, + "learning_rate": 2.6159334444413873e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8140 + }, + { + "epoch": 2.371254000581903, + "flow_matching_loss": 0.023691501840949057, + "grad_norm": 0.15522252023220062, + "learning_rate": 2.614827870169604e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8150 + }, + { + "epoch": 2.374163514693046, + "flow_matching_loss": 0.02290002629160881, + "grad_norm": 0.13554991781711578, + "learning_rate": 2.6137209412768367e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8160 + }, + { + "epoch": 2.3770730288041895, + "flow_matching_loss": 0.024160258285701276, + "grad_norm": 0.13072170317173004, + "learning_rate": 2.612612659108109e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8170 + }, + { + "epoch": 2.379982542915333, + "flow_matching_loss": 0.020645084977149963, + "grad_norm": 0.13832126557826996, + "learning_rate": 2.611503025010088e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8180 + }, + { + "epoch": 2.3828920570264764, + "flow_matching_loss": 0.025559420883655547, + "grad_norm": 0.15356972813606262, + "learning_rate": 2.6103920403310832e-05, + "loss": 0.0256, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8190 + }, + { + "epoch": 2.38580157113762, + "flow_matching_loss": 0.021464088931679726, + "grad_norm": 0.1433885246515274, + "learning_rate": 2.6092797064210465e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8200 + }, + { + "epoch": 2.3887110852487634, + "flow_matching_loss": 0.022471024096012114, + "grad_norm": 0.13208803534507751, + "learning_rate": 2.6081660246315685e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8210 + }, + { + "epoch": 2.391620599359907, + "flow_matching_loss": 0.02041880525648594, + "grad_norm": 0.14348278939723969, + "learning_rate": 2.6070509963158774e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8220 + }, + { + "epoch": 2.3945301134710504, + "flow_matching_loss": 0.021666139550507068, + "grad_norm": 0.16030734777450562, + "learning_rate": 2.6059346228288375e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8230 + }, + { + "epoch": 2.3974396275821936, + "flow_matching_loss": 0.02205726634711027, + "grad_norm": 0.11988817900419235, + "learning_rate": 2.604816905526948e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8240 + }, + { + "epoch": 2.4003491416933374, + "flow_matching_loss": 0.02204225230962038, + "grad_norm": 0.11186449229717255, + "learning_rate": 2.603697845768341e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8250 + }, + { + "epoch": 2.4032586558044806, + "flow_matching_loss": 0.02248386722058058, + "grad_norm": 0.12844814360141754, + "learning_rate": 2.6025774449127792e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8260 + }, + { + "epoch": 2.406168169915624, + "flow_matching_loss": 0.021985040046274662, + "grad_norm": 0.13310030102729797, + "learning_rate": 2.6014557043216562e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8270 + }, + { + "epoch": 2.4090776840267676, + "flow_matching_loss": 0.021826996933668852, + "grad_norm": 0.10150500386953354, + "learning_rate": 2.6003326253579913e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8280 + }, + { + "epoch": 2.411987198137911, + "flow_matching_loss": 0.024293196760118006, + "grad_norm": 0.1541842669248581, + "learning_rate": 2.599208209386432e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8290 + }, + { + "epoch": 2.4148967122490546, + "flow_matching_loss": 0.022388172056525945, + "grad_norm": 0.18297378718852997, + "learning_rate": 2.5980824577732502e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8300 + }, + { + "epoch": 2.417806226360198, + "flow_matching_loss": 0.0243440018966794, + "grad_norm": 0.17842191457748413, + "learning_rate": 2.5969553718863395e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8310 + }, + { + "epoch": 2.4207157404713415, + "flow_matching_loss": 0.02198910601437092, + "grad_norm": 0.15509071946144104, + "learning_rate": 2.595826953095216e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8320 + }, + { + "epoch": 2.423625254582485, + "flow_matching_loss": 0.023145965393632652, + "grad_norm": 0.09310296177864075, + "learning_rate": 2.594697202771014e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8330 + }, + { + "epoch": 2.426534768693628, + "flow_matching_loss": 0.02248222380876541, + "grad_norm": 0.1429479569196701, + "learning_rate": 2.5935661222864888e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8340 + }, + { + "epoch": 2.4294442828047718, + "flow_matching_loss": 0.02406301312148571, + "grad_norm": 0.22490711510181427, + "learning_rate": 2.592433713016008e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8350 + }, + { + "epoch": 2.432353796915915, + "flow_matching_loss": 0.022141505032777786, + "grad_norm": 0.12650299072265625, + "learning_rate": 2.5912999763355553e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8360 + }, + { + "epoch": 2.4352633110270583, + "flow_matching_loss": 0.019742731284350157, + "grad_norm": 0.08356630802154541, + "learning_rate": 2.590164913622729e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8370 + }, + { + "epoch": 2.438172825138202, + "flow_matching_loss": 0.023637629579752684, + "grad_norm": 0.1310577243566513, + "learning_rate": 2.589028526256737e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8380 + }, + { + "epoch": 2.4410823392493453, + "flow_matching_loss": 0.022038477193564176, + "grad_norm": 0.13762761652469635, + "learning_rate": 2.587890815618397e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8390 + }, + { + "epoch": 2.443991853360489, + "flow_matching_loss": 0.02166772009804845, + "grad_norm": 0.09216348081827164, + "learning_rate": 2.5867517830901343e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8400 + }, + { + "epoch": 2.4469013674716322, + "flow_matching_loss": 0.02430597096681595, + "grad_norm": 0.13640464842319489, + "learning_rate": 2.5856114300559812e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8410 + }, + { + "epoch": 2.4498108815827755, + "flow_matching_loss": 0.023214500583708286, + "grad_norm": 0.1424301564693451, + "learning_rate": 2.584469757901574e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8420 + }, + { + "epoch": 2.452720395693919, + "flow_matching_loss": 0.02099641878157854, + "grad_norm": 0.13625194132328033, + "learning_rate": 2.5833267680141526e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8430 + }, + { + "epoch": 2.4556299098050625, + "flow_matching_loss": 0.02393960766494274, + "grad_norm": 0.13953834772109985, + "learning_rate": 2.5821824617825564e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8440 + }, + { + "epoch": 2.458539423916206, + "flow_matching_loss": 0.026313801668584345, + "grad_norm": 0.1788495033979416, + "learning_rate": 2.5810368405972265e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8450 + }, + { + "epoch": 2.4614489380273494, + "flow_matching_loss": 0.02280146535485983, + "grad_norm": 0.12462086230516434, + "learning_rate": 2.5798899058501996e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8460 + }, + { + "epoch": 2.4643584521384927, + "flow_matching_loss": 0.023387146927416325, + "grad_norm": 0.16036711633205414, + "learning_rate": 2.578741658935111e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8470 + }, + { + "epoch": 2.4672679662496364, + "flow_matching_loss": 0.022020071744918823, + "grad_norm": 0.11054427176713943, + "learning_rate": 2.5775921012471875e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8480 + }, + { + "epoch": 2.4701774803607797, + "flow_matching_loss": 0.022683095000684262, + "grad_norm": 0.15702231228351593, + "learning_rate": 2.5764412341832505e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8490 + }, + { + "epoch": 2.4730869944719234, + "flow_matching_loss": 0.023948789201676847, + "grad_norm": 0.16344940662384033, + "learning_rate": 2.5752890591417125e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8500 + }, + { + "epoch": 2.4759965085830666, + "flow_matching_loss": 0.022029692213982342, + "grad_norm": 0.1053076758980751, + "learning_rate": 2.5741355775225744e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8510 + }, + { + "epoch": 2.47890602269421, + "flow_matching_loss": 0.022238965891301633, + "grad_norm": 0.1716621071100235, + "learning_rate": 2.5729807907274254e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8520 + }, + { + "epoch": 2.4818155368053536, + "flow_matching_loss": 0.022751642763614653, + "grad_norm": 0.15656529366970062, + "learning_rate": 2.5718247001594403e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8530 + }, + { + "epoch": 2.484725050916497, + "flow_matching_loss": 0.0244109564460814, + "grad_norm": 0.1164417639374733, + "learning_rate": 2.5706673072233776e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8540 + }, + { + "epoch": 2.4876345650276406, + "flow_matching_loss": 0.021609869599342347, + "grad_norm": 0.13268470764160156, + "learning_rate": 2.5695086133255795e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8550 + }, + { + "epoch": 2.490544079138784, + "flow_matching_loss": 0.024395153392106295, + "grad_norm": 0.13588455319404602, + "learning_rate": 2.5683486198739687e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8560 + }, + { + "epoch": 2.493453593249927, + "flow_matching_loss": 0.025734677724540234, + "grad_norm": 0.15710756182670593, + "learning_rate": 2.5671873282780452e-05, + "loss": 0.0257, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8570 + }, + { + "epoch": 2.496363107361071, + "flow_matching_loss": 0.022249116841703654, + "grad_norm": 0.16668975353240967, + "learning_rate": 2.5660247399488887e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8580 + }, + { + "epoch": 2.499272621472214, + "flow_matching_loss": 0.022677788510918617, + "grad_norm": 0.1679120808839798, + "learning_rate": 2.564860856299154e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8590 + }, + { + "epoch": 2.5021821355833573, + "flow_matching_loss": 0.020851477049291134, + "grad_norm": 0.1869274079799652, + "learning_rate": 2.5636956787430693e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8600 + }, + { + "epoch": 2.505091649694501, + "flow_matching_loss": 0.024919911101460458, + "grad_norm": 0.1356126070022583, + "learning_rate": 2.5625292086964346e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8610 + }, + { + "epoch": 2.5080011638056443, + "flow_matching_loss": 0.021854176931083203, + "grad_norm": 0.13875418901443481, + "learning_rate": 2.5613614475766212e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8620 + }, + { + "epoch": 2.510910677916788, + "flow_matching_loss": 0.0233488280326128, + "grad_norm": 0.12183106690645218, + "learning_rate": 2.5601923968025694e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8630 + }, + { + "epoch": 2.5138201920279313, + "flow_matching_loss": 0.02445301041007042, + "grad_norm": 0.18542063236236572, + "learning_rate": 2.5590220577947862e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8640 + }, + { + "epoch": 2.516729706139075, + "flow_matching_loss": 0.023103507421910762, + "grad_norm": 0.1443229466676712, + "learning_rate": 2.5578504319753427e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8650 + }, + { + "epoch": 2.5196392202502182, + "flow_matching_loss": 0.02161678671836853, + "grad_norm": 0.111859031021595, + "learning_rate": 2.556677520767876e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8660 + }, + { + "epoch": 2.5225487343613615, + "flow_matching_loss": 0.025051994528621436, + "grad_norm": 0.10847236216068268, + "learning_rate": 2.5555033255975835e-05, + "loss": 0.0251, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8670 + }, + { + "epoch": 2.525458248472505, + "flow_matching_loss": 0.02415047250688076, + "grad_norm": 0.12316186726093292, + "learning_rate": 2.5543278478912228e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8680 + }, + { + "epoch": 2.5283677625836485, + "flow_matching_loss": 0.021285839192569257, + "grad_norm": 0.12928654253482819, + "learning_rate": 2.55315108907711e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8690 + }, + { + "epoch": 2.5312772766947917, + "flow_matching_loss": 0.020438439026474953, + "grad_norm": 0.1291259229183197, + "learning_rate": 2.551973050585119e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8700 + }, + { + "epoch": 2.5341867908059355, + "flow_matching_loss": 0.025202775746583937, + "grad_norm": 0.15524879097938538, + "learning_rate": 2.5507937338466768e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8710 + }, + { + "epoch": 2.5370963049170787, + "flow_matching_loss": 0.02301073111593723, + "grad_norm": 0.13055312633514404, + "learning_rate": 2.549613140294764e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8720 + }, + { + "epoch": 2.5400058190282224, + "flow_matching_loss": 0.021180912107229232, + "grad_norm": 0.14927369356155396, + "learning_rate": 2.548431271363914e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8730 + }, + { + "epoch": 2.5429153331393657, + "flow_matching_loss": 0.02307836301624775, + "grad_norm": 0.12673591077327728, + "learning_rate": 2.5472481284902092e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8740 + }, + { + "epoch": 2.5458248472505094, + "flow_matching_loss": 0.02129885843023658, + "grad_norm": 0.15504315495491028, + "learning_rate": 2.5460637131112788e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8750 + }, + { + "epoch": 2.5487343613616527, + "flow_matching_loss": 0.021657916810363533, + "grad_norm": 0.1280249059200287, + "learning_rate": 2.5448780266662995e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8760 + }, + { + "epoch": 2.551643875472796, + "flow_matching_loss": 0.024844053946435452, + "grad_norm": 0.09949175268411636, + "learning_rate": 2.5436910705959926e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8770 + }, + { + "epoch": 2.5545533895839396, + "flow_matching_loss": 0.024016217980533838, + "grad_norm": 0.1326514333486557, + "learning_rate": 2.542502846342621e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8780 + }, + { + "epoch": 2.557462903695083, + "flow_matching_loss": 0.022815937455743552, + "grad_norm": 0.13845331966876984, + "learning_rate": 2.5413133553499892e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8790 + }, + { + "epoch": 2.560372417806226, + "flow_matching_loss": 0.019885072018951178, + "grad_norm": 0.16737791895866394, + "learning_rate": 2.540122599063442e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8800 + }, + { + "epoch": 2.56328193191737, + "flow_matching_loss": 0.021366620622575282, + "grad_norm": 0.13004714250564575, + "learning_rate": 2.538930578929859e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8810 + }, + { + "epoch": 2.566191446028513, + "flow_matching_loss": 0.02297511827200651, + "grad_norm": 0.1291113942861557, + "learning_rate": 2.537737296397658e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8820 + }, + { + "epoch": 2.569100960139657, + "flow_matching_loss": 0.022043799608945848, + "grad_norm": 0.1171753853559494, + "learning_rate": 2.5365427529167903e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8830 + }, + { + "epoch": 2.5720104742508, + "flow_matching_loss": 0.024871717020869256, + "grad_norm": 0.1136261373758316, + "learning_rate": 2.5353469499387375e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8840 + }, + { + "epoch": 2.574919988361944, + "flow_matching_loss": 0.02485451977699995, + "grad_norm": 0.155861496925354, + "learning_rate": 2.534149888916514e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8850 + }, + { + "epoch": 2.577829502473087, + "flow_matching_loss": 0.022255420219153166, + "grad_norm": 0.14372313022613525, + "learning_rate": 2.5329515713046616e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8860 + }, + { + "epoch": 2.5807390165842303, + "flow_matching_loss": 0.024551094509661198, + "grad_norm": 0.17062421143054962, + "learning_rate": 2.531751998559249e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8870 + }, + { + "epoch": 2.583648530695374, + "flow_matching_loss": 0.020595444459468128, + "grad_norm": 0.16094060242176056, + "learning_rate": 2.5305511721378703e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8880 + }, + { + "epoch": 2.5865580448065173, + "flow_matching_loss": 0.022969357296824457, + "grad_norm": 0.11123485118150711, + "learning_rate": 2.529349093499642e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8890 + }, + { + "epoch": 2.5894675589176606, + "flow_matching_loss": 0.023156268708407878, + "grad_norm": 0.11795631051063538, + "learning_rate": 2.528145764105205e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8900 + }, + { + "epoch": 2.5923770730288043, + "flow_matching_loss": 0.021067928057163954, + "grad_norm": 0.1560710370540619, + "learning_rate": 2.5269411854167166e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8910 + }, + { + "epoch": 2.5952865871399475, + "flow_matching_loss": 0.022795958537608386, + "grad_norm": 0.1409531980752945, + "learning_rate": 2.5257353588978534e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8920 + }, + { + "epoch": 2.598196101251091, + "flow_matching_loss": 0.026280822791159154, + "grad_norm": 0.14405490458011627, + "learning_rate": 2.5245282860138083e-05, + "loss": 0.0263, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8930 + }, + { + "epoch": 2.6011056153622345, + "flow_matching_loss": 0.023402608558535577, + "grad_norm": 0.14255574345588684, + "learning_rate": 2.5233199682312894e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8940 + }, + { + "epoch": 2.604015129473378, + "flow_matching_loss": 0.02211662782356143, + "grad_norm": 0.08755601197481155, + "learning_rate": 2.5221104070185163e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8950 + }, + { + "epoch": 2.6069246435845215, + "flow_matching_loss": 0.024668267462402582, + "grad_norm": 0.09724309295415878, + "learning_rate": 2.5208996038452204e-05, + "loss": 0.0247, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8960 + }, + { + "epoch": 2.6098341576956647, + "flow_matching_loss": 0.02485793922096491, + "grad_norm": 0.16509082913398743, + "learning_rate": 2.5196875601826403e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8970 + }, + { + "epoch": 2.6127436718068084, + "flow_matching_loss": 0.022365491650998593, + "grad_norm": 0.1561688929796219, + "learning_rate": 2.518474277503525e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8980 + }, + { + "epoch": 2.6156531859179517, + "flow_matching_loss": 0.023938834480941296, + "grad_norm": 0.11968272179365158, + "learning_rate": 2.5172597572821266e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 8990 + }, + { + "epoch": 2.618562700029095, + "flow_matching_loss": 0.02280752370133996, + "grad_norm": 0.15307188034057617, + "learning_rate": 2.5160440009942015e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9000 + }, + { + "epoch": 2.6214722141402387, + "flow_matching_loss": 0.023551280423998833, + "grad_norm": 0.15920844674110413, + "learning_rate": 2.514827010117009e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9010 + }, + { + "epoch": 2.624381728251382, + "flow_matching_loss": 0.023295158892869948, + "grad_norm": 0.16067175567150116, + "learning_rate": 2.5136087861293068e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9020 + }, + { + "epoch": 2.627291242362525, + "flow_matching_loss": 0.024590133503079415, + "grad_norm": 0.13822293281555176, + "learning_rate": 2.5123893305113525e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9030 + }, + { + "epoch": 2.630200756473669, + "flow_matching_loss": 0.02160036573186517, + "grad_norm": 0.1312665343284607, + "learning_rate": 2.5111686447448997e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9040 + }, + { + "epoch": 2.633110270584812, + "flow_matching_loss": 0.021925549115985633, + "grad_norm": 0.1357147991657257, + "learning_rate": 2.5099467303131966e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9050 + }, + { + "epoch": 2.636019784695956, + "flow_matching_loss": 0.023064694553613662, + "grad_norm": 0.13338685035705566, + "learning_rate": 2.508723588700984e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9060 + }, + { + "epoch": 2.638929298807099, + "flow_matching_loss": 0.02435481157153845, + "grad_norm": 0.16741880774497986, + "learning_rate": 2.5074992213944952e-05, + "loss": 0.0244, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9070 + }, + { + "epoch": 2.641838812918243, + "flow_matching_loss": 0.022729572653770447, + "grad_norm": 0.1289617419242859, + "learning_rate": 2.506273629881451e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9080 + }, + { + "epoch": 2.644748327029386, + "flow_matching_loss": 0.021803784370422363, + "grad_norm": 0.17194612324237823, + "learning_rate": 2.5050468156510617e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9090 + }, + { + "epoch": 2.6476578411405294, + "flow_matching_loss": 0.0232532967813313, + "grad_norm": 0.09285113960504532, + "learning_rate": 2.5038187801940215e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9100 + }, + { + "epoch": 2.650567355251673, + "flow_matching_loss": 0.022184147499501705, + "grad_norm": 0.1515720784664154, + "learning_rate": 2.5025895250025088e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9110 + }, + { + "epoch": 2.6534768693628163, + "flow_matching_loss": 0.023549604415893554, + "grad_norm": 0.14676834642887115, + "learning_rate": 2.501359051570186e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9120 + }, + { + "epoch": 2.6563863834739596, + "flow_matching_loss": 0.0214933960698545, + "grad_norm": 0.10899008810520172, + "learning_rate": 2.500127361392193e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9130 + }, + { + "epoch": 2.6592958975851033, + "flow_matching_loss": 0.021552461944520474, + "grad_norm": 0.10075270384550095, + "learning_rate": 2.49889445596515e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9140 + }, + { + "epoch": 2.6622054116962466, + "flow_matching_loss": 0.025367163494229315, + "grad_norm": 0.15378281474113464, + "learning_rate": 2.497660336787154e-05, + "loss": 0.0254, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9150 + }, + { + "epoch": 2.6651149258073903, + "flow_matching_loss": 0.020981767494231463, + "grad_norm": 0.11811460554599762, + "learning_rate": 2.496425005357775e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9160 + }, + { + "epoch": 2.6680244399185336, + "flow_matching_loss": 0.022383459843695164, + "grad_norm": 0.13862363994121552, + "learning_rate": 2.4951884631780578e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9170 + }, + { + "epoch": 2.6709339540296773, + "flow_matching_loss": 0.02132406076416373, + "grad_norm": 0.1073731780052185, + "learning_rate": 2.493950711750518e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9180 + }, + { + "epoch": 2.6738434681408205, + "flow_matching_loss": 0.02518158396705985, + "grad_norm": 0.15103191137313843, + "learning_rate": 2.49271175257914e-05, + "loss": 0.0252, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9190 + }, + { + "epoch": 2.676752982251964, + "flow_matching_loss": 0.02253631381317973, + "grad_norm": 0.13146929442882538, + "learning_rate": 2.4914715871693757e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9200 + }, + { + "epoch": 2.6796624963631075, + "flow_matching_loss": 0.023396090231835844, + "grad_norm": 0.1406281590461731, + "learning_rate": 2.4902302170281438e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9210 + }, + { + "epoch": 2.6825720104742508, + "flow_matching_loss": 0.023074019141495226, + "grad_norm": 0.15595053136348724, + "learning_rate": 2.4889876436638252e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9220 + }, + { + "epoch": 2.685481524585394, + "flow_matching_loss": 0.02481639925390482, + "grad_norm": 0.14063875377178192, + "learning_rate": 2.4877438685862643e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9230 + }, + { + "epoch": 2.6883910386965377, + "flow_matching_loss": 0.020726342033594847, + "grad_norm": 0.17735376954078674, + "learning_rate": 2.486498893306765e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9240 + }, + { + "epoch": 2.691300552807681, + "flow_matching_loss": 0.022308427095413207, + "grad_norm": 0.09516385197639465, + "learning_rate": 2.485252719338089e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9250 + }, + { + "epoch": 2.6942100669188247, + "flow_matching_loss": 0.023192120902240276, + "grad_norm": 0.1472259759902954, + "learning_rate": 2.4840053481944563e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9260 + }, + { + "epoch": 2.697119581029968, + "flow_matching_loss": 0.02480484265834093, + "grad_norm": 0.1536857932806015, + "learning_rate": 2.4827567813915398e-05, + "loss": 0.0248, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9270 + }, + { + "epoch": 2.7000290951411117, + "flow_matching_loss": 0.02322478573769331, + "grad_norm": 0.17132240533828735, + "learning_rate": 2.481507020446466e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9280 + }, + { + "epoch": 2.702938609252255, + "flow_matching_loss": 0.020591836515814067, + "grad_norm": 0.1555146723985672, + "learning_rate": 2.4802560668778122e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9290 + }, + { + "epoch": 2.705848123363398, + "flow_matching_loss": 0.02360647078603506, + "grad_norm": 0.15835408866405487, + "learning_rate": 2.479003922205605e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9300 + }, + { + "epoch": 2.708757637474542, + "flow_matching_loss": 0.02214285982772708, + "grad_norm": 0.1687714010477066, + "learning_rate": 2.4777505879513183e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9310 + }, + { + "epoch": 2.711667151585685, + "flow_matching_loss": 0.02043469725176692, + "grad_norm": 0.09938312321901321, + "learning_rate": 2.4764960656378714e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9320 + }, + { + "epoch": 2.7145766656968284, + "flow_matching_loss": 0.02187490984797478, + "grad_norm": 0.11805792897939682, + "learning_rate": 2.4752403567896274e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9330 + }, + { + "epoch": 2.717486179807972, + "flow_matching_loss": 0.02554642017930746, + "grad_norm": 0.106363445520401, + "learning_rate": 2.47398346293239e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9340 + }, + { + "epoch": 2.7203956939191154, + "flow_matching_loss": 0.023147276230156423, + "grad_norm": 0.13653625547885895, + "learning_rate": 2.4727253855934055e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9350 + }, + { + "epoch": 2.723305208030259, + "flow_matching_loss": 0.022079435363411903, + "grad_norm": 0.12408169358968735, + "learning_rate": 2.4714661263013548e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9360 + }, + { + "epoch": 2.7262147221414024, + "flow_matching_loss": 0.019957643002271652, + "grad_norm": 0.11335643380880356, + "learning_rate": 2.4702056865863575e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9370 + }, + { + "epoch": 2.729124236252546, + "flow_matching_loss": 0.019252260494977236, + "grad_norm": 0.1140398308634758, + "learning_rate": 2.4689440679799672e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9380 + }, + { + "epoch": 2.7320337503636893, + "flow_matching_loss": 0.02270340546965599, + "grad_norm": 0.1486455500125885, + "learning_rate": 2.4676812720151678e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9390 + }, + { + "epoch": 2.7349432644748326, + "flow_matching_loss": 0.022724217269569635, + "grad_norm": 0.14157544076442719, + "learning_rate": 2.466417300226377e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9400 + }, + { + "epoch": 2.7378527785859763, + "flow_matching_loss": 0.02353538479655981, + "grad_norm": 0.12650388479232788, + "learning_rate": 2.4651521541494394e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9410 + }, + { + "epoch": 2.7407622926971196, + "flow_matching_loss": 0.020405422430485487, + "grad_norm": 0.11444868892431259, + "learning_rate": 2.4638858353216267e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9420 + }, + { + "epoch": 2.743671806808263, + "flow_matching_loss": 0.020917945355176926, + "grad_norm": 0.12058315426111221, + "learning_rate": 2.4626183452816355e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9430 + }, + { + "epoch": 2.7465813209194065, + "flow_matching_loss": 0.02212733346968889, + "grad_norm": 0.1421751081943512, + "learning_rate": 2.4613496855695855e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9440 + }, + { + "epoch": 2.74949083503055, + "flow_matching_loss": 0.022171998117119073, + "grad_norm": 0.17085307836532593, + "learning_rate": 2.4600798577270183e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9450 + }, + { + "epoch": 2.752400349141693, + "flow_matching_loss": 0.023090249206870795, + "grad_norm": 0.15306971967220306, + "learning_rate": 2.4588088632968944e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9460 + }, + { + "epoch": 2.7553098632528368, + "flow_matching_loss": 0.02446425287052989, + "grad_norm": 0.11180134117603302, + "learning_rate": 2.4575367038235916e-05, + "loss": 0.0245, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9470 + }, + { + "epoch": 2.7582193773639805, + "flow_matching_loss": 0.022173119243234396, + "grad_norm": 0.15130555629730225, + "learning_rate": 2.4562633808529043e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9480 + }, + { + "epoch": 2.7611288914751237, + "flow_matching_loss": 0.0212877687998116, + "grad_norm": 0.1309170126914978, + "learning_rate": 2.4549888959320396e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9490 + }, + { + "epoch": 2.764038405586267, + "flow_matching_loss": 0.019426129199564456, + "grad_norm": 0.11608417332172394, + "learning_rate": 2.4537132506096162e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9500 + }, + { + "epoch": 2.7669479196974107, + "flow_matching_loss": 0.022625418659299613, + "grad_norm": 0.162780299782753, + "learning_rate": 2.452436446435664e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9510 + }, + { + "epoch": 2.769857433808554, + "flow_matching_loss": 0.024156435579061507, + "grad_norm": 0.11899685114622116, + "learning_rate": 2.451158484961621e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9520 + }, + { + "epoch": 2.7727669479196972, + "flow_matching_loss": 0.01880165496841073, + "grad_norm": 0.10502714663743973, + "learning_rate": 2.4498793677403304e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9530 + }, + { + "epoch": 2.775676462030841, + "flow_matching_loss": 0.022394949570298195, + "grad_norm": 0.1330205798149109, + "learning_rate": 2.4485990963260398e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9540 + }, + { + "epoch": 2.778585976141984, + "flow_matching_loss": 0.022469335049390794, + "grad_norm": 0.16546495258808136, + "learning_rate": 2.4473176722744e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9550 + }, + { + "epoch": 2.7814954902531275, + "flow_matching_loss": 0.02000259216874838, + "grad_norm": 0.11695613712072372, + "learning_rate": 2.446035097142463e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9560 + }, + { + "epoch": 2.784405004364271, + "flow_matching_loss": 0.022334250435233117, + "grad_norm": 0.12491809576749802, + "learning_rate": 2.444751372488677e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9570 + }, + { + "epoch": 2.7873145184754144, + "flow_matching_loss": 0.023973615653812886, + "grad_norm": 0.16327236592769623, + "learning_rate": 2.443466499872889e-05, + "loss": 0.024, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9580 + }, + { + "epoch": 2.790224032586558, + "flow_matching_loss": 0.022854766994714736, + "grad_norm": 0.15780505537986755, + "learning_rate": 2.4421804808563413e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9590 + }, + { + "epoch": 2.7931335466977014, + "flow_matching_loss": 0.022057750541716815, + "grad_norm": 0.1092355027794838, + "learning_rate": 2.440893317001667e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9600 + }, + { + "epoch": 2.796043060808845, + "flow_matching_loss": 0.021585038397461176, + "grad_norm": 0.13087192177772522, + "learning_rate": 2.4396050098728925e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9610 + }, + { + "epoch": 2.7989525749199884, + "flow_matching_loss": 0.02284984355792403, + "grad_norm": 0.11778249591588974, + "learning_rate": 2.4383155610354314e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9620 + }, + { + "epoch": 2.8018620890311317, + "flow_matching_loss": 0.02084630448371172, + "grad_norm": 0.10012535005807877, + "learning_rate": 2.437024972056087e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9630 + }, + { + "epoch": 2.8047716031422754, + "flow_matching_loss": 0.021457475796341895, + "grad_norm": 0.14916151762008667, + "learning_rate": 2.4357332445030452e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9640 + }, + { + "epoch": 2.8076811172534186, + "flow_matching_loss": 0.021561077795922756, + "grad_norm": 0.1435043066740036, + "learning_rate": 2.434440379945878e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9650 + }, + { + "epoch": 2.810590631364562, + "flow_matching_loss": 0.01923527717590332, + "grad_norm": 0.11720447987318039, + "learning_rate": 2.4331463799555366e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9660 + }, + { + "epoch": 2.8135001454757056, + "flow_matching_loss": 0.02137266015633941, + "grad_norm": 0.18619155883789062, + "learning_rate": 2.4318512461043544e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9670 + }, + { + "epoch": 2.816409659586849, + "flow_matching_loss": 0.01985869249328971, + "grad_norm": 0.16129560768604279, + "learning_rate": 2.4305549799660397e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9680 + }, + { + "epoch": 2.8193191736979926, + "flow_matching_loss": 0.02138398392125964, + "grad_norm": 0.0984429344534874, + "learning_rate": 2.429257583115679e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9690 + }, + { + "epoch": 2.822228687809136, + "flow_matching_loss": 0.021713736839592455, + "grad_norm": 0.11696168780326843, + "learning_rate": 2.4279590571297316e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9700 + }, + { + "epoch": 2.8251382019202795, + "flow_matching_loss": 0.021165626775473356, + "grad_norm": 0.11075721681118011, + "learning_rate": 2.4266594035860288e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9710 + }, + { + "epoch": 2.828047716031423, + "flow_matching_loss": 0.021057345252484084, + "grad_norm": 0.12741243839263916, + "learning_rate": 2.425358624063773e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9720 + }, + { + "epoch": 2.830957230142566, + "flow_matching_loss": 0.01908676652237773, + "grad_norm": 0.13280010223388672, + "learning_rate": 2.424056720143532e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9730 + }, + { + "epoch": 2.8338667442537098, + "flow_matching_loss": 0.02546921242028475, + "grad_norm": 0.13890650868415833, + "learning_rate": 2.422753693407244e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9740 + }, + { + "epoch": 2.836776258364853, + "flow_matching_loss": 0.023277438897639512, + "grad_norm": 0.15898005664348602, + "learning_rate": 2.421449545438209e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9750 + }, + { + "epoch": 2.8396857724759963, + "flow_matching_loss": 0.020919834915548562, + "grad_norm": 0.09414738416671753, + "learning_rate": 2.4201442778210887e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9760 + }, + { + "epoch": 2.84259528658714, + "flow_matching_loss": 0.020910443365573884, + "grad_norm": 0.10706725716590881, + "learning_rate": 2.418837892141907e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9770 + }, + { + "epoch": 2.8455048006982833, + "flow_matching_loss": 0.024272035621106625, + "grad_norm": 0.12913616001605988, + "learning_rate": 2.4175303899880458e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9780 + }, + { + "epoch": 2.848414314809427, + "flow_matching_loss": 0.023719224892556668, + "grad_norm": 0.16186827421188354, + "learning_rate": 2.4162217729482427e-05, + "loss": 0.0237, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9790 + }, + { + "epoch": 2.8513238289205702, + "flow_matching_loss": 0.019875879772007464, + "grad_norm": 0.13262750208377838, + "learning_rate": 2.4149120426125918e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9800 + }, + { + "epoch": 2.854233343031714, + "flow_matching_loss": 0.0194993038661778, + "grad_norm": 0.1264352649450302, + "learning_rate": 2.413601200572538e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9810 + }, + { + "epoch": 2.857142857142857, + "flow_matching_loss": 0.020635574869811536, + "grad_norm": 0.1507795751094818, + "learning_rate": 2.4122892484208794e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9820 + }, + { + "epoch": 2.8600523712540005, + "flow_matching_loss": 0.02200508341193199, + "grad_norm": 0.16699200868606567, + "learning_rate": 2.4109761877517603e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9830 + }, + { + "epoch": 2.862961885365144, + "flow_matching_loss": 0.022398761101067068, + "grad_norm": 0.10382496565580368, + "learning_rate": 2.4096620201606737e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9840 + }, + { + "epoch": 2.8658713994762874, + "flow_matching_loss": 0.023813991993665694, + "grad_norm": 0.22416873276233673, + "learning_rate": 2.4083467472444573e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9850 + }, + { + "epoch": 2.8687809135874307, + "flow_matching_loss": 0.020896071288734674, + "grad_norm": 0.11725971102714539, + "learning_rate": 2.4070303706012912e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9860 + }, + { + "epoch": 2.8716904276985744, + "flow_matching_loss": 0.023078809678554534, + "grad_norm": 0.11870433390140533, + "learning_rate": 2.4057128918306975e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9870 + }, + { + "epoch": 2.8745999418097177, + "flow_matching_loss": 0.021499708667397498, + "grad_norm": 0.1256355494260788, + "learning_rate": 2.4043943125335373e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9880 + }, + { + "epoch": 2.8775094559208614, + "flow_matching_loss": 0.0225339088588953, + "grad_norm": 0.12277276068925858, + "learning_rate": 2.403074634312008e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9890 + }, + { + "epoch": 2.8804189700320046, + "flow_matching_loss": 0.020963621512055396, + "grad_norm": 0.13704660534858704, + "learning_rate": 2.4017538587696442e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9900 + }, + { + "epoch": 2.8833284841431484, + "flow_matching_loss": 0.02117684409022331, + "grad_norm": 0.12416443973779678, + "learning_rate": 2.4004319875113118e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9910 + }, + { + "epoch": 2.8862379982542916, + "flow_matching_loss": 0.024934044759720563, + "grad_norm": 0.0984049066901207, + "learning_rate": 2.3991090221432096e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9920 + }, + { + "epoch": 2.889147512365435, + "flow_matching_loss": 0.025261680595576763, + "grad_norm": 0.17514504492282867, + "learning_rate": 2.397784964272865e-05, + "loss": 0.0253, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9930 + }, + { + "epoch": 2.8920570264765786, + "flow_matching_loss": 0.02155388817191124, + "grad_norm": 0.12198875099420547, + "learning_rate": 2.3964598155091335e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9940 + }, + { + "epoch": 2.894966540587722, + "flow_matching_loss": 0.021069045085459946, + "grad_norm": 0.12358987331390381, + "learning_rate": 2.3951335774621952e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9950 + }, + { + "epoch": 2.897876054698865, + "flow_matching_loss": 0.020482389256358147, + "grad_norm": 0.14771176874637604, + "learning_rate": 2.3938062517435548e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9960 + }, + { + "epoch": 2.900785568810009, + "flow_matching_loss": 0.02127098459750414, + "grad_norm": 0.10809213668107986, + "learning_rate": 2.392477839966038e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9970 + }, + { + "epoch": 2.903695082921152, + "flow_matching_loss": 0.021423161309212447, + "grad_norm": 0.12639883160591125, + "learning_rate": 2.3911483437437904e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9980 + }, + { + "epoch": 2.9066045970322953, + "flow_matching_loss": 0.020415857993066312, + "grad_norm": 0.1285092532634735, + "learning_rate": 2.3898177646922757e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 9990 + }, + { + "epoch": 2.909514111143439, + "flow_matching_loss": 0.021749926544725896, + "grad_norm": 0.12857963144779205, + "learning_rate": 2.3884861044282722e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10000 + }, + { + "epoch": 2.9124236252545828, + "flow_matching_loss": 0.019942876324057578, + "grad_norm": 0.09302342683076859, + "learning_rate": 2.3871533645698732e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10010 + }, + { + "epoch": 2.915333139365726, + "flow_matching_loss": 0.022254421282559632, + "grad_norm": 0.134690523147583, + "learning_rate": 2.3858195467364833e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10020 + }, + { + "epoch": 2.9182426534768693, + "flow_matching_loss": 0.021687632240355015, + "grad_norm": 0.11158719658851624, + "learning_rate": 2.3844846525488166e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10030 + }, + { + "epoch": 2.921152167588013, + "flow_matching_loss": 0.019673304818570613, + "grad_norm": 0.11591089516878128, + "learning_rate": 2.3831486836288957e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10040 + }, + { + "epoch": 2.9240616816991563, + "flow_matching_loss": 0.020864693634212016, + "grad_norm": 0.11980202794075012, + "learning_rate": 2.381811641600048e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10050 + }, + { + "epoch": 2.9269711958102995, + "flow_matching_loss": 0.0201435087248683, + "grad_norm": 0.13774414360523224, + "learning_rate": 2.3804735280869073e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10060 + }, + { + "epoch": 2.9298807099214432, + "flow_matching_loss": 0.020883880741894244, + "grad_norm": 0.15118016302585602, + "learning_rate": 2.3791343447154064e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10070 + }, + { + "epoch": 2.9327902240325865, + "flow_matching_loss": 0.023040464986115693, + "grad_norm": 0.1368311494588852, + "learning_rate": 2.37779409311278e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10080 + }, + { + "epoch": 2.9356997381437298, + "flow_matching_loss": 0.021577792428433894, + "grad_norm": 0.12593163549900055, + "learning_rate": 2.3764527749075596e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10090 + }, + { + "epoch": 2.9386092522548735, + "flow_matching_loss": 0.023444248735904692, + "grad_norm": 0.1328311413526535, + "learning_rate": 2.3751103917295735e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10100 + }, + { + "epoch": 2.9415187663660167, + "flow_matching_loss": 0.02274311240762472, + "grad_norm": 0.15279977023601532, + "learning_rate": 2.373766945209944e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10110 + }, + { + "epoch": 2.9444282804771604, + "flow_matching_loss": 0.02152747381478548, + "grad_norm": 0.14911524951457977, + "learning_rate": 2.3724224369810856e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10120 + }, + { + "epoch": 2.9473377945883037, + "flow_matching_loss": 0.019762330409139394, + "grad_norm": 0.10200528055429459, + "learning_rate": 2.3710768686767015e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10130 + }, + { + "epoch": 2.9502473086994474, + "flow_matching_loss": 0.02156563438475132, + "grad_norm": 0.1431790143251419, + "learning_rate": 2.3697302419317856e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10140 + }, + { + "epoch": 2.9531568228105907, + "flow_matching_loss": 0.019275465235114097, + "grad_norm": 0.09197437018156052, + "learning_rate": 2.3683825583826146e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10150 + }, + { + "epoch": 2.956066336921734, + "flow_matching_loss": 0.020385732129216193, + "grad_norm": 0.16081272065639496, + "learning_rate": 2.3670338196667528e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10160 + }, + { + "epoch": 2.9589758510328776, + "flow_matching_loss": 0.024328008666634558, + "grad_norm": 0.1395365595817566, + "learning_rate": 2.3656840274230443e-05, + "loss": 0.0243, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10170 + }, + { + "epoch": 2.961885365144021, + "flow_matching_loss": 0.022296861559152604, + "grad_norm": 0.1569191962480545, + "learning_rate": 2.3643331832916133e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10180 + }, + { + "epoch": 2.964794879255164, + "flow_matching_loss": 0.01942601054906845, + "grad_norm": 0.1533532440662384, + "learning_rate": 2.362981288913863e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10190 + }, + { + "epoch": 2.967704393366308, + "flow_matching_loss": 0.019458036124706268, + "grad_norm": 0.1124073788523674, + "learning_rate": 2.3616283459324737e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10200 + }, + { + "epoch": 2.970613907477451, + "flow_matching_loss": 0.021299112029373644, + "grad_norm": 0.11423555016517639, + "learning_rate": 2.3602743559913973e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10210 + }, + { + "epoch": 2.973523421588595, + "flow_matching_loss": 0.023230204358696938, + "grad_norm": 0.1578003168106079, + "learning_rate": 2.35891932073586e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10220 + }, + { + "epoch": 2.976432935699738, + "flow_matching_loss": 0.02040958935394883, + "grad_norm": 0.09245467185974121, + "learning_rate": 2.357563241812357e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10230 + }, + { + "epoch": 2.979342449810882, + "flow_matching_loss": 0.02099717753008008, + "grad_norm": 0.1040654331445694, + "learning_rate": 2.3562061208686522e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10240 + }, + { + "epoch": 2.982251963922025, + "flow_matching_loss": 0.019624339323490857, + "grad_norm": 0.13308900594711304, + "learning_rate": 2.354847959553776e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10250 + }, + { + "epoch": 2.9851614780331683, + "flow_matching_loss": 0.02247646003961563, + "grad_norm": 0.11858028173446655, + "learning_rate": 2.353488759518022e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10260 + }, + { + "epoch": 2.988070992144312, + "flow_matching_loss": 0.021869175042957066, + "grad_norm": 0.11562421917915344, + "learning_rate": 2.352128522412946e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10270 + }, + { + "epoch": 2.9909805062554553, + "flow_matching_loss": 0.022854689974337816, + "grad_norm": 0.12579943239688873, + "learning_rate": 2.3507672498913653e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10280 + }, + { + "epoch": 2.9938900203665986, + "flow_matching_loss": 0.02189864609390497, + "grad_norm": 0.13726136088371277, + "learning_rate": 2.3494049436073537e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10290 + }, + { + "epoch": 2.9967995344777423, + "flow_matching_loss": 0.021382375992834567, + "grad_norm": 0.14368902146816254, + "learning_rate": 2.348041605216242e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10300 + }, + { + "epoch": 2.9997090485888855, + "flow_matching_loss": 0.022346505708992482, + "grad_norm": 0.11294040828943253, + "learning_rate": 2.3466772363746146e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10310 + }, + { + "epoch": 3.0026185627000292, + "flow_matching_loss": 0.019494285713881253, + "grad_norm": 0.10990166664123535, + "learning_rate": 2.345311838740309e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10320 + }, + { + "epoch": 3.0055280768111725, + "flow_matching_loss": 0.021510250587016343, + "grad_norm": 0.13811737298965454, + "learning_rate": 2.343945413972411e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10330 + }, + { + "epoch": 3.0084375909223158, + "flow_matching_loss": 0.02214889507740736, + "grad_norm": 0.15462151169776917, + "learning_rate": 2.3425779637312568e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10340 + }, + { + "epoch": 3.0113471050334595, + "flow_matching_loss": 0.022567518055438995, + "grad_norm": 0.11771894246339798, + "learning_rate": 2.3412094896784264e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10350 + }, + { + "epoch": 3.0142566191446027, + "flow_matching_loss": 0.02153351381421089, + "grad_norm": 0.10486352443695068, + "learning_rate": 2.339839993476745e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10360 + }, + { + "epoch": 3.0171661332557465, + "flow_matching_loss": 0.019913619570434093, + "grad_norm": 0.12749214470386505, + "learning_rate": 2.3384694767902804e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10370 + }, + { + "epoch": 3.0200756473668897, + "flow_matching_loss": 0.020988656766712667, + "grad_norm": 0.15458688139915466, + "learning_rate": 2.3370979412843384e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10380 + }, + { + "epoch": 3.022985161478033, + "flow_matching_loss": 0.021728816069662572, + "grad_norm": 0.11618637293577194, + "learning_rate": 2.3357253886254648e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10390 + }, + { + "epoch": 3.0258946755891767, + "flow_matching_loss": 0.022251419723033905, + "grad_norm": 0.11419917643070221, + "learning_rate": 2.3343518204814407e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10400 + }, + { + "epoch": 3.02880418970032, + "flow_matching_loss": 0.021834767796099185, + "grad_norm": 0.10963138192892075, + "learning_rate": 2.3329772385212798e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10410 + }, + { + "epoch": 3.0317137038114637, + "flow_matching_loss": 0.02066099215298891, + "grad_norm": 0.12446524202823639, + "learning_rate": 2.3316016444152296e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10420 + }, + { + "epoch": 3.034623217922607, + "flow_matching_loss": 0.019023910630494356, + "grad_norm": 0.10214889794588089, + "learning_rate": 2.3302250398347668e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10430 + }, + { + "epoch": 3.03753273203375, + "flow_matching_loss": 0.020316259190440177, + "grad_norm": 0.12613055109977722, + "learning_rate": 2.328847426452595e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10440 + }, + { + "epoch": 3.040442246144894, + "flow_matching_loss": 0.02105578752234578, + "grad_norm": 0.12249045819044113, + "learning_rate": 2.3274688059426456e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10450 + }, + { + "epoch": 3.043351760256037, + "flow_matching_loss": 0.022659806720912456, + "grad_norm": 0.12361843138933182, + "learning_rate": 2.3260891799800715e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10460 + }, + { + "epoch": 3.046261274367181, + "flow_matching_loss": 0.019504118151962756, + "grad_norm": 0.13693936169147491, + "learning_rate": 2.3247085502412482e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10470 + }, + { + "epoch": 3.049170788478324, + "flow_matching_loss": 0.020898974593728782, + "grad_norm": 0.12695689499378204, + "learning_rate": 2.3233269184037717e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10480 + }, + { + "epoch": 3.0520803025894674, + "flow_matching_loss": 0.02247872520238161, + "grad_norm": 0.09140938520431519, + "learning_rate": 2.3219442861464547e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10490 + }, + { + "epoch": 3.054989816700611, + "flow_matching_loss": 0.025482006650418044, + "grad_norm": 0.10843974351882935, + "learning_rate": 2.3205606551493255e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10500 + }, + { + "epoch": 3.0578993308117544, + "flow_matching_loss": 0.019743680953979492, + "grad_norm": 0.1305042952299118, + "learning_rate": 2.319176027093627e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10510 + }, + { + "epoch": 3.060808844922898, + "flow_matching_loss": 0.019849172327667475, + "grad_norm": 0.1334257870912552, + "learning_rate": 2.3177904036618117e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10520 + }, + { + "epoch": 3.0637183590340413, + "flow_matching_loss": 0.02393969278782606, + "grad_norm": 0.18292416632175446, + "learning_rate": 2.316403786537544e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10530 + }, + { + "epoch": 3.0666278731451846, + "flow_matching_loss": 0.022185854148119688, + "grad_norm": 0.10539653152227402, + "learning_rate": 2.3150161774056933e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10540 + }, + { + "epoch": 3.0695373872563283, + "flow_matching_loss": 0.022510133497416974, + "grad_norm": 0.13990379869937897, + "learning_rate": 2.313627577952336e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10550 + }, + { + "epoch": 3.0724469013674716, + "flow_matching_loss": 0.020054160989820956, + "grad_norm": 0.11688753217458725, + "learning_rate": 2.312237989864752e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10560 + }, + { + "epoch": 3.0753564154786153, + "flow_matching_loss": 0.021122287027537823, + "grad_norm": 0.13855157792568207, + "learning_rate": 2.3108474148314205e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10570 + }, + { + "epoch": 3.0782659295897585, + "flow_matching_loss": 0.019244955200701953, + "grad_norm": 0.11367372423410416, + "learning_rate": 2.309455854542023e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10580 + }, + { + "epoch": 3.081175443700902, + "flow_matching_loss": 0.02051524315029383, + "grad_norm": 0.1039515808224678, + "learning_rate": 2.308063310687435e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10590 + }, + { + "epoch": 3.0840849578120455, + "flow_matching_loss": 0.01994098015129566, + "grad_norm": 0.13939806818962097, + "learning_rate": 2.306669784959729e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10600 + }, + { + "epoch": 3.0869944719231888, + "flow_matching_loss": 0.020123218093067406, + "grad_norm": 0.12894313037395477, + "learning_rate": 2.3052752790521703e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10610 + }, + { + "epoch": 3.0899039860343325, + "flow_matching_loss": 0.022197135910391807, + "grad_norm": 0.13704504072666168, + "learning_rate": 2.3038797946592152e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10620 + }, + { + "epoch": 3.0928135001454757, + "flow_matching_loss": 0.02113326610997319, + "grad_norm": 0.12313175946474075, + "learning_rate": 2.3024833334765087e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10630 + }, + { + "epoch": 3.095723014256619, + "flow_matching_loss": 0.02296726740896702, + "grad_norm": 0.10335773974657059, + "learning_rate": 2.301085897200883e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10640 + }, + { + "epoch": 3.0986325283677627, + "flow_matching_loss": 0.022391623258590697, + "grad_norm": 0.11647211015224457, + "learning_rate": 2.299687487530354e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10650 + }, + { + "epoch": 3.101542042478906, + "flow_matching_loss": 0.01692809648811817, + "grad_norm": 0.12395083159208298, + "learning_rate": 2.2982881061641228e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10660 + }, + { + "epoch": 3.1044515565900497, + "flow_matching_loss": 0.02087290436029434, + "grad_norm": 0.10548129677772522, + "learning_rate": 2.296887754802569e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10670 + }, + { + "epoch": 3.107361070701193, + "flow_matching_loss": 0.023319471161812544, + "grad_norm": 0.1358984112739563, + "learning_rate": 2.295486435147251e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10680 + }, + { + "epoch": 3.110270584812336, + "flow_matching_loss": 0.02213623244315386, + "grad_norm": 0.12932254374027252, + "learning_rate": 2.294084148900905e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10690 + }, + { + "epoch": 3.11318009892348, + "flow_matching_loss": 0.022145901806652546, + "grad_norm": 0.12475062161684036, + "learning_rate": 2.292680897767441e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10700 + }, + { + "epoch": 3.116089613034623, + "flow_matching_loss": 0.02193790106102824, + "grad_norm": 0.12652911245822906, + "learning_rate": 2.291276683451941e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10710 + }, + { + "epoch": 3.1189991271457664, + "flow_matching_loss": 0.022539849393069744, + "grad_norm": 0.11817643791437149, + "learning_rate": 2.2898715076606584e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10720 + }, + { + "epoch": 3.12190864125691, + "flow_matching_loss": 0.02122097508981824, + "grad_norm": 0.12470342963933945, + "learning_rate": 2.2884653721010135e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10730 + }, + { + "epoch": 3.1248181553680534, + "flow_matching_loss": 0.022015227936208248, + "grad_norm": 0.12193119525909424, + "learning_rate": 2.2870582784815946e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10740 + }, + { + "epoch": 3.127727669479197, + "flow_matching_loss": 0.02259522397071123, + "grad_norm": 0.14382867515087128, + "learning_rate": 2.2856502285121525e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10750 + }, + { + "epoch": 3.1306371835903404, + "flow_matching_loss": 0.02110827136784792, + "grad_norm": 0.13505107164382935, + "learning_rate": 2.2842412239036004e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10760 + }, + { + "epoch": 3.133546697701484, + "flow_matching_loss": 0.02072787135839462, + "grad_norm": 0.13638538122177124, + "learning_rate": 2.2828312663680125e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10770 + }, + { + "epoch": 3.1364562118126273, + "flow_matching_loss": 0.018893355038017035, + "grad_norm": 0.09667884558439255, + "learning_rate": 2.2814203576186194e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10780 + }, + { + "epoch": 3.1393657259237706, + "flow_matching_loss": 0.01961345998570323, + "grad_norm": 0.14572608470916748, + "learning_rate": 2.2800084993698093e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10790 + }, + { + "epoch": 3.1422752400349143, + "flow_matching_loss": 0.023862419277429582, + "grad_norm": 0.13004279136657715, + "learning_rate": 2.2785956933371224e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10800 + }, + { + "epoch": 3.1451847541460576, + "flow_matching_loss": 0.021575905755162238, + "grad_norm": 0.11668039113283157, + "learning_rate": 2.2771819412372505e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10810 + }, + { + "epoch": 3.148094268257201, + "flow_matching_loss": 0.021755258552730083, + "grad_norm": 0.12017320841550827, + "learning_rate": 2.2757672447880374e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10820 + }, + { + "epoch": 3.1510037823683446, + "flow_matching_loss": 0.020419263001531362, + "grad_norm": 0.11677269637584686, + "learning_rate": 2.2743516057084712e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10830 + }, + { + "epoch": 3.153913296479488, + "flow_matching_loss": 0.020265631005167963, + "grad_norm": 0.13223806023597717, + "learning_rate": 2.2729350257186877e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10840 + }, + { + "epoch": 3.1568228105906315, + "flow_matching_loss": 0.022372797038406132, + "grad_norm": 0.15815818309783936, + "learning_rate": 2.2715175065399655e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10850 + }, + { + "epoch": 3.159732324701775, + "flow_matching_loss": 0.021450967714190482, + "grad_norm": 0.13475845754146576, + "learning_rate": 2.270099049894723e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10860 + }, + { + "epoch": 3.162641838812918, + "flow_matching_loss": 0.021524635888636113, + "grad_norm": 0.10840435326099396, + "learning_rate": 2.268679657506519e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10870 + }, + { + "epoch": 3.1655513529240618, + "flow_matching_loss": 0.020925206877291203, + "grad_norm": 0.13150739669799805, + "learning_rate": 2.2672593311000498e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10880 + }, + { + "epoch": 3.168460867035205, + "flow_matching_loss": 0.02071922440081835, + "grad_norm": 0.16066181659698486, + "learning_rate": 2.2658380724011452e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10890 + }, + { + "epoch": 3.1713703811463487, + "flow_matching_loss": 0.02054700255393982, + "grad_norm": 0.11962044984102249, + "learning_rate": 2.264415883136769e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10900 + }, + { + "epoch": 3.174279895257492, + "flow_matching_loss": 0.020922147016972304, + "grad_norm": 0.12207461893558502, + "learning_rate": 2.262992765035015e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10910 + }, + { + "epoch": 3.1771894093686353, + "flow_matching_loss": 0.020870100520551205, + "grad_norm": 0.11736369878053665, + "learning_rate": 2.2615687198251062e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10920 + }, + { + "epoch": 3.180098923479779, + "flow_matching_loss": 0.0215325765311718, + "grad_norm": 0.15024128556251526, + "learning_rate": 2.2601437492373914e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10930 + }, + { + "epoch": 3.1830084375909222, + "flow_matching_loss": 0.02119990922510624, + "grad_norm": 0.1509886234998703, + "learning_rate": 2.2587178550033444e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10940 + }, + { + "epoch": 3.185917951702066, + "flow_matching_loss": 0.020178777724504472, + "grad_norm": 0.13401100039482117, + "learning_rate": 2.2572910388555615e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10950 + }, + { + "epoch": 3.188827465813209, + "flow_matching_loss": 0.019934307504445314, + "grad_norm": 0.1302955150604248, + "learning_rate": 2.255863302527758e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10960 + }, + { + "epoch": 3.1917369799243525, + "flow_matching_loss": 0.023889207653701304, + "grad_norm": 0.1372763067483902, + "learning_rate": 2.2544346477547685e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10970 + }, + { + "epoch": 3.194646494035496, + "flow_matching_loss": 0.019779205229133366, + "grad_norm": 0.0953044667840004, + "learning_rate": 2.253005076272544e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10980 + }, + { + "epoch": 3.1975560081466394, + "flow_matching_loss": 0.023508954886347057, + "grad_norm": 0.14583753049373627, + "learning_rate": 2.2515745898181477e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 10990 + }, + { + "epoch": 3.200465522257783, + "flow_matching_loss": 0.020469665061682463, + "grad_norm": 0.13607683777809143, + "learning_rate": 2.250143190129756e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11000 + }, + { + "epoch": 3.2033750363689264, + "flow_matching_loss": 0.02255656160414219, + "grad_norm": 0.16794028878211975, + "learning_rate": 2.2487108789466547e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11010 + }, + { + "epoch": 3.2062845504800697, + "flow_matching_loss": 0.0225411893799901, + "grad_norm": 0.15477409958839417, + "learning_rate": 2.247277658009236e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11020 + }, + { + "epoch": 3.2091940645912134, + "flow_matching_loss": 0.020330743119120597, + "grad_norm": 0.12898516654968262, + "learning_rate": 2.245843529059e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11030 + }, + { + "epoch": 3.2121035787023566, + "flow_matching_loss": 0.020542972162365912, + "grad_norm": 0.11808391660451889, + "learning_rate": 2.244408493838547e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11040 + }, + { + "epoch": 3.2150130928135003, + "flow_matching_loss": 0.022387557849287986, + "grad_norm": 0.13725169003009796, + "learning_rate": 2.242972554091581e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11050 + }, + { + "epoch": 3.2179226069246436, + "flow_matching_loss": 0.020526924077421425, + "grad_norm": 0.11614160239696503, + "learning_rate": 2.2415357115629045e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11060 + }, + { + "epoch": 3.220832121035787, + "flow_matching_loss": 0.020364953577518462, + "grad_norm": 0.11536849290132523, + "learning_rate": 2.2400979679984162e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11070 + }, + { + "epoch": 3.2237416351469306, + "flow_matching_loss": 0.021622278820723297, + "grad_norm": 0.1388428807258606, + "learning_rate": 2.2386593251451096e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11080 + }, + { + "epoch": 3.226651149258074, + "flow_matching_loss": 0.021084309462457894, + "grad_norm": 0.14377084374427795, + "learning_rate": 2.2372197847510722e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11090 + }, + { + "epoch": 3.2295606633692175, + "flow_matching_loss": 0.021213919576257467, + "grad_norm": 0.12354978173971176, + "learning_rate": 2.2357793485654813e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11100 + }, + { + "epoch": 3.232470177480361, + "flow_matching_loss": 0.02089112913236022, + "grad_norm": 0.11042436957359314, + "learning_rate": 2.2343380183386017e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11110 + }, + { + "epoch": 3.235379691591504, + "flow_matching_loss": 0.021625598799437283, + "grad_norm": 0.17936404049396515, + "learning_rate": 2.232895795821787e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11120 + }, + { + "epoch": 3.2382892057026478, + "flow_matching_loss": 0.02300745341926813, + "grad_norm": 0.09837398678064346, + "learning_rate": 2.2314526827674723e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11130 + }, + { + "epoch": 3.241198719813791, + "flow_matching_loss": 0.02043100455775857, + "grad_norm": 0.12153858691453934, + "learning_rate": 2.230008680929177e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11140 + }, + { + "epoch": 3.2441082339249343, + "flow_matching_loss": 0.018697139620780946, + "grad_norm": 0.11847143620252609, + "learning_rate": 2.2285637920614987e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11150 + }, + { + "epoch": 3.247017748036078, + "flow_matching_loss": 0.02206995151937008, + "grad_norm": 0.15767347812652588, + "learning_rate": 2.2271180179201143e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11160 + }, + { + "epoch": 3.2499272621472213, + "flow_matching_loss": 0.022378981113433838, + "grad_norm": 0.12365289777517319, + "learning_rate": 2.225671360261775e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11170 + }, + { + "epoch": 3.252836776258365, + "flow_matching_loss": 0.01989859277382493, + "grad_norm": 0.1238953024148941, + "learning_rate": 2.2242238208443068e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11180 + }, + { + "epoch": 3.2557462903695082, + "flow_matching_loss": 0.023934262804687023, + "grad_norm": 0.09261620789766312, + "learning_rate": 2.2227754014266063e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11190 + }, + { + "epoch": 3.258655804480652, + "flow_matching_loss": 0.021501778438687325, + "grad_norm": 0.12755544483661652, + "learning_rate": 2.22132610376864e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11200 + }, + { + "epoch": 3.261565318591795, + "flow_matching_loss": 0.02162296324968338, + "grad_norm": 0.09437762945890427, + "learning_rate": 2.219875929631441e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11210 + }, + { + "epoch": 3.2644748327029385, + "flow_matching_loss": 0.01926049552857876, + "grad_norm": 0.09706463664770126, + "learning_rate": 2.2184248807771074e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11220 + }, + { + "epoch": 3.267384346814082, + "flow_matching_loss": 0.024929742515087127, + "grad_norm": 0.12968124449253082, + "learning_rate": 2.216972958968801e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11230 + }, + { + "epoch": 3.2702938609252254, + "flow_matching_loss": 0.021112293004989624, + "grad_norm": 0.10740242898464203, + "learning_rate": 2.215520165970743e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11240 + }, + { + "epoch": 3.2732033750363687, + "flow_matching_loss": 0.0226936262100935, + "grad_norm": 0.0997137576341629, + "learning_rate": 2.2140665035482143e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11250 + }, + { + "epoch": 3.2761128891475124, + "flow_matching_loss": 0.020941784046590327, + "grad_norm": 0.1034519150853157, + "learning_rate": 2.2126119734675518e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11260 + }, + { + "epoch": 3.2790224032586557, + "flow_matching_loss": 0.020146543532609938, + "grad_norm": 0.121493399143219, + "learning_rate": 2.2111565774961463e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11270 + }, + { + "epoch": 3.2819319173697994, + "flow_matching_loss": 0.018686683755367993, + "grad_norm": 0.12450702488422394, + "learning_rate": 2.2097003174024417e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11280 + }, + { + "epoch": 3.2848414314809427, + "flow_matching_loss": 0.018753208685666323, + "grad_norm": 0.11673656851053238, + "learning_rate": 2.2082431949559315e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11290 + }, + { + "epoch": 3.2877509455920864, + "flow_matching_loss": 0.019798177015036344, + "grad_norm": 0.1339951753616333, + "learning_rate": 2.2067852119271558e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11300 + }, + { + "epoch": 3.2906604597032296, + "flow_matching_loss": 0.020439954567700626, + "grad_norm": 0.10318291187286377, + "learning_rate": 2.2053263700877026e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11310 + }, + { + "epoch": 3.293569973814373, + "flow_matching_loss": 0.019837307557463647, + "grad_norm": 0.1336655616760254, + "learning_rate": 2.2038666712102015e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11320 + }, + { + "epoch": 3.2964794879255166, + "flow_matching_loss": 0.018663120828568934, + "grad_norm": 0.12179198116064072, + "learning_rate": 2.2024061170683246e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11330 + }, + { + "epoch": 3.29938900203666, + "flow_matching_loss": 0.022559356689453126, + "grad_norm": 0.09364177286624908, + "learning_rate": 2.200944709436783e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11340 + }, + { + "epoch": 3.302298516147803, + "flow_matching_loss": 0.021902943681925535, + "grad_norm": 0.10802248865365982, + "learning_rate": 2.1994824500913246e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11350 + }, + { + "epoch": 3.305208030258947, + "flow_matching_loss": 0.022195091098546983, + "grad_norm": 0.1164034977555275, + "learning_rate": 2.1980193408087322e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11360 + }, + { + "epoch": 3.30811754437009, + "flow_matching_loss": 0.02142278999090195, + "grad_norm": 0.09407010674476624, + "learning_rate": 2.1965553833668224e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11370 + }, + { + "epoch": 3.311027058481234, + "flow_matching_loss": 0.02189906481653452, + "grad_norm": 0.15221257507801056, + "learning_rate": 2.195090579544441e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11380 + }, + { + "epoch": 3.313936572592377, + "flow_matching_loss": 0.02226033844053745, + "grad_norm": 0.14953674376010895, + "learning_rate": 2.193624931121462e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11390 + }, + { + "epoch": 3.3168460867035203, + "flow_matching_loss": 0.02271969150751829, + "grad_norm": 0.10672392696142197, + "learning_rate": 2.1921584398787872e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11400 + }, + { + "epoch": 3.319755600814664, + "flow_matching_loss": 0.02162638884037733, + "grad_norm": 0.09628824144601822, + "learning_rate": 2.1906911075983418e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11410 + }, + { + "epoch": 3.3226651149258073, + "flow_matching_loss": 0.019603279978036882, + "grad_norm": 0.13121895492076874, + "learning_rate": 2.1892229360630728e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11420 + }, + { + "epoch": 3.325574629036951, + "flow_matching_loss": 0.019368168246001006, + "grad_norm": 0.15094007551670074, + "learning_rate": 2.187753927056947e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11430 + }, + { + "epoch": 3.3284841431480943, + "flow_matching_loss": 0.01971165258437395, + "grad_norm": 0.10029852390289307, + "learning_rate": 2.186284082364949e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11440 + }, + { + "epoch": 3.3313936572592375, + "flow_matching_loss": 0.021831646747887134, + "grad_norm": 0.15029610693454742, + "learning_rate": 2.1848134037730786e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11450 + }, + { + "epoch": 3.3343031713703812, + "flow_matching_loss": 0.021298226714134217, + "grad_norm": 0.15092076361179352, + "learning_rate": 2.183341893068349e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11460 + }, + { + "epoch": 3.3372126854815245, + "flow_matching_loss": 0.019694274477660655, + "grad_norm": 0.1480211317539215, + "learning_rate": 2.1818695520387842e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11470 + }, + { + "epoch": 3.340122199592668, + "flow_matching_loss": 0.01982952617108822, + "grad_norm": 0.11118555814027786, + "learning_rate": 2.1803963824734173e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11480 + }, + { + "epoch": 3.3430317137038115, + "flow_matching_loss": 0.020644392166286708, + "grad_norm": 0.14902839064598083, + "learning_rate": 2.1789223861622887e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11490 + }, + { + "epoch": 3.3459412278149547, + "flow_matching_loss": 0.020144078973680736, + "grad_norm": 0.13106486201286316, + "learning_rate": 2.1774475648964428e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11500 + }, + { + "epoch": 3.3488507419260984, + "flow_matching_loss": 0.021002601087093353, + "grad_norm": 0.13590335845947266, + "learning_rate": 2.1759719204679267e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11510 + }, + { + "epoch": 3.3517602560372417, + "flow_matching_loss": 0.023283451423048974, + "grad_norm": 0.12748295068740845, + "learning_rate": 2.174495454669787e-05, + "loss": 0.0233, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11520 + }, + { + "epoch": 3.3546697701483854, + "flow_matching_loss": 0.023882090020924805, + "grad_norm": 0.16596558690071106, + "learning_rate": 2.1730181692960692e-05, + "loss": 0.0239, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11530 + }, + { + "epoch": 3.3575792842595287, + "flow_matching_loss": 0.02254943549633026, + "grad_norm": 0.14412757754325867, + "learning_rate": 2.171540066141814e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11540 + }, + { + "epoch": 3.360488798370672, + "flow_matching_loss": 0.02310633286833763, + "grad_norm": 0.11657266318798065, + "learning_rate": 2.170061147003056e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11550 + }, + { + "epoch": 3.3633983124818156, + "flow_matching_loss": 0.0224798534065485, + "grad_norm": 0.20541884005069733, + "learning_rate": 2.1685814136768225e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11560 + }, + { + "epoch": 3.366307826592959, + "flow_matching_loss": 0.02058784058317542, + "grad_norm": 0.13535144925117493, + "learning_rate": 2.167100867961128e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11570 + }, + { + "epoch": 3.369217340704102, + "flow_matching_loss": 0.022136324923485516, + "grad_norm": 0.11939060688018799, + "learning_rate": 2.1656195116549756e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11580 + }, + { + "epoch": 3.372126854815246, + "flow_matching_loss": 0.02261559385806322, + "grad_norm": 0.14829248189926147, + "learning_rate": 2.1641373465583527e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11590 + }, + { + "epoch": 3.375036368926389, + "flow_matching_loss": 0.020147368125617505, + "grad_norm": 0.11503302305936813, + "learning_rate": 2.1626543744722292e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11600 + }, + { + "epoch": 3.377945883037533, + "flow_matching_loss": 0.023177741467952727, + "grad_norm": 0.13332779705524445, + "learning_rate": 2.161170597198557e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11610 + }, + { + "epoch": 3.380855397148676, + "flow_matching_loss": 0.02408842705190182, + "grad_norm": 0.12723933160305023, + "learning_rate": 2.1596860165402645e-05, + "loss": 0.0241, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11620 + }, + { + "epoch": 3.38376491125982, + "flow_matching_loss": 0.025465017836540937, + "grad_norm": 0.18001288175582886, + "learning_rate": 2.1582006343012576e-05, + "loss": 0.0255, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11630 + }, + { + "epoch": 3.386674425370963, + "flow_matching_loss": 0.020439009368419647, + "grad_norm": 0.13699346780776978, + "learning_rate": 2.156714452286416e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11640 + }, + { + "epoch": 3.3895839394821063, + "flow_matching_loss": 0.02043330343440175, + "grad_norm": 0.13297440111637115, + "learning_rate": 2.155227472301591e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11650 + }, + { + "epoch": 3.39249345359325, + "flow_matching_loss": 0.02026635203510523, + "grad_norm": 0.1264343112707138, + "learning_rate": 2.1537396961536027e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11660 + }, + { + "epoch": 3.3954029677043933, + "flow_matching_loss": 0.02092446181923151, + "grad_norm": 0.145924374461174, + "learning_rate": 2.1522511256502403e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11670 + }, + { + "epoch": 3.3983124818155366, + "flow_matching_loss": 0.019766313675791024, + "grad_norm": 0.14742161333560944, + "learning_rate": 2.1507617626002566e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11680 + }, + { + "epoch": 3.4012219959266803, + "flow_matching_loss": 0.021441867016255854, + "grad_norm": 0.16349966824054718, + "learning_rate": 2.1492716088133685e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11690 + }, + { + "epoch": 3.4041315100378235, + "flow_matching_loss": 0.021589618269354106, + "grad_norm": 0.1109490618109703, + "learning_rate": 2.1477806661002536e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11700 + }, + { + "epoch": 3.4070410241489673, + "flow_matching_loss": 0.020818517357110978, + "grad_norm": 0.12695640325546265, + "learning_rate": 2.146288936272548e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11710 + }, + { + "epoch": 3.4099505382601105, + "flow_matching_loss": 0.020009613968431948, + "grad_norm": 0.1339699625968933, + "learning_rate": 2.1447964211428433e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11720 + }, + { + "epoch": 3.4128600523712542, + "flow_matching_loss": 0.02253617104142904, + "grad_norm": 0.13300222158432007, + "learning_rate": 2.1433031225246865e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11730 + }, + { + "epoch": 3.4157695664823975, + "flow_matching_loss": 0.02142203599214554, + "grad_norm": 0.11544040590524673, + "learning_rate": 2.1418090422325766e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11740 + }, + { + "epoch": 3.4186790805935408, + "flow_matching_loss": 0.02251837756484747, + "grad_norm": 0.13452774286270142, + "learning_rate": 2.1403141820819623e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11750 + }, + { + "epoch": 3.4215885947046845, + "flow_matching_loss": 0.020881595369428397, + "grad_norm": 0.11780013144016266, + "learning_rate": 2.1388185438892377e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11760 + }, + { + "epoch": 3.4244981088158277, + "flow_matching_loss": 0.019770305324345826, + "grad_norm": 0.10559424757957458, + "learning_rate": 2.1373221294717465e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11770 + }, + { + "epoch": 3.427407622926971, + "flow_matching_loss": 0.01781876776367426, + "grad_norm": 0.10838956385850906, + "learning_rate": 2.1358249406477724e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11780 + }, + { + "epoch": 3.4303171370381147, + "flow_matching_loss": 0.022091144323349, + "grad_norm": 0.12459693849086761, + "learning_rate": 2.1343269792365408e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11790 + }, + { + "epoch": 3.433226651149258, + "flow_matching_loss": 0.02209754176437855, + "grad_norm": 0.1308780312538147, + "learning_rate": 2.132828247058217e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11800 + }, + { + "epoch": 3.4361361652604017, + "flow_matching_loss": 0.021913902834057808, + "grad_norm": 0.10957960784435272, + "learning_rate": 2.1313287459339004e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11810 + }, + { + "epoch": 3.439045679371545, + "flow_matching_loss": 0.022313206735998393, + "grad_norm": 0.15792518854141235, + "learning_rate": 2.1298284776856276e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11820 + }, + { + "epoch": 3.4419551934826886, + "flow_matching_loss": 0.02281939946115017, + "grad_norm": 0.12151986360549927, + "learning_rate": 2.128327444136365e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11830 + }, + { + "epoch": 3.444864707593832, + "flow_matching_loss": 0.023435321636497974, + "grad_norm": 0.1288408488035202, + "learning_rate": 2.1268256471100105e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11840 + }, + { + "epoch": 3.447774221704975, + "flow_matching_loss": 0.021570297703146935, + "grad_norm": 0.141110360622406, + "learning_rate": 2.1253230884313893e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11850 + }, + { + "epoch": 3.450683735816119, + "flow_matching_loss": 0.019625356048345567, + "grad_norm": 0.10901430249214172, + "learning_rate": 2.123819769926251e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11860 + }, + { + "epoch": 3.453593249927262, + "flow_matching_loss": 0.0225248197093606, + "grad_norm": 0.1169712096452713, + "learning_rate": 2.1223156934212702e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11870 + }, + { + "epoch": 3.4565027640384054, + "flow_matching_loss": 0.021765408106148243, + "grad_norm": 0.14378035068511963, + "learning_rate": 2.1208108607440418e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11880 + }, + { + "epoch": 3.459412278149549, + "flow_matching_loss": 0.02113883327692747, + "grad_norm": 0.1346711963415146, + "learning_rate": 2.119305273723078e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11890 + }, + { + "epoch": 3.4623217922606924, + "flow_matching_loss": 0.0208596708253026, + "grad_norm": 0.09197286516427994, + "learning_rate": 2.1177989341878106e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11900 + }, + { + "epoch": 3.465231306371836, + "flow_matching_loss": 0.02139272214844823, + "grad_norm": 0.139291450381279, + "learning_rate": 2.116291843968583e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11910 + }, + { + "epoch": 3.4681408204829793, + "flow_matching_loss": 0.021424243226647377, + "grad_norm": 0.11746720969676971, + "learning_rate": 2.114784004896653e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11920 + }, + { + "epoch": 3.4710503345941226, + "flow_matching_loss": 0.02485373243689537, + "grad_norm": 0.13394801318645477, + "learning_rate": 2.113275418804187e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11930 + }, + { + "epoch": 3.4739598487052663, + "flow_matching_loss": 0.025832594931125642, + "grad_norm": 0.1629381775856018, + "learning_rate": 2.1117660875242583e-05, + "loss": 0.0258, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11940 + }, + { + "epoch": 3.4768693628164096, + "flow_matching_loss": 0.02121066153049469, + "grad_norm": 0.12685364484786987, + "learning_rate": 2.1102560128908478e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11950 + }, + { + "epoch": 3.4797788769275533, + "flow_matching_loss": 0.024244979210197925, + "grad_norm": 0.18891757726669312, + "learning_rate": 2.1087451967388384e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11960 + }, + { + "epoch": 3.4826883910386965, + "flow_matching_loss": 0.020494434982538223, + "grad_norm": 0.13403701782226562, + "learning_rate": 2.1072336409040135e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11970 + }, + { + "epoch": 3.48559790514984, + "flow_matching_loss": 0.021086400374770164, + "grad_norm": 0.13230744004249573, + "learning_rate": 2.1057213472230573e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11980 + }, + { + "epoch": 3.4885074192609835, + "flow_matching_loss": 0.018243178073316813, + "grad_norm": 0.10978122055530548, + "learning_rate": 2.1042083175335478e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 11990 + }, + { + "epoch": 3.4914169333721268, + "flow_matching_loss": 0.02250756323337555, + "grad_norm": 0.1350974291563034, + "learning_rate": 2.1026945536739595e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12000 + }, + { + "epoch": 3.4943264474832705, + "flow_matching_loss": 0.02322809211909771, + "grad_norm": 0.1466386616230011, + "learning_rate": 2.1011800574836586e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12010 + }, + { + "epoch": 3.4972359615944137, + "flow_matching_loss": 0.019875488989055157, + "grad_norm": 0.12107054144144058, + "learning_rate": 2.0996648308028992e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12020 + }, + { + "epoch": 3.500145475705557, + "flow_matching_loss": 0.02048434056341648, + "grad_norm": 0.11852696537971497, + "learning_rate": 2.0981488754728266e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12030 + }, + { + "epoch": 3.5030549898167007, + "flow_matching_loss": 0.02015399495139718, + "grad_norm": 0.09219971299171448, + "learning_rate": 2.0966321933354685e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12040 + }, + { + "epoch": 3.505964503927844, + "flow_matching_loss": 0.021728210709989072, + "grad_norm": 0.09808789938688278, + "learning_rate": 2.095114786233736e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12050 + }, + { + "epoch": 3.5088740180389877, + "flow_matching_loss": 0.02211116636171937, + "grad_norm": 0.12657901644706726, + "learning_rate": 2.0935966560114236e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12060 + }, + { + "epoch": 3.511783532150131, + "flow_matching_loss": 0.019604588858783245, + "grad_norm": 0.10312247276306152, + "learning_rate": 2.092077804513201e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12070 + }, + { + "epoch": 3.514693046261274, + "flow_matching_loss": 0.02055679392069578, + "grad_norm": 0.11676841974258423, + "learning_rate": 2.0905582335846167e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12080 + }, + { + "epoch": 3.517602560372418, + "flow_matching_loss": 0.019830206222832204, + "grad_norm": 0.10677514970302582, + "learning_rate": 2.0890379450720927e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12090 + }, + { + "epoch": 3.520512074483561, + "flow_matching_loss": 0.02220802763476968, + "grad_norm": 0.11625487357378006, + "learning_rate": 2.087516940822923e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12100 + }, + { + "epoch": 3.5234215885947044, + "flow_matching_loss": 0.021713653951883315, + "grad_norm": 0.10987640917301178, + "learning_rate": 2.085995222685271e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12110 + }, + { + "epoch": 3.526331102705848, + "flow_matching_loss": 0.020723098516464235, + "grad_norm": 0.13703031837940216, + "learning_rate": 2.084472792508167e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12120 + }, + { + "epoch": 3.5292406168169914, + "flow_matching_loss": 0.02104196762666106, + "grad_norm": 0.1850503385066986, + "learning_rate": 2.082949652141508e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12130 + }, + { + "epoch": 3.532150130928135, + "flow_matching_loss": 0.020145802572369576, + "grad_norm": 0.12602965533733368, + "learning_rate": 2.081425803436054e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12140 + }, + { + "epoch": 3.5350596450392784, + "flow_matching_loss": 0.019686385430395602, + "grad_norm": 0.1438933163881302, + "learning_rate": 2.079901248243423e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12150 + }, + { + "epoch": 3.537969159150422, + "flow_matching_loss": 0.021944690216332673, + "grad_norm": 0.0998668447136879, + "learning_rate": 2.078375988416095e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12160 + }, + { + "epoch": 3.5408786732615654, + "flow_matching_loss": 0.020626878179609776, + "grad_norm": 0.12968476116657257, + "learning_rate": 2.076850025807404e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12170 + }, + { + "epoch": 3.5437881873727086, + "flow_matching_loss": 0.022946504596620797, + "grad_norm": 0.14837205410003662, + "learning_rate": 2.0753233622715374e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12180 + }, + { + "epoch": 3.5466977014838523, + "flow_matching_loss": 0.019620874524116518, + "grad_norm": 0.13356579840183258, + "learning_rate": 2.073795999663536e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12190 + }, + { + "epoch": 3.5496072155949956, + "flow_matching_loss": 0.022602961864322424, + "grad_norm": 0.09194227308034897, + "learning_rate": 2.07226793983929e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12200 + }, + { + "epoch": 3.552516729706139, + "flow_matching_loss": 0.024870028905570506, + "grad_norm": 0.18284164369106293, + "learning_rate": 2.070739184655536e-05, + "loss": 0.0249, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12210 + }, + { + "epoch": 3.5554262438172826, + "flow_matching_loss": 0.019302340131253003, + "grad_norm": 0.12109409272670746, + "learning_rate": 2.069209735969855e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12220 + }, + { + "epoch": 3.558335757928426, + "flow_matching_loss": 0.021356625109910966, + "grad_norm": 0.0905143991112709, + "learning_rate": 2.067679595640672e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12230 + }, + { + "epoch": 3.5612452720395695, + "flow_matching_loss": 0.020505815744400024, + "grad_norm": 0.14946217834949493, + "learning_rate": 2.066148765527252e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12240 + }, + { + "epoch": 3.564154786150713, + "flow_matching_loss": 0.01946537122130394, + "grad_norm": 0.09122513979673386, + "learning_rate": 2.0646172474896976e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12250 + }, + { + "epoch": 3.5670643002618565, + "flow_matching_loss": 0.02065526805818081, + "grad_norm": 0.13826097548007965, + "learning_rate": 2.063085043388947e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12260 + }, + { + "epoch": 3.5699738143729998, + "flow_matching_loss": 0.023589957505464554, + "grad_norm": 0.10755514353513718, + "learning_rate": 2.0615521550867732e-05, + "loss": 0.0236, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12270 + }, + { + "epoch": 3.572883328484143, + "flow_matching_loss": 0.018763447646051645, + "grad_norm": 0.13562491536140442, + "learning_rate": 2.0600185844457803e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12280 + }, + { + "epoch": 3.5757928425952867, + "flow_matching_loss": 0.01806253185495734, + "grad_norm": 0.1204468235373497, + "learning_rate": 2.058484333329401e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12290 + }, + { + "epoch": 3.57870235670643, + "flow_matching_loss": 0.023439965024590493, + "grad_norm": 0.11566219478845596, + "learning_rate": 2.0569494036018955e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12300 + }, + { + "epoch": 3.5816118708175733, + "flow_matching_loss": 0.02352699702605605, + "grad_norm": 0.15307343006134033, + "learning_rate": 2.055413797128347e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12310 + }, + { + "epoch": 3.584521384928717, + "flow_matching_loss": 0.020415786560624836, + "grad_norm": 0.14636634290218353, + "learning_rate": 2.0538775157746634e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12320 + }, + { + "epoch": 3.5874308990398602, + "flow_matching_loss": 0.019491998851299285, + "grad_norm": 0.1338425576686859, + "learning_rate": 2.0523405614075706e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12330 + }, + { + "epoch": 3.590340413151004, + "flow_matching_loss": 0.02154488805681467, + "grad_norm": 0.1321709007024765, + "learning_rate": 2.0508029358946132e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12340 + }, + { + "epoch": 3.593249927262147, + "flow_matching_loss": 0.02256908006966114, + "grad_norm": 0.12905222177505493, + "learning_rate": 2.0492646411041515e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12350 + }, + { + "epoch": 3.596159441373291, + "flow_matching_loss": 0.021800875291228296, + "grad_norm": 0.12397122383117676, + "learning_rate": 2.0477256789053587e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12360 + }, + { + "epoch": 3.599068955484434, + "flow_matching_loss": 0.020135819911956787, + "grad_norm": 0.11377835273742676, + "learning_rate": 2.0461860511682194e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12370 + }, + { + "epoch": 3.6019784695955774, + "flow_matching_loss": 0.019926603231579066, + "grad_norm": 0.09328297525644302, + "learning_rate": 2.0446457597635254e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12380 + }, + { + "epoch": 3.604887983706721, + "flow_matching_loss": 0.019732429925352336, + "grad_norm": 0.10974331200122833, + "learning_rate": 2.0431048065628763e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12390 + }, + { + "epoch": 3.6077974978178644, + "flow_matching_loss": 0.020315002556890248, + "grad_norm": 0.12996113300323486, + "learning_rate": 2.0415631934386764e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12400 + }, + { + "epoch": 3.6107070119290077, + "flow_matching_loss": 0.018163519073277713, + "grad_norm": 0.10693731904029846, + "learning_rate": 2.04002092226413e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12410 + }, + { + "epoch": 3.6136165260401514, + "flow_matching_loss": 0.01933762263506651, + "grad_norm": 0.13670235872268677, + "learning_rate": 2.038477994913242e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12420 + }, + { + "epoch": 3.6165260401512946, + "flow_matching_loss": 0.02287133615463972, + "grad_norm": 0.12608198821544647, + "learning_rate": 2.036934413260816e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12430 + }, + { + "epoch": 3.619435554262438, + "flow_matching_loss": 0.017782172095030545, + "grad_norm": 0.1302206963300705, + "learning_rate": 2.0353901791824473e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12440 + }, + { + "epoch": 3.6223450683735816, + "flow_matching_loss": 0.020493896398693322, + "grad_norm": 0.11206705868244171, + "learning_rate": 2.0338452945545275e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12450 + }, + { + "epoch": 3.6252545824847253, + "flow_matching_loss": 0.018307983130216598, + "grad_norm": 0.09289149940013885, + "learning_rate": 2.0322997612542366e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12460 + }, + { + "epoch": 3.6281640965958686, + "flow_matching_loss": 0.022147059068083765, + "grad_norm": 0.11508696526288986, + "learning_rate": 2.0307535811595427e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12470 + }, + { + "epoch": 3.631073610707012, + "flow_matching_loss": 0.019433452282100916, + "grad_norm": 0.10103738307952881, + "learning_rate": 2.0292067561492013e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12480 + }, + { + "epoch": 3.6339831248181556, + "flow_matching_loss": 0.021469323430210352, + "grad_norm": 0.10581354796886444, + "learning_rate": 2.02765928810275e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12490 + }, + { + "epoch": 3.636892638929299, + "flow_matching_loss": 0.020399280451238157, + "grad_norm": 0.13621503114700317, + "learning_rate": 2.0261111789005087e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12500 + }, + { + "epoch": 3.639802153040442, + "flow_matching_loss": 0.021869042329490183, + "grad_norm": 0.14269506931304932, + "learning_rate": 2.024562430423576e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12510 + }, + { + "epoch": 3.642711667151586, + "flow_matching_loss": 0.01891011754050851, + "grad_norm": 0.11395009607076645, + "learning_rate": 2.0230130445538273e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12520 + }, + { + "epoch": 3.645621181262729, + "flow_matching_loss": 0.022515877336263656, + "grad_norm": 0.14883695542812347, + "learning_rate": 2.0214630231739127e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12530 + }, + { + "epoch": 3.6485306953738723, + "flow_matching_loss": 0.018916414678096773, + "grad_norm": 0.11844418197870255, + "learning_rate": 2.0199123681672543e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12540 + }, + { + "epoch": 3.651440209485016, + "flow_matching_loss": 0.019884829223155976, + "grad_norm": 0.12803544104099274, + "learning_rate": 2.0183610814180437e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12550 + }, + { + "epoch": 3.6543497235961593, + "flow_matching_loss": 0.022386767715215684, + "grad_norm": 0.13609276711940765, + "learning_rate": 2.016809164811241e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12560 + }, + { + "epoch": 3.657259237707303, + "flow_matching_loss": 0.02034800136461854, + "grad_norm": 0.169346883893013, + "learning_rate": 2.015256620232571e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12570 + }, + { + "epoch": 3.6601687518184463, + "flow_matching_loss": 0.02241452317684889, + "grad_norm": 0.13854897022247314, + "learning_rate": 2.0137034495685222e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12580 + }, + { + "epoch": 3.66307826592959, + "flow_matching_loss": 0.019460567086935044, + "grad_norm": 0.09909255802631378, + "learning_rate": 2.012149654706343e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12590 + }, + { + "epoch": 3.6659877800407332, + "flow_matching_loss": 0.020093686319887637, + "grad_norm": 0.11719155311584473, + "learning_rate": 2.010595237534041e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12600 + }, + { + "epoch": 3.6688972941518765, + "flow_matching_loss": 0.017849200684577227, + "grad_norm": 0.11750034242868423, + "learning_rate": 2.0090401999403793e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12610 + }, + { + "epoch": 3.67180680826302, + "flow_matching_loss": 0.020829439908266068, + "grad_norm": 0.13697586953639984, + "learning_rate": 2.007484543814875e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12620 + }, + { + "epoch": 3.6747163223741635, + "flow_matching_loss": 0.02108490513637662, + "grad_norm": 0.10533184558153152, + "learning_rate": 2.0059282710477972e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12630 + }, + { + "epoch": 3.6776258364853067, + "flow_matching_loss": 0.021633092779666185, + "grad_norm": 0.13535887002944946, + "learning_rate": 2.0043713835301647e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12640 + }, + { + "epoch": 3.6805353505964504, + "flow_matching_loss": 0.01835498884320259, + "grad_norm": 0.12204459309577942, + "learning_rate": 2.0028138831537417e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12650 + }, + { + "epoch": 3.6834448647075937, + "flow_matching_loss": 0.020545388013124465, + "grad_norm": 0.11331921815872192, + "learning_rate": 2.0012557718110387e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12660 + }, + { + "epoch": 3.6863543788187374, + "flow_matching_loss": 0.021709674783051015, + "grad_norm": 0.1288510113954544, + "learning_rate": 1.9996970513953077e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12670 + }, + { + "epoch": 3.6892638929298807, + "flow_matching_loss": 0.020166376885026694, + "grad_norm": 0.12528610229492188, + "learning_rate": 1.9981377238005405e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12680 + }, + { + "epoch": 3.6921734070410244, + "flow_matching_loss": 0.021628742665052415, + "grad_norm": 0.139389768242836, + "learning_rate": 1.9965777909214674e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12690 + }, + { + "epoch": 3.6950829211521676, + "flow_matching_loss": 0.018252886645495892, + "grad_norm": 0.1011376902461052, + "learning_rate": 1.9950172546535545e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12700 + }, + { + "epoch": 3.697992435263311, + "flow_matching_loss": 0.020514242351055145, + "grad_norm": 0.102044016122818, + "learning_rate": 1.9934561168930002e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12710 + }, + { + "epoch": 3.7009019493744546, + "flow_matching_loss": 0.0221416300162673, + "grad_norm": 0.11188992857933044, + "learning_rate": 1.991894379536734e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12720 + }, + { + "epoch": 3.703811463485598, + "flow_matching_loss": 0.02202565399929881, + "grad_norm": 0.10538312047719955, + "learning_rate": 1.9903320444824137e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12730 + }, + { + "epoch": 3.706720977596741, + "flow_matching_loss": 0.018207482434809207, + "grad_norm": 0.09320947527885437, + "learning_rate": 1.9887691136284245e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12740 + }, + { + "epoch": 3.709630491707885, + "flow_matching_loss": 0.0192683064378798, + "grad_norm": 0.09170430898666382, + "learning_rate": 1.9872055888738745e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12750 + }, + { + "epoch": 3.712540005819028, + "flow_matching_loss": 0.02214306192472577, + "grad_norm": 0.09744148701429367, + "learning_rate": 1.985641472118593e-05, + "loss": 0.0221, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12760 + }, + { + "epoch": 3.715449519930172, + "flow_matching_loss": 0.02242464628070593, + "grad_norm": 0.13977111876010895, + "learning_rate": 1.9840767652631294e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12770 + }, + { + "epoch": 3.718359034041315, + "flow_matching_loss": 0.02177362684160471, + "grad_norm": 0.14248350262641907, + "learning_rate": 1.9825114702087513e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12780 + }, + { + "epoch": 3.7212685481524588, + "flow_matching_loss": 0.02307728510349989, + "grad_norm": 0.11386589705944061, + "learning_rate": 1.9809455888574388e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12790 + }, + { + "epoch": 3.724178062263602, + "flow_matching_loss": 0.02089758701622486, + "grad_norm": 0.11502363532781601, + "learning_rate": 1.9793791231118864e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12800 + }, + { + "epoch": 3.7270875763747453, + "flow_matching_loss": 0.018625549133867027, + "grad_norm": 0.1266147345304489, + "learning_rate": 1.9778120748754958e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12810 + }, + { + "epoch": 3.729997090485889, + "flow_matching_loss": 0.02073476780205965, + "grad_norm": 0.10403696447610855, + "learning_rate": 1.97624444605238e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12820 + }, + { + "epoch": 3.7329066045970323, + "flow_matching_loss": 0.020765117742121218, + "grad_norm": 0.1106521412730217, + "learning_rate": 1.9746762385473552e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12830 + }, + { + "epoch": 3.7358161187081755, + "flow_matching_loss": 0.02007483234629035, + "grad_norm": 0.09316810965538025, + "learning_rate": 1.9731074542659414e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12840 + }, + { + "epoch": 3.7387256328193192, + "flow_matching_loss": 0.022596888523548842, + "grad_norm": 0.16703374683856964, + "learning_rate": 1.9715380951143603e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12850 + }, + { + "epoch": 3.7416351469304625, + "flow_matching_loss": 0.020156404189765453, + "grad_norm": 0.1409408152103424, + "learning_rate": 1.9699681629995295e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12860 + }, + { + "epoch": 3.744544661041606, + "flow_matching_loss": 0.021090028621256352, + "grad_norm": 0.13153810799121857, + "learning_rate": 1.968397659829066e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12870 + }, + { + "epoch": 3.7474541751527495, + "flow_matching_loss": 0.019691058434545994, + "grad_norm": 0.11649211496114731, + "learning_rate": 1.966826587511279e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12880 + }, + { + "epoch": 3.750363689263893, + "flow_matching_loss": 0.022937375400215388, + "grad_norm": 0.1572205275297165, + "learning_rate": 1.965254947955169e-05, + "loss": 0.0229, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12890 + }, + { + "epoch": 3.7532732033750364, + "flow_matching_loss": 0.019193158578127624, + "grad_norm": 0.11962185800075531, + "learning_rate": 1.963682743070427e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12900 + }, + { + "epoch": 3.7561827174861797, + "flow_matching_loss": 0.01822959315031767, + "grad_norm": 0.1191764771938324, + "learning_rate": 1.962109974767429e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12910 + }, + { + "epoch": 3.7590922315973234, + "flow_matching_loss": 0.020397904235869645, + "grad_norm": 0.12392257899045944, + "learning_rate": 1.960536644957238e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12920 + }, + { + "epoch": 3.7620017457084667, + "flow_matching_loss": 0.02318670004606247, + "grad_norm": 0.11259124428033829, + "learning_rate": 1.9589627555515974e-05, + "loss": 0.0232, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12930 + }, + { + "epoch": 3.76491125981961, + "flow_matching_loss": 0.019797253515571357, + "grad_norm": 0.11526665836572647, + "learning_rate": 1.9573883084629317e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12940 + }, + { + "epoch": 3.7678207739307537, + "flow_matching_loss": 0.021769357565790414, + "grad_norm": 0.13866780698299408, + "learning_rate": 1.9558133056043422e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12950 + }, + { + "epoch": 3.770730288041897, + "flow_matching_loss": 0.020474290661513805, + "grad_norm": 0.1624143272638321, + "learning_rate": 1.9542377488896062e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12960 + }, + { + "epoch": 3.77363980215304, + "flow_matching_loss": 0.01973448321223259, + "grad_norm": 0.13743630051612854, + "learning_rate": 1.9526616402331733e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12970 + }, + { + "epoch": 3.776549316264184, + "flow_matching_loss": 0.019260817859321832, + "grad_norm": 0.13438522815704346, + "learning_rate": 1.9510849815501638e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12980 + }, + { + "epoch": 3.7794588303753276, + "flow_matching_loss": 0.02023005494847894, + "grad_norm": 0.13109247386455536, + "learning_rate": 1.949507774756368e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 12990 + }, + { + "epoch": 3.782368344486471, + "flow_matching_loss": 0.022024411614984273, + "grad_norm": 0.1690615862607956, + "learning_rate": 1.9479300217682394e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13000 + }, + { + "epoch": 3.785277858597614, + "flow_matching_loss": 0.020626658108085394, + "grad_norm": 0.13504821062088013, + "learning_rate": 1.946351724502898e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13010 + }, + { + "epoch": 3.788187372708758, + "flow_matching_loss": 0.020192584302276374, + "grad_norm": 0.09184056520462036, + "learning_rate": 1.9447728848781227e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13020 + }, + { + "epoch": 3.791096886819901, + "flow_matching_loss": 0.020040758326649664, + "grad_norm": 0.2067699283361435, + "learning_rate": 1.943193504812353e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13030 + }, + { + "epoch": 3.7940064009310444, + "flow_matching_loss": 0.019521926064044237, + "grad_norm": 0.09205300360918045, + "learning_rate": 1.9416135862246846e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13040 + }, + { + "epoch": 3.796915915042188, + "flow_matching_loss": 0.02128316732123494, + "grad_norm": 0.20054371654987335, + "learning_rate": 1.9400331310348673e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13050 + }, + { + "epoch": 3.7998254291533313, + "flow_matching_loss": 0.02027187990024686, + "grad_norm": 0.11342193186283112, + "learning_rate": 1.9384521411633033e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13060 + }, + { + "epoch": 3.8027349432644746, + "flow_matching_loss": 0.01797649385407567, + "grad_norm": 0.09912585467100143, + "learning_rate": 1.936870618531045e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13070 + }, + { + "epoch": 3.8056444573756183, + "flow_matching_loss": 0.022964242100715637, + "grad_norm": 0.13483351469039917, + "learning_rate": 1.9352885650597904e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13080 + }, + { + "epoch": 3.8085539714867616, + "flow_matching_loss": 0.022352719586342572, + "grad_norm": 0.16985119879245758, + "learning_rate": 1.9337059826718847e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13090 + }, + { + "epoch": 3.8114634855979053, + "flow_matching_loss": 0.019700013846158982, + "grad_norm": 0.1425991654396057, + "learning_rate": 1.932122873290314e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13100 + }, + { + "epoch": 3.8143729997090485, + "flow_matching_loss": 0.02241982761770487, + "grad_norm": 0.11982397735118866, + "learning_rate": 1.9305392388387054e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13110 + }, + { + "epoch": 3.8172825138201922, + "flow_matching_loss": 0.019181196950376032, + "grad_norm": 0.11850067973136902, + "learning_rate": 1.928955081241325e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13120 + }, + { + "epoch": 3.8201920279313355, + "flow_matching_loss": 0.021717066690325738, + "grad_norm": 0.12940698862075806, + "learning_rate": 1.9273704024230725e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13130 + }, + { + "epoch": 3.8231015420424788, + "flow_matching_loss": 0.018536262307316066, + "grad_norm": 0.10967068374156952, + "learning_rate": 1.925785204309483e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13140 + }, + { + "epoch": 3.8260110561536225, + "flow_matching_loss": 0.021105300169438124, + "grad_norm": 0.12703751027584076, + "learning_rate": 1.9241994888267212e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13150 + }, + { + "epoch": 3.8289205702647657, + "flow_matching_loss": 0.019649944640696047, + "grad_norm": 0.108160100877285, + "learning_rate": 1.9226132579015815e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13160 + }, + { + "epoch": 3.831830084375909, + "flow_matching_loss": 0.021269696485251188, + "grad_norm": 0.12809307873249054, + "learning_rate": 1.9210265134614832e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13170 + }, + { + "epoch": 3.8347395984870527, + "flow_matching_loss": 0.01985672116279602, + "grad_norm": 0.09239654242992401, + "learning_rate": 1.9194392574344712e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13180 + }, + { + "epoch": 3.837649112598196, + "flow_matching_loss": 0.02298305556178093, + "grad_norm": 0.14638851583003998, + "learning_rate": 1.9178514917492103e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13190 + }, + { + "epoch": 3.8405586267093397, + "flow_matching_loss": 0.018827519100159406, + "grad_norm": 0.09832122176885605, + "learning_rate": 1.9162632183349866e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13200 + }, + { + "epoch": 3.843468140820483, + "flow_matching_loss": 0.0201020535081625, + "grad_norm": 0.12068275362253189, + "learning_rate": 1.914674439121701e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13210 + }, + { + "epoch": 3.8463776549316266, + "flow_matching_loss": 0.021197258215397596, + "grad_norm": 0.1262420117855072, + "learning_rate": 1.9130851560398715e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13220 + }, + { + "epoch": 3.84928716904277, + "flow_matching_loss": 0.020612179394811393, + "grad_norm": 0.11875170469284058, + "learning_rate": 1.911495371020625e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13230 + }, + { + "epoch": 3.852196683153913, + "flow_matching_loss": 0.018276679702103137, + "grad_norm": 0.11068114638328552, + "learning_rate": 1.909905085995702e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13240 + }, + { + "epoch": 3.855106197265057, + "flow_matching_loss": 0.019655181933194397, + "grad_norm": 0.08282143622636795, + "learning_rate": 1.908314302897448e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13250 + }, + { + "epoch": 3.8580157113762, + "flow_matching_loss": 0.021801159903407096, + "grad_norm": 0.08598814904689789, + "learning_rate": 1.9067230236588142e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13260 + }, + { + "epoch": 3.8609252254873434, + "flow_matching_loss": 0.019760633632540704, + "grad_norm": 0.10927683860063553, + "learning_rate": 1.905131250213355e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13270 + }, + { + "epoch": 3.863834739598487, + "flow_matching_loss": 0.019792511221021415, + "grad_norm": 0.09280581772327423, + "learning_rate": 1.9035389844952256e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13280 + }, + { + "epoch": 3.8667442537096304, + "flow_matching_loss": 0.021147676557302476, + "grad_norm": 0.1230645552277565, + "learning_rate": 1.901946228439179e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13290 + }, + { + "epoch": 3.869653767820774, + "flow_matching_loss": 0.019017470348626376, + "grad_norm": 0.15946178138256073, + "learning_rate": 1.9003529839805637e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13300 + }, + { + "epoch": 3.8725632819319173, + "flow_matching_loss": 0.0205006486736238, + "grad_norm": 0.10259809345006943, + "learning_rate": 1.8987592530553217e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13310 + }, + { + "epoch": 3.875472796043061, + "flow_matching_loss": 0.024553867150098087, + "grad_norm": 0.18560399115085602, + "learning_rate": 1.897165037599987e-05, + "loss": 0.0246, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13320 + }, + { + "epoch": 3.8783823101542043, + "flow_matching_loss": 0.021318674087524414, + "grad_norm": 0.0926009938120842, + "learning_rate": 1.8955703395516814e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13330 + }, + { + "epoch": 3.8812918242653476, + "flow_matching_loss": 0.01905620377510786, + "grad_norm": 0.12562981247901917, + "learning_rate": 1.8939751608481134e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13340 + }, + { + "epoch": 3.8842013383764913, + "flow_matching_loss": 0.018958465475589038, + "grad_norm": 0.1369353085756302, + "learning_rate": 1.892379503427575e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13350 + }, + { + "epoch": 3.8871108524876345, + "flow_matching_loss": 0.022592124715447425, + "grad_norm": 0.12148511409759521, + "learning_rate": 1.8907833692289412e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13360 + }, + { + "epoch": 3.890020366598778, + "flow_matching_loss": 0.01699680630117655, + "grad_norm": 0.09210433810949326, + "learning_rate": 1.889186760191666e-05, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13370 + }, + { + "epoch": 3.8929298807099215, + "flow_matching_loss": 0.01889247912913561, + "grad_norm": 0.10442876070737839, + "learning_rate": 1.887589678255779e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13380 + }, + { + "epoch": 3.895839394821065, + "flow_matching_loss": 0.019226841069757937, + "grad_norm": 0.11044976860284805, + "learning_rate": 1.8859921253618852e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13390 + }, + { + "epoch": 3.898748908932208, + "flow_matching_loss": 0.020993931964039803, + "grad_norm": 0.144314244389534, + "learning_rate": 1.884394103451163e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13400 + }, + { + "epoch": 3.9016584230433518, + "flow_matching_loss": 0.020200009271502496, + "grad_norm": 0.11559783667325974, + "learning_rate": 1.8827956144653583e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13410 + }, + { + "epoch": 3.9045679371544955, + "flow_matching_loss": 0.022293390426784753, + "grad_norm": 0.11262098699808121, + "learning_rate": 1.8811966603467874e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13420 + }, + { + "epoch": 3.9074774512656387, + "flow_matching_loss": 0.022489003278315066, + "grad_norm": 0.21265704929828644, + "learning_rate": 1.8795972430383293e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13430 + }, + { + "epoch": 3.910386965376782, + "flow_matching_loss": 0.021423893980681896, + "grad_norm": 0.11362749338150024, + "learning_rate": 1.8779973644834273e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13440 + }, + { + "epoch": 3.9132964794879257, + "flow_matching_loss": 0.018425071518868207, + "grad_norm": 0.13684354722499847, + "learning_rate": 1.876397026626085e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13450 + }, + { + "epoch": 3.916205993599069, + "flow_matching_loss": 0.019572457764297724, + "grad_norm": 0.11004139482975006, + "learning_rate": 1.8747962314108633e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13460 + }, + { + "epoch": 3.919115507710212, + "flow_matching_loss": 0.02134220041334629, + "grad_norm": 0.12807992100715637, + "learning_rate": 1.873194980782879e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13470 + }, + { + "epoch": 3.922025021821356, + "flow_matching_loss": 0.021774143539369108, + "grad_norm": 0.10779380053281784, + "learning_rate": 1.871593276687804e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13480 + }, + { + "epoch": 3.924934535932499, + "flow_matching_loss": 0.020416554529219866, + "grad_norm": 0.08979447931051254, + "learning_rate": 1.869991121071858e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13490 + }, + { + "epoch": 3.9278440500436425, + "flow_matching_loss": 0.02192208543419838, + "grad_norm": 0.13063789904117584, + "learning_rate": 1.8683885158818117e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13500 + }, + { + "epoch": 3.930753564154786, + "flow_matching_loss": 0.02308189421892166, + "grad_norm": 0.12364142388105392, + "learning_rate": 1.8667854630649825e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13510 + }, + { + "epoch": 3.9336630782659294, + "flow_matching_loss": 0.018911124393343925, + "grad_norm": 0.17351657152175903, + "learning_rate": 1.86518196456923e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13520 + }, + { + "epoch": 3.936572592377073, + "flow_matching_loss": 0.019460440892726184, + "grad_norm": 0.12700155377388, + "learning_rate": 1.8635780223429565e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13530 + }, + { + "epoch": 3.9394821064882164, + "flow_matching_loss": 0.019852324947714807, + "grad_norm": 0.09603118151426315, + "learning_rate": 1.8619736383351017e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13540 + }, + { + "epoch": 3.94239162059936, + "flow_matching_loss": 0.021173908747732638, + "grad_norm": 0.10743861645460129, + "learning_rate": 1.8603688144951454e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13550 + }, + { + "epoch": 3.9453011347105034, + "flow_matching_loss": 0.021046285331249238, + "grad_norm": 0.15691109001636505, + "learning_rate": 1.8587635527730983e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13560 + }, + { + "epoch": 3.9482106488216466, + "flow_matching_loss": 0.021809645369648932, + "grad_norm": 0.10132092237472534, + "learning_rate": 1.8571578551195056e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13570 + }, + { + "epoch": 3.9511201629327903, + "flow_matching_loss": 0.021714344806969165, + "grad_norm": 0.10822702944278717, + "learning_rate": 1.855551723485441e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13580 + }, + { + "epoch": 3.9540296770439336, + "flow_matching_loss": 0.02264486253261566, + "grad_norm": 0.15753957629203796, + "learning_rate": 1.8539451598225066e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13590 + }, + { + "epoch": 3.956939191155077, + "flow_matching_loss": 0.019632337242364885, + "grad_norm": 0.11432919651269913, + "learning_rate": 1.8523381660828276e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13600 + }, + { + "epoch": 3.9598487052662206, + "flow_matching_loss": 0.017744056601077317, + "grad_norm": 0.11252821981906891, + "learning_rate": 1.850730744219054e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13610 + }, + { + "epoch": 3.962758219377364, + "flow_matching_loss": 0.019857811369001867, + "grad_norm": 0.17175635695457458, + "learning_rate": 1.849122896184354e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13620 + }, + { + "epoch": 3.9656677334885075, + "flow_matching_loss": 0.018912561237812042, + "grad_norm": 0.12376420944929123, + "learning_rate": 1.8475146239324146e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13630 + }, + { + "epoch": 3.968577247599651, + "flow_matching_loss": 0.019497378915548324, + "grad_norm": 0.12309473752975464, + "learning_rate": 1.8459059294174396e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13640 + }, + { + "epoch": 3.9714867617107945, + "flow_matching_loss": 0.02033824287354946, + "grad_norm": 0.14858050644397736, + "learning_rate": 1.844296814594143e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13650 + }, + { + "epoch": 3.9743962758219378, + "flow_matching_loss": 0.018418101128190756, + "grad_norm": 0.1407434642314911, + "learning_rate": 1.8426872814177516e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13660 + }, + { + "epoch": 3.977305789933081, + "flow_matching_loss": 0.020290208980441093, + "grad_norm": 0.11974277347326279, + "learning_rate": 1.8410773318440003e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13670 + }, + { + "epoch": 3.9802153040442247, + "flow_matching_loss": 0.02418713141232729, + "grad_norm": 0.15885022282600403, + "learning_rate": 1.839466967829129e-05, + "loss": 0.0242, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13680 + }, + { + "epoch": 3.983124818155368, + "flow_matching_loss": 0.02094824118539691, + "grad_norm": 0.1167307049036026, + "learning_rate": 1.8378561913298822e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13690 + }, + { + "epoch": 3.9860343322665113, + "flow_matching_loss": 0.022455492243170738, + "grad_norm": 0.12164322286844254, + "learning_rate": 1.8362450043035053e-05, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13700 + }, + { + "epoch": 3.988943846377655, + "flow_matching_loss": 0.021700178366154434, + "grad_norm": 0.13343499600887299, + "learning_rate": 1.834633408707742e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13710 + }, + { + "epoch": 3.9918533604887982, + "flow_matching_loss": 0.018294795788824557, + "grad_norm": 0.10845072567462921, + "learning_rate": 1.8330214065008336e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13720 + }, + { + "epoch": 3.994762874599942, + "flow_matching_loss": 0.022416745033115148, + "grad_norm": 0.14426130056381226, + "learning_rate": 1.831408999641514e-05, + "loss": 0.0224, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13730 + }, + { + "epoch": 3.997672388711085, + "flow_matching_loss": 0.01970604471862316, + "grad_norm": 0.11106103658676147, + "learning_rate": 1.8297961900890107e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13740 + }, + { + "epoch": 4.000581902822229, + "flow_matching_loss": 0.023465176485478877, + "grad_norm": 0.1440294086933136, + "learning_rate": 1.8281829798030385e-05, + "loss": 0.0235, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13750 + }, + { + "epoch": 4.003491416933372, + "flow_matching_loss": 0.021838776487857103, + "grad_norm": 0.1310572624206543, + "learning_rate": 1.8265693707438002e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13760 + }, + { + "epoch": 4.0064009310445154, + "flow_matching_loss": 0.0170366776175797, + "grad_norm": 0.13013404607772827, + "learning_rate": 1.824955364871982e-05, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13770 + }, + { + "epoch": 4.009310445155659, + "flow_matching_loss": 0.018537693936377764, + "grad_norm": 0.08327242732048035, + "learning_rate": 1.8233409641487553e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13780 + }, + { + "epoch": 4.012219959266803, + "flow_matching_loss": 0.019320680387318136, + "grad_norm": 0.1094922423362732, + "learning_rate": 1.8217261705357677e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13790 + }, + { + "epoch": 4.015129473377946, + "flow_matching_loss": 0.019264584966003896, + "grad_norm": 0.09936607629060745, + "learning_rate": 1.8201109859951462e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13800 + }, + { + "epoch": 4.018038987489089, + "flow_matching_loss": 0.020148572884500025, + "grad_norm": 0.1174810454249382, + "learning_rate": 1.818495412489492e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13810 + }, + { + "epoch": 4.020948501600233, + "flow_matching_loss": 0.0210778696462512, + "grad_norm": 0.13382458686828613, + "learning_rate": 1.8168794519818802e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13820 + }, + { + "epoch": 4.023858015711376, + "flow_matching_loss": 0.02197358012199402, + "grad_norm": 0.13426606357097626, + "learning_rate": 1.8152631064358537e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13830 + }, + { + "epoch": 4.02676752982252, + "flow_matching_loss": 0.021789214480668305, + "grad_norm": 0.10760343819856644, + "learning_rate": 1.8136463778154258e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13840 + }, + { + "epoch": 4.029677043933663, + "flow_matching_loss": 0.01884627602994442, + "grad_norm": 0.10018270462751389, + "learning_rate": 1.812029268085074e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13850 + }, + { + "epoch": 4.032586558044806, + "flow_matching_loss": 0.017483815923333167, + "grad_norm": 0.10160646587610245, + "learning_rate": 1.8104117792097387e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13860 + }, + { + "epoch": 4.03549607215595, + "flow_matching_loss": 0.02166136624291539, + "grad_norm": 0.10613783448934555, + "learning_rate": 1.808793913154822e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13870 + }, + { + "epoch": 4.038405586267094, + "flow_matching_loss": 0.02130952402949333, + "grad_norm": 0.13212256133556366, + "learning_rate": 1.8071756718861838e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13880 + }, + { + "epoch": 4.041315100378237, + "flow_matching_loss": 0.020670756045728923, + "grad_norm": 0.10530181974172592, + "learning_rate": 1.805557057370139e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13890 + }, + { + "epoch": 4.04422461448938, + "flow_matching_loss": 0.019254338275641204, + "grad_norm": 0.09234803915023804, + "learning_rate": 1.8039380715734574e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13900 + }, + { + "epoch": 4.047134128600524, + "flow_matching_loss": 0.020868766494095324, + "grad_norm": 0.13193753361701965, + "learning_rate": 1.802318716463359e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13910 + }, + { + "epoch": 4.0500436427116675, + "flow_matching_loss": 0.0183133265003562, + "grad_norm": 0.10911724716424942, + "learning_rate": 1.8006989940075138e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13920 + }, + { + "epoch": 4.05295315682281, + "flow_matching_loss": 0.017959640361368656, + "grad_norm": 0.09227818995714188, + "learning_rate": 1.7990789061740368e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13930 + }, + { + "epoch": 4.055862670933954, + "flow_matching_loss": 0.01825808100402355, + "grad_norm": 0.14184090495109558, + "learning_rate": 1.7974584549314875e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13940 + }, + { + "epoch": 4.058772185045098, + "flow_matching_loss": 0.020326076541095972, + "grad_norm": 0.10453875362873077, + "learning_rate": 1.7958376422488672e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13950 + }, + { + "epoch": 4.0616816991562406, + "flow_matching_loss": 0.021228504739701747, + "grad_norm": 0.14466921985149384, + "learning_rate": 1.7942164700956156e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13960 + }, + { + "epoch": 4.064591213267384, + "flow_matching_loss": 0.022191435657441617, + "grad_norm": 0.14905060827732086, + "learning_rate": 1.79259494044161e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13970 + }, + { + "epoch": 4.067500727378528, + "flow_matching_loss": 0.019023471884429453, + "grad_norm": 0.08305107802152634, + "learning_rate": 1.7909730552571617e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13980 + }, + { + "epoch": 4.070410241489671, + "flow_matching_loss": 0.020231195259839296, + "grad_norm": 0.1253931224346161, + "learning_rate": 1.7893508165130143e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 13990 + }, + { + "epoch": 4.0733197556008145, + "flow_matching_loss": 0.018611075170338155, + "grad_norm": 0.12010859698057175, + "learning_rate": 1.787728226180341e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14000 + }, + { + "epoch": 4.076229269711958, + "flow_matching_loss": 0.020883858483284713, + "grad_norm": 0.18930144608020782, + "learning_rate": 1.786105286230742e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14010 + }, + { + "epoch": 4.079138783823102, + "flow_matching_loss": 0.02070547975599766, + "grad_norm": 0.09379701316356659, + "learning_rate": 1.784481998636242e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14020 + }, + { + "epoch": 4.082048297934245, + "flow_matching_loss": 0.01864098832011223, + "grad_norm": 0.06939641386270523, + "learning_rate": 1.782858365369289e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14030 + }, + { + "epoch": 4.084957812045388, + "flow_matching_loss": 0.01827629217877984, + "grad_norm": 0.10558170080184937, + "learning_rate": 1.78123438840275e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14040 + }, + { + "epoch": 4.087867326156532, + "flow_matching_loss": 0.02276688041165471, + "grad_norm": 0.1330702155828476, + "learning_rate": 1.779610069709911e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14050 + }, + { + "epoch": 4.090776840267675, + "flow_matching_loss": 0.020580233819782735, + "grad_norm": 0.11693006008863449, + "learning_rate": 1.7779854112644713e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14060 + }, + { + "epoch": 4.093686354378819, + "flow_matching_loss": 0.017572107817977668, + "grad_norm": 0.11104723811149597, + "learning_rate": 1.7763604150405446e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14070 + }, + { + "epoch": 4.096595868489962, + "flow_matching_loss": 0.018490838445723058, + "grad_norm": 0.1532103419303894, + "learning_rate": 1.7747350830126548e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14080 + }, + { + "epoch": 4.099505382601105, + "flow_matching_loss": 0.01990735186263919, + "grad_norm": 0.11992716789245605, + "learning_rate": 1.7731094171557332e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14090 + }, + { + "epoch": 4.102414896712249, + "flow_matching_loss": 0.019032954424619674, + "grad_norm": 0.09759169071912766, + "learning_rate": 1.771483419445117e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14100 + }, + { + "epoch": 4.105324410823393, + "flow_matching_loss": 0.018888183310627936, + "grad_norm": 0.14425380527973175, + "learning_rate": 1.7698570918565474e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14110 + }, + { + "epoch": 4.108233924934536, + "flow_matching_loss": 0.022048380132764576, + "grad_norm": 0.12104359269142151, + "learning_rate": 1.768230436366165e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14120 + }, + { + "epoch": 4.111143439045679, + "flow_matching_loss": 0.020551721472293137, + "grad_norm": 0.12736189365386963, + "learning_rate": 1.7666034549505102e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14130 + }, + { + "epoch": 4.114052953156823, + "flow_matching_loss": 0.01841840660199523, + "grad_norm": 0.12434027343988419, + "learning_rate": 1.7649761495865185e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14140 + }, + { + "epoch": 4.1169624672679666, + "flow_matching_loss": 0.01794687518849969, + "grad_norm": 0.1643652319908142, + "learning_rate": 1.7633485222515188e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14150 + }, + { + "epoch": 4.119871981379109, + "flow_matching_loss": 0.020203281193971634, + "grad_norm": 0.12758640944957733, + "learning_rate": 1.761720574923233e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14160 + }, + { + "epoch": 4.122781495490253, + "flow_matching_loss": 0.020101754646748304, + "grad_norm": 0.1158154159784317, + "learning_rate": 1.7600923095797704e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14170 + }, + { + "epoch": 4.125691009601397, + "flow_matching_loss": 0.01985327824950218, + "grad_norm": 0.12245282530784607, + "learning_rate": 1.758463728199626e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14180 + }, + { + "epoch": 4.12860052371254, + "flow_matching_loss": 0.020905517134815456, + "grad_norm": 0.13179020583629608, + "learning_rate": 1.7568348327616803e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14190 + }, + { + "epoch": 4.131510037823683, + "flow_matching_loss": 0.02029506107792258, + "grad_norm": 0.1240730881690979, + "learning_rate": 1.755205625245195e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14200 + }, + { + "epoch": 4.134419551934827, + "flow_matching_loss": 0.0208943041972816, + "grad_norm": 0.14142927527427673, + "learning_rate": 1.7535761076298104e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14210 + }, + { + "epoch": 4.137329066045971, + "flow_matching_loss": 0.02077333992347121, + "grad_norm": 0.10621211677789688, + "learning_rate": 1.7519462818955448e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14220 + }, + { + "epoch": 4.1402385801571135, + "flow_matching_loss": 0.02075540302321315, + "grad_norm": 0.21362429857254028, + "learning_rate": 1.7503161500227896e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14230 + }, + { + "epoch": 4.143148094268257, + "flow_matching_loss": 0.019433711003512145, + "grad_norm": 0.15419210493564606, + "learning_rate": 1.7486857139923093e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14240 + }, + { + "epoch": 4.146057608379401, + "flow_matching_loss": 0.021948171220719813, + "grad_norm": 0.13500595092773438, + "learning_rate": 1.747054975785236e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14250 + }, + { + "epoch": 4.148967122490544, + "flow_matching_loss": 0.01973323095589876, + "grad_norm": 0.10761480033397675, + "learning_rate": 1.745423937383072e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14260 + }, + { + "epoch": 4.1518766366016875, + "flow_matching_loss": 0.02045565387234092, + "grad_norm": 0.12958398461341858, + "learning_rate": 1.7437926007676825e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14270 + }, + { + "epoch": 4.154786150712831, + "flow_matching_loss": 0.01942260582000017, + "grad_norm": 0.10412083566188812, + "learning_rate": 1.742160967921294e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14280 + }, + { + "epoch": 4.157695664823974, + "flow_matching_loss": 0.018809238448739052, + "grad_norm": 0.10164085775613785, + "learning_rate": 1.7405290408264954e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14290 + }, + { + "epoch": 4.160605178935118, + "flow_matching_loss": 0.020582412648946048, + "grad_norm": 0.11110914498567581, + "learning_rate": 1.738896821466232e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14300 + }, + { + "epoch": 4.163514693046261, + "flow_matching_loss": 0.022221883572638036, + "grad_norm": 0.11174759268760681, + "learning_rate": 1.737264311823804e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14310 + }, + { + "epoch": 4.166424207157405, + "flow_matching_loss": 0.019947171770036222, + "grad_norm": 0.15313538908958435, + "learning_rate": 1.7356315138828645e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14320 + }, + { + "epoch": 4.169333721268548, + "flow_matching_loss": 0.018235839437693357, + "grad_norm": 0.10556618124246597, + "learning_rate": 1.7339984296274174e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14330 + }, + { + "epoch": 4.172243235379692, + "flow_matching_loss": 0.022651953715831043, + "grad_norm": 0.10084523260593414, + "learning_rate": 1.7323650610418134e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14340 + }, + { + "epoch": 4.175152749490835, + "flow_matching_loss": 0.018685258366167544, + "grad_norm": 0.12442228943109512, + "learning_rate": 1.730731410110749e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14350 + }, + { + "epoch": 4.178062263601978, + "flow_matching_loss": 0.020449405815452338, + "grad_norm": 0.08769815415143967, + "learning_rate": 1.7290974788192655e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14360 + }, + { + "epoch": 4.180971777713122, + "flow_matching_loss": 0.019407407473772766, + "grad_norm": 0.08791452646255493, + "learning_rate": 1.727463269152743e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14370 + }, + { + "epoch": 4.183881291824266, + "flow_matching_loss": 0.019465830363333225, + "grad_norm": 0.11459657549858093, + "learning_rate": 1.7258287830968996e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14380 + }, + { + "epoch": 4.186790805935408, + "flow_matching_loss": 0.021879305690526964, + "grad_norm": 0.15151448547840118, + "learning_rate": 1.7241940226377908e-05, + "loss": 0.0219, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14390 + }, + { + "epoch": 4.189700320046552, + "flow_matching_loss": 0.018779607955366373, + "grad_norm": 0.12511207163333893, + "learning_rate": 1.7225589897618043e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14400 + }, + { + "epoch": 4.192609834157696, + "flow_matching_loss": 0.01879072403535247, + "grad_norm": 0.10567961633205414, + "learning_rate": 1.7209236864556588e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14410 + }, + { + "epoch": 4.195519348268839, + "flow_matching_loss": 0.017123273201286794, + "grad_norm": 0.08689285069704056, + "learning_rate": 1.719288114706403e-05, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14420 + }, + { + "epoch": 4.198428862379982, + "flow_matching_loss": 0.019865837786346673, + "grad_norm": 0.14077763259410858, + "learning_rate": 1.7176522765014104e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14430 + }, + { + "epoch": 4.201338376491126, + "flow_matching_loss": 0.020570583269000055, + "grad_norm": 0.12968862056732178, + "learning_rate": 1.7160161738283782e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14440 + }, + { + "epoch": 4.20424789060227, + "flow_matching_loss": 0.01776579935103655, + "grad_norm": 0.13469259440898895, + "learning_rate": 1.714379808675326e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14450 + }, + { + "epoch": 4.207157404713413, + "flow_matching_loss": 0.01874446952715516, + "grad_norm": 0.10915934294462204, + "learning_rate": 1.712743183030592e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14460 + }, + { + "epoch": 4.210066918824556, + "flow_matching_loss": 0.019228547252714633, + "grad_norm": 0.1308693140745163, + "learning_rate": 1.7111062988828294e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14470 + }, + { + "epoch": 4.2129764329357, + "flow_matching_loss": 0.017895169928669928, + "grad_norm": 0.12043960392475128, + "learning_rate": 1.709469158221008e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14480 + }, + { + "epoch": 4.215885947046843, + "flow_matching_loss": 0.020452144648879768, + "grad_norm": 0.12429672479629517, + "learning_rate": 1.7078317630344083e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14490 + }, + { + "epoch": 4.2187954611579865, + "flow_matching_loss": 0.018036463856697084, + "grad_norm": 0.08837796002626419, + "learning_rate": 1.706194115312618e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14500 + }, + { + "epoch": 4.22170497526913, + "flow_matching_loss": 0.021715997718274593, + "grad_norm": 0.11460637301206589, + "learning_rate": 1.704556217045536e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14510 + }, + { + "epoch": 4.224614489380274, + "flow_matching_loss": 0.019597562588751317, + "grad_norm": 0.12180817127227783, + "learning_rate": 1.7029180702233612e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14520 + }, + { + "epoch": 4.227524003491417, + "flow_matching_loss": 0.01960275638848543, + "grad_norm": 0.12117078900337219, + "learning_rate": 1.7012796768365975e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14530 + }, + { + "epoch": 4.2304335176025605, + "flow_matching_loss": 0.018099900055676698, + "grad_norm": 0.14023207128047943, + "learning_rate": 1.6996410388760465e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14540 + }, + { + "epoch": 4.233343031713704, + "flow_matching_loss": 0.02089703530073166, + "grad_norm": 0.12651671469211578, + "learning_rate": 1.698002158332809e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14550 + }, + { + "epoch": 4.236252545824847, + "flow_matching_loss": 0.020487569086253644, + "grad_norm": 0.11176570504903793, + "learning_rate": 1.6963630371982783e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14560 + }, + { + "epoch": 4.239162059935991, + "flow_matching_loss": 0.018585540633648635, + "grad_norm": 0.09999033808708191, + "learning_rate": 1.6947236774641416e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14570 + }, + { + "epoch": 4.242071574047134, + "flow_matching_loss": 0.018618663027882575, + "grad_norm": 0.1086740791797638, + "learning_rate": 1.6930840811223755e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14580 + }, + { + "epoch": 4.244981088158277, + "flow_matching_loss": 0.020206672698259355, + "grad_norm": 0.1152954250574112, + "learning_rate": 1.6914442501652448e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14590 + }, + { + "epoch": 4.247890602269421, + "flow_matching_loss": 0.018323303759098054, + "grad_norm": 0.08582021296024323, + "learning_rate": 1.6898041865852974e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14600 + }, + { + "epoch": 4.250800116380565, + "flow_matching_loss": 0.020362950582057237, + "grad_norm": 0.12596526741981506, + "learning_rate": 1.6881638923753663e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14610 + }, + { + "epoch": 4.2537096304917075, + "flow_matching_loss": 0.018684280198067428, + "grad_norm": 0.10925839841365814, + "learning_rate": 1.6865233695285632e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14620 + }, + { + "epoch": 4.256619144602851, + "flow_matching_loss": 0.019280778430402278, + "grad_norm": 0.1323956847190857, + "learning_rate": 1.6848826200382782e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14630 + }, + { + "epoch": 4.259528658713995, + "flow_matching_loss": 0.01952884830534458, + "grad_norm": 0.11064683645963669, + "learning_rate": 1.6832416458981762e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14640 + }, + { + "epoch": 4.262438172825139, + "flow_matching_loss": 0.017896009236574174, + "grad_norm": 0.12271317094564438, + "learning_rate": 1.681600449102196e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14650 + }, + { + "epoch": 4.265347686936281, + "flow_matching_loss": 0.019762774091213943, + "grad_norm": 0.11420971155166626, + "learning_rate": 1.6799590316445468e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14660 + }, + { + "epoch": 4.268257201047425, + "flow_matching_loss": 0.022582262847572566, + "grad_norm": 0.12034326791763306, + "learning_rate": 1.678317395519705e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14670 + }, + { + "epoch": 4.271166715158569, + "flow_matching_loss": 0.02019509896636009, + "grad_norm": 0.10650206357240677, + "learning_rate": 1.676675542722413e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14680 + }, + { + "epoch": 4.274076229269712, + "flow_matching_loss": 0.01838636277243495, + "grad_norm": 0.16507256031036377, + "learning_rate": 1.6750334752476776e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14690 + }, + { + "epoch": 4.276985743380855, + "flow_matching_loss": 0.02124357121065259, + "grad_norm": 0.10421832650899887, + "learning_rate": 1.673391195090765e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14700 + }, + { + "epoch": 4.279895257491999, + "flow_matching_loss": 0.018833647575229408, + "grad_norm": 0.09814345091581345, + "learning_rate": 1.6717487042472006e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14710 + }, + { + "epoch": 4.282804771603142, + "flow_matching_loss": 0.019682717975229025, + "grad_norm": 0.1178763136267662, + "learning_rate": 1.6701060047127655e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14720 + }, + { + "epoch": 4.285714285714286, + "flow_matching_loss": 0.0217635752633214, + "grad_norm": 0.13578163087368011, + "learning_rate": 1.6684630984834947e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14730 + }, + { + "epoch": 4.288623799825429, + "flow_matching_loss": 0.018739341106265784, + "grad_norm": 0.09557656198740005, + "learning_rate": 1.666819987555675e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14740 + }, + { + "epoch": 4.291533313936573, + "flow_matching_loss": 0.017407598812133072, + "grad_norm": 0.11760080605745316, + "learning_rate": 1.6651766739258392e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14750 + }, + { + "epoch": 4.294442828047716, + "flow_matching_loss": 0.02016869345679879, + "grad_norm": 0.1344667226076126, + "learning_rate": 1.6635331595907704e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14760 + }, + { + "epoch": 4.2973523421588595, + "flow_matching_loss": 0.0188343764282763, + "grad_norm": 0.11096187680959702, + "learning_rate": 1.6618894465474923e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14770 + }, + { + "epoch": 4.300261856270003, + "flow_matching_loss": 0.019091371819376944, + "grad_norm": 0.10055477917194366, + "learning_rate": 1.660245536793271e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14780 + }, + { + "epoch": 4.303171370381146, + "flow_matching_loss": 0.01808114815503359, + "grad_norm": 0.10904939472675323, + "learning_rate": 1.6586014323256126e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14790 + }, + { + "epoch": 4.30608088449229, + "flow_matching_loss": 0.020174606423825025, + "grad_norm": 0.11524093896150589, + "learning_rate": 1.656957135142259e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14800 + }, + { + "epoch": 4.3089903986034335, + "flow_matching_loss": 0.020387285482138397, + "grad_norm": 0.11710908263921738, + "learning_rate": 1.655312647241186e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14810 + }, + { + "epoch": 4.311899912714576, + "flow_matching_loss": 0.017406542785465717, + "grad_norm": 0.13641899824142456, + "learning_rate": 1.6536679706206015e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14820 + }, + { + "epoch": 4.31480942682572, + "flow_matching_loss": 0.02166099939495325, + "grad_norm": 0.10987774282693863, + "learning_rate": 1.6520231072789427e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14830 + }, + { + "epoch": 4.317718940936864, + "flow_matching_loss": 0.020560905616730452, + "grad_norm": 0.09752174466848373, + "learning_rate": 1.6503780592148737e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14840 + }, + { + "epoch": 4.320628455048007, + "flow_matching_loss": 0.01772297443822026, + "grad_norm": 0.09829898178577423, + "learning_rate": 1.648732828427283e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14850 + }, + { + "epoch": 4.32353796915915, + "flow_matching_loss": 0.01936801979318261, + "grad_norm": 0.10405467450618744, + "learning_rate": 1.647087416915281e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14860 + }, + { + "epoch": 4.326447483270294, + "flow_matching_loss": 0.020050567854195834, + "grad_norm": 0.11661727726459503, + "learning_rate": 1.6454418266781987e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14870 + }, + { + "epoch": 4.329356997381438, + "flow_matching_loss": 0.02104056803509593, + "grad_norm": 0.10327976942062378, + "learning_rate": 1.6437960597155824e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14880 + }, + { + "epoch": 4.3322665114925805, + "flow_matching_loss": 0.019107384607195854, + "grad_norm": 0.12995265424251556, + "learning_rate": 1.642150118027194e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14890 + }, + { + "epoch": 4.335176025603724, + "flow_matching_loss": 0.02272048220038414, + "grad_norm": 0.12316165119409561, + "learning_rate": 1.640504003613009e-05, + "loss": 0.0227, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14900 + }, + { + "epoch": 4.338085539714868, + "flow_matching_loss": 0.020737065747380257, + "grad_norm": 0.1020275354385376, + "learning_rate": 1.6388577184732107e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14910 + }, + { + "epoch": 4.340995053826011, + "flow_matching_loss": 0.019788332935422658, + "grad_norm": 0.10682842880487442, + "learning_rate": 1.6372112646081907e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14920 + }, + { + "epoch": 4.343904567937154, + "flow_matching_loss": 0.02224413277581334, + "grad_norm": 0.1555183380842209, + "learning_rate": 1.6355646440185464e-05, + "loss": 0.0222, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14930 + }, + { + "epoch": 4.346814082048298, + "flow_matching_loss": 0.019944794196635484, + "grad_norm": 0.09784375131130219, + "learning_rate": 1.6339178587050764e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14940 + }, + { + "epoch": 4.349723596159441, + "flow_matching_loss": 0.0184426742605865, + "grad_norm": 0.09550520032644272, + "learning_rate": 1.632270910668781e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14950 + }, + { + "epoch": 4.352633110270585, + "flow_matching_loss": 0.017756951041519642, + "grad_norm": 0.100626640021801, + "learning_rate": 1.6306238019108562e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14960 + }, + { + "epoch": 4.355542624381728, + "flow_matching_loss": 0.020303493924438955, + "grad_norm": 0.12140853703022003, + "learning_rate": 1.6289765344326952e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14970 + }, + { + "epoch": 4.358452138492872, + "flow_matching_loss": 0.020631582569330932, + "grad_norm": 0.10486093163490295, + "learning_rate": 1.6273291102358833e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14980 + }, + { + "epoch": 4.361361652604015, + "flow_matching_loss": 0.01927194744348526, + "grad_norm": 0.13657376170158386, + "learning_rate": 1.6256815313221963e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 14990 + }, + { + "epoch": 4.364271166715159, + "flow_matching_loss": 0.01839214703068137, + "grad_norm": 0.0966697633266449, + "learning_rate": 1.6240337996935972e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15000 + }, + { + "epoch": 4.367180680826302, + "flow_matching_loss": 0.020300904382020236, + "grad_norm": 0.12414845079183578, + "learning_rate": 1.6223859173522367e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15010 + }, + { + "epoch": 4.370090194937445, + "flow_matching_loss": 0.01972402399405837, + "grad_norm": 0.10107375681400299, + "learning_rate": 1.6207378863004455e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15020 + }, + { + "epoch": 4.372999709048589, + "flow_matching_loss": 0.0184472830966115, + "grad_norm": 0.12926085293293, + "learning_rate": 1.6190897085407382e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15030 + }, + { + "epoch": 4.3759092231597325, + "flow_matching_loss": 0.018192507792264223, + "grad_norm": 0.10266683250665665, + "learning_rate": 1.617441386075805e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15040 + }, + { + "epoch": 4.378818737270876, + "flow_matching_loss": 0.019137813337147237, + "grad_norm": 0.10692231357097626, + "learning_rate": 1.6157929209085142e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15050 + }, + { + "epoch": 4.381728251382019, + "flow_matching_loss": 0.019221214391291142, + "grad_norm": 0.10481129586696625, + "learning_rate": 1.614144315041906e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15060 + }, + { + "epoch": 4.384637765493163, + "flow_matching_loss": 0.021362520288676023, + "grad_norm": 0.1205596849322319, + "learning_rate": 1.612495570479192e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15070 + }, + { + "epoch": 4.3875472796043065, + "flow_matching_loss": 0.02383689396083355, + "grad_norm": 0.13591624796390533, + "learning_rate": 1.6108466892237517e-05, + "loss": 0.0238, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15080 + }, + { + "epoch": 4.390456793715449, + "flow_matching_loss": 0.020518653374165297, + "grad_norm": 0.1353781670331955, + "learning_rate": 1.609197673279132e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15090 + }, + { + "epoch": 4.393366307826593, + "flow_matching_loss": 0.020132956374436618, + "grad_norm": 0.11374318599700928, + "learning_rate": 1.6075485246490428e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15100 + }, + { + "epoch": 4.396275821937737, + "flow_matching_loss": 0.02112664468586445, + "grad_norm": 0.11599714308977127, + "learning_rate": 1.605899245337355e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15110 + }, + { + "epoch": 4.3991853360488795, + "flow_matching_loss": 0.020414900872856377, + "grad_norm": 0.14269481599330902, + "learning_rate": 1.6042498373480983e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15120 + }, + { + "epoch": 4.402094850160023, + "flow_matching_loss": 0.017888153530657293, + "grad_norm": 0.07758072018623352, + "learning_rate": 1.602600302685459e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15130 + }, + { + "epoch": 4.405004364271167, + "flow_matching_loss": 0.020260485447943212, + "grad_norm": 0.141999751329422, + "learning_rate": 1.6009506433537774e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15140 + }, + { + "epoch": 4.40791387838231, + "flow_matching_loss": 0.01760746156796813, + "grad_norm": 0.09648089855909348, + "learning_rate": 1.599300861357545e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15150 + }, + { + "epoch": 4.4108233924934535, + "flow_matching_loss": 0.01795210028067231, + "grad_norm": 0.12368308752775192, + "learning_rate": 1.5976509587014032e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15160 + }, + { + "epoch": 4.413732906604597, + "flow_matching_loss": 0.020845628436654808, + "grad_norm": 0.09647906571626663, + "learning_rate": 1.5960009373901384e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15170 + }, + { + "epoch": 4.416642420715741, + "flow_matching_loss": 0.01984327705577016, + "grad_norm": 0.11307056248188019, + "learning_rate": 1.5943507994286823e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15180 + }, + { + "epoch": 4.419551934826884, + "flow_matching_loss": 0.022956788539886475, + "grad_norm": 0.10819370299577713, + "learning_rate": 1.5927005468221082e-05, + "loss": 0.023, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15190 + }, + { + "epoch": 4.422461448938027, + "flow_matching_loss": 0.01939741540700197, + "grad_norm": 0.1115548238158226, + "learning_rate": 1.5910501815756285e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15200 + }, + { + "epoch": 4.425370963049171, + "flow_matching_loss": 0.01948488662019372, + "grad_norm": 0.09153740108013153, + "learning_rate": 1.589399705694593e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15210 + }, + { + "epoch": 4.428280477160314, + "flow_matching_loss": 0.020093719102442266, + "grad_norm": 0.10996029525995255, + "learning_rate": 1.587749121184485e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15220 + }, + { + "epoch": 4.431189991271458, + "flow_matching_loss": 0.02003923589363694, + "grad_norm": 0.12104582786560059, + "learning_rate": 1.5860984300509206e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15230 + }, + { + "epoch": 4.434099505382601, + "flow_matching_loss": 0.019744993187487125, + "grad_norm": 0.12341190874576569, + "learning_rate": 1.5844476342996453e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15240 + }, + { + "epoch": 4.437009019493744, + "flow_matching_loss": 0.01924609262496233, + "grad_norm": 0.13089615106582642, + "learning_rate": 1.5827967359365306e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15250 + }, + { + "epoch": 4.439918533604888, + "flow_matching_loss": 0.018971036560833453, + "grad_norm": 0.12026921659708023, + "learning_rate": 1.5811457369675758e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15260 + }, + { + "epoch": 4.442828047716032, + "flow_matching_loss": 0.023118029721081255, + "grad_norm": 0.1217770054936409, + "learning_rate": 1.5794946393988982e-05, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15270 + }, + { + "epoch": 4.445737561827175, + "flow_matching_loss": 0.020234177820384502, + "grad_norm": 0.1222940981388092, + "learning_rate": 1.5778434452367382e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15280 + }, + { + "epoch": 4.448647075938318, + "flow_matching_loss": 0.019125139992684125, + "grad_norm": 0.1330445259809494, + "learning_rate": 1.576192156487452e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15290 + }, + { + "epoch": 4.451556590049462, + "flow_matching_loss": 0.021480167098343373, + "grad_norm": 0.11968101561069489, + "learning_rate": 1.574540775157511e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15300 + }, + { + "epoch": 4.4544661041606055, + "flow_matching_loss": 0.018533813953399658, + "grad_norm": 0.12016794085502625, + "learning_rate": 1.5728893032534998e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15310 + }, + { + "epoch": 4.457375618271748, + "flow_matching_loss": 0.017139103263616562, + "grad_norm": 0.09993952512741089, + "learning_rate": 1.571237742782112e-05, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15320 + }, + { + "epoch": 4.460285132382892, + "flow_matching_loss": 0.018645028118044138, + "grad_norm": 0.09976836293935776, + "learning_rate": 1.569586095750149e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15330 + }, + { + "epoch": 4.463194646494036, + "flow_matching_loss": 0.01819531237706542, + "grad_norm": 0.11297072470188141, + "learning_rate": 1.5679343641645193e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15340 + }, + { + "epoch": 4.466104160605179, + "flow_matching_loss": 0.019684788957238197, + "grad_norm": 0.10202515870332718, + "learning_rate": 1.5662825500322304e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15350 + }, + { + "epoch": 4.469013674716322, + "flow_matching_loss": 0.020694068167358637, + "grad_norm": 0.10152875632047653, + "learning_rate": 1.5646306553603932e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15360 + }, + { + "epoch": 4.471923188827466, + "flow_matching_loss": 0.021779459342360495, + "grad_norm": 0.12580324709415436, + "learning_rate": 1.5629786821562154e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15370 + }, + { + "epoch": 4.47483270293861, + "flow_matching_loss": 0.0189219587482512, + "grad_norm": 0.11126252263784409, + "learning_rate": 1.561326632427001e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15380 + }, + { + "epoch": 4.4777422170497525, + "flow_matching_loss": 0.0207117211073637, + "grad_norm": 0.12515179812908173, + "learning_rate": 1.5596745081801447e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15390 + }, + { + "epoch": 4.480651731160896, + "flow_matching_loss": 0.0197185717523098, + "grad_norm": 0.1092601791024208, + "learning_rate": 1.5580223114231348e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15400 + }, + { + "epoch": 4.48356124527204, + "flow_matching_loss": 0.017111836560070516, + "grad_norm": 0.1281433254480362, + "learning_rate": 1.5563700441635445e-05, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15410 + }, + { + "epoch": 4.486470759383183, + "flow_matching_loss": 0.022772270347923042, + "grad_norm": 0.11576690524816513, + "learning_rate": 1.5547177084090358e-05, + "loss": 0.0228, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15420 + }, + { + "epoch": 4.4893802734943264, + "flow_matching_loss": 0.019046018924564125, + "grad_norm": 0.11354542523622513, + "learning_rate": 1.5530653061673514e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15430 + }, + { + "epoch": 4.49228978760547, + "flow_matching_loss": 0.021275324374437334, + "grad_norm": 0.1358804553747177, + "learning_rate": 1.5514128394463167e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15440 + }, + { + "epoch": 4.495199301716613, + "flow_matching_loss": 0.019382416922599077, + "grad_norm": 0.14679209887981415, + "learning_rate": 1.549760310253834e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15450 + }, + { + "epoch": 4.498108815827757, + "flow_matching_loss": 0.020013279281556606, + "grad_norm": 0.12625731527805328, + "learning_rate": 1.5481077205978816e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15460 + }, + { + "epoch": 4.5010183299389, + "flow_matching_loss": 0.01677569719031453, + "grad_norm": 0.09763575345277786, + "learning_rate": 1.5464550724865135e-05, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15470 + }, + { + "epoch": 4.503927844050043, + "flow_matching_loss": 0.02119435342028737, + "grad_norm": 0.13289901614189148, + "learning_rate": 1.5448023679278517e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15480 + }, + { + "epoch": 4.506837358161187, + "flow_matching_loss": 0.019921636674553156, + "grad_norm": 0.1181732788681984, + "learning_rate": 1.543149608930088e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15490 + }, + { + "epoch": 4.509746872272331, + "flow_matching_loss": 0.021143060456961394, + "grad_norm": 0.11275547742843628, + "learning_rate": 1.5414967975014805e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15500 + }, + { + "epoch": 4.512656386383474, + "flow_matching_loss": 0.019129157811403275, + "grad_norm": 0.1278044432401657, + "learning_rate": 1.539843935650351e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15510 + }, + { + "epoch": 4.515565900494617, + "flow_matching_loss": 0.02128602275624871, + "grad_norm": 0.13046541810035706, + "learning_rate": 1.5381910253850834e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15520 + }, + { + "epoch": 4.518475414605761, + "flow_matching_loss": 0.01857040235772729, + "grad_norm": 0.16889993846416473, + "learning_rate": 1.5365380687141183e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15530 + }, + { + "epoch": 4.521384928716905, + "flow_matching_loss": 0.02007554629817605, + "grad_norm": 0.1269034445285797, + "learning_rate": 1.5348850676459544e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15540 + }, + { + "epoch": 4.524294442828047, + "flow_matching_loss": 0.020744252111762763, + "grad_norm": 0.10142616182565689, + "learning_rate": 1.5332320241891438e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15550 + }, + { + "epoch": 4.527203956939191, + "flow_matching_loss": 0.021262757945805788, + "grad_norm": 0.10922377556562424, + "learning_rate": 1.5315789403522908e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15560 + }, + { + "epoch": 4.530113471050335, + "flow_matching_loss": 0.02195550166070461, + "grad_norm": 0.12341026216745377, + "learning_rate": 1.529925818144047e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15570 + }, + { + "epoch": 4.5330229851614785, + "flow_matching_loss": 0.020340858306735755, + "grad_norm": 0.09596919268369675, + "learning_rate": 1.5282726595731126e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15580 + }, + { + "epoch": 4.535932499272621, + "flow_matching_loss": 0.018275234568864106, + "grad_norm": 0.12102996557950974, + "learning_rate": 1.5266194666482304e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15590 + }, + { + "epoch": 4.538842013383765, + "flow_matching_loss": 0.02109185475856066, + "grad_norm": 0.11956549435853958, + "learning_rate": 1.5249662413781866e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15600 + }, + { + "epoch": 4.541751527494909, + "flow_matching_loss": 0.01942507307976484, + "grad_norm": 0.12058008462190628, + "learning_rate": 1.5233129857718054e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15610 + }, + { + "epoch": 4.5446610416060516, + "flow_matching_loss": 0.019455427210777997, + "grad_norm": 0.1504315733909607, + "learning_rate": 1.521659701837948e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15620 + }, + { + "epoch": 4.547570555717195, + "flow_matching_loss": 0.018742914590984584, + "grad_norm": 0.12448980659246445, + "learning_rate": 1.5200063915855107e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15630 + }, + { + "epoch": 4.550480069828339, + "flow_matching_loss": 0.020058052614331245, + "grad_norm": 0.11990046501159668, + "learning_rate": 1.5183530570234212e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15640 + }, + { + "epoch": 4.553389583939482, + "flow_matching_loss": 0.017438067682087423, + "grad_norm": 0.13242971897125244, + "learning_rate": 1.5166997001606361e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15650 + }, + { + "epoch": 4.5562990980506255, + "flow_matching_loss": 0.02021480370312929, + "grad_norm": 0.13257546722888947, + "learning_rate": 1.5150463230061417e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15660 + }, + { + "epoch": 4.559208612161769, + "flow_matching_loss": 0.018049947265535594, + "grad_norm": 0.108476921916008, + "learning_rate": 1.5133929275689455e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15670 + }, + { + "epoch": 4.562118126272912, + "flow_matching_loss": 0.01685592597350478, + "grad_norm": 0.09547864645719528, + "learning_rate": 1.5117395158580795e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15680 + }, + { + "epoch": 4.565027640384056, + "flow_matching_loss": 0.01779257645830512, + "grad_norm": 0.11153053492307663, + "learning_rate": 1.510086089882595e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15690 + }, + { + "epoch": 4.567937154495199, + "flow_matching_loss": 0.01895936569198966, + "grad_norm": 0.09572939574718475, + "learning_rate": 1.5084326516515599e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15700 + }, + { + "epoch": 4.570846668606343, + "flow_matching_loss": 0.020069093070924283, + "grad_norm": 0.10712950676679611, + "learning_rate": 1.5067792031740582e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15710 + }, + { + "epoch": 4.573756182717486, + "flow_matching_loss": 0.0176914282143116, + "grad_norm": 0.14617633819580078, + "learning_rate": 1.505125746459185e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15720 + }, + { + "epoch": 4.57666569682863, + "flow_matching_loss": 0.01868253843858838, + "grad_norm": 0.1187969446182251, + "learning_rate": 1.5034722835160466e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15730 + }, + { + "epoch": 4.579575210939773, + "flow_matching_loss": 0.019032244011759757, + "grad_norm": 0.15083065629005432, + "learning_rate": 1.5018188163537566e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15740 + }, + { + "epoch": 4.582484725050916, + "flow_matching_loss": 0.01973360599949956, + "grad_norm": 0.1272384226322174, + "learning_rate": 1.5001653469814331e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15750 + }, + { + "epoch": 4.58539423916206, + "flow_matching_loss": 0.018489337526261806, + "grad_norm": 0.15963613986968994, + "learning_rate": 1.4985118774081978e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15760 + }, + { + "epoch": 4.588303753273204, + "flow_matching_loss": 0.021266326401382686, + "grad_norm": 0.09309270977973938, + "learning_rate": 1.4968584096431708e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15770 + }, + { + "epoch": 4.591213267384346, + "flow_matching_loss": 0.02000877186655998, + "grad_norm": 0.11291708797216415, + "learning_rate": 1.4952049456954731e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15780 + }, + { + "epoch": 4.59412278149549, + "flow_matching_loss": 0.020007998589426278, + "grad_norm": 0.1296607404947281, + "learning_rate": 1.4935514875742182e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15790 + }, + { + "epoch": 4.597032295606634, + "flow_matching_loss": 0.021146902162581683, + "grad_norm": 0.15079906582832336, + "learning_rate": 1.4918980372885143e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15800 + }, + { + "epoch": 4.599941809717777, + "flow_matching_loss": 0.019581785891205072, + "grad_norm": 0.11390406638383865, + "learning_rate": 1.4902445968474591e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15810 + }, + { + "epoch": 4.60285132382892, + "flow_matching_loss": 0.019705476704984903, + "grad_norm": 0.14561474323272705, + "learning_rate": 1.4885911682601378e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15820 + }, + { + "epoch": 4.605760837940064, + "flow_matching_loss": 0.017506937589496376, + "grad_norm": 0.16883625090122223, + "learning_rate": 1.4869377535356235e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15830 + }, + { + "epoch": 4.608670352051208, + "flow_matching_loss": 0.0198044846765697, + "grad_norm": 0.1150602325797081, + "learning_rate": 1.4852843546829704e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15840 + }, + { + "epoch": 4.611579866162351, + "flow_matching_loss": 0.02054881565272808, + "grad_norm": 0.09325189143419266, + "learning_rate": 1.483630973711214e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15850 + }, + { + "epoch": 4.614489380273494, + "flow_matching_loss": 0.021643334813416005, + "grad_norm": 0.13058091700077057, + "learning_rate": 1.4819776126293677e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15860 + }, + { + "epoch": 4.617398894384638, + "flow_matching_loss": 0.02009791499003768, + "grad_norm": 0.12358935922384262, + "learning_rate": 1.4803242734464214e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15870 + }, + { + "epoch": 4.620308408495781, + "flow_matching_loss": 0.02014632634818554, + "grad_norm": 0.15905922651290894, + "learning_rate": 1.4786709581713383e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15880 + }, + { + "epoch": 4.6232179226069245, + "flow_matching_loss": 0.02136333202943206, + "grad_norm": 0.1257096230983734, + "learning_rate": 1.4770176688130524e-05, + "loss": 0.0214, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15890 + }, + { + "epoch": 4.626127436718068, + "flow_matching_loss": 0.01884072767570615, + "grad_norm": 0.1288602352142334, + "learning_rate": 1.475364407380466e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15900 + }, + { + "epoch": 4.629036950829212, + "flow_matching_loss": 0.018449891079217195, + "grad_norm": 0.11869077384471893, + "learning_rate": 1.4737111758824476e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15910 + }, + { + "epoch": 4.631946464940355, + "flow_matching_loss": 0.019274519197642802, + "grad_norm": 0.1083611249923706, + "learning_rate": 1.4720579763278289e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15920 + }, + { + "epoch": 4.6348559790514985, + "flow_matching_loss": 0.01930485824123025, + "grad_norm": 0.14094455540180206, + "learning_rate": 1.4704048107254042e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15930 + }, + { + "epoch": 4.637765493162642, + "flow_matching_loss": 0.018600328359752893, + "grad_norm": 0.11742686480283737, + "learning_rate": 1.4687516810839246e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15940 + }, + { + "epoch": 4.640675007273785, + "flow_matching_loss": 0.019945196434855463, + "grad_norm": 0.13074886798858643, + "learning_rate": 1.4670985894120997e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15950 + }, + { + "epoch": 4.643584521384929, + "flow_matching_loss": 0.01910610543563962, + "grad_norm": 0.0942770466208458, + "learning_rate": 1.465445537718591e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15960 + }, + { + "epoch": 4.646494035496072, + "flow_matching_loss": 0.01939401514828205, + "grad_norm": 0.1328003853559494, + "learning_rate": 1.463792528012012e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15970 + }, + { + "epoch": 4.649403549607215, + "flow_matching_loss": 0.020849165599793197, + "grad_norm": 0.17425334453582764, + "learning_rate": 1.4621395623009252e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15980 + }, + { + "epoch": 4.652313063718359, + "flow_matching_loss": 0.020032074861228467, + "grad_norm": 0.12493453174829483, + "learning_rate": 1.4604866425938407e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 15990 + }, + { + "epoch": 4.655222577829503, + "flow_matching_loss": 0.017809900641441345, + "grad_norm": 0.10539919883012772, + "learning_rate": 1.4588337708992115e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16000 + }, + { + "epoch": 4.6581320919406455, + "flow_matching_loss": 0.017484904639422892, + "grad_norm": 0.1313314437866211, + "learning_rate": 1.4571809492254318e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16010 + }, + { + "epoch": 4.661041606051789, + "flow_matching_loss": 0.02003437140956521, + "grad_norm": 0.12400006502866745, + "learning_rate": 1.4555281795808371e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16020 + }, + { + "epoch": 4.663951120162933, + "flow_matching_loss": 0.01675533028319478, + "grad_norm": 0.1147284209728241, + "learning_rate": 1.4538754639736966e-05, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16030 + }, + { + "epoch": 4.666860634274077, + "flow_matching_loss": 0.01881041321903467, + "grad_norm": 0.10614980757236481, + "learning_rate": 1.4522228044122174e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16040 + }, + { + "epoch": 4.669770148385219, + "flow_matching_loss": 0.02055547935888171, + "grad_norm": 0.11259789019823074, + "learning_rate": 1.4505702029045359e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16050 + }, + { + "epoch": 4.672679662496363, + "flow_matching_loss": 0.020682638976722956, + "grad_norm": 0.12954026460647583, + "learning_rate": 1.4489176614587189e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16060 + }, + { + "epoch": 4.675589176607507, + "flow_matching_loss": 0.019151892978698015, + "grad_norm": 0.10972213000059128, + "learning_rate": 1.4472651820827595e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16070 + }, + { + "epoch": 4.67849869071865, + "flow_matching_loss": 0.01949100773781538, + "grad_norm": 0.11892611533403397, + "learning_rate": 1.4456127667845766e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16080 + }, + { + "epoch": 4.681408204829793, + "flow_matching_loss": 0.02184253241866827, + "grad_norm": 0.140304297208786, + "learning_rate": 1.4439604175720104e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16090 + }, + { + "epoch": 4.684317718940937, + "flow_matching_loss": 0.016599922627210616, + "grad_norm": 0.12050055712461472, + "learning_rate": 1.4423081364528212e-05, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16100 + }, + { + "epoch": 4.687227233052081, + "flow_matching_loss": 0.01943859662860632, + "grad_norm": 0.132102370262146, + "learning_rate": 1.4406559254346863e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16110 + }, + { + "epoch": 4.690136747163224, + "flow_matching_loss": 0.018341012578457595, + "grad_norm": 0.11103475838899612, + "learning_rate": 1.4390037865251978e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16120 + }, + { + "epoch": 4.693046261274367, + "flow_matching_loss": 0.019063828978687525, + "grad_norm": 0.1415792554616928, + "learning_rate": 1.4373517217318597e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16130 + }, + { + "epoch": 4.69595577538551, + "flow_matching_loss": 0.020539416931569576, + "grad_norm": 0.1294870227575302, + "learning_rate": 1.4356997330620875e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16140 + }, + { + "epoch": 4.698865289496654, + "flow_matching_loss": 0.01853293292224407, + "grad_norm": 0.12228435277938843, + "learning_rate": 1.434047822523203e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16150 + }, + { + "epoch": 4.7017748036077975, + "flow_matching_loss": 0.018852462619543077, + "grad_norm": 0.08869946002960205, + "learning_rate": 1.4323959921224322e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16160 + }, + { + "epoch": 4.704684317718941, + "flow_matching_loss": 0.018604260869324207, + "grad_norm": 0.14775994420051575, + "learning_rate": 1.4307442438669066e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16170 + }, + { + "epoch": 4.707593831830084, + "flow_matching_loss": 0.020538005605340005, + "grad_norm": 0.14153200387954712, + "learning_rate": 1.4290925797636546e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16180 + }, + { + "epoch": 4.710503345941228, + "flow_matching_loss": 0.0197863582521677, + "grad_norm": 0.13950571417808533, + "learning_rate": 1.4274410018196039e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16190 + }, + { + "epoch": 4.7134128600523715, + "flow_matching_loss": 0.02178401630371809, + "grad_norm": 0.11165749281644821, + "learning_rate": 1.4257895120415783e-05, + "loss": 0.0218, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16200 + }, + { + "epoch": 4.716322374163514, + "flow_matching_loss": 0.020218076929450036, + "grad_norm": 0.09853028506040573, + "learning_rate": 1.4241381124362933e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16210 + }, + { + "epoch": 4.719231888274658, + "flow_matching_loss": 0.02100702729076147, + "grad_norm": 0.13383054733276367, + "learning_rate": 1.4224868050103546e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16220 + }, + { + "epoch": 4.722141402385802, + "flow_matching_loss": 0.01753583727404475, + "grad_norm": 0.10375675559043884, + "learning_rate": 1.4208355917702573e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16230 + }, + { + "epoch": 4.725050916496945, + "flow_matching_loss": 0.016280772723257543, + "grad_norm": 0.09816084802150726, + "learning_rate": 1.41918447472238e-05, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16240 + }, + { + "epoch": 4.727960430608088, + "flow_matching_loss": 0.02031481163576245, + "grad_norm": 0.12727239727973938, + "learning_rate": 1.4175334558729869e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16250 + }, + { + "epoch": 4.730869944719232, + "flow_matching_loss": 0.019590163975954054, + "grad_norm": 0.10387992858886719, + "learning_rate": 1.4158825372282211e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16260 + }, + { + "epoch": 4.733779458830376, + "flow_matching_loss": 0.02084649112075567, + "grad_norm": 0.1478137969970703, + "learning_rate": 1.4142317207941042e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16270 + }, + { + "epoch": 4.7366889729415185, + "flow_matching_loss": 0.01948208836838603, + "grad_norm": 0.09967777878046036, + "learning_rate": 1.4125810085765339e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16280 + }, + { + "epoch": 4.739598487052662, + "flow_matching_loss": 0.0234488426707685, + "grad_norm": 0.1316835880279541, + "learning_rate": 1.410930402581281e-05, + "loss": 0.0234, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16290 + }, + { + "epoch": 4.742508001163806, + "flow_matching_loss": 0.02063520420342684, + "grad_norm": 0.11304695159196854, + "learning_rate": 1.4092799048139876e-05, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16300 + }, + { + "epoch": 4.745417515274949, + "flow_matching_loss": 0.017760906647890807, + "grad_norm": 0.1382867395877838, + "learning_rate": 1.4076295172801647e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16310 + }, + { + "epoch": 4.748327029386092, + "flow_matching_loss": 0.019514239858835936, + "grad_norm": 0.1608230620622635, + "learning_rate": 1.4059792419851884e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16320 + }, + { + "epoch": 4.751236543497236, + "flow_matching_loss": 0.018011376075446606, + "grad_norm": 0.11322034895420074, + "learning_rate": 1.4043290809342984e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16330 + }, + { + "epoch": 4.754146057608379, + "flow_matching_loss": 0.021209317538887263, + "grad_norm": 0.10959246009588242, + "learning_rate": 1.4026790361325958e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16340 + }, + { + "epoch": 4.757055571719523, + "flow_matching_loss": 0.01795592736452818, + "grad_norm": 0.13380464911460876, + "learning_rate": 1.4010291095850415e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16350 + }, + { + "epoch": 4.759965085830666, + "flow_matching_loss": 0.021344945859164, + "grad_norm": 0.15275385975837708, + "learning_rate": 1.3993793032964515e-05, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16360 + }, + { + "epoch": 4.76287459994181, + "flow_matching_loss": 0.01719489963725209, + "grad_norm": 0.09858234971761703, + "learning_rate": 1.3977296192714956e-05, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16370 + }, + { + "epoch": 4.765784114052953, + "flow_matching_loss": 0.018908717203885317, + "grad_norm": 0.107518769800663, + "learning_rate": 1.396080059514696e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16380 + }, + { + "epoch": 4.768693628164097, + "flow_matching_loss": 0.02169784940779209, + "grad_norm": 0.14201496541500092, + "learning_rate": 1.3944306260304232e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16390 + }, + { + "epoch": 4.77160314227524, + "flow_matching_loss": 0.01792024876922369, + "grad_norm": 0.1250191181898117, + "learning_rate": 1.3927813208228936e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16400 + }, + { + "epoch": 4.774512656386383, + "flow_matching_loss": 0.018378590792417528, + "grad_norm": 0.13549189269542694, + "learning_rate": 1.39113214589617e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16410 + }, + { + "epoch": 4.777422170497527, + "flow_matching_loss": 0.01937877805903554, + "grad_norm": 0.10885244607925415, + "learning_rate": 1.3894831032541545e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16420 + }, + { + "epoch": 4.7803316846086705, + "flow_matching_loss": 0.018655451759696007, + "grad_norm": 0.09739851951599121, + "learning_rate": 1.3878341949005895e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16430 + }, + { + "epoch": 4.783241198719814, + "flow_matching_loss": 0.0178182709030807, + "grad_norm": 0.09987363964319229, + "learning_rate": 1.3861854228390546e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16440 + }, + { + "epoch": 4.786150712830957, + "flow_matching_loss": 0.019652885477989913, + "grad_norm": 0.09971579164266586, + "learning_rate": 1.3845367890729621e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16450 + }, + { + "epoch": 4.789060226942101, + "flow_matching_loss": 0.015710628498345612, + "grad_norm": 0.10329686105251312, + "learning_rate": 1.3828882956055591e-05, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16460 + }, + { + "epoch": 4.7919697410532445, + "flow_matching_loss": 0.01814323402941227, + "grad_norm": 0.10633617639541626, + "learning_rate": 1.38123994443992e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16470 + }, + { + "epoch": 4.794879255164387, + "flow_matching_loss": 0.02149492520838976, + "grad_norm": 0.14709481596946716, + "learning_rate": 1.3795917375789465e-05, + "loss": 0.0215, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16480 + }, + { + "epoch": 4.797788769275531, + "flow_matching_loss": 0.01917129009962082, + "grad_norm": 0.14671282470226288, + "learning_rate": 1.3779436770253658e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16490 + }, + { + "epoch": 4.800698283386675, + "flow_matching_loss": 0.015694045461714268, + "grad_norm": 0.1266847401857376, + "learning_rate": 1.3762957647817258e-05, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16500 + }, + { + "epoch": 4.8036077974978175, + "flow_matching_loss": 0.01950038019567728, + "grad_norm": 0.14165790379047394, + "learning_rate": 1.374648002850397e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16510 + }, + { + "epoch": 4.806517311608961, + "flow_matching_loss": 0.017793707735836505, + "grad_norm": 0.1377398520708084, + "learning_rate": 1.3730003932335642e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16520 + }, + { + "epoch": 4.809426825720105, + "flow_matching_loss": 0.019257054757326843, + "grad_norm": 0.12582696974277496, + "learning_rate": 1.3713529379332292e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16530 + }, + { + "epoch": 4.812336339831248, + "flow_matching_loss": 0.016974310483783485, + "grad_norm": 0.11803000420331955, + "learning_rate": 1.3697056389512054e-05, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16540 + }, + { + "epoch": 4.8152458539423915, + "flow_matching_loss": 0.018959687929600476, + "grad_norm": 0.08721832185983658, + "learning_rate": 1.3680584982891162e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16550 + }, + { + "epoch": 4.818155368053535, + "flow_matching_loss": 0.0185888746753335, + "grad_norm": 0.0850052535533905, + "learning_rate": 1.3664115179483921e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16560 + }, + { + "epoch": 4.821064882164679, + "flow_matching_loss": 0.019685790035873653, + "grad_norm": 0.12128306925296783, + "learning_rate": 1.364764699930271e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16570 + }, + { + "epoch": 4.823974396275822, + "flow_matching_loss": 0.020698255486786367, + "grad_norm": 0.10589282214641571, + "learning_rate": 1.363118046235791e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16580 + }, + { + "epoch": 4.826883910386965, + "flow_matching_loss": 0.019195837806910275, + "grad_norm": 0.1320646107196808, + "learning_rate": 1.3614715588657921e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16590 + }, + { + "epoch": 4.829793424498109, + "flow_matching_loss": 0.02197401048615575, + "grad_norm": 0.10836341977119446, + "learning_rate": 1.3598252398209118e-05, + "loss": 0.022, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16600 + }, + { + "epoch": 4.832702938609252, + "flow_matching_loss": 0.017979209125041962, + "grad_norm": 0.09888070821762085, + "learning_rate": 1.358179091101582e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16610 + }, + { + "epoch": 4.835612452720396, + "flow_matching_loss": 0.019939683377742767, + "grad_norm": 0.1193075031042099, + "learning_rate": 1.3565331147080299e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16620 + }, + { + "epoch": 4.838521966831539, + "flow_matching_loss": 0.017991651128977538, + "grad_norm": 0.10258786380290985, + "learning_rate": 1.3548873126402716e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16630 + }, + { + "epoch": 4.841431480942683, + "flow_matching_loss": 0.022291137650609017, + "grad_norm": 0.12220031023025513, + "learning_rate": 1.3532416868981117e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16640 + }, + { + "epoch": 4.844340995053826, + "flow_matching_loss": 0.018862659577280283, + "grad_norm": 0.15438015758991241, + "learning_rate": 1.3515962394811401e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16650 + }, + { + "epoch": 4.84725050916497, + "flow_matching_loss": 0.01945076435804367, + "grad_norm": 0.09926898032426834, + "learning_rate": 1.3499509723887313e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16660 + }, + { + "epoch": 4.850160023276112, + "flow_matching_loss": 0.022322057094424964, + "grad_norm": 0.12560558319091797, + "learning_rate": 1.3483058876200396e-05, + "loss": 0.0223, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16670 + }, + { + "epoch": 4.853069537387256, + "flow_matching_loss": 0.01881194831803441, + "grad_norm": 0.11127540469169617, + "learning_rate": 1.3466609871739987e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16680 + }, + { + "epoch": 4.8559790514984, + "flow_matching_loss": 0.022572989761829376, + "grad_norm": 0.15375304222106934, + "learning_rate": 1.3450162730493172e-05, + "loss": 0.0226, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16690 + }, + { + "epoch": 4.8588885656095435, + "flow_matching_loss": 0.018934865854680537, + "grad_norm": 0.12098156660795212, + "learning_rate": 1.3433717472444781e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16700 + }, + { + "epoch": 4.861798079720686, + "flow_matching_loss": 0.017100780550390483, + "grad_norm": 0.12379494309425354, + "learning_rate": 1.3417274117577343e-05, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16710 + }, + { + "epoch": 4.86470759383183, + "flow_matching_loss": 0.01832976331934333, + "grad_norm": 0.10924229025840759, + "learning_rate": 1.3400832685871102e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16720 + }, + { + "epoch": 4.867617107942974, + "flow_matching_loss": 0.018634237814694643, + "grad_norm": 0.1349925994873047, + "learning_rate": 1.3384393197303936e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16730 + }, + { + "epoch": 4.870526622054117, + "flow_matching_loss": 0.016948873084038495, + "grad_norm": 0.11651207506656647, + "learning_rate": 1.336795567185138e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16740 + }, + { + "epoch": 4.87343613616526, + "flow_matching_loss": 0.020210570096969603, + "grad_norm": 0.1153256967663765, + "learning_rate": 1.3351520129486573e-05, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16750 + }, + { + "epoch": 4.876345650276404, + "flow_matching_loss": 0.019046802818775178, + "grad_norm": 0.09849685430526733, + "learning_rate": 1.3335086590180252e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16760 + }, + { + "epoch": 4.879255164387548, + "flow_matching_loss": 0.019630522932857275, + "grad_norm": 0.12981651723384857, + "learning_rate": 1.3318655073900708e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16770 + }, + { + "epoch": 4.8821646784986905, + "flow_matching_loss": 0.018073533289134504, + "grad_norm": 0.13567940890789032, + "learning_rate": 1.3302225600613796e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16780 + }, + { + "epoch": 4.885074192609834, + "flow_matching_loss": 0.018340345378965138, + "grad_norm": 0.08296461403369904, + "learning_rate": 1.3285798190282869e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16790 + }, + { + "epoch": 4.887983706720978, + "flow_matching_loss": 0.019403084740042688, + "grad_norm": 0.12602943181991577, + "learning_rate": 1.3269372862868776e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16800 + }, + { + "epoch": 4.890893220832121, + "flow_matching_loss": 0.01959036961197853, + "grad_norm": 0.21988637745380402, + "learning_rate": 1.3252949638329845e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16810 + }, + { + "epoch": 4.8938027349432645, + "flow_matching_loss": 0.019777403865009546, + "grad_norm": 0.15326564013957977, + "learning_rate": 1.3236528536621834e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16820 + }, + { + "epoch": 4.896712249054408, + "flow_matching_loss": 0.020462490059435366, + "grad_norm": 0.13501402735710144, + "learning_rate": 1.3220109577697943e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16830 + }, + { + "epoch": 4.899621763165551, + "flow_matching_loss": 0.018224736489355565, + "grad_norm": 0.09574555605649948, + "learning_rate": 1.3203692781508745e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16840 + }, + { + "epoch": 4.902531277276695, + "flow_matching_loss": 0.019928324315696955, + "grad_norm": 0.11594367027282715, + "learning_rate": 1.3187278168002198e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16850 + }, + { + "epoch": 4.905440791387838, + "flow_matching_loss": 0.018506303243339062, + "grad_norm": 0.12228300422430038, + "learning_rate": 1.3170865757123606e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16860 + }, + { + "epoch": 4.908350305498981, + "flow_matching_loss": 0.018342937901616098, + "grad_norm": 0.20268969237804413, + "learning_rate": 1.3154455568815592e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16870 + }, + { + "epoch": 4.911259819610125, + "flow_matching_loss": 0.0179101281799376, + "grad_norm": 0.10439486801624298, + "learning_rate": 1.3138047623018087e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16880 + }, + { + "epoch": 4.914169333721269, + "flow_matching_loss": 0.017650783900171517, + "grad_norm": 0.08861077576875687, + "learning_rate": 1.3121641939668293e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16890 + }, + { + "epoch": 4.917078847832412, + "flow_matching_loss": 0.02005932303145528, + "grad_norm": 0.13292640447616577, + "learning_rate": 1.3105238538700659e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16900 + }, + { + "epoch": 4.919988361943555, + "flow_matching_loss": 0.017072089295834304, + "grad_norm": 0.12440722435712814, + "learning_rate": 1.3088837440046866e-05, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16910 + }, + { + "epoch": 4.922897876054699, + "flow_matching_loss": 0.01877700136974454, + "grad_norm": 0.119961217045784, + "learning_rate": 1.3072438663635787e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16920 + }, + { + "epoch": 4.925807390165843, + "flow_matching_loss": 0.017884645704180004, + "grad_norm": 0.11844556778669357, + "learning_rate": 1.3056042229393497e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16930 + }, + { + "epoch": 4.928716904276985, + "flow_matching_loss": 0.01794894728809595, + "grad_norm": 0.13556957244873047, + "learning_rate": 1.30396481572432e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16940 + }, + { + "epoch": 4.931626418388129, + "flow_matching_loss": 0.018579504545778038, + "grad_norm": 0.1618330329656601, + "learning_rate": 1.3023256467105237e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16950 + }, + { + "epoch": 4.934535932499273, + "flow_matching_loss": 0.017350400611758233, + "grad_norm": 0.11853326857089996, + "learning_rate": 1.3006867178897067e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16960 + }, + { + "epoch": 4.9374454466104165, + "flow_matching_loss": 0.017646985687315465, + "grad_norm": 0.12323357164859772, + "learning_rate": 1.2990480312533213e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16970 + }, + { + "epoch": 4.940354960721559, + "flow_matching_loss": 0.019085665885359048, + "grad_norm": 0.12423823028802872, + "learning_rate": 1.2974095887925258e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16980 + }, + { + "epoch": 4.943264474832703, + "flow_matching_loss": 0.019357252400368452, + "grad_norm": 0.11335280537605286, + "learning_rate": 1.2957713924981837e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 16990 + }, + { + "epoch": 4.946173988943847, + "flow_matching_loss": 0.020856222696602346, + "grad_norm": 0.1422114223241806, + "learning_rate": 1.2941334443608572e-05, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17000 + }, + { + "epoch": 4.94908350305499, + "flow_matching_loss": 0.01946787303313613, + "grad_norm": 0.09795375913381577, + "learning_rate": 1.2924957463708073e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17010 + }, + { + "epoch": 4.951993017166133, + "flow_matching_loss": 0.018869716674089432, + "grad_norm": 0.14227621257305145, + "learning_rate": 1.2908583005179924e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17020 + }, + { + "epoch": 4.954902531277277, + "flow_matching_loss": 0.01762062143534422, + "grad_norm": 0.09955841302871704, + "learning_rate": 1.2892211087920624e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17030 + }, + { + "epoch": 4.95781204538842, + "flow_matching_loss": 0.01920905839651823, + "grad_norm": 0.14508987963199615, + "learning_rate": 1.287584173182361e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17040 + }, + { + "epoch": 4.9607215594995635, + "flow_matching_loss": 0.018026677891612053, + "grad_norm": 0.10435503721237183, + "learning_rate": 1.2859474956779188e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17050 + }, + { + "epoch": 4.963631073610707, + "flow_matching_loss": 0.01991788800805807, + "grad_norm": 0.08280828595161438, + "learning_rate": 1.2843110782674532e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17060 + }, + { + "epoch": 4.96654058772185, + "flow_matching_loss": 0.016725947707891466, + "grad_norm": 0.127751424908638, + "learning_rate": 1.2826749229393655e-05, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17070 + }, + { + "epoch": 4.969450101832994, + "flow_matching_loss": 0.01981190051883459, + "grad_norm": 0.09645099937915802, + "learning_rate": 1.2810390316817381e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17080 + }, + { + "epoch": 4.9723596159441374, + "flow_matching_loss": 0.01932779923081398, + "grad_norm": 0.13057050108909607, + "learning_rate": 1.2794034064823346e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17090 + }, + { + "epoch": 4.975269130055281, + "flow_matching_loss": 0.017787308432161808, + "grad_norm": 0.09882521629333496, + "learning_rate": 1.277768049328593e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17100 + }, + { + "epoch": 4.978178644166424, + "flow_matching_loss": 0.021726290229707956, + "grad_norm": 0.11282627284526825, + "learning_rate": 1.2761329622076269e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17110 + }, + { + "epoch": 4.981088158277568, + "flow_matching_loss": 0.017234313860535623, + "grad_norm": 0.09937163442373276, + "learning_rate": 1.274498147106221e-05, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17120 + }, + { + "epoch": 4.983997672388711, + "flow_matching_loss": 0.01926077613607049, + "grad_norm": 0.08874901384115219, + "learning_rate": 1.272863606010829e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17130 + }, + { + "epoch": 4.986907186499854, + "flow_matching_loss": 0.020035610161721708, + "grad_norm": 0.11894288659095764, + "learning_rate": 1.2712293409075739e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17140 + }, + { + "epoch": 4.989816700610998, + "flow_matching_loss": 0.01757267015054822, + "grad_norm": 0.1142774373292923, + "learning_rate": 1.2695953537822413e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17150 + }, + { + "epoch": 4.992726214722142, + "flow_matching_loss": 0.018406455870717764, + "grad_norm": 0.10808035731315613, + "learning_rate": 1.2679616466202792e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17160 + }, + { + "epoch": 4.995635728833285, + "flow_matching_loss": 0.018461293168365957, + "grad_norm": 0.1410546749830246, + "learning_rate": 1.2663282214067967e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17170 + }, + { + "epoch": 4.998545242944428, + "flow_matching_loss": 0.02073227958753705, + "grad_norm": 0.14115063846111298, + "learning_rate": 1.264695080126559e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17180 + }, + { + "epoch": 5.001454757055572, + "flow_matching_loss": 0.016927609220147133, + "grad_norm": 0.10273171961307526, + "learning_rate": 1.263062224763986e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17190 + }, + { + "epoch": 5.004364271166716, + "flow_matching_loss": 0.01871301541104913, + "grad_norm": 0.09962943941354752, + "learning_rate": 1.2614296573031522e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17200 + }, + { + "epoch": 5.007273785277858, + "flow_matching_loss": 0.018227022048085927, + "grad_norm": 0.11255931854248047, + "learning_rate": 1.259797379727781e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17210 + }, + { + "epoch": 5.010183299389002, + "flow_matching_loss": 0.021592453494668006, + "grad_norm": 0.16259241104125977, + "learning_rate": 1.2581653940212423e-05, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17220 + }, + { + "epoch": 5.013092813500146, + "flow_matching_loss": 0.02078336114063859, + "grad_norm": 0.12685896456241608, + "learning_rate": 1.2565337021665537e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17230 + }, + { + "epoch": 5.016002327611289, + "flow_matching_loss": 0.018200225848704576, + "grad_norm": 0.11827865988016129, + "learning_rate": 1.2549023061463739e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17240 + }, + { + "epoch": 5.018911841722432, + "flow_matching_loss": 0.019598862901329995, + "grad_norm": 0.10647156834602356, + "learning_rate": 1.2532712079430038e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17250 + }, + { + "epoch": 5.021821355833576, + "flow_matching_loss": 0.020519891940057277, + "grad_norm": 0.12192176282405853, + "learning_rate": 1.2516404095383813e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17260 + }, + { + "epoch": 5.024730869944719, + "flow_matching_loss": 0.018141771759837867, + "grad_norm": 0.1615348607301712, + "learning_rate": 1.2500099129140796e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17270 + }, + { + "epoch": 5.0276403840558626, + "flow_matching_loss": 0.018021792359650134, + "grad_norm": 0.09620798379182816, + "learning_rate": 1.2483797200513065e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17280 + }, + { + "epoch": 5.030549898167006, + "flow_matching_loss": 0.017991520650684833, + "grad_norm": 0.09282487630844116, + "learning_rate": 1.2467498329308992e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17290 + }, + { + "epoch": 5.03345941227815, + "flow_matching_loss": 0.01873559784144163, + "grad_norm": 0.12213137000799179, + "learning_rate": 1.2451202535333253e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17300 + }, + { + "epoch": 5.036368926389293, + "flow_matching_loss": 0.019361595157533884, + "grad_norm": 0.09878169745206833, + "learning_rate": 1.2434909838386768e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17310 + }, + { + "epoch": 5.0392784405004365, + "flow_matching_loss": 0.020756742171943187, + "grad_norm": 0.14062929153442383, + "learning_rate": 1.2418620258266703e-05, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17320 + }, + { + "epoch": 5.04218795461158, + "flow_matching_loss": 0.019776051118969917, + "grad_norm": 0.12405182421207428, + "learning_rate": 1.2402333814766432e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17330 + }, + { + "epoch": 5.045097468722723, + "flow_matching_loss": 0.016945508308708668, + "grad_norm": 0.13712923228740692, + "learning_rate": 1.2386050527675515e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17340 + }, + { + "epoch": 5.048006982833867, + "flow_matching_loss": 0.018031101394444703, + "grad_norm": 0.14895084500312805, + "learning_rate": 1.2369770416779693e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17350 + }, + { + "epoch": 5.05091649694501, + "flow_matching_loss": 0.016787825897336007, + "grad_norm": 0.15409110486507416, + "learning_rate": 1.2353493501860828e-05, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17360 + }, + { + "epoch": 5.053826011056153, + "flow_matching_loss": 0.01963932570070028, + "grad_norm": 0.1000589057803154, + "learning_rate": 1.2337219802696905e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17370 + }, + { + "epoch": 5.056735525167297, + "flow_matching_loss": 0.018489071168005466, + "grad_norm": 0.11513153463602066, + "learning_rate": 1.2320949339062008e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17380 + }, + { + "epoch": 5.059645039278441, + "flow_matching_loss": 0.019265173375606535, + "grad_norm": 0.12906010448932648, + "learning_rate": 1.2304682130726281e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17390 + }, + { + "epoch": 5.0625545533895835, + "flow_matching_loss": 0.02174828201532364, + "grad_norm": 0.1137315109372139, + "learning_rate": 1.2288418197455913e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17400 + }, + { + "epoch": 5.065464067500727, + "flow_matching_loss": 0.01713874628767371, + "grad_norm": 0.1058865413069725, + "learning_rate": 1.2272157559013126e-05, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17410 + }, + { + "epoch": 5.068373581611871, + "flow_matching_loss": 0.017397108767181636, + "grad_norm": 0.10738896578550339, + "learning_rate": 1.2255900235156123e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17420 + }, + { + "epoch": 5.071283095723015, + "flow_matching_loss": 0.01809872090816498, + "grad_norm": 0.10931473225355148, + "learning_rate": 1.2239646245639087e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17430 + }, + { + "epoch": 5.074192609834157, + "flow_matching_loss": 0.01605995623394847, + "grad_norm": 0.09667666256427765, + "learning_rate": 1.2223395610212142e-05, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17440 + }, + { + "epoch": 5.077102123945301, + "flow_matching_loss": 0.01736785303801298, + "grad_norm": 0.11589575558900833, + "learning_rate": 1.2207148348621348e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17450 + }, + { + "epoch": 5.080011638056445, + "flow_matching_loss": 0.020346051640808584, + "grad_norm": 0.13277801871299744, + "learning_rate": 1.219090448060866e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17460 + }, + { + "epoch": 5.082921152167588, + "flow_matching_loss": 0.01985337510704994, + "grad_norm": 0.13615310192108154, + "learning_rate": 1.217466402591191e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17470 + }, + { + "epoch": 5.085830666278731, + "flow_matching_loss": 0.019102087151259182, + "grad_norm": 0.1206197440624237, + "learning_rate": 1.2158427004264785e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17480 + }, + { + "epoch": 5.088740180389875, + "flow_matching_loss": 0.019910223223268984, + "grad_norm": 0.11218678951263428, + "learning_rate": 1.2142193435396788e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17490 + }, + { + "epoch": 5.091649694501018, + "flow_matching_loss": 0.016741306334733964, + "grad_norm": 0.10751213133335114, + "learning_rate": 1.2125963339033234e-05, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17500 + }, + { + "epoch": 5.094559208612162, + "flow_matching_loss": 0.017305995523929595, + "grad_norm": 0.12824834883213043, + "learning_rate": 1.2109736734895237e-05, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17510 + }, + { + "epoch": 5.097468722723305, + "flow_matching_loss": 0.020702511444687842, + "grad_norm": 0.12027108669281006, + "learning_rate": 1.2093513642699634e-05, + "loss": 0.0207, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17520 + }, + { + "epoch": 5.100378236834449, + "flow_matching_loss": 0.021071188058704136, + "grad_norm": 0.12291239947080612, + "learning_rate": 1.2077294082159024e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17530 + }, + { + "epoch": 5.103287750945592, + "flow_matching_loss": 0.021016540005803108, + "grad_norm": 0.11206865310668945, + "learning_rate": 1.2061078072981697e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17540 + }, + { + "epoch": 5.1061972650567355, + "flow_matching_loss": 0.018687001895159483, + "grad_norm": 0.09832832217216492, + "learning_rate": 1.2044865634871626e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17550 + }, + { + "epoch": 5.109106779167879, + "flow_matching_loss": 0.01867863433435559, + "grad_norm": 0.09300334751605988, + "learning_rate": 1.2028656787528468e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17560 + }, + { + "epoch": 5.112016293279022, + "flow_matching_loss": 0.019534388463944195, + "grad_norm": 0.08342007547616959, + "learning_rate": 1.2012451550647491e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17570 + }, + { + "epoch": 5.114925807390166, + "flow_matching_loss": 0.020354556664824486, + "grad_norm": 0.126707062125206, + "learning_rate": 1.1996249943919589e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17580 + }, + { + "epoch": 5.1178353215013095, + "flow_matching_loss": 0.02052670968696475, + "grad_norm": 0.13131645321846008, + "learning_rate": 1.1980051987031237e-05, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17590 + }, + { + "epoch": 5.120744835612452, + "flow_matching_loss": 0.01931557785719633, + "grad_norm": 0.09922473877668381, + "learning_rate": 1.1963857699664483e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17600 + }, + { + "epoch": 5.123654349723596, + "flow_matching_loss": 0.018032317329198123, + "grad_norm": 0.10928011685609818, + "learning_rate": 1.1947667101496911e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17610 + }, + { + "epoch": 5.12656386383474, + "flow_matching_loss": 0.016813413240015507, + "grad_norm": 0.1195012629032135, + "learning_rate": 1.1931480212201633e-05, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17620 + }, + { + "epoch": 5.129473377945883, + "flow_matching_loss": 0.02103016646578908, + "grad_norm": 0.1269054263830185, + "learning_rate": 1.1915297051447237e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17630 + }, + { + "epoch": 5.132382892057026, + "flow_matching_loss": 0.019954661093652248, + "grad_norm": 0.14585226774215698, + "learning_rate": 1.1899117638897793e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17640 + }, + { + "epoch": 5.13529240616817, + "flow_matching_loss": 0.018615532107651232, + "grad_norm": 0.10426537692546844, + "learning_rate": 1.1882941994212811e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17650 + }, + { + "epoch": 5.138201920279314, + "flow_matching_loss": 0.019143956992775202, + "grad_norm": 0.10828579217195511, + "learning_rate": 1.1866770137047221e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17660 + }, + { + "epoch": 5.1411114343904565, + "flow_matching_loss": 0.01636449107900262, + "grad_norm": 0.10878879576921463, + "learning_rate": 1.1850602087051363e-05, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17670 + }, + { + "epoch": 5.1440209485016, + "flow_matching_loss": 0.0187790903262794, + "grad_norm": 0.13186046481132507, + "learning_rate": 1.183443786387094e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17680 + }, + { + "epoch": 5.146930462612744, + "flow_matching_loss": 0.020268063805997372, + "grad_norm": 0.12442588061094284, + "learning_rate": 1.1818277487147005e-05, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17690 + }, + { + "epoch": 5.149839976723887, + "flow_matching_loss": 0.01845763511955738, + "grad_norm": 0.14695332944393158, + "learning_rate": 1.180212097651594e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17700 + }, + { + "epoch": 5.15274949083503, + "flow_matching_loss": 0.01721556168049574, + "grad_norm": 0.11379585415124893, + "learning_rate": 1.1785968351609422e-05, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17710 + }, + { + "epoch": 5.155659004946174, + "flow_matching_loss": 0.017290348559617995, + "grad_norm": 0.12243833392858505, + "learning_rate": 1.1769819632054427e-05, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17720 + }, + { + "epoch": 5.158568519057318, + "flow_matching_loss": 0.01892240745946765, + "grad_norm": 0.12322231382131577, + "learning_rate": 1.1753674837473165e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17730 + }, + { + "epoch": 5.161478033168461, + "flow_matching_loss": 0.01676713889464736, + "grad_norm": 0.14038638770580292, + "learning_rate": 1.1737533987483081e-05, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17740 + }, + { + "epoch": 5.164387547279604, + "flow_matching_loss": 0.01850101500749588, + "grad_norm": 0.13005656003952026, + "learning_rate": 1.1721397101696835e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17750 + }, + { + "epoch": 5.167297061390748, + "flow_matching_loss": 0.016645495686680077, + "grad_norm": 0.10675223916769028, + "learning_rate": 1.1705264199722257e-05, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17760 + }, + { + "epoch": 5.170206575501891, + "flow_matching_loss": 0.01786427814513445, + "grad_norm": 0.11761724203824997, + "learning_rate": 1.1689135301162356e-05, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17770 + }, + { + "epoch": 5.173116089613035, + "flow_matching_loss": 0.018492588959634303, + "grad_norm": 0.12431051582098007, + "learning_rate": 1.1673010425615258e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17780 + }, + { + "epoch": 5.176025603724178, + "flow_matching_loss": 0.01946495156735182, + "grad_norm": 0.12216731160879135, + "learning_rate": 1.1656889592674208e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17790 + }, + { + "epoch": 5.178935117835321, + "flow_matching_loss": 0.018104502093046905, + "grad_norm": 0.09419640153646469, + "learning_rate": 1.1640772821927533e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17800 + }, + { + "epoch": 5.181844631946465, + "flow_matching_loss": 0.01952859228476882, + "grad_norm": 0.08521823585033417, + "learning_rate": 1.162466013295864e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17810 + }, + { + "epoch": 5.1847541460576085, + "flow_matching_loss": 0.021082510706037283, + "grad_norm": 0.12112215906381607, + "learning_rate": 1.160855154534595e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17820 + }, + { + "epoch": 5.187663660168752, + "flow_matching_loss": 0.017542016692459583, + "grad_norm": 0.09294112771749496, + "learning_rate": 1.1592447078662931e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17830 + }, + { + "epoch": 5.190573174279895, + "flow_matching_loss": 0.01960837673395872, + "grad_norm": 0.09612645953893661, + "learning_rate": 1.1576346752478025e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17840 + }, + { + "epoch": 5.193482688391039, + "flow_matching_loss": 0.019257746636867523, + "grad_norm": 0.12852507829666138, + "learning_rate": 1.1560250586354643e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17850 + }, + { + "epoch": 5.1963922025021825, + "flow_matching_loss": 0.0176243906840682, + "grad_norm": 0.12675975263118744, + "learning_rate": 1.1544158599851146e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17860 + }, + { + "epoch": 5.199301716613325, + "flow_matching_loss": 0.019280790723860262, + "grad_norm": 0.11219365894794464, + "learning_rate": 1.1528070812520809e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17870 + }, + { + "epoch": 5.202211230724469, + "flow_matching_loss": 0.0179500506259501, + "grad_norm": 0.1298198401927948, + "learning_rate": 1.1511987243911821e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17880 + }, + { + "epoch": 5.205120744835613, + "flow_matching_loss": 0.01820611171424389, + "grad_norm": 0.12469472736120224, + "learning_rate": 1.1495907913567228e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17890 + }, + { + "epoch": 5.2080302589467555, + "flow_matching_loss": 0.017340182140469552, + "grad_norm": 0.09712474793195724, + "learning_rate": 1.1479832841024936e-05, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17900 + }, + { + "epoch": 5.210939773057899, + "flow_matching_loss": 0.01722808852791786, + "grad_norm": 0.0782248005270958, + "learning_rate": 1.1463762045817675e-05, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17910 + }, + { + "epoch": 5.213849287169043, + "flow_matching_loss": 0.020361786428838968, + "grad_norm": 0.14686211943626404, + "learning_rate": 1.1447695547472964e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17920 + }, + { + "epoch": 5.216758801280186, + "flow_matching_loss": 0.017507012654095887, + "grad_norm": 0.10098880529403687, + "learning_rate": 1.1431633365513132e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17930 + }, + { + "epoch": 5.2196683153913295, + "flow_matching_loss": 0.01826453795656562, + "grad_norm": 0.11228856444358826, + "learning_rate": 1.1415575519455235e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17940 + }, + { + "epoch": 5.222577829502473, + "flow_matching_loss": 0.017674777284264566, + "grad_norm": 0.10801286995410919, + "learning_rate": 1.1399522028811069e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17950 + }, + { + "epoch": 5.225487343613617, + "flow_matching_loss": 0.018274721037596465, + "grad_norm": 0.10814695060253143, + "learning_rate": 1.1383472913087143e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17960 + }, + { + "epoch": 5.22839685772476, + "flow_matching_loss": 0.019169724266976117, + "grad_norm": 0.10809887200593948, + "learning_rate": 1.1367428191784643e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17970 + }, + { + "epoch": 5.231306371835903, + "flow_matching_loss": 0.01612219139933586, + "grad_norm": 0.11177384853363037, + "learning_rate": 1.1351387884399413e-05, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17980 + }, + { + "epoch": 5.234215885947047, + "flow_matching_loss": 0.017151679191738368, + "grad_norm": 0.11558043956756592, + "learning_rate": 1.1335352010421953e-05, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 17990 + }, + { + "epoch": 5.23712540005819, + "flow_matching_loss": 0.018107305373996498, + "grad_norm": 0.14433957636356354, + "learning_rate": 1.1319320589337352e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18000 + }, + { + "epoch": 5.240034914169334, + "flow_matching_loss": 0.01753918481990695, + "grad_norm": 0.1247875839471817, + "learning_rate": 1.1303293640625299e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18010 + }, + { + "epoch": 5.242944428280477, + "flow_matching_loss": 0.018122088443487883, + "grad_norm": 0.09350299090147018, + "learning_rate": 1.1287271183760052e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18020 + }, + { + "epoch": 5.24585394239162, + "flow_matching_loss": 0.018846436124294996, + "grad_norm": 0.12060106545686722, + "learning_rate": 1.1271253238210398e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18030 + }, + { + "epoch": 5.248763456502764, + "flow_matching_loss": 0.018314396124333145, + "grad_norm": 0.1456977277994156, + "learning_rate": 1.1255239823439663e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18040 + }, + { + "epoch": 5.251672970613908, + "flow_matching_loss": 0.01760531570762396, + "grad_norm": 0.10753944516181946, + "learning_rate": 1.1239230958905652e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18050 + }, + { + "epoch": 5.254582484725051, + "flow_matching_loss": 0.01801650384441018, + "grad_norm": 0.1440831571817398, + "learning_rate": 1.1223226664060641e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18060 + }, + { + "epoch": 5.257491998836194, + "flow_matching_loss": 0.019624662399291993, + "grad_norm": 0.13379721343517303, + "learning_rate": 1.1207226958351362e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18070 + }, + { + "epoch": 5.260401512947338, + "flow_matching_loss": 0.01824900060892105, + "grad_norm": 0.11908326297998428, + "learning_rate": 1.1191231861218955e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18080 + }, + { + "epoch": 5.2633110270584815, + "flow_matching_loss": 0.01883636610582471, + "grad_norm": 0.14355050027370453, + "learning_rate": 1.1175241392098988e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18090 + }, + { + "epoch": 5.266220541169624, + "flow_matching_loss": 0.017655963264405727, + "grad_norm": 0.11029665917158127, + "learning_rate": 1.1159255570421376e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18100 + }, + { + "epoch": 5.269130055280768, + "flow_matching_loss": 0.0184351971372962, + "grad_norm": 0.13497865200042725, + "learning_rate": 1.1143274415610408e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18110 + }, + { + "epoch": 5.272039569391912, + "flow_matching_loss": 0.018461192771792412, + "grad_norm": 0.1163748949766159, + "learning_rate": 1.1127297947084692e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18120 + }, + { + "epoch": 5.274949083503055, + "flow_matching_loss": 0.017776970006525516, + "grad_norm": 0.1465071141719818, + "learning_rate": 1.1111326184257135e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18130 + }, + { + "epoch": 5.277858597614198, + "flow_matching_loss": 0.021171614155173303, + "grad_norm": 0.11785358935594559, + "learning_rate": 1.109535914653495e-05, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18140 + }, + { + "epoch": 5.280768111725342, + "flow_matching_loss": 0.01748012602329254, + "grad_norm": 0.09857120364904404, + "learning_rate": 1.1079396853319582e-05, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18150 + }, + { + "epoch": 5.283677625836486, + "flow_matching_loss": 0.01759753208607435, + "grad_norm": 0.11437767744064331, + "learning_rate": 1.1063439324006724e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18160 + }, + { + "epoch": 5.2865871399476285, + "flow_matching_loss": 0.020443625189363955, + "grad_norm": 0.09738460928201675, + "learning_rate": 1.1047486577986285e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18170 + }, + { + "epoch": 5.289496654058772, + "flow_matching_loss": 0.019224349036812784, + "grad_norm": 0.10966794192790985, + "learning_rate": 1.1031538634642353e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18180 + }, + { + "epoch": 5.292406168169916, + "flow_matching_loss": 0.01889139674603939, + "grad_norm": 0.10299552977085114, + "learning_rate": 1.1015595513353172e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18190 + }, + { + "epoch": 5.295315682281059, + "flow_matching_loss": 0.01699108276516199, + "grad_norm": 0.09379231184720993, + "learning_rate": 1.0999657233491156e-05, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18200 + }, + { + "epoch": 5.2982251963922025, + "flow_matching_loss": 0.018042414076626302, + "grad_norm": 0.09642253816127777, + "learning_rate": 1.0983723814422808e-05, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18210 + }, + { + "epoch": 5.301134710503346, + "flow_matching_loss": 0.0211071515455842, + "grad_norm": 0.10863147675991058, + "learning_rate": 1.0967795275508735e-05, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18220 + }, + { + "epoch": 5.304044224614489, + "flow_matching_loss": 0.01772001702338457, + "grad_norm": 0.09155207127332687, + "learning_rate": 1.095187163610361e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18230 + }, + { + "epoch": 5.306953738725633, + "flow_matching_loss": 0.01867029434069991, + "grad_norm": 0.1315893977880478, + "learning_rate": 1.0935952915556163e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18240 + }, + { + "epoch": 5.309863252836776, + "flow_matching_loss": 0.018561618123203515, + "grad_norm": 0.10929688066244125, + "learning_rate": 1.0920039133209137e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18250 + }, + { + "epoch": 5.31277276694792, + "flow_matching_loss": 0.018947440851479768, + "grad_norm": 0.09750499576330185, + "learning_rate": 1.0904130308399283e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18260 + }, + { + "epoch": 5.315682281059063, + "flow_matching_loss": 0.019683844409883022, + "grad_norm": 0.11736331135034561, + "learning_rate": 1.0888226460457318e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18270 + }, + { + "epoch": 5.318591795170207, + "flow_matching_loss": 0.01809936761856079, + "grad_norm": 0.09908916056156158, + "learning_rate": 1.087232760870792e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18280 + }, + { + "epoch": 5.32150130928135, + "flow_matching_loss": 0.01962616005912423, + "grad_norm": 0.13913112878799438, + "learning_rate": 1.0856433772469686e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18290 + }, + { + "epoch": 5.324410823392493, + "flow_matching_loss": 0.01732350131496787, + "grad_norm": 0.1054602563381195, + "learning_rate": 1.0840544971055135e-05, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18300 + }, + { + "epoch": 5.327320337503637, + "flow_matching_loss": 0.020383771508932114, + "grad_norm": 0.1059737578034401, + "learning_rate": 1.0824661223770655e-05, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18310 + }, + { + "epoch": 5.330229851614781, + "flow_matching_loss": 0.017806428670883178, + "grad_norm": 0.09597581624984741, + "learning_rate": 1.0808782549916498e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18320 + }, + { + "epoch": 5.333139365725923, + "flow_matching_loss": 0.021674768440425395, + "grad_norm": 0.14474716782569885, + "learning_rate": 1.079290896878675e-05, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18330 + }, + { + "epoch": 5.336048879837067, + "flow_matching_loss": 0.01912418007850647, + "grad_norm": 0.1408810168504715, + "learning_rate": 1.07770404996693e-05, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18340 + }, + { + "epoch": 5.338958393948211, + "flow_matching_loss": 0.017386844847351313, + "grad_norm": 0.12621453404426575, + "learning_rate": 1.0761177161845848e-05, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18350 + }, + { + "epoch": 5.3418679080593545, + "flow_matching_loss": 0.01879254197701812, + "grad_norm": 0.09533390402793884, + "learning_rate": 1.0745318974591841e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18360 + }, + { + "epoch": 5.344777422170497, + "flow_matching_loss": 0.01979212639853358, + "grad_norm": 0.09705664962530136, + "learning_rate": 1.0729465957176469e-05, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18370 + }, + { + "epoch": 5.347686936281641, + "flow_matching_loss": 0.020977422036230563, + "grad_norm": 0.10170061886310577, + "learning_rate": 1.0713618128862642e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18380 + }, + { + "epoch": 5.350596450392785, + "flow_matching_loss": 0.01756245978176594, + "grad_norm": 0.11801979690790176, + "learning_rate": 1.0697775508906969e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18390 + }, + { + "epoch": 5.353505964503928, + "flow_matching_loss": 0.018661346379667522, + "grad_norm": 0.10973411053419113, + "learning_rate": 1.068193811655972e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18400 + }, + { + "epoch": 5.356415478615071, + "flow_matching_loss": 0.020002182107418776, + "grad_norm": 0.12307040393352509, + "learning_rate": 1.0666105971064835e-05, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18410 + }, + { + "epoch": 5.359324992726215, + "flow_matching_loss": 0.01606525117531419, + "grad_norm": 0.12415607273578644, + "learning_rate": 1.0650279091659852e-05, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18420 + }, + { + "epoch": 5.362234506837358, + "flow_matching_loss": 0.0193913696333766, + "grad_norm": 0.13323064148426056, + "learning_rate": 1.0634457497575926e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18430 + }, + { + "epoch": 5.3651440209485015, + "flow_matching_loss": 0.01688710190355778, + "grad_norm": 0.09807107597589493, + "learning_rate": 1.061864120803778e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18440 + }, + { + "epoch": 5.368053535059645, + "flow_matching_loss": 0.018763567414134742, + "grad_norm": 0.14952592551708221, + "learning_rate": 1.0602830242263701e-05, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18450 + }, + { + "epoch": 5.370963049170788, + "flow_matching_loss": 0.019294168148189784, + "grad_norm": 0.0854465588927269, + "learning_rate": 1.0587024619465506e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18460 + }, + { + "epoch": 5.373872563281932, + "flow_matching_loss": 0.017632916569709778, + "grad_norm": 0.07096143066883087, + "learning_rate": 1.0571224358848517e-05, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18470 + }, + { + "epoch": 5.3767820773930755, + "flow_matching_loss": 0.01836219308897853, + "grad_norm": 0.12335168570280075, + "learning_rate": 1.0555429479611537e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18480 + }, + { + "epoch": 5.379691591504219, + "flow_matching_loss": 0.01932138204574585, + "grad_norm": 0.10395310819149017, + "learning_rate": 1.0539640000946835e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18490 + }, + { + "epoch": 5.382601105615362, + "flow_matching_loss": 0.01868318784981966, + "grad_norm": 0.10884425789117813, + "learning_rate": 1.0523855942040111e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18500 + }, + { + "epoch": 5.385510619726506, + "flow_matching_loss": 0.019670640025287865, + "grad_norm": 0.1020904928445816, + "learning_rate": 1.0508077322070496e-05, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18510 + }, + { + "epoch": 5.388420133837649, + "flow_matching_loss": 0.01947286743670702, + "grad_norm": 0.11865215003490448, + "learning_rate": 1.0492304160210495e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18520 + }, + { + "epoch": 5.391329647948792, + "flow_matching_loss": 0.01674964791163802, + "grad_norm": 0.10542584955692291, + "learning_rate": 1.0476536475625985e-05, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18530 + }, + { + "epoch": 5.394239162059936, + "flow_matching_loss": 0.019288205821067095, + "grad_norm": 0.1430034190416336, + "learning_rate": 1.0460774287476195e-05, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18540 + }, + { + "epoch": 5.39714867617108, + "flow_matching_loss": 0.018207581713795662, + "grad_norm": 0.11051329225301743, + "learning_rate": 1.044501761491366e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18550 + }, + { + "epoch": 5.400058190282223, + "flow_matching_loss": 0.018940707854926585, + "grad_norm": 0.13548198342323303, + "learning_rate": 1.0429266477084235e-05, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18560 + }, + { + "epoch": 5.402967704393366, + "flow_matching_loss": 0.019866415392607452, + "grad_norm": 0.14123110473155975, + "learning_rate": 1.0413520893127034e-05, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18570 + }, + { + "epoch": 5.40587721850451, + "flow_matching_loss": 0.016550236381590366, + "grad_norm": 0.09525825083255768, + "learning_rate": 1.0397780882174424e-05, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18580 + }, + { + "epoch": 5.408786732615654, + "flow_matching_loss": 0.01958635412156582, + "grad_norm": 0.11508744210004807, + "learning_rate": 1.0382046463351998e-05, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18590 + }, + { + "epoch": 5.411696246726796, + "flow_matching_loss": 0.018585344217717646, + "grad_norm": 0.1437946856021881, + "learning_rate": 1.0366317655778568e-05, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18600 + }, + { + "epoch": 5.41460576083794, + "flow_matching_loss": 0.01922312267124653, + "grad_norm": 0.10192413628101349, + "learning_rate": 1.035059447856611e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18610 + }, + { + "epoch": 5.417515274949084, + "flow_matching_loss": 0.01823233123868704, + "grad_norm": 0.1099260151386261, + "learning_rate": 1.0334876950819777e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18620 + }, + { + "epoch": 5.420424789060227, + "flow_matching_loss": 0.017295586224645377, + "grad_norm": 0.11430183053016663, + "learning_rate": 1.0319165091637837e-05, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18630 + }, + { + "epoch": 5.42333430317137, + "flow_matching_loss": 0.018518576864153147, + "grad_norm": 0.09200863540172577, + "learning_rate": 1.0303458920111686e-05, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18640 + }, + { + "epoch": 5.426243817282514, + "flow_matching_loss": 0.01668002549558878, + "grad_norm": 0.12172975391149521, + "learning_rate": 1.0287758455325803e-05, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18650 + }, + { + "epoch": 5.429153331393657, + "flow_matching_loss": 0.017263093311339617, + "grad_norm": 0.10911429673433304, + "learning_rate": 1.0272063716357729e-05, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18660 + }, + { + "epoch": 5.432062845504801, + "flow_matching_loss": 0.01571578048169613, + "grad_norm": 0.13671080768108368, + "learning_rate": 1.0256374722278057e-05, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18670 + }, + { + "epoch": 5.434972359615944, + "flow_matching_loss": 0.01937252711504698, + "grad_norm": 0.11600562930107117, + "learning_rate": 1.0240691492150388e-05, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18680 + }, + { + "epoch": 5.437881873727088, + "flow_matching_loss": 0.018987805861979724, + "grad_norm": 0.09651155769824982, + "learning_rate": 1.0225014045031334e-05, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18690 + }, + { + "epoch": 5.440791387838231, + "flow_matching_loss": 0.019501693639904262, + "grad_norm": 0.10048647224903107, + "learning_rate": 1.0209342399970468e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18700 + }, + { + "epoch": 5.4437009019493745, + "flow_matching_loss": 0.018247301410883664, + "grad_norm": 0.1272883415222168, + "learning_rate": 1.019367657601031e-05, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18710 + }, + { + "epoch": 5.446610416060518, + "flow_matching_loss": 0.019518815353512763, + "grad_norm": 0.11955448240041733, + "learning_rate": 1.0178016592186323e-05, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18720 + }, + { + "epoch": 5.449519930171661, + "flow_matching_loss": 0.017806249018758536, + "grad_norm": 0.12383384257555008, + "learning_rate": 1.0162362467526861e-05, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18730 + }, + { + "epoch": 5.452429444282805, + "flow_matching_loss": 0.021008410863578318, + "grad_norm": 0.106328584253788, + "learning_rate": 1.0146714221053159e-05, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18740 + }, + { + "epoch": 5.4553389583939484, + "flow_matching_loss": 0.0183987301774323, + "grad_norm": 0.1327686905860901, + "learning_rate": 1.0131071871779314e-05, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18750 + }, + { + "epoch": 5.458248472505091, + "flow_matching_loss": 0.018100299686193467, + "grad_norm": 0.116078682243824, + "learning_rate": 1.0115435438712249e-05, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18760 + }, + { + "epoch": 5.461157986616235, + "flow_matching_loss": 0.018662921246141197, + "grad_norm": 0.10335596650838852, + "learning_rate": 1.0099804940851716e-05, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18770 + }, + { + "epoch": 5.464067500727379, + "flow_matching_loss": 0.017684410139918328, + "grad_norm": 0.11155541241168976, + "learning_rate": 1.0084180397190238e-05, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18780 + }, + { + "epoch": 5.4669770148385215, + "flow_matching_loss": 0.01691480278968811, + "grad_norm": 0.11472411453723907, + "learning_rate": 1.006856182671311e-05, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18790 + }, + { + "epoch": 5.469886528949665, + "flow_matching_loss": 0.020062326081097127, + "grad_norm": 0.1251518577337265, + "learning_rate": 1.0052949248398367e-05, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18800 + }, + { + "epoch": 5.472796043060809, + "flow_matching_loss": 0.017194561101496218, + "grad_norm": 0.1296793669462204, + "learning_rate": 1.003734268121676e-05, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18810 + }, + { + "epoch": 5.475705557171953, + "flow_matching_loss": 0.01923928502947092, + "grad_norm": 0.11867190897464752, + "learning_rate": 1.0021742144131744e-05, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18820 + }, + { + "epoch": 5.478615071283095, + "flow_matching_loss": 0.01827420396730304, + "grad_norm": 0.13635176420211792, + "learning_rate": 1.000614765609944e-05, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18830 + }, + { + "epoch": 5.481524585394239, + "flow_matching_loss": 0.0179285304620862, + "grad_norm": 0.11052890121936798, + "learning_rate": 9.990559236068628e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18840 + }, + { + "epoch": 5.484434099505383, + "flow_matching_loss": 0.019454232417047024, + "grad_norm": 0.12109103798866272, + "learning_rate": 9.974976902980703e-06, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18850 + }, + { + "epoch": 5.487343613616526, + "flow_matching_loss": 0.016893887147307395, + "grad_norm": 0.10322652012109756, + "learning_rate": 9.959400675769668e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18860 + }, + { + "epoch": 5.490253127727669, + "flow_matching_loss": 0.018394294939935208, + "grad_norm": 0.11741591989994049, + "learning_rate": 9.943830573362106e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18870 + }, + { + "epoch": 5.493162641838813, + "flow_matching_loss": 0.0169313027523458, + "grad_norm": 0.12458182126283646, + "learning_rate": 9.928266614677168e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18880 + }, + { + "epoch": 5.496072155949957, + "flow_matching_loss": 0.01817349689081311, + "grad_norm": 0.1017889529466629, + "learning_rate": 9.912708818626524e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18890 + }, + { + "epoch": 5.4989816700611, + "flow_matching_loss": 0.016305177100002767, + "grad_norm": 0.10177814215421677, + "learning_rate": 9.897157204114369e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18900 + }, + { + "epoch": 5.501891184172243, + "flow_matching_loss": 0.017655039299279453, + "grad_norm": 0.09907092154026031, + "learning_rate": 9.881611790037375e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18910 + }, + { + "epoch": 5.504800698283387, + "flow_matching_loss": 0.01848355894908309, + "grad_norm": 0.12769119441509247, + "learning_rate": 9.866072595284684e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18920 + }, + { + "epoch": 5.50771021239453, + "flow_matching_loss": 0.01834001000970602, + "grad_norm": 0.10889927297830582, + "learning_rate": 9.850539638737894e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18930 + }, + { + "epoch": 5.5106197265056736, + "flow_matching_loss": 0.016125283762812616, + "grad_norm": 0.11111082136631012, + "learning_rate": 9.835012939271006e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18940 + }, + { + "epoch": 5.513529240616817, + "flow_matching_loss": 0.01807233989238739, + "grad_norm": 0.10839236527681351, + "learning_rate": 9.819492515750418e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18950 + }, + { + "epoch": 5.51643875472796, + "flow_matching_loss": 0.017716866079717876, + "grad_norm": 0.0958537682890892, + "learning_rate": 9.803978387034918e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18960 + }, + { + "epoch": 5.519348268839104, + "flow_matching_loss": 0.019319348223507404, + "grad_norm": 0.08768431097269058, + "learning_rate": 9.788470571975624e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18970 + }, + { + "epoch": 5.5222577829502475, + "flow_matching_loss": 0.02035780670121312, + "grad_norm": 0.1282084733247757, + "learning_rate": 9.772969089416008e-06, + "loss": 0.0204, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18980 + }, + { + "epoch": 5.52516729706139, + "flow_matching_loss": 0.018382502160966395, + "grad_norm": 0.15080048143863678, + "learning_rate": 9.757473958191822e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 18990 + }, + { + "epoch": 5.528076811172534, + "flow_matching_loss": 0.01752695143222809, + "grad_norm": 0.10300574451684952, + "learning_rate": 9.741985197131118e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19000 + }, + { + "epoch": 5.530986325283678, + "flow_matching_loss": 0.01771414475515485, + "grad_norm": 0.10475291311740875, + "learning_rate": 9.726502825054195e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19010 + }, + { + "epoch": 5.533895839394821, + "flow_matching_loss": 0.017074431478977203, + "grad_norm": 0.10977334529161453, + "learning_rate": 9.711026860773595e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19020 + }, + { + "epoch": 5.536805353505964, + "flow_matching_loss": 0.019922139775007962, + "grad_norm": 0.10403621941804886, + "learning_rate": 9.69555732309408e-06, + "loss": 0.0199, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19030 + }, + { + "epoch": 5.539714867617108, + "flow_matching_loss": 0.021144051104784012, + "grad_norm": 0.12484503537416458, + "learning_rate": 9.68009423081259e-06, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19040 + }, + { + "epoch": 5.542624381728252, + "flow_matching_loss": 0.01866129469126463, + "grad_norm": 0.1178353875875473, + "learning_rate": 9.664637602718249e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19050 + }, + { + "epoch": 5.5455338958393945, + "flow_matching_loss": 0.021042852476239205, + "grad_norm": 0.14949558675289154, + "learning_rate": 9.649187457592313e-06, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19060 + }, + { + "epoch": 5.548443409950538, + "flow_matching_loss": 0.01886871885508299, + "grad_norm": 0.14447075128555298, + "learning_rate": 9.63374381420816e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19070 + }, + { + "epoch": 5.551352924061682, + "flow_matching_loss": 0.018935919366776945, + "grad_norm": 0.10176192224025726, + "learning_rate": 9.618306691331279e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19080 + }, + { + "epoch": 5.554262438172826, + "flow_matching_loss": 0.01800505295395851, + "grad_norm": 0.2025754153728485, + "learning_rate": 9.602876107719228e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19090 + }, + { + "epoch": 5.557171952283968, + "flow_matching_loss": 0.018808890040963887, + "grad_norm": 0.1081930473446846, + "learning_rate": 9.587452082121621e-06, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19100 + }, + { + "epoch": 5.560081466395112, + "flow_matching_loss": 0.02130957329645753, + "grad_norm": 0.10022231191396713, + "learning_rate": 9.57203463328011e-06, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19110 + }, + { + "epoch": 5.562990980506255, + "flow_matching_loss": 0.019302107207477093, + "grad_norm": 0.12775549292564392, + "learning_rate": 9.556623779928341e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19120 + }, + { + "epoch": 5.565900494617399, + "flow_matching_loss": 0.019612749107182026, + "grad_norm": 0.1274813860654831, + "learning_rate": 9.541219540791949e-06, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19130 + }, + { + "epoch": 5.568810008728542, + "flow_matching_loss": 0.01871837507933378, + "grad_norm": 0.14926809072494507, + "learning_rate": 9.525821934588551e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19140 + }, + { + "epoch": 5.571719522839686, + "flow_matching_loss": 0.018874313961714507, + "grad_norm": 0.14132040739059448, + "learning_rate": 9.510430980027684e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19150 + }, + { + "epoch": 5.574629036950829, + "flow_matching_loss": 0.02053571632131934, + "grad_norm": 0.13762977719306946, + "learning_rate": 9.495046695810809e-06, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19160 + }, + { + "epoch": 5.577538551061973, + "flow_matching_loss": 0.01583217177540064, + "grad_norm": 0.11847151815891266, + "learning_rate": 9.47966910063128e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19170 + }, + { + "epoch": 5.580448065173116, + "flow_matching_loss": 0.01856242623180151, + "grad_norm": 0.0892588272690773, + "learning_rate": 9.464298213174325e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19180 + }, + { + "epoch": 5.583357579284259, + "flow_matching_loss": 0.019484141655266286, + "grad_norm": 0.14749811589717865, + "learning_rate": 9.448934052117024e-06, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19190 + }, + { + "epoch": 5.586267093395403, + "flow_matching_loss": 0.019435427617281675, + "grad_norm": 0.11694437265396118, + "learning_rate": 9.433576636128284e-06, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19200 + }, + { + "epoch": 5.5891766075065465, + "flow_matching_loss": 0.017019775789231063, + "grad_norm": 0.114799365401268, + "learning_rate": 9.41822598386881e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19210 + }, + { + "epoch": 5.59208612161769, + "flow_matching_loss": 0.01900353953242302, + "grad_norm": 0.12298855185508728, + "learning_rate": 9.402882113991094e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19220 + }, + { + "epoch": 5.594995635728833, + "flow_matching_loss": 0.019261476770043372, + "grad_norm": 0.11982268840074539, + "learning_rate": 9.387545045139381e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19230 + }, + { + "epoch": 5.597905149839977, + "flow_matching_loss": 0.018615310825407506, + "grad_norm": 0.10742893069982529, + "learning_rate": 9.372214795949655e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19240 + }, + { + "epoch": 5.6008146639511205, + "flow_matching_loss": 0.019845620915293693, + "grad_norm": 0.1008368507027626, + "learning_rate": 9.356891385049618e-06, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19250 + }, + { + "epoch": 5.603724178062263, + "flow_matching_loss": 0.018722860794514417, + "grad_norm": 0.11591773480176926, + "learning_rate": 9.341574831058664e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19260 + }, + { + "epoch": 5.606633692173407, + "flow_matching_loss": 0.014956412464380264, + "grad_norm": 0.12201916426420212, + "learning_rate": 9.326265152587844e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19270 + }, + { + "epoch": 5.609543206284551, + "flow_matching_loss": 0.02131477538496256, + "grad_norm": 0.13628718256950378, + "learning_rate": 9.310962368239861e-06, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19280 + }, + { + "epoch": 5.6124527203956935, + "flow_matching_loss": 0.017478516884148122, + "grad_norm": 0.10389823466539383, + "learning_rate": 9.295666496609036e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19290 + }, + { + "epoch": 5.615362234506837, + "flow_matching_loss": 0.020627759955823423, + "grad_norm": 0.12020125985145569, + "learning_rate": 9.280377556281306e-06, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19300 + }, + { + "epoch": 5.618271748617981, + "flow_matching_loss": 0.018487440422177315, + "grad_norm": 0.10039559006690979, + "learning_rate": 9.265095565834172e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19310 + }, + { + "epoch": 5.621181262729124, + "flow_matching_loss": 0.019682161789387465, + "grad_norm": 0.11802852898836136, + "learning_rate": 9.249820543836688e-06, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19320 + }, + { + "epoch": 5.6240907768402675, + "flow_matching_loss": 0.017308564763516186, + "grad_norm": 0.08937034755945206, + "learning_rate": 9.234552508849454e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19330 + }, + { + "epoch": 5.627000290951411, + "flow_matching_loss": 0.018248696438968183, + "grad_norm": 0.13842961192131042, + "learning_rate": 9.21929147942456e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19340 + }, + { + "epoch": 5.629909805062555, + "flow_matching_loss": 0.01638423427939415, + "grad_norm": 0.08607830852270126, + "learning_rate": 9.204037474105611e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19350 + }, + { + "epoch": 5.632819319173698, + "flow_matching_loss": 0.017123131919652222, + "grad_norm": 0.08751888573169708, + "learning_rate": 9.188790511427653e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19360 + }, + { + "epoch": 5.635728833284841, + "flow_matching_loss": 0.019594291225075722, + "grad_norm": 0.16497762501239777, + "learning_rate": 9.173550609917186e-06, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19370 + }, + { + "epoch": 5.638638347395985, + "flow_matching_loss": 0.0171513918787241, + "grad_norm": 0.12687097489833832, + "learning_rate": 9.158317788092124e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19380 + }, + { + "epoch": 5.641547861507128, + "flow_matching_loss": 0.018970248848199846, + "grad_norm": 0.21447470784187317, + "learning_rate": 9.143092064461783e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19390 + }, + { + "epoch": 5.644457375618272, + "flow_matching_loss": 0.020549131091684103, + "grad_norm": 0.10678767412900925, + "learning_rate": 9.127873457526855e-06, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19400 + }, + { + "epoch": 5.647366889729415, + "flow_matching_loss": 0.017690827138721943, + "grad_norm": 0.10117728263139725, + "learning_rate": 9.112661985779382e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19410 + }, + { + "epoch": 5.650276403840559, + "flow_matching_loss": 0.018131465837359428, + "grad_norm": 0.11746580898761749, + "learning_rate": 9.09745766770274e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19420 + }, + { + "epoch": 5.653185917951702, + "flow_matching_loss": 0.016121394746005536, + "grad_norm": 0.11770685017108917, + "learning_rate": 9.082260521771601e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19430 + }, + { + "epoch": 5.656095432062846, + "flow_matching_loss": 0.022512801364064215, + "grad_norm": 0.1620967984199524, + "learning_rate": 9.067070566451936e-06, + "loss": 0.0225, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19440 + }, + { + "epoch": 5.659004946173989, + "flow_matching_loss": 0.01508770901709795, + "grad_norm": 0.0984761118888855, + "learning_rate": 9.051887820200966e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19450 + }, + { + "epoch": 5.661914460285132, + "flow_matching_loss": 0.018262984044849873, + "grad_norm": 0.1157536506652832, + "learning_rate": 9.03671230146717e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19460 + }, + { + "epoch": 5.664823974396276, + "flow_matching_loss": 0.017961465939879417, + "grad_norm": 0.14499260485172272, + "learning_rate": 9.021544028690228e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19470 + }, + { + "epoch": 5.6677334885074195, + "flow_matching_loss": 0.017207972705364227, + "grad_norm": 0.11258640885353088, + "learning_rate": 9.006383020301024e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19480 + }, + { + "epoch": 5.670643002618562, + "flow_matching_loss": 0.017231610789895057, + "grad_norm": 0.10214219987392426, + "learning_rate": 8.991229294721613e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19490 + }, + { + "epoch": 5.673552516729706, + "flow_matching_loss": 0.017711193300783634, + "grad_norm": 0.09083012491464615, + "learning_rate": 8.976082870365191e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19500 + }, + { + "epoch": 5.67646203084085, + "flow_matching_loss": 0.021164858154952525, + "grad_norm": 0.11680667847394943, + "learning_rate": 8.960943765636105e-06, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19510 + }, + { + "epoch": 5.679371544951993, + "flow_matching_loss": 0.01847721580415964, + "grad_norm": 0.15206240117549896, + "learning_rate": 8.945811998929792e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19520 + }, + { + "epoch": 5.682281059063136, + "flow_matching_loss": 0.02030154298990965, + "grad_norm": 0.12548911571502686, + "learning_rate": 8.93068758863277e-06, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19530 + }, + { + "epoch": 5.68519057317428, + "flow_matching_loss": 0.017780942004173995, + "grad_norm": 0.09016086906194687, + "learning_rate": 8.915570553122628e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19540 + }, + { + "epoch": 5.688100087285424, + "flow_matching_loss": 0.01957022361457348, + "grad_norm": 0.1370871663093567, + "learning_rate": 8.900460910767982e-06, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19550 + }, + { + "epoch": 5.6910096013965665, + "flow_matching_loss": 0.0183996113948524, + "grad_norm": 0.10304991900920868, + "learning_rate": 8.885358679928486e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19560 + }, + { + "epoch": 5.69391911550771, + "flow_matching_loss": 0.019221912045031785, + "grad_norm": 0.10565043240785599, + "learning_rate": 8.870263878954767e-06, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19570 + }, + { + "epoch": 5.696828629618854, + "flow_matching_loss": 0.018372148368507625, + "grad_norm": 0.12397760897874832, + "learning_rate": 8.855176526188428e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19580 + }, + { + "epoch": 5.699738143729997, + "flow_matching_loss": 0.015513412468135358, + "grad_norm": 0.09175554662942886, + "learning_rate": 8.840096639962033e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19590 + }, + { + "epoch": 5.7026476578411405, + "flow_matching_loss": 0.017802857141941787, + "grad_norm": 0.1476019322872162, + "learning_rate": 8.825024238599056e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19600 + }, + { + "epoch": 5.705557171952284, + "flow_matching_loss": 0.017943630646914243, + "grad_norm": 0.10380713641643524, + "learning_rate": 8.809959340413891e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19610 + }, + { + "epoch": 5.708466686063428, + "flow_matching_loss": 0.01738892663270235, + "grad_norm": 0.08056531101465225, + "learning_rate": 8.79490196371181e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19620 + }, + { + "epoch": 5.711376200174571, + "flow_matching_loss": 0.01926228990778327, + "grad_norm": 0.12229321897029877, + "learning_rate": 8.779852126788949e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19630 + }, + { + "epoch": 5.714285714285714, + "flow_matching_loss": 0.017258789110928773, + "grad_norm": 0.1324603408575058, + "learning_rate": 8.764809847932277e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19640 + }, + { + "epoch": 5.717195228396857, + "flow_matching_loss": 0.017653651349246503, + "grad_norm": 0.10860180109739304, + "learning_rate": 8.749775145419577e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19650 + }, + { + "epoch": 5.720104742508001, + "flow_matching_loss": 0.020520140510052444, + "grad_norm": 0.1055828258395195, + "learning_rate": 8.734748037519427e-06, + "loss": 0.0205, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19660 + }, + { + "epoch": 5.723014256619145, + "flow_matching_loss": 0.02060289094224572, + "grad_norm": 0.13353124260902405, + "learning_rate": 8.719728542491195e-06, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19670 + }, + { + "epoch": 5.725923770730288, + "flow_matching_loss": 0.01782926619052887, + "grad_norm": 0.10389763116836548, + "learning_rate": 8.704716678584976e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19680 + }, + { + "epoch": 5.728833284841431, + "flow_matching_loss": 0.017932280153036117, + "grad_norm": 0.10270217806100845, + "learning_rate": 8.689712464041596e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19690 + }, + { + "epoch": 5.731742798952575, + "flow_matching_loss": 0.016894564032554626, + "grad_norm": 0.10971375554800034, + "learning_rate": 8.674715917092592e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19700 + }, + { + "epoch": 5.734652313063719, + "flow_matching_loss": 0.015796522703021766, + "grad_norm": 0.09347610175609589, + "learning_rate": 8.65972705596018e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19710 + }, + { + "epoch": 5.737561827174861, + "flow_matching_loss": 0.017739660013467072, + "grad_norm": 0.11767327040433884, + "learning_rate": 8.64474589885725e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19720 + }, + { + "epoch": 5.740471341286005, + "flow_matching_loss": 0.016989615466445684, + "grad_norm": 0.10070588439702988, + "learning_rate": 8.629772463987315e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19730 + }, + { + "epoch": 5.743380855397149, + "flow_matching_loss": 0.017537133116275073, + "grad_norm": 0.11075987666845322, + "learning_rate": 8.614806769544507e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19740 + }, + { + "epoch": 5.7462903695082925, + "flow_matching_loss": 0.01719457870349288, + "grad_norm": 0.07270560413599014, + "learning_rate": 8.59984883371356e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19750 + }, + { + "epoch": 5.749199883619435, + "flow_matching_loss": 0.019682081323117016, + "grad_norm": 0.11920048296451569, + "learning_rate": 8.584898674669772e-06, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19760 + }, + { + "epoch": 5.752109397730579, + "flow_matching_loss": 0.016542258393019437, + "grad_norm": 0.11913114786148071, + "learning_rate": 8.569956310579001e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19770 + }, + { + "epoch": 5.755018911841723, + "flow_matching_loss": 0.01670645223930478, + "grad_norm": 0.1302243024110794, + "learning_rate": 8.555021759597627e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19780 + }, + { + "epoch": 5.757928425952866, + "flow_matching_loss": 0.01894425731152296, + "grad_norm": 0.09914128482341766, + "learning_rate": 8.54009503987253e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19790 + }, + { + "epoch": 5.760837940064009, + "flow_matching_loss": 0.018668667785823344, + "grad_norm": 0.0852954164147377, + "learning_rate": 8.525176169541095e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19800 + }, + { + "epoch": 5.763747454175153, + "flow_matching_loss": 0.01786184888333082, + "grad_norm": 0.10081984102725983, + "learning_rate": 8.510265166731151e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19810 + }, + { + "epoch": 5.766656968286296, + "flow_matching_loss": 0.016906861308962108, + "grad_norm": 0.10933666676282883, + "learning_rate": 8.495362049560964e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19820 + }, + { + "epoch": 5.7695664823974395, + "flow_matching_loss": 0.01935861436650157, + "grad_norm": 0.0942678451538086, + "learning_rate": 8.480466836139241e-06, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19830 + }, + { + "epoch": 5.772475996508583, + "flow_matching_loss": 0.0186699359677732, + "grad_norm": 0.09710104763507843, + "learning_rate": 8.465579544565066e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19840 + }, + { + "epoch": 5.775385510619726, + "flow_matching_loss": 0.018538514152169228, + "grad_norm": 0.10642147809267044, + "learning_rate": 8.450700192927897e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19850 + }, + { + "epoch": 5.77829502473087, + "flow_matching_loss": 0.018158132303506137, + "grad_norm": 0.131693035364151, + "learning_rate": 8.435828799307551e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19860 + }, + { + "epoch": 5.7812045388420135, + "flow_matching_loss": 0.017808017320930958, + "grad_norm": 0.10096561908721924, + "learning_rate": 8.420965381774172e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19870 + }, + { + "epoch": 5.784114052953157, + "flow_matching_loss": 0.01909577678889036, + "grad_norm": 0.12250707298517227, + "learning_rate": 8.406109958388222e-06, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19880 + }, + { + "epoch": 5.7870235670643, + "flow_matching_loss": 0.017643565125763417, + "grad_norm": 0.10128152370452881, + "learning_rate": 8.391262547200434e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19890 + }, + { + "epoch": 5.789933081175444, + "flow_matching_loss": 0.016467069648206233, + "grad_norm": 0.09167743474245071, + "learning_rate": 8.376423166251816e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19900 + }, + { + "epoch": 5.792842595286587, + "flow_matching_loss": 0.020893355831503868, + "grad_norm": 0.10532675683498383, + "learning_rate": 8.361591833573612e-06, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19910 + }, + { + "epoch": 5.79575210939773, + "flow_matching_loss": 0.018383897375315428, + "grad_norm": 0.13606248795986176, + "learning_rate": 8.346768567187287e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19920 + }, + { + "epoch": 5.798661623508874, + "flow_matching_loss": 0.023060477152466775, + "grad_norm": 0.15862181782722473, + "learning_rate": 8.331953385104516e-06, + "loss": 0.0231, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19930 + }, + { + "epoch": 5.801571137620018, + "flow_matching_loss": 0.01770895505324006, + "grad_norm": 0.1282004863023758, + "learning_rate": 8.317146305327134e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19940 + }, + { + "epoch": 5.804480651731161, + "flow_matching_loss": 0.01820293115451932, + "grad_norm": 0.12683367729187012, + "learning_rate": 8.302347345847146e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19950 + }, + { + "epoch": 5.807390165842304, + "flow_matching_loss": 0.021634214092046022, + "grad_norm": 0.16933220624923706, + "learning_rate": 8.287556524646683e-06, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19960 + }, + { + "epoch": 5.810299679953448, + "flow_matching_loss": 0.016799374017864466, + "grad_norm": 0.12835928797721863, + "learning_rate": 8.272773859697978e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19970 + }, + { + "epoch": 5.813209194064592, + "flow_matching_loss": 0.01847525257617235, + "grad_norm": 0.12230454385280609, + "learning_rate": 8.257999368963374e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19980 + }, + { + "epoch": 5.816118708175734, + "flow_matching_loss": 0.016418069787323474, + "grad_norm": 0.10008314251899719, + "learning_rate": 8.243233070395266e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 19990 + }, + { + "epoch": 5.819028222286878, + "flow_matching_loss": 0.01771969422698021, + "grad_norm": 0.09922225028276443, + "learning_rate": 8.2284749819361e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20000 + }, + { + "epoch": 5.821937736398022, + "flow_matching_loss": 0.015234170947223902, + "grad_norm": 0.08483658730983734, + "learning_rate": 8.213725121518346e-06, + "loss": 0.0152, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20010 + }, + { + "epoch": 5.824847250509165, + "flow_matching_loss": 0.017955210618674756, + "grad_norm": 0.14518281817436218, + "learning_rate": 8.198983507064469e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20020 + }, + { + "epoch": 5.827756764620308, + "flow_matching_loss": 0.018660837784409523, + "grad_norm": 0.12298090010881424, + "learning_rate": 8.18425015648692e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20030 + }, + { + "epoch": 5.830666278731452, + "flow_matching_loss": 0.01817816821858287, + "grad_norm": 0.10216125100851059, + "learning_rate": 8.169525087688122e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20040 + }, + { + "epoch": 5.833575792842595, + "flow_matching_loss": 0.01521957917138934, + "grad_norm": 0.09439314901828766, + "learning_rate": 8.154808318560413e-06, + "loss": 0.0152, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20050 + }, + { + "epoch": 5.836485306953739, + "flow_matching_loss": 0.016096027474850415, + "grad_norm": 0.10297490656375885, + "learning_rate": 8.140099866986058e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20060 + }, + { + "epoch": 5.839394821064882, + "flow_matching_loss": 0.018289150111377238, + "grad_norm": 0.12232647091150284, + "learning_rate": 8.125399750837202e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20070 + }, + { + "epoch": 5.842304335176026, + "flow_matching_loss": 0.017683905083686113, + "grad_norm": 0.12603048980236053, + "learning_rate": 8.110707987975888e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20080 + }, + { + "epoch": 5.845213849287169, + "flow_matching_loss": 0.017145003098994492, + "grad_norm": 0.08905593305826187, + "learning_rate": 8.096024596253982e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20090 + }, + { + "epoch": 5.8481233633983125, + "flow_matching_loss": 0.016489149443805216, + "grad_norm": 0.11148138344287872, + "learning_rate": 8.081349593513197e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20100 + }, + { + "epoch": 5.851032877509456, + "flow_matching_loss": 0.018328494764864443, + "grad_norm": 0.13221140205860138, + "learning_rate": 8.066682997585045e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20110 + }, + { + "epoch": 5.853942391620599, + "flow_matching_loss": 0.017194966599345208, + "grad_norm": 0.096876360476017, + "learning_rate": 8.052024826290819e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20120 + }, + { + "epoch": 5.856851905731743, + "flow_matching_loss": 0.017925082053989173, + "grad_norm": 0.11117473244667053, + "learning_rate": 8.037375097441574e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20130 + }, + { + "epoch": 5.8597614198428865, + "flow_matching_loss": 0.01753163244575262, + "grad_norm": 0.11852561682462692, + "learning_rate": 8.022733828838124e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20140 + }, + { + "epoch": 5.86267093395403, + "flow_matching_loss": 0.0165712745860219, + "grad_norm": 0.11132822185754776, + "learning_rate": 8.008101038270988e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20150 + }, + { + "epoch": 5.865580448065173, + "flow_matching_loss": 0.01868519578129053, + "grad_norm": 0.10802092403173447, + "learning_rate": 7.99347674352038e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20160 + }, + { + "epoch": 5.868489962176317, + "flow_matching_loss": 0.017852024547755717, + "grad_norm": 0.09032031148672104, + "learning_rate": 7.978860962356202e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20170 + }, + { + "epoch": 5.8713994762874595, + "flow_matching_loss": 0.017125305905938148, + "grad_norm": 0.12085727602243423, + "learning_rate": 7.964253712537997e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20180 + }, + { + "epoch": 5.874308990398603, + "flow_matching_loss": 0.017908367235213517, + "grad_norm": 0.10491905361413956, + "learning_rate": 7.949655011814968e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20190 + }, + { + "epoch": 5.877218504509747, + "flow_matching_loss": 0.01639215452596545, + "grad_norm": 0.11042165011167526, + "learning_rate": 7.9350648779259e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20200 + }, + { + "epoch": 5.880128018620891, + "flow_matching_loss": 0.021004068665206432, + "grad_norm": 0.11302710324525833, + "learning_rate": 7.92048332859919e-06, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20210 + }, + { + "epoch": 5.8830375327320334, + "flow_matching_loss": 0.01956470049917698, + "grad_norm": 0.12755684554576874, + "learning_rate": 7.90591038155278e-06, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20220 + }, + { + "epoch": 5.885947046843177, + "flow_matching_loss": 0.019518837705254553, + "grad_norm": 0.1253884732723236, + "learning_rate": 7.891346054494194e-06, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20230 + }, + { + "epoch": 5.888856560954321, + "flow_matching_loss": 0.018218551110476256, + "grad_norm": 0.125984787940979, + "learning_rate": 7.876790365120447e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20240 + }, + { + "epoch": 5.891766075065464, + "flow_matching_loss": 0.0169594818726182, + "grad_norm": 0.10299261659383774, + "learning_rate": 7.862243331118088e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20250 + }, + { + "epoch": 5.894675589176607, + "flow_matching_loss": 0.01884233606979251, + "grad_norm": 0.1263306736946106, + "learning_rate": 7.847704970163127e-06, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20260 + }, + { + "epoch": 5.897585103287751, + "flow_matching_loss": 0.017609260417521, + "grad_norm": 0.10076270252466202, + "learning_rate": 7.833175299921046e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20270 + }, + { + "epoch": 5.900494617398895, + "flow_matching_loss": 0.016727667953819036, + "grad_norm": 0.10073172301054001, + "learning_rate": 7.81865433804676e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20280 + }, + { + "epoch": 5.903404131510038, + "flow_matching_loss": 0.018414478097110987, + "grad_norm": 0.08410082757472992, + "learning_rate": 7.80414210218461e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20290 + }, + { + "epoch": 5.906313645621181, + "flow_matching_loss": 0.019304153602570297, + "grad_norm": 0.09061021357774734, + "learning_rate": 7.789638609968332e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20300 + }, + { + "epoch": 5.909223159732325, + "flow_matching_loss": 0.018250840064138175, + "grad_norm": 0.1280210316181183, + "learning_rate": 7.775143879021037e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20310 + }, + { + "epoch": 5.912132673843468, + "flow_matching_loss": 0.015979595482349396, + "grad_norm": 0.10165981948375702, + "learning_rate": 7.760657926955187e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20320 + }, + { + "epoch": 5.915042187954612, + "flow_matching_loss": 0.01750874286517501, + "grad_norm": 0.09411462396383286, + "learning_rate": 7.746180771372584e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20330 + }, + { + "epoch": 5.917951702065755, + "flow_matching_loss": 0.017752875667065383, + "grad_norm": 0.09384679794311523, + "learning_rate": 7.731712429864325e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20340 + }, + { + "epoch": 5.920861216176898, + "flow_matching_loss": 0.017877947166562082, + "grad_norm": 0.09306559711694717, + "learning_rate": 7.717252920010828e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20350 + }, + { + "epoch": 5.923770730288042, + "flow_matching_loss": 0.017894634138792755, + "grad_norm": 0.10871831327676773, + "learning_rate": 7.702802259381742e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20360 + }, + { + "epoch": 5.9266802443991855, + "flow_matching_loss": 0.018509113974869252, + "grad_norm": 0.11645738035440445, + "learning_rate": 7.688360465535999e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20370 + }, + { + "epoch": 5.929589758510328, + "flow_matching_loss": 0.02120012603700161, + "grad_norm": 0.11290442198514938, + "learning_rate": 7.673927556021734e-06, + "loss": 0.0212, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20380 + }, + { + "epoch": 5.932499272621472, + "flow_matching_loss": 0.016124061308801174, + "grad_norm": 0.0936746820807457, + "learning_rate": 7.659503548376284e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20390 + }, + { + "epoch": 5.935408786732616, + "flow_matching_loss": 0.018327598460018635, + "grad_norm": 0.1272667646408081, + "learning_rate": 7.645088460126193e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20400 + }, + { + "epoch": 5.9383183008437594, + "flow_matching_loss": 0.015401891246438027, + "grad_norm": 0.10153695195913315, + "learning_rate": 7.630682308787145e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20410 + }, + { + "epoch": 5.941227814954902, + "flow_matching_loss": 0.01660286234691739, + "grad_norm": 0.10902952402830124, + "learning_rate": 7.6162851118639754e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20420 + }, + { + "epoch": 5.944137329066046, + "flow_matching_loss": 0.015699989441782237, + "grad_norm": 0.10870421677827835, + "learning_rate": 7.601896886850632e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20430 + }, + { + "epoch": 5.94704684317719, + "flow_matching_loss": 0.018242575973272324, + "grad_norm": 0.11466153711080551, + "learning_rate": 7.587517651230168e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20440 + }, + { + "epoch": 5.9499563572883325, + "flow_matching_loss": 0.016850619111210108, + "grad_norm": 0.12025964260101318, + "learning_rate": 7.573147422474702e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20450 + }, + { + "epoch": 5.952865871399476, + "flow_matching_loss": 0.016414160002022983, + "grad_norm": 0.10234423726797104, + "learning_rate": 7.55878621804543e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20460 + }, + { + "epoch": 5.95577538551062, + "flow_matching_loss": 0.016836133878678085, + "grad_norm": 0.11655408889055252, + "learning_rate": 7.544434055392564e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20470 + }, + { + "epoch": 5.958684899621764, + "flow_matching_loss": 0.021002724301069975, + "grad_norm": 0.12257011979818344, + "learning_rate": 7.530090951955334e-06, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20480 + }, + { + "epoch": 5.961594413732906, + "flow_matching_loss": 0.017912717908620833, + "grad_norm": 0.1350661963224411, + "learning_rate": 7.515756925161959e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20490 + }, + { + "epoch": 5.96450392784405, + "flow_matching_loss": 0.015816073305904864, + "grad_norm": 0.11549930274486542, + "learning_rate": 7.501431992429643e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20500 + }, + { + "epoch": 5.967413441955194, + "flow_matching_loss": 0.018199014198035, + "grad_norm": 0.18150511384010315, + "learning_rate": 7.487116171164519e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20510 + }, + { + "epoch": 5.970322956066337, + "flow_matching_loss": 0.015574931818991899, + "grad_norm": 0.11421533674001694, + "learning_rate": 7.472809478761672e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20520 + }, + { + "epoch": 5.97323247017748, + "flow_matching_loss": 0.017592324409633875, + "grad_norm": 0.08193840086460114, + "learning_rate": 7.4585119326050775e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20530 + }, + { + "epoch": 5.976141984288624, + "flow_matching_loss": 0.018858496751636266, + "grad_norm": 0.11877556145191193, + "learning_rate": 7.444223550067599e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20540 + }, + { + "epoch": 5.979051498399767, + "flow_matching_loss": 0.01683253115043044, + "grad_norm": 0.09506890177726746, + "learning_rate": 7.429944348510964e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20550 + }, + { + "epoch": 5.981961012510911, + "flow_matching_loss": 0.016442270763218404, + "grad_norm": 0.11519467085599899, + "learning_rate": 7.415674345285763e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20560 + }, + { + "epoch": 5.984870526622054, + "flow_matching_loss": 0.01829933887347579, + "grad_norm": 0.13163432478904724, + "learning_rate": 7.401413557731387e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20570 + }, + { + "epoch": 5.987780040733197, + "flow_matching_loss": 0.018983536679297686, + "grad_norm": 0.12441796064376831, + "learning_rate": 7.387162003176037e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20580 + }, + { + "epoch": 5.990689554844341, + "flow_matching_loss": 0.017144319135695696, + "grad_norm": 0.10022556781768799, + "learning_rate": 7.372919698936697e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20590 + }, + { + "epoch": 5.9935990689554846, + "flow_matching_loss": 0.017791310511529445, + "grad_norm": 0.0986870750784874, + "learning_rate": 7.358686662319104e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20600 + }, + { + "epoch": 5.996508583066628, + "flow_matching_loss": 0.017741943430155515, + "grad_norm": 0.1096315085887909, + "learning_rate": 7.344462910617752e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20610 + }, + { + "epoch": 5.999418097177771, + "flow_matching_loss": 0.01618968266993761, + "grad_norm": 0.10492779314517975, + "learning_rate": 7.330248461115832e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20620 + }, + { + "epoch": 6.002327611288915, + "flow_matching_loss": 0.018838434386998414, + "grad_norm": 0.14124096930027008, + "learning_rate": 7.316043331085242e-06, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20630 + }, + { + "epoch": 6.0052371254000585, + "flow_matching_loss": 0.018158813007175922, + "grad_norm": 0.09966974705457687, + "learning_rate": 7.30184753778655e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20640 + }, + { + "epoch": 6.008146639511201, + "flow_matching_loss": 0.01640750775113702, + "grad_norm": 0.10366553068161011, + "learning_rate": 7.2876610984689935e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20650 + }, + { + "epoch": 6.011056153622345, + "flow_matching_loss": 0.018539599422365428, + "grad_norm": 0.1517934948205948, + "learning_rate": 7.273484030370423e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20660 + }, + { + "epoch": 6.013965667733489, + "flow_matching_loss": 0.014925020188093186, + "grad_norm": 0.09531396627426147, + "learning_rate": 7.259316350717324e-06, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20670 + }, + { + "epoch": 6.0168751818446315, + "flow_matching_loss": 0.01842372342944145, + "grad_norm": 0.1089448481798172, + "learning_rate": 7.245158076724757e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20680 + }, + { + "epoch": 6.019784695955775, + "flow_matching_loss": 0.018296471517533063, + "grad_norm": 0.10929197072982788, + "learning_rate": 7.23100922559636e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20690 + }, + { + "epoch": 6.022694210066919, + "flow_matching_loss": 0.01848608311265707, + "grad_norm": 0.13242629170417786, + "learning_rate": 7.216869814524323e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20700 + }, + { + "epoch": 6.025603724178063, + "flow_matching_loss": 0.016343528870493174, + "grad_norm": 0.11958948522806168, + "learning_rate": 7.202739860689357e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20710 + }, + { + "epoch": 6.0285132382892055, + "flow_matching_loss": 0.019841819629073144, + "grad_norm": 0.12323600053787231, + "learning_rate": 7.188619381260698e-06, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20720 + }, + { + "epoch": 6.031422752400349, + "flow_matching_loss": 0.0184407664462924, + "grad_norm": 0.09365813434123993, + "learning_rate": 7.174508393396057e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20730 + }, + { + "epoch": 6.034332266511493, + "flow_matching_loss": 0.015647499822080135, + "grad_norm": 0.084693543612957, + "learning_rate": 7.160406914241615e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20740 + }, + { + "epoch": 6.037241780622636, + "flow_matching_loss": 0.016526143159717323, + "grad_norm": 0.10666287690401077, + "learning_rate": 7.146314960931996e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20750 + }, + { + "epoch": 6.040151294733779, + "flow_matching_loss": 0.015354775451123714, + "grad_norm": 0.12858344614505768, + "learning_rate": 7.132232550590247e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20760 + }, + { + "epoch": 6.043060808844923, + "flow_matching_loss": 0.01733492184430361, + "grad_norm": 0.11458791047334671, + "learning_rate": 7.118159700327839e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20770 + }, + { + "epoch": 6.045970322956066, + "flow_matching_loss": 0.0176330647431314, + "grad_norm": 0.11340094357728958, + "learning_rate": 7.104096427244603e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20780 + }, + { + "epoch": 6.04887983706721, + "flow_matching_loss": 0.01696468023583293, + "grad_norm": 0.08234140276908875, + "learning_rate": 7.090042748428737e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20790 + }, + { + "epoch": 6.051789351178353, + "flow_matching_loss": 0.015070411562919616, + "grad_norm": 0.10172860324382782, + "learning_rate": 7.075998680956797e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20800 + }, + { + "epoch": 6.054698865289497, + "flow_matching_loss": 0.019132624194025994, + "grad_norm": 0.143283411860466, + "learning_rate": 7.061964241893639e-06, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20810 + }, + { + "epoch": 6.05760837940064, + "flow_matching_loss": 0.01677698567509651, + "grad_norm": 0.09452562779188156, + "learning_rate": 7.047939448292442e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20820 + }, + { + "epoch": 6.060517893511784, + "flow_matching_loss": 0.018725030496716498, + "grad_norm": 0.13109466433525085, + "learning_rate": 7.033924317194644e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20830 + }, + { + "epoch": 6.063427407622927, + "flow_matching_loss": 0.015666400920599698, + "grad_norm": 0.09898187965154648, + "learning_rate": 7.0199188656299524e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20840 + }, + { + "epoch": 6.06633692173407, + "flow_matching_loss": 0.017137663159519433, + "grad_norm": 0.1056249588727951, + "learning_rate": 7.005923110616313e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20850 + }, + { + "epoch": 6.069246435845214, + "flow_matching_loss": 0.017779604997485876, + "grad_norm": 0.11554180085659027, + "learning_rate": 6.9919370691598855e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20860 + }, + { + "epoch": 6.0721559499563575, + "flow_matching_loss": 0.018349487148225308, + "grad_norm": 0.0780487060546875, + "learning_rate": 6.977960758255024e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20870 + }, + { + "epoch": 6.0750654640675, + "flow_matching_loss": 0.015829682536423206, + "grad_norm": 0.10978099703788757, + "learning_rate": 6.963994194884276e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20880 + }, + { + "epoch": 6.077974978178644, + "flow_matching_loss": 0.01856617024168372, + "grad_norm": 0.10759203881025314, + "learning_rate": 6.950037396018328e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20890 + }, + { + "epoch": 6.080884492289788, + "flow_matching_loss": 0.01908969981595874, + "grad_norm": 0.11047791689634323, + "learning_rate": 6.9360903786160056e-06, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20900 + }, + { + "epoch": 6.083794006400931, + "flow_matching_loss": 0.01851847255602479, + "grad_norm": 0.10834898799657822, + "learning_rate": 6.9221531596242485e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20910 + }, + { + "epoch": 6.086703520512074, + "flow_matching_loss": 0.01891275905072689, + "grad_norm": 0.09526679664850235, + "learning_rate": 6.908225755978089e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20920 + }, + { + "epoch": 6.089613034623218, + "flow_matching_loss": 0.01620185747742653, + "grad_norm": 0.12079890817403793, + "learning_rate": 6.8943081846006466e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20930 + }, + { + "epoch": 6.092522548734362, + "flow_matching_loss": 0.018090395722538233, + "grad_norm": 0.13874046504497528, + "learning_rate": 6.88040046240307e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20940 + }, + { + "epoch": 6.0954320628455045, + "flow_matching_loss": 0.018362015672028064, + "grad_norm": 0.10392727702856064, + "learning_rate": 6.866502606284566e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20950 + }, + { + "epoch": 6.098341576956648, + "flow_matching_loss": 0.01874287249520421, + "grad_norm": 0.12214367836713791, + "learning_rate": 6.852614633132335e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20960 + }, + { + "epoch": 6.101251091067792, + "flow_matching_loss": 0.01848304271697998, + "grad_norm": 0.11323434859514236, + "learning_rate": 6.8387365598215665e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20970 + }, + { + "epoch": 6.104160605178935, + "flow_matching_loss": 0.018285420816391708, + "grad_norm": 0.11313966661691666, + "learning_rate": 6.82486840321544e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20980 + }, + { + "epoch": 6.1070701192900785, + "flow_matching_loss": 0.017117030546069147, + "grad_norm": 0.1473722904920578, + "learning_rate": 6.811010180165069e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 20990 + }, + { + "epoch": 6.109979633401222, + "flow_matching_loss": 0.015852794889360665, + "grad_norm": 0.09562129527330399, + "learning_rate": 6.797161907509499e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21000 + }, + { + "epoch": 6.112889147512365, + "flow_matching_loss": 0.019662041496485472, + "grad_norm": 0.11442068964242935, + "learning_rate": 6.783323602075688e-06, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21010 + }, + { + "epoch": 6.115798661623509, + "flow_matching_loss": 0.019179847836494446, + "grad_norm": 0.11452796310186386, + "learning_rate": 6.7694952806784784e-06, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21020 + }, + { + "epoch": 6.118708175734652, + "flow_matching_loss": 0.016831831727176904, + "grad_norm": 0.09461188316345215, + "learning_rate": 6.7556769601205944e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21030 + }, + { + "epoch": 6.121617689845796, + "flow_matching_loss": 0.019186676014214754, + "grad_norm": 0.16898001730442047, + "learning_rate": 6.741868657192594e-06, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21040 + }, + { + "epoch": 6.124527203956939, + "flow_matching_loss": 0.01796262226998806, + "grad_norm": 0.13686753809452057, + "learning_rate": 6.728070388672864e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21050 + }, + { + "epoch": 6.127436718068083, + "flow_matching_loss": 0.017058580275624992, + "grad_norm": 0.11147896200418472, + "learning_rate": 6.714282171327604e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21060 + }, + { + "epoch": 6.130346232179226, + "flow_matching_loss": 0.015589782409369946, + "grad_norm": 0.08179096132516861, + "learning_rate": 6.700504021910791e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21070 + }, + { + "epoch": 6.133255746290369, + "flow_matching_loss": 0.01875529047101736, + "grad_norm": 0.10171570628881454, + "learning_rate": 6.68673595716419e-06, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21080 + }, + { + "epoch": 6.136165260401513, + "flow_matching_loss": 0.01711935708299279, + "grad_norm": 0.14961057901382446, + "learning_rate": 6.6729779938172856e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21090 + }, + { + "epoch": 6.139074774512657, + "flow_matching_loss": 0.0171121496707201, + "grad_norm": 0.1441638469696045, + "learning_rate": 6.659230148587311e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21100 + }, + { + "epoch": 6.141984288623799, + "flow_matching_loss": 0.01643264638260007, + "grad_norm": 0.10420038551092148, + "learning_rate": 6.645492438179188e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21110 + }, + { + "epoch": 6.144893802734943, + "flow_matching_loss": 0.017013156786561012, + "grad_norm": 0.10417850315570831, + "learning_rate": 6.631764879285531e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21120 + }, + { + "epoch": 6.147803316846087, + "flow_matching_loss": 0.018906802125275134, + "grad_norm": 0.1293034553527832, + "learning_rate": 6.618047488586614e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21130 + }, + { + "epoch": 6.1507128309572305, + "flow_matching_loss": 0.016666272096335887, + "grad_norm": 0.1246178075671196, + "learning_rate": 6.604340282750371e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21140 + }, + { + "epoch": 6.153622345068373, + "flow_matching_loss": 0.016721078474074603, + "grad_norm": 0.11371580511331558, + "learning_rate": 6.590643278432342e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21150 + }, + { + "epoch": 6.156531859179517, + "flow_matching_loss": 0.015600380953401327, + "grad_norm": 0.09132681041955948, + "learning_rate": 6.576956492275682e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21160 + }, + { + "epoch": 6.159441373290661, + "flow_matching_loss": 0.01716424198821187, + "grad_norm": 0.09230311959981918, + "learning_rate": 6.563279940911124e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21170 + }, + { + "epoch": 6.162350887401804, + "flow_matching_loss": 0.01769153019413352, + "grad_norm": 0.1162109524011612, + "learning_rate": 6.549613640956963e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21180 + }, + { + "epoch": 6.165260401512947, + "flow_matching_loss": 0.019288177601993084, + "grad_norm": 0.10746744275093079, + "learning_rate": 6.535957609019053e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21190 + }, + { + "epoch": 6.168169915624091, + "flow_matching_loss": 0.015880781784653665, + "grad_norm": 0.10172327607870102, + "learning_rate": 6.5223118616907545e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21200 + }, + { + "epoch": 6.171079429735234, + "flow_matching_loss": 0.01831547999754548, + "grad_norm": 0.107172392308712, + "learning_rate": 6.508676415552939e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21210 + }, + { + "epoch": 6.1739889438463775, + "flow_matching_loss": 0.016211078595370056, + "grad_norm": 0.1264549344778061, + "learning_rate": 6.495051287173952e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21220 + }, + { + "epoch": 6.176898457957521, + "flow_matching_loss": 0.01836181469261646, + "grad_norm": 0.10947174578905106, + "learning_rate": 6.481436493109621e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21230 + }, + { + "epoch": 6.179807972068665, + "flow_matching_loss": 0.017823615483939646, + "grad_norm": 0.11312815546989441, + "learning_rate": 6.467832049903194e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21240 + }, + { + "epoch": 6.182717486179808, + "flow_matching_loss": 0.014853191282600164, + "grad_norm": 0.11507449299097061, + "learning_rate": 6.454237974085361e-06, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21250 + }, + { + "epoch": 6.1856270002909515, + "flow_matching_loss": 0.01571971718221903, + "grad_norm": 0.1163468286395073, + "learning_rate": 6.440654282174203e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21260 + }, + { + "epoch": 6.188536514402095, + "flow_matching_loss": 0.01683912267908454, + "grad_norm": 0.1097588986158371, + "learning_rate": 6.427080990675187e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21270 + }, + { + "epoch": 6.191446028513238, + "flow_matching_loss": 0.016109531931579112, + "grad_norm": 0.0962933823466301, + "learning_rate": 6.41351811608114e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21280 + }, + { + "epoch": 6.194355542624382, + "flow_matching_loss": 0.01759482519701123, + "grad_norm": 0.08030188828706741, + "learning_rate": 6.399965674872228e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21290 + }, + { + "epoch": 6.197265056735525, + "flow_matching_loss": 0.017921233363449574, + "grad_norm": 0.10770145058631897, + "learning_rate": 6.386423683515957e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21300 + }, + { + "epoch": 6.200174570846668, + "flow_matching_loss": 0.019269587006419897, + "grad_norm": 0.09200546890497208, + "learning_rate": 6.372892158467119e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21310 + }, + { + "epoch": 6.203084084957812, + "flow_matching_loss": 0.0166042466647923, + "grad_norm": 0.11201636493206024, + "learning_rate": 6.359371116167791e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21320 + }, + { + "epoch": 6.205993599068956, + "flow_matching_loss": 0.01638684906065464, + "grad_norm": 0.10469495505094528, + "learning_rate": 6.345860573047314e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21330 + }, + { + "epoch": 6.208903113180099, + "flow_matching_loss": 0.017841102741658687, + "grad_norm": 0.11767090857028961, + "learning_rate": 6.332360545522268e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21340 + }, + { + "epoch": 6.211812627291242, + "flow_matching_loss": 0.019781953748315574, + "grad_norm": 0.13335873186588287, + "learning_rate": 6.31887104999647e-06, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21350 + }, + { + "epoch": 6.214722141402386, + "flow_matching_loss": 0.017646502144634722, + "grad_norm": 0.1426946073770523, + "learning_rate": 6.305392102860924e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21360 + }, + { + "epoch": 6.21763165551353, + "flow_matching_loss": 0.0164627218618989, + "grad_norm": 0.10329005867242813, + "learning_rate": 6.291923720493814e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21370 + }, + { + "epoch": 6.220541169624672, + "flow_matching_loss": 0.016169088985770942, + "grad_norm": 0.10565567016601562, + "learning_rate": 6.278465919260507e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21380 + }, + { + "epoch": 6.223450683735816, + "flow_matching_loss": 0.01583794178441167, + "grad_norm": 0.11575412005186081, + "learning_rate": 6.26501871551349e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21390 + }, + { + "epoch": 6.22636019784696, + "flow_matching_loss": 0.018123111128807066, + "grad_norm": 0.10721439868211746, + "learning_rate": 6.251582125592394e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21400 + }, + { + "epoch": 6.229269711958103, + "flow_matching_loss": 0.0174295655451715, + "grad_norm": 0.11733190715312958, + "learning_rate": 6.2381561658239386e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21410 + }, + { + "epoch": 6.232179226069246, + "flow_matching_loss": 0.01771505977958441, + "grad_norm": 0.1024153083562851, + "learning_rate": 6.2247408525219276e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21420 + }, + { + "epoch": 6.23508874018039, + "flow_matching_loss": 0.016647764667868614, + "grad_norm": 0.1315157264471054, + "learning_rate": 6.2113362019872335e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21430 + }, + { + "epoch": 6.237998254291533, + "flow_matching_loss": 0.017514527775347233, + "grad_norm": 0.11850415915250778, + "learning_rate": 6.197942230507772e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21440 + }, + { + "epoch": 6.240907768402677, + "flow_matching_loss": 0.01621999414637685, + "grad_norm": 0.12299337238073349, + "learning_rate": 6.184558954358475e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21450 + }, + { + "epoch": 6.24381728251382, + "flow_matching_loss": 0.01664142096415162, + "grad_norm": 0.10795552283525467, + "learning_rate": 6.1711863898012965e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21460 + }, + { + "epoch": 6.246726796624964, + "flow_matching_loss": 0.019050464499741793, + "grad_norm": 0.1062491312623024, + "learning_rate": 6.157824553085155e-06, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21470 + }, + { + "epoch": 6.249636310736107, + "flow_matching_loss": 0.017499533668160438, + "grad_norm": 0.10539472103118896, + "learning_rate": 6.144473460445945e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21480 + }, + { + "epoch": 6.2525458248472505, + "flow_matching_loss": 0.017585891392081977, + "grad_norm": 0.11802531778812408, + "learning_rate": 6.131133128106503e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21490 + }, + { + "epoch": 6.255455338958394, + "flow_matching_loss": 0.016163543332368135, + "grad_norm": 0.09441842138767242, + "learning_rate": 6.117803572276584e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21500 + }, + { + "epoch": 6.258364853069537, + "flow_matching_loss": 0.018817237019538878, + "grad_norm": 0.1427008956670761, + "learning_rate": 6.104484809152866e-06, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21510 + }, + { + "epoch": 6.261274367180681, + "flow_matching_loss": 0.01874081278219819, + "grad_norm": 0.14656487107276917, + "learning_rate": 6.091176854918892e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21520 + }, + { + "epoch": 6.2641838812918245, + "flow_matching_loss": 0.016269498318433762, + "grad_norm": 0.14129595458507538, + "learning_rate": 6.077879725745092e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21530 + }, + { + "epoch": 6.267093395402968, + "flow_matching_loss": 0.01718991119414568, + "grad_norm": 0.11357136070728302, + "learning_rate": 6.064593437788727e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21540 + }, + { + "epoch": 6.270002909514111, + "flow_matching_loss": 0.018147336225956677, + "grad_norm": 0.11376062780618668, + "learning_rate": 6.051318007193881e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21550 + }, + { + "epoch": 6.272912423625255, + "flow_matching_loss": 0.01750618200749159, + "grad_norm": 0.11575540155172348, + "learning_rate": 6.038053450091469e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21560 + }, + { + "epoch": 6.275821937736398, + "flow_matching_loss": 0.017041354812681674, + "grad_norm": 0.10592309385538101, + "learning_rate": 6.0247997825991705e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21570 + }, + { + "epoch": 6.278731451847541, + "flow_matching_loss": 0.017133976705372332, + "grad_norm": 0.10435381531715393, + "learning_rate": 6.011557020821444e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21580 + }, + { + "epoch": 6.281640965958685, + "flow_matching_loss": 0.01701167644932866, + "grad_norm": 0.09436040371656418, + "learning_rate": 5.99832518084949e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21590 + }, + { + "epoch": 6.284550480069829, + "flow_matching_loss": 0.016798048838973047, + "grad_norm": 0.1112050861120224, + "learning_rate": 5.98510427876124e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21600 + }, + { + "epoch": 6.2874599941809715, + "flow_matching_loss": 0.01810315940529108, + "grad_norm": 0.11777950823307037, + "learning_rate": 5.971894330621344e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21610 + }, + { + "epoch": 6.290369508292115, + "flow_matching_loss": 0.016831972636282444, + "grad_norm": 0.11513414233922958, + "learning_rate": 5.958695352481134e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21620 + }, + { + "epoch": 6.293279022403259, + "flow_matching_loss": 0.016498476546257735, + "grad_norm": 0.11058861762285233, + "learning_rate": 5.945507360378608e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21630 + }, + { + "epoch": 6.296188536514402, + "flow_matching_loss": 0.016340640373528004, + "grad_norm": 0.1037202998995781, + "learning_rate": 5.9323303703384225e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21640 + }, + { + "epoch": 6.299098050625545, + "flow_matching_loss": 0.01777584832161665, + "grad_norm": 0.09292639046907425, + "learning_rate": 5.919164398371857e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21650 + }, + { + "epoch": 6.302007564736689, + "flow_matching_loss": 0.01571796219795942, + "grad_norm": 0.11080289632081985, + "learning_rate": 5.906009460476818e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21660 + }, + { + "epoch": 6.304917078847833, + "flow_matching_loss": 0.018186518270522357, + "grad_norm": 0.13103708624839783, + "learning_rate": 5.892865572637789e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21670 + }, + { + "epoch": 6.307826592958976, + "flow_matching_loss": 0.019610643852502108, + "grad_norm": 0.12330345809459686, + "learning_rate": 5.8797327508258396e-06, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21680 + }, + { + "epoch": 6.310736107070119, + "flow_matching_loss": 0.015051853191107512, + "grad_norm": 0.13093748688697815, + "learning_rate": 5.866611010998584e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21690 + }, + { + "epoch": 6.313645621181263, + "flow_matching_loss": 0.018666858319193125, + "grad_norm": 0.09480875730514526, + "learning_rate": 5.853500369100172e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21700 + }, + { + "epoch": 6.316555135292406, + "flow_matching_loss": 0.01724144909530878, + "grad_norm": 0.11794634163379669, + "learning_rate": 5.840400841061265e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21710 + }, + { + "epoch": 6.31946464940355, + "flow_matching_loss": 0.01716922828927636, + "grad_norm": 0.10348616540431976, + "learning_rate": 5.827312442799034e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21720 + }, + { + "epoch": 6.322374163514693, + "flow_matching_loss": 0.01728416243568063, + "grad_norm": 0.15286847949028015, + "learning_rate": 5.814235190217114e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21730 + }, + { + "epoch": 6.325283677625836, + "flow_matching_loss": 0.015843321476131676, + "grad_norm": 0.09322068840265274, + "learning_rate": 5.801169099205599e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21740 + }, + { + "epoch": 6.32819319173698, + "flow_matching_loss": 0.0184039450250566, + "grad_norm": 0.14578159153461456, + "learning_rate": 5.788114185641022e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21750 + }, + { + "epoch": 6.3311027058481235, + "flow_matching_loss": 0.01697230916470289, + "grad_norm": 0.08876248449087143, + "learning_rate": 5.775070465386328e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21760 + }, + { + "epoch": 6.334012219959266, + "flow_matching_loss": 0.017638169042766095, + "grad_norm": 0.09898710995912552, + "learning_rate": 5.7620379542908765e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21770 + }, + { + "epoch": 6.33692173407041, + "flow_matching_loss": 0.018082712311297655, + "grad_norm": 0.11537139862775803, + "learning_rate": 5.749016668190395e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21780 + }, + { + "epoch": 6.339831248181554, + "flow_matching_loss": 0.0146883855573833, + "grad_norm": 0.08537249267101288, + "learning_rate": 5.736006622906973e-06, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21790 + }, + { + "epoch": 6.3427407622926975, + "flow_matching_loss": 0.01798522621393204, + "grad_norm": 0.09281815588474274, + "learning_rate": 5.723007834249034e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21800 + }, + { + "epoch": 6.34565027640384, + "flow_matching_loss": 0.017822473775595427, + "grad_norm": 0.14401917159557343, + "learning_rate": 5.710020318011346e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21810 + }, + { + "epoch": 6.348559790514984, + "flow_matching_loss": 0.01723284022882581, + "grad_norm": 0.10350087285041809, + "learning_rate": 5.697044089974955e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21820 + }, + { + "epoch": 6.351469304626128, + "flow_matching_loss": 0.018173039983958007, + "grad_norm": 0.12473946809768677, + "learning_rate": 5.68407916590721e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21830 + }, + { + "epoch": 6.3543788187372705, + "flow_matching_loss": 0.01680539520457387, + "grad_norm": 0.13225574791431427, + "learning_rate": 5.671125561561713e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21840 + }, + { + "epoch": 6.357288332848414, + "flow_matching_loss": 0.01834195675328374, + "grad_norm": 0.12182492762804031, + "learning_rate": 5.658183292678315e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21850 + }, + { + "epoch": 6.360197846959558, + "flow_matching_loss": 0.018491243943572044, + "grad_norm": 0.11881508678197861, + "learning_rate": 5.645252374983091e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21860 + }, + { + "epoch": 6.363107361070702, + "flow_matching_loss": 0.01823607049882412, + "grad_norm": 0.1149083748459816, + "learning_rate": 5.6323328241883224e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21870 + }, + { + "epoch": 6.3660168751818444, + "flow_matching_loss": 0.017456747777760028, + "grad_norm": 0.12313774973154068, + "learning_rate": 5.61942465599249e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21880 + }, + { + "epoch": 6.368926389292988, + "flow_matching_loss": 0.018609353713691233, + "grad_norm": 0.14871393144130707, + "learning_rate": 5.60652788608023e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21890 + }, + { + "epoch": 6.371835903404132, + "flow_matching_loss": 0.01749063115566969, + "grad_norm": 0.08397737145423889, + "learning_rate": 5.593642530122336e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21900 + }, + { + "epoch": 6.374745417515275, + "flow_matching_loss": 0.017046114522963764, + "grad_norm": 0.20324787497520447, + "learning_rate": 5.58076860377573e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21910 + }, + { + "epoch": 6.377654931626418, + "flow_matching_loss": 0.016517798136919736, + "grad_norm": 0.13876351714134216, + "learning_rate": 5.567906122683439e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21920 + }, + { + "epoch": 6.380564445737562, + "flow_matching_loss": 0.020188263058662413, + "grad_norm": 0.12380975484848022, + "learning_rate": 5.555055102474604e-06, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21930 + }, + { + "epoch": 6.383473959848705, + "flow_matching_loss": 0.017796080466359852, + "grad_norm": 0.09408445656299591, + "learning_rate": 5.542215558764421e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21940 + }, + { + "epoch": 6.386383473959849, + "flow_matching_loss": 0.017491147108376025, + "grad_norm": 0.14966614544391632, + "learning_rate": 5.529387507154138e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21950 + }, + { + "epoch": 6.389292988070992, + "flow_matching_loss": 0.0158884858712554, + "grad_norm": 0.11642405390739441, + "learning_rate": 5.516570963231058e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21960 + }, + { + "epoch": 6.392202502182135, + "flow_matching_loss": 0.017115353792905807, + "grad_norm": 0.12437217682600021, + "learning_rate": 5.503765942568484e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21970 + }, + { + "epoch": 6.395112016293279, + "flow_matching_loss": 0.0185916512273252, + "grad_norm": 0.09689875692129135, + "learning_rate": 5.49097246072573e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21980 + }, + { + "epoch": 6.398021530404423, + "flow_matching_loss": 0.016840870212763547, + "grad_norm": 0.11683925241231918, + "learning_rate": 5.4781905332480805e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 21990 + }, + { + "epoch": 6.400931044515566, + "flow_matching_loss": 0.01785725522786379, + "grad_norm": 0.12455412745475769, + "learning_rate": 5.4654201756667795e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22000 + }, + { + "epoch": 6.403840558626709, + "flow_matching_loss": 0.017147444561123847, + "grad_norm": 0.15450596809387207, + "learning_rate": 5.452661403499017e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22010 + }, + { + "epoch": 6.406750072737853, + "flow_matching_loss": 0.017515430226922035, + "grad_norm": 0.14762037992477417, + "learning_rate": 5.4399142322479005e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22020 + }, + { + "epoch": 6.4096595868489965, + "flow_matching_loss": 0.016568538174033164, + "grad_norm": 0.12407168000936508, + "learning_rate": 5.427178677402452e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22030 + }, + { + "epoch": 6.412569100960139, + "flow_matching_loss": 0.01628746688365936, + "grad_norm": 0.13903076946735382, + "learning_rate": 5.41445475443757e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22040 + }, + { + "epoch": 6.415478615071283, + "flow_matching_loss": 0.01825212864205241, + "grad_norm": 0.11141381412744522, + "learning_rate": 5.4017424788140194e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22050 + }, + { + "epoch": 6.418388129182427, + "flow_matching_loss": 0.014314328879117965, + "grad_norm": 0.10417735576629639, + "learning_rate": 5.389041865978414e-06, + "loss": 0.0143, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22060 + }, + { + "epoch": 6.4212976432935704, + "flow_matching_loss": 0.01663681836798787, + "grad_norm": 0.1002662256360054, + "learning_rate": 5.37635293136319e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22070 + }, + { + "epoch": 6.424207157404713, + "flow_matching_loss": 0.016376211401075126, + "grad_norm": 0.08922193944454193, + "learning_rate": 5.363675690386609e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22080 + }, + { + "epoch": 6.427116671515857, + "flow_matching_loss": 0.01661726888269186, + "grad_norm": 0.14731650054454803, + "learning_rate": 5.351010158452708e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22090 + }, + { + "epoch": 6.430026185627001, + "flow_matching_loss": 0.016548200324177743, + "grad_norm": 0.09273581206798553, + "learning_rate": 5.338356350951308e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22100 + }, + { + "epoch": 6.4329356997381435, + "flow_matching_loss": 0.018302856478840113, + "grad_norm": 0.1429579108953476, + "learning_rate": 5.325714283257974e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22110 + }, + { + "epoch": 6.435845213849287, + "flow_matching_loss": 0.015551186632364988, + "grad_norm": 0.1092858612537384, + "learning_rate": 5.313083970734013e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22120 + }, + { + "epoch": 6.438754727960431, + "flow_matching_loss": 0.018542095459997653, + "grad_norm": 0.0845264196395874, + "learning_rate": 5.300465428726439e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22130 + }, + { + "epoch": 6.441664242071574, + "flow_matching_loss": 0.0167946339584887, + "grad_norm": 0.1432303637266159, + "learning_rate": 5.287858672567979e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22140 + }, + { + "epoch": 6.444573756182717, + "flow_matching_loss": 0.017378763109445573, + "grad_norm": 0.11317867785692215, + "learning_rate": 5.275263717577028e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22150 + }, + { + "epoch": 6.447483270293861, + "flow_matching_loss": 0.020171019621193408, + "grad_norm": 0.11148504167795181, + "learning_rate": 5.2626805790576435e-06, + "loss": 0.0202, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22160 + }, + { + "epoch": 6.450392784405004, + "flow_matching_loss": 0.01704118000343442, + "grad_norm": 0.1521773487329483, + "learning_rate": 5.250109272299523e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22170 + }, + { + "epoch": 6.453302298516148, + "flow_matching_loss": 0.017226539831608535, + "grad_norm": 0.13160210847854614, + "learning_rate": 5.237549812577987e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22180 + }, + { + "epoch": 6.456211812627291, + "flow_matching_loss": 0.015440078917890787, + "grad_norm": 0.1016245037317276, + "learning_rate": 5.225002215153973e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22190 + }, + { + "epoch": 6.459121326738435, + "flow_matching_loss": 0.01662498712539673, + "grad_norm": 0.12150394916534424, + "learning_rate": 5.21246649527399e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22200 + }, + { + "epoch": 6.462030840849578, + "flow_matching_loss": 0.020915919076651336, + "grad_norm": 0.11998379230499268, + "learning_rate": 5.199942668170118e-06, + "loss": 0.0209, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22210 + }, + { + "epoch": 6.464940354960722, + "flow_matching_loss": 0.015440152026712894, + "grad_norm": 0.1159418374300003, + "learning_rate": 5.187430749059986e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22220 + }, + { + "epoch": 6.467849869071865, + "flow_matching_loss": 0.015845724567770957, + "grad_norm": 0.09867638349533081, + "learning_rate": 5.174930753146763e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22230 + }, + { + "epoch": 6.470759383183008, + "flow_matching_loss": 0.015570863988250494, + "grad_norm": 0.08298078179359436, + "learning_rate": 5.162442695619114e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22240 + }, + { + "epoch": 6.473668897294152, + "flow_matching_loss": 0.016310897935181857, + "grad_norm": 0.11036951839923859, + "learning_rate": 5.149966591651215e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22250 + }, + { + "epoch": 6.4765784114052956, + "flow_matching_loss": 0.016450110543519258, + "grad_norm": 0.10541115701198578, + "learning_rate": 5.137502456402705e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22260 + }, + { + "epoch": 6.479487925516438, + "flow_matching_loss": 0.017101770825684072, + "grad_norm": 0.10693030059337616, + "learning_rate": 5.125050305018683e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22270 + }, + { + "epoch": 6.482397439627582, + "flow_matching_loss": 0.018613381404429676, + "grad_norm": 0.10634263604879379, + "learning_rate": 5.112610152629687e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22280 + }, + { + "epoch": 6.485306953738726, + "flow_matching_loss": 0.016372062638401984, + "grad_norm": 0.1131984144449234, + "learning_rate": 5.10018201435167e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22290 + }, + { + "epoch": 6.488216467849869, + "flow_matching_loss": 0.018326256703585387, + "grad_norm": 0.12477114051580429, + "learning_rate": 5.087765905286004e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22300 + }, + { + "epoch": 6.491125981961012, + "flow_matching_loss": 0.01657702960073948, + "grad_norm": 0.09936578571796417, + "learning_rate": 5.0753618405194245e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22310 + }, + { + "epoch": 6.494035496072156, + "flow_matching_loss": 0.01639348706230521, + "grad_norm": 0.11069956421852112, + "learning_rate": 5.062969835124042e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22320 + }, + { + "epoch": 6.4969450101833, + "flow_matching_loss": 0.01939091943204403, + "grad_norm": 0.09627960622310638, + "learning_rate": 5.05058990415731e-06, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22330 + }, + { + "epoch": 6.4998545242944425, + "flow_matching_loss": 0.017813019827008246, + "grad_norm": 0.0950293093919754, + "learning_rate": 5.038222062662007e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22340 + }, + { + "epoch": 6.502764038405586, + "flow_matching_loss": 0.018886541854590176, + "grad_norm": 0.2011784166097641, + "learning_rate": 5.025866325666237e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22350 + }, + { + "epoch": 6.50567355251673, + "flow_matching_loss": 0.015397986583411693, + "grad_norm": 0.10209684818983078, + "learning_rate": 5.013522708183383e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22360 + }, + { + "epoch": 6.508583066627873, + "flow_matching_loss": 0.01873317714780569, + "grad_norm": 0.1274028867483139, + "learning_rate": 5.001191225212096e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22370 + }, + { + "epoch": 6.5114925807390165, + "flow_matching_loss": 0.016953751165419816, + "grad_norm": 0.10131800174713135, + "learning_rate": 4.9888718917363e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22380 + }, + { + "epoch": 6.51440209485016, + "flow_matching_loss": 0.018367323745042085, + "grad_norm": 0.09195392578840256, + "learning_rate": 4.9765647227251395e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22390 + }, + { + "epoch": 6.517311608961304, + "flow_matching_loss": 0.016827388573437928, + "grad_norm": 0.11462356895208359, + "learning_rate": 4.964269733132992e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22400 + }, + { + "epoch": 6.520221123072447, + "flow_matching_loss": 0.018721663393080235, + "grad_norm": 0.1395314782857895, + "learning_rate": 4.951986937899428e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22410 + }, + { + "epoch": 6.52313063718359, + "flow_matching_loss": 0.019006349239498378, + "grad_norm": 0.12311446666717529, + "learning_rate": 4.9397163519492e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22420 + }, + { + "epoch": 6.526040151294734, + "flow_matching_loss": 0.01658180933445692, + "grad_norm": 0.13608866930007935, + "learning_rate": 4.9274579901922275e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22430 + }, + { + "epoch": 6.528949665405877, + "flow_matching_loss": 0.017111853510141373, + "grad_norm": 0.0951695665717125, + "learning_rate": 4.9152118675235705e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22440 + }, + { + "epoch": 6.531859179517021, + "flow_matching_loss": 0.01796594513580203, + "grad_norm": 0.08759071677923203, + "learning_rate": 4.902977998823432e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22450 + }, + { + "epoch": 6.534768693628164, + "flow_matching_loss": 0.018523573968559505, + "grad_norm": 0.09232563525438309, + "learning_rate": 4.890756398957114e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22460 + }, + { + "epoch": 6.537678207739307, + "flow_matching_loss": 0.015412921272218227, + "grad_norm": 0.10627374053001404, + "learning_rate": 4.8785470827750075e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22470 + }, + { + "epoch": 6.540587721850451, + "flow_matching_loss": 0.01623103441670537, + "grad_norm": 0.10815057903528214, + "learning_rate": 4.866350065112588e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22480 + }, + { + "epoch": 6.543497235961595, + "flow_matching_loss": 0.014993325900286436, + "grad_norm": 0.1096152514219284, + "learning_rate": 4.854165360790381e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22490 + }, + { + "epoch": 6.546406750072737, + "flow_matching_loss": 0.016335310507565738, + "grad_norm": 0.14536064863204956, + "learning_rate": 4.8419929846139425e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22500 + }, + { + "epoch": 6.549316264183881, + "flow_matching_loss": 0.017301762662827968, + "grad_norm": 0.21145309507846832, + "learning_rate": 4.829832951373872e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22510 + }, + { + "epoch": 6.552225778295025, + "flow_matching_loss": 0.018642003275454046, + "grad_norm": 0.11333227157592773, + "learning_rate": 4.817685275845746e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22520 + }, + { + "epoch": 6.5551352924061685, + "flow_matching_loss": 0.015365940239280462, + "grad_norm": 0.0956331193447113, + "learning_rate": 4.805549972790143e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22530 + }, + { + "epoch": 6.558044806517311, + "flow_matching_loss": 0.017863186541944742, + "grad_norm": 0.12773992121219635, + "learning_rate": 4.7934270569525966e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22540 + }, + { + "epoch": 6.560954320628455, + "flow_matching_loss": 0.01748182429000735, + "grad_norm": 0.07192949205636978, + "learning_rate": 4.7813165430635874e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22550 + }, + { + "epoch": 6.563863834739599, + "flow_matching_loss": 0.015012588165700436, + "grad_norm": 0.07767564803361893, + "learning_rate": 4.769218445838544e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22560 + }, + { + "epoch": 6.566773348850742, + "flow_matching_loss": 0.016409252490848302, + "grad_norm": 0.08983726799488068, + "learning_rate": 4.757132779977787e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22570 + }, + { + "epoch": 6.569682862961885, + "flow_matching_loss": 0.01758177364245057, + "grad_norm": 0.1194198802113533, + "learning_rate": 4.745059560166542e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22580 + }, + { + "epoch": 6.572592377073029, + "flow_matching_loss": 0.01608030265197158, + "grad_norm": 0.09361323714256287, + "learning_rate": 4.732998801074911e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22590 + }, + { + "epoch": 6.575501891184173, + "flow_matching_loss": 0.016368421260267496, + "grad_norm": 0.10646373778581619, + "learning_rate": 4.7209505173578445e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22600 + }, + { + "epoch": 6.5784114052953155, + "flow_matching_loss": 0.019212669413536786, + "grad_norm": 0.09530932456254959, + "learning_rate": 4.7089147236551555e-06, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22610 + }, + { + "epoch": 6.581320919406459, + "flow_matching_loss": 0.018234468065202236, + "grad_norm": 0.10728336125612259, + "learning_rate": 4.696891434591464e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22620 + }, + { + "epoch": 6.584230433517602, + "flow_matching_loss": 0.01872680690139532, + "grad_norm": 0.10716857016086578, + "learning_rate": 4.684880664776199e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22630 + }, + { + "epoch": 6.587139947628746, + "flow_matching_loss": 0.016328601446002722, + "grad_norm": 0.10091459006071091, + "learning_rate": 4.6728824288035784e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22640 + }, + { + "epoch": 6.5900494617398895, + "flow_matching_loss": 0.017308411095291375, + "grad_norm": 0.09506819397211075, + "learning_rate": 4.660896741252586e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22650 + }, + { + "epoch": 6.592958975851033, + "flow_matching_loss": 0.017312299460172653, + "grad_norm": 0.1302640289068222, + "learning_rate": 4.6489236166869714e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22660 + }, + { + "epoch": 6.595868489962176, + "flow_matching_loss": 0.018694581277668477, + "grad_norm": 0.08634522557258606, + "learning_rate": 4.6369630696552e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22670 + }, + { + "epoch": 6.59877800407332, + "flow_matching_loss": 0.01684972206130624, + "grad_norm": 0.09686609357595444, + "learning_rate": 4.625015114690474e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22680 + }, + { + "epoch": 6.601687518184463, + "flow_matching_loss": 0.018987191002815963, + "grad_norm": 0.0873836949467659, + "learning_rate": 4.613079766310682e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22690 + }, + { + "epoch": 6.604597032295606, + "flow_matching_loss": 0.017454196885228156, + "grad_norm": 0.10460921376943588, + "learning_rate": 4.601157039018396e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22700 + }, + { + "epoch": 6.60750654640675, + "flow_matching_loss": 0.01878226799890399, + "grad_norm": 0.10611008107662201, + "learning_rate": 4.589246947300849e-06, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22710 + }, + { + "epoch": 6.610416060517894, + "flow_matching_loss": 0.018641437776386736, + "grad_norm": 0.12131036072969437, + "learning_rate": 4.577349505629936e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22720 + }, + { + "epoch": 6.613325574629037, + "flow_matching_loss": 0.016188878752291202, + "grad_norm": 0.10973076522350311, + "learning_rate": 4.565464728462165e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22730 + }, + { + "epoch": 6.61623508874018, + "flow_matching_loss": 0.018204996082931756, + "grad_norm": 0.11741992831230164, + "learning_rate": 4.553592630238663e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22740 + }, + { + "epoch": 6.619144602851324, + "flow_matching_loss": 0.017145031504333018, + "grad_norm": 0.13418221473693848, + "learning_rate": 4.541733225385146e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22750 + }, + { + "epoch": 6.622054116962468, + "flow_matching_loss": 0.017911470867693423, + "grad_norm": 0.10867408663034439, + "learning_rate": 4.529886528311905e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22760 + }, + { + "epoch": 6.62496363107361, + "flow_matching_loss": 0.017289633955806495, + "grad_norm": 0.1019415333867073, + "learning_rate": 4.5180525534138045e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22770 + }, + { + "epoch": 6.627873145184754, + "flow_matching_loss": 0.017177082505077122, + "grad_norm": 0.1285524070262909, + "learning_rate": 4.506231315070235e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22780 + }, + { + "epoch": 6.630782659295898, + "flow_matching_loss": 0.017097222805023193, + "grad_norm": 0.09877578169107437, + "learning_rate": 4.494422827645115e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22790 + }, + { + "epoch": 6.633692173407041, + "flow_matching_loss": 0.014133478980511427, + "grad_norm": 0.10601283609867096, + "learning_rate": 4.482627105486865e-06, + "loss": 0.0141, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22800 + }, + { + "epoch": 6.636601687518184, + "flow_matching_loss": 0.01731813754886389, + "grad_norm": 0.11988257616758347, + "learning_rate": 4.470844162928412e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22810 + }, + { + "epoch": 6.639511201629328, + "flow_matching_loss": 0.0148619937710464, + "grad_norm": 0.07216678559780121, + "learning_rate": 4.459074014287129e-06, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22820 + }, + { + "epoch": 6.642420715740471, + "flow_matching_loss": 0.013566225115209819, + "grad_norm": 0.08279138058423996, + "learning_rate": 4.447316673864869e-06, + "loss": 0.0136, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22830 + }, + { + "epoch": 6.645330229851615, + "flow_matching_loss": 0.016876506619155407, + "grad_norm": 0.11643867194652557, + "learning_rate": 4.435572155947903e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22840 + }, + { + "epoch": 6.648239743962758, + "flow_matching_loss": 0.016351038496941327, + "grad_norm": 0.1171204075217247, + "learning_rate": 4.423840474806929e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22850 + }, + { + "epoch": 6.651149258073902, + "flow_matching_loss": 0.017106400895863773, + "grad_norm": 0.10891880840063095, + "learning_rate": 4.412121644697043e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22860 + }, + { + "epoch": 6.654058772185045, + "flow_matching_loss": 0.018697324953973294, + "grad_norm": 0.11463446170091629, + "learning_rate": 4.400415679857727e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22870 + }, + { + "epoch": 6.6569682862961885, + "flow_matching_loss": 0.019047841429710388, + "grad_norm": 0.10480895638465881, + "learning_rate": 4.388722594512838e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22880 + }, + { + "epoch": 6.659877800407332, + "flow_matching_loss": 0.016992442682385443, + "grad_norm": 0.1269891858100891, + "learning_rate": 4.377042402870577e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22890 + }, + { + "epoch": 6.662787314518475, + "flow_matching_loss": 0.015998940262943507, + "grad_norm": 0.08715060353279114, + "learning_rate": 4.365375119123476e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22900 + }, + { + "epoch": 6.665696828629619, + "flow_matching_loss": 0.016377608943730592, + "grad_norm": 0.07783123850822449, + "learning_rate": 4.353720757448383e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22910 + }, + { + "epoch": 6.6686063427407625, + "flow_matching_loss": 0.018389174342155458, + "grad_norm": 0.11237908899784088, + "learning_rate": 4.342079332006445e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22920 + }, + { + "epoch": 6.671515856851906, + "flow_matching_loss": 0.017949534114450216, + "grad_norm": 0.1102844774723053, + "learning_rate": 4.330450856943101e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22930 + }, + { + "epoch": 6.674425370963049, + "flow_matching_loss": 0.017373894341289997, + "grad_norm": 0.13324053585529327, + "learning_rate": 4.318835346388036e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22940 + }, + { + "epoch": 6.677334885074193, + "flow_matching_loss": 0.0151022813282907, + "grad_norm": 0.12409870326519012, + "learning_rate": 4.307232814455189e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22950 + }, + { + "epoch": 6.680244399185336, + "flow_matching_loss": 0.01571532180532813, + "grad_norm": 0.09416569024324417, + "learning_rate": 4.29564327524274e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22960 + }, + { + "epoch": 6.683153913296479, + "flow_matching_loss": 0.017047615814954044, + "grad_norm": 0.10353606194257736, + "learning_rate": 4.284066742833061e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22970 + }, + { + "epoch": 6.686063427407623, + "flow_matching_loss": 0.018276203703135253, + "grad_norm": 0.11579805612564087, + "learning_rate": 4.272503231292741e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22980 + }, + { + "epoch": 6.688972941518767, + "flow_matching_loss": 0.017894255556166173, + "grad_norm": 0.12772542238235474, + "learning_rate": 4.260952754672532e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 22990 + }, + { + "epoch": 6.6918824556299095, + "flow_matching_loss": 0.016688597947359086, + "grad_norm": 0.11369958519935608, + "learning_rate": 4.249415327007353e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23000 + }, + { + "epoch": 6.694791969741053, + "flow_matching_loss": 0.016818379797041417, + "grad_norm": 0.09524653106927872, + "learning_rate": 4.237890962316264e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23010 + }, + { + "epoch": 6.697701483852197, + "flow_matching_loss": 0.0159509995020926, + "grad_norm": 0.10901200026273727, + "learning_rate": 4.226379674602452e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23020 + }, + { + "epoch": 6.70061099796334, + "flow_matching_loss": 0.017799182794988155, + "grad_norm": 0.1360853910446167, + "learning_rate": 4.214881477853227e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23030 + }, + { + "epoch": 6.703520512074483, + "flow_matching_loss": 0.01750065628439188, + "grad_norm": 0.094363272190094, + "learning_rate": 4.2033963860399745e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23040 + }, + { + "epoch": 6.706430026185627, + "flow_matching_loss": 0.02131626568734646, + "grad_norm": 0.1571311503648758, + "learning_rate": 4.1919244131181696e-06, + "loss": 0.0213, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23050 + }, + { + "epoch": 6.709339540296771, + "flow_matching_loss": 0.01582461493089795, + "grad_norm": 0.10373634845018387, + "learning_rate": 4.180465573027335e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23060 + }, + { + "epoch": 6.712249054407914, + "flow_matching_loss": 0.016385471168905496, + "grad_norm": 0.09391728043556213, + "learning_rate": 4.169019879691046e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23070 + }, + { + "epoch": 6.715158568519057, + "flow_matching_loss": 0.01737043457105756, + "grad_norm": 0.10200626403093338, + "learning_rate": 4.157587347016891e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23080 + }, + { + "epoch": 6.718068082630201, + "flow_matching_loss": 0.016709166578948498, + "grad_norm": 0.09990342706441879, + "learning_rate": 4.14616798889649e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23090 + }, + { + "epoch": 6.720977596741344, + "flow_matching_loss": 0.01799957752227783, + "grad_norm": 0.12278929352760315, + "learning_rate": 4.134761819205425e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23100 + }, + { + "epoch": 6.723887110852488, + "flow_matching_loss": 0.01787460343912244, + "grad_norm": 0.08903993666172028, + "learning_rate": 4.1233688518032794e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23110 + }, + { + "epoch": 6.726796624963631, + "flow_matching_loss": 0.01705513847991824, + "grad_norm": 0.10742130875587463, + "learning_rate": 4.1119891005335795e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23120 + }, + { + "epoch": 6.729706139074775, + "flow_matching_loss": 0.017156071960926056, + "grad_norm": 0.12149456888437271, + "learning_rate": 4.1006225792237895e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23130 + }, + { + "epoch": 6.732615653185918, + "flow_matching_loss": 0.0154087258502841, + "grad_norm": 0.10745647549629211, + "learning_rate": 4.089269301685314e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23140 + }, + { + "epoch": 6.7355251672970615, + "flow_matching_loss": 0.01940418127924204, + "grad_norm": 0.15320426225662231, + "learning_rate": 4.077929281713453e-06, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23150 + }, + { + "epoch": 6.738434681408204, + "flow_matching_loss": 0.018887498136609792, + "grad_norm": 0.14061850309371948, + "learning_rate": 4.066602533087398e-06, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23160 + }, + { + "epoch": 6.741344195519348, + "flow_matching_loss": 0.015509269665926695, + "grad_norm": 0.10608423501253128, + "learning_rate": 4.0552890695702175e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23170 + }, + { + "epoch": 6.744253709630492, + "flow_matching_loss": 0.017716884054243563, + "grad_norm": 0.1056489571928978, + "learning_rate": 4.04398890490883e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23180 + }, + { + "epoch": 6.7471632237416355, + "flow_matching_loss": 0.01813995037227869, + "grad_norm": 0.1204288974404335, + "learning_rate": 4.032702052834013e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23190 + }, + { + "epoch": 6.750072737852778, + "flow_matching_loss": 0.015928423777222634, + "grad_norm": 0.10779963433742523, + "learning_rate": 4.021428527060352e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23200 + }, + { + "epoch": 6.752982251963922, + "flow_matching_loss": 0.015454095881432294, + "grad_norm": 0.10851942747831345, + "learning_rate": 4.010168341286241e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23210 + }, + { + "epoch": 6.755891766075066, + "flow_matching_loss": 0.016460054181516172, + "grad_norm": 0.0770040825009346, + "learning_rate": 3.998921509193868e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23220 + }, + { + "epoch": 6.7588012801862085, + "flow_matching_loss": 0.016471755038946868, + "grad_norm": 0.0931885689496994, + "learning_rate": 3.987688044449193e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23230 + }, + { + "epoch": 6.761710794297352, + "flow_matching_loss": 0.018033137638121845, + "grad_norm": 0.11964993923902512, + "learning_rate": 3.9764679607019385e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23240 + }, + { + "epoch": 6.764620308408496, + "flow_matching_loss": 0.017095097340643406, + "grad_norm": 0.09431663900613785, + "learning_rate": 3.965261271585561e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23250 + }, + { + "epoch": 6.76752982251964, + "flow_matching_loss": 0.019254463724792004, + "grad_norm": 0.09325417131185532, + "learning_rate": 3.954067990717251e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23260 + }, + { + "epoch": 6.7704393366307825, + "flow_matching_loss": 0.015801077336072923, + "grad_norm": 0.0977400615811348, + "learning_rate": 3.9428881316978935e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23270 + }, + { + "epoch": 6.773348850741926, + "flow_matching_loss": 0.017238368932157754, + "grad_norm": 0.12623851001262665, + "learning_rate": 3.931721708112075e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23280 + }, + { + "epoch": 6.77625836485307, + "flow_matching_loss": 0.016585749108344316, + "grad_norm": 0.09753424674272537, + "learning_rate": 3.920568733528047e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23290 + }, + { + "epoch": 6.779167878964213, + "flow_matching_loss": 0.016130599938333035, + "grad_norm": 0.09194587916135788, + "learning_rate": 3.909429221497734e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23300 + }, + { + "epoch": 6.782077393075356, + "flow_matching_loss": 0.01667071199044585, + "grad_norm": 0.09626881778240204, + "learning_rate": 3.898303185556689e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23310 + }, + { + "epoch": 6.7849869071865, + "flow_matching_loss": 0.014993457775563001, + "grad_norm": 0.10408934950828552, + "learning_rate": 3.887190639224097e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23320 + }, + { + "epoch": 6.787896421297643, + "flow_matching_loss": 0.01609313637018204, + "grad_norm": 0.08186125755310059, + "learning_rate": 3.876091596002746e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23330 + }, + { + "epoch": 6.790805935408787, + "flow_matching_loss": 0.019392379466444253, + "grad_norm": 0.11462705582380295, + "learning_rate": 3.865006069379019e-06, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23340 + }, + { + "epoch": 6.79371544951993, + "flow_matching_loss": 0.01622041966766119, + "grad_norm": 0.11042310297489166, + "learning_rate": 3.853934072822881e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23350 + }, + { + "epoch": 6.796624963631073, + "flow_matching_loss": 0.01681864196434617, + "grad_norm": 0.10100246220827103, + "learning_rate": 3.8428756197878514e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23360 + }, + { + "epoch": 6.799534477742217, + "flow_matching_loss": 0.01835915455594659, + "grad_norm": 0.11440810561180115, + "learning_rate": 3.831830723710992e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23370 + }, + { + "epoch": 6.802443991853361, + "flow_matching_loss": 0.01708876732736826, + "grad_norm": 0.09182935208082199, + "learning_rate": 3.820799398012889e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23380 + }, + { + "epoch": 6.805353505964504, + "flow_matching_loss": 0.017297185212373733, + "grad_norm": 0.10301543027162552, + "learning_rate": 3.80978165609765e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23390 + }, + { + "epoch": 6.808263020075647, + "flow_matching_loss": 0.016564240492880345, + "grad_norm": 0.12462617456912994, + "learning_rate": 3.798777511352864e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23400 + }, + { + "epoch": 6.811172534186791, + "flow_matching_loss": 0.017224732041358947, + "grad_norm": 0.09255485236644745, + "learning_rate": 3.787786977149613e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23410 + }, + { + "epoch": 6.8140820482979345, + "flow_matching_loss": 0.018309575412422417, + "grad_norm": 0.08966761082410812, + "learning_rate": 3.776810066842427e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23420 + }, + { + "epoch": 6.816991562409077, + "flow_matching_loss": 0.017626491934061052, + "grad_norm": 0.09483883529901505, + "learning_rate": 3.7658467937692866e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23430 + }, + { + "epoch": 6.819901076520221, + "flow_matching_loss": 0.01645378302782774, + "grad_norm": 0.1076112762093544, + "learning_rate": 3.7548971712516e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23440 + }, + { + "epoch": 6.822810590631365, + "flow_matching_loss": 0.016175070498138665, + "grad_norm": 0.20468734204769135, + "learning_rate": 3.743961212594197e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23450 + }, + { + "epoch": 6.8257201047425085, + "flow_matching_loss": 0.01792901586741209, + "grad_norm": 0.10516936331987381, + "learning_rate": 3.7330389310852975e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23460 + }, + { + "epoch": 6.828629618853651, + "flow_matching_loss": 0.018154269736260175, + "grad_norm": 0.09908360242843628, + "learning_rate": 3.7221303399965008e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23470 + }, + { + "epoch": 6.831539132964795, + "flow_matching_loss": 0.01830526124686003, + "grad_norm": 0.11349082738161087, + "learning_rate": 3.711235452582775e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23480 + }, + { + "epoch": 6.834448647075939, + "flow_matching_loss": 0.015905369259417056, + "grad_norm": 0.09733294695615768, + "learning_rate": 3.7003542820824347e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23490 + }, + { + "epoch": 6.8373581611870815, + "flow_matching_loss": 0.018202053755521773, + "grad_norm": 0.10887221246957779, + "learning_rate": 3.6894868417171252e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23500 + }, + { + "epoch": 6.840267675298225, + "flow_matching_loss": 0.016264140233397485, + "grad_norm": 0.09577886760234833, + "learning_rate": 3.678633144691818e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23510 + }, + { + "epoch": 6.843177189409369, + "flow_matching_loss": 0.01864196751266718, + "grad_norm": 0.14263774454593658, + "learning_rate": 3.667793204194776e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23520 + }, + { + "epoch": 6.846086703520512, + "flow_matching_loss": 0.01780912419781089, + "grad_norm": 0.09743741154670715, + "learning_rate": 3.656967033397544e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23530 + }, + { + "epoch": 6.8489962176316554, + "flow_matching_loss": 0.017739503737539054, + "grad_norm": 0.11236803978681564, + "learning_rate": 3.646154645454948e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23540 + }, + { + "epoch": 6.851905731742799, + "flow_matching_loss": 0.017832550685852766, + "grad_norm": 0.10255767405033112, + "learning_rate": 3.6353560535050524e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23550 + }, + { + "epoch": 6.854815245853942, + "flow_matching_loss": 0.018665601685643195, + "grad_norm": 0.1150791272521019, + "learning_rate": 3.624571270669172e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23560 + }, + { + "epoch": 6.857724759965086, + "flow_matching_loss": 0.017631636746227742, + "grad_norm": 0.12547659873962402, + "learning_rate": 3.6138003100518296e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23570 + }, + { + "epoch": 6.860634274076229, + "flow_matching_loss": 0.016014941316097975, + "grad_norm": 0.11764318495988846, + "learning_rate": 3.6030431847407595e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23580 + }, + { + "epoch": 6.863543788187373, + "flow_matching_loss": 0.017020766995847224, + "grad_norm": 0.10509534180164337, + "learning_rate": 3.592299907806881e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23590 + }, + { + "epoch": 6.866453302298516, + "flow_matching_loss": 0.016865890007466078, + "grad_norm": 0.08680622279644012, + "learning_rate": 3.5815704923042892e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23600 + }, + { + "epoch": 6.86936281640966, + "flow_matching_loss": 0.016177996061742306, + "grad_norm": 0.10743580013513565, + "learning_rate": 3.5708549512702392e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23610 + }, + { + "epoch": 6.872272330520803, + "flow_matching_loss": 0.018201796989887952, + "grad_norm": 0.1325998306274414, + "learning_rate": 3.5601532977251217e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23620 + }, + { + "epoch": 6.875181844631946, + "flow_matching_loss": 0.016010715160518885, + "grad_norm": 0.12479688227176666, + "learning_rate": 3.5494655446724544e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23630 + }, + { + "epoch": 6.87809135874309, + "flow_matching_loss": 0.015502171590924263, + "grad_norm": 0.09420651197433472, + "learning_rate": 3.538791705098866e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23640 + }, + { + "epoch": 6.881000872854234, + "flow_matching_loss": 0.017032801732420923, + "grad_norm": 0.18782903254032135, + "learning_rate": 3.5281317919740718e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23650 + }, + { + "epoch": 6.883910386965377, + "flow_matching_loss": 0.019494228530675173, + "grad_norm": 0.10843450576066971, + "learning_rate": 3.5174858182508825e-06, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23660 + }, + { + "epoch": 6.88681990107652, + "flow_matching_loss": 0.01735621364787221, + "grad_norm": 0.11176398396492004, + "learning_rate": 3.506853796865153e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23670 + }, + { + "epoch": 6.889729415187664, + "flow_matching_loss": 0.015692174341529606, + "grad_norm": 0.10120516270399094, + "learning_rate": 3.496235740735789e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23680 + }, + { + "epoch": 6.892638929298807, + "flow_matching_loss": 0.016265660617500545, + "grad_norm": 0.12880916893482208, + "learning_rate": 3.485631662764738e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23690 + }, + { + "epoch": 6.89554844340995, + "flow_matching_loss": 0.015792726911604403, + "grad_norm": 0.1076560840010643, + "learning_rate": 3.475041575836952e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23700 + }, + { + "epoch": 6.898457957521094, + "flow_matching_loss": 0.016546850837767125, + "grad_norm": 0.10205452144145966, + "learning_rate": 3.4644654928203796e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23710 + }, + { + "epoch": 6.901367471632238, + "flow_matching_loss": 0.017162481043487787, + "grad_norm": 0.10915113985538483, + "learning_rate": 3.4539034265659663e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23720 + }, + { + "epoch": 6.904276985743381, + "flow_matching_loss": 0.016703690961003305, + "grad_norm": 0.11580097675323486, + "learning_rate": 3.4433553899076163e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23730 + }, + { + "epoch": 6.907186499854524, + "flow_matching_loss": 0.017448533046990632, + "grad_norm": 0.09367840737104416, + "learning_rate": 3.432821395662189e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23740 + }, + { + "epoch": 6.910096013965668, + "flow_matching_loss": 0.018274034559726714, + "grad_norm": 0.10568048059940338, + "learning_rate": 3.4223014566294785e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23750 + }, + { + "epoch": 6.913005528076811, + "flow_matching_loss": 0.017590893525630237, + "grad_norm": 0.10038361698389053, + "learning_rate": 3.4117955855922e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23760 + }, + { + "epoch": 6.9159150421879545, + "flow_matching_loss": 0.016449960041791202, + "grad_norm": 0.11092782765626907, + "learning_rate": 3.4013037953159855e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23770 + }, + { + "epoch": 6.918824556299098, + "flow_matching_loss": 0.016544850450009106, + "grad_norm": 0.10106968879699707, + "learning_rate": 3.390826098549345e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23780 + }, + { + "epoch": 6.921734070410242, + "flow_matching_loss": 0.016471954993903637, + "grad_norm": 0.13476386666297913, + "learning_rate": 3.3803625080236684e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23790 + }, + { + "epoch": 6.924643584521385, + "flow_matching_loss": 0.016355565190315245, + "grad_norm": 0.12958499789237976, + "learning_rate": 3.369913036453205e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23800 + }, + { + "epoch": 6.927553098632528, + "flow_matching_loss": 0.01780538968741894, + "grad_norm": 0.15185649693012238, + "learning_rate": 3.3594776965350434e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23810 + }, + { + "epoch": 6.930462612743672, + "flow_matching_loss": 0.017601192463189363, + "grad_norm": 0.12171981483697891, + "learning_rate": 3.34905650094911e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23820 + }, + { + "epoch": 6.933372126854815, + "flow_matching_loss": 0.018427600711584093, + "grad_norm": 0.12807156145572662, + "learning_rate": 3.338649462358145e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23830 + }, + { + "epoch": 6.936281640965959, + "flow_matching_loss": 0.01679075649008155, + "grad_norm": 0.10759255290031433, + "learning_rate": 3.3282565934076765e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23840 + }, + { + "epoch": 6.939191155077102, + "flow_matching_loss": 0.018426778726279736, + "grad_norm": 0.16637150943279266, + "learning_rate": 3.31787790672602e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23850 + }, + { + "epoch": 6.942100669188245, + "flow_matching_loss": 0.017051279731094836, + "grad_norm": 0.10051863640546799, + "learning_rate": 3.307513414924255e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23860 + }, + { + "epoch": 6.945010183299389, + "flow_matching_loss": 0.015375468973070383, + "grad_norm": 0.10501682013273239, + "learning_rate": 3.2971631305962246e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23870 + }, + { + "epoch": 6.947919697410533, + "flow_matching_loss": 0.014758257381618022, + "grad_norm": 0.09139063209295273, + "learning_rate": 3.2868270663184964e-06, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23880 + }, + { + "epoch": 6.950829211521675, + "flow_matching_loss": 0.01656463835388422, + "grad_norm": 0.0847608670592308, + "learning_rate": 3.276505234650362e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23890 + }, + { + "epoch": 6.953738725632819, + "flow_matching_loss": 0.01811719611287117, + "grad_norm": 0.130507692694664, + "learning_rate": 3.266197648133821e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23900 + }, + { + "epoch": 6.956648239743963, + "flow_matching_loss": 0.015909251011908054, + "grad_norm": 0.07066809386014938, + "learning_rate": 3.255904319293562e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23910 + }, + { + "epoch": 6.9595577538551066, + "flow_matching_loss": 0.014959749393165111, + "grad_norm": 0.12508192658424377, + "learning_rate": 3.2456252606369485e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23920 + }, + { + "epoch": 6.962467267966249, + "flow_matching_loss": 0.017421395424753426, + "grad_norm": 0.10419845581054688, + "learning_rate": 3.235360484654011e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23930 + }, + { + "epoch": 6.965376782077393, + "flow_matching_loss": 0.016437985002994537, + "grad_norm": 0.09937242418527603, + "learning_rate": 3.225110003817418e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23940 + }, + { + "epoch": 6.968286296188537, + "flow_matching_loss": 0.01843032231554389, + "grad_norm": 0.13215792179107666, + "learning_rate": 3.214873830582467e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23950 + }, + { + "epoch": 6.97119581029968, + "flow_matching_loss": 0.018601985182613134, + "grad_norm": 0.10717850178480148, + "learning_rate": 3.2046519773870803e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23960 + }, + { + "epoch": 6.974105324410823, + "flow_matching_loss": 0.01856215177103877, + "grad_norm": 0.10688174515962601, + "learning_rate": 3.1944444566517654e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23970 + }, + { + "epoch": 6.977014838521967, + "flow_matching_loss": 0.015812278538942338, + "grad_norm": 0.09276304394006729, + "learning_rate": 3.18425128077963e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23980 + }, + { + "epoch": 6.979924352633111, + "flow_matching_loss": 0.016328488197177648, + "grad_norm": 0.11476562172174454, + "learning_rate": 3.174072462156342e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 23990 + }, + { + "epoch": 6.9828338667442535, + "flow_matching_loss": 0.01563791502267122, + "grad_norm": 0.11932380497455597, + "learning_rate": 3.163908013150124e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24000 + }, + { + "epoch": 6.985743380855397, + "flow_matching_loss": 0.01770009696483612, + "grad_norm": 0.09046957641839981, + "learning_rate": 3.153757946111741e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24010 + }, + { + "epoch": 6.988652894966541, + "flow_matching_loss": 0.016671020817011595, + "grad_norm": 0.09720265865325928, + "learning_rate": 3.1436222733744776e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24020 + }, + { + "epoch": 6.991562409077684, + "flow_matching_loss": 0.01643597511574626, + "grad_norm": 0.10221140086650848, + "learning_rate": 3.133501007254138e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24030 + }, + { + "epoch": 6.9944719231888275, + "flow_matching_loss": 0.013911827187985181, + "grad_norm": 0.11147983372211456, + "learning_rate": 3.1233941600490123e-06, + "loss": 0.0139, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24040 + }, + { + "epoch": 6.997381437299971, + "flow_matching_loss": 0.016951282136142255, + "grad_norm": 0.1328914910554886, + "learning_rate": 3.113301744039875e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24050 + }, + { + "epoch": 7.000290951411114, + "flow_matching_loss": 0.01672063171863556, + "grad_norm": 0.12035376578569412, + "learning_rate": 3.103223771489959e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24060 + }, + { + "epoch": 7.003200465522258, + "flow_matching_loss": 0.0171104421839118, + "grad_norm": 0.13319887220859528, + "learning_rate": 3.09316025464495e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24070 + }, + { + "epoch": 7.006109979633401, + "flow_matching_loss": 0.017307795770466327, + "grad_norm": 0.10800987482070923, + "learning_rate": 3.0831112057329775e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24080 + }, + { + "epoch": 7.009019493744544, + "flow_matching_loss": 0.016842451691627503, + "grad_norm": 0.1425282508134842, + "learning_rate": 3.073076636964579e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24090 + }, + { + "epoch": 7.011929007855688, + "flow_matching_loss": 0.017665741965174675, + "grad_norm": 0.18749424815177917, + "learning_rate": 3.063056560532698e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24100 + }, + { + "epoch": 7.014838521966832, + "flow_matching_loss": 0.015965434722602367, + "grad_norm": 0.0882471352815628, + "learning_rate": 3.0530509886126807e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24110 + }, + { + "epoch": 7.017748036077975, + "flow_matching_loss": 0.01604972081258893, + "grad_norm": 0.10691534727811813, + "learning_rate": 3.043059933362236e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24120 + }, + { + "epoch": 7.020657550189118, + "flow_matching_loss": 0.017286364827305077, + "grad_norm": 0.12276995927095413, + "learning_rate": 3.0330834069214337e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24130 + }, + { + "epoch": 7.023567064300262, + "flow_matching_loss": 0.01579572930932045, + "grad_norm": 0.10022352635860443, + "learning_rate": 3.023121421412703e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24140 + }, + { + "epoch": 7.026476578411406, + "flow_matching_loss": 0.015474467538297176, + "grad_norm": 0.09426591545343399, + "learning_rate": 3.0131739889407896e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24150 + }, + { + "epoch": 7.029386092522548, + "flow_matching_loss": 0.01825009463354945, + "grad_norm": 0.0839998796582222, + "learning_rate": 3.0032411215927645e-06, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24160 + }, + { + "epoch": 7.032295606633692, + "flow_matching_loss": 0.017175161559134722, + "grad_norm": 0.11216938495635986, + "learning_rate": 2.9933228314379975e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24170 + }, + { + "epoch": 7.035205120744836, + "flow_matching_loss": 0.01839293325319886, + "grad_norm": 0.126678004860878, + "learning_rate": 2.9834191305281405e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24180 + }, + { + "epoch": 7.038114634855979, + "flow_matching_loss": 0.015141141321510076, + "grad_norm": 0.10582878440618515, + "learning_rate": 2.973530030897135e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24190 + }, + { + "epoch": 7.041024148967122, + "flow_matching_loss": 0.017215043865144254, + "grad_norm": 0.09396814554929733, + "learning_rate": 2.9636555445611646e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24200 + }, + { + "epoch": 7.043933663078266, + "flow_matching_loss": 0.01700423685833812, + "grad_norm": 0.12206369638442993, + "learning_rate": 2.953795683518659e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24210 + }, + { + "epoch": 7.04684317718941, + "flow_matching_loss": 0.017146963346749543, + "grad_norm": 0.11891517043113708, + "learning_rate": 2.9439504597502815e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24220 + }, + { + "epoch": 7.049752691300553, + "flow_matching_loss": 0.015362336859107017, + "grad_norm": 0.09711063653230667, + "learning_rate": 2.934119885218902e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24230 + }, + { + "epoch": 7.052662205411696, + "flow_matching_loss": 0.01567844459787011, + "grad_norm": 0.11003217846155167, + "learning_rate": 2.9243039718696045e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24240 + }, + { + "epoch": 7.05557171952284, + "flow_matching_loss": 0.017109844367951155, + "grad_norm": 0.11402525752782822, + "learning_rate": 2.914502731629641e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24250 + }, + { + "epoch": 7.058481233633983, + "flow_matching_loss": 0.017106326762586832, + "grad_norm": 0.0975738987326622, + "learning_rate": 2.904716176408451e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24260 + }, + { + "epoch": 7.0613907477451265, + "flow_matching_loss": 0.015803073439747094, + "grad_norm": 0.08767376840114594, + "learning_rate": 2.8949443180976172e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24270 + }, + { + "epoch": 7.06430026185627, + "flow_matching_loss": 0.016045760177075864, + "grad_norm": 0.09205150604248047, + "learning_rate": 2.885187168570864e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24280 + }, + { + "epoch": 7.067209775967413, + "flow_matching_loss": 0.018650265131145715, + "grad_norm": 0.11188387125730515, + "learning_rate": 2.875444739684058e-06, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24290 + }, + { + "epoch": 7.070119290078557, + "flow_matching_loss": 0.01785365492105484, + "grad_norm": 0.12263689190149307, + "learning_rate": 2.865717043275165e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24300 + }, + { + "epoch": 7.0730288041897005, + "flow_matching_loss": 0.018177549447864295, + "grad_norm": 0.12178346514701843, + "learning_rate": 2.8560040911642528e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24310 + }, + { + "epoch": 7.075938318300844, + "flow_matching_loss": 0.01700234869495034, + "grad_norm": 0.10454754531383514, + "learning_rate": 2.846305895153472e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24320 + }, + { + "epoch": 7.078847832411987, + "flow_matching_loss": 0.0149841601960361, + "grad_norm": 0.09791138768196106, + "learning_rate": 2.8366224670270487e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24330 + }, + { + "epoch": 7.081757346523131, + "flow_matching_loss": 0.016892360337078572, + "grad_norm": 0.12860070168972015, + "learning_rate": 2.8269538185512535e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24340 + }, + { + "epoch": 7.084666860634274, + "flow_matching_loss": 0.016885715909302233, + "grad_norm": 0.12095863372087479, + "learning_rate": 2.817299961474417e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24350 + }, + { + "epoch": 7.087576374745417, + "flow_matching_loss": 0.017071709968149662, + "grad_norm": 0.11459093540906906, + "learning_rate": 2.8076609075268816e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24360 + }, + { + "epoch": 7.090485888856561, + "flow_matching_loss": 0.016255707945674658, + "grad_norm": 0.11913987249135971, + "learning_rate": 2.798036668421006e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24370 + }, + { + "epoch": 7.093395402967705, + "flow_matching_loss": 0.016494190134108067, + "grad_norm": 0.11005455255508423, + "learning_rate": 2.7884272558511433e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24380 + }, + { + "epoch": 7.0963049170788475, + "flow_matching_loss": 0.01698399307206273, + "grad_norm": 0.13367559015750885, + "learning_rate": 2.7788326814936456e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24390 + }, + { + "epoch": 7.099214431189991, + "flow_matching_loss": 0.017144338134676217, + "grad_norm": 0.17999540269374847, + "learning_rate": 2.7692529570068176e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24400 + }, + { + "epoch": 7.102123945301135, + "flow_matching_loss": 0.01925234720110893, + "grad_norm": 0.09286437183618546, + "learning_rate": 2.759688094030933e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24410 + }, + { + "epoch": 7.105033459412278, + "flow_matching_loss": 0.016111648175865412, + "grad_norm": 0.12296009063720703, + "learning_rate": 2.750138104188201e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24420 + }, + { + "epoch": 7.107942973523421, + "flow_matching_loss": 0.017887687776237726, + "grad_norm": 0.1353926807641983, + "learning_rate": 2.740602999082759e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24430 + }, + { + "epoch": 7.110852487634565, + "flow_matching_loss": 0.018150533456355332, + "grad_norm": 0.15046297013759613, + "learning_rate": 2.731082790300654e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24440 + }, + { + "epoch": 7.113762001745709, + "flow_matching_loss": 0.02096007000654936, + "grad_norm": 0.10078901797533035, + "learning_rate": 2.7215774894098474e-06, + "loss": 0.021, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24450 + }, + { + "epoch": 7.116671515856852, + "flow_matching_loss": 0.01370675303041935, + "grad_norm": 0.10990814864635468, + "learning_rate": 2.7120871079601696e-06, + "loss": 0.0137, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24460 + }, + { + "epoch": 7.119581029967995, + "flow_matching_loss": 0.014924534782767295, + "grad_norm": 0.13866020739078522, + "learning_rate": 2.7026116574833314e-06, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24470 + }, + { + "epoch": 7.122490544079139, + "flow_matching_loss": 0.017806737776845695, + "grad_norm": 0.09485026448965073, + "learning_rate": 2.6931511494928953e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24480 + }, + { + "epoch": 7.125400058190282, + "flow_matching_loss": 0.014576472714543343, + "grad_norm": 0.0958140641450882, + "learning_rate": 2.683705595484275e-06, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24490 + }, + { + "epoch": 7.128309572301426, + "flow_matching_loss": 0.01774850655347109, + "grad_norm": 0.11093910038471222, + "learning_rate": 2.6742750069347014e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24500 + }, + { + "epoch": 7.131219086412569, + "flow_matching_loss": 0.01718199150636792, + "grad_norm": 0.12303825467824936, + "learning_rate": 2.664859395303239e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24510 + }, + { + "epoch": 7.134128600523712, + "flow_matching_loss": 0.016734153404831885, + "grad_norm": 0.10826433449983597, + "learning_rate": 2.655458772030739e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24520 + }, + { + "epoch": 7.137038114634856, + "flow_matching_loss": 0.015663603134453297, + "grad_norm": 0.09142012149095535, + "learning_rate": 2.6460731485398403e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24530 + }, + { + "epoch": 7.1399476287459995, + "flow_matching_loss": 0.017168229538947345, + "grad_norm": 0.12462123483419418, + "learning_rate": 2.6367025362349695e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24540 + }, + { + "epoch": 7.142857142857143, + "flow_matching_loss": 0.016068386379629374, + "grad_norm": 0.08754251152276993, + "learning_rate": 2.6273469465022965e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24550 + }, + { + "epoch": 7.145766656968286, + "flow_matching_loss": 0.016923494916409255, + "grad_norm": 0.11936137080192566, + "learning_rate": 2.618006390709753e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24560 + }, + { + "epoch": 7.14867617107943, + "flow_matching_loss": 0.016566952411085367, + "grad_norm": 0.1005033403635025, + "learning_rate": 2.60868088020699e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24570 + }, + { + "epoch": 7.1515856851905735, + "flow_matching_loss": 0.0156305062584579, + "grad_norm": 0.11100206524133682, + "learning_rate": 2.599370426325382e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24580 + }, + { + "epoch": 7.154495199301716, + "flow_matching_loss": 0.016836263239383698, + "grad_norm": 0.11284086853265762, + "learning_rate": 2.5900750403780093e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24590 + }, + { + "epoch": 7.15740471341286, + "flow_matching_loss": 0.017172125168144703, + "grad_norm": 0.12082286179065704, + "learning_rate": 2.580794733659639e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24600 + }, + { + "epoch": 7.160314227524004, + "flow_matching_loss": 0.01679462231695652, + "grad_norm": 0.12418882548809052, + "learning_rate": 2.5715295174467236e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24610 + }, + { + "epoch": 7.1632237416351465, + "flow_matching_loss": 0.016274740267544986, + "grad_norm": 0.09778186678886414, + "learning_rate": 2.5622794029973746e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24620 + }, + { + "epoch": 7.16613325574629, + "flow_matching_loss": 0.016486454010009765, + "grad_norm": 0.10561735928058624, + "learning_rate": 2.553044401551351e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24630 + }, + { + "epoch": 7.169042769857434, + "flow_matching_loss": 0.015326383151113987, + "grad_norm": 0.10492397844791412, + "learning_rate": 2.54382452433005e-06, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24640 + }, + { + "epoch": 7.171952283968578, + "flow_matching_loss": 0.013822208065539599, + "grad_norm": 0.08965232223272324, + "learning_rate": 2.53461978253649e-06, + "loss": 0.0138, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24650 + }, + { + "epoch": 7.1748617980797205, + "flow_matching_loss": 0.017885430064052344, + "grad_norm": 0.09242396801710129, + "learning_rate": 2.5254301873553065e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24660 + }, + { + "epoch": 7.177771312190864, + "flow_matching_loss": 0.015042686183005572, + "grad_norm": 0.09994582086801529, + "learning_rate": 2.5162557499527184e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24670 + }, + { + "epoch": 7.180680826302008, + "flow_matching_loss": 0.015176682826131582, + "grad_norm": 0.11616538465023041, + "learning_rate": 2.5070964814765335e-06, + "loss": 0.0152, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24680 + }, + { + "epoch": 7.183590340413151, + "flow_matching_loss": 0.01816064342856407, + "grad_norm": 0.12307991087436676, + "learning_rate": 2.4979523930561295e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24690 + }, + { + "epoch": 7.186499854524294, + "flow_matching_loss": 0.015533548034727573, + "grad_norm": 0.12277092039585114, + "learning_rate": 2.4888234958024333e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24700 + }, + { + "epoch": 7.189409368635438, + "flow_matching_loss": 0.018238860927522183, + "grad_norm": 0.11582059413194656, + "learning_rate": 2.479709800807915e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24710 + }, + { + "epoch": 7.192318882746581, + "flow_matching_loss": 0.015385629050433636, + "grad_norm": 0.10814136266708374, + "learning_rate": 2.4706113191465767e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24720 + }, + { + "epoch": 7.195228396857725, + "flow_matching_loss": 0.016172619443386792, + "grad_norm": 0.13215433061122894, + "learning_rate": 2.46152806187393e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24730 + }, + { + "epoch": 7.198137910968868, + "flow_matching_loss": 0.016517798881977797, + "grad_norm": 0.10134290158748627, + "learning_rate": 2.452460040026989e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24740 + }, + { + "epoch": 7.201047425080012, + "flow_matching_loss": 0.016363680176436902, + "grad_norm": 0.11685652285814285, + "learning_rate": 2.4434072646242555e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24750 + }, + { + "epoch": 7.203956939191155, + "flow_matching_loss": 0.01597274886444211, + "grad_norm": 0.08536603301763535, + "learning_rate": 2.4343697466657015e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24760 + }, + { + "epoch": 7.206866453302299, + "flow_matching_loss": 0.01850161198526621, + "grad_norm": 0.12809833884239197, + "learning_rate": 2.42534749713277e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24770 + }, + { + "epoch": 7.209775967413442, + "flow_matching_loss": 0.016049296222627164, + "grad_norm": 0.07942094653844833, + "learning_rate": 2.4163405269883425e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24780 + }, + { + "epoch": 7.212685481524585, + "flow_matching_loss": 0.016986101306974886, + "grad_norm": 0.09718681871891022, + "learning_rate": 2.407348847176735e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24790 + }, + { + "epoch": 7.215594995635729, + "flow_matching_loss": 0.01656225584447384, + "grad_norm": 0.1052352711558342, + "learning_rate": 2.398372468623688e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24800 + }, + { + "epoch": 7.2185045097468725, + "flow_matching_loss": 0.017140885442495347, + "grad_norm": 0.1445632129907608, + "learning_rate": 2.3894114022363446e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24810 + }, + { + "epoch": 7.221414023858015, + "flow_matching_loss": 0.01751101007685065, + "grad_norm": 0.12590815126895905, + "learning_rate": 2.3804656589032514e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24820 + }, + { + "epoch": 7.224323537969159, + "flow_matching_loss": 0.017316666711121798, + "grad_norm": 0.08995667099952698, + "learning_rate": 2.3715352494943237e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24830 + }, + { + "epoch": 7.227233052080303, + "flow_matching_loss": 0.01576582482084632, + "grad_norm": 0.11812815070152283, + "learning_rate": 2.3626201848608582e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24840 + }, + { + "epoch": 7.2301425661914465, + "flow_matching_loss": 0.01593364179134369, + "grad_norm": 0.12161775678396225, + "learning_rate": 2.353720475835494e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24850 + }, + { + "epoch": 7.233052080302589, + "flow_matching_loss": 0.021671090088784695, + "grad_norm": 0.12685853242874146, + "learning_rate": 2.344836133232215e-06, + "loss": 0.0217, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24860 + }, + { + "epoch": 7.235961594413733, + "flow_matching_loss": 0.01654612347483635, + "grad_norm": 0.16331146657466888, + "learning_rate": 2.335967167846342e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24870 + }, + { + "epoch": 7.238871108524877, + "flow_matching_loss": 0.017324383743107317, + "grad_norm": 0.1346747875213623, + "learning_rate": 2.3271135904544993e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24880 + }, + { + "epoch": 7.2417806226360195, + "flow_matching_loss": 0.017090687062591314, + "grad_norm": 0.11647365987300873, + "learning_rate": 2.3182754118146206e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24890 + }, + { + "epoch": 7.244690136747163, + "flow_matching_loss": 0.016385556012392045, + "grad_norm": 0.12394862622022629, + "learning_rate": 2.309452642665923e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24900 + }, + { + "epoch": 7.247599650858307, + "flow_matching_loss": 0.018190414924174548, + "grad_norm": 0.12664474546909332, + "learning_rate": 2.3006452937289065e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24910 + }, + { + "epoch": 7.25050916496945, + "flow_matching_loss": 0.01750888992100954, + "grad_norm": 0.09345303475856781, + "learning_rate": 2.291853375705327e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24920 + }, + { + "epoch": 7.2534186790805935, + "flow_matching_loss": 0.017625903151929377, + "grad_norm": 0.13148634135723114, + "learning_rate": 2.283076899278197e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24930 + }, + { + "epoch": 7.256328193191737, + "flow_matching_loss": 0.016969245206564666, + "grad_norm": 0.2023850530385971, + "learning_rate": 2.274315875111763e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24940 + }, + { + "epoch": 7.25923770730288, + "flow_matching_loss": 0.014908452052623034, + "grad_norm": 0.10201316326856613, + "learning_rate": 2.265570313851493e-06, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24950 + }, + { + "epoch": 7.262147221414024, + "flow_matching_loss": 0.01760887261480093, + "grad_norm": 0.09572988748550415, + "learning_rate": 2.2568402261240685e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24960 + }, + { + "epoch": 7.265056735525167, + "flow_matching_loss": 0.01760612167418003, + "grad_norm": 0.11050949990749359, + "learning_rate": 2.248125622537373e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24970 + }, + { + "epoch": 7.267966249636311, + "flow_matching_loss": 0.015762511268258096, + "grad_norm": 0.10784924775362015, + "learning_rate": 2.239426513680467e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24980 + }, + { + "epoch": 7.270875763747454, + "flow_matching_loss": 0.014678107295185327, + "grad_norm": 0.08574679493904114, + "learning_rate": 2.2307429101235915e-06, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 24990 + }, + { + "epoch": 7.273785277858598, + "flow_matching_loss": 0.019527727086097003, + "grad_norm": 0.09465596079826355, + "learning_rate": 2.222074822418145e-06, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25000 + }, + { + "epoch": 7.276694791969741, + "flow_matching_loss": 0.016055871453136205, + "grad_norm": 0.11099681258201599, + "learning_rate": 2.213422261096668e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25010 + }, + { + "epoch": 7.279604306080884, + "flow_matching_loss": 0.015842158067971467, + "grad_norm": 0.12002035975456238, + "learning_rate": 2.204785236672835e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25020 + }, + { + "epoch": 7.282513820192028, + "flow_matching_loss": 0.018109541852027178, + "grad_norm": 0.08304926007986069, + "learning_rate": 2.1961637596414536e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25030 + }, + { + "epoch": 7.285423334303172, + "flow_matching_loss": 0.01787646496668458, + "grad_norm": 0.1040893942117691, + "learning_rate": 2.1875578404784275e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25040 + }, + { + "epoch": 7.288332848414315, + "flow_matching_loss": 0.014762035198509693, + "grad_norm": 0.10576195269823074, + "learning_rate": 2.1789674896407583e-06, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25050 + }, + { + "epoch": 7.291242362525458, + "flow_matching_loss": 0.01824412206187844, + "grad_norm": 0.09252851456403732, + "learning_rate": 2.170392717566534e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25060 + }, + { + "epoch": 7.294151876636602, + "flow_matching_loss": 0.015441379696130752, + "grad_norm": 0.14607778191566467, + "learning_rate": 2.161833534674909e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25070 + }, + { + "epoch": 7.2970613907477455, + "flow_matching_loss": 0.019744451530277728, + "grad_norm": 0.10732384771108627, + "learning_rate": 2.1532899513661015e-06, + "loss": 0.0197, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25080 + }, + { + "epoch": 7.299970904858888, + "flow_matching_loss": 0.015944148879498243, + "grad_norm": 0.13322414457798004, + "learning_rate": 2.1447619780213682e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25090 + }, + { + "epoch": 7.302880418970032, + "flow_matching_loss": 0.015766154695302247, + "grad_norm": 0.12834525108337402, + "learning_rate": 2.136249625003001e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25100 + }, + { + "epoch": 7.305789933081176, + "flow_matching_loss": 0.016937069315463304, + "grad_norm": 0.11938008666038513, + "learning_rate": 2.1277529026543107e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25110 + }, + { + "epoch": 7.308699447192319, + "flow_matching_loss": 0.01627768585458398, + "grad_norm": 0.08326540887355804, + "learning_rate": 2.1192718212996188e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25120 + }, + { + "epoch": 7.311608961303462, + "flow_matching_loss": 0.017873191088438035, + "grad_norm": 0.11940660327672958, + "learning_rate": 2.110806391244235e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25130 + }, + { + "epoch": 7.314518475414606, + "flow_matching_loss": 0.019265729747712613, + "grad_norm": 0.13870199024677277, + "learning_rate": 2.1023566227744596e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25140 + }, + { + "epoch": 7.317427989525749, + "flow_matching_loss": 0.015613408479839563, + "grad_norm": 0.09525352716445923, + "learning_rate": 2.0939225261575563e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25150 + }, + { + "epoch": 7.3203375036368925, + "flow_matching_loss": 0.01592240612953901, + "grad_norm": 0.12887541949748993, + "learning_rate": 2.0855041116417473e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25160 + }, + { + "epoch": 7.323247017748036, + "flow_matching_loss": 0.01652248753234744, + "grad_norm": 0.08360602706670761, + "learning_rate": 2.0771013894562003e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25170 + }, + { + "epoch": 7.32615653185918, + "flow_matching_loss": 0.01642277743667364, + "grad_norm": 0.14013148844242096, + "learning_rate": 2.0687143698110113e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25180 + }, + { + "epoch": 7.329066045970323, + "flow_matching_loss": 0.016632502432912588, + "grad_norm": 0.10909532010555267, + "learning_rate": 2.060343062897208e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25190 + }, + { + "epoch": 7.3319755600814664, + "flow_matching_loss": 0.016922935098409652, + "grad_norm": 0.08750493079423904, + "learning_rate": 2.0519874788867127e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25200 + }, + { + "epoch": 7.33488507419261, + "flow_matching_loss": 0.018019638024270535, + "grad_norm": 0.11225835978984833, + "learning_rate": 2.043647627932347e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25210 + }, + { + "epoch": 7.337794588303753, + "flow_matching_loss": 0.016794499661773443, + "grad_norm": 0.1091170385479927, + "learning_rate": 2.0353235201678193e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25220 + }, + { + "epoch": 7.340704102414897, + "flow_matching_loss": 0.016344435699284076, + "grad_norm": 0.10791861265897751, + "learning_rate": 2.0270151657076995e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25230 + }, + { + "epoch": 7.34361361652604, + "flow_matching_loss": 0.015811993181705473, + "grad_norm": 0.07358674705028534, + "learning_rate": 2.0187225746474286e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25240 + }, + { + "epoch": 7.346523130637183, + "flow_matching_loss": 0.018382654804736377, + "grad_norm": 0.11579696089029312, + "learning_rate": 2.0104457570632845e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25250 + }, + { + "epoch": 7.349432644748327, + "flow_matching_loss": 0.01713098445907235, + "grad_norm": 0.08441686630249023, + "learning_rate": 2.0021847230123775e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25260 + }, + { + "epoch": 7.352342158859471, + "flow_matching_loss": 0.01760163139551878, + "grad_norm": 0.09394548833370209, + "learning_rate": 1.9939394825326494e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25270 + }, + { + "epoch": 7.355251672970613, + "flow_matching_loss": 0.015387189574539661, + "grad_norm": 0.09830465912818909, + "learning_rate": 1.9857100456428385e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25280 + }, + { + "epoch": 7.358161187081757, + "flow_matching_loss": 0.016310876701027155, + "grad_norm": 0.08153844624757767, + "learning_rate": 1.977496422342492e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25290 + }, + { + "epoch": 7.361070701192901, + "flow_matching_loss": 0.014737005904316902, + "grad_norm": 0.11054138839244843, + "learning_rate": 1.9692986226119345e-06, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25300 + }, + { + "epoch": 7.363980215304045, + "flow_matching_loss": 0.017630728147923946, + "grad_norm": 0.12815579771995544, + "learning_rate": 1.9611166564122658e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25310 + }, + { + "epoch": 7.366889729415187, + "flow_matching_loss": 0.015509317256510257, + "grad_norm": 0.10619305074214935, + "learning_rate": 1.9529505336853456e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25320 + }, + { + "epoch": 7.369799243526331, + "flow_matching_loss": 0.017523241881281137, + "grad_norm": 0.13847039639949799, + "learning_rate": 1.9448002643537833e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25330 + }, + { + "epoch": 7.372708757637475, + "flow_matching_loss": 0.017077056877315044, + "grad_norm": 0.1098083108663559, + "learning_rate": 1.9366658583209205e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25340 + }, + { + "epoch": 7.375618271748618, + "flow_matching_loss": 0.01667931266129017, + "grad_norm": 0.10305366665124893, + "learning_rate": 1.9285473254708363e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25350 + }, + { + "epoch": 7.378527785859761, + "flow_matching_loss": 0.015621845982968808, + "grad_norm": 0.11350658535957336, + "learning_rate": 1.9204446756683092e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25360 + }, + { + "epoch": 7.381437299970905, + "flow_matching_loss": 0.01653626309707761, + "grad_norm": 0.12682941555976868, + "learning_rate": 1.912357918758822e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25370 + }, + { + "epoch": 7.384346814082049, + "flow_matching_loss": 0.016420956701040268, + "grad_norm": 0.09112045168876648, + "learning_rate": 1.9042870645685478e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25380 + }, + { + "epoch": 7.387256328193192, + "flow_matching_loss": 0.01729310266673565, + "grad_norm": 0.10921100527048111, + "learning_rate": 1.8962321229043322e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25390 + }, + { + "epoch": 7.390165842304335, + "flow_matching_loss": 0.015447498951107263, + "grad_norm": 0.10583566129207611, + "learning_rate": 1.8881931035536943e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25400 + }, + { + "epoch": 7.393075356415479, + "flow_matching_loss": 0.018218011781573295, + "grad_norm": 0.11969496309757233, + "learning_rate": 1.8801700162847952e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25410 + }, + { + "epoch": 7.395984870526622, + "flow_matching_loss": 0.017973562888801097, + "grad_norm": 0.10798710584640503, + "learning_rate": 1.87216287084645e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25420 + }, + { + "epoch": 7.3988943846377655, + "flow_matching_loss": 0.016486407537013293, + "grad_norm": 0.10677444934844971, + "learning_rate": 1.8641716769680895e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25430 + }, + { + "epoch": 7.401803898748909, + "flow_matching_loss": 0.015666481014341115, + "grad_norm": 0.10182216018438339, + "learning_rate": 1.8561964443597662e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25440 + }, + { + "epoch": 7.404713412860052, + "flow_matching_loss": 0.017431817855685948, + "grad_norm": 0.1235278993844986, + "learning_rate": 1.848237182712147e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25450 + }, + { + "epoch": 7.407622926971196, + "flow_matching_loss": 0.015044827852398157, + "grad_norm": 0.09599930047988892, + "learning_rate": 1.8402939016964788e-06, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25460 + }, + { + "epoch": 7.410532441082339, + "flow_matching_loss": 0.018053434137254954, + "grad_norm": 0.11068294197320938, + "learning_rate": 1.832366610964601e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25470 + }, + { + "epoch": 7.413441955193482, + "flow_matching_loss": 0.01835685195401311, + "grad_norm": 0.09691335260868073, + "learning_rate": 1.8244553201489166e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25480 + }, + { + "epoch": 7.416351469304626, + "flow_matching_loss": 0.01685881018638611, + "grad_norm": 0.08766897767782211, + "learning_rate": 1.8165600388623882e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25490 + }, + { + "epoch": 7.41926098341577, + "flow_matching_loss": 0.018431488517671825, + "grad_norm": 0.1237594410777092, + "learning_rate": 1.8086807766985331e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25500 + }, + { + "epoch": 7.422170497526913, + "flow_matching_loss": 0.01630810061469674, + "grad_norm": 0.1475805789232254, + "learning_rate": 1.8008175432313946e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25510 + }, + { + "epoch": 7.425080011638056, + "flow_matching_loss": 0.017167326621711256, + "grad_norm": 0.12809893488883972, + "learning_rate": 1.7929703480155429e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25520 + }, + { + "epoch": 7.4279895257492, + "flow_matching_loss": 0.01679886532947421, + "grad_norm": 0.0999743863940239, + "learning_rate": 1.7851392005860595e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25530 + }, + { + "epoch": 7.430899039860344, + "flow_matching_loss": 0.016602170839905738, + "grad_norm": 0.10572803020477295, + "learning_rate": 1.7773241104585243e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25540 + }, + { + "epoch": 7.433808553971486, + "flow_matching_loss": 0.017948103602975607, + "grad_norm": 0.10968640446662903, + "learning_rate": 1.7695250871290108e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25550 + }, + { + "epoch": 7.43671806808263, + "flow_matching_loss": 0.017275887355208398, + "grad_norm": 0.13640855252742767, + "learning_rate": 1.761742140074074e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25560 + }, + { + "epoch": 7.439627582193774, + "flow_matching_loss": 0.017928489204496145, + "grad_norm": 0.1068188026547432, + "learning_rate": 1.7539752787507208e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25570 + }, + { + "epoch": 7.442537096304917, + "flow_matching_loss": 0.017347042541950942, + "grad_norm": 0.1456521898508072, + "learning_rate": 1.7462245125964233e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25580 + }, + { + "epoch": 7.44544661041606, + "flow_matching_loss": 0.018960622791200876, + "grad_norm": 0.104998879134655, + "learning_rate": 1.7384898510290931e-06, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25590 + }, + { + "epoch": 7.448356124527204, + "flow_matching_loss": 0.017170166596770287, + "grad_norm": 0.09788255393505096, + "learning_rate": 1.730771303447069e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25600 + }, + { + "epoch": 7.451265638638348, + "flow_matching_loss": 0.017920681927353143, + "grad_norm": 0.1156337633728981, + "learning_rate": 1.7230688792291204e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25610 + }, + { + "epoch": 7.454175152749491, + "flow_matching_loss": 0.015754119399935006, + "grad_norm": 0.0975281372666359, + "learning_rate": 1.7153825877344175e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25620 + }, + { + "epoch": 7.457084666860634, + "flow_matching_loss": 0.01737281996756792, + "grad_norm": 0.16247817873954773, + "learning_rate": 1.7077124383025278e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25630 + }, + { + "epoch": 7.459994180971778, + "flow_matching_loss": 0.015801669284701347, + "grad_norm": 0.07920894026756287, + "learning_rate": 1.7000584402534058e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25640 + }, + { + "epoch": 7.462903695082921, + "flow_matching_loss": 0.01716326242312789, + "grad_norm": 0.11928966641426086, + "learning_rate": 1.6924206028873774e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25650 + }, + { + "epoch": 7.4658132091940645, + "flow_matching_loss": 0.01588938180357218, + "grad_norm": 0.12639304995536804, + "learning_rate": 1.6847989354851434e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25660 + }, + { + "epoch": 7.468722723305208, + "flow_matching_loss": 0.017204136494547127, + "grad_norm": 0.14198946952819824, + "learning_rate": 1.6771934473077443e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25670 + }, + { + "epoch": 7.471632237416351, + "flow_matching_loss": 0.017699044942855836, + "grad_norm": 0.11817518621683121, + "learning_rate": 1.669604147596563e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25680 + }, + { + "epoch": 7.474541751527495, + "flow_matching_loss": 0.01729530803859234, + "grad_norm": 0.1378019154071808, + "learning_rate": 1.662031045573319e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25690 + }, + { + "epoch": 7.4774512656386385, + "flow_matching_loss": 0.016884611826390027, + "grad_norm": 0.08705649524927139, + "learning_rate": 1.6544741504400402e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25700 + }, + { + "epoch": 7.480360779749782, + "flow_matching_loss": 0.01821026988327503, + "grad_norm": 0.1584470123052597, + "learning_rate": 1.6469334713790712e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25710 + }, + { + "epoch": 7.483270293860925, + "flow_matching_loss": 0.016196680907160043, + "grad_norm": 0.0758744329214096, + "learning_rate": 1.639409017553048e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25720 + }, + { + "epoch": 7.486179807972069, + "flow_matching_loss": 0.0146123506128788, + "grad_norm": 0.09807032346725464, + "learning_rate": 1.6319007981048884e-06, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25730 + }, + { + "epoch": 7.489089322083212, + "flow_matching_loss": 0.01795661700889468, + "grad_norm": 0.13478954136371613, + "learning_rate": 1.6244088221577896e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25740 + }, + { + "epoch": 7.491998836194355, + "flow_matching_loss": 0.015878523606806992, + "grad_norm": 0.11012768000364304, + "learning_rate": 1.6169330988152081e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25750 + }, + { + "epoch": 7.494908350305499, + "flow_matching_loss": 0.016140090953558683, + "grad_norm": 0.10035981237888336, + "learning_rate": 1.6094736371608475e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25760 + }, + { + "epoch": 7.497817864416643, + "flow_matching_loss": 0.01696659056469798, + "grad_norm": 0.12580400705337524, + "learning_rate": 1.602030446258666e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25770 + }, + { + "epoch": 7.5007273785277855, + "flow_matching_loss": 0.016443983651697636, + "grad_norm": 0.11467626690864563, + "learning_rate": 1.5946035351528388e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25780 + }, + { + "epoch": 7.503636892638929, + "flow_matching_loss": 0.01905797319486737, + "grad_norm": 0.10499278455972672, + "learning_rate": 1.5871929128677621e-06, + "loss": 0.0191, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25790 + }, + { + "epoch": 7.506546406750073, + "flow_matching_loss": 0.017187544237822296, + "grad_norm": 0.12219163030385971, + "learning_rate": 1.5797985884080412e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25800 + }, + { + "epoch": 7.509455920861216, + "flow_matching_loss": 0.015823251754045486, + "grad_norm": 0.09352987259626389, + "learning_rate": 1.572420570758476e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25810 + }, + { + "epoch": 7.512365434972359, + "flow_matching_loss": 0.016491684410721064, + "grad_norm": 0.11098916083574295, + "learning_rate": 1.5650588688840567e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25820 + }, + { + "epoch": 7.515274949083503, + "flow_matching_loss": 0.015921012591570617, + "grad_norm": 0.08212760835886002, + "learning_rate": 1.5577134917299413e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25830 + }, + { + "epoch": 7.518184463194647, + "flow_matching_loss": 0.01821506293490529, + "grad_norm": 0.13441361486911774, + "learning_rate": 1.5503844482214618e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25840 + }, + { + "epoch": 7.52109397730579, + "flow_matching_loss": 0.015552920382469892, + "grad_norm": 0.08403050899505615, + "learning_rate": 1.5430717472640932e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25850 + }, + { + "epoch": 7.524003491416933, + "flow_matching_loss": 0.01727153630927205, + "grad_norm": 0.10085830837488174, + "learning_rate": 1.5357753977434541e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25860 + }, + { + "epoch": 7.526913005528077, + "flow_matching_loss": 0.017999086808413268, + "grad_norm": 0.11872215569019318, + "learning_rate": 1.5284954085253043e-06, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25870 + }, + { + "epoch": 7.52982251963922, + "flow_matching_loss": 0.016227175109088422, + "grad_norm": 0.13969388604164124, + "learning_rate": 1.5212317884555115e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25880 + }, + { + "epoch": 7.532732033750364, + "flow_matching_loss": 0.018629134632647038, + "grad_norm": 0.12857139110565186, + "learning_rate": 1.5139845463600605e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25890 + }, + { + "epoch": 7.535641547861507, + "flow_matching_loss": 0.018070865608751773, + "grad_norm": 0.12619097530841827, + "learning_rate": 1.5067536910450352e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25900 + }, + { + "epoch": 7.538551061972651, + "flow_matching_loss": 0.016039667930454016, + "grad_norm": 0.12779659032821655, + "learning_rate": 1.4995392312966044e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25910 + }, + { + "epoch": 7.541460576083794, + "flow_matching_loss": 0.015396040957421064, + "grad_norm": 0.13197249174118042, + "learning_rate": 1.492341175881014e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25920 + }, + { + "epoch": 7.5443700901949375, + "flow_matching_loss": 0.01588593665510416, + "grad_norm": 0.10649879276752472, + "learning_rate": 1.4851595335445895e-06, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25930 + }, + { + "epoch": 7.547279604306081, + "flow_matching_loss": 0.017240880616009237, + "grad_norm": 0.12601003050804138, + "learning_rate": 1.4779943130136953e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25940 + }, + { + "epoch": 7.550189118417224, + "flow_matching_loss": 0.016457827389240266, + "grad_norm": 0.09915526211261749, + "learning_rate": 1.4708455229947537e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25950 + }, + { + "epoch": 7.553098632528368, + "flow_matching_loss": 0.01578344199806452, + "grad_norm": 0.11579393595457077, + "learning_rate": 1.4637131721742148e-06, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25960 + }, + { + "epoch": 7.5560081466395115, + "flow_matching_loss": 0.016508851572871207, + "grad_norm": 0.10812651365995407, + "learning_rate": 1.4565972692185626e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25970 + }, + { + "epoch": 7.558917660750654, + "flow_matching_loss": 0.019319143146276474, + "grad_norm": 0.11557482182979584, + "learning_rate": 1.4494978227742855e-06, + "loss": 0.0193, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25980 + }, + { + "epoch": 7.561827174861798, + "flow_matching_loss": 0.01859953524544835, + "grad_norm": 0.1265757828950882, + "learning_rate": 1.442414841467885e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 25990 + }, + { + "epoch": 7.564736688972942, + "flow_matching_loss": 0.016908757295459508, + "grad_norm": 0.12223576754331589, + "learning_rate": 1.4353483339058498e-06, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26000 + }, + { + "epoch": 7.5676462030840845, + "flow_matching_loss": 0.01852099969983101, + "grad_norm": 0.11608084291219711, + "learning_rate": 1.4282983086746498e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26010 + }, + { + "epoch": 7.570555717195228, + "flow_matching_loss": 0.016627729497849943, + "grad_norm": 0.13937808573246002, + "learning_rate": 1.4212647743407325e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26020 + }, + { + "epoch": 7.573465231306372, + "flow_matching_loss": 0.01661202050745487, + "grad_norm": 0.10073375701904297, + "learning_rate": 1.4142477394505065e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26030 + }, + { + "epoch": 7.576374745417516, + "flow_matching_loss": 0.01838360372930765, + "grad_norm": 0.1199684739112854, + "learning_rate": 1.4072472125303299e-06, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26040 + }, + { + "epoch": 7.5792842595286585, + "flow_matching_loss": 0.0161775479093194, + "grad_norm": 0.10191280394792557, + "learning_rate": 1.4002632020865031e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26050 + }, + { + "epoch": 7.582193773639802, + "flow_matching_loss": 0.01857321336865425, + "grad_norm": 0.12368609756231308, + "learning_rate": 1.393295716605258e-06, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26060 + }, + { + "epoch": 7.585103287750946, + "flow_matching_loss": 0.016006550565361977, + "grad_norm": 0.11762114614248276, + "learning_rate": 1.386344764552742e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26070 + }, + { + "epoch": 7.588012801862089, + "flow_matching_loss": 0.01614157948642969, + "grad_norm": 0.09876447170972824, + "learning_rate": 1.3794103543750246e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26080 + }, + { + "epoch": 7.590922315973232, + "flow_matching_loss": 0.01464417837560177, + "grad_norm": 0.09612321108579636, + "learning_rate": 1.3724924944980637e-06, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26090 + }, + { + "epoch": 7.593831830084376, + "flow_matching_loss": 0.014902415592223406, + "grad_norm": 0.12069921940565109, + "learning_rate": 1.365591193327712e-06, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26100 + }, + { + "epoch": 7.59674134419552, + "flow_matching_loss": 0.01937054516747594, + "grad_norm": 0.11267507821321487, + "learning_rate": 1.3587064592496984e-06, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26110 + }, + { + "epoch": 7.599650858306663, + "flow_matching_loss": 0.018491630721837283, + "grad_norm": 0.10682272911071777, + "learning_rate": 1.3518383006296292e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26120 + }, + { + "epoch": 7.602560372417806, + "flow_matching_loss": 0.016079328116029502, + "grad_norm": 0.10733286291360855, + "learning_rate": 1.344986725812959e-06, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26130 + }, + { + "epoch": 7.605469886528949, + "flow_matching_loss": 0.01678028777241707, + "grad_norm": 0.12061959505081177, + "learning_rate": 1.3381517431250046e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26140 + }, + { + "epoch": 7.608379400640093, + "flow_matching_loss": 0.016244478337466717, + "grad_norm": 0.12039703130722046, + "learning_rate": 1.3313333608709095e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26150 + }, + { + "epoch": 7.611288914751237, + "flow_matching_loss": 0.01566795976832509, + "grad_norm": 0.10393530130386353, + "learning_rate": 1.3245315873356528e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26160 + }, + { + "epoch": 7.61419842886238, + "flow_matching_loss": 0.016227751038968563, + "grad_norm": 0.11594333499670029, + "learning_rate": 1.3177464307840304e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26170 + }, + { + "epoch": 7.617107942973523, + "flow_matching_loss": 0.015210362058132887, + "grad_norm": 0.091593436896801, + "learning_rate": 1.310977899460642e-06, + "loss": 0.0152, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26180 + }, + { + "epoch": 7.620017457084667, + "flow_matching_loss": 0.01661025620996952, + "grad_norm": 0.11635734885931015, + "learning_rate": 1.3042260015899006e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26190 + }, + { + "epoch": 7.6229269711958105, + "flow_matching_loss": 0.017056685872375965, + "grad_norm": 0.20064038038253784, + "learning_rate": 1.2974907453759948e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26200 + }, + { + "epoch": 7.625836485306953, + "flow_matching_loss": 0.016238838899880648, + "grad_norm": 0.1064787209033966, + "learning_rate": 1.2907721390028937e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26210 + }, + { + "epoch": 7.628745999418097, + "flow_matching_loss": 0.017926185112446546, + "grad_norm": 0.09223279356956482, + "learning_rate": 1.2840701906343417e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26220 + }, + { + "epoch": 7.631655513529241, + "flow_matching_loss": 0.017365678679198027, + "grad_norm": 0.10679221898317337, + "learning_rate": 1.2773849084138312e-06, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26230 + }, + { + "epoch": 7.6345650276403845, + "flow_matching_loss": 0.016241240687668322, + "grad_norm": 0.12347831577062607, + "learning_rate": 1.2707163004646177e-06, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26240 + }, + { + "epoch": 7.637474541751527, + "flow_matching_loss": 0.015104692336171866, + "grad_norm": 0.10658953338861465, + "learning_rate": 1.2640643748896879e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26250 + }, + { + "epoch": 7.640384055862671, + "flow_matching_loss": 0.020314796641469002, + "grad_norm": 0.09552943706512451, + "learning_rate": 1.257429139771753e-06, + "loss": 0.0203, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26260 + }, + { + "epoch": 7.643293569973815, + "flow_matching_loss": 0.01539908517152071, + "grad_norm": 0.10643500834703445, + "learning_rate": 1.2508106031732553e-06, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26270 + }, + { + "epoch": 7.6462030840849575, + "flow_matching_loss": 0.016537176351994275, + "grad_norm": 0.1164766177535057, + "learning_rate": 1.2442087731363366e-06, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26280 + }, + { + "epoch": 7.649112598196101, + "flow_matching_loss": 0.015738406404852866, + "grad_norm": 0.10414409637451172, + "learning_rate": 1.237623657682847e-06, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26290 + }, + { + "epoch": 7.652022112307245, + "flow_matching_loss": 0.014672881271690131, + "grad_norm": 0.09647400677204132, + "learning_rate": 1.2310552648143208e-06, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26300 + }, + { + "epoch": 7.654931626418388, + "flow_matching_loss": 0.018511212058365346, + "grad_norm": 0.09571129828691483, + "learning_rate": 1.2245036025119738e-06, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26310 + }, + { + "epoch": 7.6578411405295315, + "flow_matching_loss": 0.016672522760927677, + "grad_norm": 0.11372699588537216, + "learning_rate": 1.2179686787366962e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26320 + }, + { + "epoch": 7.660750654640675, + "flow_matching_loss": 0.017597438860684635, + "grad_norm": 0.09859182685613632, + "learning_rate": 1.2114505014290329e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26330 + }, + { + "epoch": 7.663660168751818, + "flow_matching_loss": 0.020602206978946925, + "grad_norm": 0.12010589987039566, + "learning_rate": 1.2049490785091833e-06, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26340 + }, + { + "epoch": 7.666569682862962, + "flow_matching_loss": 0.016328837908804416, + "grad_norm": 0.09569157660007477, + "learning_rate": 1.1984644178769949e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26350 + }, + { + "epoch": 7.669479196974105, + "flow_matching_loss": 0.014362936932593584, + "grad_norm": 0.13092182576656342, + "learning_rate": 1.1919965274119381e-06, + "loss": 0.0144, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26360 + }, + { + "epoch": 7.672388711085249, + "flow_matching_loss": 0.01732156816869974, + "grad_norm": 0.11179786175489426, + "learning_rate": 1.18554541497311e-06, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26370 + }, + { + "epoch": 7.675298225196392, + "flow_matching_loss": 0.018115770164877178, + "grad_norm": 0.1633908897638321, + "learning_rate": 1.1791110883992213e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26380 + }, + { + "epoch": 7.678207739307536, + "flow_matching_loss": 0.017917819414287807, + "grad_norm": 0.20499421656131744, + "learning_rate": 1.1726935555085817e-06, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26390 + }, + { + "epoch": 7.681117253418679, + "flow_matching_loss": 0.017130224127322437, + "grad_norm": 0.1282639354467392, + "learning_rate": 1.166292824099105e-06, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26400 + }, + { + "epoch": 7.684026767529822, + "flow_matching_loss": 0.015535354148596525, + "grad_norm": 0.11228074133396149, + "learning_rate": 1.1599089019482768e-06, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26410 + }, + { + "epoch": 7.686936281640966, + "flow_matching_loss": 0.01559803932905197, + "grad_norm": 0.13798588514328003, + "learning_rate": 1.1535417968131718e-06, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26420 + }, + { + "epoch": 7.68984579575211, + "flow_matching_loss": 0.01770455976948142, + "grad_norm": 0.11635096371173859, + "learning_rate": 1.147191516430418e-06, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26430 + }, + { + "epoch": 7.692755309863253, + "flow_matching_loss": 0.016594744101166726, + "grad_norm": 0.11015941202640533, + "learning_rate": 1.140858068516205e-06, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26440 + }, + { + "epoch": 7.695664823974396, + "flow_matching_loss": 0.015060017630457879, + "grad_norm": 0.10151723027229309, + "learning_rate": 1.1345414607662736e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26450 + }, + { + "epoch": 7.69857433808554, + "flow_matching_loss": 0.015330482088029385, + "grad_norm": 0.1015833392739296, + "learning_rate": 1.1282417008558937e-06, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26460 + }, + { + "epoch": 7.7014838521966835, + "flow_matching_loss": 0.017223885282874107, + "grad_norm": 0.13818199932575226, + "learning_rate": 1.1219587964398674e-06, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26470 + }, + { + "epoch": 7.704393366307826, + "flow_matching_loss": 0.017612573597580193, + "grad_norm": 0.12285952270030975, + "learning_rate": 1.1156927551525198e-06, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26480 + }, + { + "epoch": 7.70730288041897, + "flow_matching_loss": 0.016252072621136905, + "grad_norm": 0.09446259588003159, + "learning_rate": 1.109443584607675e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26490 + }, + { + "epoch": 7.710212394530114, + "flow_matching_loss": 0.017468373756855726, + "grad_norm": 0.1025547981262207, + "learning_rate": 1.1032112923986708e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26500 + }, + { + "epoch": 7.713121908641257, + "flow_matching_loss": 0.01754791382700205, + "grad_norm": 0.11844010651111603, + "learning_rate": 1.0969958860983299e-06, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26510 + }, + { + "epoch": 7.7160314227524, + "flow_matching_loss": 0.015143881738185882, + "grad_norm": 0.10444069653749466, + "learning_rate": 1.0907973732589537e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26520 + }, + { + "epoch": 7.718940936863544, + "flow_matching_loss": 0.01821896927431226, + "grad_norm": 0.1047576516866684, + "learning_rate": 1.0846157614123215e-06, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26530 + }, + { + "epoch": 7.721850450974687, + "flow_matching_loss": 0.016338979080319404, + "grad_norm": 0.09930343180894852, + "learning_rate": 1.078451058069671e-06, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26540 + }, + { + "epoch": 7.7247599650858305, + "flow_matching_loss": 0.016396713070571424, + "grad_norm": 0.13719087839126587, + "learning_rate": 1.0723032707217056e-06, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26550 + }, + { + "epoch": 7.727669479196974, + "flow_matching_loss": 0.016847232729196547, + "grad_norm": 0.1346079558134079, + "learning_rate": 1.066172406838558e-06, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26560 + }, + { + "epoch": 7.730578993308118, + "flow_matching_loss": 0.020764584373682737, + "grad_norm": 0.10316973924636841, + "learning_rate": 1.0600584738698127e-06, + "loss": 0.0208, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26570 + }, + { + "epoch": 7.733488507419261, + "flow_matching_loss": 0.01775878630578518, + "grad_norm": 0.14686673879623413, + "learning_rate": 1.0539614792444735e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26580 + }, + { + "epoch": 7.7363980215304045, + "flow_matching_loss": 0.015139202307909726, + "grad_norm": 0.07682402431964874, + "learning_rate": 1.0478814303709627e-06, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26590 + }, + { + "epoch": 7.739307535641548, + "flow_matching_loss": 0.02013961300253868, + "grad_norm": 0.14001646637916565, + "learning_rate": 1.041818334637109e-06, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26600 + }, + { + "epoch": 7.742217049752691, + "flow_matching_loss": 0.01695873560383916, + "grad_norm": 0.11620599031448364, + "learning_rate": 1.0357721994101526e-06, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26610 + }, + { + "epoch": 7.745126563863835, + "flow_matching_loss": 0.014638782944530249, + "grad_norm": 0.1534479856491089, + "learning_rate": 1.0297430320367135e-06, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26620 + }, + { + "epoch": 7.748036077974978, + "flow_matching_loss": 0.01813233932480216, + "grad_norm": 0.1429210752248764, + "learning_rate": 1.0237308398428014e-06, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26630 + }, + { + "epoch": 7.750945592086122, + "flow_matching_loss": 0.017767577897757292, + "grad_norm": 0.10350409895181656, + "learning_rate": 1.0177356301337925e-06, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26640 + }, + { + "epoch": 7.753855106197265, + "flow_matching_loss": 0.015958290174603464, + "grad_norm": 0.1250780075788498, + "learning_rate": 1.0117574101944348e-06, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26650 + }, + { + "epoch": 7.756764620308409, + "flow_matching_loss": 0.016662419028580188, + "grad_norm": 0.1024094820022583, + "learning_rate": 1.0057961872888293e-06, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26660 + }, + { + "epoch": 7.7596741344195515, + "flow_matching_loss": 0.016281235497444868, + "grad_norm": 0.09627498686313629, + "learning_rate": 9.998519686604235e-07, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26670 + }, + { + "epoch": 7.762583648530695, + "flow_matching_loss": 0.016217714734375478, + "grad_norm": 0.0891786739230156, + "learning_rate": 9.939247615320047e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26680 + }, + { + "epoch": 7.765493162641839, + "flow_matching_loss": 0.016708804480731487, + "grad_norm": 0.09771498292684555, + "learning_rate": 9.880145731056834e-07, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26690 + }, + { + "epoch": 7.768402676752983, + "flow_matching_loss": 0.017377295158803464, + "grad_norm": 0.10485399514436722, + "learning_rate": 9.821214105629034e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26700 + }, + { + "epoch": 7.771312190864125, + "flow_matching_loss": 0.017337939701974392, + "grad_norm": 0.08564203232526779, + "learning_rate": 9.762452810644068e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26710 + }, + { + "epoch": 7.774221704975269, + "flow_matching_loss": 0.017563496064394713, + "grad_norm": 0.12252016365528107, + "learning_rate": 9.703861917502487e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26720 + }, + { + "epoch": 7.777131219086413, + "flow_matching_loss": 0.01975841661915183, + "grad_norm": 0.13971896469593048, + "learning_rate": 9.645441497397744e-07, + "loss": 0.0198, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26730 + }, + { + "epoch": 7.780040733197556, + "flow_matching_loss": 0.016343730967491865, + "grad_norm": 0.10266285389661789, + "learning_rate": 9.587191621316154e-07, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26740 + }, + { + "epoch": 7.782950247308699, + "flow_matching_loss": 0.01577748479321599, + "grad_norm": 0.1023002341389656, + "learning_rate": 9.529112360036802e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26750 + }, + { + "epoch": 7.785859761419843, + "flow_matching_loss": 0.018048472236841917, + "grad_norm": 0.10571715235710144, + "learning_rate": 9.471203784131449e-07, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26760 + }, + { + "epoch": 7.788769275530987, + "flow_matching_loss": 0.016489394940435886, + "grad_norm": 0.07610070705413818, + "learning_rate": 9.41346596396453e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26770 + }, + { + "epoch": 7.79167878964213, + "flow_matching_loss": 0.016337825823575257, + "grad_norm": 0.10475745052099228, + "learning_rate": 9.355898969692889e-07, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26780 + }, + { + "epoch": 7.794588303753273, + "flow_matching_loss": 0.01875503929331899, + "grad_norm": 0.12961611151695251, + "learning_rate": 9.29850287126589e-07, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26790 + }, + { + "epoch": 7.797497817864417, + "flow_matching_loss": 0.017737009562551975, + "grad_norm": 0.11036974936723709, + "learning_rate": 9.24127773842518e-07, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26800 + }, + { + "epoch": 7.80040733197556, + "flow_matching_loss": 0.015565968491137028, + "grad_norm": 0.10314518958330154, + "learning_rate": 9.18422364070467e-07, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26810 + }, + { + "epoch": 7.8033168460867035, + "flow_matching_loss": 0.0168011381290853, + "grad_norm": 0.12438426166772842, + "learning_rate": 9.127340647430538e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26820 + }, + { + "epoch": 7.806226360197847, + "flow_matching_loss": 0.017952955048531293, + "grad_norm": 0.09508120268583298, + "learning_rate": 9.070628827720929e-07, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26830 + }, + { + "epoch": 7.80913587430899, + "flow_matching_loss": 0.014569046441465616, + "grad_norm": 0.10780379921197891, + "learning_rate": 9.014088250486052e-07, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26840 + }, + { + "epoch": 7.812045388420134, + "flow_matching_loss": 0.017029562126845123, + "grad_norm": 0.1359512358903885, + "learning_rate": 8.95771898442807e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26850 + }, + { + "epoch": 7.8149549025312774, + "flow_matching_loss": 0.01755044236779213, + "grad_norm": 0.0849982276558876, + "learning_rate": 8.90152109804091e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26860 + }, + { + "epoch": 7.81786441664242, + "flow_matching_loss": 0.016027521062642335, + "grad_norm": 0.09353775531053543, + "learning_rate": 8.845494659610365e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26870 + }, + { + "epoch": 7.820773930753564, + "flow_matching_loss": 0.016568421386182308, + "grad_norm": 0.11063067615032196, + "learning_rate": 8.789639737213812e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26880 + }, + { + "epoch": 7.823683444864708, + "flow_matching_loss": 0.015259498078376055, + "grad_norm": 0.08797696977853775, + "learning_rate": 8.733956398720244e-07, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26890 + }, + { + "epoch": 7.826592958975851, + "flow_matching_loss": 0.016055736877024173, + "grad_norm": 0.11058362573385239, + "learning_rate": 8.678444711790157e-07, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26900 + }, + { + "epoch": 7.829502473086994, + "flow_matching_loss": 0.016384350042790173, + "grad_norm": 0.11643990129232407, + "learning_rate": 8.623104743875493e-07, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26910 + }, + { + "epoch": 7.832411987198138, + "flow_matching_loss": 0.015470374654978514, + "grad_norm": 0.1385451704263687, + "learning_rate": 8.567936562219547e-07, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26920 + }, + { + "epoch": 7.835321501309282, + "flow_matching_loss": 0.01657206080853939, + "grad_norm": 0.11651664972305298, + "learning_rate": 8.512940233856847e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26930 + }, + { + "epoch": 7.838231015420424, + "flow_matching_loss": 0.013743676897138356, + "grad_norm": 0.09204642474651337, + "learning_rate": 8.458115825613122e-07, + "loss": 0.0137, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26940 + }, + { + "epoch": 7.841140529531568, + "flow_matching_loss": 0.016075845807790756, + "grad_norm": 0.10452815145254135, + "learning_rate": 8.403463404105199e-07, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26950 + }, + { + "epoch": 7.844050043642712, + "flow_matching_loss": 0.017109699361026288, + "grad_norm": 0.11882384866476059, + "learning_rate": 8.348983035740926e-07, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26960 + }, + { + "epoch": 7.846959557753856, + "flow_matching_loss": 0.01416791956871748, + "grad_norm": 0.08921445161104202, + "learning_rate": 8.294674786719064e-07, + "loss": 0.0142, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26970 + }, + { + "epoch": 7.849869071864998, + "flow_matching_loss": 0.01659415094181895, + "grad_norm": 0.12030082195997238, + "learning_rate": 8.240538723029295e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26980 + }, + { + "epoch": 7.852778585976142, + "flow_matching_loss": 0.01709871655330062, + "grad_norm": 0.13280707597732544, + "learning_rate": 8.186574910451983e-07, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 26990 + }, + { + "epoch": 7.855688100087286, + "flow_matching_loss": 0.01742080645635724, + "grad_norm": 0.10193353146314621, + "learning_rate": 8.132783414558326e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27000 + }, + { + "epoch": 7.858597614198429, + "flow_matching_loss": 0.015587520319968462, + "grad_norm": 0.0890578106045723, + "learning_rate": 8.079164300710023e-07, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27010 + }, + { + "epoch": 7.861507128309572, + "flow_matching_loss": 0.016545362118631602, + "grad_norm": 0.08475514501333237, + "learning_rate": 8.025717634059326e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27020 + }, + { + "epoch": 7.864416642420716, + "flow_matching_loss": 0.017477298527956008, + "grad_norm": 0.10366075485944748, + "learning_rate": 7.972443479549035e-07, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27030 + }, + { + "epoch": 7.867326156531859, + "flow_matching_loss": 0.017541076987981796, + "grad_norm": 0.11713565140962601, + "learning_rate": 7.919341901912236e-07, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27040 + }, + { + "epoch": 7.870235670643003, + "flow_matching_loss": 0.016878723725676538, + "grad_norm": 0.11832873523235321, + "learning_rate": 7.866412965672365e-07, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27050 + }, + { + "epoch": 7.873145184754146, + "flow_matching_loss": 0.016831501573324203, + "grad_norm": 0.11755330115556717, + "learning_rate": 7.813656735143044e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27060 + }, + { + "epoch": 7.876054698865289, + "flow_matching_loss": 0.01859431266784668, + "grad_norm": 0.13434752821922302, + "learning_rate": 7.761073274428076e-07, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27070 + }, + { + "epoch": 7.878964212976433, + "flow_matching_loss": 0.017964462749660015, + "grad_norm": 0.11639373004436493, + "learning_rate": 7.708662647421355e-07, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27080 + }, + { + "epoch": 7.8818737270875765, + "flow_matching_loss": 0.015891475416719914, + "grad_norm": 0.08603303879499435, + "learning_rate": 7.65642491780672e-07, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27090 + }, + { + "epoch": 7.88478324119872, + "flow_matching_loss": 0.01671014865860343, + "grad_norm": 0.07883035391569138, + "learning_rate": 7.604360149057916e-07, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27100 + }, + { + "epoch": 7.887692755309863, + "flow_matching_loss": 0.01598105700686574, + "grad_norm": 0.11628247797489166, + "learning_rate": 7.552468404438568e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27110 + }, + { + "epoch": 7.890602269421007, + "flow_matching_loss": 0.015264035109430552, + "grad_norm": 0.10266762226819992, + "learning_rate": 7.500749747002022e-07, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27120 + }, + { + "epoch": 7.89351178353215, + "flow_matching_loss": 0.017274890560656786, + "grad_norm": 0.09273316711187363, + "learning_rate": 7.449204239591345e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27130 + }, + { + "epoch": 7.896421297643293, + "flow_matching_loss": 0.01616607727482915, + "grad_norm": 0.10676487535238266, + "learning_rate": 7.397831944839167e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27140 + }, + { + "epoch": 7.899330811754437, + "flow_matching_loss": 0.01482489574700594, + "grad_norm": 0.10344656556844711, + "learning_rate": 7.346632925167706e-07, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27150 + }, + { + "epoch": 7.902240325865581, + "flow_matching_loss": 0.014592032972723245, + "grad_norm": 0.12331348657608032, + "learning_rate": 7.295607242788566e-07, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27160 + }, + { + "epoch": 7.905149839976724, + "flow_matching_loss": 0.01623920537531376, + "grad_norm": 0.12110414355993271, + "learning_rate": 7.244754959702765e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27170 + }, + { + "epoch": 7.908059354087867, + "flow_matching_loss": 0.018407359533011914, + "grad_norm": 0.13123837113380432, + "learning_rate": 7.194076137700628e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27180 + }, + { + "epoch": 7.910968868199011, + "flow_matching_loss": 0.016573181562125682, + "grad_norm": 0.10391909629106522, + "learning_rate": 7.143570838361696e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27190 + }, + { + "epoch": 7.913878382310154, + "flow_matching_loss": 0.01676005097106099, + "grad_norm": 0.10233257710933685, + "learning_rate": 7.093239123054696e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27200 + }, + { + "epoch": 7.916787896421297, + "flow_matching_loss": 0.0174422905780375, + "grad_norm": 0.11010567098855972, + "learning_rate": 7.043081052937389e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27210 + }, + { + "epoch": 7.919697410532441, + "flow_matching_loss": 0.015833993535488845, + "grad_norm": 0.1216324120759964, + "learning_rate": 6.993096688956558e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27220 + }, + { + "epoch": 7.922606924643585, + "flow_matching_loss": 0.015835635643452407, + "grad_norm": 0.12545566260814667, + "learning_rate": 6.943286091847884e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27230 + }, + { + "epoch": 7.925516438754728, + "flow_matching_loss": 0.016126826591789722, + "grad_norm": 0.10893958061933517, + "learning_rate": 6.89364932213602e-07, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27240 + }, + { + "epoch": 7.928425952865871, + "flow_matching_loss": 0.018061319924890996, + "grad_norm": 0.15398117899894714, + "learning_rate": 6.844186440134253e-07, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27250 + }, + { + "epoch": 7.931335466977015, + "flow_matching_loss": 0.018093566037714483, + "grad_norm": 0.10886521637439728, + "learning_rate": 6.794897505944692e-07, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27260 + }, + { + "epoch": 7.934244981088158, + "flow_matching_loss": 0.014788133464753628, + "grad_norm": 0.09689252823591232, + "learning_rate": 6.745782579457993e-07, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27270 + }, + { + "epoch": 7.937154495199302, + "flow_matching_loss": 0.017445346899330617, + "grad_norm": 0.09555044770240784, + "learning_rate": 6.696841720353453e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27280 + }, + { + "epoch": 7.940064009310445, + "flow_matching_loss": 0.016971500124782324, + "grad_norm": 0.0864528939127922, + "learning_rate": 6.648074988098834e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27290 + }, + { + "epoch": 7.942973523421589, + "flow_matching_loss": 0.016102815233170985, + "grad_norm": 0.10722745954990387, + "learning_rate": 6.599482441950322e-07, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27300 + }, + { + "epoch": 7.945883037532732, + "flow_matching_loss": 0.017845273483544588, + "grad_norm": 0.09180110692977905, + "learning_rate": 6.551064140952417e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27310 + }, + { + "epoch": 7.9487925516438755, + "flow_matching_loss": 0.01631897231563926, + "grad_norm": 0.10854774713516235, + "learning_rate": 6.502820143937943e-07, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27320 + }, + { + "epoch": 7.951702065755019, + "flow_matching_loss": 0.015635440498590468, + "grad_norm": 0.12085209786891937, + "learning_rate": 6.454750509527874e-07, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27330 + }, + { + "epoch": 7.954611579866162, + "flow_matching_loss": 0.017424186784774066, + "grad_norm": 0.08162079751491547, + "learning_rate": 6.406855296131387e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27340 + }, + { + "epoch": 7.957521093977306, + "flow_matching_loss": 0.015980622824281455, + "grad_norm": 0.10832064598798752, + "learning_rate": 6.359134561945662e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27350 + }, + { + "epoch": 7.9604306080884495, + "flow_matching_loss": 0.016040070727467538, + "grad_norm": 0.10781270265579224, + "learning_rate": 6.311588364955883e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27360 + }, + { + "epoch": 7.963340122199592, + "flow_matching_loss": 0.014679515268653631, + "grad_norm": 0.08846275508403778, + "learning_rate": 6.264216762935187e-07, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27370 + }, + { + "epoch": 7.966249636310736, + "flow_matching_loss": 0.01686251852661371, + "grad_norm": 0.13211658596992493, + "learning_rate": 6.21701981344453e-07, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27380 + }, + { + "epoch": 7.96915915042188, + "flow_matching_loss": 0.014911133144050837, + "grad_norm": 0.09745681285858154, + "learning_rate": 6.16999757383262e-07, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27390 + }, + { + "epoch": 7.9720686645330225, + "flow_matching_loss": 0.016633941791951656, + "grad_norm": 0.12146525830030441, + "learning_rate": 6.123150101235952e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27400 + }, + { + "epoch": 7.974978178644166, + "flow_matching_loss": 0.017295575980097056, + "grad_norm": 0.11543826758861542, + "learning_rate": 6.076477452578594e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27410 + }, + { + "epoch": 7.97788769275531, + "flow_matching_loss": 0.015778972860425712, + "grad_norm": 0.09186551719903946, + "learning_rate": 6.029979684572262e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27420 + }, + { + "epoch": 7.980797206866454, + "flow_matching_loss": 0.017020966019481422, + "grad_norm": 0.11749756336212158, + "learning_rate": 5.983656853716097e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27430 + }, + { + "epoch": 7.9837067209775965, + "flow_matching_loss": 0.018119411449879406, + "grad_norm": 0.1263260692358017, + "learning_rate": 5.937509016296689e-07, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27440 + }, + { + "epoch": 7.98661623508874, + "flow_matching_loss": 0.01830987948924303, + "grad_norm": 0.1071842759847641, + "learning_rate": 5.89153622838805e-07, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27450 + }, + { + "epoch": 7.989525749199884, + "flow_matching_loss": 0.018454377260059118, + "grad_norm": 0.10750597715377808, + "learning_rate": 5.845738545851431e-07, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27460 + }, + { + "epoch": 7.992435263311027, + "flow_matching_loss": 0.016301316395401954, + "grad_norm": 0.10492756962776184, + "learning_rate": 5.800116024335334e-07, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27470 + }, + { + "epoch": 7.99534477742217, + "flow_matching_loss": 0.01662497902289033, + "grad_norm": 0.11603213101625443, + "learning_rate": 5.75466871927543e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27480 + }, + { + "epoch": 7.998254291533314, + "flow_matching_loss": 0.014548239018768071, + "grad_norm": 0.0716029554605484, + "learning_rate": 5.709396685894463e-07, + "loss": 0.0145, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27490 + }, + { + "epoch": 8.001163805644458, + "flow_matching_loss": 0.014882995281368494, + "grad_norm": 0.11036854982376099, + "learning_rate": 5.664299979202264e-07, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27500 + }, + { + "epoch": 8.004073319755602, + "flow_matching_loss": 0.01705261701717973, + "grad_norm": 0.09504213184118271, + "learning_rate": 5.61937865399555e-07, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27510 + }, + { + "epoch": 8.006982833866743, + "flow_matching_loss": 0.018424464482814075, + "grad_norm": 0.12679648399353027, + "learning_rate": 5.574632764857974e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27520 + }, + { + "epoch": 8.009892347977887, + "flow_matching_loss": 0.014849949907511473, + "grad_norm": 0.12765468657016754, + "learning_rate": 5.53006236616001e-07, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27530 + }, + { + "epoch": 8.012801862089031, + "flow_matching_loss": 0.01654960922896862, + "grad_norm": 0.09619444608688354, + "learning_rate": 5.485667512058873e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27540 + }, + { + "epoch": 8.015711376200175, + "flow_matching_loss": 0.0159828569740057, + "grad_norm": 0.08485928922891617, + "learning_rate": 5.441448256498544e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27550 + }, + { + "epoch": 8.018620890311318, + "flow_matching_loss": 0.017634123004972933, + "grad_norm": 0.12113086134195328, + "learning_rate": 5.397404653209559e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27560 + }, + { + "epoch": 8.021530404422462, + "flow_matching_loss": 0.01593182496726513, + "grad_norm": 0.10339347273111343, + "learning_rate": 5.35353675570906e-07, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27570 + }, + { + "epoch": 8.024439918533606, + "flow_matching_loss": 0.01441552983596921, + "grad_norm": 0.10463747382164001, + "learning_rate": 5.309844617300674e-07, + "loss": 0.0144, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27580 + }, + { + "epoch": 8.027349432644748, + "flow_matching_loss": 0.015405604243278503, + "grad_norm": 0.09421480447053909, + "learning_rate": 5.266328291074468e-07, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27590 + }, + { + "epoch": 8.030258946755891, + "flow_matching_loss": 0.017217989545315504, + "grad_norm": 0.12989288568496704, + "learning_rate": 5.222987829906861e-07, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27600 + }, + { + "epoch": 8.033168460867035, + "flow_matching_loss": 0.014612351730465888, + "grad_norm": 0.1296377032995224, + "learning_rate": 5.179823286460644e-07, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27610 + }, + { + "epoch": 8.036077974978179, + "flow_matching_loss": 0.017747920006513596, + "grad_norm": 0.10777503252029419, + "learning_rate": 5.13683471318478e-07, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27620 + }, + { + "epoch": 8.038987489089322, + "flow_matching_loss": 0.017554369941353797, + "grad_norm": 0.13809162378311157, + "learning_rate": 5.094022162314449e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27630 + }, + { + "epoch": 8.041897003200466, + "flow_matching_loss": 0.01839955896139145, + "grad_norm": 0.10850776731967926, + "learning_rate": 5.051385685870924e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27640 + }, + { + "epoch": 8.044806517311608, + "flow_matching_loss": 0.016231601126492023, + "grad_norm": 0.11550461500883102, + "learning_rate": 5.008925335661546e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27650 + }, + { + "epoch": 8.047716031422752, + "flow_matching_loss": 0.01661005588248372, + "grad_norm": 0.1100827157497406, + "learning_rate": 4.966641163279662e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27660 + }, + { + "epoch": 8.050625545533896, + "flow_matching_loss": 0.016468654666095973, + "grad_norm": 0.11835053563117981, + "learning_rate": 4.924533220104521e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27670 + }, + { + "epoch": 8.05353505964504, + "flow_matching_loss": 0.016950856428593397, + "grad_norm": 0.10152707248926163, + "learning_rate": 4.882601557301231e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27680 + }, + { + "epoch": 8.056444573756183, + "flow_matching_loss": 0.01822915058583021, + "grad_norm": 0.09433590620756149, + "learning_rate": 4.840846225820717e-07, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27690 + }, + { + "epoch": 8.059354087867327, + "flow_matching_loss": 0.014805999025702477, + "grad_norm": 0.07986672222614288, + "learning_rate": 4.79926727639966e-07, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27700 + }, + { + "epoch": 8.06226360197847, + "flow_matching_loss": 0.01726028947159648, + "grad_norm": 0.1033533439040184, + "learning_rate": 4.7578647595603817e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27710 + }, + { + "epoch": 8.065173116089612, + "flow_matching_loss": 0.02107853814959526, + "grad_norm": 0.1353791356086731, + "learning_rate": 4.716638725610889e-07, + "loss": 0.0211, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27720 + }, + { + "epoch": 8.068082630200756, + "flow_matching_loss": 0.017327431309968232, + "grad_norm": 0.09542663395404816, + "learning_rate": 4.6755892246446606e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27730 + }, + { + "epoch": 8.0709921443119, + "flow_matching_loss": 0.016390999685972928, + "grad_norm": 0.13335877656936646, + "learning_rate": 4.634716306540715e-07, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27740 + }, + { + "epoch": 8.073901658423043, + "flow_matching_loss": 0.01783170560374856, + "grad_norm": 0.10466547310352325, + "learning_rate": 4.5940200209635244e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27750 + }, + { + "epoch": 8.076811172534187, + "flow_matching_loss": 0.01704621696844697, + "grad_norm": 0.10268886387348175, + "learning_rate": 4.5535004173628657e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27760 + }, + { + "epoch": 8.07972068664533, + "flow_matching_loss": 0.014734952896833419, + "grad_norm": 0.11184444278478622, + "learning_rate": 4.5131575449739225e-07, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27770 + }, + { + "epoch": 8.082630200756475, + "flow_matching_loss": 0.017439541500061752, + "grad_norm": 0.09027250111103058, + "learning_rate": 4.472991452817099e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27780 + }, + { + "epoch": 8.085539714867616, + "flow_matching_loss": 0.017257827799767256, + "grad_norm": 0.09708419442176819, + "learning_rate": 4.433002189697938e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27790 + }, + { + "epoch": 8.08844922897876, + "flow_matching_loss": 0.018384593725204467, + "grad_norm": 0.12552763521671295, + "learning_rate": 4.393189804207187e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27800 + }, + { + "epoch": 8.091358743089904, + "flow_matching_loss": 0.016997058968991043, + "grad_norm": 0.12655572593212128, + "learning_rate": 4.353554344720651e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27810 + }, + { + "epoch": 8.094268257201048, + "flow_matching_loss": 0.017813256941735744, + "grad_norm": 0.08662471920251846, + "learning_rate": 4.314095859399153e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27820 + }, + { + "epoch": 8.097177771312191, + "flow_matching_loss": 0.01772695714607835, + "grad_norm": 0.08894810825586319, + "learning_rate": 4.274814396188459e-07, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27830 + }, + { + "epoch": 8.100087285423335, + "flow_matching_loss": 0.014746333844959736, + "grad_norm": 0.14411120116710663, + "learning_rate": 4.235710002819271e-07, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27840 + }, + { + "epoch": 8.102996799534477, + "flow_matching_loss": 0.016947351396083832, + "grad_norm": 0.07578876614570618, + "learning_rate": 4.196782726807097e-07, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27850 + }, + { + "epoch": 8.10590631364562, + "flow_matching_loss": 0.015347376931458712, + "grad_norm": 0.1220133900642395, + "learning_rate": 4.158032615452251e-07, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27860 + }, + { + "epoch": 8.108815827756764, + "flow_matching_loss": 0.01660834327340126, + "grad_norm": 0.0886167660355568, + "learning_rate": 4.1194597158397853e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27870 + }, + { + "epoch": 8.111725341867908, + "flow_matching_loss": 0.017839364428073167, + "grad_norm": 0.09371016919612885, + "learning_rate": 4.081064074839408e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27880 + }, + { + "epoch": 8.114634855979052, + "flow_matching_loss": 0.01758541725575924, + "grad_norm": 0.12097290903329849, + "learning_rate": 4.042845739105433e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27890 + }, + { + "epoch": 8.117544370090195, + "flow_matching_loss": 0.017824140284210442, + "grad_norm": 0.12603741884231567, + "learning_rate": 4.004804755076746e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27900 + }, + { + "epoch": 8.12045388420134, + "flow_matching_loss": 0.01839134804904461, + "grad_norm": 0.1080336645245552, + "learning_rate": 3.9669411689767063e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27910 + }, + { + "epoch": 8.123363398312481, + "flow_matching_loss": 0.01886373581364751, + "grad_norm": 0.1305614709854126, + "learning_rate": 3.929255026813194e-07, + "loss": 0.0189, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27920 + }, + { + "epoch": 8.126272912423625, + "flow_matching_loss": 0.015001950040459632, + "grad_norm": 0.10555889457464218, + "learning_rate": 3.8917463743783797e-07, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27930 + }, + { + "epoch": 8.129182426534769, + "flow_matching_loss": 0.016228120494633912, + "grad_norm": 0.1300949603319168, + "learning_rate": 3.854415257248839e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27940 + }, + { + "epoch": 8.132091940645912, + "flow_matching_loss": 0.015835399366915227, + "grad_norm": 0.10766170918941498, + "learning_rate": 3.8172617207853864e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27950 + }, + { + "epoch": 8.135001454757056, + "flow_matching_loss": 0.01779886381700635, + "grad_norm": 0.1340651661157608, + "learning_rate": 3.7802858101330773e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27960 + }, + { + "epoch": 8.1379109688682, + "flow_matching_loss": 0.015788334980607034, + "grad_norm": 0.11559050530195236, + "learning_rate": 3.743487570221121e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27970 + }, + { + "epoch": 8.140820482979342, + "flow_matching_loss": 0.015719023998826742, + "grad_norm": 0.09102863073348999, + "learning_rate": 3.7068670457628517e-07, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27980 + }, + { + "epoch": 8.143729997090485, + "flow_matching_loss": 0.018323539476841687, + "grad_norm": 0.10633231699466705, + "learning_rate": 3.6704242812556576e-07, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 27990 + }, + { + "epoch": 8.146639511201629, + "flow_matching_loss": 0.017888043634593488, + "grad_norm": 0.1154639944434166, + "learning_rate": 3.634159320980951e-07, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28000 + }, + { + "epoch": 8.149549025312773, + "flow_matching_loss": 0.01872042864561081, + "grad_norm": 0.09271486103534698, + "learning_rate": 3.5980722090040663e-07, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28010 + }, + { + "epoch": 8.152458539423916, + "flow_matching_loss": 0.016949978936463595, + "grad_norm": 0.13920466601848602, + "learning_rate": 3.5621629891742447e-07, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28020 + }, + { + "epoch": 8.15536805353506, + "flow_matching_loss": 0.015480183158069849, + "grad_norm": 0.1139133870601654, + "learning_rate": 3.526431705124583e-07, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28030 + }, + { + "epoch": 8.158277567646204, + "flow_matching_loss": 0.017019743751734494, + "grad_norm": 0.13979877531528473, + "learning_rate": 3.4908784002719517e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28040 + }, + { + "epoch": 8.161187081757346, + "flow_matching_loss": 0.016738462541252375, + "grad_norm": 0.08272090554237366, + "learning_rate": 3.4555031178169773e-07, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28050 + }, + { + "epoch": 8.16409659586849, + "flow_matching_loss": 0.0181335280649364, + "grad_norm": 0.13437283039093018, + "learning_rate": 3.420305900743942e-07, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28060 + }, + { + "epoch": 8.167006109979633, + "flow_matching_loss": 0.01484588896855712, + "grad_norm": 0.06937019526958466, + "learning_rate": 3.385286791820802e-07, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28070 + }, + { + "epoch": 8.169915624090777, + "flow_matching_loss": 0.018780367635190486, + "grad_norm": 0.11979344487190247, + "learning_rate": 3.350445833599086e-07, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28080 + }, + { + "epoch": 8.17282513820192, + "flow_matching_loss": 0.01807881221175194, + "grad_norm": 0.1840168535709381, + "learning_rate": 3.3157830684138303e-07, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28090 + }, + { + "epoch": 8.175734652313064, + "flow_matching_loss": 0.01630085613578558, + "grad_norm": 0.12508514523506165, + "learning_rate": 3.281298538383559e-07, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28100 + }, + { + "epoch": 8.178644166424208, + "flow_matching_loss": 0.02008527098223567, + "grad_norm": 0.11129694432020187, + "learning_rate": 3.2469922854102387e-07, + "loss": 0.0201, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28110 + }, + { + "epoch": 8.18155368053535, + "flow_matching_loss": 0.016670915111899377, + "grad_norm": 0.10985851287841797, + "learning_rate": 3.21286435117919e-07, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28120 + }, + { + "epoch": 8.184463194646494, + "flow_matching_loss": 0.017825155053287745, + "grad_norm": 0.1119886115193367, + "learning_rate": 3.1789147771590754e-07, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28130 + }, + { + "epoch": 8.187372708757637, + "flow_matching_loss": 0.017166949342936277, + "grad_norm": 0.0792856439948082, + "learning_rate": 3.14514360460183e-07, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28140 + }, + { + "epoch": 8.190282222868781, + "flow_matching_loss": 0.01715052742511034, + "grad_norm": 0.11610166728496552, + "learning_rate": 3.1115508745426293e-07, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28150 + }, + { + "epoch": 8.193191736979925, + "flow_matching_loss": 0.0169563558883965, + "grad_norm": 0.0988088846206665, + "learning_rate": 3.0781366277997716e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28160 + }, + { + "epoch": 8.196101251091068, + "flow_matching_loss": 0.01695994269102812, + "grad_norm": 0.08942919969558716, + "learning_rate": 3.044900904974762e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28170 + }, + { + "epoch": 8.19901076520221, + "flow_matching_loss": 0.016465434757992625, + "grad_norm": 0.1098044365644455, + "learning_rate": 3.011843746452081e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28180 + }, + { + "epoch": 8.201920279313354, + "flow_matching_loss": 0.017092216480523347, + "grad_norm": 0.1280789077281952, + "learning_rate": 2.9789651923993464e-07, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28190 + }, + { + "epoch": 8.204829793424498, + "flow_matching_loss": 0.013791220262646675, + "grad_norm": 0.10381992906332016, + "learning_rate": 2.9462652827670855e-07, + "loss": 0.0138, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28200 + }, + { + "epoch": 8.207739307535642, + "flow_matching_loss": 0.015308719966560603, + "grad_norm": 0.08444373309612274, + "learning_rate": 2.913744057288764e-07, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28210 + }, + { + "epoch": 8.210648821646785, + "flow_matching_loss": 0.014586291741579771, + "grad_norm": 0.08241211622953415, + "learning_rate": 2.8814015554807396e-07, + "loss": 0.0146, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28220 + }, + { + "epoch": 8.213558335757929, + "flow_matching_loss": 0.014436818007379771, + "grad_norm": 0.09819327294826508, + "learning_rate": 2.849237816642192e-07, + "loss": 0.0144, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28230 + }, + { + "epoch": 8.216467849869073, + "flow_matching_loss": 0.016530578210949897, + "grad_norm": 0.09514476358890533, + "learning_rate": 2.817252879855109e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28240 + }, + { + "epoch": 8.219377363980215, + "flow_matching_loss": 0.01677730856463313, + "grad_norm": 0.10842707008123398, + "learning_rate": 2.785446783984219e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28250 + }, + { + "epoch": 8.222286878091358, + "flow_matching_loss": 0.018025182839483022, + "grad_norm": 0.09855857491493225, + "learning_rate": 2.7538195676769076e-07, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28260 + }, + { + "epoch": 8.225196392202502, + "flow_matching_loss": 0.017919787671416998, + "grad_norm": 0.11725559085607529, + "learning_rate": 2.722371269363216e-07, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28270 + }, + { + "epoch": 8.228105906313646, + "flow_matching_loss": 0.01651355642825365, + "grad_norm": 0.0826844796538353, + "learning_rate": 2.6911019272558125e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28280 + }, + { + "epoch": 8.23101542042479, + "flow_matching_loss": 0.016240917798131704, + "grad_norm": 0.1021074578166008, + "learning_rate": 2.6600115793498857e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28290 + }, + { + "epoch": 8.233924934535933, + "flow_matching_loss": 0.016584744118154048, + "grad_norm": 0.10767331719398499, + "learning_rate": 2.629100263423151e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28300 + }, + { + "epoch": 8.236834448647077, + "flow_matching_loss": 0.019512680917978288, + "grad_norm": 0.11126401275396347, + "learning_rate": 2.598368017035763e-07, + "loss": 0.0195, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28310 + }, + { + "epoch": 8.239743962758219, + "flow_matching_loss": 0.01569961290806532, + "grad_norm": 0.08357933163642883, + "learning_rate": 2.5678148775303e-07, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28320 + }, + { + "epoch": 8.242653476869362, + "flow_matching_loss": 0.015335808973759413, + "grad_norm": 0.10942737013101578, + "learning_rate": 2.537440882031683e-07, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28330 + }, + { + "epoch": 8.245562990980506, + "flow_matching_loss": 0.01764611219987273, + "grad_norm": 0.10890378803014755, + "learning_rate": 2.5072460674472385e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28340 + }, + { + "epoch": 8.24847250509165, + "flow_matching_loss": 0.015668281260877846, + "grad_norm": 0.08998184651136398, + "learning_rate": 2.4772304704664683e-07, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28350 + }, + { + "epoch": 8.251382019202794, + "flow_matching_loss": 0.01727243550121784, + "grad_norm": 0.12520183622837067, + "learning_rate": 2.447394127561181e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28360 + }, + { + "epoch": 8.254291533313937, + "flow_matching_loss": 0.015880607720464467, + "grad_norm": 0.10943374782800674, + "learning_rate": 2.41773707498531e-07, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28370 + }, + { + "epoch": 8.25720104742508, + "flow_matching_loss": 0.01730420012027025, + "grad_norm": 0.11200235038995743, + "learning_rate": 2.388259348774996e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28380 + }, + { + "epoch": 8.260110561536223, + "flow_matching_loss": 0.016771071683615447, + "grad_norm": 0.11363326758146286, + "learning_rate": 2.358960984748454e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28390 + }, + { + "epoch": 8.263020075647367, + "flow_matching_loss": 0.015550535637885332, + "grad_norm": 0.11046702414751053, + "learning_rate": 2.3298420185059565e-07, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28400 + }, + { + "epoch": 8.26592958975851, + "flow_matching_loss": 0.016726489644497633, + "grad_norm": 0.09175163507461548, + "learning_rate": 2.3009024854297844e-07, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28410 + }, + { + "epoch": 8.268839103869654, + "flow_matching_loss": 0.01492569139227271, + "grad_norm": 0.10730845481157303, + "learning_rate": 2.272142420684209e-07, + "loss": 0.0149, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28420 + }, + { + "epoch": 8.271748617980798, + "flow_matching_loss": 0.015799003187566996, + "grad_norm": 0.0751507580280304, + "learning_rate": 2.243561859215426e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28430 + }, + { + "epoch": 8.274658132091941, + "flow_matching_loss": 0.015442417096346616, + "grad_norm": 0.13116413354873657, + "learning_rate": 2.2151608357514897e-07, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28440 + }, + { + "epoch": 8.277567646203083, + "flow_matching_loss": 0.015821889601647855, + "grad_norm": 0.1293666809797287, + "learning_rate": 2.186939384802361e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28450 + }, + { + "epoch": 8.280477160314227, + "flow_matching_loss": 0.015572121646255255, + "grad_norm": 0.12226514518260956, + "learning_rate": 2.1588975406597266e-07, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28460 + }, + { + "epoch": 8.28338667442537, + "flow_matching_loss": 0.017479223571717738, + "grad_norm": 0.09963106364011765, + "learning_rate": 2.131035337397097e-07, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28470 + }, + { + "epoch": 8.286296188536515, + "flow_matching_loss": 0.01739638317376375, + "grad_norm": 0.12689745426177979, + "learning_rate": 2.1033528088696575e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28480 + }, + { + "epoch": 8.289205702647658, + "flow_matching_loss": 0.015005677845329047, + "grad_norm": 0.1328137218952179, + "learning_rate": 2.0758499887143012e-07, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28490 + }, + { + "epoch": 8.292115216758802, + "flow_matching_loss": 0.01857606628909707, + "grad_norm": 0.1602291315793991, + "learning_rate": 2.0485269103495462e-07, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28500 + }, + { + "epoch": 8.295024730869944, + "flow_matching_loss": 0.01649680808186531, + "grad_norm": 0.07568424195051193, + "learning_rate": 2.021383606975502e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28510 + }, + { + "epoch": 8.297934244981088, + "flow_matching_loss": 0.015143763460218906, + "grad_norm": 0.08667024224996567, + "learning_rate": 1.9944201115738524e-07, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28520 + }, + { + "epoch": 8.300843759092231, + "flow_matching_loss": 0.014449786860495806, + "grad_norm": 0.08229169249534607, + "learning_rate": 1.9676364569077732e-07, + "loss": 0.0144, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28530 + }, + { + "epoch": 8.303753273203375, + "flow_matching_loss": 0.017335629276931285, + "grad_norm": 0.12347795814275742, + "learning_rate": 1.9410326755219477e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28540 + }, + { + "epoch": 8.306662787314519, + "flow_matching_loss": 0.01522622024640441, + "grad_norm": 0.11841046810150146, + "learning_rate": 1.9146087997424677e-07, + "loss": 0.0152, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28550 + }, + { + "epoch": 8.309572301425662, + "flow_matching_loss": 0.015322551038116217, + "grad_norm": 0.12854433059692383, + "learning_rate": 1.8883648616768335e-07, + "loss": 0.0153, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28560 + }, + { + "epoch": 8.312481815536806, + "flow_matching_loss": 0.01824597381055355, + "grad_norm": 0.10545343160629272, + "learning_rate": 1.862300893213903e-07, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28570 + }, + { + "epoch": 8.315391329647948, + "flow_matching_loss": 0.01883046478033066, + "grad_norm": 0.11265421658754349, + "learning_rate": 1.8364169260238595e-07, + "loss": 0.0188, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28580 + }, + { + "epoch": 8.318300843759092, + "flow_matching_loss": 0.01650908850133419, + "grad_norm": 0.10810314863920212, + "learning_rate": 1.8107129915581777e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28590 + }, + { + "epoch": 8.321210357870235, + "flow_matching_loss": 0.01715223751962185, + "grad_norm": 0.10468016564846039, + "learning_rate": 1.785189121049541e-07, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28600 + }, + { + "epoch": 8.32411987198138, + "flow_matching_loss": 0.015960878878831863, + "grad_norm": 0.12646465003490448, + "learning_rate": 1.7598453455118567e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28610 + }, + { + "epoch": 8.327029386092523, + "flow_matching_loss": 0.016411090176552533, + "grad_norm": 0.10135272145271301, + "learning_rate": 1.7346816957402256e-07, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28620 + }, + { + "epoch": 8.329938900203667, + "flow_matching_loss": 0.016804995574057104, + "grad_norm": 0.10438814014196396, + "learning_rate": 1.7096982023108389e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28630 + }, + { + "epoch": 8.33284841431481, + "flow_matching_loss": 0.017552030459046363, + "grad_norm": 0.14359872043132782, + "learning_rate": 1.6848948955809963e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28640 + }, + { + "epoch": 8.335757928425952, + "flow_matching_loss": 0.015838005207479, + "grad_norm": 0.10857093334197998, + "learning_rate": 1.66027180568904e-07, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28650 + }, + { + "epoch": 8.338667442537096, + "flow_matching_loss": 0.016461730655282735, + "grad_norm": 0.12618893384933472, + "learning_rate": 1.6358289625543865e-07, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28660 + }, + { + "epoch": 8.34157695664824, + "flow_matching_loss": 0.01766495602205396, + "grad_norm": 0.11623778939247131, + "learning_rate": 1.6115663958773618e-07, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28670 + }, + { + "epoch": 8.344486470759383, + "flow_matching_loss": 0.014262532349675894, + "grad_norm": 0.10327652841806412, + "learning_rate": 1.5874841351392832e-07, + "loss": 0.0143, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28680 + }, + { + "epoch": 8.347395984870527, + "flow_matching_loss": 0.01839480847120285, + "grad_norm": 0.13406246900558472, + "learning_rate": 1.56358220960236e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28690 + }, + { + "epoch": 8.35030549898167, + "flow_matching_loss": 0.017026145197451114, + "grad_norm": 0.11374656856060028, + "learning_rate": 1.5398606483096932e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28700 + }, + { + "epoch": 8.353215013092813, + "flow_matching_loss": 0.016052294801920653, + "grad_norm": 0.11301910132169724, + "learning_rate": 1.5163194800852265e-07, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28710 + }, + { + "epoch": 8.356124527203956, + "flow_matching_loss": 0.017743988242000342, + "grad_norm": 0.10368986427783966, + "learning_rate": 1.4929587335336614e-07, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28720 + }, + { + "epoch": 8.3590340413151, + "flow_matching_loss": 0.014990556053817272, + "grad_norm": 0.08507075160741806, + "learning_rate": 1.4697784370405587e-07, + "loss": 0.015, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28730 + }, + { + "epoch": 8.361943555426244, + "flow_matching_loss": 0.01616332456469536, + "grad_norm": 0.0911799892783165, + "learning_rate": 1.4467786187721376e-07, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28740 + }, + { + "epoch": 8.364853069537387, + "flow_matching_loss": 0.017309670615941287, + "grad_norm": 0.14211444556713104, + "learning_rate": 1.4239593066753265e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28750 + }, + { + "epoch": 8.367762583648531, + "flow_matching_loss": 0.018953120801597834, + "grad_norm": 0.10325443744659424, + "learning_rate": 1.4013205284777953e-07, + "loss": 0.019, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28760 + }, + { + "epoch": 8.370672097759675, + "flow_matching_loss": 0.01639158707112074, + "grad_norm": 0.13041645288467407, + "learning_rate": 1.3788623116877397e-07, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28770 + }, + { + "epoch": 8.373581611870817, + "flow_matching_loss": 0.017963586188852788, + "grad_norm": 0.10175041854381561, + "learning_rate": 1.3565846835940477e-07, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28780 + }, + { + "epoch": 8.37649112598196, + "flow_matching_loss": 0.016952116321772338, + "grad_norm": 0.12794943153858185, + "learning_rate": 1.334487671266116e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28790 + }, + { + "epoch": 8.379400640093104, + "flow_matching_loss": 0.015361174196004867, + "grad_norm": 0.08185240626335144, + "learning_rate": 1.3125713015538998e-07, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28800 + }, + { + "epoch": 8.382310154204248, + "flow_matching_loss": 0.016966152377426623, + "grad_norm": 0.10874204337596893, + "learning_rate": 1.290835601087864e-07, + "loss": 0.017, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28810 + }, + { + "epoch": 8.385219668315392, + "flow_matching_loss": 0.0182018562220037, + "grad_norm": 0.11409560590982437, + "learning_rate": 1.2692805962789323e-07, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28820 + }, + { + "epoch": 8.388129182426535, + "flow_matching_loss": 0.01734218271449208, + "grad_norm": 0.12164508551359177, + "learning_rate": 1.2479063133184698e-07, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28830 + }, + { + "epoch": 8.391038696537677, + "flow_matching_loss": 0.016585812252014876, + "grad_norm": 0.1266392320394516, + "learning_rate": 1.2267127781782516e-07, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28840 + }, + { + "epoch": 8.393948210648821, + "flow_matching_loss": 0.017371085379272698, + "grad_norm": 0.1025894284248352, + "learning_rate": 1.205700016610395e-07, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28850 + }, + { + "epoch": 8.396857724759965, + "flow_matching_loss": 0.016754532139748333, + "grad_norm": 0.09474308043718338, + "learning_rate": 1.1848680541474088e-07, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28860 + }, + { + "epoch": 8.399767238871108, + "flow_matching_loss": 0.020632494892925023, + "grad_norm": 0.22403855621814728, + "learning_rate": 1.1642169161020955e-07, + "loss": 0.0206, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28870 + }, + { + "epoch": 8.402676752982252, + "flow_matching_loss": 0.017054725950583816, + "grad_norm": 0.12097236514091492, + "learning_rate": 1.1437466275675156e-07, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28880 + }, + { + "epoch": 8.405586267093396, + "flow_matching_loss": 0.015614493656903506, + "grad_norm": 0.10921961814165115, + "learning_rate": 1.1234572134170229e-07, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28890 + }, + { + "epoch": 8.40849578120454, + "flow_matching_loss": 0.01796451136469841, + "grad_norm": 0.1381542831659317, + "learning_rate": 1.1033486983041463e-07, + "loss": 0.018, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28900 + }, + { + "epoch": 8.411405295315681, + "flow_matching_loss": 0.01837212685495615, + "grad_norm": 0.10123277455568314, + "learning_rate": 1.0834211066626409e-07, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28910 + }, + { + "epoch": 8.414314809426825, + "flow_matching_loss": 0.01547235157340765, + "grad_norm": 0.12191835790872574, + "learning_rate": 1.0636744627064044e-07, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28920 + }, + { + "epoch": 8.417224323537969, + "flow_matching_loss": 0.0175982260145247, + "grad_norm": 0.15899750590324402, + "learning_rate": 1.0441087904294766e-07, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28930 + }, + { + "epoch": 8.420133837649113, + "flow_matching_loss": 0.016007203422486783, + "grad_norm": 0.10471194237470627, + "learning_rate": 1.0247241136059904e-07, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28940 + }, + { + "epoch": 8.423043351760256, + "flow_matching_loss": 0.020011258032172918, + "grad_norm": 0.08237095922231674, + "learning_rate": 1.0055204557901709e-07, + "loss": 0.02, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28950 + }, + { + "epoch": 8.4259528658714, + "flow_matching_loss": 0.01843107147142291, + "grad_norm": 0.09734025597572327, + "learning_rate": 9.864978403162361e-08, + "loss": 0.0184, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28960 + }, + { + "epoch": 8.428862379982544, + "flow_matching_loss": 0.016755203995853663, + "grad_norm": 0.10808148980140686, + "learning_rate": 9.676562902984965e-08, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28970 + }, + { + "epoch": 8.431771894093686, + "flow_matching_loss": 0.016886249557137488, + "grad_norm": 0.11521086096763611, + "learning_rate": 9.489958286311883e-08, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28980 + }, + { + "epoch": 8.43468140820483, + "flow_matching_loss": 0.015559057891368865, + "grad_norm": 0.11612576246261597, + "learning_rate": 9.30516477988541e-08, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 28990 + }, + { + "epoch": 8.437590922315973, + "flow_matching_loss": 0.01570640131831169, + "grad_norm": 0.08873492479324341, + "learning_rate": 9.122182608247098e-08, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29000 + }, + { + "epoch": 8.440500436427117, + "flow_matching_loss": 0.017159491870552303, + "grad_norm": 0.09847293794155121, + "learning_rate": 8.94101199373759e-08, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29010 + }, + { + "epoch": 8.44340995053826, + "flow_matching_loss": 0.018070902302861215, + "grad_norm": 0.12355221807956696, + "learning_rate": 8.761653156495964e-08, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29020 + }, + { + "epoch": 8.446319464649404, + "flow_matching_loss": 0.016496270429342985, + "grad_norm": 0.09190908074378967, + "learning_rate": 8.584106314460549e-08, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29030 + }, + { + "epoch": 8.449228978760548, + "flow_matching_loss": 0.016021491773426533, + "grad_norm": 0.10812534391880035, + "learning_rate": 8.408371683367111e-08, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29040 + }, + { + "epoch": 8.45213849287169, + "flow_matching_loss": 0.01866204934194684, + "grad_norm": 0.1158435270190239, + "learning_rate": 8.234449476750172e-08, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29050 + }, + { + "epoch": 8.455048006982834, + "flow_matching_loss": 0.017356151901185512, + "grad_norm": 0.11041083186864853, + "learning_rate": 8.062339905941351e-08, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29060 + }, + { + "epoch": 8.457957521093977, + "flow_matching_loss": 0.018461471516638996, + "grad_norm": 0.1332685649394989, + "learning_rate": 7.89204318007003e-08, + "loss": 0.0185, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29070 + }, + { + "epoch": 8.460867035205121, + "flow_matching_loss": 0.016668329294770957, + "grad_norm": 0.10313952714204788, + "learning_rate": 7.723559506062849e-08, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29080 + }, + { + "epoch": 8.463776549316265, + "flow_matching_loss": 0.014701985474675893, + "grad_norm": 0.13281938433647156, + "learning_rate": 7.556889088643381e-08, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29090 + }, + { + "epoch": 8.466686063427408, + "flow_matching_loss": 0.016152955405414105, + "grad_norm": 0.09851227700710297, + "learning_rate": 7.392032130331793e-08, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29100 + }, + { + "epoch": 8.46959557753855, + "flow_matching_loss": 0.01805432280525565, + "grad_norm": 0.13737763464450836, + "learning_rate": 7.228988831445015e-08, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29110 + }, + { + "epoch": 8.472505091649694, + "flow_matching_loss": 0.018668448273092508, + "grad_norm": 0.11976506561040878, + "learning_rate": 7.06775939009574e-08, + "loss": 0.0187, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29120 + }, + { + "epoch": 8.475414605760838, + "flow_matching_loss": 0.01690689893439412, + "grad_norm": 0.09270692616701126, + "learning_rate": 6.908344002193256e-08, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29130 + }, + { + "epoch": 8.478324119871981, + "flow_matching_loss": 0.01775004491209984, + "grad_norm": 0.08720783144235611, + "learning_rate": 6.750742861442116e-08, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29140 + }, + { + "epoch": 8.481233633983125, + "flow_matching_loss": 0.01740582287311554, + "grad_norm": 0.09086131304502487, + "learning_rate": 6.594956159342636e-08, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29150 + }, + { + "epoch": 8.484143148094269, + "flow_matching_loss": 0.017661122139543295, + "grad_norm": 0.13176901638507843, + "learning_rate": 6.440984085190394e-08, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29160 + }, + { + "epoch": 8.487052662205413, + "flow_matching_loss": 0.016859534103423356, + "grad_norm": 0.10969079285860062, + "learning_rate": 6.288826826075733e-08, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29170 + }, + { + "epoch": 8.489962176316554, + "flow_matching_loss": 0.01776787396520376, + "grad_norm": 0.08910497277975082, + "learning_rate": 6.138484566884261e-08, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29180 + }, + { + "epoch": 8.492871690427698, + "flow_matching_loss": 0.0162162528373301, + "grad_norm": 0.1557551920413971, + "learning_rate": 5.989957490296183e-08, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29190 + }, + { + "epoch": 8.495781204538842, + "flow_matching_loss": 0.014336137473583222, + "grad_norm": 0.11421690881252289, + "learning_rate": 5.843245776785466e-08, + "loss": 0.0143, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29200 + }, + { + "epoch": 8.498690718649986, + "flow_matching_loss": 0.016384423431009053, + "grad_norm": 0.22479179501533508, + "learning_rate": 5.6983496046210115e-08, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29210 + }, + { + "epoch": 8.50160023276113, + "flow_matching_loss": 0.016001442447304726, + "grad_norm": 0.09838612377643585, + "learning_rate": 5.5552691498653165e-08, + "loss": 0.016, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29220 + }, + { + "epoch": 8.504509746872273, + "flow_matching_loss": 0.016869787778705358, + "grad_norm": 0.14454340934753418, + "learning_rate": 5.4140045863743106e-08, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29230 + }, + { + "epoch": 8.507419260983415, + "flow_matching_loss": 0.017061915434896945, + "grad_norm": 0.08787086606025696, + "learning_rate": 5.274556085798188e-08, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29240 + }, + { + "epoch": 8.510328775094559, + "flow_matching_loss": 0.015608166158199311, + "grad_norm": 0.1211855560541153, + "learning_rate": 5.136923817579742e-08, + "loss": 0.0156, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29250 + }, + { + "epoch": 8.513238289205702, + "flow_matching_loss": 0.017799376230686902, + "grad_norm": 0.08972861617803574, + "learning_rate": 5.001107948955197e-08, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29260 + }, + { + "epoch": 8.516147803316846, + "flow_matching_loss": 0.017369616869837047, + "grad_norm": 0.1429262012243271, + "learning_rate": 4.867108644953711e-08, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29270 + }, + { + "epoch": 8.51905731742799, + "flow_matching_loss": 0.018076660577207804, + "grad_norm": 0.19085536897182465, + "learning_rate": 4.734926068397038e-08, + "loss": 0.0181, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29280 + }, + { + "epoch": 8.521966831539133, + "flow_matching_loss": 0.017192846909165383, + "grad_norm": 0.1206425130367279, + "learning_rate": 4.604560379899536e-08, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29290 + }, + { + "epoch": 8.524876345650277, + "flow_matching_loss": 0.016460073040798308, + "grad_norm": 0.14016449451446533, + "learning_rate": 4.476011737867658e-08, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29300 + }, + { + "epoch": 8.52778585976142, + "flow_matching_loss": 0.016189270839095115, + "grad_norm": 0.09205260127782822, + "learning_rate": 4.349280298500291e-08, + "loss": 0.0162, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29310 + }, + { + "epoch": 8.530695373872563, + "flow_matching_loss": 0.018572316505014896, + "grad_norm": 0.12741851806640625, + "learning_rate": 4.224366215787923e-08, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29320 + }, + { + "epoch": 8.533604887983707, + "flow_matching_loss": 0.01575256437063217, + "grad_norm": 0.1104394868016243, + "learning_rate": 4.101269641513139e-08, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29330 + }, + { + "epoch": 8.53651440209485, + "flow_matching_loss": 0.01711922436952591, + "grad_norm": 0.1190609484910965, + "learning_rate": 3.979990725249627e-08, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29340 + }, + { + "epoch": 8.539423916205994, + "flow_matching_loss": 0.018623094912618397, + "grad_norm": 0.10086828470230103, + "learning_rate": 3.860529614363006e-08, + "loss": 0.0186, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29350 + }, + { + "epoch": 8.542333430317138, + "flow_matching_loss": 0.017355551570653917, + "grad_norm": 0.10797565430402756, + "learning_rate": 3.742886454009664e-08, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29360 + }, + { + "epoch": 8.545242944428281, + "flow_matching_loss": 0.01649613967165351, + "grad_norm": 0.1284957081079483, + "learning_rate": 3.627061387137087e-08, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29370 + }, + { + "epoch": 8.548152458539423, + "flow_matching_loss": 0.015694069769233467, + "grad_norm": 0.11086784303188324, + "learning_rate": 3.5130545544835305e-08, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29380 + }, + { + "epoch": 8.551061972650567, + "flow_matching_loss": 0.017259686067700387, + "grad_norm": 0.1085214763879776, + "learning_rate": 3.400866094578348e-08, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29390 + }, + { + "epoch": 8.55397148676171, + "flow_matching_loss": 0.016623582411557435, + "grad_norm": 0.11480821669101715, + "learning_rate": 3.290496143740829e-08, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29400 + }, + { + "epoch": 8.556881000872854, + "flow_matching_loss": 0.015875436645001174, + "grad_norm": 0.1022830680012703, + "learning_rate": 3.18194483608103e-08, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29410 + }, + { + "epoch": 8.559790514983998, + "flow_matching_loss": 0.017467066179960966, + "grad_norm": 0.12646785378456116, + "learning_rate": 3.075212303498942e-08, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29420 + }, + { + "epoch": 8.562700029095142, + "flow_matching_loss": 0.02160377809777856, + "grad_norm": 0.20540373027324677, + "learning_rate": 2.9702986756846574e-08, + "loss": 0.0216, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29430 + }, + { + "epoch": 8.565609543206284, + "flow_matching_loss": 0.013038795627653598, + "grad_norm": 0.08625707775354385, + "learning_rate": 2.867204080118202e-08, + "loss": 0.013, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29440 + }, + { + "epoch": 8.568519057317427, + "flow_matching_loss": 0.015203375648707152, + "grad_norm": 0.11435655504465103, + "learning_rate": 2.7659286420693708e-08, + "loss": 0.0152, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29450 + }, + { + "epoch": 8.571428571428571, + "flow_matching_loss": 0.019364334642887115, + "grad_norm": 0.23616522550582886, + "learning_rate": 2.6664724845968934e-08, + "loss": 0.0194, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29460 + }, + { + "epoch": 8.574338085539715, + "flow_matching_loss": 0.01671108352020383, + "grad_norm": 0.08585438132286072, + "learning_rate": 2.5688357285499343e-08, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29470 + }, + { + "epoch": 8.577247599650859, + "flow_matching_loss": 0.016443801391869784, + "grad_norm": 0.09351510554552078, + "learning_rate": 2.473018492565926e-08, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29480 + }, + { + "epoch": 8.580157113762002, + "flow_matching_loss": 0.017506261821836233, + "grad_norm": 0.10526628792285919, + "learning_rate": 2.3790208930720702e-08, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29490 + }, + { + "epoch": 8.583066627873146, + "flow_matching_loss": 0.017083605471998452, + "grad_norm": 0.12500633299350739, + "learning_rate": 2.2868430442843368e-08, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29500 + }, + { + "epoch": 8.585976141984288, + "flow_matching_loss": 0.016086986009031534, + "grad_norm": 0.10795081406831741, + "learning_rate": 2.196485058207298e-08, + "loss": 0.0161, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29510 + }, + { + "epoch": 8.588885656095432, + "flow_matching_loss": 0.01670957924798131, + "grad_norm": 0.10210143774747849, + "learning_rate": 2.1079470446346282e-08, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29520 + }, + { + "epoch": 8.591795170206575, + "flow_matching_loss": 0.01654137745499611, + "grad_norm": 0.08508699387311935, + "learning_rate": 2.0212291111482707e-08, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29530 + }, + { + "epoch": 8.594704684317719, + "flow_matching_loss": 0.01786104030907154, + "grad_norm": 0.09902411699295044, + "learning_rate": 1.9363313631187707e-08, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29540 + }, + { + "epoch": 8.597614198428863, + "flow_matching_loss": 0.015072743315249682, + "grad_norm": 0.11693890392780304, + "learning_rate": 1.853253903704777e-08, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29550 + }, + { + "epoch": 8.600523712540006, + "flow_matching_loss": 0.018289112765341998, + "grad_norm": 0.11471894383430481, + "learning_rate": 1.7719968338533733e-08, + "loss": 0.0183, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29560 + }, + { + "epoch": 8.603433226651148, + "flow_matching_loss": 0.015851623471826316, + "grad_norm": 0.10598555952310562, + "learning_rate": 1.6925602522992467e-08, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29570 + }, + { + "epoch": 8.606342740762292, + "flow_matching_loss": 0.019179785810410976, + "grad_norm": 0.10536330193281174, + "learning_rate": 1.6149442555658533e-08, + "loss": 0.0192, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29580 + }, + { + "epoch": 8.609252254873436, + "flow_matching_loss": 0.016321760881692172, + "grad_norm": 0.10319129377603531, + "learning_rate": 1.5391489379635858e-08, + "loss": 0.0163, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29590 + }, + { + "epoch": 8.61216176898458, + "flow_matching_loss": 0.017313531041145323, + "grad_norm": 0.1075555756688118, + "learning_rate": 1.4651743915909399e-08, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29600 + }, + { + "epoch": 8.615071283095723, + "flow_matching_loss": 0.016392960771918298, + "grad_norm": 0.102397121489048, + "learning_rate": 1.3930207063340139e-08, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29610 + }, + { + "epoch": 8.617980797206867, + "flow_matching_loss": 0.017392058577388524, + "grad_norm": 0.106986403465271, + "learning_rate": 1.322687969866343e-08, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29620 + }, + { + "epoch": 8.62089031131801, + "flow_matching_loss": 0.017472144775092603, + "grad_norm": 0.13303199410438538, + "learning_rate": 1.2541762676488989e-08, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29630 + }, + { + "epoch": 8.623799825429153, + "flow_matching_loss": 0.017429826129227877, + "grad_norm": 0.10979532450437546, + "learning_rate": 1.1874856829297564e-08, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29640 + }, + { + "epoch": 8.626709339540296, + "flow_matching_loss": 0.016413062810897827, + "grad_norm": 0.1279127597808838, + "learning_rate": 1.1226162967442611e-08, + "loss": 0.0164, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29650 + }, + { + "epoch": 8.62961885365144, + "flow_matching_loss": 0.015360698197036981, + "grad_norm": 0.10647371411323547, + "learning_rate": 1.059568187914861e-08, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29660 + }, + { + "epoch": 8.632528367762584, + "flow_matching_loss": 0.015120465122163296, + "grad_norm": 0.10401125997304916, + "learning_rate": 9.983414330511087e-09, + "loss": 0.0151, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29670 + }, + { + "epoch": 8.635437881873727, + "flow_matching_loss": 0.017355920840054752, + "grad_norm": 0.11396359652280807, + "learning_rate": 9.389361065489932e-09, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29680 + }, + { + "epoch": 8.638347395984871, + "flow_matching_loss": 0.017067883908748627, + "grad_norm": 0.11630044877529144, + "learning_rate": 8.81352280591774e-09, + "loss": 0.0171, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29690 + }, + { + "epoch": 8.641256910096015, + "flow_matching_loss": 0.018241239618510006, + "grad_norm": 0.1116955503821373, + "learning_rate": 8.255900251491478e-09, + "loss": 0.0182, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29700 + }, + { + "epoch": 8.644166424207157, + "flow_matching_loss": 0.016828664857894183, + "grad_norm": 0.11785730719566345, + "learning_rate": 7.716494079775816e-09, + "loss": 0.0168, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29710 + }, + { + "epoch": 8.6470759383183, + "flow_matching_loss": 0.015438307821750642, + "grad_norm": 0.10720957070589066, + "learning_rate": 7.195304946199799e-09, + "loss": 0.0154, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29720 + }, + { + "epoch": 8.649985452429444, + "flow_matching_loss": 0.01674095094203949, + "grad_norm": 0.12195885926485062, + "learning_rate": 6.692333484056845e-09, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29730 + }, + { + "epoch": 8.652894966540588, + "flow_matching_loss": 0.014767872076481581, + "grad_norm": 0.1166924387216568, + "learning_rate": 6.207580304506411e-09, + "loss": 0.0148, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29740 + }, + { + "epoch": 8.655804480651732, + "flow_matching_loss": 0.017811968456953764, + "grad_norm": 0.13064366579055786, + "learning_rate": 5.741045996567329e-09, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29750 + }, + { + "epoch": 8.658713994762875, + "flow_matching_loss": 0.017235432285815477, + "grad_norm": 0.10809650272130966, + "learning_rate": 5.2927311271244725e-09, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29760 + }, + { + "epoch": 8.661623508874017, + "flow_matching_loss": 0.017243807017803193, + "grad_norm": 0.11230509728193283, + "learning_rate": 4.8626362409204265e-09, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29770 + }, + { + "epoch": 8.664533022985161, + "flow_matching_loss": 0.017356294393539428, + "grad_norm": 0.09828793257474899, + "learning_rate": 4.4507618605638126e-09, + "loss": 0.0174, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29780 + }, + { + "epoch": 8.667442537096305, + "flow_matching_loss": 0.01662429589778185, + "grad_norm": 0.09579647332429886, + "learning_rate": 4.057108486519301e-09, + "loss": 0.0166, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29790 + }, + { + "epoch": 8.670352051207448, + "flow_matching_loss": 0.017234774213284253, + "grad_norm": 0.08981339633464813, + "learning_rate": 3.6816765971126043e-09, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29800 + }, + { + "epoch": 8.673261565318592, + "flow_matching_loss": 0.01758427480235696, + "grad_norm": 0.13319242000579834, + "learning_rate": 3.324466648528812e-09, + "loss": 0.0176, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29810 + }, + { + "epoch": 8.676171079429736, + "flow_matching_loss": 0.015855715982615946, + "grad_norm": 0.13636445999145508, + "learning_rate": 2.9854790748123917e-09, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29820 + }, + { + "epoch": 8.67908059354088, + "flow_matching_loss": 0.016472129337489604, + "grad_norm": 0.1126306802034378, + "learning_rate": 2.664714287865522e-09, + "loss": 0.0165, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29830 + }, + { + "epoch": 8.681990107652021, + "flow_matching_loss": 0.017264990694820882, + "grad_norm": 0.11386274546384811, + "learning_rate": 2.362172677446428e-09, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29840 + }, + { + "epoch": 8.684899621763165, + "flow_matching_loss": 0.01727754110470414, + "grad_norm": 0.10973042994737625, + "learning_rate": 2.0778546111727137e-09, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29850 + }, + { + "epoch": 8.687809135874309, + "flow_matching_loss": 0.017887166887521743, + "grad_norm": 0.08964318037033081, + "learning_rate": 1.811760434516363e-09, + "loss": 0.0179, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29860 + }, + { + "epoch": 8.690718649985453, + "flow_matching_loss": 0.015700911357998847, + "grad_norm": 0.10601167380809784, + "learning_rate": 1.5638904708087377e-09, + "loss": 0.0157, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29870 + }, + { + "epoch": 8.693628164096596, + "flow_matching_loss": 0.017241763509809972, + "grad_norm": 0.11662076413631439, + "learning_rate": 1.3342450212355805e-09, + "loss": 0.0172, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29880 + }, + { + "epoch": 8.69653767820774, + "flow_matching_loss": 0.01753797512501478, + "grad_norm": 0.10041908919811249, + "learning_rate": 1.122824364835351e-09, + "loss": 0.0175, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29890 + }, + { + "epoch": 8.699447192318882, + "flow_matching_loss": 0.01728819590061903, + "grad_norm": 0.0841277688741684, + "learning_rate": 9.296287585042196e-10, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29900 + }, + { + "epoch": 8.702356706430026, + "flow_matching_loss": 0.016726281307637692, + "grad_norm": 0.09148367494344711, + "learning_rate": 7.546584369960697e-10, + "loss": 0.0167, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29910 + }, + { + "epoch": 8.70526622054117, + "flow_matching_loss": 0.017773915361613036, + "grad_norm": 0.08901511132717133, + "learning_rate": 5.97913612912504e-10, + "loss": 0.0178, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29920 + }, + { + "epoch": 8.708175734652313, + "flow_matching_loss": 0.01960284197703004, + "grad_norm": 0.1527182161808014, + "learning_rate": 4.593944767161684e-10, + "loss": 0.0196, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29930 + }, + { + "epoch": 8.711085248763457, + "flow_matching_loss": 0.017332135792821647, + "grad_norm": 0.09716194123029709, + "learning_rate": 3.391011967207591e-10, + "loss": 0.0173, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29940 + }, + { + "epoch": 8.7139947628746, + "flow_matching_loss": 0.017678470350801945, + "grad_norm": 0.11446421593427658, + "learning_rate": 2.370339190910231e-10, + "loss": 0.0177, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29950 + }, + { + "epoch": 8.716904276985744, + "flow_matching_loss": 0.015884632337838413, + "grad_norm": 0.10953482985496521, + "learning_rate": 1.531927678510847e-10, + "loss": 0.0159, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29960 + }, + { + "epoch": 8.719813791096886, + "flow_matching_loss": 0.01693425131961703, + "grad_norm": 0.12641780078411102, + "learning_rate": 8.757784487611886e-11, + "loss": 0.0169, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29970 + }, + { + "epoch": 8.72272330520803, + "flow_matching_loss": 0.015845102537423373, + "grad_norm": 0.11047668755054474, + "learning_rate": 4.018922989235119e-11, + "loss": 0.0158, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29980 + }, + { + "epoch": 8.725632819319173, + "flow_matching_loss": 0.015486717782914638, + "grad_norm": 0.10562677681446075, + "learning_rate": 1.1026980482053972e-11, + "loss": 0.0155, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 29990 + }, + { + "epoch": 8.728542333430317, + "flow_matching_loss": 0.01473097112029791, + "grad_norm": 0.11666766554117203, + "learning_rate": 9.113208188082922e-14, + "loss": 0.0147, + "rkd_action_temp": 0.05000000074505806, + "rkd_loss": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.05000000074505806, + "step": 30000 + }, + { + "epoch": 8.728542333430317, + "step": 30000, + "total_flos": 0.0, + "train_loss": 0.02200689406643311, + "train_runtime": 50144.8439, + "train_samples_per_second": 76.578, + "train_steps_per_second": 0.598 + } + ], + "logging_steps": 10, + "max_steps": 30000, + "num_input_tokens_seen": 0, + "num_train_epochs": 9, + "save_steps": 1, + "stateful_callbacks": { + "TrainerControl": { + "args": { + "should_epoch_stop": false, + "should_evaluate": false, + "should_log": false, + "should_save": false, + "should_training_stop": false + }, + "attributes": {} + } + }, + "total_flos": 0.0, + "train_batch_size": 64, + "trial_name": null, + "trial_params": null +} diff --git a/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/training_args.bin b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/training_args.bin new file mode 100644 index 0000000000000000000000000000000000000000..b2dafbeed8d6e8039a8451680ee5ccb76c2b9cc7 --- /dev/null +++ b/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3/training_args.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd20340796f6971aa7114a9eb7e380d2724deab90b2c440087f0741755d65dd5 +size 5905 diff --git a/RKD_Processing_line_Only/dit_core_only/train.log b/RKD_Processing_line_Only/dit_core_only/train.log index 3a140fcf4348041fbb77bcc89c65b3b4af47df1d..86e38d9408f41f95eee43789edce401f36e67fc8 100644 --- a/RKD_Processing_line_Only/dit_core_only/train.log +++ b/RKD_Processing_line_Only/dit_core_only/train.log @@ -691,4 +691,4277 @@ Could not estimate the number of tokens of the input, floating-point operations 7%|▋ | 2070/30000 [58:41<12:52:06, 1.66s/it] 7%|▋ | 2071/30000 [58:43<12:56:12, 1.67s/it] 7%|▋ | 2072/30000 [58:44<12:54:53, 1.66s/it] 7%|▋ | 2073/30000 [58:46<12:56:25, 1.67s/it] 7%|▋ | 2074/30000 [58:48<12:53:55, 1.66s/it] 7%|▋ | 2075/30000 [58:49<12:53:11, 1.66s/it] 7%|▋ | 2076/30000 [58:51<12:54:34, 1.66s/it] 7%|▋ | 2077/30000 [58:53<12:52:52, 1.66s/it] 7%|▋ | 2078/30000 [58:54<12:53:37, 1.66s/it] 7%|▋ | 2079/30000 [58:56<12:53:33, 1.66s/it] 7%|▋ | 2080/30000 [58:58<12:52:49, 1.66s/it] {'loss': 0.0263, 'grad_norm': 0.17407727241516113, 'learning_rate': 2.9969459159385562e-05, 'flow_matching_loss': 0.026292633451521396, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.61} 7%|▋ | 2080/30000 [58:58<12:52:49, 1.66s/it] 7%|▋ | 2081/30000 [58:59<12:53:23, 1.66s/it] 7%|▋ | 2082/30000 [59:01<12:52:19, 1.66s/it] 7%|▋ | 2083/30000 [59:03<12:52:22, 1.66s/it] 7%|▋ | 2084/30000 [59:04<12:52:01, 1.66s/it] 7%|▋ | 2085/30000 [59:06<12:51:28, 1.66s/it] 7%|▋ | 2086/30000 [59:08<12:54:02, 1.66s/it] 7%|▋ | 2087/30000 [59:09<12:53:30, 1.66s/it] 7%|▋ | 2088/30000 [59:11<12:53:00, 1.66s/it] 7%|▋ | 2089/30000 [59:13<12:51:46, 1.66s/it] 7%|▋ | 2090/30000 [59:14<12:51:08, 1.66s/it] {'loss': 0.0306, 'grad_norm': 0.212941512465477, 'learning_rate': 2.9968395471766237e-05, 'flow_matching_loss': 0.03063387591391802, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.61} 7%|▋ | 2090/30000 [59:14<12:51:08, 1.66s/it] 7%|▋ | 2091/30000 [59:16<12:53:03, 1.66s/it] 7%|▋ | 2092/30000 [59:18<12:55:56, 1.67s/it] 7%|▋ | 2093/30000 [59:19<12:56:34, 1.67s/it] 7%|▋ | 2094/30000 [59:21<12:55:27, 1.67s/it] 7%|▋ | 2095/30000 [59:23<12:56:39, 1.67s/it] 7%|▋ | 2096/30000 [59:24<12:56:52, 1.67s/it] 7%|▋ | 2097/30000 [59:26<12:56:51, 1.67s/it] 7%|▋ | 2098/30000 [59:28<12:57:38, 1.67s/it] 7%|▋ | 2099/30000 [59:29<12:55:21, 1.67s/it] 7%|▋ | 2100/30000 [59:31<12:55:55, 1.67s/it] {'loss': 0.0291, 'grad_norm': 0.12703050673007965, 'learning_rate': 2.996731359613498e-05, 'flow_matching_loss': 0.029082266427576543, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.61} - 7%|▋ | 2100/30000 [59:31<12:55:55, 1.67s/it] \ No newline at end of file + 7%|▋ | 2100/30000 [59:31<12:55:55, 1.67s/it] 7%|▋ | 2101/30000 [59:33<12:55:15, 1.67s/it] 7%|▋ | 2102/30000 [59:34<12:54:48, 1.67s/it] 7%|▋ | 2103/30000 [59:36<12:53:25, 1.66s/it] 7%|▋ | 2104/30000 [59:38<12:53:15, 1.66s/it] 7%|▋ | 2105/30000 [59:39<12:52:20, 1.66s/it] 7%|▋ | 2106/30000 [59:41<12:52:28, 1.66s/it] 7%|▋ | 2107/30000 [59:43<12:53:29, 1.66s/it] 7%|▋ | 2108/30000 [59:44<12:53:43, 1.66s/it] 7%|▋ | 2109/30000 [59:46<12:52:49, 1.66s/it] 7%|▋ | 2110/30000 [59:48<12:52:47, 1.66s/it] {'loss': 0.0273, 'grad_norm': 0.16399694979190826, 'learning_rate': 2.996621353380638e-05, 'flow_matching_loss': 0.027291298285126685, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.61} + 7%|▋ | 2110/30000 [59:48<12:52:47, 1.66s/it] 7%|▋ | 2111/30000 [59:49<12:51:57, 1.66s/it] 7%|▋ | 2112/30000 [59:51<12:53:08, 1.66s/it] 7%|▋ | 2113/30000 [59:53<12:52:16, 1.66s/it] 7%|▋ | 2114/30000 [59:54<12:51:41, 1.66s/it] 7%|▋ | 2115/30000 [59:56<12:51:00, 1.66s/it] 7%|▋ | 2116/30000 [59:57<12:50:39, 1.66s/it] 7%|▋ | 2117/30000 [59:59<12:50:22, 1.66s/it] 7%|▋ | 2118/30000 [1:00:01<12:50:24, 1.66s/it] 7%|▋ | 2119/30000 [1:00:02<12:51:47, 1.66s/it] 7%|▋ | 2120/30000 [1:00:04<12:52:53, 1.66s/it] {'loss': 0.0279, 'grad_norm': 0.18128059804439545, 'learning_rate': 2.9965095286117113e-05, 'flow_matching_loss': 0.02792246490716934, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.62} + 7%|▋ | 2120/30000 [1:00:04<12:52:53, 1.66s/it] 7%|▋ | 2121/30000 [1:00:06<12:52:56, 1.66s/it] 7%|▋ | 2122/30000 [1:00:07<12:52:48, 1.66s/it] 7%|▋ | 2123/30000 [1:00:09<12:52:26, 1.66s/it] 7%|▋ | 2124/30000 [1:00:11<12:52:48, 1.66s/it] 7%|▋ | 2125/30000 [1:00:12<12:53:18, 1.66s/it] 7%|▋ | 2126/30000 [1:00:14<12:53:06, 1.66s/it] 7%|▋ | 2127/30000 [1:00:16<12:53:03, 1.66s/it] 7%|▋ | 2128/30000 [1:00:17<12:53:05, 1.66s/it] 7%|▋ | 2129/30000 [1:00:19<12:52:06, 1.66s/it] 7%|▋ | 2130/30000 [1:00:21<12:51:35, 1.66s/it] {'loss': 0.0315, 'grad_norm': 0.15811923146247864, 'learning_rate': 2.996395885442596e-05, 'flow_matching_loss': 0.0315125647932291, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.62} + 7%|▋ | 2130/30000 [1:00:21<12:51:35, 1.66s/it] 7%|▋ | 2131/30000 [1:00:22<12:50:24, 1.66s/it] 7%|▋ | 2132/30000 [1:00:24<12:50:27, 1.66s/it] 7%|▋ | 2133/30000 [1:00:26<12:50:29, 1.66s/it] 7%|▋ | 2134/30000 [1:00:27<12:50:48, 1.66s/it] 7%|▋ | 2135/30000 [1:00:29<12:53:25, 1.67s/it] 7%|▋ | 2136/30000 [1:00:31<12:54:43, 1.67s/it] 7%|▋ | 2137/30000 [1:00:32<12:53:50, 1.67s/it] 7%|▋ | 2138/30000 [1:00:34<12:53:27, 1.67s/it] 7%|▋ | 2139/30000 [1:00:36<12:53:29, 1.67s/it] 7%|▋ | 2140/30000 [1:00:37<12:53:49, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.1827792525291443, 'learning_rate': 2.996280424011379e-05, 'flow_matching_loss': 0.025817509554326535, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.62} + 7%|▋ | 2140/30000 [1:00:37<12:53:49, 1.67s/it] 7%|▋ | 2141/30000 [1:00:39<12:52:46, 1.66s/it] 7%|▋ | 2142/30000 [1:00:41<12:53:12, 1.67s/it] 7%|▋ | 2143/30000 [1:00:42<12:52:31, 1.66s/it] 7%|▋ | 2144/30000 [1:00:44<12:53:31, 1.67s/it] 7%|▋ | 2145/30000 [1:00:46<12:50:20, 1.66s/it] 7%|▋ | 2146/30000 [1:00:47<12:50:34, 1.66s/it] 7%|▋ | 2147/30000 [1:00:49<12:50:40, 1.66s/it] 7%|▋ | 2148/30000 [1:00:51<12:50:50, 1.66s/it] 7%|▋ | 2149/30000 [1:00:52<12:50:18, 1.66s/it] 7%|▋ | 2150/30000 [1:00:54<12:50:55, 1.66s/it] {'loss': 0.0275, 'grad_norm': 0.19883300364017487, 'learning_rate': 2.9961631444583565e-05, 'flow_matching_loss': 0.02754370719194412, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.63} + 7%|▋ | 2150/30000 [1:00:54<12:50:55, 1.66s/it] 7%|▋ | 2151/30000 [1:00:56<12:52:23, 1.66s/it] 7%|▋ | 2152/30000 [1:00:57<12:51:33, 1.66s/it] 7%|▋ | 2153/30000 [1:00:59<12:51:40, 1.66s/it] 7%|▋ | 2154/30000 [1:01:01<12:52:20, 1.66s/it] 7%|▋ | 2155/30000 [1:01:02<12:51:18, 1.66s/it] 7%|▋ | 2156/30000 [1:01:04<12:52:32, 1.66s/it] 7%|▋ | 2157/30000 [1:01:06<12:51:45, 1.66s/it] 7%|▋ | 2158/30000 [1:01:07<12:50:58, 1.66s/it] 7%|▋ | 2159/30000 [1:01:09<12:52:17, 1.66s/it] 7%|▋ | 2160/30000 [1:01:11<12:53:28, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.1541813611984253, 'learning_rate': 2.9960440469260347e-05, 'flow_matching_loss': 0.02583942860364914, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.63} + 7%|▋ | 2160/30000 [1:01:11<12:53:28, 1.67s/it] 7%|▋ | 2161/30000 [1:01:12<12:51:13, 1.66s/it] 7%|▋ | 2162/30000 [1:01:14<12:51:34, 1.66s/it] 7%|▋ | 2163/30000 [1:01:16<12:52:27, 1.66s/it] 7%|▋ | 2164/30000 [1:01:17<12:50:47, 1.66s/it] 7%|▋ | 2165/30000 [1:01:19<12:51:30, 1.66s/it] 7%|▋ | 2166/30000 [1:01:21<12:52:05, 1.66s/it] 7%|▋ | 2167/30000 [1:01:22<12:51:11, 1.66s/it] 7%|▋ | 2168/30000 [1:01:24<12:50:50, 1.66s/it] 7%|▋ | 2169/30000 [1:01:26<12:52:04, 1.66s/it] 7%|▋ | 2170/30000 [1:01:27<12:53:54, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.18629203736782074, 'learning_rate': 2.995923131559128e-05, 'flow_matching_loss': 0.02562258979305625, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.63} + 7%|▋ | 2170/30000 [1:01:27<12:53:54, 1.67s/it] 7%|▋ | 2171/30000 [1:01:29<12:52:14, 1.66s/it] 7%|▋ | 2172/30000 [1:01:31<12:51:54, 1.66s/it] 7%|▋ | 2173/30000 [1:01:32<12:50:16, 1.66s/it] 7%|▋ | 2174/30000 [1:01:34<12:50:12, 1.66s/it] 7%|▋ | 2175/30000 [1:01:36<12:51:12, 1.66s/it] 7%|▋ | 2176/30000 [1:01:37<12:51:51, 1.66s/it] 7%|▋ | 2177/30000 [1:01:39<12:49:01, 1.66s/it] 7%|▋ | 2178/30000 [1:01:41<12:49:42, 1.66s/it] 7%|▋ | 2179/30000 [1:01:42<12:51:09, 1.66s/it] 7%|▋ | 2180/30000 [1:01:44<12:51:22, 1.66s/it] {'loss': 0.0291, 'grad_norm': 0.17690183222293854, 'learning_rate': 2.99580039850456e-05, 'flow_matching_loss': 0.02905263602733612, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.63} + 7%|▋ | 2180/30000 [1:01:44<12:51:22, 1.66s/it] 7%|▋ | 2181/30000 [1:01:46<12:52:07, 1.67s/it] 7%|▋ | 2182/30000 [1:01:47<12:51:51, 1.66s/it] 7%|▋ | 2183/30000 [1:01:49<12:53:57, 1.67s/it] 7%|▋ | 2184/30000 [1:01:51<12:55:15, 1.67s/it] 7%|▋ | 2185/30000 [1:01:52<12:53:17, 1.67s/it] 7%|▋ | 2186/30000 [1:01:54<12:52:28, 1.67s/it] 7%|▋ | 2187/30000 [1:01:56<12:51:46, 1.66s/it] 7%|▋ | 2188/30000 [1:01:57<12:52:54, 1.67s/it] 7%|▋ | 2189/30000 [1:01:59<12:54:42, 1.67s/it] 7%|▋ | 2190/30000 [1:02:01<12:53:59, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.19684338569641113, 'learning_rate': 2.9956758479114635e-05, 'flow_matching_loss': 0.02747125457972288, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.64} + 7%|▋ | 2190/30000 [1:02:01<12:53:59, 1.67s/it] 7%|▋ | 2191/30000 [1:02:02<12:54:52, 1.67s/it] 7%|▋ | 2192/30000 [1:02:04<12:56:34, 1.68s/it] 7%|▋ | 2193/30000 [1:02:06<12:54:51, 1.67s/it] 7%|▋ | 2194/30000 [1:02:07<12:55:13, 1.67s/it] 7%|▋ | 2195/30000 [1:02:09<12:54:37, 1.67s/it] 7%|▋ | 2196/30000 [1:02:11<12:54:26, 1.67s/it] 7%|▋ | 2197/30000 [1:02:12<12:53:20, 1.67s/it] 7%|▋ | 2198/30000 [1:02:14<12:51:51, 1.67s/it] 7%|▋ | 2199/30000 [1:02:16<12:51:11, 1.66s/it] 7%|▋ | 2200/30000 [1:02:17<12:50:21, 1.66s/it] {'loss': 0.0329, 'grad_norm': 0.23796242475509644, 'learning_rate': 2.9955494799311787e-05, 'flow_matching_loss': 0.03288604747503996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.64} + 7%|▋ | 2200/30000 [1:02:17<12:50:21, 1.66s/it] 7%|▋ | 2201/30000 [1:02:19<12:50:27, 1.66s/it] 7%|▋ | 2202/30000 [1:02:21<12:50:49, 1.66s/it] 7%|▋ | 2203/30000 [1:02:22<12:50:05, 1.66s/it] 7%|▋ | 2204/30000 [1:02:24<12:50:55, 1.66s/it] 7%|▋ | 2205/30000 [1:02:26<12:51:07, 1.66s/it] 7%|▋ | 2206/30000 [1:02:27<12:51:10, 1.66s/it] 7%|▋ | 2207/30000 [1:02:29<12:52:15, 1.67s/it] 7%|▋ | 2208/30000 [1:02:31<12:52:04, 1.67s/it] 7%|▋ | 2209/30000 [1:02:32<12:52:54, 1.67s/it] 7%|▋ | 2210/30000 [1:02:34<12:52:37, 1.67s/it] {'loss': 0.0289, 'grad_norm': 0.17322421073913574, 'learning_rate': 2.995421294717254e-05, 'flow_matching_loss': 0.028896312601864337, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.64} + 7%|▋ | 2210/30000 [1:02:34<12:52:37, 1.67s/it] 7%|▋ | 2211/30000 [1:02:36<12:52:41, 1.67s/it] 7%|▋ | 2212/30000 [1:02:37<12:53:21, 1.67s/it] 7%|▋ | 2213/30000 [1:02:39<12:52:39, 1.67s/it] 7%|▋ | 2214/30000 [1:02:41<12:52:25, 1.67s/it] 7%|▋ | 2215/30000 [1:02:42<12:51:42, 1.67s/it] 7%|▋ | 2216/30000 [1:02:44<12:51:43, 1.67s/it] 7%|▋ | 2217/30000 [1:02:46<12:51:22, 1.67s/it] 7%|▋ | 2218/30000 [1:02:47<12:51:22, 1.67s/it] 7%|▋ | 2219/30000 [1:02:49<12:53:13, 1.67s/it] 7%|▋ | 2220/30000 [1:02:51<12:51:12, 1.67s/it] {'loss': 0.0304, 'grad_norm': 0.2029915452003479, 'learning_rate': 2.995291292425448e-05, 'flow_matching_loss': 0.030431535840034486, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.65} + 7%|▋ | 2220/30000 [1:02:51<12:51:12, 1.67s/it] 7%|▋ | 2221/30000 [1:02:52<12:51:56, 1.67s/it] 7%|▋ | 2222/30000 [1:02:54<12:51:13, 1.67s/it] 7%|▋ | 2223/30000 [1:02:56<12:51:47, 1.67s/it] 7%|▋ | 2224/30000 [1:02:57<12:50:39, 1.66s/it] 7%|▋ | 2225/30000 [1:02:59<12:50:12, 1.66s/it] 7%|▋ | 2226/30000 [1:03:01<12:50:06, 1.66s/it] 7%|▋ | 2227/30000 [1:03:02<12:50:46, 1.67s/it] 7%|▋ | 2228/30000 [1:03:04<12:51:31, 1.67s/it] 7%|▋ | 2229/30000 [1:03:06<12:50:13, 1.66s/it] 7%|▋ | 2230/30000 [1:03:07<12:50:37, 1.67s/it] {'loss': 0.0274, 'grad_norm': 0.16157883405685425, 'learning_rate': 2.9951594732137248e-05, 'flow_matching_loss': 0.02741475235670805, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.65} + 7%|▋ | 2230/30000 [1:03:07<12:50:37, 1.67s/it] 7%|▋ | 2231/30000 [1:03:09<12:50:44, 1.67s/it] 7%|▋ | 2232/30000 [1:03:11<12:53:31, 1.67s/it] 7%|▋ | 2233/30000 [1:03:12<12:53:23, 1.67s/it] 7%|▋ | 2234/30000 [1:03:14<12:54:44, 1.67s/it] 7%|▋ | 2235/30000 [1:03:16<12:54:11, 1.67s/it] 7%|▋ | 2236/30000 [1:03:17<12:53:05, 1.67s/it] 7%|▋ | 2237/30000 [1:03:19<12:53:48, 1.67s/it] 7%|▋ | 2238/30000 [1:03:21<12:52:37, 1.67s/it] 7%|▋ | 2239/30000 [1:03:22<12:52:11, 1.67s/it] 7%|▋ | 2240/30000 [1:03:24<12:50:31, 1.67s/it] {'loss': 0.0283, 'grad_norm': 0.18866609036922455, 'learning_rate': 2.995025837242257e-05, 'flow_matching_loss': 0.028311889618635178, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.65} + 7%|▋ | 2240/30000 [1:03:24<12:50:31, 1.67s/it] 7%|▋ | 2241/30000 [1:03:26<12:50:59, 1.67s/it] 7%|▋ | 2242/30000 [1:03:27<12:52:20, 1.67s/it] 7%|▋ | 2243/30000 [1:03:29<12:52:27, 1.67s/it] 7%|▋ | 2244/30000 [1:03:31<12:52:36, 1.67s/it] 7%|▋ | 2245/30000 [1:03:32<12:50:48, 1.67s/it] 7%|▋ | 2246/30000 [1:03:34<12:50:11, 1.67s/it] 7%|▋ | 2247/30000 [1:03:36<12:50:03, 1.66s/it] 7%|▋ | 2248/30000 [1:03:37<12:49:24, 1.66s/it] 7%|▋ | 2249/30000 [1:03:39<12:49:11, 1.66s/it] 8%|▊ | 2250/30000 [1:03:41<12:50:13, 1.67s/it] {'loss': 0.0301, 'grad_norm': 0.16682185232639313, 'learning_rate': 2.994890384673426e-05, 'flow_matching_loss': 0.0301102789118886, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.65} + 8%|▊ | 2250/30000 [1:03:41<12:50:13, 1.67s/it] 8%|▊ | 2251/30000 [1:03:42<12:52:17, 1.67s/it] 8%|▊ | 2252/30000 [1:03:44<12:50:31, 1.67s/it] 8%|▊ | 2253/30000 [1:03:46<12:50:45, 1.67s/it] 8%|▊ | 2254/30000 [1:03:47<12:51:09, 1.67s/it] 8%|▊ | 2255/30000 [1:03:49<12:50:24, 1.67s/it] 8%|▊ | 2256/30000 [1:03:51<12:51:28, 1.67s/it] 8%|▊ | 2257/30000 [1:03:52<12:50:46, 1.67s/it] 8%|▊ | 2258/30000 [1:03:54<12:50:02, 1.67s/it] 8%|▊ | 2259/30000 [1:03:56<12:50:02, 1.67s/it] 8%|▊ | 2260/30000 [1:03:57<12:51:41, 1.67s/it] {'loss': 0.0303, 'grad_norm': 0.1467481553554535, 'learning_rate': 2.9947531156718174e-05, 'flow_matching_loss': 0.030332158505916595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.66} + 8%|▊ | 2260/30000 [1:03:57<12:51:41, 1.67s/it] 8%|▊ | 2261/30000 [1:03:59<12:52:07, 1.67s/it] 8%|▊ | 2262/30000 [1:04:01<12:52:00, 1.67s/it] 8%|▊ | 2263/30000 [1:04:02<12:51:59, 1.67s/it] 8%|▊ | 2264/30000 [1:04:04<12:51:59, 1.67s/it] 8%|▊ | 2265/30000 [1:04:06<12:50:31, 1.67s/it] 8%|▊ | 2266/30000 [1:04:07<12:49:51, 1.67s/it] 8%|▊ | 2267/30000 [1:04:09<12:48:58, 1.66s/it] 8%|▊ | 2268/30000 [1:04:11<12:50:30, 1.67s/it] 8%|▊ | 2269/30000 [1:04:12<12:50:08, 1.67s/it] 8%|▊ | 2270/30000 [1:04:14<12:50:40, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.15117692947387695, 'learning_rate': 2.994614030404228e-05, 'flow_matching_loss': 0.02820594385266304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.66} + 8%|▊ | 2270/30000 [1:04:14<12:50:40, 1.67s/it] 8%|▊ | 2271/30000 [1:04:16<12:49:48, 1.67s/it] 8%|▊ | 2272/30000 [1:04:17<12:50:27, 1.67s/it] 8%|▊ | 2273/30000 [1:04:19<12:50:58, 1.67s/it] 8%|▊ | 2274/30000 [1:04:21<12:52:00, 1.67s/it] 8%|▊ | 2275/30000 [1:04:22<12:50:47, 1.67s/it] 8%|▊ | 2276/30000 [1:04:24<12:50:50, 1.67s/it] 8%|▊ | 2277/30000 [1:04:26<12:51:34, 1.67s/it] 8%|▊ | 2278/30000 [1:04:27<12:50:21, 1.67s/it] 8%|▊ | 2279/30000 [1:04:29<12:51:02, 1.67s/it] 8%|▊ | 2280/30000 [1:04:31<12:51:00, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.19849194586277008, 'learning_rate': 2.994473129039659e-05, 'flow_matching_loss': 0.02519326824694872, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.66} + 8%|▊ | 2280/30000 [1:04:31<12:51:00, 1.67s/it] 8%|▊ | 2281/30000 [1:04:32<12:50:13, 1.67s/it] 8%|▊ | 2282/30000 [1:04:34<12:49:35, 1.67s/it] 8%|▊ | 2283/30000 [1:04:36<12:49:41, 1.67s/it] 8%|▊ | 2284/30000 [1:04:37<12:52:51, 1.67s/it] 8%|▊ | 2285/30000 [1:04:39<12:51:33, 1.67s/it] 8%|▊ | 2286/30000 [1:04:41<12:49:50, 1.67s/it] 8%|▊ | 2287/30000 [1:04:42<12:49:40, 1.67s/it] 8%|▊ | 2288/30000 [1:04:44<12:49:46, 1.67s/it] 8%|▊ | 2289/30000 [1:04:46<12:49:31, 1.67s/it] 8%|▊ | 2290/30000 [1:04:47<12:49:03, 1.67s/it] {'loss': 0.0278, 'grad_norm': 0.17924760282039642, 'learning_rate': 2.9943304117493183e-05, 'flow_matching_loss': 0.027754554711282253, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.67} + 8%|▊ | 2290/30000 [1:04:47<12:49:03, 1.67s/it] 8%|▊ | 2291/30000 [1:04:49<12:51:11, 1.67s/it] 8%|▊ | 2292/30000 [1:04:51<12:51:13, 1.67s/it] 8%|▊ | 2293/30000 [1:04:52<12:49:01, 1.67s/it] 8%|▊ | 2294/30000 [1:04:54<12:48:39, 1.66s/it] 8%|▊ | 2295/30000 [1:04:56<12:50:10, 1.67s/it] 8%|▊ | 2296/30000 [1:04:57<12:49:51, 1.67s/it] 8%|▊ | 2297/30000 [1:04:59<12:50:25, 1.67s/it] 8%|▊ | 2298/30000 [1:05:01<12:52:00, 1.67s/it] 8%|▊ | 2299/30000 [1:05:02<12:51:21, 1.67s/it] 8%|▊ | 2300/30000 [1:05:04<12:49:12, 1.67s/it] {'loss': 0.0296, 'grad_norm': 0.231113463640213, 'learning_rate': 2.9941858787066207e-05, 'flow_matching_loss': 0.02957642376422882, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.67} + 8%|▊ | 2300/30000 [1:05:04<12:49:12, 1.67s/it] 8%|▊ | 2301/30000 [1:05:06<12:48:47, 1.67s/it] 8%|▊ | 2302/30000 [1:05:07<12:48:09, 1.66s/it] 8%|▊ | 2303/30000 [1:05:09<12:48:40, 1.67s/it] 8%|▊ | 2304/30000 [1:05:11<12:49:38, 1.67s/it] 8%|▊ | 2305/30000 [1:05:12<12:48:29, 1.66s/it] 8%|▊ | 2306/30000 [1:05:14<12:48:23, 1.66s/it] 8%|▊ | 2307/30000 [1:05:16<12:49:21, 1.67s/it] 8%|▊ | 2308/30000 [1:05:17<12:50:11, 1.67s/it] 8%|▊ | 2309/30000 [1:05:19<12:51:06, 1.67s/it] 8%|▊ | 2310/30000 [1:05:21<12:51:53, 1.67s/it] {'loss': 0.0293, 'grad_norm': 0.16740520298480988, 'learning_rate': 2.9940395300871888e-05, 'flow_matching_loss': 0.029313593357801437, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.67} + 8%|▊ | 2310/30000 [1:05:21<12:51:53, 1.67s/it] 8%|▊ | 2311/30000 [1:05:22<12:53:22, 1.68s/it] 8%|▊ | 2312/30000 [1:05:24<12:53:42, 1.68s/it] 8%|▊ | 2313/30000 [1:05:26<12:53:36, 1.68s/it] 8%|▊ | 2314/30000 [1:05:27<12:50:52, 1.67s/it] 8%|▊ | 2315/30000 [1:05:29<12:51:27, 1.67s/it] 8%|▊ | 2316/30000 [1:05:31<12:48:49, 1.67s/it] 8%|▊ | 2317/30000 [1:05:32<12:46:52, 1.66s/it] 8%|▊ | 2318/30000 [1:05:34<12:47:10, 1.66s/it] 8%|▊ | 2319/30000 [1:05:36<12:47:40, 1.66s/it] 8%|▊ | 2320/30000 [1:05:37<12:49:54, 1.67s/it] {'loss': 0.0277, 'grad_norm': 0.1939052790403366, 'learning_rate': 2.993891366068849e-05, 'flow_matching_loss': 0.02773402612656355, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.68} + 8%|▊ | 2320/30000 [1:05:37<12:49:54, 1.67s/it] 8%|▊ | 2321/30000 [1:05:39<12:47:49, 1.66s/it] 8%|▊ | 2322/30000 [1:05:41<12:48:23, 1.67s/it] 8%|▊ | 2323/30000 [1:05:42<12:47:41, 1.66s/it] 8%|▊ | 2324/30000 [1:05:44<12:48:54, 1.67s/it] 8%|▊ | 2325/30000 [1:05:46<12:49:10, 1.67s/it] 8%|▊ | 2326/30000 [1:05:47<12:48:31, 1.67s/it] 8%|▊ | 2327/30000 [1:05:49<12:47:21, 1.66s/it] 8%|▊ | 2328/30000 [1:05:51<12:47:30, 1.66s/it] 8%|▊ | 2329/30000 [1:05:52<12:47:50, 1.66s/it] 8%|▊ | 2330/30000 [1:05:54<12:47:23, 1.66s/it] {'loss': 0.0312, 'grad_norm': 0.15261206030845642, 'learning_rate': 2.993741386831634e-05, 'flow_matching_loss': 0.03116530142724514, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.68} + 8%|▊ | 2330/30000 [1:05:54<12:47:23, 1.66s/it] 8%|▊ | 2331/30000 [1:05:56<12:49:01, 1.67s/it] 8%|▊ | 2332/30000 [1:05:57<12:48:33, 1.67s/it] 8%|▊ | 2333/30000 [1:05:59<12:50:01, 1.67s/it] 8%|▊ | 2334/30000 [1:06:01<12:49:32, 1.67s/it] 8%|▊ | 2335/30000 [1:06:02<12:49:00, 1.67s/it] 8%|▊ | 2336/30000 [1:06:04<12:48:23, 1.67s/it] 8%|▊ | 2337/30000 [1:06:06<12:47:55, 1.67s/it] 8%|▊ | 2338/30000 [1:06:07<12:50:37, 1.67s/it] 8%|▊ | 2339/30000 [1:06:09<12:49:21, 1.67s/it] 8%|▊ | 2340/30000 [1:06:11<12:48:32, 1.67s/it] {'loss': 0.0261, 'grad_norm': 0.16734610497951508, 'learning_rate': 2.9935895925577837e-05, 'flow_matching_loss': 0.02611561454832554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.68} + 8%|▊ | 2340/30000 [1:06:11<12:48:32, 1.67s/it] 8%|▊ | 2341/30000 [1:06:12<12:49:01, 1.67s/it] 8%|▊ | 2342/30000 [1:06:14<12:49:11, 1.67s/it] 8%|▊ | 2343/30000 [1:06:16<12:48:14, 1.67s/it] 8%|▊ | 2344/30000 [1:06:17<12:48:52, 1.67s/it] 8%|▊ | 2345/30000 [1:06:19<12:50:03, 1.67s/it] 8%|▊ | 2346/30000 [1:06:21<12:49:14, 1.67s/it] 8%|▊ | 2347/30000 [1:06:22<12:47:23, 1.67s/it] 8%|▊ | 2348/30000 [1:06:24<12:48:35, 1.67s/it] 8%|▊ | 2349/30000 [1:06:26<12:49:47, 1.67s/it] 8%|▊ | 2350/30000 [1:06:27<12:49:16, 1.67s/it] {'loss': 0.0314, 'grad_norm': 0.1411180943250656, 'learning_rate': 2.9934359834317425e-05, 'flow_matching_loss': 0.03144133016467095, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.68} + 8%|▊ | 2350/30000 [1:06:27<12:49:16, 1.67s/it] 8%|▊ | 2351/30000 [1:06:29<12:49:01, 1.67s/it] 8%|▊ | 2352/30000 [1:06:31<12:50:15, 1.67s/it] 8%|▊ | 2353/30000 [1:06:32<12:48:59, 1.67s/it] 8%|▊ | 2354/30000 [1:06:34<12:47:56, 1.67s/it] 8%|▊ | 2355/30000 [1:06:36<12:48:16, 1.67s/it] 8%|▊ | 2356/30000 [1:06:37<12:46:12, 1.66s/it] 8%|▊ | 2357/30000 [1:06:39<12:49:43, 1.67s/it] 8%|▊ | 2358/30000 [1:06:41<12:48:54, 1.67s/it] 8%|▊ | 2359/30000 [1:06:42<12:49:36, 1.67s/it] 8%|▊ | 2360/30000 [1:06:44<12:51:17, 1.67s/it] {'loss': 0.0291, 'grad_norm': 0.15346789360046387, 'learning_rate': 2.993280559640159e-05, 'flow_matching_loss': 0.02908557765185833, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.69} + 8%|▊ | 2360/30000 [1:06:44<12:51:17, 1.67s/it] 8%|▊ | 2361/30000 [1:06:46<12:49:05, 1.67s/it] 8%|▊ | 2362/30000 [1:06:47<12:51:05, 1.67s/it] 8%|▊ | 2363/30000 [1:06:49<12:51:30, 1.67s/it] 8%|▊ | 2364/30000 [1:06:51<12:50:03, 1.67s/it] 8%|▊ | 2365/30000 [1:06:52<12:50:21, 1.67s/it] 8%|▊ | 2366/30000 [1:06:54<12:49:15, 1.67s/it] 8%|▊ | 2367/30000 [1:06:56<12:50:30, 1.67s/it] 8%|▊ | 2368/30000 [1:06:58<12:50:27, 1.67s/it] 8%|▊ | 2369/30000 [1:06:59<12:50:07, 1.67s/it] 8%|▊ | 2370/30000 [1:07:01<12:48:51, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.15024155378341675, 'learning_rate': 2.9931233213718887e-05, 'flow_matching_loss': 0.02753601986914873, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.69} + 8%|▊ | 2370/30000 [1:07:01<12:48:51, 1.67s/it] 8%|▊ | 2371/30000 [1:07:03<12:50:00, 1.67s/it] 8%|▊ | 2372/30000 [1:07:04<12:48:43, 1.67s/it] 8%|▊ | 2373/30000 [1:07:06<12:47:59, 1.67s/it] 8%|▊ | 2374/30000 [1:07:08<12:46:50, 1.67s/it] 8%|▊ | 2375/30000 [1:07:09<12:46:17, 1.66s/it] 8%|▊ | 2376/30000 [1:07:11<12:47:23, 1.67s/it] 8%|▊ | 2377/30000 [1:07:13<12:47:23, 1.67s/it] 8%|▊ | 2378/30000 [1:07:14<12:46:17, 1.66s/it] 8%|▊ | 2379/30000 [1:07:16<12:47:17, 1.67s/it] 8%|▊ | 2380/30000 [1:07:18<12:48:12, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.15398871898651123, 'learning_rate': 2.992964268817991e-05, 'flow_matching_loss': 0.027546766959130765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.69} + 8%|▊ | 2380/30000 [1:07:18<12:48:12, 1.67s/it] 8%|▊ | 2381/30000 [1:07:19<12:48:00, 1.67s/it] 8%|▊ | 2382/30000 [1:07:21<12:46:22, 1.66s/it] 8%|▊ | 2383/30000 [1:07:23<12:46:21, 1.66s/it] 8%|▊ | 2384/30000 [1:07:24<12:44:45, 1.66s/it] 8%|▊ | 2385/30000 [1:07:26<12:45:10, 1.66s/it] 8%|▊ | 2386/30000 [1:07:27<12:45:27, 1.66s/it] 8%|▊ | 2387/30000 [1:07:29<12:44:56, 1.66s/it] 8%|▊ | 2388/30000 [1:07:31<12:46:08, 1.66s/it] 8%|▊ | 2389/30000 [1:07:32<12:44:26, 1.66s/it] 8%|▊ | 2390/30000 [1:07:34<12:45:40, 1.66s/it] {'loss': 0.0279, 'grad_norm': 0.11516205221414566, 'learning_rate': 2.9928034021717286e-05, 'flow_matching_loss': 0.027949385717511176, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.7} + 8%|▊ | 2390/30000 [1:07:34<12:45:40, 1.66s/it] 8%|▊ | 2391/30000 [1:07:36<12:47:02, 1.67s/it] 8%|▊ | 2392/30000 [1:07:37<12:46:07, 1.66s/it] 8%|▊ | 2393/30000 [1:07:39<12:46:54, 1.67s/it] 8%|▊ | 2394/30000 [1:07:41<12:46:44, 1.67s/it] 8%|▊ | 2395/30000 [1:07:42<12:46:07, 1.67s/it] 8%|▊ | 2396/30000 [1:07:44<12:47:48, 1.67s/it] 8%|▊ | 2397/30000 [1:07:46<12:46:19, 1.67s/it] 8%|▊ | 2398/30000 [1:07:47<12:45:44, 1.66s/it] 8%|▊ | 2399/30000 [1:07:49<12:45:45, 1.66s/it] 8%|▊ | 2400/30000 [1:07:51<12:47:34, 1.67s/it] {'loss': 0.0293, 'grad_norm': 0.14502906799316406, 'learning_rate': 2.9926407216285707e-05, 'flow_matching_loss': 0.029278473928570747, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.7} + 8%|▊ | 2400/30000 [1:07:51<12:47:34, 1.67s/it] 8%|▊ | 2401/30000 [1:07:52<12:48:48, 1.67s/it] 8%|▊ | 2402/30000 [1:07:54<12:49:24, 1.67s/it] 8%|▊ | 2403/30000 [1:07:56<12:48:56, 1.67s/it] 8%|▊ | 2404/30000 [1:07:58<12:49:52, 1.67s/it] 8%|▊ | 2405/30000 [1:07:59<12:48:17, 1.67s/it] 8%|▊ | 2406/30000 [1:08:01<12:46:30, 1.67s/it] 8%|▊ | 2407/30000 [1:08:03<12:46:51, 1.67s/it] 8%|▊ | 2408/30000 [1:08:04<12:46:01, 1.67s/it] 8%|▊ | 2409/30000 [1:08:06<12:45:18, 1.66s/it] 8%|▊ | 2410/30000 [1:08:08<12:46:03, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.21931277215480804, 'learning_rate': 2.9924762273861894e-05, 'flow_matching_loss': 0.02566213198006153, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.7} + 8%|▊ | 2410/30000 [1:08:08<12:46:03, 1.67s/it] 8%|▊ | 2411/30000 [1:08:09<12:45:45, 1.67s/it] 8%|▊ | 2412/30000 [1:08:11<12:46:07, 1.67s/it] 8%|▊ | 2413/30000 [1:08:12<12:45:31, 1.66s/it] 8%|▊ | 2414/30000 [1:08:14<12:44:25, 1.66s/it] 8%|▊ | 2415/30000 [1:08:16<12:44:39, 1.66s/it] 8%|▊ | 2416/30000 [1:08:17<12:44:45, 1.66s/it] 8%|▊ | 2417/30000 [1:08:19<12:44:10, 1.66s/it] 8%|▊ | 2418/30000 [1:08:21<12:44:35, 1.66s/it] 8%|▊ | 2419/30000 [1:08:22<12:44:09, 1.66s/it] 8%|▊ | 2420/30000 [1:08:24<12:43:48, 1.66s/it] {'loss': 0.0329, 'grad_norm': 0.12384428828954697, 'learning_rate': 2.992309919644461e-05, 'flow_matching_loss': 0.032929584570229056, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.7} + 8%|▊ | 2420/30000 [1:08:24<12:43:48, 1.66s/it] 8%|▊ | 2421/30000 [1:08:26<12:47:38, 1.67s/it] 8%|▊ | 2422/30000 [1:08:27<12:46:40, 1.67s/it] 8%|▊ | 2423/30000 [1:08:29<12:46:57, 1.67s/it] 8%|▊ | 2424/30000 [1:08:31<12:46:37, 1.67s/it] 8%|▊ | 2425/30000 [1:08:32<12:46:23, 1.67s/it] 8%|▊ | 2426/30000 [1:08:34<12:45:53, 1.67s/it] 8%|▊ | 2427/30000 [1:08:36<12:44:25, 1.66s/it] 8%|▊ | 2428/30000 [1:08:37<12:45:01, 1.66s/it] 8%|▊ | 2429/30000 [1:08:39<12:45:14, 1.67s/it] 8%|▊ | 2430/30000 [1:08:41<12:46:24, 1.67s/it] {'loss': 0.0274, 'grad_norm': 0.1314510554075241, 'learning_rate': 2.9921417986054633e-05, 'flow_matching_loss': 0.027447422966361046, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.71} + 8%|▊ | 2430/30000 [1:08:41<12:46:24, 1.67s/it] 8%|▊ | 2431/30000 [1:08:42<12:45:58, 1.67s/it] 8%|▊ | 2432/30000 [1:08:44<12:44:52, 1.66s/it] 8%|▊ | 2433/30000 [1:08:46<12:45:06, 1.67s/it] 8%|▊ | 2434/30000 [1:08:47<12:43:38, 1.66s/it] 8%|▊ | 2435/30000 [1:08:49<12:45:04, 1.67s/it] 8%|▊ | 2436/30000 [1:08:51<12:46:23, 1.67s/it] 8%|▊ | 2437/30000 [1:08:52<12:46:48, 1.67s/it] 8%|▊ | 2438/30000 [1:08:54<12:45:16, 1.67s/it] 8%|▊ | 2439/30000 [1:08:56<12:44:54, 1.67s/it] 8%|▊ | 2440/30000 [1:08:57<12:44:28, 1.66s/it] {'loss': 0.0277, 'grad_norm': 0.20379719138145447, 'learning_rate': 2.9919718644734815e-05, 'flow_matching_loss': 0.027700059674680234, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.71} + 8%|▊ | 2440/30000 [1:08:58<12:44:28, 1.66s/it] 8%|▊ | 2441/30000 [1:08:59<12:44:27, 1.66s/it] 8%|▊ | 2442/30000 [1:09:01<12:45:35, 1.67s/it] 8%|▊ | 2443/30000 [1:09:02<12:44:53, 1.67s/it] 8%|▊ | 2444/30000 [1:09:04<12:45:57, 1.67s/it] 8%|▊ | 2445/30000 [1:09:06<12:45:39, 1.67s/it] 8%|▊ | 2446/30000 [1:09:07<12:44:32, 1.66s/it] 8%|▊ | 2447/30000 [1:09:09<12:44:33, 1.66s/it] 8%|▊ | 2448/30000 [1:09:11<12:44:45, 1.67s/it] 8%|▊ | 2449/30000 [1:09:12<12:44:54, 1.67s/it] 8%|▊ | 2450/30000 [1:09:14<12:44:20, 1.66s/it] {'loss': 0.0287, 'grad_norm': 0.17096492648124695, 'learning_rate': 2.991800117455e-05, 'flow_matching_loss': 0.028654644452035426, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.71} + 8%|▊ | 2450/30000 [1:09:14<12:44:20, 1.66s/it] 8%|▊ | 2451/30000 [1:09:16<12:45:44, 1.67s/it] 8%|▊ | 2452/30000 [1:09:17<12:46:34, 1.67s/it] 8%|▊ | 2453/30000 [1:09:19<12:48:33, 1.67s/it] 8%|▊ | 2454/30000 [1:09:21<12:47:00, 1.67s/it] 8%|▊ | 2455/30000 [1:09:22<12:45:49, 1.67s/it] 8%|▊ | 2456/30000 [1:09:24<12:45:27, 1.67s/it] 8%|▊ | 2457/30000 [1:09:26<12:48:50, 1.67s/it] 8%|▊ | 2458/30000 [1:09:27<12:46:21, 1.67s/it] 8%|▊ | 2459/30000 [1:09:29<12:43:50, 1.66s/it] 8%|▊ | 2460/30000 [1:09:31<12:44:21, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.15276212990283966, 'learning_rate': 2.9916265577587085e-05, 'flow_matching_loss': 0.026165415346622468, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.72} + 8%|▊ | 2460/30000 [1:09:31<12:44:21, 1.67s/it] 8%|▊ | 2461/30000 [1:09:32<12:44:24, 1.67s/it] 8%|▊ | 2462/30000 [1:09:34<12:43:20, 1.66s/it] 8%|▊ | 2463/30000 [1:09:36<12:45:06, 1.67s/it] 8%|▊ | 2464/30000 [1:09:37<12:45:02, 1.67s/it] 8%|▊ | 2465/30000 [1:09:39<12:44:28, 1.67s/it] 8%|▊ | 2466/30000 [1:09:41<12:45:20, 1.67s/it] 8%|▊ | 2467/30000 [1:09:42<12:45:09, 1.67s/it] 8%|▊ | 2468/30000 [1:09:44<12:45:12, 1.67s/it] 8%|▊ | 2469/30000 [1:09:46<12:44:56, 1.67s/it] 8%|▊ | 2470/30000 [1:09:47<12:44:47, 1.67s/it] {'loss': 0.0288, 'grad_norm': 0.16206124424934387, 'learning_rate': 2.9914511855954986e-05, 'flow_matching_loss': 0.02880007605999708, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.72} + 8%|▊ | 2470/30000 [1:09:48<12:44:47, 1.67s/it] 8%|▊ | 2471/30000 [1:09:49<12:43:06, 1.66s/it] 8%|▊ | 2472/30000 [1:09:51<12:43:28, 1.66s/it] 8%|▊ | 2473/30000 [1:09:52<12:44:55, 1.67s/it] 8%|▊ | 2474/30000 [1:09:54<12:45:20, 1.67s/it] 8%|▊ | 2475/30000 [1:09:56<12:44:55, 1.67s/it] 8%|▊ | 2476/30000 [1:09:57<12:45:29, 1.67s/it] 8%|▊ | 2477/30000 [1:09:59<12:44:38, 1.67s/it] 8%|▊ | 2478/30000 [1:10:01<12:45:37, 1.67s/it] 8%|▊ | 2479/30000 [1:10:02<12:44:27, 1.67s/it] 8%|▊ | 2480/30000 [1:10:04<12:43:00, 1.66s/it] {'loss': 0.0255, 'grad_norm': 0.1315498650074005, 'learning_rate': 2.9912740011784626e-05, 'flow_matching_loss': 0.025520996563136576, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.72} + 8%|▊ | 2480/30000 [1:10:04<12:43:00, 1.66s/it] 8%|▊ | 2481/30000 [1:10:06<12:43:29, 1.66s/it] 8%|▊ | 2482/30000 [1:10:07<12:43:24, 1.66s/it] 8%|▊ | 2483/30000 [1:10:09<12:45:12, 1.67s/it] 8%|▊ | 2484/30000 [1:10:11<12:45:54, 1.67s/it] 8%|▊ | 2485/30000 [1:10:12<12:46:12, 1.67s/it] 8%|▊ | 2486/30000 [1:10:14<12:46:30, 1.67s/it] 8%|▊ | 2487/30000 [1:10:16<12:46:00, 1.67s/it] 8%|▊ | 2488/30000 [1:10:18<12:45:31, 1.67s/it] 8%|▊ | 2489/30000 [1:10:19<12:45:43, 1.67s/it] 8%|▊ | 2490/30000 [1:10:21<12:46:49, 1.67s/it] {'loss': 0.0313, 'grad_norm': 0.17120102047920227, 'learning_rate': 2.991095004722898e-05, 'flow_matching_loss': 0.03128327280282974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.72} + 8%|▊ | 2490/30000 [1:10:21<12:46:49, 1.67s/it] 8%|▊ | 2491/30000 [1:10:23<12:45:11, 1.67s/it] 8%|▊ | 2492/30000 [1:10:24<12:46:26, 1.67s/it] 8%|▊ | 2493/30000 [1:10:26<12:43:51, 1.67s/it] 8%|▊ | 2494/30000 [1:10:28<12:44:36, 1.67s/it] 8%|▊ | 2495/30000 [1:10:29<12:45:35, 1.67s/it] 8%|▊ | 2496/30000 [1:10:31<12:45:40, 1.67s/it] 8%|▊ | 2497/30000 [1:10:33<12:45:19, 1.67s/it] 8%|▊ | 2498/30000 [1:10:34<12:44:58, 1.67s/it] 8%|▊ | 2499/30000 [1:10:36<12:45:10, 1.67s/it] 8%|▊ | 2500/30000 [1:10:38<12:46:44, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.14248795807361603, 'learning_rate': 2.9909141964463017e-05, 'flow_matching_loss': 0.028181725181639194, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.73} + 8%|▊ | 2500/30000 [1:10:38<12:46:44, 1.67s/it] 8%|▊ | 2501/30000 [1:10:39<12:47:10, 1.67s/it] 8%|▊ | 2502/30000 [1:10:41<12:44:34, 1.67s/it] 8%|▊ | 2503/30000 [1:10:43<12:43:37, 1.67s/it] 8%|▊ | 2504/30000 [1:10:44<12:44:01, 1.67s/it] 8%|▊ | 2505/30000 [1:10:46<12:43:37, 1.67s/it] 8%|▊ | 2506/30000 [1:10:48<12:42:56, 1.66s/it] 8%|▊ | 2507/30000 [1:10:49<12:43:00, 1.67s/it] 8%|▊ | 2508/30000 [1:10:51<12:43:56, 1.67s/it] 8%|▊ | 2509/30000 [1:10:53<12:44:13, 1.67s/it] 8%|▊ | 2510/30000 [1:10:54<12:43:08, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.12613195180892944, 'learning_rate': 2.990731576568372e-05, 'flow_matching_loss': 0.028172311000525953, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.73} + 8%|▊ | 2510/30000 [1:10:54<12:43:08, 1.67s/it] 8%|▊ | 2511/30000 [1:10:56<12:42:36, 1.66s/it] 8%|▊ | 2512/30000 [1:10:58<12:42:06, 1.66s/it] 8%|▊ | 2513/30000 [1:10:59<12:41:50, 1.66s/it] 8%|▊ | 2514/30000 [1:11:01<12:44:00, 1.67s/it] 8%|▊ | 2515/30000 [1:11:03<12:44:18, 1.67s/it] 8%|▊ | 2516/30000 [1:11:04<12:44:46, 1.67s/it] 8%|▊ | 2517/30000 [1:11:06<12:43:42, 1.67s/it] 8%|▊ | 2518/30000 [1:11:08<12:42:50, 1.67s/it] 8%|▊ | 2519/30000 [1:11:09<12:43:19, 1.67s/it] 8%|▊ | 2520/30000 [1:11:11<12:44:03, 1.67s/it] {'loss': 0.0281, 'grad_norm': 0.1324279010295868, 'learning_rate': 2.99054714531101e-05, 'flow_matching_loss': 0.028145283833146094, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.73} + 8%|▊ | 2520/30000 [1:11:11<12:44:03, 1.67s/it] 8%|▊ | 2521/30000 [1:11:13<12:43:25, 1.67s/it] 8%|▊ | 2522/30000 [1:11:14<12:42:46, 1.67s/it] 8%|▊ | 2523/30000 [1:11:16<12:43:06, 1.67s/it] 8%|▊ | 2524/30000 [1:11:18<12:43:47, 1.67s/it] 8%|▊ | 2525/30000 [1:11:19<12:45:17, 1.67s/it] 8%|▊ | 2526/30000 [1:11:21<12:44:09, 1.67s/it] 8%|▊ | 2527/30000 [1:11:23<12:43:59, 1.67s/it] 8%|▊ | 2528/30000 [1:11:24<12:43:04, 1.67s/it] 8%|▊ | 2529/30000 [1:11:26<12:42:32, 1.67s/it] 8%|▊ | 2530/30000 [1:11:28<12:45:03, 1.67s/it] {'loss': 0.0287, 'grad_norm': 0.17652934789657593, 'learning_rate': 2.9903609028983178e-05, 'flow_matching_loss': 0.028730516508221626, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.74} + 8%|▊ | 2530/30000 [1:11:28<12:45:03, 1.67s/it] 8%|▊ | 2531/30000 [1:11:29<12:44:39, 1.67s/it] 8%|▊ | 2532/30000 [1:11:31<12:43:53, 1.67s/it] 8%|▊ | 2533/30000 [1:11:33<12:44:04, 1.67s/it] 8%|▊ | 2534/30000 [1:11:34<12:43:02, 1.67s/it] 8%|▊ | 2535/30000 [1:11:36<12:43:23, 1.67s/it] 8%|▊ | 2536/30000 [1:11:38<12:43:42, 1.67s/it] 8%|▊ | 2537/30000 [1:11:39<12:43:53, 1.67s/it] 8%|▊ | 2538/30000 [1:11:41<12:43:40, 1.67s/it] 8%|▊ | 2539/30000 [1:11:43<12:43:11, 1.67s/it] 8%|▊ | 2540/30000 [1:11:44<12:43:48, 1.67s/it] {'loss': 0.0254, 'grad_norm': 0.16435867547988892, 'learning_rate': 2.990172849556596e-05, 'flow_matching_loss': 0.02543574422597885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.74} + 8%|▊ | 2540/30000 [1:11:44<12:43:48, 1.67s/it] 8%|▊ | 2541/30000 [1:11:46<12:42:36, 1.67s/it] 8%|▊ | 2542/30000 [1:11:48<12:43:08, 1.67s/it] 8%|▊ | 2543/30000 [1:11:49<12:42:23, 1.67s/it] 8%|▊ | 2544/30000 [1:11:51<12:41:18, 1.66s/it] 8%|▊ | 2545/30000 [1:11:53<12:41:06, 1.66s/it] 8%|▊ | 2546/30000 [1:11:54<12:41:23, 1.66s/it] 8%|▊ | 2547/30000 [1:11:56<12:40:18, 1.66s/it] 8%|▊ | 2548/30000 [1:11:58<12:41:36, 1.66s/it] 8%|▊ | 2549/30000 [1:11:59<12:43:55, 1.67s/it] 8%|▊ | 2550/30000 [1:12:01<12:42:18, 1.67s/it] {'loss': 0.0296, 'grad_norm': 0.14059555530548096, 'learning_rate': 2.989982985514348e-05, 'flow_matching_loss': 0.029645521380007266, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.74} + 8%|▊ | 2550/30000 [1:12:01<12:42:18, 1.67s/it] 9%|▊ | 2551/30000 [1:12:03<12:42:59, 1.67s/it] 9%|▊ | 2552/30000 [1:12:04<12:42:34, 1.67s/it] 9%|▊ | 2553/30000 [1:12:06<12:41:41, 1.67s/it] 9%|▊ | 2554/30000 [1:12:08<12:41:10, 1.66s/it] 9%|▊ | 2555/30000 [1:12:09<12:40:26, 1.66s/it] 9%|▊ | 2556/30000 [1:12:11<12:42:01, 1.67s/it] 9%|▊ | 2557/30000 [1:12:13<12:42:00, 1.67s/it] 9%|▊ | 2558/30000 [1:12:14<12:39:58, 1.66s/it] 9%|▊ | 2559/30000 [1:12:16<12:40:27, 1.66s/it] 9%|▊ | 2560/30000 [1:12:18<12:41:45, 1.67s/it] {'loss': 0.0293, 'grad_norm': 0.1571151167154312, 'learning_rate': 2.9897913110022766e-05, 'flow_matching_loss': 0.029310410656034947, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.74} + 9%|▊ | 2560/30000 [1:12:18<12:41:45, 1.67s/it] 9%|▊ | 2561/30000 [1:12:19<12:41:30, 1.67s/it] 9%|▊ | 2562/30000 [1:12:21<12:40:39, 1.66s/it] 9%|▊ | 2563/30000 [1:12:23<12:40:29, 1.66s/it] 9%|▊ | 2564/30000 [1:12:24<12:42:09, 1.67s/it] 9%|▊ | 2565/30000 [1:12:26<12:40:58, 1.66s/it] 9%|▊ | 2566/30000 [1:12:28<12:41:37, 1.67s/it] 9%|▊ | 2567/30000 [1:12:29<12:41:35, 1.67s/it] 9%|▊ | 2568/30000 [1:12:31<12:42:55, 1.67s/it] 9%|▊ | 2569/30000 [1:12:33<12:43:32, 1.67s/it] 9%|▊ | 2570/30000 [1:12:34<12:41:39, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.1793096512556076, 'learning_rate': 2.989597826253284e-05, 'flow_matching_loss': 0.02505904696881771, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.75} + 9%|▊ | 2570/30000 [1:12:34<12:41:39, 1.67s/it] 9%|▊ | 2571/30000 [1:12:36<12:42:20, 1.67s/it] 9%|▊ | 2572/30000 [1:12:38<12:42:19, 1.67s/it] 9%|▊ | 2573/30000 [1:12:39<12:41:05, 1.66s/it] 9%|▊ | 2574/30000 [1:12:41<12:41:39, 1.67s/it] 9%|▊ | 2575/30000 [1:12:43<12:40:31, 1.66s/it] 9%|▊ | 2576/30000 [1:12:44<12:39:59, 1.66s/it] 9%|▊ | 2577/30000 [1:12:46<12:40:06, 1.66s/it] 9%|▊ | 2578/30000 [1:12:48<12:40:18, 1.66s/it] 9%|▊ | 2579/30000 [1:12:49<12:40:19, 1.66s/it] 9%|▊ | 2580/30000 [1:12:51<12:42:04, 1.67s/it] {'loss': 0.0274, 'grad_norm': 0.20821447670459747, 'learning_rate': 2.989402531502473e-05, 'flow_matching_loss': 0.02742764465510845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.75} + 9%|▊ | 2580/30000 [1:12:51<12:42:04, 1.67s/it] 9%|▊ | 2581/30000 [1:12:53<12:41:31, 1.67s/it] 9%|▊ | 2582/30000 [1:12:54<12:41:08, 1.67s/it] 9%|▊ | 2583/30000 [1:12:56<12:40:30, 1.66s/it] 9%|▊ | 2584/30000 [1:12:58<12:41:58, 1.67s/it] 9%|▊ | 2585/30000 [1:12:59<12:42:22, 1.67s/it] 9%|▊ | 2586/30000 [1:13:01<12:42:10, 1.67s/it] 9%|▊ | 2587/30000 [1:13:03<12:42:40, 1.67s/it] 9%|▊ | 2588/30000 [1:13:04<12:42:29, 1.67s/it] 9%|▊ | 2589/30000 [1:13:06<12:40:38, 1.66s/it] 9%|▊ | 2590/30000 [1:13:08<12:40:02, 1.66s/it] {'loss': 0.0235, 'grad_norm': 0.1409565955400467, 'learning_rate': 2.989205426987144e-05, 'flow_matching_loss': 0.02352275522425771, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.75} + 9%|▊ | 2590/30000 [1:13:08<12:40:02, 1.66s/it] 9%|▊ | 2591/30000 [1:13:09<12:40:50, 1.67s/it] 9%|▊ | 2592/30000 [1:13:11<12:39:57, 1.66s/it] 9%|▊ | 2593/30000 [1:13:13<12:40:22, 1.66s/it] 9%|▊ | 2594/30000 [1:13:14<12:39:35, 1.66s/it] 9%|▊ | 2595/30000 [1:13:16<12:39:32, 1.66s/it] 9%|▊ | 2596/30000 [1:13:18<12:41:00, 1.67s/it] 9%|▊ | 2597/30000 [1:13:19<12:39:26, 1.66s/it] 9%|▊ | 2598/30000 [1:13:21<12:41:31, 1.67s/it] 9%|▊ | 2599/30000 [1:13:23<12:42:05, 1.67s/it] 9%|▊ | 2600/30000 [1:13:24<12:40:03, 1.66s/it] {'loss': 0.0303, 'grad_norm': 0.18022337555885315, 'learning_rate': 2.9890065129467988e-05, 'flow_matching_loss': 0.03030286394059658, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.76} + 9%|▊ | 2600/30000 [1:13:24<12:40:03, 1.66s/it] 9%|▊ | 2601/30000 [1:13:26<12:39:43, 1.66s/it] 9%|▊ | 2602/30000 [1:13:27<12:39:48, 1.66s/it] 9%|▊ | 2603/30000 [1:13:29<12:40:58, 1.67s/it] 9%|▊ | 2604/30000 [1:13:31<12:40:35, 1.67s/it] 9%|▊ | 2605/30000 [1:13:32<12:40:05, 1.66s/it] 9%|▊ | 2606/30000 [1:13:34<12:39:31, 1.66s/it] 9%|▊ | 2607/30000 [1:13:36<12:40:03, 1.66s/it] 9%|▊ | 2608/30000 [1:13:37<12:42:02, 1.67s/it] 9%|▊ | 2609/30000 [1:13:39<12:39:00, 1.66s/it] 9%|▊ | 2610/30000 [1:13:41<12:39:20, 1.66s/it] {'loss': 0.0273, 'grad_norm': 0.16048458218574524, 'learning_rate': 2.9888057896231364e-05, 'flow_matching_loss': 0.02731314655393362, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.76} + 9%|▊ | 2610/30000 [1:13:41<12:39:20, 1.66s/it] 9%|▊ | 2611/30000 [1:13:42<12:40:29, 1.67s/it] 9%|▊ | 2612/30000 [1:13:44<12:40:29, 1.67s/it] 9%|▊ | 2613/30000 [1:13:46<12:39:37, 1.66s/it] 9%|▊ | 2614/30000 [1:13:47<12:39:05, 1.66s/it] 9%|▊ | 2615/30000 [1:13:49<12:38:24, 1.66s/it] 9%|▊ | 2616/30000 [1:13:51<12:38:30, 1.66s/it] 9%|▊ | 2617/30000 [1:13:52<12:37:47, 1.66s/it] 9%|▊ | 2618/30000 [1:13:54<12:39:47, 1.66s/it] 9%|▊ | 2619/30000 [1:13:56<12:39:00, 1.66s/it] 9%|▊ | 2620/30000 [1:13:57<12:39:49, 1.67s/it] {'loss': 0.028, 'grad_norm': 0.18058191239833832, 'learning_rate': 2.988603257260054e-05, 'flow_matching_loss': 0.02800155133008957, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.76} + 9%|▊ | 2620/30000 [1:13:57<12:39:49, 1.67s/it] 9%|▊ | 2621/30000 [1:13:59<12:40:12, 1.67s/it] 9%|▊ | 2622/30000 [1:14:01<12:39:15, 1.66s/it] 9%|▊ | 2623/30000 [1:14:02<12:39:09, 1.66s/it] 9%|▊ | 2624/30000 [1:14:04<12:40:22, 1.67s/it] 9%|▉ | 2625/30000 [1:14:06<12:40:15, 1.67s/it] 9%|▉ | 2626/30000 [1:14:07<12:40:10, 1.67s/it] 9%|▉ | 2627/30000 [1:14:09<12:40:39, 1.67s/it] 9%|▉ | 2628/30000 [1:14:11<12:41:24, 1.67s/it] 9%|▉ | 2629/30000 [1:14:12<12:40:48, 1.67s/it] 9%|▉ | 2630/30000 [1:14:14<12:40:00, 1.67s/it] {'loss': 0.027, 'grad_norm': 0.17350715398788452, 'learning_rate': 2.988398916103648e-05, 'flow_matching_loss': 0.02700406275689602, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.77} + 9%|▉ | 2630/30000 [1:14:14<12:40:00, 1.67s/it] 9%|▉ | 2631/30000 [1:14:16<12:42:40, 1.67s/it] 9%|▉ | 2632/30000 [1:14:17<12:42:52, 1.67s/it] 9%|▉ | 2633/30000 [1:14:19<12:40:23, 1.67s/it] 9%|▉ | 2634/30000 [1:14:21<12:39:44, 1.67s/it] 9%|▉ | 2635/30000 [1:14:22<12:40:47, 1.67s/it] 9%|▉ | 2636/30000 [1:14:24<12:40:56, 1.67s/it] 9%|▉ | 2637/30000 [1:14:26<12:42:33, 1.67s/it] 9%|▉ | 2638/30000 [1:14:27<12:40:58, 1.67s/it] 9%|▉ | 2639/30000 [1:14:29<12:43:11, 1.67s/it] 9%|▉ | 2640/30000 [1:14:31<12:42:24, 1.67s/it] {'loss': 0.0285, 'grad_norm': 0.16960617899894714, 'learning_rate': 2.988192766402212e-05, 'flow_matching_loss': 0.028527675196528435, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.77} + 9%|▉ | 2640/30000 [1:14:31<12:42:24, 1.67s/it] 9%|▉ | 2641/30000 [1:14:32<12:40:40, 1.67s/it] 9%|▉ | 2642/30000 [1:14:34<12:40:49, 1.67s/it] 9%|▉ | 2643/30000 [1:14:36<12:39:01, 1.66s/it] 9%|▉ | 2644/30000 [1:14:37<12:40:20, 1.67s/it] 9%|▉ | 2645/30000 [1:14:39<12:39:56, 1.67s/it] 9%|▉ | 2646/30000 [1:14:41<12:38:28, 1.66s/it] 9%|▉ | 2647/30000 [1:14:42<12:38:03, 1.66s/it] 9%|▉ | 2648/30000 [1:14:44<12:38:34, 1.66s/it] 9%|▉ | 2649/30000 [1:14:46<12:38:01, 1.66s/it] 9%|▉ | 2650/30000 [1:14:47<12:37:04, 1.66s/it] {'loss': 0.0283, 'grad_norm': 0.23766972124576569, 'learning_rate': 2.9879848084062378e-05, 'flow_matching_loss': 0.028325798735022546, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.77} + 9%|▉ | 2650/30000 [1:14:47<12:37:04, 1.66s/it] 9%|▉ | 2651/30000 [1:14:49<12:38:13, 1.66s/it] 9%|▉ | 2652/30000 [1:14:51<12:38:47, 1.66s/it] 9%|▉ | 2653/30000 [1:14:52<12:40:29, 1.67s/it] 9%|▉ | 2654/30000 [1:14:54<12:38:29, 1.66s/it] 9%|▉ | 2655/30000 [1:14:56<12:39:24, 1.67s/it] 9%|▉ | 2656/30000 [1:14:57<12:39:31, 1.67s/it] 9%|▉ | 2657/30000 [1:14:59<12:38:42, 1.66s/it] 9%|▉ | 2658/30000 [1:15:01<12:37:52, 1.66s/it] 9%|▉ | 2659/30000 [1:15:02<12:39:52, 1.67s/it] 9%|▉ | 2660/30000 [1:15:04<12:40:35, 1.67s/it] {'loss': 0.0284, 'grad_norm': 0.2087736874818802, 'learning_rate': 2.9877750423684132e-05, 'flow_matching_loss': 0.02839689329266548, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.77} + 9%|▉ | 2660/30000 [1:15:04<12:40:35, 1.67s/it] 9%|▉ | 2661/30000 [1:15:06<12:40:59, 1.67s/it] 9%|▉ | 2662/30000 [1:15:07<12:41:15, 1.67s/it] 9%|▉ | 2663/30000 [1:15:09<12:41:59, 1.67s/it] 9%|▉ | 2664/30000 [1:15:11<12:41:46, 1.67s/it] 9%|▉ | 2665/30000 [1:15:12<12:42:04, 1.67s/it] 9%|▉ | 2666/30000 [1:15:14<12:41:59, 1.67s/it] 9%|▉ | 2667/30000 [1:15:16<12:45:02, 1.68s/it] 9%|▉ | 2668/30000 [1:15:18<12:42:56, 1.67s/it] 9%|▉ | 2669/30000 [1:15:19<12:41:12, 1.67s/it] 9%|▉ | 2670/30000 [1:15:21<12:39:26, 1.67s/it] {'loss': 0.028, 'grad_norm': 0.14939525723457336, 'learning_rate': 2.987563468543624e-05, 'flow_matching_loss': 0.028008022159337998, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.78} + 9%|▉ | 2670/30000 [1:15:21<12:39:26, 1.67s/it] 9%|▉ | 2671/30000 [1:15:23<12:38:17, 1.66s/it] 9%|▉ | 2672/30000 [1:15:24<12:39:00, 1.67s/it] 9%|▉ | 2673/30000 [1:15:26<12:40:55, 1.67s/it] 9%|▉ | 2674/30000 [1:15:28<12:51:17, 1.69s/it] 9%|▉ | 2675/30000 [1:15:29<12:47:13, 1.68s/it] 9%|▉ | 2676/30000 [1:15:31<12:44:27, 1.68s/it] 9%|▉ | 2677/30000 [1:15:33<12:44:16, 1.68s/it] 9%|▉ | 2678/30000 [1:15:34<12:41:48, 1.67s/it] 9%|▉ | 2679/30000 [1:15:36<12:41:03, 1.67s/it] 9%|▉ | 2680/30000 [1:15:38<12:40:29, 1.67s/it] {'loss': 0.029, 'grad_norm': 0.20091238617897034, 'learning_rate': 2.9873500871889533e-05, 'flow_matching_loss': 0.029047126509249212, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.78} + 9%|▉ | 2680/30000 [1:15:38<12:40:29, 1.67s/it] 9%|▉ | 2681/30000 [1:15:39<12:41:06, 1.67s/it] 9%|▉ | 2682/30000 [1:15:41<12:41:48, 1.67s/it] 9%|▉ | 2683/30000 [1:15:43<12:42:26, 1.67s/it] 9%|▉ | 2684/30000 [1:15:44<12:40:23, 1.67s/it] 9%|▉ | 2685/30000 [1:15:46<12:40:16, 1.67s/it] 9%|▉ | 2686/30000 [1:15:48<12:40:32, 1.67s/it] 9%|▉ | 2687/30000 [1:15:49<12:40:04, 1.67s/it] 9%|▉ | 2688/30000 [1:15:51<12:40:42, 1.67s/it] 9%|▉ | 2689/30000 [1:15:53<12:40:38, 1.67s/it] 9%|▉ | 2690/30000 [1:15:54<12:39:19, 1.67s/it] {'loss': 0.029, 'grad_norm': 0.17097650468349457, 'learning_rate': 2.9871348985636778e-05, 'flow_matching_loss': 0.028997405990958215, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.78} + 9%|▉ | 2690/30000 [1:15:54<12:39:19, 1.67s/it] 9%|▉ | 2691/30000 [1:15:56<12:39:51, 1.67s/it] 9%|▉ | 2692/30000 [1:15:58<12:39:50, 1.67s/it] 9%|▉ | 2693/30000 [1:15:59<12:39:51, 1.67s/it] 9%|▉ | 2694/30000 [1:16:01<12:38:18, 1.67s/it] 9%|▉ | 2695/30000 [1:16:03<12:37:35, 1.66s/it] 9%|▉ | 2696/30000 [1:16:04<12:39:26, 1.67s/it] 9%|▉ | 2697/30000 [1:16:06<12:39:18, 1.67s/it] 9%|▉ | 2698/30000 [1:16:08<12:39:11, 1.67s/it] 9%|▉ | 2699/30000 [1:16:09<12:39:29, 1.67s/it] 9%|▉ | 2700/30000 [1:16:11<12:39:53, 1.67s/it] {'loss': 0.0291, 'grad_norm': 0.1837335228919983, 'learning_rate': 2.986917902929273e-05, 'flow_matching_loss': 0.02907650303095579, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.79} + 9%|▉ | 2700/30000 [1:16:11<12:39:53, 1.67s/it] 9%|▉ | 2701/30000 [1:16:13<12:41:11, 1.67s/it] 9%|▉ | 2702/30000 [1:16:14<12:39:54, 1.67s/it] 9%|▉ | 2703/30000 [1:16:16<12:39:30, 1.67s/it] 9%|▉ | 2704/30000 [1:16:18<12:39:17, 1.67s/it] 9%|▉ | 2705/30000 [1:16:19<12:39:26, 1.67s/it] 9%|▉ | 2706/30000 [1:16:21<12:40:12, 1.67s/it] 9%|▉ | 2707/30000 [1:16:23<12:38:47, 1.67s/it] 9%|▉ | 2708/30000 [1:16:24<12:39:03, 1.67s/it] 9%|▉ | 2709/30000 [1:16:26<12:39:44, 1.67s/it] 9%|▉ | 2710/30000 [1:16:28<12:38:18, 1.67s/it] {'loss': 0.0272, 'grad_norm': 0.18019220232963562, 'learning_rate': 2.9866991005494095e-05, 'flow_matching_loss': 0.02716945335268974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.79} + 9%|▉ | 2710/30000 [1:16:28<12:38:18, 1.67s/it] 9%|▉ | 2711/30000 [1:16:29<12:37:50, 1.67s/it] 9%|▉ | 2712/30000 [1:16:31<12:38:22, 1.67s/it] 9%|▉ | 2713/30000 [1:16:33<12:39:01, 1.67s/it] 9%|▉ | 2714/30000 [1:16:34<12:38:43, 1.67s/it] 9%|▉ | 2715/30000 [1:16:36<12:39:50, 1.67s/it] 9%|▉ | 2716/30000 [1:16:38<12:41:06, 1.67s/it] 9%|▉ | 2717/30000 [1:16:39<12:40:21, 1.67s/it] 9%|▉ | 2718/30000 [1:16:41<12:40:29, 1.67s/it] 9%|▉ | 2719/30000 [1:16:43<12:38:35, 1.67s/it] 9%|▉ | 2720/30000 [1:16:44<12:38:53, 1.67s/it] {'loss': 0.0277, 'grad_norm': 0.19824381172657013, 'learning_rate': 2.986478491689952e-05, 'flow_matching_loss': 0.027685607224702834, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.79} + 9%|▉ | 2720/30000 [1:16:44<12:38:53, 1.67s/it] 9%|▉ | 2721/30000 [1:16:46<12:39:14, 1.67s/it] 9%|▉ | 2722/30000 [1:16:48<12:38:31, 1.67s/it] 9%|▉ | 2723/30000 [1:16:49<12:39:01, 1.67s/it] 9%|▉ | 2724/30000 [1:16:51<12:38:52, 1.67s/it] 9%|▉ | 2725/30000 [1:16:53<12:38:56, 1.67s/it] 9%|▉ | 2726/30000 [1:16:54<12:38:04, 1.67s/it] 9%|▉ | 2727/30000 [1:16:56<12:38:08, 1.67s/it] 9%|▉ | 2728/30000 [1:16:58<12:37:53, 1.67s/it] 9%|▉ | 2729/30000 [1:16:59<12:38:45, 1.67s/it] 9%|▉ | 2730/30000 [1:17:01<12:39:25, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.18357275426387787, 'learning_rate': 2.986256076618961e-05, 'flow_matching_loss': 0.028175600059330463, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.79} + 9%|▉ | 2730/30000 [1:17:01<12:39:25, 1.67s/it] 9%|▉ | 2731/30000 [1:17:03<12:39:34, 1.67s/it] 9%|▉ | 2732/30000 [1:17:04<12:40:39, 1.67s/it] 9%|▉ | 2733/30000 [1:17:06<12:39:41, 1.67s/it] 9%|▉ | 2734/30000 [1:17:08<12:39:30, 1.67s/it] 9%|▉ | 2735/30000 [1:17:09<12:37:53, 1.67s/it] 9%|▉ | 2736/30000 [1:17:11<12:39:42, 1.67s/it] 9%|▉ | 2737/30000 [1:17:13<12:39:19, 1.67s/it] 9%|▉ | 2738/30000 [1:17:14<12:39:31, 1.67s/it] 9%|▉ | 2739/30000 [1:17:16<12:39:43, 1.67s/it] 9%|▉ | 2740/30000 [1:17:18<12:39:40, 1.67s/it] {'loss': 0.0269, 'grad_norm': 0.17897780239582062, 'learning_rate': 2.986031855606692e-05, 'flow_matching_loss': 0.02692517712712288, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.8} + 9%|▉ | 2740/30000 [1:17:18<12:39:40, 1.67s/it] 9%|▉ | 2741/30000 [1:17:19<12:39:17, 1.67s/it] 9%|▉ | 2742/30000 [1:17:21<12:37:37, 1.67s/it] 9%|▉ | 2743/30000 [1:17:23<12:36:59, 1.67s/it] 9%|▉ | 2744/30000 [1:17:24<12:38:22, 1.67s/it] 9%|▉ | 2745/30000 [1:17:26<12:37:18, 1.67s/it] 9%|▉ | 2746/30000 [1:17:28<12:37:26, 1.67s/it] 9%|▉ | 2747/30000 [1:17:29<12:38:02, 1.67s/it] 9%|▉ | 2748/30000 [1:17:31<12:40:33, 1.67s/it] 9%|▉ | 2749/30000 [1:17:33<12:38:28, 1.67s/it] 9%|▉ | 2750/30000 [1:17:34<12:37:07, 1.67s/it] {'loss': 0.0254, 'grad_norm': 0.14985264837741852, 'learning_rate': 2.9858058289255954e-05, 'flow_matching_loss': 0.025440667942166328, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.8} + 9%|▉ | 2750/30000 [1:17:35<12:37:07, 1.67s/it] 9%|▉ | 2751/30000 [1:17:36<12:39:51, 1.67s/it] 9%|▉ | 2752/30000 [1:17:38<12:39:34, 1.67s/it] 9%|▉ | 2753/30000 [1:17:40<12:39:24, 1.67s/it] 9%|▉ | 2754/30000 [1:17:41<12:37:42, 1.67s/it] 9%|▉ | 2755/30000 [1:17:43<12:37:35, 1.67s/it] 9%|▉ | 2756/30000 [1:17:45<12:40:27, 1.67s/it] 9%|▉ | 2757/30000 [1:17:46<12:37:23, 1.67s/it] 9%|▉ | 2758/30000 [1:17:48<12:37:09, 1.67s/it] 9%|▉ | 2759/30000 [1:17:50<12:36:53, 1.67s/it] 9%|▉ | 2760/30000 [1:17:51<12:38:29, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.13411569595336914, 'learning_rate': 2.985577996850314e-05, 'flow_matching_loss': 0.025967648066580296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.8} + 9%|▉ | 2760/30000 [1:17:51<12:38:29, 1.67s/it] 9%|▉ | 2761/30000 [1:17:53<12:37:40, 1.67s/it] 9%|▉ | 2762/30000 [1:17:55<12:39:19, 1.67s/it] 9%|▉ | 2763/30000 [1:17:56<12:39:17, 1.67s/it] 9%|▉ | 2764/30000 [1:17:58<12:40:33, 1.68s/it] 9%|▉ | 2765/30000 [1:18:00<12:39:17, 1.67s/it] 9%|▉ | 2766/30000 [1:18:01<12:38:24, 1.67s/it] 9%|▉ | 2767/30000 [1:18:03<12:38:14, 1.67s/it] 9%|▉ | 2768/30000 [1:18:05<12:37:41, 1.67s/it] 9%|▉ | 2769/30000 [1:18:06<12:38:06, 1.67s/it] 9%|▉ | 2770/30000 [1:18:08<12:38:13, 1.67s/it] {'loss': 0.0292, 'grad_norm': 0.11840520799160004, 'learning_rate': 2.9853483596576856e-05, 'flow_matching_loss': 0.029208510369062423, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.81} + 9%|▉ | 2770/30000 [1:18:08<12:38:13, 1.67s/it] 9%|▉ | 2771/30000 [1:18:10<12:39:03, 1.67s/it] 9%|▉ | 2772/30000 [1:18:11<12:41:02, 1.68s/it] 9%|▉ | 2773/30000 [1:18:13<12:38:23, 1.67s/it] 9%|▉ | 2774/30000 [1:18:15<12:36:45, 1.67s/it] 9%|▉ | 2775/30000 [1:18:16<12:38:45, 1.67s/it] 9%|▉ | 2776/30000 [1:18:18<12:38:52, 1.67s/it] 9%|▉ | 2777/30000 [1:18:20<12:37:29, 1.67s/it] 9%|▉ | 2778/30000 [1:18:21<12:36:47, 1.67s/it] 9%|▉ | 2779/30000 [1:18:23<12:36:14, 1.67s/it] 9%|▉ | 2780/30000 [1:18:25<12:36:28, 1.67s/it] {'loss': 0.027, 'grad_norm': 0.14867724478244781, 'learning_rate': 2.9851169176267412e-05, 'flow_matching_loss': 0.027042581513524056, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.81} + 9%|▉ | 2780/30000 [1:18:25<12:36:28, 1.67s/it] 9%|▉ | 2781/30000 [1:18:26<12:36:41, 1.67s/it] 9%|▉ | 2782/30000 [1:18:28<12:36:10, 1.67s/it] 9%|▉ | 2783/30000 [1:18:30<12:35:05, 1.66s/it] 9%|▉ | 2784/30000 [1:18:31<12:36:04, 1.67s/it] 9%|▉ | 2785/30000 [1:18:33<12:35:04, 1.66s/it] 9%|▉ | 2786/30000 [1:18:35<12:35:52, 1.67s/it] 9%|▉ | 2787/30000 [1:18:36<12:35:46, 1.67s/it] 9%|▉ | 2788/30000 [1:18:38<12:34:29, 1.66s/it] 9%|▉ | 2789/30000 [1:18:40<12:35:04, 1.66s/it] 9%|▉ | 2790/30000 [1:18:41<12:36:00, 1.67s/it] {'loss': 0.027, 'grad_norm': 0.19562168419361115, 'learning_rate': 2.9848836710387044e-05, 'flow_matching_loss': 0.027012063562870024, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.81} + 9%|▉ | 2790/30000 [1:18:41<12:36:00, 1.67s/it] 9%|▉ | 2791/30000 [1:18:43<12:36:37, 1.67s/it] 9%|▉ | 2792/30000 [1:18:45<12:35:53, 1.67s/it] 9%|▉ | 2793/30000 [1:18:46<12:35:28, 1.67s/it] 9%|▉ | 2794/30000 [1:18:48<12:36:10, 1.67s/it] 9%|▉ | 2795/30000 [1:18:50<12:35:22, 1.67s/it] 9%|▉ | 2796/30000 [1:18:51<12:35:24, 1.67s/it] 9%|▉ | 2797/30000 [1:18:53<12:34:08, 1.66s/it] 9%|▉ | 2798/30000 [1:18:55<12:35:26, 1.67s/it] 9%|▉ | 2799/30000 [1:18:56<12:36:49, 1.67s/it] 9%|▉ | 2800/30000 [1:18:58<12:38:04, 1.67s/it] {'loss': 0.0253, 'grad_norm': 0.15481579303741455, 'learning_rate': 2.9846486201769917e-05, 'flow_matching_loss': 0.02533544655889273, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.81} + 9%|▉ | 2800/30000 [1:18:58<12:38:04, 1.67s/it] 9%|▉ | 2801/30000 [1:19:00<12:37:34, 1.67s/it] 9%|▉ | 2802/30000 [1:19:01<12:36:33, 1.67s/it] 9%|▉ | 2803/30000 [1:19:03<12:37:25, 1.67s/it] 9%|▉ | 2804/30000 [1:19:05<12:37:14, 1.67s/it] 9%|▉ | 2805/30000 [1:19:06<12:36:12, 1.67s/it] 9%|▉ | 2806/30000 [1:19:08<12:35:20, 1.67s/it] 9%|▉ | 2807/30000 [1:19:10<12:36:05, 1.67s/it] 9%|▉ | 2808/30000 [1:19:11<12:35:20, 1.67s/it] 9%|▉ | 2809/30000 [1:19:13<12:34:54, 1.67s/it] 9%|▉ | 2810/30000 [1:19:15<12:36:56, 1.67s/it] {'loss': 0.0304, 'grad_norm': 0.1836109310388565, 'learning_rate': 2.9844117653272122e-05, 'flow_matching_loss': 0.030381106957793235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.82} + 9%|▉ | 2810/30000 [1:19:15<12:36:56, 1.67s/it] 9%|▉ | 2811/30000 [1:19:16<12:36:00, 1.67s/it] 9%|▉ | 2812/30000 [1:19:18<12:37:09, 1.67s/it] 9%|▉ | 2813/30000 [1:19:20<12:37:23, 1.67s/it] 9%|▉ | 2814/30000 [1:19:21<12:37:32, 1.67s/it] 9%|▉ | 2815/30000 [1:19:23<12:37:07, 1.67s/it] 9%|▉ | 2816/30000 [1:19:25<12:36:32, 1.67s/it] 9%|▉ | 2817/30000 [1:19:26<12:36:39, 1.67s/it] 9%|▉ | 2818/30000 [1:19:28<12:34:48, 1.67s/it] 9%|▉ | 2819/30000 [1:19:30<12:35:09, 1.67s/it] 9%|▉ | 2820/30000 [1:19:31<12:34:22, 1.67s/it] {'loss': 0.0285, 'grad_norm': 0.20992620289325714, 'learning_rate': 2.9841731067771676e-05, 'flow_matching_loss': 0.028467237949371338, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.82} + 9%|▉ | 2820/30000 [1:19:31<12:34:22, 1.67s/it] 9%|▉ | 2821/30000 [1:19:33<12:34:25, 1.67s/it] 9%|▉ | 2822/30000 [1:19:35<12:34:58, 1.67s/it] 9%|▉ | 2823/30000 [1:19:36<12:35:45, 1.67s/it] 9%|▉ | 2824/30000 [1:19:38<12:35:44, 1.67s/it] 9%|▉ | 2825/30000 [1:19:40<12:35:11, 1.67s/it] 9%|▉ | 2826/30000 [1:19:41<12:35:16, 1.67s/it] 9%|▉ | 2827/30000 [1:19:43<12:35:54, 1.67s/it] 9%|▉ | 2828/30000 [1:19:45<12:36:40, 1.67s/it] 9%|▉ | 2829/30000 [1:19:46<12:35:22, 1.67s/it] 9%|▉ | 2830/30000 [1:19:48<12:34:45, 1.67s/it] {'loss': 0.0254, 'grad_norm': 0.17606817185878754, 'learning_rate': 2.9839326448168492e-05, 'flow_matching_loss': 0.02543970514088869, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.82} + 9%|▉ | 2830/30000 [1:19:48<12:34:45, 1.67s/it] 9%|▉ | 2831/30000 [1:19:50<12:36:41, 1.67s/it] 9%|▉ | 2832/30000 [1:19:51<12:38:08, 1.67s/it] 9%|▉ | 2833/30000 [1:19:53<12:37:10, 1.67s/it] 9%|▉ | 2834/30000 [1:19:55<12:37:39, 1.67s/it] 9%|▉ | 2835/30000 [1:19:56<12:36:16, 1.67s/it] 9%|▉ | 2836/30000 [1:19:58<12:34:26, 1.67s/it] 9%|▉ | 2837/30000 [1:20:00<12:33:03, 1.66s/it] 9%|▉ | 2838/30000 [1:20:01<12:32:57, 1.66s/it] 9%|▉ | 2839/30000 [1:20:03<12:35:00, 1.67s/it] 9%|▉ | 2840/30000 [1:20:05<12:33:41, 1.66s/it] {'loss': 0.026, 'grad_norm': 0.15134425461292267, 'learning_rate': 2.983690379738442e-05, 'flow_matching_loss': 0.026039817929267885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.83} + 9%|▉ | 2840/30000 [1:20:05<12:33:41, 1.66s/it] 9%|▉ | 2841/30000 [1:20:06<12:32:59, 1.66s/it] 9%|▉ | 2842/30000 [1:20:08<12:32:36, 1.66s/it] 9%|▉ | 2843/30000 [1:20:10<12:33:13, 1.66s/it] 9%|▉ | 2844/30000 [1:20:11<12:34:10, 1.67s/it] 9%|▉ | 2845/30000 [1:20:13<12:34:31, 1.67s/it] 9%|▉ | 2846/30000 [1:20:15<12:34:11, 1.67s/it] 9%|▉ | 2847/30000 [1:20:16<12:33:37, 1.67s/it] 9%|▉ | 2848/30000 [1:20:18<12:33:32, 1.67s/it] 9%|▉ | 2849/30000 [1:20:20<12:33:56, 1.67s/it] 10%|▉ | 2850/30000 [1:20:21<12:33:09, 1.66s/it] {'loss': 0.0253, 'grad_norm': 0.11919436603784561, 'learning_rate': 2.9834463118363204e-05, 'flow_matching_loss': 0.025330027379095555, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.83} + 10%|▉ | 2850/30000 [1:20:21<12:33:09, 1.66s/it] 10%|▉ | 2851/30000 [1:20:23<12:33:56, 1.67s/it] 10%|▉ | 2852/30000 [1:20:25<12:33:52, 1.67s/it] 10%|▉ | 2853/30000 [1:20:26<12:34:05, 1.67s/it] 10%|▉ | 2854/30000 [1:20:28<12:33:13, 1.66s/it] 10%|▉ | 2855/30000 [1:20:30<12:34:13, 1.67s/it] 10%|▉ | 2856/30000 [1:20:31<12:34:12, 1.67s/it] 10%|▉ | 2857/30000 [1:20:33<12:33:42, 1.67s/it] 10%|▉ | 2858/30000 [1:20:35<12:34:26, 1.67s/it] 10%|▉ | 2859/30000 [1:20:36<12:33:32, 1.67s/it] 10%|▉ | 2860/30000 [1:20:38<12:34:10, 1.67s/it] {'loss': 0.0299, 'grad_norm': 0.1588139683008194, 'learning_rate': 2.98320044140705e-05, 'flow_matching_loss': 0.029926660098135473, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.83} + 10%|▉ | 2860/30000 [1:20:38<12:34:10, 1.67s/it] 10%|▉ | 2861/30000 [1:20:40<12:34:04, 1.67s/it] 10%|▉ | 2862/30000 [1:20:41<12:33:24, 1.67s/it] 10%|▉ | 2863/30000 [1:20:43<12:32:38, 1.66s/it] 10%|▉ | 2864/30000 [1:20:45<12:34:35, 1.67s/it] 10%|▉ | 2865/30000 [1:20:46<12:35:40, 1.67s/it] 10%|▉ | 2866/30000 [1:20:48<12:34:58, 1.67s/it] 10%|▉ | 2867/30000 [1:20:50<12:34:04, 1.67s/it] 10%|▉ | 2868/30000 [1:20:51<12:34:44, 1.67s/it] 10%|▉ | 2869/30000 [1:20:53<12:33:05, 1.67s/it] 10%|▉ | 2870/30000 [1:20:55<12:32:40, 1.66s/it] {'loss': 0.0279, 'grad_norm': 0.12485087662935257, 'learning_rate': 2.9829527687493868e-05, 'flow_matching_loss': 0.02789307702332735, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.84} + 10%|▉ | 2870/30000 [1:20:55<12:32:40, 1.66s/it] 10%|▉ | 2871/30000 [1:20:56<12:34:36, 1.67s/it] 10%|▉ | 2872/30000 [1:20:58<12:34:17, 1.67s/it] 10%|▉ | 2873/30000 [1:21:00<12:36:00, 1.67s/it] 10%|▉ | 2874/30000 [1:21:01<12:33:42, 1.67s/it] 10%|▉ | 2875/30000 [1:21:03<12:32:52, 1.67s/it] 10%|▉ | 2876/30000 [1:21:05<12:32:57, 1.67s/it] 10%|▉ | 2877/30000 [1:21:06<12:33:45, 1.67s/it] 10%|▉ | 2878/30000 [1:21:08<12:31:46, 1.66s/it] 10%|▉ | 2879/30000 [1:21:10<12:32:43, 1.67s/it] 10%|▉ | 2880/30000 [1:21:11<12:32:26, 1.66s/it] {'loss': 0.0274, 'grad_norm': 0.157403826713562, 'learning_rate': 2.9827032941642765e-05, 'flow_matching_loss': 0.027375056967139245, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.84} + 10%|▉ | 2880/30000 [1:21:11<12:32:26, 1.66s/it] 10%|▉ | 2881/30000 [1:21:13<12:32:22, 1.66s/it] 10%|▉ | 2882/30000 [1:21:15<12:30:52, 1.66s/it] 10%|▉ | 2883/30000 [1:21:16<12:29:46, 1.66s/it] 10%|▉ | 2884/30000 [1:21:18<12:30:59, 1.66s/it] 10%|▉ | 2885/30000 [1:21:20<12:31:46, 1.66s/it] 10%|▉ | 2886/30000 [1:21:21<12:31:31, 1.66s/it] 10%|▉ | 2887/30000 [1:21:23<12:32:16, 1.66s/it] 10%|▉ | 2888/30000 [1:21:25<12:32:51, 1.67s/it] 10%|▉ | 2889/30000 [1:21:26<12:33:19, 1.67s/it] 10%|▉ | 2890/30000 [1:21:28<12:34:36, 1.67s/it] {'loss': 0.0296, 'grad_norm': 0.15082542598247528, 'learning_rate': 2.9824520179548535e-05, 'flow_matching_loss': 0.02957820352166891, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.84} + 10%|▉ | 2890/30000 [1:21:28<12:34:36, 1.67s/it] 10%|▉ | 2891/30000 [1:21:30<12:33:22, 1.67s/it] 10%|▉ | 2892/30000 [1:21:31<12:33:00, 1.67s/it] 10%|▉ | 2893/30000 [1:21:33<12:33:13, 1.67s/it] 10%|▉ | 2894/30000 [1:21:35<12:32:35, 1.67s/it] 10%|▉ | 2895/30000 [1:21:36<12:35:06, 1.67s/it] 10%|▉ | 2896/30000 [1:21:38<12:33:12, 1.67s/it] 10%|▉ | 2897/30000 [1:21:40<12:33:15, 1.67s/it] 10%|▉ | 2898/30000 [1:21:41<12:31:51, 1.66s/it] 10%|▉ | 2899/30000 [1:21:43<12:32:07, 1.67s/it] 10%|▉ | 2900/30000 [1:21:45<12:33:47, 1.67s/it] {'loss': 0.0263, 'grad_norm': 0.1588846892118454, 'learning_rate': 2.9821989404264428e-05, 'flow_matching_loss': 0.02630593441426754, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.84} + 10%|▉ | 2900/30000 [1:21:45<12:33:47, 1.67s/it] 10%|▉ | 2901/30000 [1:21:46<12:33:53, 1.67s/it] 10%|▉ | 2902/30000 [1:21:48<12:31:23, 1.66s/it] 10%|▉ | 2903/30000 [1:21:50<12:32:03, 1.67s/it] 10%|▉ | 2904/30000 [1:21:51<12:34:08, 1.67s/it] 10%|▉ | 2905/30000 [1:21:53<12:35:20, 1.67s/it] 10%|▉ | 2906/30000 [1:21:55<12:33:03, 1.67s/it] 10%|▉ | 2907/30000 [1:21:56<12:33:14, 1.67s/it] 10%|▉ | 2908/30000 [1:21:58<12:32:05, 1.67s/it] 10%|▉ | 2909/30000 [1:22:00<12:31:55, 1.67s/it] 10%|▉ | 2910/30000 [1:22:01<12:32:20, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.20843902230262756, 'learning_rate': 2.9819440618865572e-05, 'flow_matching_loss': 0.02597834374755621, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.85} + 10%|▉ | 2910/30000 [1:22:01<12:32:20, 1.67s/it] 10%|▉ | 2911/30000 [1:22:03<12:33:21, 1.67s/it] 10%|▉ | 2912/30000 [1:22:05<12:34:48, 1.67s/it] 10%|▉ | 2913/30000 [1:22:06<12:33:59, 1.67s/it] 10%|▉ | 2914/30000 [1:22:08<12:34:01, 1.67s/it] 10%|▉ | 2915/30000 [1:22:10<12:33:21, 1.67s/it] 10%|▉ | 2916/30000 [1:22:11<12:32:09, 1.67s/it] 10%|▉ | 2917/30000 [1:22:13<12:30:48, 1.66s/it] 10%|▉ | 2918/30000 [1:22:15<12:33:05, 1.67s/it] 10%|▉ | 2919/30000 [1:22:16<12:33:08, 1.67s/it] 10%|▉ | 2920/30000 [1:22:18<12:33:21, 1.67s/it] {'loss': 0.0291, 'grad_norm': 0.13963836431503296, 'learning_rate': 2.981687382644898e-05, 'flow_matching_loss': 0.02913254704326391, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.85} + 10%|▉ | 2920/30000 [1:22:18<12:33:21, 1.67s/it] 10%|▉ | 2921/30000 [1:22:20<12:32:34, 1.67s/it] 10%|▉ | 2922/30000 [1:22:21<12:31:54, 1.67s/it] 10%|▉ | 2923/30000 [1:22:23<12:31:11, 1.66s/it] 10%|▉ | 2924/30000 [1:22:25<12:31:35, 1.67s/it] 10%|▉ | 2925/30000 [1:22:26<12:31:11, 1.66s/it] 10%|▉ | 2926/30000 [1:22:28<12:31:39, 1.67s/it] 10%|▉ | 2927/30000 [1:22:30<12:31:34, 1.67s/it] 10%|▉ | 2928/30000 [1:22:31<12:31:49, 1.67s/it] 10%|▉ | 2929/30000 [1:22:33<12:32:34, 1.67s/it] 10%|▉ | 2930/30000 [1:22:35<12:30:54, 1.66s/it] {'loss': 0.0285, 'grad_norm': 0.1659596562385559, 'learning_rate': 2.9814289030133556e-05, 'flow_matching_loss': 0.028505408391356468, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.85} + 10%|▉ | 2930/30000 [1:22:35<12:30:54, 1.66s/it] 10%|▉ | 2931/30000 [1:22:36<12:31:51, 1.67s/it] 10%|▉ | 2932/30000 [1:22:38<12:32:05, 1.67s/it] 10%|▉ | 2933/30000 [1:22:40<12:32:24, 1.67s/it] 10%|▉ | 2934/30000 [1:22:41<12:31:47, 1.67s/it] 10%|▉ | 2935/30000 [1:22:43<12:31:37, 1.67s/it] 10%|▉ | 2936/30000 [1:22:45<12:32:06, 1.67s/it] 10%|▉ | 2937/30000 [1:22:46<12:31:44, 1.67s/it] 10%|▉ | 2938/30000 [1:22:48<12:31:29, 1.67s/it] 10%|▉ | 2939/30000 [1:22:50<12:32:03, 1.67s/it] 10%|▉ | 2940/30000 [1:22:51<12:33:28, 1.67s/it] {'loss': 0.0286, 'grad_norm': 0.20344267785549164, 'learning_rate': 2.9811686233060058e-05, 'flow_matching_loss': 0.028638989292085172, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.86} + 10%|▉ | 2940/30000 [1:22:51<12:33:28, 1.67s/it] 10%|▉ | 2941/30000 [1:22:53<12:33:25, 1.67s/it] 10%|▉ | 2942/30000 [1:22:55<12:32:56, 1.67s/it] 10%|▉ | 2943/30000 [1:22:56<12:32:35, 1.67s/it] 10%|▉ | 2944/30000 [1:22:58<12:32:47, 1.67s/it] 10%|▉ | 2945/30000 [1:23:00<12:31:44, 1.67s/it] 10%|▉ | 2946/30000 [1:23:01<12:32:22, 1.67s/it] 10%|▉ | 2947/30000 [1:23:03<12:32:14, 1.67s/it] 10%|▉ | 2948/30000 [1:23:05<12:31:02, 1.67s/it] 10%|▉ | 2949/30000 [1:23:06<12:31:38, 1.67s/it] 10%|▉ | 2950/30000 [1:23:08<12:29:56, 1.66s/it] {'loss': 0.0268, 'grad_norm': 0.19993123412132263, 'learning_rate': 2.9809065438391138e-05, 'flow_matching_loss': 0.026834051497280596, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.86} + 10%|▉ | 2950/30000 [1:23:08<12:29:56, 1.66s/it] 10%|▉ | 2951/30000 [1:23:10<12:29:42, 1.66s/it] 10%|▉ | 2952/30000 [1:23:11<12:29:29, 1.66s/it] 10%|▉ | 2953/30000 [1:23:13<12:29:57, 1.66s/it] 10%|▉ | 2954/30000 [1:23:15<12:32:43, 1.67s/it] 10%|▉ | 2955/30000 [1:23:16<12:33:47, 1.67s/it] 10%|▉ | 2956/30000 [1:23:18<12:34:41, 1.67s/it] 10%|▉ | 2957/30000 [1:23:20<12:33:11, 1.67s/it] 10%|▉ | 2958/30000 [1:23:21<12:33:08, 1.67s/it] 10%|▉ | 2959/30000 [1:23:23<12:32:18, 1.67s/it] 10%|▉ | 2960/30000 [1:23:25<12:32:15, 1.67s/it] {'loss': 0.0278, 'grad_norm': 0.18713854253292084, 'learning_rate': 2.9806426649311304e-05, 'flow_matching_loss': 0.027836056984961034, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.86} + 10%|▉ | 2960/30000 [1:23:25<12:32:15, 1.67s/it] 10%|▉ | 2961/30000 [1:23:26<12:33:15, 1.67s/it] 10%|▉ | 2962/30000 [1:23:28<12:32:32, 1.67s/it] 10%|▉ | 2963/30000 [1:23:30<12:31:24, 1.67s/it] 10%|▉ | 2964/30000 [1:23:31<12:32:17, 1.67s/it] 10%|▉ | 2965/30000 [1:23:33<12:31:13, 1.67s/it] 10%|▉ | 2966/30000 [1:23:35<12:30:04, 1.66s/it] 10%|▉ | 2967/30000 [1:23:36<12:30:47, 1.67s/it] 10%|▉ | 2968/30000 [1:23:38<12:31:29, 1.67s/it] 10%|▉ | 2969/30000 [1:23:40<12:30:21, 1.67s/it] 10%|▉ | 2970/30000 [1:23:41<12:29:55, 1.66s/it] {'loss': 0.0271, 'grad_norm': 0.1778106689453125, 'learning_rate': 2.980376986902694e-05, 'flow_matching_loss': 0.02712766397744417, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.86} + 10%|▉ | 2970/30000 [1:23:41<12:29:55, 1.66s/it] 10%|▉ | 2971/30000 [1:23:43<12:30:30, 1.67s/it] 10%|▉ | 2972/30000 [1:23:45<12:30:52, 1.67s/it] 10%|▉ | 2973/30000 [1:23:46<12:31:12, 1.67s/it] 10%|▉ | 2974/30000 [1:23:48<12:30:47, 1.67s/it] 10%|▉ | 2975/30000 [1:23:50<12:28:39, 1.66s/it] 10%|▉ | 2976/30000 [1:23:51<12:29:23, 1.66s/it] 10%|▉ | 2977/30000 [1:23:53<12:31:39, 1.67s/it] 10%|▉ | 2978/30000 [1:23:55<12:30:28, 1.67s/it] 10%|▉ | 2979/30000 [1:23:56<12:30:50, 1.67s/it] 10%|▉ | 2980/30000 [1:23:58<12:30:45, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.21533893048763275, 'learning_rate': 2.9801095100766276e-05, 'flow_matching_loss': 0.02752254866063595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.87} + 10%|▉ | 2980/30000 [1:23:58<12:30:45, 1.67s/it] 10%|▉ | 2981/30000 [1:24:00<12:30:41, 1.67s/it] 10%|▉ | 2982/30000 [1:24:01<12:31:05, 1.67s/it] 10%|▉ | 2983/30000 [1:24:03<12:30:10, 1.67s/it] 10%|▉ | 2984/30000 [1:24:05<12:29:47, 1.67s/it] 10%|▉ | 2985/30000 [1:24:06<12:29:59, 1.67s/it] 10%|▉ | 2986/30000 [1:24:08<12:31:36, 1.67s/it] 10%|▉ | 2987/30000 [1:24:10<12:32:07, 1.67s/it] 10%|▉ | 2988/30000 [1:24:11<12:32:38, 1.67s/it] 10%|▉ | 2989/30000 [1:24:13<12:31:53, 1.67s/it] 10%|▉ | 2990/30000 [1:24:15<12:32:27, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.1906757950782776, 'learning_rate': 2.979840234777942e-05, 'flow_matching_loss': 0.025727480091154574, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.87} + 10%|▉ | 2990/30000 [1:24:15<12:32:27, 1.67s/it] 10%|▉ | 2991/30000 [1:24:16<12:31:46, 1.67s/it] 10%|▉ | 2992/30000 [1:24:18<12:30:58, 1.67s/it] 10%|▉ | 2993/30000 [1:24:20<12:32:15, 1.67s/it] 10%|▉ | 2994/30000 [1:24:21<12:31:18, 1.67s/it] 10%|▉ | 2995/30000 [1:24:23<12:31:25, 1.67s/it] 10%|▉ | 2996/30000 [1:24:25<12:32:08, 1.67s/it] 10%|▉ | 2997/30000 [1:24:26<12:30:47, 1.67s/it] 10%|▉ | 2998/30000 [1:24:28<12:29:32, 1.67s/it] 10%|▉ | 2999/30000 [1:24:30<12:28:55, 1.66s/it] 10%|█ | 3000/30000 [1:24:31<12:29:16, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.17644350230693817, 'learning_rate': 2.979569161333831e-05, 'flow_matching_loss': 0.024831818230450154, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.87} + 10%|█ | 3000/30000 [1:24:31<12:29:16, 1.67s/it] 10%|█ | 3001/30000 [1:24:33<12:29:42, 1.67s/it] 10%|█ | 3002/30000 [1:24:35<12:29:20, 1.67s/it] 10%|█ | 3003/30000 [1:24:36<12:30:31, 1.67s/it] 10%|█ | 3004/30000 [1:24:38<12:30:00, 1.67s/it] 10%|█ | 3005/30000 [1:24:40<12:28:50, 1.66s/it] 10%|█ | 3006/30000 [1:24:41<12:27:31, 1.66s/it] 10%|█ | 3007/30000 [1:24:43<12:27:39, 1.66s/it] 10%|█ | 3008/30000 [1:24:45<12:28:39, 1.66s/it] 10%|█ | 3009/30000 [1:24:46<12:29:48, 1.67s/it] 10%|█ | 3010/30000 [1:24:48<12:29:59, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.15432003140449524, 'learning_rate': 2.9792962900736744e-05, 'flow_matching_loss': 0.025452526286244392, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.88} + 10%|█ | 3010/30000 [1:24:48<12:29:59, 1.67s/it] 10%|█ | 3011/30000 [1:24:50<12:30:31, 1.67s/it] 10%|█ | 3012/30000 [1:24:51<12:30:40, 1.67s/it] 10%|█ | 3013/30000 [1:24:53<12:29:43, 1.67s/it] 10%|█ | 3014/30000 [1:24:55<12:31:06, 1.67s/it] 10%|█ | 3015/30000 [1:24:56<12:29:35, 1.67s/it] 10%|█ | 3016/30000 [1:24:58<12:29:20, 1.67s/it] 10%|█ | 3017/30000 [1:25:00<12:29:57, 1.67s/it] 10%|█ | 3018/30000 [1:25:01<12:29:08, 1.67s/it] 10%|█ | 3019/30000 [1:25:03<12:29:48, 1.67s/it] 10%|█ | 3020/30000 [1:25:05<12:28:46, 1.67s/it] {'loss': 0.0273, 'grad_norm': 0.14510692656040192, 'learning_rate': 2.9790216213290372e-05, 'flow_matching_loss': 0.027252769470214842, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.88} + 10%|█ | 3020/30000 [1:25:05<12:28:46, 1.67s/it] 10%|█ | 3021/30000 [1:25:06<12:28:49, 1.67s/it] 10%|█ | 3022/30000 [1:25:08<12:27:37, 1.66s/it] 10%|█ | 3023/30000 [1:25:10<12:27:25, 1.66s/it] 10%|█ | 3024/30000 [1:25:11<12:28:24, 1.66s/it] 10%|█ | 3025/30000 [1:25:13<12:29:11, 1.67s/it] 10%|█ | 3026/30000 [1:25:15<12:28:28, 1.66s/it] 10%|█ | 3027/30000 [1:25:16<12:27:50, 1.66s/it] 10%|█ | 3028/30000 [1:25:18<12:27:06, 1.66s/it] 10%|█ | 3029/30000 [1:25:20<12:25:47, 1.66s/it] 10%|█ | 3030/30000 [1:25:21<12:25:43, 1.66s/it] {'loss': 0.024, 'grad_norm': 0.13812366127967834, 'learning_rate': 2.9787451554336672e-05, 'flow_matching_loss': 0.02401513382792473, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.88} + 10%|█ | 3030/30000 [1:25:21<12:25:43, 1.66s/it] 10%|█ | 3031/30000 [1:25:23<12:26:56, 1.66s/it] 10%|█ | 3032/30000 [1:25:25<12:26:38, 1.66s/it] 10%|█ | 3033/30000 [1:25:26<12:26:04, 1.66s/it] 10%|█ | 3034/30000 [1:25:28<12:24:53, 1.66s/it] 10%|█ | 3035/30000 [1:25:30<12:25:26, 1.66s/it] 10%|█ | 3036/30000 [1:25:31<12:26:48, 1.66s/it] 10%|█ | 3037/30000 [1:25:33<12:27:24, 1.66s/it] 10%|█ | 3038/30000 [1:25:35<12:26:35, 1.66s/it] 10%|█ | 3039/30000 [1:25:36<12:26:41, 1.66s/it] 10%|█ | 3040/30000 [1:25:38<12:27:22, 1.66s/it] {'loss': 0.0278, 'grad_norm': 0.17200368642807007, 'learning_rate': 2.9784668927234972e-05, 'flow_matching_loss': 0.027759389951825142, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.88} + 10%|█ | 3040/30000 [1:25:38<12:27:22, 1.66s/it] 10%|█ | 3041/30000 [1:25:40<12:28:26, 1.67s/it] 10%|█ | 3042/30000 [1:25:41<12:26:57, 1.66s/it] 10%|█ | 3043/30000 [1:25:43<12:27:10, 1.66s/it] 10%|█ | 3044/30000 [1:25:45<12:28:09, 1.67s/it] 10%|█ | 3045/30000 [1:25:46<12:28:51, 1.67s/it] 10%|█ | 3046/30000 [1:25:48<12:28:01, 1.67s/it] 10%|█ | 3047/30000 [1:25:50<12:27:51, 1.66s/it] 10%|█ | 3048/30000 [1:25:51<12:26:39, 1.66s/it] 10%|█ | 3049/30000 [1:25:53<12:25:35, 1.66s/it] 10%|█ | 3050/30000 [1:25:55<12:24:56, 1.66s/it] {'loss': 0.025, 'grad_norm': 0.14926135540008545, 'learning_rate': 2.9781868335366418e-05, 'flow_matching_loss': 0.024956330470740796, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.89} + 10%|█ | 3050/30000 [1:25:55<12:24:56, 1.66s/it] 10%|█ | 3051/30000 [1:25:56<12:25:33, 1.66s/it] 10%|█ | 3052/30000 [1:25:58<12:26:28, 1.66s/it] 10%|█ | 3053/30000 [1:26:00<12:26:29, 1.66s/it] 10%|█ | 3054/30000 [1:26:01<12:25:14, 1.66s/it] 10%|█ | 3055/30000 [1:26:03<12:25:54, 1.66s/it] 10%|█ | 3056/30000 [1:26:05<12:26:08, 1.66s/it] 10%|█ | 3057/30000 [1:26:06<12:26:06, 1.66s/it] 10%|█ | 3058/30000 [1:26:08<12:27:25, 1.66s/it] 10%|█ | 3059/30000 [1:26:10<12:29:55, 1.67s/it] 10%|█ | 3060/30000 [1:26:11<12:30:10, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.14855781197547913, 'learning_rate': 2.9779049782134e-05, 'flow_matching_loss': 0.026700961962342264, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.89} + 10%|█ | 3060/30000 [1:26:11<12:30:10, 1.67s/it] 10%|█ | 3061/30000 [1:26:13<12:30:26, 1.67s/it] 10%|█ | 3062/30000 [1:26:15<12:29:17, 1.67s/it] 10%|█ | 3063/30000 [1:26:16<12:28:50, 1.67s/it] 10%|█ | 3064/30000 [1:26:18<12:28:36, 1.67s/it] 10%|█ | 3065/30000 [1:26:20<12:28:57, 1.67s/it] 10%|█ | 3066/30000 [1:26:21<12:28:45, 1.67s/it] 10%|█ | 3067/30000 [1:26:23<12:29:42, 1.67s/it] 10%|█ | 3068/30000 [1:26:25<12:28:39, 1.67s/it] 10%|█ | 3069/30000 [1:26:26<12:27:33, 1.67s/it] 10%|█ | 3070/30000 [1:26:28<12:26:47, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.12217573821544647, 'learning_rate': 2.9776213270962523e-05, 'flow_matching_loss': 0.0246215945109725, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.89} + 10%|█ | 3070/30000 [1:26:28<12:26:47, 1.66s/it] 10%|█ | 3071/30000 [1:26:30<12:27:51, 1.67s/it] 10%|█ | 3072/30000 [1:26:31<12:26:56, 1.66s/it] 10%|█ | 3073/30000 [1:26:33<12:26:21, 1.66s/it] 10%|█ | 3074/30000 [1:26:35<12:27:39, 1.67s/it] 10%|█ | 3075/30000 [1:26:36<12:28:16, 1.67s/it] 10%|█ | 3076/30000 [1:26:38<12:27:54, 1.67s/it] 10%|█ | 3077/30000 [1:26:40<12:28:07, 1.67s/it] 10%|█ | 3078/30000 [1:26:41<12:29:56, 1.67s/it] 10%|█ | 3079/30000 [1:26:43<12:28:13, 1.67s/it] 10%|█ | 3080/30000 [1:26:45<12:29:18, 1.67s/it] {'loss': 0.0265, 'grad_norm': 0.12270332127809525, 'learning_rate': 2.977335880529861e-05, 'flow_matching_loss': 0.02645603660494089, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.9} + 10%|█ | 3080/30000 [1:26:45<12:29:18, 1.67s/it] 10%|█ | 3081/30000 [1:26:46<12:27:13, 1.67s/it] 10%|█ | 3082/30000 [1:26:48<12:29:28, 1.67s/it] 10%|█ | 3083/30000 [1:26:50<12:28:14, 1.67s/it] 10%|█ | 3084/30000 [1:26:51<12:28:09, 1.67s/it] 10%|█ | 3085/30000 [1:26:53<12:28:23, 1.67s/it] 10%|█ | 3086/30000 [1:26:55<12:26:51, 1.66s/it] 10%|█ | 3087/30000 [1:26:56<12:27:06, 1.67s/it] 10%|█ | 3088/30000 [1:26:58<12:27:09, 1.67s/it] 10%|█ | 3089/30000 [1:27:00<12:26:28, 1.66s/it] 10%|█ | 3090/30000 [1:27:01<12:28:41, 1.67s/it] {'loss': 0.027, 'grad_norm': 0.17338548600673676, 'learning_rate': 2.977048638861072e-05, 'flow_matching_loss': 0.026989665068686008, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.9} + 10%|█ | 3090/30000 [1:27:01<12:28:41, 1.67s/it] 10%|█ | 3091/30000 [1:27:03<12:26:39, 1.66s/it] 10%|█ | 3092/30000 [1:27:05<12:27:11, 1.67s/it] 10%|█ | 3093/30000 [1:27:06<12:26:40, 1.67s/it] 10%|█ | 3094/30000 [1:27:08<12:26:59, 1.67s/it] 10%|█ | 3095/30000 [1:27:10<12:26:24, 1.66s/it] 10%|█ | 3096/30000 [1:27:11<12:26:05, 1.66s/it] 10%|█ | 3097/30000 [1:27:13<12:25:12, 1.66s/it] 10%|█ | 3098/30000 [1:27:15<12:24:53, 1.66s/it] 10%|█ | 3099/30000 [1:27:16<12:25:07, 1.66s/it] 10%|█ | 3100/30000 [1:27:18<12:24:34, 1.66s/it] {'loss': 0.0291, 'grad_norm': 0.11749324202537537, 'learning_rate': 2.97675960243891e-05, 'flow_matching_loss': 0.029101496934890746, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.9} + 10%|█ | 3100/30000 [1:27:18<12:24:34, 1.66s/it] 10%|█ | 3101/30000 [1:27:20<12:25:50, 1.66s/it] 10%|█ | 3102/30000 [1:27:21<12:26:17, 1.66s/it] 10%|█ | 3103/30000 [1:27:23<12:29:45, 1.67s/it] 10%|█ | 3104/30000 [1:27:25<12:27:23, 1.67s/it] 10%|█ | 3105/30000 [1:27:26<12:26:29, 1.67s/it] 10%|█ | 3106/30000 [1:27:28<12:25:42, 1.66s/it] 10%|█ | 3107/30000 [1:27:30<12:26:56, 1.67s/it] 10%|█ | 3108/30000 [1:27:31<12:27:26, 1.67s/it] 10%|█ | 3109/30000 [1:27:33<12:27:10, 1.67s/it] 10%|█ | 3110/30000 [1:27:35<12:26:37, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.14245089888572693, 'learning_rate': 2.976468771614582e-05, 'flow_matching_loss': 0.024786760099232197, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.9} + 10%|█ | 3110/30000 [1:27:35<12:26:37, 1.67s/it] 10%|█ | 3111/30000 [1:27:36<12:27:57, 1.67s/it] 10%|█ | 3112/30000 [1:27:38<12:28:30, 1.67s/it] 10%|█ | 3113/30000 [1:27:40<12:28:32, 1.67s/it] 10%|█ | 3114/30000 [1:27:41<12:27:25, 1.67s/it] 10%|█ | 3115/30000 [1:27:43<12:26:41, 1.67s/it] 10%|█ | 3116/30000 [1:27:45<12:26:20, 1.67s/it] 10%|█ | 3117/30000 [1:27:46<12:26:15, 1.67s/it] 10%|█ | 3118/30000 [1:27:48<12:25:03, 1.66s/it] 10%|█ | 3119/30000 [1:27:50<12:26:02, 1.67s/it] 10%|█ | 3120/30000 [1:27:51<12:27:01, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.11846806854009628, 'learning_rate': 2.9761761467414736e-05, 'flow_matching_loss': 0.02578040100634098, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.91} + 10%|█ | 3120/30000 [1:27:51<12:27:01, 1.67s/it] 10%|█ | 3121/30000 [1:27:53<12:27:32, 1.67s/it] 10%|█ | 3122/30000 [1:27:55<12:26:57, 1.67s/it] 10%|█ | 3123/30000 [1:27:56<12:26:01, 1.67s/it] 10%|█ | 3124/30000 [1:27:58<12:25:56, 1.67s/it] 10%|█ | 3125/30000 [1:28:00<12:26:19, 1.67s/it] 10%|█ | 3126/30000 [1:28:01<12:25:40, 1.66s/it] 10%|█ | 3127/30000 [1:28:03<12:26:09, 1.67s/it] 10%|█ | 3128/30000 [1:28:05<12:25:42, 1.67s/it] 10%|█ | 3129/30000 [1:28:06<12:26:40, 1.67s/it] 10%|█ | 3130/30000 [1:28:08<12:26:28, 1.67s/it] {'loss': 0.0293, 'grad_norm': 0.14903153479099274, 'learning_rate': 2.9758817281751538e-05, 'flow_matching_loss': 0.029348335415124892, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.91} + 10%|█ | 3130/30000 [1:28:08<12:26:28, 1.67s/it] 10%|█ | 3131/30000 [1:28:10<12:27:39, 1.67s/it] 10%|█ | 3132/30000 [1:28:11<12:26:11, 1.67s/it] 10%|█ | 3133/30000 [1:28:13<12:26:03, 1.67s/it] 10%|█ | 3134/30000 [1:28:15<12:25:45, 1.67s/it] 10%|█ | 3135/30000 [1:28:16<12:26:30, 1.67s/it] 10%|█ | 3136/30000 [1:28:18<12:25:57, 1.67s/it] 10%|█ | 3137/30000 [1:28:20<12:26:12, 1.67s/it] 10%|█ | 3138/30000 [1:28:21<12:25:30, 1.67s/it] 10%|█ | 3139/30000 [1:28:23<12:25:30, 1.67s/it] 10%|█ | 3140/30000 [1:28:25<12:25:20, 1.66s/it] {'loss': 0.0272, 'grad_norm': 0.14283788204193115, 'learning_rate': 2.975585516273367e-05, 'flow_matching_loss': 0.027176663838326932, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.91} + 10%|█ | 3140/30000 [1:28:25<12:25:20, 1.66s/it] 10%|█ | 3141/30000 [1:28:26<12:25:18, 1.66s/it] 10%|█ | 3142/30000 [1:28:28<12:24:18, 1.66s/it] 10%|█ | 3143/30000 [1:28:30<12:23:36, 1.66s/it] 10%|█ | 3144/30000 [1:28:31<12:22:59, 1.66s/it] 10%|█ | 3145/30000 [1:28:33<12:24:41, 1.66s/it] 10%|█ | 3146/30000 [1:28:35<12:25:03, 1.66s/it] 10%|█ | 3147/30000 [1:28:36<12:24:06, 1.66s/it] 10%|█ | 3148/30000 [1:28:38<12:25:15, 1.67s/it] 10%|█ | 3149/30000 [1:28:40<12:26:00, 1.67s/it] 10%|█ | 3150/30000 [1:28:41<12:23:50, 1.66s/it] {'loss': 0.0256, 'grad_norm': 0.12641561031341553, 'learning_rate': 2.975287511396039e-05, 'flow_matching_loss': 0.025614722073078154, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.92} + 10%|█ | 3150/30000 [1:28:41<12:23:50, 1.66s/it] 11%|█ | 3151/30000 [1:28:43<12:23:54, 1.66s/it] 11%|█ | 3152/30000 [1:28:45<12:22:32, 1.66s/it] 11%|█ | 3153/30000 [1:28:46<12:23:49, 1.66s/it] 11%|█ | 3154/30000 [1:28:48<12:23:11, 1.66s/it] 11%|█ | 3155/30000 [1:28:49<12:23:21, 1.66s/it] 11%|█ | 3156/30000 [1:28:51<12:23:28, 1.66s/it] 11%|█ | 3157/30000 [1:28:53<12:24:29, 1.66s/it] 11%|█ | 3158/30000 [1:28:54<12:23:39, 1.66s/it] 11%|█ | 3159/30000 [1:28:56<12:23:12, 1.66s/it] 11%|█ | 3160/30000 [1:28:58<12:24:33, 1.66s/it] {'loss': 0.026, 'grad_norm': 0.1771577000617981, 'learning_rate': 2.9749877139052745e-05, 'flow_matching_loss': 0.026033484749495982, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.92} + 11%|█ | 3160/30000 [1:28:58<12:24:33, 1.66s/it] 11%|█ | 3161/30000 [1:28:59<12:25:04, 1.67s/it] 11%|█ | 3162/30000 [1:29:01<12:24:12, 1.66s/it] 11%|█ | 3163/30000 [1:29:03<12:24:14, 1.66s/it] 11%|█ | 3164/30000 [1:29:04<12:22:46, 1.66s/it] 11%|█ | 3165/30000 [1:29:06<12:24:36, 1.66s/it] 11%|█ | 3166/30000 [1:29:08<12:23:27, 1.66s/it] 11%|█ | 3167/30000 [1:29:09<12:24:35, 1.66s/it] 11%|█ | 3168/30000 [1:29:11<12:25:18, 1.67s/it] 11%|█ | 3169/30000 [1:29:13<12:26:08, 1.67s/it] 11%|█ | 3170/30000 [1:29:14<12:25:17, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.1042114868760109, 'learning_rate': 2.9746861241653555e-05, 'flow_matching_loss': 0.02356771528720856, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.92} + 11%|█ | 3170/30000 [1:29:15<12:25:17, 1.67s/it] 11%|█ | 3171/30000 [1:29:16<12:24:56, 1.67s/it] 11%|█ | 3172/30000 [1:29:18<12:24:19, 1.66s/it] 11%|█ | 3173/30000 [1:29:19<12:24:44, 1.67s/it] 11%|█ | 3174/30000 [1:29:21<12:23:59, 1.66s/it] 11%|█ | 3175/30000 [1:29:23<12:24:55, 1.67s/it] 11%|█ | 3176/30000 [1:29:24<12:26:16, 1.67s/it] 11%|█ | 3177/30000 [1:29:26<12:25:11, 1.67s/it] 11%|█ | 3178/30000 [1:29:28<12:24:49, 1.67s/it] 11%|█ | 3179/30000 [1:29:29<12:23:53, 1.66s/it] 11%|█ | 3180/30000 [1:29:31<12:24:14, 1.66s/it] {'loss': 0.024, 'grad_norm': 0.13779155910015106, 'learning_rate': 2.9743827425427416e-05, 'flow_matching_loss': 0.024021099880337717, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.93} + 11%|█ | 3180/30000 [1:29:31<12:24:14, 1.66s/it] 11%|█ | 3181/30000 [1:29:33<12:25:50, 1.67s/it] 11%|█ | 3182/30000 [1:29:34<12:25:25, 1.67s/it] 11%|█ | 3183/30000 [1:29:36<12:25:17, 1.67s/it] 11%|█ | 3184/30000 [1:29:38<12:25:55, 1.67s/it] 11%|█ | 3185/30000 [1:29:39<12:25:03, 1.67s/it] 11%|█ | 3186/30000 [1:29:41<12:24:23, 1.67s/it] 11%|█ | 3187/30000 [1:29:43<12:24:21, 1.67s/it] 11%|█ | 3188/30000 [1:29:44<12:23:34, 1.66s/it] 11%|█ | 3189/30000 [1:29:46<12:24:05, 1.67s/it] 11%|█ | 3190/30000 [1:29:48<12:22:09, 1.66s/it] {'loss': 0.0272, 'grad_norm': 0.1775287240743637, 'learning_rate': 2.9740775694060704e-05, 'flow_matching_loss': 0.02724199239164591, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.93} + 11%|█ | 3190/30000 [1:29:48<12:22:09, 1.66s/it] 11%|█ | 3191/30000 [1:29:49<12:24:18, 1.67s/it] 11%|█ | 3192/30000 [1:29:51<12:24:26, 1.67s/it] 11%|█ | 3193/30000 [1:29:53<12:22:38, 1.66s/it] 11%|█ | 3194/30000 [1:29:54<12:23:01, 1.66s/it] 11%|█ | 3195/30000 [1:29:56<12:24:04, 1.67s/it] 11%|█ | 3196/30000 [1:29:58<12:24:10, 1.67s/it] 11%|█ | 3197/30000 [1:29:59<12:23:03, 1.66s/it] 11%|█ | 3198/30000 [1:30:01<12:23:44, 1.66s/it] 11%|█ | 3199/30000 [1:30:03<12:23:06, 1.66s/it] 11%|█ | 3200/30000 [1:30:04<12:23:13, 1.66s/it] {'loss': 0.0257, 'grad_norm': 0.12401523441076279, 'learning_rate': 2.973770605126156e-05, 'flow_matching_loss': 0.025670248828828336, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.93} + 11%|█ | 3200/30000 [1:30:04<12:23:13, 1.66s/it] 11%|█ | 3201/30000 [1:30:06<12:26:21, 1.67s/it] 11%|█ | 3202/30000 [1:30:08<12:25:31, 1.67s/it] 11%|█ | 3203/30000 [1:30:09<12:23:31, 1.66s/it] 11%|█ | 3204/30000 [1:30:11<12:25:28, 1.67s/it] 11%|█ | 3205/30000 [1:30:13<12:26:27, 1.67s/it] 11%|█ | 3206/30000 [1:30:14<12:26:51, 1.67s/it] 11%|█ | 3207/30000 [1:30:16<12:26:53, 1.67s/it] 11%|█ | 3208/30000 [1:30:18<12:25:37, 1.67s/it] 11%|█ | 3209/30000 [1:30:19<12:26:19, 1.67s/it] 11%|█ | 3210/30000 [1:30:21<12:25:46, 1.67s/it] {'loss': 0.0272, 'grad_norm': 0.14200356602668762, 'learning_rate': 2.9734618500759886e-05, 'flow_matching_loss': 0.027227780781686306, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.93} + 11%|█ | 3210/30000 [1:30:21<12:25:46, 1.67s/it] 11%|█ | 3211/30000 [1:30:23<12:26:03, 1.67s/it] 11%|█ | 3212/30000 [1:30:24<12:25:02, 1.67s/it] 11%|█ | 3213/30000 [1:30:26<12:25:44, 1.67s/it] 11%|█ | 3214/30000 [1:30:28<12:23:49, 1.67s/it] 11%|█ | 3215/30000 [1:30:29<12:23:34, 1.67s/it] 11%|█ | 3216/30000 [1:30:31<12:23:48, 1.67s/it] 11%|█ | 3217/30000 [1:30:33<12:24:59, 1.67s/it] 11%|█ | 3218/30000 [1:30:34<12:25:49, 1.67s/it] 11%|█ | 3219/30000 [1:30:36<12:24:06, 1.67s/it] 11%|█ | 3220/30000 [1:30:38<12:24:07, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.22066079080104828, 'learning_rate': 2.9731513046307356e-05, 'flow_matching_loss': 0.024894628673791885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.94} + 11%|█ | 3220/30000 [1:30:38<12:24:07, 1.67s/it] 11%|█ | 3221/30000 [1:30:39<12:23:38, 1.67s/it] 11%|█ | 3222/30000 [1:30:41<12:23:12, 1.67s/it] 11%|█ | 3223/30000 [1:30:43<12:22:13, 1.66s/it] 11%|█ | 3224/30000 [1:30:44<12:23:23, 1.67s/it] 11%|█ | 3225/30000 [1:30:46<12:23:58, 1.67s/it] 11%|█ | 3226/30000 [1:30:48<12:23:25, 1.67s/it] 11%|█ | 3227/30000 [1:30:49<12:23:41, 1.67s/it] 11%|█ | 3228/30000 [1:30:51<12:23:58, 1.67s/it] 11%|█ | 3229/30000 [1:30:53<12:26:07, 1.67s/it] 11%|█ | 3230/30000 [1:30:54<12:24:01, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.17873185873031616, 'learning_rate': 2.972838969167738e-05, 'flow_matching_loss': 0.02265121415257454, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.94} + 11%|█ | 3230/30000 [1:30:55<12:24:01, 1.67s/it] 11%|█ | 3231/30000 [1:30:56<12:25:06, 1.67s/it] 11%|█ | 3232/30000 [1:30:58<12:25:01, 1.67s/it] 11%|█ | 3233/30000 [1:31:00<12:24:22, 1.67s/it] 11%|█ | 3234/30000 [1:31:01<12:23:55, 1.67s/it] 11%|█ | 3235/30000 [1:31:03<12:24:24, 1.67s/it] 11%|█ | 3236/30000 [1:31:05<12:23:59, 1.67s/it] 11%|█ | 3237/30000 [1:31:06<12:24:38, 1.67s/it] 11%|█ | 3238/30000 [1:31:08<12:22:58, 1.67s/it] 11%|█ | 3239/30000 [1:31:10<12:24:57, 1.67s/it] 11%|█ | 3240/30000 [1:31:11<12:23:21, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.16814406216144562, 'learning_rate': 2.972524844066513e-05, 'flow_matching_loss': 0.025526216439902782, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.94} + 11%|█ | 3240/30000 [1:31:11<12:23:21, 1.67s/it] 11%|█ | 3241/30000 [1:31:13<12:24:38, 1.67s/it] 11%|█ | 3242/30000 [1:31:15<12:24:14, 1.67s/it] 11%|█ | 3243/30000 [1:31:16<12:23:20, 1.67s/it] 11%|█ | 3244/30000 [1:31:18<12:23:12, 1.67s/it] 11%|█ | 3245/30000 [1:31:20<12:25:19, 1.67s/it] 11%|█ | 3246/30000 [1:31:21<12:24:18, 1.67s/it] 11%|█ | 3247/30000 [1:31:23<12:24:04, 1.67s/it] 11%|█ | 3248/30000 [1:31:25<12:24:27, 1.67s/it] 11%|█ | 3249/30000 [1:31:26<12:24:51, 1.67s/it] 11%|█ | 3250/30000 [1:31:28<12:23:46, 1.67s/it] {'loss': 0.0247, 'grad_norm': 0.1706385612487793, 'learning_rate': 2.9722089297087524e-05, 'flow_matching_loss': 0.02473417390137911, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.95} + 11%|█ | 3250/30000 [1:31:28<12:23:46, 1.67s/it] 11%|█ | 3251/30000 [1:31:30<12:22:28, 1.67s/it] 11%|█ | 3252/30000 [1:31:31<12:22:42, 1.67s/it] 11%|█ | 3253/30000 [1:31:33<12:22:31, 1.67s/it] 11%|█ | 3254/30000 [1:31:35<12:23:14, 1.67s/it] 11%|█ | 3255/30000 [1:31:36<12:24:13, 1.67s/it] 11%|█ | 3256/30000 [1:31:38<12:25:14, 1.67s/it] 11%|█ | 3257/30000 [1:31:40<12:25:19, 1.67s/it] 11%|█ | 3258/30000 [1:31:41<12:26:20, 1.67s/it] 11%|█ | 3259/30000 [1:31:43<12:25:51, 1.67s/it] 11%|█ | 3260/30000 [1:31:45<12:26:08, 1.67s/it] {'loss': 0.0268, 'grad_norm': 0.2442021518945694, 'learning_rate': 2.971891226478322e-05, 'flow_matching_loss': 0.026833497919142246, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.95} + 11%|█ | 3260/30000 [1:31:45<12:26:08, 1.67s/it] 11%|█ | 3261/30000 [1:31:46<12:25:13, 1.67s/it] 11%|█ | 3262/30000 [1:31:48<12:24:03, 1.67s/it] 11%|█ | 3263/30000 [1:31:50<12:23:44, 1.67s/it] 11%|█ | 3264/30000 [1:31:51<12:25:20, 1.67s/it] 11%|█ | 3265/30000 [1:31:53<12:24:39, 1.67s/it] 11%|█ | 3266/30000 [1:31:55<12:23:06, 1.67s/it] 11%|█ | 3267/30000 [1:31:56<12:23:56, 1.67s/it] 11%|█ | 3268/30000 [1:31:58<12:23:15, 1.67s/it] 11%|█ | 3269/30000 [1:32:00<12:22:33, 1.67s/it] 11%|█ | 3270/30000 [1:32:01<12:22:58, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.13649260997772217, 'learning_rate': 2.9715717347612615e-05, 'flow_matching_loss': 0.025193646922707556, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.95} + 11%|█ | 3270/30000 [1:32:01<12:22:58, 1.67s/it] 11%|█ | 3271/30000 [1:32:03<12:24:47, 1.67s/it] 11%|█ | 3272/30000 [1:32:05<12:21:36, 1.66s/it] 11%|█ | 3273/30000 [1:32:06<12:23:34, 1.67s/it] 11%|█ | 3274/30000 [1:32:08<12:22:16, 1.67s/it] 11%|█ | 3275/30000 [1:32:10<12:21:30, 1.66s/it] 11%|█ | 3276/30000 [1:32:11<12:22:11, 1.67s/it] 11%|█ | 3277/30000 [1:32:13<12:22:40, 1.67s/it] 11%|█ | 3278/30000 [1:32:15<12:21:59, 1.67s/it] 11%|█ | 3279/30000 [1:32:16<12:21:40, 1.67s/it] 11%|█ | 3280/30000 [1:32:18<12:21:59, 1.67s/it] {'loss': 0.0276, 'grad_norm': 0.16145600378513336, 'learning_rate': 2.971250454945783e-05, 'flow_matching_loss': 0.027597185969352723, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.95} + 11%|█ | 3280/30000 [1:32:18<12:21:59, 1.67s/it] 11%|█ | 3281/30000 [1:32:20<12:23:06, 1.67s/it] 11%|█ | 3282/30000 [1:32:21<12:23:00, 1.67s/it] 11%|█ | 3283/30000 [1:32:23<12:22:04, 1.67s/it] 11%|█ | 3284/30000 [1:32:25<12:21:55, 1.67s/it] 11%|█ | 3285/30000 [1:32:26<12:20:49, 1.66s/it] 11%|█ | 3286/30000 [1:32:28<12:21:37, 1.67s/it] 11%|█ | 3287/30000 [1:32:30<12:22:50, 1.67s/it] 11%|█ | 3288/30000 [1:32:31<12:23:21, 1.67s/it] 11%|█ | 3289/30000 [1:32:33<12:21:50, 1.67s/it] 11%|█ | 3290/30000 [1:32:35<12:21:21, 1.67s/it] {'loss': 0.032, 'grad_norm': 0.17208606004714966, 'learning_rate': 2.970927387422272e-05, 'flow_matching_loss': 0.03196374345570803, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.96} + 11%|█ | 3290/30000 [1:32:35<12:21:21, 1.67s/it] 11%|█ | 3291/30000 [1:32:36<12:22:36, 1.67s/it] 11%|█ | 3292/30000 [1:32:38<12:23:28, 1.67s/it] 11%|█ | 3293/30000 [1:32:40<12:24:06, 1.67s/it] 11%|█ | 3294/30000 [1:32:41<12:22:44, 1.67s/it] 11%|█ | 3295/30000 [1:32:43<12:22:16, 1.67s/it] 11%|█ | 3296/30000 [1:32:45<12:23:20, 1.67s/it] 11%|█ | 3297/30000 [1:32:46<12:24:03, 1.67s/it] 11%|█ | 3298/30000 [1:32:48<12:25:03, 1.67s/it] 11%|█ | 3299/30000 [1:32:50<12:23:14, 1.67s/it] 11%|█ | 3300/30000 [1:32:51<12:24:15, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.14742706716060638, 'learning_rate': 2.9706025325832858e-05, 'flow_matching_loss': 0.024940467812120913, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.96} + 11%|█ | 3300/30000 [1:32:51<12:24:15, 1.67s/it] 11%|█ | 3301/30000 [1:32:53<12:22:58, 1.67s/it] 11%|█ | 3302/30000 [1:32:55<12:22:10, 1.67s/it] 11%|█ | 3303/30000 [1:32:56<12:23:42, 1.67s/it] 11%|█ | 3304/30000 [1:32:58<12:22:32, 1.67s/it] 11%|█ | 3305/30000 [1:33:00<12:24:47, 1.67s/it] 11%|█ | 3306/30000 [1:33:01<12:22:57, 1.67s/it] 11%|█ | 3307/30000 [1:33:03<12:22:30, 1.67s/it] 11%|█ | 3308/30000 [1:33:05<12:22:39, 1.67s/it] 11%|█ | 3309/30000 [1:33:06<12:24:00, 1.67s/it] 11%|█ | 3310/30000 [1:33:08<12:22:21, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.15255627036094666, 'learning_rate': 2.9702758908235534e-05, 'flow_matching_loss': 0.02583905328065157, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.96} + 11%|█ | 3310/30000 [1:33:08<12:22:21, 1.67s/it] 11%|█ | 3311/30000 [1:33:10<12:22:29, 1.67s/it] 11%|█ | 3312/30000 [1:33:11<12:22:19, 1.67s/it] 11%|█ | 3313/30000 [1:33:13<12:22:31, 1.67s/it] 11%|█ | 3314/30000 [1:33:15<12:21:21, 1.67s/it] 11%|█ | 3315/30000 [1:33:16<12:20:35, 1.67s/it] 11%|█ | 3316/30000 [1:33:18<12:21:11, 1.67s/it] 11%|█ | 3317/30000 [1:33:20<12:20:54, 1.67s/it] 11%|█ | 3318/30000 [1:33:21<12:19:42, 1.66s/it] 11%|█ | 3319/30000 [1:33:23<12:21:15, 1.67s/it] 11%|█ | 3320/30000 [1:33:25<12:20:50, 1.67s/it] {'loss': 0.0278, 'grad_norm': 0.15797793865203857, 'learning_rate': 2.9699474625399765e-05, 'flow_matching_loss': 0.02782445289194584, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.97} + 11%|█ | 3320/30000 [1:33:25<12:20:50, 1.67s/it] 11%|█ | 3321/30000 [1:33:26<12:22:55, 1.67s/it] 11%|█ | 3322/30000 [1:33:28<12:21:14, 1.67s/it] 11%|█ | 3323/30000 [1:33:30<12:22:58, 1.67s/it] 11%|█ | 3324/30000 [1:33:31<12:22:35, 1.67s/it] 11%|█ | 3325/30000 [1:33:33<12:21:06, 1.67s/it] 11%|█ | 3326/30000 [1:33:35<12:20:25, 1.67s/it] 11%|█ | 3327/30000 [1:33:36<12:19:57, 1.66s/it] 11%|█ | 3328/30000 [1:33:38<12:19:45, 1.66s/it] 11%|█ | 3329/30000 [1:33:40<12:20:54, 1.67s/it] 11%|█ | 3330/30000 [1:33:41<12:19:43, 1.66s/it] {'loss': 0.0263, 'grad_norm': 0.12660519778728485, 'learning_rate': 2.9696172481316246e-05, 'flow_matching_loss': 0.02625163160264492, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.97} + 11%|█ | 3330/30000 [1:33:41<12:19:43, 1.66s/it] 11%|█ | 3331/30000 [1:33:43<12:22:08, 1.67s/it] 11%|█ | 3332/30000 [1:33:45<12:21:37, 1.67s/it] 11%|█ | 3333/30000 [1:33:46<12:22:01, 1.67s/it] 11%|█ | 3334/30000 [1:33:48<12:21:11, 1.67s/it] 11%|█ | 3335/30000 [1:33:50<12:21:04, 1.67s/it] 11%|█ | 3336/30000 [1:33:51<12:19:47, 1.66s/it] 11%|█ | 3337/30000 [1:33:53<12:19:36, 1.66s/it] 11%|█ | 3338/30000 [1:33:55<12:19:10, 1.66s/it] 11%|█ | 3339/30000 [1:33:56<12:19:34, 1.66s/it] 11%|█ | 3340/30000 [1:33:58<12:20:00, 1.67s/it] {'loss': 0.0264, 'grad_norm': 0.18338118493556976, 'learning_rate': 2.9692852479997407e-05, 'flow_matching_loss': 0.026357612013816832, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.97} + 11%|█ | 3340/30000 [1:33:58<12:20:00, 1.67s/it] 11%|█ | 3341/30000 [1:34:00<12:21:17, 1.67s/it] 11%|█ | 3342/30000 [1:34:01<12:20:43, 1.67s/it] 11%|█ | 3343/30000 [1:34:03<12:20:02, 1.67s/it] 11%|█ | 3344/30000 [1:34:05<12:20:25, 1.67s/it] 11%|█ | 3345/30000 [1:34:06<12:20:50, 1.67s/it] 11%|█ | 3346/30000 [1:34:08<12:20:43, 1.67s/it] 11%|█ | 3347/30000 [1:34:10<12:21:13, 1.67s/it] 11%|█ | 3348/30000 [1:34:11<12:20:24, 1.67s/it] 11%|█ | 3349/30000 [1:34:13<12:21:56, 1.67s/it] 11%|█ | 3350/30000 [1:34:15<12:22:05, 1.67s/it] {'loss': 0.0263, 'grad_norm': 0.14443844556808472, 'learning_rate': 2.9689514625477364e-05, 'flow_matching_loss': 0.02633723020553589, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.97} + 11%|█ | 3350/30000 [1:34:15<12:22:05, 1.67s/it] 11%|█ | 3351/30000 [1:34:16<12:22:38, 1.67s/it] 11%|█ | 3352/30000 [1:34:18<12:21:18, 1.67s/it] 11%|█ | 3353/30000 [1:34:20<12:20:33, 1.67s/it] 11%|█ | 3354/30000 [1:34:21<12:20:14, 1.67s/it] 11%|█ | 3355/30000 [1:34:23<12:21:50, 1.67s/it] 11%|█ | 3356/30000 [1:34:25<12:20:01, 1.67s/it] 11%|█ | 3357/30000 [1:34:26<12:19:33, 1.67s/it] 11%|█ | 3358/30000 [1:34:28<12:19:07, 1.66s/it] 11%|█ | 3359/30000 [1:34:30<12:19:20, 1.67s/it] 11%|█ | 3360/30000 [1:34:31<12:17:59, 1.66s/it] {'loss': 0.0261, 'grad_norm': 0.23275358974933624, 'learning_rate': 2.968615892181192e-05, 'flow_matching_loss': 0.0261368777602911, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.98} + 11%|█ | 3360/30000 [1:34:31<12:17:59, 1.66s/it] 11%|█ | 3361/30000 [1:34:33<12:18:48, 1.66s/it] 11%|█ | 3362/30000 [1:34:35<12:19:15, 1.67s/it] 11%|█ | 3363/30000 [1:34:36<12:19:33, 1.67s/it] 11%|█ | 3364/30000 [1:34:38<12:18:21, 1.66s/it] 11%|█ | 3365/30000 [1:34:40<12:19:16, 1.67s/it] 11%|█ | 3366/30000 [1:34:41<12:17:33, 1.66s/it] 11%|█ | 3367/30000 [1:34:43<12:17:39, 1.66s/it] 11%|█ | 3368/30000 [1:34:45<12:19:43, 1.67s/it] 11%|█ | 3369/30000 [1:34:46<12:21:05, 1.67s/it] 11%|█ | 3370/30000 [1:34:48<12:21:22, 1.67s/it] {'loss': 0.028, 'grad_norm': 0.20125973224639893, 'learning_rate': 2.9682785373078567e-05, 'flow_matching_loss': 0.02801312245428562, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.98} + 11%|█ | 3370/30000 [1:34:48<12:21:22, 1.67s/it] 11%|█ | 3371/30000 [1:34:50<12:21:35, 1.67s/it] 11%|█ | 3372/30000 [1:34:51<12:22:38, 1.67s/it] 11%|█ | 3373/30000 [1:34:53<12:21:35, 1.67s/it] 11%|█ | 3374/30000 [1:34:55<12:19:22, 1.67s/it] 11%|█▏ | 3375/30000 [1:34:56<12:18:04, 1.66s/it] 11%|█▏ | 3376/30000 [1:34:58<12:17:38, 1.66s/it] 11%|█▏ | 3377/30000 [1:35:00<12:20:21, 1.67s/it] 11%|█▏ | 3378/30000 [1:35:01<12:19:03, 1.67s/it] 11%|█▏ | 3379/30000 [1:35:03<12:19:18, 1.67s/it] 11%|█▏ | 3380/30000 [1:35:05<12:20:47, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.20113740861415863, 'learning_rate': 2.9679393983376493e-05, 'flow_matching_loss': 0.02439260222017765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.98} + 11%|█▏ | 3380/30000 [1:35:05<12:20:47, 1.67s/it] 11%|█▏ | 3381/30000 [1:35:06<12:22:40, 1.67s/it] 11%|█▏ | 3382/30000 [1:35:08<12:21:06, 1.67s/it] 11%|█▏ | 3383/30000 [1:35:10<12:19:38, 1.67s/it] 11%|█▏ | 3384/30000 [1:35:11<12:18:32, 1.66s/it] 11%|█▏ | 3385/30000 [1:35:13<12:18:48, 1.67s/it] 11%|█▏ | 3386/30000 [1:35:15<12:19:24, 1.67s/it] 11%|█▏ | 3387/30000 [1:35:16<12:19:20, 1.67s/it] 11%|█▏ | 3388/30000 [1:35:18<12:20:59, 1.67s/it] 11%|█▏ | 3389/30000 [1:35:20<12:21:13, 1.67s/it] 11%|█▏ | 3390/30000 [1:35:21<12:18:42, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.1708751767873764, 'learning_rate': 2.9675984756826545e-05, 'flow_matching_loss': 0.0233715508133173, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.99} + 11%|█▏ | 3390/30000 [1:35:21<12:18:42, 1.67s/it] 11%|█▏ | 3391/30000 [1:35:23<12:18:20, 1.66s/it] 11%|█▏ | 3392/30000 [1:35:25<12:18:29, 1.67s/it] 11%|█▏ | 3393/30000 [1:35:26<12:19:06, 1.67s/it] 11%|█▏ | 3394/30000 [1:35:28<12:20:09, 1.67s/it] 11%|█▏ | 3395/30000 [1:35:30<12:18:52, 1.67s/it] 11%|█▏ | 3396/30000 [1:35:31<12:18:42, 1.67s/it] 11%|█▏ | 3397/30000 [1:35:33<12:17:46, 1.66s/it] 11%|█▏ | 3398/30000 [1:35:35<12:18:34, 1.67s/it] 11%|█▏ | 3399/30000 [1:35:36<12:17:46, 1.66s/it] 11%|█▏ | 3400/30000 [1:35:38<12:19:00, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.19867640733718872, 'learning_rate': 2.9672557697571273e-05, 'flow_matching_loss': 0.028186874464154243, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.99} + 11%|█▏ | 3400/30000 [1:35:38<12:19:00, 1.67s/it] 11%|█▏ | 3401/30000 [1:35:40<12:19:53, 1.67s/it] 11%|█▏ | 3402/30000 [1:35:41<12:19:23, 1.67s/it] 11%|█▏ | 3403/30000 [1:35:43<12:20:18, 1.67s/it] 11%|█▏ | 3404/30000 [1:35:45<12:20:38, 1.67s/it] 11%|█▏ | 3405/30000 [1:35:46<12:18:47, 1.67s/it] 11%|█▏ | 3406/30000 [1:35:48<12:17:38, 1.66s/it] 11%|█▏ | 3407/30000 [1:35:50<12:17:31, 1.66s/it] 11%|█▏ | 3408/30000 [1:35:51<12:21:02, 1.67s/it] 11%|█▏ | 3409/30000 [1:35:53<12:19:59, 1.67s/it] 11%|█▏ | 3410/30000 [1:35:55<12:20:08, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.15620800852775574, 'learning_rate': 2.966911280977486e-05, 'flow_matching_loss': 0.023167946189641953, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 0.99} + 11%|█▏ | 3410/30000 [1:35:55<12:20:08, 1.67s/it] 11%|█▏ | 3411/30000 [1:35:56<12:20:43, 1.67s/it] 11%|█▏ | 3412/30000 [1:35:58<12:21:13, 1.67s/it] 11%|█▏ | 3413/30000 [1:36:00<12:21:33, 1.67s/it] 11%|█▏ | 3414/30000 [1:36:01<12:18:51, 1.67s/it] 11%|█▏ | 3415/30000 [1:36:03<12:17:57, 1.67s/it] 11%|█▏ | 3416/30000 [1:36:05<12:18:05, 1.67s/it] 11%|█▏ | 3417/30000 [1:36:06<12:21:16, 1.67s/it] 11%|█▏ | 3418/30000 [1:36:08<12:20:23, 1.67s/it] 11%|█▏ | 3419/30000 [1:36:10<12:20:04, 1.67s/it] 11%|█▏ | 3420/30000 [1:36:11<12:20:27, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.13536876440048218, 'learning_rate': 2.966565009762318e-05, 'flow_matching_loss': 0.0222082007676363, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.0} + 11%|█▏ | 3420/30000 [1:36:11<12:20:27, 1.67s/it] 11%|█▏ | 3421/30000 [1:36:13<12:21:16, 1.67s/it] 11%|█▏ | 3422/30000 [1:36:15<12:18:40, 1.67s/it] 11%|█▏ | 3423/30000 [1:36:16<12:16:06, 1.66s/it] 11%|█▏ | 3424/30000 [1:36:18<12:15:12, 1.66s/it] 11%|█▏ | 3425/30000 [1:36:20<12:14:17, 1.66s/it] 11%|█▏ | 3426/30000 [1:36:21<12:12:54, 1.65s/it] 11%|█▏ | 3427/30000 [1:36:23<12:12:56, 1.65s/it] 11%|█▏ | 3428/30000 [1:36:25<12:12:03, 1.65s/it] 11%|█▏ | 3429/30000 [1:36:26<12:12:14, 1.65s/it] 11%|█▏ | 3430/30000 [1:36:28<12:11:57, 1.65s/it] {'loss': 0.0265, 'grad_norm': 0.18009056150913239, 'learning_rate': 2.966216956532375e-05, 'flow_matching_loss': 0.026519239135086536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.0} + 11%|█▏ | 3430/30000 [1:36:28<12:11:57, 1.65s/it] 11%|█▏ | 3431/30000 [1:36:30<12:11:31, 1.65s/it] 11%|█▏ | 3432/30000 [1:36:31<12:11:31, 1.65s/it] 11%|█▏ | 3433/30000 [1:36:33<12:12:19, 1.65s/it] 11%|█▏ | 3434/30000 [1:36:35<12:12:12, 1.65s/it] 11%|█▏ | 3435/30000 [1:36:36<12:12:53, 1.66s/it] 11%|█▏ | 3436/30000 [1:36:38<12:12:03, 1.65s/it] 11%|█▏ | 3437/30000 [1:36:40<12:09:19, 1.65s/it] 11%|█▏ | 3438/30000 [1:36:49<29:06:33, 3.95s/it] 11%|█▏ | 3439/30000 [1:36:51<24:07:08, 3.27s/it] 11%|█▏ | 3440/30000 [1:36:52<20:38:05, 2.80s/it] {'loss': 0.0296, 'grad_norm': 0.1799631267786026, 'learning_rate': 2.9658671217105744e-05, 'flow_matching_loss': 0.029559250548481943, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.0} + 11%|█▏ | 3440/30000 [1:36:52<20:38:05, 2.80s/it] 11%|█▏ | 3441/30000 [1:36:54<18:11:50, 2.47s/it] 11%|█▏ | 3442/30000 [1:36:56<16:28:16, 2.23s/it] 11%|█▏ | 3443/30000 [1:36:57<15:15:11, 2.07s/it] 11%|█▏ | 3444/30000 [1:36:59<14:23:48, 1.95s/it] 11%|█▏ | 3445/30000 [1:37:01<13:53:20, 1.88s/it] 11%|█▏ | 3446/30000 [1:37:02<13:26:19, 1.82s/it] 11%|█▏ | 3447/30000 [1:37:04<13:06:10, 1.78s/it] 11%|█▏ | 3448/30000 [1:37:06<12:51:10, 1.74s/it] 11%|█▏ | 3449/30000 [1:37:07<12:41:47, 1.72s/it] 12%|█▏ | 3450/30000 [1:37:09<12:34:04, 1.70s/it] {'loss': 0.0265, 'grad_norm': 0.1504381150007248, 'learning_rate': 2.965515505721999e-05, 'flow_matching_loss': 0.026487034000456332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.0} + 12%|█▏ | 3450/30000 [1:37:09<12:34:04, 1.70s/it] 12%|█▏ | 3451/30000 [1:37:11<12:28:00, 1.69s/it] 12%|█▏ | 3452/30000 [1:37:12<12:23:42, 1.68s/it] 12%|█▏ | 3453/30000 [1:37:14<12:22:06, 1.68s/it] 12%|█▏ | 3454/30000 [1:37:16<12:20:04, 1.67s/it] 12%|█▏ | 3455/30000 [1:37:17<12:17:24, 1.67s/it] 12%|█▏ | 3456/30000 [1:37:19<12:15:38, 1.66s/it] 12%|█▏ | 3457/30000 [1:37:21<12:15:58, 1.66s/it] 12%|█▏ | 3458/30000 [1:37:22<12:16:10, 1.66s/it] 12%|█▏ | 3459/30000 [1:37:24<12:17:04, 1.67s/it] 12%|█▏ | 3460/30000 [1:37:26<12:16:39, 1.67s/it] {'loss': 0.0303, 'grad_norm': 0.16942594945430756, 'learning_rate': 2.9651621089938948e-05, 'flow_matching_loss': 0.03031103890389204, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.01} + 12%|█▏ | 3460/30000 [1:37:26<12:16:39, 1.67s/it] 12%|█▏ | 3461/30000 [1:37:27<12:16:11, 1.66s/it] 12%|█▏ | 3462/30000 [1:37:29<12:15:02, 1.66s/it] 12%|█▏ | 3463/30000 [1:37:31<12:15:22, 1.66s/it] 12%|█▏ | 3464/30000 [1:37:32<12:15:01, 1.66s/it] 12%|█▏ | 3465/30000 [1:37:34<12:15:09, 1.66s/it] 12%|█▏ | 3466/30000 [1:37:36<12:16:31, 1.67s/it] 12%|█▏ | 3467/30000 [1:37:37<12:19:21, 1.67s/it] 12%|█▏ | 3468/30000 [1:37:39<12:17:30, 1.67s/it] 12%|█▏ | 3469/30000 [1:37:41<12:16:34, 1.67s/it] 12%|█▏ | 3470/30000 [1:37:42<12:16:36, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.15296590328216553, 'learning_rate': 2.9648069319556725e-05, 'flow_matching_loss': 0.024166059494018555, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.01} + 12%|█▏ | 3470/30000 [1:37:42<12:16:36, 1.67s/it] 12%|█▏ | 3471/30000 [1:37:44<12:15:50, 1.66s/it] 12%|█▏ | 3472/30000 [1:37:46<12:16:33, 1.67s/it] 12%|█▏ | 3473/30000 [1:37:47<12:15:45, 1.66s/it] 12%|█▏ | 3474/30000 [1:37:49<12:17:21, 1.67s/it] 12%|█▏ | 3475/30000 [1:37:51<12:17:53, 1.67s/it] 12%|█▏ | 3476/30000 [1:37:52<12:18:08, 1.67s/it] 12%|█▏ | 3477/30000 [1:37:54<12:18:36, 1.67s/it] 12%|█▏ | 3478/30000 [1:37:56<12:16:37, 1.67s/it] 12%|█▏ | 3479/30000 [1:37:57<12:17:10, 1.67s/it] 12%|█▏ | 3480/30000 [1:37:59<12:19:07, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.21889032423496246, 'learning_rate': 2.9644499750389057e-05, 'flow_matching_loss': 0.028221002593636513, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.01} + 12%|█▏ | 3480/30000 [1:37:59<12:19:07, 1.67s/it] 12%|█▏ | 3481/30000 [1:38:01<12:19:10, 1.67s/it] 12%|█▏ | 3482/30000 [1:38:02<12:20:33, 1.68s/it] 12%|█▏ | 3483/30000 [1:38:04<12:17:45, 1.67s/it] 12%|█▏ | 3484/30000 [1:38:06<12:19:19, 1.67s/it] 12%|█▏ | 3485/30000 [1:38:07<12:18:15, 1.67s/it] 12%|█▏ | 3486/30000 [1:38:09<12:20:16, 1.68s/it] 12%|█▏ | 3487/30000 [1:38:11<12:20:22, 1.68s/it] 12%|█▏ | 3488/30000 [1:38:12<12:21:40, 1.68s/it] 12%|█▏ | 3489/30000 [1:38:14<12:19:21, 1.67s/it] 12%|█▏ | 3490/30000 [1:38:16<12:18:24, 1.67s/it] {'loss': 0.0253, 'grad_norm': 0.1501605361700058, 'learning_rate': 2.9640912386773305e-05, 'flow_matching_loss': 0.025274140760302544, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.02} + 12%|█▏ | 3490/30000 [1:38:16<12:18:24, 1.67s/it] 12%|█▏ | 3491/30000 [1:38:17<12:17:50, 1.67s/it] 12%|█▏ | 3492/30000 [1:38:19<12:18:11, 1.67s/it] 12%|█▏ | 3493/30000 [1:38:21<12:16:36, 1.67s/it] 12%|█▏ | 3494/30000 [1:38:22<12:16:07, 1.67s/it] 12%|█▏ | 3495/30000 [1:38:24<12:14:48, 1.66s/it] 12%|█▏ | 3496/30000 [1:38:26<12:15:11, 1.66s/it] 12%|█▏ | 3497/30000 [1:38:27<12:15:07, 1.66s/it] 12%|█▏ | 3498/30000 [1:38:29<12:16:03, 1.67s/it] 12%|█▏ | 3499/30000 [1:38:31<12:14:26, 1.66s/it] 12%|█▏ | 3500/30000 [1:38:32<12:15:42, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.13444137573242188, 'learning_rate': 2.9637307233068455e-05, 'flow_matching_loss': 0.025058876164257525, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.02} + 12%|█▏ | 3500/30000 [1:38:32<12:15:42, 1.67s/it] 12%|█▏ | 3501/30000 [1:38:34<12:16:14, 1.67s/it] 12%|█▏ | 3502/30000 [1:38:36<12:16:59, 1.67s/it] 12%|█▏ | 3503/30000 [1:38:37<12:16:30, 1.67s/it] 12%|█▏ | 3504/30000 [1:38:39<12:17:11, 1.67s/it] 12%|█▏ | 3505/30000 [1:38:41<12:17:09, 1.67s/it] 12%|█▏ | 3506/30000 [1:38:42<12:18:15, 1.67s/it] 12%|█▏ | 3507/30000 [1:38:44<12:17:46, 1.67s/it] 12%|█▏ | 3508/30000 [1:38:46<12:15:26, 1.67s/it] 12%|█▏ | 3509/30000 [1:38:47<12:15:03, 1.66s/it] 12%|█▏ | 3510/30000 [1:38:49<12:15:33, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.11877978593111038, 'learning_rate': 2.9633684293655108e-05, 'flow_matching_loss': 0.02442960310727358, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.02} + 12%|█▏ | 3510/30000 [1:38:49<12:15:33, 1.67s/it] 12%|█▏ | 3511/30000 [1:38:51<12:16:38, 1.67s/it] 12%|█▏ | 3512/30000 [1:38:52<12:15:29, 1.67s/it] 12%|█▏ | 3513/30000 [1:38:54<12:15:23, 1.67s/it] 12%|█▏ | 3514/30000 [1:38:56<12:16:59, 1.67s/it] 12%|█▏ | 3515/30000 [1:38:57<12:15:47, 1.67s/it] 12%|█▏ | 3516/30000 [1:38:59<12:15:57, 1.67s/it] 12%|█▏ | 3517/30000 [1:39:01<12:15:37, 1.67s/it] 12%|█▏ | 3518/30000 [1:39:02<12:14:25, 1.66s/it] 12%|█▏ | 3519/30000 [1:39:04<12:15:34, 1.67s/it] 12%|█▏ | 3520/30000 [1:39:06<12:17:08, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.13274329900741577, 'learning_rate': 2.963004357293548e-05, 'flow_matching_loss': 0.026739639416337013, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.02} + 12%|█▏ | 3520/30000 [1:39:06<12:17:08, 1.67s/it] 12%|█▏ | 3521/30000 [1:39:07<12:16:39, 1.67s/it] 12%|█▏ | 3522/30000 [1:39:09<12:16:25, 1.67s/it] 12%|█▏ | 3523/30000 [1:39:11<12:14:43, 1.66s/it] 12%|█▏ | 3524/30000 [1:39:12<12:14:19, 1.66s/it] 12%|█▏ | 3525/30000 [1:39:14<12:17:15, 1.67s/it] 12%|█▏ | 3526/30000 [1:39:16<12:16:44, 1.67s/it] 12%|█▏ | 3527/30000 [1:39:17<12:17:44, 1.67s/it] 12%|█▏ | 3528/30000 [1:39:19<12:17:28, 1.67s/it] 12%|█▏ | 3529/30000 [1:39:21<12:17:53, 1.67s/it] 12%|█▏ | 3530/30000 [1:39:22<12:17:34, 1.67s/it] {'loss': 0.0277, 'grad_norm': 0.11280832439661026, 'learning_rate': 2.962638507533339e-05, 'flow_matching_loss': 0.027741985209286214, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.03} + 12%|█▏ | 3530/30000 [1:39:22<12:17:34, 1.67s/it] 12%|█▏ | 3531/30000 [1:39:24<12:16:23, 1.67s/it] 12%|█▏ | 3532/30000 [1:39:26<12:15:05, 1.67s/it] 12%|█▏ | 3533/30000 [1:39:27<12:14:44, 1.67s/it] 12%|█▏ | 3534/30000 [1:39:29<12:14:49, 1.67s/it] 12%|█▏ | 3535/30000 [1:39:31<12:16:14, 1.67s/it] 12%|█▏ | 3536/30000 [1:39:32<12:16:13, 1.67s/it] 12%|█▏ | 3537/30000 [1:39:34<12:16:40, 1.67s/it] 12%|█▏ | 3538/30000 [1:39:36<12:15:58, 1.67s/it] 12%|█▏ | 3539/30000 [1:39:37<12:14:09, 1.66s/it] 12%|█▏ | 3540/30000 [1:39:39<12:14:06, 1.66s/it] {'loss': 0.0255, 'grad_norm': 0.09723849594593048, 'learning_rate': 2.962270880529425e-05, 'flow_matching_loss': 0.025508834794163705, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.03} + 12%|█▏ | 3540/30000 [1:39:39<12:14:06, 1.66s/it] 12%|█▏ | 3541/30000 [1:39:41<12:13:27, 1.66s/it] 12%|█▏ | 3542/30000 [1:39:42<12:13:53, 1.66s/it] 12%|█▏ | 3543/30000 [1:39:44<12:13:50, 1.66s/it] 12%|█▏ | 3544/30000 [1:39:46<12:14:35, 1.67s/it] 12%|█▏ | 3545/30000 [1:39:47<12:14:25, 1.67s/it] 12%|█▏ | 3546/30000 [1:39:49<12:15:04, 1.67s/it] 12%|█▏ | 3547/30000 [1:39:51<12:14:51, 1.67s/it] 12%|█▏ | 3548/30000 [1:39:52<12:17:30, 1.67s/it] 12%|█▏ | 3549/30000 [1:39:54<12:16:04, 1.67s/it] 12%|█▏ | 3550/30000 [1:39:56<12:16:55, 1.67s/it] {'loss': 0.0264, 'grad_norm': 0.1536998152732849, 'learning_rate': 2.9619014767285084e-05, 'flow_matching_loss': 0.026418836787343025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.03} + 12%|█▏ | 3550/30000 [1:39:56<12:16:55, 1.67s/it] 12%|█▏ | 3551/30000 [1:39:57<12:15:50, 1.67s/it] 12%|█▏ | 3552/30000 [1:39:59<12:15:44, 1.67s/it] 12%|█▏ | 3553/30000 [1:40:01<12:14:40, 1.67s/it] 12%|█▏ | 3554/30000 [1:40:02<12:16:40, 1.67s/it] 12%|█▏ | 3555/30000 [1:40:04<12:17:30, 1.67s/it] 12%|█▏ | 3556/30000 [1:40:06<12:16:53, 1.67s/it] 12%|█▏ | 3557/30000 [1:40:07<12:15:25, 1.67s/it] 12%|█▏ | 3558/30000 [1:40:09<12:15:38, 1.67s/it] 12%|█▏ | 3559/30000 [1:40:11<12:15:50, 1.67s/it] 12%|█▏ | 3560/30000 [1:40:12<12:13:48, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.17132437229156494, 'learning_rate': 2.9615302965794488e-05, 'flow_matching_loss': 0.024527433700859545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.04} + 12%|█▏ | 3560/30000 [1:40:13<12:13:48, 1.67s/it] 12%|█▏ | 3561/30000 [1:40:14<12:15:29, 1.67s/it] 12%|█▏ | 3562/30000 [1:40:16<12:16:44, 1.67s/it] 12%|█▏ | 3563/30000 [1:40:17<12:14:51, 1.67s/it] 12%|█▏ | 3564/30000 [1:40:19<12:13:49, 1.67s/it] 12%|█▏ | 3565/30000 [1:40:21<12:13:16, 1.66s/it] 12%|█▏ | 3566/30000 [1:40:22<12:13:27, 1.66s/it] 12%|█▏ | 3567/30000 [1:40:24<12:14:01, 1.67s/it] 12%|█▏ | 3568/30000 [1:40:26<12:13:19, 1.66s/it] 12%|█▏ | 3569/30000 [1:40:27<12:13:12, 1.66s/it] 12%|█▏ | 3570/30000 [1:40:29<12:16:13, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.1886245310306549, 'learning_rate': 2.961157340533266e-05, 'flow_matching_loss': 0.02615140937268734, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.04} + 12%|█▏ | 3570/30000 [1:40:29<12:16:13, 1.67s/it] 12%|█▏ | 3571/30000 [1:40:31<12:15:17, 1.67s/it] 12%|█▏ | 3572/30000 [1:40:32<12:15:52, 1.67s/it] 12%|█▏ | 3573/30000 [1:40:34<12:14:44, 1.67s/it] 12%|█▏ | 3574/30000 [1:40:36<12:16:02, 1.67s/it] 12%|█▏ | 3575/30000 [1:40:37<12:14:21, 1.67s/it] 12%|█▏ | 3576/30000 [1:40:39<12:14:17, 1.67s/it] 12%|█▏ | 3577/30000 [1:40:41<12:13:59, 1.67s/it] 12%|█▏ | 3578/30000 [1:40:43<12:16:16, 1.67s/it] 12%|█▏ | 3579/30000 [1:40:44<12:14:21, 1.67s/it] 12%|█▏ | 3580/30000 [1:40:46<12:14:43, 1.67s/it] {'loss': 0.0282, 'grad_norm': 0.13170185685157776, 'learning_rate': 2.9607826090431364e-05, 'flow_matching_loss': 0.028189025074243545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.04} + 12%|█▏ | 3580/30000 [1:40:46<12:14:43, 1.67s/it] 12%|█▏ | 3581/30000 [1:40:48<12:15:00, 1.67s/it] 12%|█▏ | 3582/30000 [1:40:49<12:14:42, 1.67s/it] 12%|█▏ | 3583/30000 [1:40:51<12:15:25, 1.67s/it] 12%|█▏ | 3584/30000 [1:40:53<12:14:00, 1.67s/it] 12%|█▏ | 3585/30000 [1:40:54<12:13:54, 1.67s/it] 12%|█▏ | 3586/30000 [1:40:56<12:12:38, 1.66s/it] 12%|█▏ | 3587/30000 [1:40:58<12:13:10, 1.67s/it] 12%|█▏ | 3588/30000 [1:40:59<12:12:51, 1.66s/it] 12%|█▏ | 3589/30000 [1:41:01<12:12:40, 1.66s/it] 12%|█▏ | 3590/30000 [1:41:03<12:14:40, 1.67s/it] {'loss': 0.0274, 'grad_norm': 0.14668966829776764, 'learning_rate': 2.9604061025643936e-05, 'flow_matching_loss': 0.0273584745824337, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.04} + 12%|█▏ | 3590/30000 [1:41:03<12:14:40, 1.67s/it] 12%|█▏ | 3591/30000 [1:41:04<12:14:28, 1.67s/it] 12%|█▏ | 3592/30000 [1:41:06<12:14:28, 1.67s/it] 12%|█▏ | 3593/30000 [1:41:08<12:14:49, 1.67s/it] 12%|█▏ | 3594/30000 [1:41:09<12:15:14, 1.67s/it] 12%|█▏ | 3595/30000 [1:41:11<12:13:34, 1.67s/it] 12%|█▏ | 3596/30000 [1:41:13<12:12:49, 1.67s/it] 12%|█▏ | 3597/30000 [1:41:14<12:11:23, 1.66s/it] 12%|█▏ | 3598/30000 [1:41:16<12:12:41, 1.67s/it] 12%|█▏ | 3599/30000 [1:41:18<12:12:02, 1.66s/it] 12%|█▏ | 3600/30000 [1:41:19<12:13:11, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.1537695676088333, 'learning_rate': 2.9600278215545292e-05, 'flow_matching_loss': 0.02673367243260145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.05} + 12%|█▏ | 3600/30000 [1:41:19<12:13:11, 1.67s/it] 12%|█▏ | 3601/30000 [1:41:21<12:13:43, 1.67s/it] 12%|█▏ | 3602/30000 [1:41:23<12:13:45, 1.67s/it] 12%|█▏ | 3603/30000 [1:41:24<12:11:48, 1.66s/it] 12%|█▏ | 3604/30000 [1:41:26<12:11:56, 1.66s/it] 12%|█▏ | 3605/30000 [1:41:27<12:11:29, 1.66s/it] 12%|█▏ | 3606/30000 [1:41:29<12:12:00, 1.66s/it] 12%|█▏ | 3607/30000 [1:41:31<12:11:33, 1.66s/it] 12%|█▏ | 3608/30000 [1:41:32<12:13:11, 1.67s/it] 12%|█▏ | 3609/30000 [1:41:34<12:12:57, 1.67s/it] 12%|█▏ | 3610/30000 [1:41:36<12:13:26, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.19584713876247406, 'learning_rate': 2.95964776647319e-05, 'flow_matching_loss': 0.024198741279542448, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.05} + 12%|█▏ | 3610/30000 [1:41:36<12:13:26, 1.67s/it] 12%|█▏ | 3611/30000 [1:41:37<12:12:59, 1.67s/it] 12%|█▏ | 3612/30000 [1:41:39<12:13:41, 1.67s/it] 12%|█▏ | 3613/30000 [1:41:41<12:12:04, 1.66s/it] 12%|█▏ | 3614/30000 [1:41:42<12:11:44, 1.66s/it] 12%|█▏ | 3615/30000 [1:41:44<12:10:24, 1.66s/it] 12%|█▏ | 3616/30000 [1:41:46<12:08:46, 1.66s/it] 12%|█▏ | 3617/30000 [1:41:47<12:11:10, 1.66s/it] 12%|█▏ | 3618/30000 [1:41:49<12:12:08, 1.67s/it] 12%|█▏ | 3619/30000 [1:41:51<12:11:16, 1.66s/it] 12%|█▏ | 3620/30000 [1:41:52<12:09:13, 1.66s/it] {'loss': 0.0237, 'grad_norm': 0.13676415383815765, 'learning_rate': 2.9592659377821787e-05, 'flow_matching_loss': 0.02370735928416252, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.05} + 12%|█▏ | 3620/30000 [1:41:52<12:09:13, 1.66s/it] 12%|█▏ | 3621/30000 [1:41:54<12:10:22, 1.66s/it] 12%|█▏ | 3622/30000 [1:41:56<12:13:26, 1.67s/it] 12%|█▏ | 3623/30000 [1:41:57<12:13:46, 1.67s/it] 12%|█▏ | 3624/30000 [1:41:59<12:11:54, 1.66s/it] 12%|█▏ | 3625/30000 [1:42:01<12:11:46, 1.66s/it] 12%|█▏ | 3626/30000 [1:42:02<12:12:49, 1.67s/it] 12%|█▏ | 3627/30000 [1:42:04<12:10:56, 1.66s/it] 12%|█▏ | 3628/30000 [1:42:06<12:11:05, 1.66s/it] 12%|█▏ | 3629/30000 [1:42:07<12:10:44, 1.66s/it] 12%|█▏ | 3630/30000 [1:42:09<12:11:15, 1.66s/it] {'loss': 0.0235, 'grad_norm': 0.16405336558818817, 'learning_rate': 2.9588823359454528e-05, 'flow_matching_loss': 0.023490883875638247, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.06} + 12%|█▏ | 3630/30000 [1:42:09<12:11:15, 1.66s/it] 12%|█▏ | 3631/30000 [1:42:11<12:12:10, 1.67s/it] 12%|█▏ | 3632/30000 [1:42:12<12:12:59, 1.67s/it] 12%|█▏ | 3633/30000 [1:42:14<12:12:23, 1.67s/it] 12%|█▏ | 3634/30000 [1:42:16<12:13:57, 1.67s/it] 12%|█▏ | 3635/30000 [1:42:17<12:11:49, 1.67s/it] 12%|█▏ | 3636/30000 [1:42:19<12:10:55, 1.66s/it] 12%|█▏ | 3637/30000 [1:42:21<12:10:18, 1.66s/it] 12%|█▏ | 3638/30000 [1:42:22<12:11:10, 1.66s/it] 12%|█▏ | 3639/30000 [1:42:24<12:11:03, 1.66s/it] 12%|█▏ | 3640/30000 [1:42:26<12:10:38, 1.66s/it] {'loss': 0.0261, 'grad_norm': 0.17605407536029816, 'learning_rate': 2.958496961429126e-05, 'flow_matching_loss': 0.026131775230169296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.06} + 12%|█▏ | 3640/30000 [1:42:26<12:10:38, 1.66s/it] 12%|█▏ | 3641/30000 [1:42:27<12:11:08, 1.66s/it] 12%|█▏ | 3642/30000 [1:42:29<12:12:04, 1.67s/it] 12%|█▏ | 3643/30000 [1:42:31<12:12:25, 1.67s/it] 12%|█▏ | 3644/30000 [1:42:32<12:11:51, 1.67s/it] 12%|█▏ | 3645/30000 [1:42:34<12:11:15, 1.66s/it] 12%|█▏ | 3646/30000 [1:42:36<12:12:24, 1.67s/it] 12%|█▏ | 3647/30000 [1:42:37<12:11:53, 1.67s/it] 12%|█▏ | 3648/30000 [1:42:39<12:10:38, 1.66s/it] 12%|█▏ | 3649/30000 [1:42:41<12:11:27, 1.67s/it] 12%|█▏ | 3650/30000 [1:42:42<12:11:35, 1.67s/it] {'loss': 0.028, 'grad_norm': 0.16975124180316925, 'learning_rate': 2.9581098147014628e-05, 'flow_matching_loss': 0.027975175343453885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.06} + 12%|█▏ | 3650/30000 [1:42:42<12:11:35, 1.67s/it] 12%|█▏ | 3651/30000 [1:42:44<12:11:03, 1.66s/it] 12%|█▏ | 3652/30000 [1:42:46<12:10:07, 1.66s/it] 12%|█▏ | 3653/30000 [1:42:47<12:10:42, 1.66s/it] 12%|█▏ | 3654/30000 [1:42:49<12:12:50, 1.67s/it] 12%|█▏ | 3655/30000 [1:42:51<12:11:46, 1.67s/it] 12%|█▏ | 3656/30000 [1:42:52<12:10:21, 1.66s/it] 12%|█▏ | 3657/30000 [1:42:54<12:10:42, 1.66s/it] 12%|█▏ | 3658/30000 [1:42:56<12:10:48, 1.66s/it] 12%|█▏ | 3659/30000 [1:42:57<12:10:28, 1.66s/it] 12%|█▏ | 3660/30000 [1:42:59<12:18:34, 1.68s/it] {'loss': 0.0268, 'grad_norm': 0.14687977731227875, 'learning_rate': 2.9577208962328843e-05, 'flow_matching_loss': 0.026803624629974366, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.06} + 12%|█▏ | 3660/30000 [1:42:59<12:18:34, 1.68s/it] 12%|█▏ | 3661/30000 [1:43:01<12:16:50, 1.68s/it] 12%|█▏ | 3662/30000 [1:43:02<12:14:21, 1.67s/it] 12%|█▏ | 3663/30000 [1:43:04<12:12:41, 1.67s/it] 12%|█▏ | 3664/30000 [1:43:06<12:12:23, 1.67s/it] 12%|█▏ | 3665/30000 [1:43:07<12:11:01, 1.67s/it] 12%|█▏ | 3666/30000 [1:43:09<12:11:38, 1.67s/it] 12%|█▏ | 3667/30000 [1:43:11<12:12:13, 1.67s/it] 12%|█▏ | 3668/30000 [1:43:12<12:13:45, 1.67s/it] 12%|█▏ | 3669/30000 [1:43:14<12:12:31, 1.67s/it] 12%|█▏ | 3670/30000 [1:43:16<12:12:08, 1.67s/it] {'loss': 0.0265, 'grad_norm': 0.14399771392345428, 'learning_rate': 2.9573302064959633e-05, 'flow_matching_loss': 0.02654431387782097, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.07} + 12%|█▏ | 3670/30000 [1:43:16<12:12:08, 1.67s/it] 12%|█▏ | 3671/30000 [1:43:17<12:13:44, 1.67s/it] 12%|█▏ | 3672/30000 [1:43:19<12:13:56, 1.67s/it] 12%|█▏ | 3673/30000 [1:43:21<12:13:35, 1.67s/it] 12%|█▏ | 3674/30000 [1:43:22<12:14:49, 1.67s/it] 12%|█▏ | 3675/30000 [1:43:24<12:13:53, 1.67s/it] 12%|█▏ | 3676/30000 [1:43:26<12:11:53, 1.67s/it] 12%|█▏ | 3677/30000 [1:43:28<12:13:26, 1.67s/it] 12%|█▏ | 3678/30000 [1:43:29<12:11:27, 1.67s/it] 12%|█▏ | 3679/30000 [1:43:31<12:11:09, 1.67s/it] 12%|█▏ | 3680/30000 [1:43:32<12:10:52, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.19693198800086975, 'learning_rate': 2.9569377459654235e-05, 'flow_matching_loss': 0.025100241787731646, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.07} + 12%|█▏ | 3680/30000 [1:43:33<12:10:52, 1.67s/it] 12%|█▏ | 3681/30000 [1:43:34<12:11:07, 1.67s/it] 12%|█▏ | 3682/30000 [1:43:36<12:11:44, 1.67s/it] 12%|█▏ | 3683/30000 [1:43:37<12:10:58, 1.67s/it] 12%|█▏ | 3684/30000 [1:43:39<12:10:30, 1.67s/it] 12%|█▏ | 3685/30000 [1:43:41<12:09:48, 1.66s/it] 12%|█▏ | 3686/30000 [1:43:42<12:10:32, 1.67s/it] 12%|█▏ | 3687/30000 [1:43:44<12:08:50, 1.66s/it] 12%|█▏ | 3688/30000 [1:43:46<12:08:51, 1.66s/it] 12%|█▏ | 3689/30000 [1:43:47<12:08:57, 1.66s/it] 12%|█▏ | 3690/30000 [1:43:49<12:10:29, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.1445228010416031, 'learning_rate': 2.9565435151181424e-05, 'flow_matching_loss': 0.02597036175429821, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.07} + 12%|█▏ | 3690/30000 [1:43:49<12:10:29, 1.67s/it] 12%|█▏ | 3691/30000 [1:43:51<12:09:30, 1.66s/it] 12%|█▏ | 3692/30000 [1:43:52<12:08:38, 1.66s/it] 12%|█▏ | 3693/30000 [1:43:54<12:08:52, 1.66s/it] 12%|█▏ | 3694/30000 [1:43:56<12:08:52, 1.66s/it] 12%|█▏ | 3695/30000 [1:43:57<12:09:32, 1.66s/it] 12%|█▏ | 3696/30000 [1:43:59<12:11:44, 1.67s/it] 12%|█▏ | 3697/30000 [1:44:01<12:11:24, 1.67s/it] 12%|█▏ | 3698/30000 [1:44:02<12:10:54, 1.67s/it] 12%|█▏ | 3699/30000 [1:44:04<12:10:51, 1.67s/it] 12%|█▏ | 3700/30000 [1:44:06<12:10:01, 1.67s/it] {'loss': 0.0269, 'grad_norm': 0.1250554919242859, 'learning_rate': 2.9561475144331473e-05, 'flow_matching_loss': 0.02694720569998026, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.08} + 12%|█▏ | 3700/30000 [1:44:06<12:10:01, 1.67s/it] 12%|█▏ | 3701/30000 [1:44:07<12:09:59, 1.67s/it] 12%|█▏ | 3702/30000 [1:44:09<12:12:25, 1.67s/it] 12%|█▏ | 3703/30000 [1:44:11<12:11:33, 1.67s/it] 12%|█▏ | 3704/30000 [1:44:12<12:10:30, 1.67s/it] 12%|█▏ | 3705/30000 [1:44:14<12:10:57, 1.67s/it] 12%|█▏ | 3706/30000 [1:44:16<12:11:33, 1.67s/it] 12%|█▏ | 3707/30000 [1:44:17<12:10:44, 1.67s/it] 12%|█▏ | 3708/30000 [1:44:19<12:10:02, 1.67s/it] 12%|█▏ | 3709/30000 [1:44:21<12:08:28, 1.66s/it] 12%|█▏ | 3710/30000 [1:44:22<12:09:15, 1.66s/it] {'loss': 0.0263, 'grad_norm': 0.14058327674865723, 'learning_rate': 2.9557497443916162e-05, 'flow_matching_loss': 0.02633629608899355, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.08} + 12%|█▏ | 3710/30000 [1:44:23<12:09:15, 1.66s/it] 12%|█▏ | 3711/30000 [1:44:24<12:08:59, 1.66s/it] 12%|█▏ | 3712/30000 [1:44:26<12:10:06, 1.67s/it] 12%|█▏ | 3713/30000 [1:44:27<12:10:13, 1.67s/it] 12%|█▏ | 3714/30000 [1:44:29<12:10:58, 1.67s/it] 12%|█▏ | 3715/30000 [1:44:31<12:10:02, 1.67s/it] 12%|█▏ | 3716/30000 [1:44:32<12:10:36, 1.67s/it] 12%|█▏ | 3717/30000 [1:44:34<12:09:47, 1.67s/it] 12%|█▏ | 3718/30000 [1:44:36<12:10:24, 1.67s/it] 12%|█▏ | 3719/30000 [1:44:37<12:09:33, 1.67s/it] 12%|█▏ | 3720/30000 [1:44:39<12:10:57, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.17370575666427612, 'learning_rate': 2.9553502054768774e-05, 'flow_matching_loss': 0.026704944111406802, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.08} + 12%|█▏ | 3720/30000 [1:44:39<12:10:57, 1.67s/it] 12%|█▏ | 3721/30000 [1:44:41<12:11:37, 1.67s/it] 12%|█▏ | 3722/30000 [1:44:42<12:11:22, 1.67s/it] 12%|█▏ | 3723/30000 [1:44:44<12:09:47, 1.67s/it] 12%|█▏ | 3724/30000 [1:44:46<12:08:45, 1.66s/it] 12%|█▏ | 3725/30000 [1:44:47<12:09:34, 1.67s/it] 12%|█▏ | 3726/30000 [1:44:49<12:10:54, 1.67s/it] 12%|█▏ | 3727/30000 [1:44:51<12:10:06, 1.67s/it] 12%|█▏ | 3728/30000 [1:44:52<12:11:24, 1.67s/it] 12%|█▏ | 3729/30000 [1:44:54<12:10:15, 1.67s/it] 12%|█▏ | 3730/30000 [1:44:56<12:10:07, 1.67s/it] {'loss': 0.0247, 'grad_norm': 0.14491532742977142, 'learning_rate': 2.954948898174409e-05, 'flow_matching_loss': 0.024717876873910426, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.09} + 12%|█▏ | 3730/30000 [1:44:56<12:10:07, 1.67s/it] 12%|█▏ | 3731/30000 [1:44:57<12:10:18, 1.67s/it] 12%|█▏ | 3732/30000 [1:44:59<12:09:10, 1.67s/it] 12%|█▏ | 3733/30000 [1:45:01<12:09:43, 1.67s/it] 12%|█▏ | 3734/30000 [1:45:02<12:09:56, 1.67s/it] 12%|█▏ | 3735/30000 [1:45:04<12:10:02, 1.67s/it] 12%|█▏ | 3736/30000 [1:45:06<12:08:33, 1.66s/it] 12%|█▏ | 3737/30000 [1:45:07<12:09:42, 1.67s/it] 12%|█▏ | 3738/30000 [1:45:09<12:10:01, 1.67s/it] 12%|█▏ | 3739/30000 [1:45:11<12:12:32, 1.67s/it] 12%|█▏ | 3740/30000 [1:45:12<12:10:55, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.1539333611726761, 'learning_rate': 2.954545822971836e-05, 'flow_matching_loss': 0.02545058596879244, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.09} + 12%|█▏ | 3740/30000 [1:45:13<12:10:55, 1.67s/it] 12%|█▏ | 3741/30000 [1:45:14<12:11:32, 1.67s/it] 12%|█▏ | 3742/30000 [1:45:16<12:11:03, 1.67s/it] 12%|█▏ | 3743/30000 [1:45:17<12:09:37, 1.67s/it] 12%|█▏ | 3744/30000 [1:45:19<12:09:02, 1.67s/it] 12%|█▏ | 3745/30000 [1:45:21<12:09:07, 1.67s/it] 12%|█▏ | 3746/30000 [1:45:22<12:08:54, 1.67s/it] 12%|█▏ | 3747/30000 [1:45:24<12:07:10, 1.66s/it] 12%|█▏ | 3748/30000 [1:45:26<12:06:32, 1.66s/it] 12%|█▏ | 3749/30000 [1:45:27<12:07:11, 1.66s/it] 12%|█▎ | 3750/30000 [1:45:29<12:08:00, 1.66s/it] {'loss': 0.0263, 'grad_norm': 0.16194555163383484, 'learning_rate': 2.9541409803589335e-05, 'flow_matching_loss': 0.02626747190952301, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.09} + 12%|█▎ | 3750/30000 [1:45:29<12:08:00, 1.66s/it] 13%|█▎ | 3751/30000 [1:45:31<12:07:52, 1.66s/it] 13%|█▎ | 3752/30000 [1:45:32<12:08:25, 1.67s/it] 13%|█▎ | 3753/30000 [1:45:34<12:07:47, 1.66s/it] 13%|█▎ | 3754/30000 [1:45:36<12:09:32, 1.67s/it] 13%|█▎ | 3755/30000 [1:45:37<12:09:22, 1.67s/it] 13%|█▎ | 3756/30000 [1:45:39<12:08:06, 1.66s/it] 13%|█▎ | 3757/30000 [1:45:41<12:07:17, 1.66s/it] 13%|█▎ | 3758/30000 [1:45:42<12:07:02, 1.66s/it] 13%|█▎ | 3759/30000 [1:45:44<12:06:48, 1.66s/it] 13%|█▎ | 3760/30000 [1:45:46<12:06:59, 1.66s/it] {'loss': 0.0256, 'grad_norm': 0.15282899141311646, 'learning_rate': 2.9537343708276235e-05, 'flow_matching_loss': 0.025581181235611438, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.09} + 13%|█▎ | 3760/30000 [1:45:46<12:06:59, 1.66s/it] 13%|█▎ | 3761/30000 [1:45:47<12:08:25, 1.67s/it] 13%|█▎ | 3762/30000 [1:45:49<12:09:30, 1.67s/it] 13%|█▎ | 3763/30000 [1:45:51<12:06:55, 1.66s/it] 13%|█▎ | 3764/30000 [1:45:52<12:07:42, 1.66s/it] 13%|█▎ | 3765/30000 [1:45:54<12:07:19, 1.66s/it] 13%|█▎ | 3766/30000 [1:45:56<12:08:43, 1.67s/it] 13%|█▎ | 3767/30000 [1:45:57<12:07:30, 1.66s/it] 13%|█▎ | 3768/30000 [1:45:59<12:08:30, 1.67s/it] 13%|█▎ | 3769/30000 [1:46:01<12:08:16, 1.67s/it] 13%|█▎ | 3770/30000 [1:46:02<12:09:38, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.16520541906356812, 'learning_rate': 2.953325994871975e-05, 'flow_matching_loss': 0.024452867545187475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.1} + 13%|█▎ | 3770/30000 [1:46:02<12:09:38, 1.67s/it] 13%|█▎ | 3771/30000 [1:46:04<12:11:46, 1.67s/it] 13%|█▎ | 3772/30000 [1:46:06<12:09:08, 1.67s/it] 13%|█▎ | 3773/30000 [1:46:07<12:08:45, 1.67s/it] 13%|█▎ | 3774/30000 [1:46:09<12:08:20, 1.67s/it] 13%|█▎ | 3775/30000 [1:46:11<12:08:11, 1.67s/it] 13%|█▎ | 3776/30000 [1:46:12<12:10:54, 1.67s/it] 13%|█▎ | 3777/30000 [1:46:14<12:11:02, 1.67s/it] 13%|█▎ | 3778/30000 [1:46:16<12:10:48, 1.67s/it] 13%|█▎ | 3779/30000 [1:46:17<12:10:04, 1.67s/it] 13%|█▎ | 3780/30000 [1:46:19<12:10:26, 1.67s/it] {'loss': 0.024, 'grad_norm': 0.15225499868392944, 'learning_rate': 2.9529158529882023e-05, 'flow_matching_loss': 0.02403130177408457, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.1} + 13%|█▎ | 3780/30000 [1:46:19<12:10:26, 1.67s/it] 13%|█▎ | 3781/30000 [1:46:21<12:09:06, 1.67s/it] 13%|█▎ | 3782/30000 [1:46:22<12:09:44, 1.67s/it] 13%|█▎ | 3783/30000 [1:46:24<12:09:42, 1.67s/it] 13%|█▎ | 3784/30000 [1:46:26<12:09:37, 1.67s/it] 13%|█▎ | 3785/30000 [1:46:27<12:09:29, 1.67s/it] 13%|█▎ | 3786/30000 [1:46:29<12:11:17, 1.67s/it] 13%|█▎ | 3787/30000 [1:46:31<12:09:29, 1.67s/it] 13%|█▎ | 3788/30000 [1:46:33<12:09:16, 1.67s/it] 13%|█▎ | 3789/30000 [1:46:34<12:11:05, 1.67s/it] 13%|█▎ | 3790/30000 [1:46:36<12:10:25, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.134725883603096, 'learning_rate': 2.9525039456746677e-05, 'flow_matching_loss': 0.02547062234953046, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.1} + 13%|█▎ | 3790/30000 [1:46:36<12:10:25, 1.67s/it] 13%|█▎ | 3791/30000 [1:46:38<12:09:25, 1.67s/it] 13%|█▎ | 3792/30000 [1:46:39<12:09:19, 1.67s/it] 13%|█▎ | 3793/30000 [1:46:41<12:09:58, 1.67s/it] 13%|█▎ | 3794/30000 [1:46:43<12:09:25, 1.67s/it] 13%|█▎ | 3795/30000 [1:46:44<12:08:28, 1.67s/it] 13%|█▎ | 3796/30000 [1:46:46<12:07:36, 1.67s/it] 13%|█▎ | 3797/30000 [1:46:48<12:07:13, 1.67s/it] 13%|█▎ | 3798/30000 [1:46:49<12:06:28, 1.66s/it] 13%|█▎ | 3799/30000 [1:46:51<12:07:06, 1.67s/it] 13%|█▎ | 3800/30000 [1:46:53<12:08:21, 1.67s/it] {'loss': 0.0261, 'grad_norm': 0.14159740507602692, 'learning_rate': 2.952090273431877e-05, 'flow_matching_loss': 0.026093628816306592, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.11} + 13%|█▎ | 3800/30000 [1:46:53<12:08:21, 1.67s/it] 13%|█▎ | 3801/30000 [1:46:54<12:10:51, 1.67s/it] 13%|█▎ | 3802/30000 [1:46:56<12:12:12, 1.68s/it] 13%|█▎ | 3803/30000 [1:46:58<12:11:37, 1.68s/it] 13%|█▎ | 3804/30000 [1:46:59<12:10:19, 1.67s/it] 13%|█▎ | 3805/30000 [1:47:01<12:08:11, 1.67s/it] 13%|█▎ | 3806/30000 [1:47:03<12:08:56, 1.67s/it] 13%|█▎ | 3807/30000 [1:47:04<12:08:36, 1.67s/it] 13%|█▎ | 3808/30000 [1:47:06<12:10:27, 1.67s/it] 13%|█▎ | 3809/30000 [1:47:08<12:10:19, 1.67s/it] 13%|█▎ | 3810/30000 [1:47:09<12:10:52, 1.67s/it] {'loss': 0.0247, 'grad_norm': 0.14240871369838715, 'learning_rate': 2.9516748367624808e-05, 'flow_matching_loss': 0.024690575338900088, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.11} + 13%|█▎ | 3810/30000 [1:47:09<12:10:52, 1.67s/it] 13%|█▎ | 3811/30000 [1:47:11<12:10:36, 1.67s/it] 13%|█▎ | 3812/30000 [1:47:13<12:10:54, 1.67s/it] 13%|█▎ | 3813/30000 [1:47:14<12:10:49, 1.67s/it] 13%|█▎ | 3814/30000 [1:47:16<12:09:02, 1.67s/it] 13%|█▎ | 3815/30000 [1:47:18<12:08:37, 1.67s/it] 13%|█▎ | 3816/30000 [1:47:19<12:09:06, 1.67s/it] 13%|█▎ | 3817/30000 [1:47:21<12:08:31, 1.67s/it] 13%|█▎ | 3818/30000 [1:47:23<12:08:07, 1.67s/it] 13%|█▎ | 3819/30000 [1:47:24<12:08:07, 1.67s/it] 13%|█▎ | 3820/30000 [1:47:26<12:08:21, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.12508021295070648, 'learning_rate': 2.951257636171274e-05, 'flow_matching_loss': 0.02583774011582136, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.11} + 13%|█▎ | 3820/30000 [1:47:26<12:08:21, 1.67s/it] 13%|█▎ | 3821/30000 [1:47:28<12:07:49, 1.67s/it] 13%|█▎ | 3822/30000 [1:47:29<12:09:08, 1.67s/it] 13%|█▎ | 3823/30000 [1:47:31<12:07:58, 1.67s/it] 13%|█▎ | 3824/30000 [1:47:33<12:10:06, 1.67s/it] 13%|█▎ | 3825/30000 [1:47:34<12:10:01, 1.67s/it] 13%|█▎ | 3826/30000 [1:47:36<12:10:36, 1.67s/it] 13%|█▎ | 3827/30000 [1:47:38<12:10:41, 1.68s/it] 13%|█▎ | 3828/30000 [1:47:39<12:09:47, 1.67s/it] 13%|█▎ | 3829/30000 [1:47:41<12:10:03, 1.67s/it] 13%|█▎ | 3830/30000 [1:47:43<12:09:12, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.12708526849746704, 'learning_rate': 2.9508386721651944e-05, 'flow_matching_loss': 0.0260144529864192, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.11} + 13%|█▎ | 3830/30000 [1:47:43<12:09:12, 1.67s/it] 13%|█▎ | 3831/30000 [1:47:44<12:07:37, 1.67s/it] 13%|█▎ | 3832/30000 [1:47:46<12:07:06, 1.67s/it] 13%|█▎ | 3833/30000 [1:47:48<12:06:43, 1.67s/it] 13%|█▎ | 3834/30000 [1:47:49<12:07:43, 1.67s/it] 13%|█▎ | 3835/30000 [1:47:51<12:07:33, 1.67s/it] 13%|█▎ | 3836/30000 [1:47:53<12:08:53, 1.67s/it] 13%|█▎ | 3837/30000 [1:47:54<12:07:40, 1.67s/it] 13%|█▎ | 3838/30000 [1:47:56<12:08:36, 1.67s/it] 13%|█▎ | 3839/30000 [1:47:58<12:08:42, 1.67s/it] 13%|█▎ | 3840/30000 [1:47:59<12:07:06, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.14217068254947662, 'learning_rate': 2.9504179452533228e-05, 'flow_matching_loss': 0.025218443386256693, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.12} + 13%|█▎ | 3840/30000 [1:47:59<12:07:06, 1.67s/it] 13%|█▎ | 3841/30000 [1:48:01<12:09:09, 1.67s/it] 13%|█▎ | 3842/30000 [1:48:03<12:10:28, 1.68s/it] 13%|█▎ | 3843/30000 [1:48:04<12:08:08, 1.67s/it] 13%|█▎ | 3844/30000 [1:48:06<12:06:38, 1.67s/it] 13%|█▎ | 3845/30000 [1:48:08<12:07:24, 1.67s/it] 13%|█▎ | 3846/30000 [1:48:09<12:06:13, 1.67s/it] 13%|█▎ | 3847/30000 [1:48:11<12:05:47, 1.67s/it] 13%|█▎ | 3848/30000 [1:48:13<12:04:59, 1.66s/it] 13%|█▎ | 3849/30000 [1:48:14<12:05:34, 1.66s/it] 13%|█▎ | 3850/30000 [1:48:16<12:07:16, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.1221313327550888, 'learning_rate': 2.9499954559468826e-05, 'flow_matching_loss': 0.025043966062366963, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.12} + 13%|█▎ | 3850/30000 [1:48:16<12:07:16, 1.67s/it] 13%|█▎ | 3851/30000 [1:48:18<12:09:15, 1.67s/it] 13%|█▎ | 3852/30000 [1:48:19<12:07:49, 1.67s/it] 13%|█▎ | 3853/30000 [1:48:21<12:06:46, 1.67s/it] 13%|█▎ | 3854/30000 [1:48:23<12:06:53, 1.67s/it] 13%|█▎ | 3855/30000 [1:48:24<12:06:19, 1.67s/it] 13%|█▎ | 3856/30000 [1:48:26<12:05:36, 1.67s/it] 13%|█▎ | 3857/30000 [1:48:28<12:06:58, 1.67s/it] 13%|█▎ | 3858/30000 [1:48:29<12:07:03, 1.67s/it] 13%|█▎ | 3859/30000 [1:48:31<12:06:27, 1.67s/it] 13%|█▎ | 3860/30000 [1:48:33<12:05:25, 1.67s/it] {'loss': 0.0259, 'grad_norm': 0.14964289963245392, 'learning_rate': 2.9495712047592378e-05, 'flow_matching_loss': 0.02585233934223652, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.12} + 13%|█▎ | 3860/30000 [1:48:33<12:05:25, 1.67s/it] 13%|█▎ | 3861/30000 [1:48:34<12:06:23, 1.67s/it] 13%|█▎ | 3862/30000 [1:48:36<12:06:12, 1.67s/it] 13%|█▎ | 3863/30000 [1:48:38<12:05:51, 1.67s/it] 13%|█▎ | 3864/30000 [1:48:39<12:04:43, 1.66s/it] 13%|█▎ | 3865/30000 [1:48:41<12:05:40, 1.67s/it] 13%|█▎ | 3866/30000 [1:48:43<12:07:33, 1.67s/it] 13%|█▎ | 3867/30000 [1:48:44<12:06:54, 1.67s/it] 13%|█▎ | 3868/30000 [1:48:46<12:07:56, 1.67s/it] 13%|█▎ | 3869/30000 [1:48:48<12:07:42, 1.67s/it] 13%|█▎ | 3870/30000 [1:48:49<12:06:50, 1.67s/it] {'loss': 0.0265, 'grad_norm': 0.1357347071170807, 'learning_rate': 2.949145192205893e-05, 'flow_matching_loss': 0.026504718512296677, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.13} + 13%|█▎ | 3870/30000 [1:48:49<12:06:50, 1.67s/it] 13%|█▎ | 3871/30000 [1:48:51<12:06:45, 1.67s/it] 13%|█▎ | 3872/30000 [1:48:53<12:05:02, 1.66s/it] 13%|█▎ | 3873/30000 [1:48:54<12:05:26, 1.67s/it] 13%|█▎ | 3874/30000 [1:48:56<12:05:57, 1.67s/it] 13%|█▎ | 3875/30000 [1:48:58<12:05:56, 1.67s/it] 13%|█▎ | 3876/30000 [1:48:59<12:06:44, 1.67s/it] 13%|█▎ | 3877/30000 [1:49:01<12:05:56, 1.67s/it] 13%|█▎ | 3878/30000 [1:49:03<12:06:28, 1.67s/it] 13%|█▎ | 3879/30000 [1:49:04<12:06:24, 1.67s/it] 13%|█▎ | 3880/30000 [1:49:06<12:07:48, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.1861932873725891, 'learning_rate': 2.9487174188044953e-05, 'flow_matching_loss': 0.02511182092130184, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.13} + 13%|█▎ | 3880/30000 [1:49:06<12:07:48, 1.67s/it] 13%|█▎ | 3881/30000 [1:49:08<12:06:58, 1.67s/it] 13%|█▎ | 3882/30000 [1:49:09<12:06:40, 1.67s/it] 13%|█▎ | 3883/30000 [1:49:11<12:06:07, 1.67s/it] 13%|█▎ | 3884/30000 [1:49:13<12:05:32, 1.67s/it] 13%|█▎ | 3885/30000 [1:49:14<12:06:16, 1.67s/it] 13%|█▎ | 3886/30000 [1:49:16<12:07:26, 1.67s/it] 13%|█▎ | 3887/30000 [1:49:18<12:05:26, 1.67s/it] 13%|█▎ | 3888/30000 [1:49:19<12:04:03, 1.66s/it] 13%|█▎ | 3889/30000 [1:49:21<12:04:17, 1.66s/it] 13%|█▎ | 3890/30000 [1:49:23<12:05:25, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.18538013100624084, 'learning_rate': 2.9482878850748276e-05, 'flow_matching_loss': 0.02499838750809431, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.13} + 13%|█▎ | 3890/30000 [1:49:23<12:05:25, 1.67s/it] 13%|█▎ | 3891/30000 [1:49:24<12:06:17, 1.67s/it] 13%|█▎ | 3892/30000 [1:49:26<12:07:09, 1.67s/it] 13%|█▎ | 3893/30000 [1:49:28<12:07:58, 1.67s/it] 13%|█▎ | 3894/30000 [1:49:29<12:07:06, 1.67s/it] 13%|█▎ | 3895/30000 [1:49:31<12:05:30, 1.67s/it] 13%|█▎ | 3896/30000 [1:49:33<12:04:27, 1.67s/it] 13%|█▎ | 3897/30000 [1:49:34<12:03:34, 1.66s/it] 13%|█▎ | 3898/30000 [1:49:36<12:03:56, 1.66s/it] 13%|█▎ | 3899/30000 [1:49:38<12:03:52, 1.66s/it] 13%|█▎ | 3900/30000 [1:49:39<12:04:30, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.17231106758117676, 'learning_rate': 2.9478565915388157e-05, 'flow_matching_loss': 0.025799406319856645, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.13} + 13%|█▎ | 3900/30000 [1:49:39<12:04:30, 1.67s/it] 13%|█▎ | 3901/30000 [1:49:41<12:04:34, 1.67s/it] 13%|█▎ | 3902/30000 [1:49:43<12:03:05, 1.66s/it] 13%|█▎ | 3903/30000 [1:49:44<12:02:13, 1.66s/it] 13%|█▎ | 3904/30000 [1:49:46<12:02:04, 1.66s/it] 13%|█▎ | 3905/30000 [1:49:48<12:02:48, 1.66s/it] 13%|█▎ | 3906/30000 [1:49:49<12:04:43, 1.67s/it] 13%|█▎ | 3907/30000 [1:49:51<12:04:40, 1.67s/it] 13%|█▎ | 3908/30000 [1:49:53<12:05:58, 1.67s/it] 13%|█▎ | 3909/30000 [1:49:54<12:05:44, 1.67s/it] 13%|█▎ | 3910/30000 [1:49:56<12:05:23, 1.67s/it] {'loss': 0.0286, 'grad_norm': 0.15320904552936554, 'learning_rate': 2.9474235387205207e-05, 'flow_matching_loss': 0.028558222204446794, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.14} + 13%|█▎ | 3910/30000 [1:49:56<12:05:23, 1.67s/it] 13%|█▎ | 3911/30000 [1:49:58<12:04:36, 1.67s/it] 13%|█▎ | 3912/30000 [1:49:59<12:03:57, 1.67s/it] 13%|█▎ | 3913/30000 [1:50:01<12:04:58, 1.67s/it] 13%|█▎ | 3914/30000 [1:50:03<12:04:54, 1.67s/it] 13%|█▎ | 3915/30000 [1:50:04<12:05:06, 1.67s/it] 13%|█▎ | 3916/30000 [1:50:06<12:04:26, 1.67s/it] 13%|█▎ | 3917/30000 [1:50:08<12:04:50, 1.67s/it] 13%|█▎ | 3918/30000 [1:50:09<12:05:49, 1.67s/it] 13%|█▎ | 3919/30000 [1:50:11<12:04:08, 1.67s/it] 13%|█▎ | 3920/30000 [1:50:13<12:03:22, 1.66s/it] {'loss': 0.0291, 'grad_norm': 0.23256100714206696, 'learning_rate': 2.946988727146143e-05, 'flow_matching_loss': 0.029086433909833433, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.14} + 13%|█▎ | 3920/30000 [1:50:13<12:03:22, 1.66s/it] 13%|█▎ | 3921/30000 [1:50:14<12:05:24, 1.67s/it] 13%|█▎ | 3922/30000 [1:50:16<12:05:32, 1.67s/it] 13%|█▎ | 3923/30000 [1:50:18<12:05:24, 1.67s/it] 13%|█▎ | 3924/30000 [1:50:19<12:05:04, 1.67s/it] 13%|█▎ | 3925/30000 [1:50:21<12:05:41, 1.67s/it] 13%|█▎ | 3926/30000 [1:50:23<12:05:49, 1.67s/it] 13%|█▎ | 3927/30000 [1:50:24<12:05:04, 1.67s/it] 13%|█▎ | 3928/30000 [1:50:26<12:04:24, 1.67s/it] 13%|█▎ | 3929/30000 [1:50:28<12:04:56, 1.67s/it] 13%|█▎ | 3930/30000 [1:50:29<12:05:40, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.12549342215061188, 'learning_rate': 2.9465521573440196e-05, 'flow_matching_loss': 0.022970026172697545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.14} + 13%|█▎ | 3930/30000 [1:50:30<12:05:40, 1.67s/it] 13%|█▎ | 3931/30000 [1:50:31<12:05:47, 1.67s/it] 13%|█▎ | 3932/30000 [1:50:33<12:06:37, 1.67s/it] 13%|█▎ | 3933/30000 [1:50:34<12:05:55, 1.67s/it] 13%|█▎ | 3934/30000 [1:50:36<12:05:32, 1.67s/it] 13%|█▎ | 3935/30000 [1:50:38<12:05:52, 1.67s/it] 13%|█▎ | 3936/30000 [1:50:39<12:05:26, 1.67s/it] 13%|█▎ | 3937/30000 [1:50:41<12:05:36, 1.67s/it] 13%|█▎ | 3938/30000 [1:50:43<12:04:47, 1.67s/it] 13%|█▎ | 3939/30000 [1:50:44<12:04:44, 1.67s/it] 13%|█▎ | 3940/30000 [1:50:46<12:04:12, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.15390634536743164, 'learning_rate': 2.946113829844624e-05, 'flow_matching_loss': 0.024967141356319188, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.15} + 13%|█▎ | 3940/30000 [1:50:46<12:04:12, 1.67s/it] 13%|█▎ | 3941/30000 [1:50:48<12:02:41, 1.66s/it] 13%|█▎ | 3942/30000 [1:50:49<12:03:47, 1.67s/it] 13%|█▎ | 3943/30000 [1:50:51<12:02:46, 1.66s/it] 13%|█▎ | 3944/30000 [1:50:53<12:03:20, 1.67s/it] 13%|█▎ | 3945/30000 [1:50:54<12:04:04, 1.67s/it] 13%|█▎ | 3946/30000 [1:50:56<12:04:35, 1.67s/it] 13%|█▎ | 3947/30000 [1:50:58<12:05:11, 1.67s/it] 13%|█▎ | 3948/30000 [1:51:00<12:06:28, 1.67s/it] 13%|█▎ | 3949/30000 [1:51:01<12:05:17, 1.67s/it] 13%|█▎ | 3950/30000 [1:51:03<12:06:40, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.18944504857063293, 'learning_rate': 2.945673745180566e-05, 'flow_matching_loss': 0.024806711450219156, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.15} + 13%|█▎ | 3950/30000 [1:51:03<12:06:40, 1.67s/it] 13%|█▎ | 3951/30000 [1:51:05<12:05:41, 1.67s/it] 13%|█▎ | 3952/30000 [1:51:06<12:04:42, 1.67s/it] 13%|█▎ | 3953/30000 [1:51:08<12:04:27, 1.67s/it] 13%|█▎ | 3954/30000 [1:51:10<12:04:29, 1.67s/it] 13%|█▎ | 3955/30000 [1:51:11<12:04:06, 1.67s/it] 13%|█▎ | 3956/30000 [1:51:13<12:05:08, 1.67s/it] 13%|█▎ | 3957/30000 [1:51:15<12:03:59, 1.67s/it] 13%|█▎ | 3958/30000 [1:51:16<12:03:49, 1.67s/it] 13%|█▎ | 3959/30000 [1:51:18<12:03:27, 1.67s/it] 13%|█▎ | 3960/30000 [1:51:20<12:03:06, 1.67s/it] {'loss': 0.0268, 'grad_norm': 0.1507008820772171, 'learning_rate': 2.945231903886589e-05, 'flow_matching_loss': 0.026822612807154655, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.15} + 13%|█▎ | 3960/30000 [1:51:20<12:03:06, 1.67s/it] 13%|█▎ | 3961/30000 [1:51:21<12:03:15, 1.67s/it] 13%|█▎ | 3962/30000 [1:51:23<12:05:24, 1.67s/it] 13%|█▎ | 3963/30000 [1:51:25<12:04:42, 1.67s/it] 13%|█▎ | 3964/30000 [1:51:26<12:04:31, 1.67s/it] 13%|█▎ | 3965/30000 [1:51:28<12:05:09, 1.67s/it] 13%|█▎ | 3966/30000 [1:51:30<12:06:47, 1.68s/it] 13%|█▎ | 3967/30000 [1:51:31<12:07:20, 1.68s/it] 13%|█▎ | 3968/30000 [1:51:33<12:05:33, 1.67s/it] 13%|█▎ | 3969/30000 [1:51:35<12:05:01, 1.67s/it] 13%|█▎ | 3970/30000 [1:51:36<12:05:20, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.14284402132034302, 'learning_rate': 2.9447883064995728e-05, 'flow_matching_loss': 0.025765601731836795, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.16} + 13%|█▎ | 3970/30000 [1:51:36<12:05:20, 1.67s/it] 13%|█▎ | 3971/30000 [1:51:38<12:03:57, 1.67s/it] 13%|█▎ | 3972/30000 [1:51:40<12:03:26, 1.67s/it] 13%|█▎ | 3973/30000 [1:51:41<12:03:20, 1.67s/it] 13%|█▎ | 3974/30000 [1:51:43<12:03:37, 1.67s/it] 13%|█▎ | 3975/30000 [1:51:45<12:03:44, 1.67s/it] 13%|█▎ | 3976/30000 [1:51:46<12:04:40, 1.67s/it] 13%|█▎ | 3977/30000 [1:51:48<12:04:43, 1.67s/it] 13%|█▎ | 3978/30000 [1:51:50<12:04:38, 1.67s/it] 13%|█▎ | 3979/30000 [1:51:51<12:03:51, 1.67s/it] 13%|█▎ | 3980/30000 [1:51:53<12:06:01, 1.67s/it] {'loss': 0.032, 'grad_norm': 0.14299044013023376, 'learning_rate': 2.9443429535585288e-05, 'flow_matching_loss': 0.03195174820721149, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.16} + 13%|█▎ | 3980/30000 [1:51:53<12:06:01, 1.67s/it] 13%|█▎ | 3981/30000 [1:51:55<12:06:02, 1.67s/it] 13%|█▎ | 3982/30000 [1:51:56<12:06:55, 1.68s/it] 13%|█▎ | 3983/30000 [1:51:58<12:05:34, 1.67s/it] 13%|█▎ | 3984/30000 [1:52:00<12:05:57, 1.67s/it] 13%|█▎ | 3985/30000 [1:52:01<12:06:09, 1.67s/it] 13%|█▎ | 3986/30000 [1:52:03<12:06:34, 1.68s/it] 13%|█▎ | 3987/30000 [1:52:05<12:05:22, 1.67s/it] 13%|█▎ | 3988/30000 [1:52:06<12:03:50, 1.67s/it] 13%|█▎ | 3989/30000 [1:52:08<12:04:05, 1.67s/it] 13%|█▎ | 3990/30000 [1:52:10<12:04:32, 1.67s/it] {'loss': 0.0294, 'grad_norm': 0.17692705988883972, 'learning_rate': 2.9438958456046044e-05, 'flow_matching_loss': 0.029437869414687158, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.16} + 13%|█▎ | 3990/30000 [1:52:10<12:04:32, 1.67s/it] 13%|█▎ | 3991/30000 [1:52:11<12:04:34, 1.67s/it] 13%|█▎ | 3992/30000 [1:52:13<12:03:13, 1.67s/it] 13%|█▎ | 3993/30000 [1:52:15<12:02:17, 1.67s/it] 13%|█▎ | 3994/30000 [1:52:16<12:02:00, 1.67s/it] 13%|█▎ | 3995/30000 [1:52:18<12:00:56, 1.66s/it] 13%|█▎ | 3996/30000 [1:52:20<11:59:00, 1.66s/it] 13%|█▎ | 3997/30000 [1:52:21<11:59:38, 1.66s/it] 13%|█▎ | 3998/30000 [1:52:23<11:59:57, 1.66s/it] 13%|█▎ | 3999/30000 [1:52:25<12:00:37, 1.66s/it] 13%|█▎ | 4000/30000 [1:52:26<12:00:10, 1.66s/it] {'loss': 0.0251, 'grad_norm': 0.1537310630083084, 'learning_rate': 2.9434469831810765e-05, 'flow_matching_loss': 0.025051534362137317, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.16} + 13%|█▎ | 4000/30000 [1:52:26<12:00:10, 1.66s/it] 13%|█▎ | 4001/30000 [1:52:28<12:00:38, 1.66s/it] 13%|█▎ | 4002/30000 [1:52:30<12:01:48, 1.67s/it] 13%|█▎ | 4003/30000 [1:52:31<12:01:06, 1.66s/it] 13%|█▎ | 4004/30000 [1:52:33<12:01:22, 1.66s/it] 13%|█▎ | 4005/30000 [1:52:35<12:02:06, 1.67s/it] 13%|█▎ | 4006/30000 [1:52:36<12:03:49, 1.67s/it] 13%|█▎ | 4007/30000 [1:52:38<12:01:46, 1.67s/it] 13%|█▎ | 4008/30000 [1:52:40<12:02:02, 1.67s/it] 13%|█▎ | 4009/30000 [1:52:41<12:02:04, 1.67s/it] 13%|█▎ | 4010/30000 [1:52:43<12:01:10, 1.66s/it] {'loss': 0.0276, 'grad_norm': 0.1427846997976303, 'learning_rate': 2.9429963668333566e-05, 'flow_matching_loss': 0.027632931247353554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.17} + 13%|█▎ | 4010/30000 [1:52:43<12:01:10, 1.66s/it] 13%|█▎ | 4011/30000 [1:52:45<12:00:52, 1.66s/it] 13%|█▎ | 4012/30000 [1:52:46<12:01:29, 1.67s/it] 13%|█▎ | 4013/30000 [1:52:48<12:01:42, 1.67s/it] 13%|█▎ | 4014/30000 [1:52:50<12:02:49, 1.67s/it] 13%|█▎ | 4015/30000 [1:52:51<12:01:34, 1.67s/it] 13%|█▎ | 4016/30000 [1:52:53<12:01:24, 1.67s/it] 13%|█▎ | 4017/30000 [1:52:55<12:01:17, 1.67s/it] 13%|█▎ | 4018/30000 [1:52:56<12:02:24, 1.67s/it] 13%|█▎ | 4019/30000 [1:52:58<12:01:53, 1.67s/it] 13%|█▎ | 4020/30000 [1:53:00<12:03:32, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.14028030633926392, 'learning_rate': 2.9425439971089845e-05, 'flow_matching_loss': 0.025131678953766824, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.17} + 13%|█▎ | 4020/30000 [1:53:00<12:03:32, 1.67s/it] 13%|█▎ | 4021/30000 [1:53:01<12:02:54, 1.67s/it] 13%|█▎ | 4022/30000 [1:53:03<12:02:54, 1.67s/it] 13%|█▎ | 4023/30000 [1:53:05<12:01:58, 1.67s/it] 13%|█▎ | 4024/30000 [1:53:06<12:01:03, 1.67s/it] 13%|█▎ | 4025/30000 [1:53:08<12:01:03, 1.67s/it] 13%|█▎ | 4026/30000 [1:53:10<12:00:25, 1.66s/it] 13%|█▎ | 4027/30000 [1:53:11<12:00:13, 1.66s/it] 13%|█▎ | 4028/30000 [1:53:13<12:01:09, 1.67s/it] 13%|█▎ | 4029/30000 [1:53:15<12:00:23, 1.66s/it] 13%|█▎ | 4030/30000 [1:53:16<12:00:35, 1.66s/it] {'loss': 0.0244, 'grad_norm': 0.16248391568660736, 'learning_rate': 2.9420898745576336e-05, 'flow_matching_loss': 0.02436931449919939, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.17} + 13%|█▎ | 4030/30000 [1:53:16<12:00:35, 1.66s/it] 13%|█▎ | 4031/30000 [1:53:18<12:01:46, 1.67s/it] 13%|█▎ | 4032/30000 [1:53:20<11:59:13, 1.66s/it] 13%|█▎ | 4033/30000 [1:53:21<11:59:46, 1.66s/it] 13%|█▎ | 4034/30000 [1:53:23<11:59:39, 1.66s/it] 13%|█▎ | 4035/30000 [1:53:25<12:00:38, 1.67s/it] 13%|█▎ | 4036/30000 [1:53:26<12:01:46, 1.67s/it] 13%|█▎ | 4037/30000 [1:53:28<12:01:49, 1.67s/it] 13%|█▎ | 4038/30000 [1:53:30<12:03:06, 1.67s/it] 13%|█▎ | 4039/30000 [1:53:31<12:01:36, 1.67s/it] 13%|█▎ | 4040/30000 [1:53:33<12:00:18, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.11759926378726959, 'learning_rate': 2.9416339997311044e-05, 'flow_matching_loss': 0.024596088007092475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.18} + 13%|█▎ | 4040/30000 [1:53:33<12:00:18, 1.66s/it] 13%|█▎ | 4041/30000 [1:53:35<12:01:54, 1.67s/it] 13%|█▎ | 4042/30000 [1:53:36<12:01:26, 1.67s/it] 13%|█▎ | 4043/30000 [1:53:38<12:00:00, 1.66s/it] 13%|█▎ | 4044/30000 [1:53:40<12:00:44, 1.67s/it] 13%|█▎ | 4045/30000 [1:53:41<12:01:30, 1.67s/it] 13%|█▎ | 4046/30000 [1:53:43<12:00:08, 1.66s/it] 13%|█▎ | 4047/30000 [1:53:45<12:01:50, 1.67s/it] 13%|█▎ | 4048/30000 [1:53:46<12:00:44, 1.67s/it] 13%|█▎ | 4049/30000 [1:53:48<12:00:23, 1.67s/it] 14%|█▎ | 4050/30000 [1:53:50<12:00:01, 1.66s/it] {'loss': 0.023, 'grad_norm': 0.16919024288654327, 'learning_rate': 2.941176373183329e-05, 'flow_matching_loss': 0.022978498972952364, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.18} + 14%|█▎ | 4050/30000 [1:53:50<12:00:01, 1.66s/it] 14%|█▎ | 4051/30000 [1:53:51<12:02:24, 1.67s/it] 14%|█▎ | 4052/30000 [1:53:53<12:03:02, 1.67s/it] 14%|█▎ | 4053/30000 [1:53:55<12:03:04, 1.67s/it] 14%|█▎ | 4054/30000 [1:53:56<12:01:56, 1.67s/it] 14%|█▎ | 4055/30000 [1:53:58<12:01:17, 1.67s/it] 14%|█▎ | 4056/30000 [1:54:00<12:00:19, 1.67s/it] 14%|█▎ | 4057/30000 [1:54:01<11:58:53, 1.66s/it] 14%|█▎ | 4058/30000 [1:54:03<11:59:25, 1.66s/it] 14%|█▎ | 4059/30000 [1:54:05<12:00:35, 1.67s/it] 14%|█▎ | 4060/30000 [1:54:06<11:59:05, 1.66s/it] {'loss': 0.0255, 'grad_norm': 0.1433243453502655, 'learning_rate': 2.9407169954703653e-05, 'flow_matching_loss': 0.02546235341578722, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.18} + 14%|█▎ | 4060/30000 [1:54:06<11:59:05, 1.66s/it] 14%|█▎ | 4061/30000 [1:54:08<11:59:05, 1.66s/it] 14%|█▎ | 4062/30000 [1:54:10<12:05:23, 1.68s/it] 14%|█▎ | 4063/30000 [1:54:11<12:19:52, 1.71s/it] 14%|█▎ | 4064/30000 [1:54:13<12:13:54, 1.70s/it] 14%|█▎ | 4065/30000 [1:54:15<12:10:14, 1.69s/it] 14%|█▎ | 4066/30000 [1:54:16<12:07:58, 1.68s/it] 14%|█▎ | 4067/30000 [1:54:18<12:04:23, 1.68s/it] 14%|█▎ | 4068/30000 [1:54:20<12:04:23, 1.68s/it] 14%|█▎ | 4069/30000 [1:54:21<12:02:28, 1.67s/it] 14%|█▎ | 4070/30000 [1:54:23<12:02:17, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.14567044377326965, 'learning_rate': 2.9402558671504018e-05, 'flow_matching_loss': 0.02552403062582016, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.18} + 14%|█▎ | 4070/30000 [1:54:23<12:02:17, 1.67s/it] 14%|█▎ | 4071/30000 [1:54:25<12:03:30, 1.67s/it] 14%|█▎ | 4072/30000 [1:54:26<12:02:36, 1.67s/it] 14%|█▎ | 4073/30000 [1:54:28<12:01:59, 1.67s/it] 14%|█▎ | 4074/30000 [1:54:30<12:05:20, 1.68s/it] 14%|█▎ | 4075/30000 [1:54:32<12:03:43, 1.67s/it] 14%|█▎ | 4076/30000 [1:54:33<12:03:43, 1.68s/it] 14%|█▎ | 4077/30000 [1:54:35<12:04:21, 1.68s/it] 14%|█▎ | 4078/30000 [1:54:37<12:03:24, 1.67s/it] 14%|█▎ | 4079/30000 [1:54:38<12:02:34, 1.67s/it] 14%|█▎ | 4080/30000 [1:54:40<12:04:15, 1.68s/it] {'loss': 0.0261, 'grad_norm': 0.10598009079694748, 'learning_rate': 2.9397929887837524e-05, 'flow_matching_loss': 0.026122984290122987, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.19} + 14%|█▎ | 4080/30000 [1:54:40<12:04:15, 1.68s/it] 14%|█▎ | 4081/30000 [1:54:42<12:03:47, 1.68s/it] 14%|█▎ | 4082/30000 [1:54:43<12:01:53, 1.67s/it] 14%|█▎ | 4083/30000 [1:54:45<12:00:20, 1.67s/it] 14%|█▎ | 4084/30000 [1:54:47<11:58:40, 1.66s/it] 14%|█▎ | 4085/30000 [1:54:48<11:56:29, 1.66s/it] 14%|█▎ | 4086/30000 [1:54:50<11:58:29, 1.66s/it] 14%|█▎ | 4087/30000 [1:54:52<11:58:59, 1.66s/it] 14%|█▎ | 4088/30000 [1:54:53<11:58:07, 1.66s/it] 14%|█▎ | 4089/30000 [1:54:55<11:58:35, 1.66s/it] 14%|█▎ | 4090/30000 [1:54:57<12:00:19, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.14985574781894684, 'learning_rate': 2.939328360932858e-05, 'flow_matching_loss': 0.02674930766224861, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.19} + 14%|█▎ | 4090/30000 [1:54:57<12:00:19, 1.67s/it] 14%|█▎ | 4091/30000 [1:54:58<12:00:02, 1.67s/it] 14%|█▎ | 4092/30000 [1:55:00<12:00:17, 1.67s/it] 14%|█▎ | 4093/30000 [1:55:02<12:00:17, 1.67s/it] 14%|█▎ | 4094/30000 [1:55:03<12:01:02, 1.67s/it] 14%|█▎ | 4095/30000 [1:55:05<12:00:05, 1.67s/it] 14%|█▎ | 4096/30000 [1:55:07<11:59:43, 1.67s/it] 14%|█▎ | 4097/30000 [1:55:08<11:59:32, 1.67s/it] 14%|█▎ | 4098/30000 [1:55:10<12:00:42, 1.67s/it] 14%|█▎ | 4099/30000 [1:55:12<11:57:45, 1.66s/it] 14%|█▎ | 4100/30000 [1:55:13<11:59:06, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.15153998136520386, 'learning_rate': 2.938861984162285e-05, 'flow_matching_loss': 0.025142936781048775, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.19} + 14%|█▎ | 4100/30000 [1:55:13<11:59:06, 1.67s/it] 14%|█▎ | 4101/30000 [1:55:15<11:59:36, 1.67s/it] 14%|█▎ | 4102/30000 [1:55:17<12:00:18, 1.67s/it] 14%|█▎ | 4103/30000 [1:55:18<12:01:04, 1.67s/it] 14%|█▎ | 4104/30000 [1:55:20<11:59:54, 1.67s/it] 14%|█▎ | 4105/30000 [1:55:22<11:59:12, 1.67s/it] 14%|█▎ | 4106/30000 [1:55:23<11:58:18, 1.66s/it] 14%|█▎ | 4107/30000 [1:55:25<11:58:56, 1.67s/it] 14%|█▎ | 4108/30000 [1:55:27<11:58:44, 1.67s/it] 14%|█▎ | 4109/30000 [1:55:28<11:58:48, 1.67s/it] 14%|█▎ | 4110/30000 [1:55:30<11:59:40, 1.67s/it] {'loss': 0.0271, 'grad_norm': 0.1466710865497589, 'learning_rate': 2.938393859038726e-05, 'flow_matching_loss': 0.02710981070995331, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.2} + 14%|█▎ | 4110/30000 [1:55:30<11:59:40, 1.67s/it] 14%|█▎ | 4111/30000 [1:55:32<12:01:46, 1.67s/it] 14%|█▎ | 4112/30000 [1:55:33<11:59:32, 1.67s/it] 14%|█▎ | 4113/30000 [1:55:35<11:59:16, 1.67s/it] 14%|█▎ | 4114/30000 [1:55:37<12:00:36, 1.67s/it] 14%|█▎ | 4115/30000 [1:55:38<12:01:20, 1.67s/it] 14%|█▎ | 4116/30000 [1:55:40<12:02:08, 1.67s/it] 14%|█▎ | 4117/30000 [1:55:42<12:00:50, 1.67s/it] 14%|█▎ | 4118/30000 [1:55:43<12:01:19, 1.67s/it] 14%|█▎ | 4119/30000 [1:55:45<12:02:55, 1.68s/it] 14%|█▎ | 4120/30000 [1:55:47<12:03:05, 1.68s/it] {'loss': 0.0247, 'grad_norm': 0.14694108068943024, 'learning_rate': 2.9379239861309964e-05, 'flow_matching_loss': 0.02468177452683449, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.2} + 14%|█▎ | 4120/30000 [1:55:47<12:03:05, 1.68s/it] 14%|█▎ | 4121/30000 [1:55:48<12:02:27, 1.68s/it] 14%|█▎ | 4122/30000 [1:55:50<12:02:40, 1.68s/it] 14%|█▎ | 4123/30000 [1:55:52<12:02:11, 1.67s/it] 14%|█▎ | 4124/30000 [1:55:53<12:00:51, 1.67s/it] 14%|█▍ | 4125/30000 [1:55:55<12:00:46, 1.67s/it] 14%|█▍ | 4126/30000 [1:55:57<12:00:48, 1.67s/it] 14%|█▍ | 4127/30000 [1:55:58<12:01:28, 1.67s/it] 14%|█▍ | 4128/30000 [1:56:00<11:59:16, 1.67s/it] 14%|█▍ | 4129/30000 [1:56:02<12:00:09, 1.67s/it] 14%|█▍ | 4130/30000 [1:56:03<11:58:48, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.16517910361289978, 'learning_rate': 2.937452366010036e-05, 'flow_matching_loss': 0.0221886919811368, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.2} + 14%|█▍ | 4130/30000 [1:56:03<11:58:48, 1.67s/it] 14%|█▍ | 4131/30000 [1:56:05<11:59:09, 1.67s/it] 14%|█▍ | 4132/30000 [1:56:07<11:59:51, 1.67s/it] 14%|█▍ | 4133/30000 [1:56:08<11:59:22, 1.67s/it] 14%|█▍ | 4134/30000 [1:56:10<11:58:53, 1.67s/it] 14%|█▍ | 4135/30000 [1:56:12<11:57:09, 1.66s/it] 14%|█▍ | 4136/30000 [1:56:13<11:57:24, 1.66s/it] 14%|█▍ | 4137/30000 [1:56:15<11:56:23, 1.66s/it] 14%|█▍ | 4138/30000 [1:56:17<11:56:04, 1.66s/it] 14%|█▍ | 4139/30000 [1:56:18<11:57:11, 1.66s/it] 14%|█▍ | 4140/30000 [1:56:20<11:57:25, 1.66s/it] {'loss': 0.0303, 'grad_norm': 0.1347641944885254, 'learning_rate': 2.936978999248908e-05, 'flow_matching_loss': 0.03025226816534996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.2} + 14%|█▍ | 4140/30000 [1:56:20<11:57:25, 1.66s/it] 14%|█▍ | 4141/30000 [1:56:22<11:57:59, 1.67s/it] 14%|█▍ | 4142/30000 [1:56:23<11:57:41, 1.67s/it] 14%|█▍ | 4143/30000 [1:56:25<11:58:49, 1.67s/it] 14%|█▍ | 4144/30000 [1:56:27<11:58:05, 1.67s/it] 14%|█▍ | 4145/30000 [1:56:28<11:59:00, 1.67s/it] 14%|█▍ | 4146/30000 [1:56:30<11:58:53, 1.67s/it] 14%|█▍ | 4147/30000 [1:56:32<11:59:09, 1.67s/it] 14%|█▍ | 4148/30000 [1:56:33<11:58:23, 1.67s/it] 14%|█▍ | 4149/30000 [1:56:35<11:59:14, 1.67s/it] 14%|█▍ | 4150/30000 [1:56:37<11:59:23, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.13963817059993744, 'learning_rate': 2.936503886422798e-05, 'flow_matching_loss': 0.025062821432948114, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.21} + 14%|█▍ | 4150/30000 [1:56:37<11:59:23, 1.67s/it] 14%|█▍ | 4151/30000 [1:56:38<11:58:57, 1.67s/it] 14%|█▍ | 4152/30000 [1:56:40<11:58:16, 1.67s/it] 14%|█▍ | 4153/30000 [1:56:42<11:58:01, 1.67s/it] 14%|█▍ | 4154/30000 [1:56:43<11:57:34, 1.67s/it] 14%|█▍ | 4155/30000 [1:56:45<11:56:58, 1.66s/it] 14%|█▍ | 4156/30000 [1:56:47<11:57:37, 1.67s/it] 14%|█▍ | 4157/30000 [1:56:48<11:57:41, 1.67s/it] 14%|█▍ | 4158/30000 [1:56:50<11:59:14, 1.67s/it] 14%|█▍ | 4159/30000 [1:56:52<11:58:01, 1.67s/it] 14%|█▍ | 4160/30000 [1:56:53<11:57:53, 1.67s/it] {'loss': 0.0287, 'grad_norm': 0.14461849629878998, 'learning_rate': 2.9360270281090122e-05, 'flow_matching_loss': 0.028688580729067326, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.21} + 14%|█▍ | 4160/30000 [1:56:53<11:57:53, 1.67s/it] 14%|█▍ | 4161/30000 [1:56:55<11:59:17, 1.67s/it] 14%|█▍ | 4162/30000 [1:56:57<11:58:50, 1.67s/it] 14%|█▍ | 4163/30000 [1:56:58<11:58:32, 1.67s/it] 14%|█▍ | 4164/30000 [1:57:00<11:58:56, 1.67s/it] 14%|█▍ | 4165/30000 [1:57:02<11:58:26, 1.67s/it] 14%|█▍ | 4166/30000 [1:57:03<11:58:02, 1.67s/it] 14%|█▍ | 4167/30000 [1:57:05<11:58:10, 1.67s/it] 14%|█▍ | 4168/30000 [1:57:07<11:57:56, 1.67s/it] 14%|█▍ | 4169/30000 [1:57:08<11:57:10, 1.67s/it] 14%|█▍ | 4170/30000 [1:57:10<11:58:55, 1.67s/it] {'loss': 0.0253, 'grad_norm': 0.11288133263587952, 'learning_rate': 2.935548424886979e-05, 'flow_matching_loss': 0.025320819951593874, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.21} + 14%|█▍ | 4170/30000 [1:57:10<11:58:55, 1.67s/it] 14%|█▍ | 4171/30000 [1:57:12<11:59:19, 1.67s/it] 14%|█▍ | 4172/30000 [1:57:13<11:57:31, 1.67s/it] 14%|█▍ | 4173/30000 [1:57:15<11:56:07, 1.66s/it] 14%|█▍ | 4174/30000 [1:57:17<11:56:47, 1.67s/it] 14%|█▍ | 4175/30000 [1:57:18<11:57:06, 1.67s/it] 14%|█▍ | 4176/30000 [1:57:20<11:57:34, 1.67s/it] 14%|█▍ | 4177/30000 [1:57:22<11:56:53, 1.67s/it] 14%|█▍ | 4178/30000 [1:57:23<11:56:45, 1.67s/it] 14%|█▍ | 4179/30000 [1:57:25<11:57:19, 1.67s/it] 14%|█▍ | 4180/30000 [1:57:27<11:58:22, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.1813010275363922, 'learning_rate': 2.935068077338246e-05, 'flow_matching_loss': 0.025237809494137765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.22} + 14%|█▍ | 4180/30000 [1:57:27<11:58:22, 1.67s/it] 14%|█▍ | 4181/30000 [1:57:28<11:58:34, 1.67s/it] 14%|█▍ | 4182/30000 [1:57:30<11:59:15, 1.67s/it] 14%|█▍ | 4183/30000 [1:57:32<11:59:01, 1.67s/it] 14%|█▍ | 4184/30000 [1:57:33<11:58:21, 1.67s/it] 14%|█▍ | 4185/30000 [1:57:35<11:58:35, 1.67s/it] 14%|█▍ | 4186/30000 [1:57:37<12:00:25, 1.67s/it] 14%|█▍ | 4187/30000 [1:57:38<11:59:03, 1.67s/it] 14%|█▍ | 4188/30000 [1:57:40<11:58:25, 1.67s/it] 14%|█▍ | 4189/30000 [1:57:42<11:57:34, 1.67s/it] 14%|█▍ | 4190/30000 [1:57:43<11:57:52, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.1171451285481453, 'learning_rate': 2.934585986046481e-05, 'flow_matching_loss': 0.023407611809670926, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.22} + 14%|█▍ | 4190/30000 [1:57:43<11:57:52, 1.67s/it] 14%|█▍ | 4191/30000 [1:57:45<11:58:26, 1.67s/it] 14%|█▍ | 4192/30000 [1:57:47<11:57:58, 1.67s/it] 14%|█▍ | 4193/30000 [1:57:48<11:58:16, 1.67s/it] 14%|█▍ | 4194/30000 [1:57:50<11:57:11, 1.67s/it] 14%|█▍ | 4195/30000 [1:57:52<11:56:59, 1.67s/it] 14%|█▍ | 4196/30000 [1:57:53<11:56:07, 1.67s/it] 14%|█▍ | 4197/30000 [1:57:55<11:55:14, 1.66s/it] 14%|█▍ | 4198/30000 [1:57:57<11:55:40, 1.66s/it] 14%|█▍ | 4199/30000 [1:57:58<11:54:38, 1.66s/it] 14%|█▍ | 4200/30000 [1:58:00<11:55:15, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.13620126247406006, 'learning_rate': 2.93410215159747e-05, 'flow_matching_loss': 0.022224419936537742, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.22} + 14%|█▍ | 4200/30000 [1:58:00<11:55:15, 1.66s/it] 14%|█▍ | 4201/30000 [1:58:02<11:56:37, 1.67s/it] 14%|█▍ | 4202/30000 [1:58:03<11:55:11, 1.66s/it] 14%|█▍ | 4203/30000 [1:58:05<11:55:58, 1.67s/it] 14%|█▍ | 4204/30000 [1:58:07<11:57:49, 1.67s/it] 14%|█▍ | 4205/30000 [1:58:08<11:58:30, 1.67s/it] 14%|█▍ | 4206/30000 [1:58:10<11:58:46, 1.67s/it] 14%|█▍ | 4207/30000 [1:58:12<11:57:16, 1.67s/it] 14%|█▍ | 4208/30000 [1:58:13<11:56:41, 1.67s/it] 14%|█▍ | 4209/30000 [1:58:15<11:56:59, 1.67s/it] 14%|█▍ | 4210/30000 [1:58:17<11:56:35, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.13777005672454834, 'learning_rate': 2.933616574579118e-05, 'flow_matching_loss': 0.023483438417315483, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.22} + 14%|█▍ | 4210/30000 [1:58:17<11:56:35, 1.67s/it] 14%|█▍ | 4211/30000 [1:58:18<11:56:30, 1.67s/it] 14%|█▍ | 4212/30000 [1:58:20<11:56:55, 1.67s/it] 14%|█▍ | 4213/30000 [1:58:22<11:58:40, 1.67s/it] 14%|█▍ | 4214/30000 [1:58:23<11:57:41, 1.67s/it] 14%|█▍ | 4215/30000 [1:58:25<11:58:59, 1.67s/it] 14%|█▍ | 4216/30000 [1:58:27<11:56:06, 1.67s/it] 14%|█▍ | 4217/30000 [1:58:28<11:55:34, 1.67s/it] 14%|█▍ | 4218/30000 [1:58:30<11:55:28, 1.67s/it] 14%|█▍ | 4219/30000 [1:58:32<11:55:52, 1.67s/it] 14%|█▍ | 4220/30000 [1:58:33<11:56:18, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.14782971143722534, 'learning_rate': 2.933129255581447e-05, 'flow_matching_loss': 0.023922235798090698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.23} + 14%|█▍ | 4220/30000 [1:58:33<11:56:18, 1.67s/it] 14%|█▍ | 4221/30000 [1:58:35<11:56:17, 1.67s/it] 14%|█▍ | 4222/30000 [1:58:37<11:56:57, 1.67s/it] 14%|█▍ | 4223/30000 [1:58:38<11:56:51, 1.67s/it] 14%|█▍ | 4224/30000 [1:58:40<11:55:30, 1.67s/it] 14%|█▍ | 4225/30000 [1:58:42<11:55:37, 1.67s/it] 14%|█▍ | 4226/30000 [1:58:43<11:54:55, 1.66s/it] 14%|█▍ | 4227/30000 [1:58:45<11:54:55, 1.66s/it] 14%|█▍ | 4228/30000 [1:58:47<11:55:02, 1.66s/it] 14%|█▍ | 4229/30000 [1:58:48<11:55:14, 1.67s/it] 14%|█▍ | 4230/30000 [1:58:50<11:54:42, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.16577738523483276, 'learning_rate': 2.9326401951965954e-05, 'flow_matching_loss': 0.023241651058197022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.23} + 14%|█▍ | 4230/30000 [1:58:50<11:54:42, 1.66s/it] 14%|█▍ | 4231/30000 [1:58:52<11:54:52, 1.66s/it] 14%|█▍ | 4232/30000 [1:58:53<11:54:34, 1.66s/it] 14%|█▍ | 4233/30000 [1:58:55<11:55:51, 1.67s/it] 14%|█▍ | 4234/30000 [1:58:57<11:55:33, 1.67s/it] 14%|█▍ | 4235/30000 [1:58:58<11:56:46, 1.67s/it] 14%|█▍ | 4236/30000 [1:59:00<11:55:47, 1.67s/it] 14%|█▍ | 4237/30000 [1:59:02<11:55:17, 1.67s/it] 14%|█▍ | 4238/30000 [1:59:03<11:56:02, 1.67s/it] 14%|█▍ | 4239/30000 [1:59:05<11:55:13, 1.67s/it] 14%|█▍ | 4240/30000 [1:59:07<11:55:23, 1.67s/it] {'loss': 0.0274, 'grad_norm': 0.24003532528877258, 'learning_rate': 2.9321493940188165e-05, 'flow_matching_loss': 0.027409305423498155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.23} + 14%|█▍ | 4240/30000 [1:59:07<11:55:23, 1.67s/it] 14%|█▍ | 4241/30000 [1:59:08<11:54:50, 1.67s/it] 14%|█▍ | 4242/30000 [1:59:10<11:55:50, 1.67s/it] 14%|█▍ | 4243/30000 [1:59:12<11:56:48, 1.67s/it] 14%|█▍ | 4244/30000 [1:59:13<11:56:18, 1.67s/it] 14%|█▍ | 4245/30000 [1:59:15<11:55:48, 1.67s/it] 14%|█▍ | 4246/30000 [1:59:17<11:56:19, 1.67s/it] 14%|█▍ | 4247/30000 [1:59:18<11:57:19, 1.67s/it] 14%|█▍ | 4248/30000 [1:59:20<11:57:04, 1.67s/it] 14%|█▍ | 4249/30000 [1:59:22<11:55:31, 1.67s/it] 14%|█▍ | 4250/30000 [1:59:23<11:54:56, 1.67s/it] {'loss': 0.024, 'grad_norm': 0.15859057009220123, 'learning_rate': 2.931656852644482e-05, 'flow_matching_loss': 0.024020479433238505, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.24} + 14%|█▍ | 4250/30000 [1:59:23<11:54:56, 1.67s/it] 14%|█▍ | 4251/30000 [1:59:25<11:54:59, 1.67s/it] 14%|█▍ | 4252/30000 [1:59:27<11:55:32, 1.67s/it] 14%|█▍ | 4253/30000 [1:59:28<11:55:27, 1.67s/it] 14%|█▍ | 4254/30000 [1:59:30<11:54:33, 1.67s/it] 14%|█▍ | 4255/30000 [1:59:32<11:54:03, 1.66s/it] 14%|█▍ | 4256/30000 [1:59:33<11:56:02, 1.67s/it] 14%|█▍ | 4257/30000 [1:59:35<11:56:59, 1.67s/it] 14%|█▍ | 4258/30000 [1:59:37<11:58:00, 1.67s/it] 14%|█▍ | 4259/30000 [1:59:38<11:57:27, 1.67s/it] 14%|█▍ | 4260/30000 [1:59:40<11:56:56, 1.67s/it] {'loss': 0.0246, 'grad_norm': 0.1240561231970787, 'learning_rate': 2.9311625716720748e-05, 'flow_matching_loss': 0.024646000377833842, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.24} + 14%|█▍ | 4260/30000 [1:59:40<11:56:56, 1.67s/it] 14%|█▍ | 4261/30000 [1:59:42<11:56:03, 1.67s/it] 14%|█▍ | 4262/30000 [1:59:43<11:56:24, 1.67s/it] 14%|█▍ | 4263/30000 [1:59:45<11:57:02, 1.67s/it] 14%|█▍ | 4264/30000 [1:59:47<11:56:58, 1.67s/it] 14%|█▍ | 4265/30000 [1:59:48<11:56:00, 1.67s/it] 14%|█▍ | 4266/30000 [1:59:50<11:55:32, 1.67s/it] 14%|█▍ | 4267/30000 [1:59:52<11:55:43, 1.67s/it] 14%|█▍ | 4268/30000 [1:59:53<11:54:45, 1.67s/it] 14%|█▍ | 4269/30000 [1:59:55<11:54:32, 1.67s/it] 14%|█▍ | 4270/30000 [1:59:57<11:54:16, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.19666758179664612, 'learning_rate': 2.9306665517021927e-05, 'flow_matching_loss': 0.02194093419238925, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.24} + 14%|█▍ | 4270/30000 [1:59:57<11:54:16, 1.67s/it] 14%|█▍ | 4271/30000 [1:59:58<11:53:38, 1.66s/it] 14%|█▍ | 4272/30000 [2:00:00<11:52:56, 1.66s/it] 14%|█▍ | 4273/30000 [2:00:02<11:53:18, 1.66s/it] 14%|█▍ | 4274/30000 [2:00:03<11:54:57, 1.67s/it] 14%|█▍ | 4275/30000 [2:00:05<11:54:53, 1.67s/it] 14%|█▍ | 4276/30000 [2:00:07<11:55:23, 1.67s/it] 14%|█▍ | 4277/30000 [2:00:08<11:55:03, 1.67s/it] 14%|█▍ | 4278/30000 [2:00:10<11:54:52, 1.67s/it] 14%|█▍ | 4279/30000 [2:00:12<11:54:50, 1.67s/it] 14%|█▍ | 4280/30000 [2:00:13<11:54:15, 1.67s/it] {'loss': 0.0263, 'grad_norm': 0.1309906244277954, 'learning_rate': 2.9301687933375483e-05, 'flow_matching_loss': 0.026320025511085986, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.25} + 14%|█▍ | 4280/30000 [2:00:13<11:54:15, 1.67s/it] 14%|█▍ | 4281/30000 [2:00:15<11:54:59, 1.67s/it] 14%|█▍ | 4282/30000 [2:00:17<11:55:04, 1.67s/it] 14%|█▍ | 4283/30000 [2:00:18<11:54:18, 1.67s/it] 14%|█▍ | 4284/30000 [2:00:20<11:54:11, 1.67s/it] 14%|█▍ | 4285/30000 [2:00:22<11:54:09, 1.67s/it] 14%|█▍ | 4286/30000 [2:00:23<11:54:52, 1.67s/it] 14%|█▍ | 4287/30000 [2:00:25<11:53:55, 1.67s/it] 14%|█▍ | 4288/30000 [2:00:27<11:54:24, 1.67s/it] 14%|█▍ | 4289/30000 [2:00:28<11:55:07, 1.67s/it] 14%|█▍ | 4290/30000 [2:00:30<11:54:36, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.17676985263824463, 'learning_rate': 2.929669297182963e-05, 'flow_matching_loss': 0.02621953971683979, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.25} + 14%|█▍ | 4290/30000 [2:00:30<11:54:36, 1.67s/it] 14%|█▍ | 4291/30000 [2:00:32<11:55:48, 1.67s/it] 14%|█▍ | 4292/30000 [2:00:33<11:55:30, 1.67s/it] 14%|█▍ | 4293/30000 [2:00:35<11:55:01, 1.67s/it] 14%|█▍ | 4294/30000 [2:00:37<11:54:45, 1.67s/it] 14%|█▍ | 4295/30000 [2:00:38<11:55:26, 1.67s/it] 14%|█▍ | 4296/30000 [2:00:40<11:55:41, 1.67s/it] 14%|█▍ | 4297/30000 [2:00:42<11:54:42, 1.67s/it] 14%|█▍ | 4298/30000 [2:00:43<11:55:50, 1.67s/it] 14%|█▍ | 4299/30000 [2:00:45<11:54:47, 1.67s/it] 14%|█▍ | 4300/30000 [2:00:47<11:53:57, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.17658843100070953, 'learning_rate': 2.929168063845373e-05, 'flow_matching_loss': 0.025474748015403746, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.25} + 14%|█▍ | 4300/30000 [2:00:47<11:53:57, 1.67s/it] 14%|█▍ | 4301/30000 [2:00:48<11:55:16, 1.67s/it] 14%|█▍ | 4302/30000 [2:00:50<11:54:20, 1.67s/it] 14%|█▍ | 4303/30000 [2:00:52<11:53:40, 1.67s/it] 14%|█▍ | 4304/30000 [2:00:53<11:53:02, 1.66s/it] 14%|█▍ | 4305/30000 [2:00:55<11:54:30, 1.67s/it] 14%|█▍ | 4306/30000 [2:00:57<11:53:33, 1.67s/it] 14%|█▍ | 4307/30000 [2:00:58<11:53:53, 1.67s/it] 14%|█▍ | 4308/30000 [2:01:00<11:52:13, 1.66s/it] 14%|█▍ | 4309/30000 [2:01:02<11:53:26, 1.67s/it] 14%|█▍ | 4310/30000 [2:01:03<11:53:46, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.1463492512702942, 'learning_rate': 2.9286650939338236e-05, 'flow_matching_loss': 0.02623455934226513, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.25} + 14%|█▍ | 4310/30000 [2:01:04<11:53:46, 1.67s/it] 14%|█▍ | 4311/30000 [2:01:05<11:54:18, 1.67s/it] 14%|█▍ | 4312/30000 [2:01:07<11:53:28, 1.67s/it] 14%|█▍ | 4313/30000 [2:01:08<11:52:47, 1.66s/it] 14%|█▍ | 4314/30000 [2:01:10<11:53:27, 1.67s/it] 14%|█▍ | 4315/30000 [2:01:12<11:53:35, 1.67s/it] 14%|█▍ | 4316/30000 [2:01:13<11:51:50, 1.66s/it] 14%|█▍ | 4317/30000 [2:01:15<11:53:29, 1.67s/it] 14%|█▍ | 4318/30000 [2:01:17<11:53:19, 1.67s/it] 14%|█▍ | 4319/30000 [2:01:18<11:52:03, 1.66s/it] 14%|█▍ | 4320/30000 [2:01:20<11:51:52, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.1524265557527542, 'learning_rate': 2.9281603880594706e-05, 'flow_matching_loss': 0.023093613609671593, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.26} + 14%|█▍ | 4320/30000 [2:01:20<11:51:52, 1.66s/it] 14%|█▍ | 4321/30000 [2:01:22<11:51:50, 1.66s/it] 14%|█▍ | 4322/30000 [2:01:23<11:51:11, 1.66s/it] 14%|█▍ | 4323/30000 [2:01:25<11:50:26, 1.66s/it] 14%|█▍ | 4324/30000 [2:01:27<11:51:35, 1.66s/it] 14%|█▍ | 4325/30000 [2:01:28<11:52:28, 1.66s/it] 14%|█▍ | 4326/30000 [2:01:30<11:54:40, 1.67s/it] 14%|█▍ | 4327/30000 [2:01:32<11:54:33, 1.67s/it] 14%|█▍ | 4328/30000 [2:01:33<11:55:12, 1.67s/it] 14%|█▍ | 4329/30000 [2:01:35<11:54:20, 1.67s/it] 14%|█▍ | 4330/30000 [2:01:37<11:54:05, 1.67s/it] {'loss': 0.0272, 'grad_norm': 0.13520441949367523, 'learning_rate': 2.9276539468355796e-05, 'flow_matching_loss': 0.02724173627793789, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.26} + 14%|█▍ | 4330/30000 [2:01:37<11:54:05, 1.67s/it] 14%|█▍ | 4331/30000 [2:01:38<11:56:37, 1.68s/it] 14%|█▍ | 4332/30000 [2:01:40<11:55:19, 1.67s/it] 14%|█▍ | 4333/30000 [2:01:42<11:54:48, 1.67s/it] 14%|█▍ | 4334/30000 [2:01:43<11:54:02, 1.67s/it] 14%|█▍ | 4335/30000 [2:01:45<11:53:30, 1.67s/it] 14%|█▍ | 4336/30000 [2:01:47<11:53:49, 1.67s/it] 14%|█▍ | 4337/30000 [2:01:48<11:53:32, 1.67s/it] 14%|█▍ | 4338/30000 [2:01:50<11:53:05, 1.67s/it] 14%|█▍ | 4339/30000 [2:01:52<11:53:54, 1.67s/it] 14%|█▍ | 4340/30000 [2:01:53<11:53:01, 1.67s/it] {'loss': 0.0278, 'grad_norm': 0.22218577563762665, 'learning_rate': 2.9271457708775244e-05, 'flow_matching_loss': 0.027806067280471324, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.26} + 14%|█▍ | 4340/30000 [2:01:54<11:53:01, 1.67s/it] 14%|█▍ | 4341/30000 [2:01:55<11:52:10, 1.67s/it] 14%|█▍ | 4342/30000 [2:01:57<11:51:08, 1.66s/it] 14%|█▍ | 4343/30000 [2:01:58<11:50:41, 1.66s/it] 14%|█▍ | 4344/30000 [2:02:00<11:49:52, 1.66s/it] 14%|█▍ | 4345/30000 [2:02:02<11:49:48, 1.66s/it] 14%|█▍ | 4346/30000 [2:02:03<11:52:04, 1.67s/it] 14%|█▍ | 4347/30000 [2:02:05<11:51:59, 1.67s/it] 14%|█▍ | 4348/30000 [2:02:07<11:51:25, 1.66s/it] 14%|█▍ | 4349/30000 [2:02:08<11:51:56, 1.67s/it] 14%|█▍ | 4350/30000 [2:02:10<11:51:59, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.15908028185367584, 'learning_rate': 2.9266358608027863e-05, 'flow_matching_loss': 0.024895263835787773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.27} + 14%|█▍ | 4350/30000 [2:02:10<11:51:59, 1.67s/it] 15%|█▍ | 4351/30000 [2:02:12<11:53:45, 1.67s/it] 15%|█▍ | 4352/30000 [2:02:13<11:52:49, 1.67s/it] 15%|█▍ | 4353/30000 [2:02:15<11:52:06, 1.67s/it] 15%|█▍ | 4354/30000 [2:02:17<11:51:37, 1.66s/it] 15%|█▍ | 4355/30000 [2:02:18<11:52:14, 1.67s/it] 15%|█▍ | 4356/30000 [2:02:20<11:50:52, 1.66s/it] 15%|█▍ | 4357/30000 [2:02:22<11:51:13, 1.66s/it] 15%|█▍ | 4358/30000 [2:02:23<11:52:07, 1.67s/it] 15%|█▍ | 4359/30000 [2:02:25<11:52:11, 1.67s/it] 15%|█▍ | 4360/30000 [2:02:27<11:53:21, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.14040572941303253, 'learning_rate': 2.9261242172309543e-05, 'flow_matching_loss': 0.024865296483039857, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.27} + 15%|█▍ | 4360/30000 [2:02:27<11:53:21, 1.67s/it] 15%|█▍ | 4361/30000 [2:02:28<11:52:42, 1.67s/it] 15%|█▍ | 4362/30000 [2:02:30<11:52:50, 1.67s/it] 15%|█▍ | 4363/30000 [2:02:32<11:52:42, 1.67s/it] 15%|█▍ | 4364/30000 [2:02:33<11:52:38, 1.67s/it] 15%|█▍ | 4365/30000 [2:02:35<11:52:04, 1.67s/it] 15%|█▍ | 4366/30000 [2:02:37<11:52:29, 1.67s/it] 15%|█▍ | 4367/30000 [2:02:38<11:52:48, 1.67s/it] 15%|█▍ | 4368/30000 [2:02:40<11:52:58, 1.67s/it] 15%|█▍ | 4369/30000 [2:02:42<11:51:43, 1.67s/it] 15%|█▍ | 4370/30000 [2:02:43<11:52:09, 1.67s/it] {'loss': 0.0246, 'grad_norm': 0.14195264875888824, 'learning_rate': 2.925610840783723e-05, 'flow_matching_loss': 0.02464301362633705, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.27} + 15%|█▍ | 4370/30000 [2:02:44<11:52:09, 1.67s/it] 15%|█▍ | 4371/30000 [2:02:45<11:53:51, 1.67s/it] 15%|█▍ | 4372/30000 [2:02:47<11:53:39, 1.67s/it] 15%|█▍ | 4373/30000 [2:02:48<11:52:56, 1.67s/it] 15%|█▍ | 4374/30000 [2:02:50<11:53:09, 1.67s/it] 15%|█▍ | 4375/30000 [2:02:52<11:53:19, 1.67s/it] 15%|█▍ | 4376/30000 [2:02:53<11:52:46, 1.67s/it] 15%|█▍ | 4377/30000 [2:02:55<11:52:13, 1.67s/it] 15%|█▍ | 4378/30000 [2:02:57<11:52:28, 1.67s/it] 15%|█▍ | 4379/30000 [2:02:58<11:52:41, 1.67s/it] 15%|█▍ | 4380/30000 [2:03:00<11:52:32, 1.67s/it] {'loss': 0.0279, 'grad_norm': 0.16193847358226776, 'learning_rate': 2.9250957320848946e-05, 'flow_matching_loss': 0.027854810655117034, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.27} + 15%|█▍ | 4380/30000 [2:03:00<11:52:32, 1.67s/it] 15%|█▍ | 4381/30000 [2:03:02<11:52:59, 1.67s/it] 15%|█▍ | 4382/30000 [2:03:03<11:52:45, 1.67s/it] 15%|█▍ | 4383/30000 [2:03:05<11:52:17, 1.67s/it] 15%|█▍ | 4384/30000 [2:03:07<11:51:17, 1.67s/it] 15%|█▍ | 4385/30000 [2:03:08<11:51:05, 1.67s/it] 15%|█▍ | 4386/30000 [2:03:10<11:51:35, 1.67s/it] 15%|█▍ | 4387/30000 [2:03:12<11:53:58, 1.67s/it] 15%|█▍ | 4388/30000 [2:03:14<11:54:55, 1.67s/it] 15%|█▍ | 4389/30000 [2:03:15<11:53:20, 1.67s/it] 15%|█▍ | 4390/30000 [2:03:17<11:54:21, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.1382753700017929, 'learning_rate': 2.924578891760374e-05, 'flow_matching_loss': 0.026014162786304952, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.28} + 15%|█▍ | 4390/30000 [2:03:17<11:54:21, 1.67s/it] 15%|█▍ | 4391/30000 [2:03:19<11:55:24, 1.68s/it] 15%|█▍ | 4392/30000 [2:03:20<11:56:48, 1.68s/it] 15%|█▍ | 4393/30000 [2:03:22<11:55:02, 1.68s/it] 15%|█▍ | 4394/30000 [2:03:24<11:55:12, 1.68s/it] 15%|█▍ | 4395/30000 [2:03:25<11:53:32, 1.67s/it] 15%|█▍ | 4396/30000 [2:03:27<11:53:00, 1.67s/it] 15%|█▍ | 4397/30000 [2:03:29<11:52:28, 1.67s/it] 15%|█▍ | 4398/30000 [2:03:30<11:52:55, 1.67s/it] 15%|█▍ | 4399/30000 [2:03:32<11:52:29, 1.67s/it] 15%|█▍ | 4400/30000 [2:03:34<11:52:23, 1.67s/it] {'loss': 0.027, 'grad_norm': 0.13963274657726288, 'learning_rate': 2.924060320438171e-05, 'flow_matching_loss': 0.026954554580152036, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.28} + 15%|█▍ | 4400/30000 [2:03:34<11:52:23, 1.67s/it] 15%|█▍ | 4401/30000 [2:03:35<11:52:23, 1.67s/it] 15%|█▍ | 4402/30000 [2:03:37<11:51:47, 1.67s/it] 15%|█▍ | 4403/30000 [2:03:39<11:50:47, 1.67s/it] 15%|█▍ | 4404/30000 [2:03:40<11:50:04, 1.66s/it] 15%|█▍ | 4405/30000 [2:03:42<11:51:18, 1.67s/it] 15%|█▍ | 4406/30000 [2:03:44<11:52:25, 1.67s/it] 15%|█▍ | 4407/30000 [2:03:45<11:52:54, 1.67s/it] 15%|█▍ | 4408/30000 [2:03:47<11:52:53, 1.67s/it] 15%|█▍ | 4409/30000 [2:03:49<11:52:54, 1.67s/it] 15%|█▍ | 4410/30000 [2:03:50<11:51:42, 1.67s/it] {'loss': 0.0272, 'grad_norm': 0.20537014305591583, 'learning_rate': 2.9235400187483978e-05, 'flow_matching_loss': 0.027155990712344646, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.28} + 15%|█▍ | 4410/30000 [2:03:50<11:51:42, 1.67s/it] 15%|█▍ | 4411/30000 [2:03:52<11:52:43, 1.67s/it] 15%|█▍ | 4412/30000 [2:03:54<11:51:45, 1.67s/it] 15%|█▍ | 4413/30000 [2:03:55<11:51:35, 1.67s/it] 15%|█▍ | 4414/30000 [2:03:57<11:51:38, 1.67s/it] 15%|█▍ | 4415/30000 [2:03:59<11:50:56, 1.67s/it] 15%|█▍ | 4416/30000 [2:04:00<11:51:44, 1.67s/it] 15%|█▍ | 4417/30000 [2:04:02<11:53:13, 1.67s/it] 15%|█▍ | 4418/30000 [2:04:04<11:52:43, 1.67s/it] 15%|█▍ | 4419/30000 [2:04:05<11:52:04, 1.67s/it] 15%|█▍ | 4420/30000 [2:04:07<11:50:59, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.14669397473335266, 'learning_rate': 2.9230179873232716e-05, 'flow_matching_loss': 0.025458901561796664, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.29} + 15%|█▍ | 4420/30000 [2:04:07<11:50:59, 1.67s/it] 15%|█▍ | 4421/30000 [2:04:09<11:50:48, 1.67s/it] 15%|█▍ | 4422/30000 [2:04:10<11:51:38, 1.67s/it] 15%|█▍ | 4423/30000 [2:04:12<11:51:32, 1.67s/it] 15%|█▍ | 4424/30000 [2:04:14<11:51:15, 1.67s/it] 15%|█▍ | 4425/30000 [2:04:15<11:51:08, 1.67s/it] 15%|█▍ | 4426/30000 [2:04:17<11:51:38, 1.67s/it] 15%|█▍ | 4427/30000 [2:04:19<11:51:20, 1.67s/it] 15%|█▍ | 4428/30000 [2:04:20<11:50:52, 1.67s/it] 15%|█▍ | 4429/30000 [2:04:22<11:50:59, 1.67s/it] 15%|█▍ | 4430/30000 [2:04:24<11:51:01, 1.67s/it] {'loss': 0.0264, 'grad_norm': 0.12357312440872192, 'learning_rate': 2.922494226797108e-05, 'flow_matching_loss': 0.026372885145246983, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.29} + 15%|█▍ | 4430/30000 [2:04:24<11:51:01, 1.67s/it] 15%|█▍ | 4431/30000 [2:04:25<11:51:44, 1.67s/it] 15%|█▍ | 4432/30000 [2:04:27<11:50:44, 1.67s/it] 15%|█▍ | 4433/30000 [2:04:29<11:50:15, 1.67s/it] 15%|█▍ | 4434/30000 [2:04:30<11:50:18, 1.67s/it] 15%|█▍ | 4435/30000 [2:04:32<11:50:15, 1.67s/it] 15%|█▍ | 4436/30000 [2:04:34<11:50:47, 1.67s/it] 15%|█▍ | 4437/30000 [2:04:35<11:49:05, 1.66s/it] 15%|█▍ | 4438/30000 [2:04:37<11:48:53, 1.66s/it] 15%|█▍ | 4439/30000 [2:04:39<11:49:17, 1.66s/it] 15%|█▍ | 4440/30000 [2:04:40<11:48:54, 1.66s/it] {'loss': 0.0245, 'grad_norm': 0.14583714306354523, 'learning_rate': 2.9219687378063275e-05, 'flow_matching_loss': 0.02451511025428772, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.29} + 15%|█▍ | 4440/30000 [2:04:40<11:48:54, 1.66s/it] 15%|█▍ | 4441/30000 [2:04:42<11:50:04, 1.67s/it] 15%|█▍ | 4442/30000 [2:04:44<11:48:36, 1.66s/it] 15%|█▍ | 4443/30000 [2:04:45<11:49:37, 1.67s/it] 15%|█▍ | 4444/30000 [2:04:47<11:49:34, 1.67s/it] 15%|█▍ | 4445/30000 [2:04:49<11:49:15, 1.67s/it] 15%|█▍ | 4446/30000 [2:04:50<11:48:44, 1.66s/it] 15%|█▍ | 4447/30000 [2:04:52<11:49:59, 1.67s/it] 15%|█▍ | 4448/30000 [2:04:54<11:49:05, 1.67s/it] 15%|█▍ | 4449/30000 [2:04:55<11:50:02, 1.67s/it] 15%|█▍ | 4450/30000 [2:04:57<11:50:12, 1.67s/it] {'loss': 0.0253, 'grad_norm': 0.1942819356918335, 'learning_rate': 2.921441520989447e-05, 'flow_matching_loss': 0.02533282544463873, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.29} + 15%|█▍ | 4450/30000 [2:04:57<11:50:12, 1.67s/it] 15%|█▍ | 4451/30000 [2:04:59<11:50:49, 1.67s/it] 15%|█▍ | 4452/30000 [2:05:00<11:50:13, 1.67s/it] 15%|█▍ | 4453/30000 [2:05:02<11:50:08, 1.67s/it] 15%|█▍ | 4454/30000 [2:05:04<11:48:52, 1.66s/it] 15%|█▍ | 4455/30000 [2:05:05<11:48:19, 1.66s/it] 15%|█▍ | 4456/30000 [2:05:07<11:49:20, 1.67s/it] 15%|█▍ | 4457/30000 [2:05:09<11:51:11, 1.67s/it] 15%|█▍ | 4458/30000 [2:05:10<11:50:24, 1.67s/it] 15%|█▍ | 4459/30000 [2:05:12<11:50:02, 1.67s/it] 15%|█▍ | 4460/30000 [2:05:14<11:48:20, 1.66s/it] {'loss': 0.0228, 'grad_norm': 0.14677314460277557, 'learning_rate': 2.9209125769870854e-05, 'flow_matching_loss': 0.022766332887113095, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.3} + 15%|█▍ | 4460/30000 [2:05:14<11:48:20, 1.66s/it] 15%|█▍ | 4461/30000 [2:05:15<11:49:01, 1.67s/it] 15%|█▍ | 4462/30000 [2:05:17<11:49:14, 1.67s/it] 15%|█▍ | 4463/30000 [2:05:19<11:50:14, 1.67s/it] 15%|█▍ | 4464/30000 [2:05:20<11:48:51, 1.67s/it] 15%|█▍ | 4465/30000 [2:05:22<11:49:35, 1.67s/it] 15%|█▍ | 4466/30000 [2:05:24<11:50:12, 1.67s/it] 15%|█▍ | 4467/30000 [2:05:25<11:49:22, 1.67s/it] 15%|█▍ | 4468/30000 [2:05:27<11:48:33, 1.67s/it] 15%|█▍ | 4469/30000 [2:05:29<11:49:54, 1.67s/it] 15%|█▍ | 4470/30000 [2:05:30<11:48:37, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.1151701807975769, 'learning_rate': 2.92038190644196e-05, 'flow_matching_loss': 0.023358035273849963, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.3} + 15%|█▍ | 4470/30000 [2:05:30<11:48:37, 1.67s/it] 15%|█▍ | 4471/30000 [2:05:32<11:50:36, 1.67s/it] 15%|█▍ | 4472/30000 [2:05:34<11:49:53, 1.67s/it] 15%|█▍ | 4473/30000 [2:05:35<11:50:09, 1.67s/it] 15%|█▍ | 4474/30000 [2:05:37<11:49:56, 1.67s/it] 15%|█▍ | 4475/30000 [2:05:39<11:50:08, 1.67s/it] 15%|█▍ | 4476/30000 [2:05:40<11:49:23, 1.67s/it] 15%|█▍ | 4477/30000 [2:05:42<11:49:19, 1.67s/it] 15%|█▍ | 4478/30000 [2:05:44<11:49:56, 1.67s/it] 15%|█▍ | 4479/30000 [2:05:45<11:48:58, 1.67s/it] 15%|█▍ | 4480/30000 [2:05:47<11:49:24, 1.67s/it] {'loss': 0.0265, 'grad_norm': 0.20336855947971344, 'learning_rate': 2.9198495099988843e-05, 'flow_matching_loss': 0.026460359059274196, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.3} + 15%|█▍ | 4480/30000 [2:05:47<11:49:24, 1.67s/it] 15%|█▍ | 4481/30000 [2:05:49<11:49:30, 1.67s/it] 15%|█▍ | 4482/30000 [2:05:50<11:50:40, 1.67s/it] 15%|█▍ | 4483/30000 [2:05:52<11:50:18, 1.67s/it] 15%|█▍ | 4484/30000 [2:05:54<11:48:44, 1.67s/it] 15%|█▍ | 4485/30000 [2:05:55<11:48:47, 1.67s/it] 15%|█▍ | 4486/30000 [2:05:57<11:48:52, 1.67s/it] 15%|█▍ | 4487/30000 [2:05:59<11:48:49, 1.67s/it] 15%|█▍ | 4488/30000 [2:06:00<11:48:33, 1.67s/it] 15%|█▍ | 4489/30000 [2:06:02<11:48:09, 1.67s/it] 15%|█▍ | 4490/30000 [2:06:04<11:48:29, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.1521555632352829, 'learning_rate': 2.9193153883047712e-05, 'flow_matching_loss': 0.025562254898250102, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.31} + 15%|█▍ | 4490/30000 [2:06:04<11:48:29, 1.67s/it] 15%|█▍ | 4491/30000 [2:06:05<11:47:30, 1.66s/it] 15%|█▍ | 4492/30000 [2:06:07<11:47:22, 1.66s/it] 15%|█▍ | 4493/30000 [2:06:09<11:48:58, 1.67s/it] 15%|█▍ | 4494/30000 [2:06:10<11:50:14, 1.67s/it] 15%|█▍ | 4495/30000 [2:06:12<11:48:38, 1.67s/it] 15%|█▍ | 4496/30000 [2:06:14<11:50:03, 1.67s/it] 15%|█▍ | 4497/30000 [2:06:15<11:49:25, 1.67s/it] 15%|█▍ | 4498/30000 [2:06:17<11:49:02, 1.67s/it] 15%|█▍ | 4499/30000 [2:06:19<11:48:44, 1.67s/it] 15%|█▌ | 4500/30000 [2:06:20<11:48:42, 1.67s/it] {'loss': 0.0259, 'grad_norm': 0.19794408977031708, 'learning_rate': 2.9187795420086287e-05, 'flow_matching_loss': 0.025928464904427528, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.31} + 15%|█▌ | 4500/30000 [2:06:20<11:48:42, 1.67s/it] 15%|█▌ | 4501/30000 [2:06:22<11:49:36, 1.67s/it] 15%|█▌ | 4502/30000 [2:06:24<11:51:46, 1.67s/it] 15%|█▌ | 4503/30000 [2:06:25<11:49:39, 1.67s/it] 15%|█▌ | 4504/30000 [2:06:27<11:49:29, 1.67s/it] 15%|█▌ | 4505/30000 [2:06:29<11:48:50, 1.67s/it] 15%|█▌ | 4506/30000 [2:06:30<11:49:31, 1.67s/it] 15%|█▌ | 4507/30000 [2:06:32<11:48:46, 1.67s/it] 15%|█▌ | 4508/30000 [2:06:34<11:46:52, 1.66s/it] 15%|█▌ | 4509/30000 [2:06:35<11:47:28, 1.67s/it] 15%|█▌ | 4510/30000 [2:06:37<11:47:40, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.1181068941950798, 'learning_rate': 2.9182419717615602e-05, 'flow_matching_loss': 0.021419458836317063, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.31} + 15%|█▌ | 4510/30000 [2:06:37<11:47:40, 1.67s/it] 15%|█▌ | 4511/30000 [2:06:39<11:47:30, 1.67s/it] 15%|█▌ | 4512/30000 [2:06:40<11:47:28, 1.67s/it] 15%|█▌ | 4513/30000 [2:06:42<11:47:44, 1.67s/it] 15%|█▌ | 4514/30000 [2:06:44<11:46:48, 1.66s/it] 15%|█▌ | 4515/30000 [2:06:45<11:47:58, 1.67s/it] 15%|█▌ | 4516/30000 [2:06:47<11:47:48, 1.67s/it] 15%|█▌ | 4517/30000 [2:06:49<11:48:15, 1.67s/it] 15%|█▌ | 4518/30000 [2:06:50<11:47:47, 1.67s/it] 15%|█▌ | 4519/30000 [2:06:52<11:48:33, 1.67s/it] 15%|█▌ | 4520/30000 [2:06:54<11:49:03, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.14211224019527435, 'learning_rate': 2.917702678216765e-05, 'flow_matching_loss': 0.023226909153163434, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.32} + 15%|█▌ | 4520/30000 [2:06:54<11:49:03, 1.67s/it] 15%|█▌ | 4521/30000 [2:06:55<11:49:51, 1.67s/it] 15%|█▌ | 4522/30000 [2:06:57<11:47:43, 1.67s/it] 15%|█▌ | 4523/30000 [2:06:59<11:48:42, 1.67s/it] 15%|█▌ | 4524/30000 [2:07:00<11:47:45, 1.67s/it] 15%|█▌ | 4525/30000 [2:07:02<11:48:02, 1.67s/it] 15%|█▌ | 4526/30000 [2:07:04<11:47:24, 1.67s/it] 15%|█▌ | 4527/30000 [2:07:05<11:48:02, 1.67s/it] 15%|█▌ | 4528/30000 [2:07:07<11:48:02, 1.67s/it] 15%|█▌ | 4529/30000 [2:07:09<11:48:13, 1.67s/it] 15%|█▌ | 4530/30000 [2:07:10<11:49:19, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.12144163995981216, 'learning_rate': 2.9171616620295347e-05, 'flow_matching_loss': 0.023768491111695766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.32} + 15%|█▌ | 4530/30000 [2:07:10<11:49:19, 1.67s/it] 15%|█▌ | 4531/30000 [2:07:12<11:49:50, 1.67s/it] 15%|█▌ | 4532/30000 [2:07:14<11:49:33, 1.67s/it] 15%|█▌ | 4533/30000 [2:07:15<11:49:40, 1.67s/it] 15%|█▌ | 4534/30000 [2:07:17<11:50:54, 1.67s/it] 15%|█▌ | 4535/30000 [2:07:19<11:50:47, 1.67s/it] 15%|█▌ | 4536/30000 [2:07:20<11:49:41, 1.67s/it] 15%|█▌ | 4537/30000 [2:07:22<11:48:32, 1.67s/it] 15%|█▌ | 4538/30000 [2:07:24<11:48:51, 1.67s/it] 15%|█▌ | 4539/30000 [2:07:25<11:48:38, 1.67s/it] 15%|█▌ | 4540/30000 [2:07:27<11:46:56, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.17512133717536926, 'learning_rate': 2.9166189238572554e-05, 'flow_matching_loss': 0.02406474333256483, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.32} + 15%|█▌ | 4540/30000 [2:07:27<11:46:56, 1.67s/it] 15%|█▌ | 4541/30000 [2:07:29<11:47:09, 1.67s/it] 15%|█▌ | 4542/30000 [2:07:30<11:47:40, 1.67s/it] 15%|█▌ | 4543/30000 [2:07:32<11:46:49, 1.67s/it] 15%|█▌ | 4544/30000 [2:07:34<11:47:42, 1.67s/it] 15%|█▌ | 4545/30000 [2:07:35<11:47:53, 1.67s/it] 15%|█▌ | 4546/30000 [2:07:37<11:47:22, 1.67s/it] 15%|█▌ | 4547/30000 [2:07:39<11:47:28, 1.67s/it] 15%|█▌ | 4548/30000 [2:07:40<11:47:25, 1.67s/it] 15%|█▌ | 4549/30000 [2:07:42<11:47:18, 1.67s/it] 15%|█▌ | 4550/30000 [2:07:44<11:46:34, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.16143754124641418, 'learning_rate': 2.9160744643594052e-05, 'flow_matching_loss': 0.025092295557260513, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.32} + 15%|█▌ | 4550/30000 [2:07:44<11:46:34, 1.67s/it] 15%|█▌ | 4551/30000 [2:07:45<11:47:16, 1.67s/it] 15%|█▌ | 4552/30000 [2:07:47<11:47:48, 1.67s/it] 15%|█▌ | 4553/30000 [2:07:49<11:48:30, 1.67s/it] 15%|█▌ | 4554/30000 [2:07:50<11:48:17, 1.67s/it] 15%|█▌ | 4555/30000 [2:07:52<11:48:05, 1.67s/it] 15%|█▌ | 4556/30000 [2:07:54<11:48:51, 1.67s/it] 15%|█▌ | 4557/30000 [2:07:55<11:47:58, 1.67s/it] 15%|█▌ | 4558/30000 [2:07:57<11:47:21, 1.67s/it] 15%|█▌ | 4559/30000 [2:07:59<11:48:25, 1.67s/it] 15%|█▌ | 4560/30000 [2:08:00<11:46:52, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.17092202603816986, 'learning_rate': 2.915528284197554e-05, 'flow_matching_loss': 0.0256309412419796, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.33} + 15%|█▌ | 4560/30000 [2:08:01<11:46:52, 1.67s/it] 15%|█▌ | 4561/30000 [2:08:02<11:46:17, 1.67s/it] 15%|█▌ | 4562/30000 [2:08:04<11:45:48, 1.66s/it] 15%|█▌ | 4563/30000 [2:08:05<11:44:40, 1.66s/it] 15%|█▌ | 4564/30000 [2:08:07<11:44:36, 1.66s/it] 15%|█▌ | 4565/30000 [2:08:09<11:46:17, 1.67s/it] 15%|█▌ | 4566/30000 [2:08:10<11:47:57, 1.67s/it] 15%|█▌ | 4567/30000 [2:08:12<11:48:43, 1.67s/it] 15%|█▌ | 4568/30000 [2:08:14<11:48:50, 1.67s/it] 15%|█▌ | 4569/30000 [2:08:15<11:48:35, 1.67s/it] 15%|█▌ | 4570/30000 [2:08:17<11:47:38, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.16334713995456696, 'learning_rate': 2.914980384035362e-05, 'flow_matching_loss': 0.02210902199149132, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.33} + 15%|█▌ | 4570/30000 [2:08:17<11:47:38, 1.67s/it] 15%|█▌ | 4571/30000 [2:08:19<11:47:07, 1.67s/it] 15%|█▌ | 4572/30000 [2:08:20<11:46:39, 1.67s/it] 15%|█▌ | 4573/30000 [2:08:22<11:47:30, 1.67s/it] 15%|█▌ | 4574/30000 [2:08:24<11:47:19, 1.67s/it] 15%|█▌ | 4575/30000 [2:08:25<11:46:15, 1.67s/it] 15%|█▌ | 4576/30000 [2:08:27<11:47:49, 1.67s/it] 15%|█▌ | 4577/30000 [2:08:29<11:46:32, 1.67s/it] 15%|█▌ | 4578/30000 [2:08:30<11:46:06, 1.67s/it] 15%|█▌ | 4579/30000 [2:08:32<11:46:20, 1.67s/it] 15%|█▌ | 4580/30000 [2:08:34<11:45:32, 1.67s/it] {'loss': 0.027, 'grad_norm': 0.15142878890037537, 'learning_rate': 2.9144307645385787e-05, 'flow_matching_loss': 0.027001922763884068, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.33} + 15%|█▌ | 4580/30000 [2:08:34<11:45:32, 1.67s/it] 15%|█▌ | 4581/30000 [2:08:35<11:45:24, 1.67s/it] 15%|█▌ | 4582/30000 [2:08:37<11:46:40, 1.67s/it] 15%|█▌ | 4583/30000 [2:08:39<11:46:22, 1.67s/it] 15%|█▌ | 4584/30000 [2:08:41<11:47:33, 1.67s/it] 15%|█▌ | 4585/30000 [2:08:42<11:46:50, 1.67s/it] 15%|█▌ | 4586/30000 [2:08:44<11:46:17, 1.67s/it] 15%|█▌ | 4587/30000 [2:08:46<11:46:45, 1.67s/it] 15%|█▌ | 4588/30000 [2:08:47<11:48:23, 1.67s/it] 15%|█▌ | 4589/30000 [2:08:49<11:47:31, 1.67s/it] 15%|█▌ | 4590/30000 [2:08:51<11:47:32, 1.67s/it] {'loss': 0.0277, 'grad_norm': 0.15005919337272644, 'learning_rate': 2.9138794263750454e-05, 'flow_matching_loss': 0.02769463453441858, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.34} + 15%|█▌ | 4590/30000 [2:08:51<11:47:32, 1.67s/it] 15%|█▌ | 4591/30000 [2:08:52<11:47:59, 1.67s/it] 15%|█▌ | 4592/30000 [2:08:54<11:48:38, 1.67s/it] 15%|█▌ | 4593/30000 [2:08:56<11:47:59, 1.67s/it] 15%|█▌ | 4594/30000 [2:08:57<11:47:20, 1.67s/it] 15%|█▌ | 4595/30000 [2:08:59<11:47:14, 1.67s/it] 15%|█▌ | 4596/30000 [2:09:01<11:45:54, 1.67s/it] 15%|█▌ | 4597/30000 [2:09:02<11:46:02, 1.67s/it] 15%|█▌ | 4598/30000 [2:09:04<11:48:12, 1.67s/it] 15%|█▌ | 4599/30000 [2:09:06<11:47:04, 1.67s/it] 15%|█▌ | 4600/30000 [2:09:07<11:46:23, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.19158534705638885, 'learning_rate': 2.913326370214688e-05, 'flow_matching_loss': 0.023160794749855995, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.34} + 15%|█▌ | 4600/30000 [2:09:07<11:46:23, 1.67s/it] 15%|█▌ | 4601/30000 [2:09:09<11:47:51, 1.67s/it] 15%|█▌ | 4602/30000 [2:09:11<11:46:42, 1.67s/it] 15%|█▌ | 4603/30000 [2:09:12<11:46:39, 1.67s/it] 15%|█▌ | 4604/30000 [2:09:14<11:46:39, 1.67s/it] 15%|█▌ | 4605/30000 [2:09:16<11:45:59, 1.67s/it] 15%|█▌ | 4606/30000 [2:09:17<11:45:15, 1.67s/it] 15%|█▌ | 4607/30000 [2:09:19<11:45:10, 1.67s/it] 15%|█▌ | 4608/30000 [2:09:21<11:45:35, 1.67s/it] 15%|█▌ | 4609/30000 [2:09:22<11:45:00, 1.67s/it] 15%|█▌ | 4610/30000 [2:09:24<11:44:39, 1.67s/it] {'loss': 0.0279, 'grad_norm': 0.18028664588928223, 'learning_rate': 2.9127715967295234e-05, 'flow_matching_loss': 0.027946720086038112, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.34} + 15%|█▌ | 4610/30000 [2:09:24<11:44:39, 1.67s/it] 15%|█▌ | 4611/30000 [2:09:26<11:44:05, 1.66s/it] 15%|█▌ | 4612/30000 [2:09:27<11:41:49, 1.66s/it] 15%|█▌ | 4613/30000 [2:09:29<11:41:02, 1.66s/it] 15%|█▌ | 4614/30000 [2:09:31<11:41:31, 1.66s/it] 15%|█▌ | 4615/30000 [2:09:32<11:42:17, 1.66s/it] 15%|█▌ | 4616/30000 [2:09:34<11:42:45, 1.66s/it] 15%|█▌ | 4617/30000 [2:09:36<11:45:12, 1.67s/it] 15%|█▌ | 4618/30000 [2:09:37<11:44:12, 1.66s/it] 15%|█▌ | 4619/30000 [2:09:39<11:44:24, 1.67s/it] 15%|█▌ | 4620/30000 [2:09:41<11:45:38, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.16586269438266754, 'learning_rate': 2.912215106593653e-05, 'flow_matching_loss': 0.02618558220565319, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.34} + 15%|█▌ | 4620/30000 [2:09:41<11:45:38, 1.67s/it] 15%|█▌ | 4621/30000 [2:09:42<11:45:13, 1.67s/it] 15%|█▌ | 4622/30000 [2:09:44<11:45:00, 1.67s/it] 15%|█▌ | 4623/30000 [2:09:46<11:45:02, 1.67s/it] 15%|█▌ | 4624/30000 [2:09:47<11:44:04, 1.66s/it] 15%|█▌ | 4625/30000 [2:09:49<11:44:48, 1.67s/it] 15%|█▌ | 4626/30000 [2:09:51<11:45:49, 1.67s/it] 15%|█▌ | 4627/30000 [2:09:52<11:45:36, 1.67s/it] 15%|█▌ | 4628/30000 [2:09:54<11:45:13, 1.67s/it] 15%|█▌ | 4629/30000 [2:09:56<11:44:25, 1.67s/it] 15%|█▌ | 4630/30000 [2:09:57<11:44:52, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.14645305275917053, 'learning_rate': 2.911656900483265e-05, 'flow_matching_loss': 0.024441617354750634, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.35} + 15%|█▌ | 4630/30000 [2:09:57<11:44:52, 1.67s/it] 15%|█▌ | 4631/30000 [2:09:59<11:45:37, 1.67s/it] 15%|█▌ | 4632/30000 [2:10:01<11:45:50, 1.67s/it] 15%|█▌ | 4633/30000 [2:10:02<11:45:09, 1.67s/it] 15%|█▌ | 4634/30000 [2:10:04<11:45:04, 1.67s/it] 15%|█▌ | 4635/30000 [2:10:06<11:45:33, 1.67s/it] 15%|█▌ | 4636/30000 [2:10:07<11:46:19, 1.67s/it] 15%|█▌ | 4637/30000 [2:10:09<11:45:07, 1.67s/it] 15%|█▌ | 4638/30000 [2:10:11<11:44:27, 1.67s/it] 15%|█▌ | 4639/30000 [2:10:12<11:45:04, 1.67s/it] 15%|█▌ | 4640/30000 [2:10:14<11:44:39, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.16659045219421387, 'learning_rate': 2.9110969790766322e-05, 'flow_matching_loss': 0.022325043566524982, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.35} + 15%|█▌ | 4640/30000 [2:10:14<11:44:39, 1.67s/it] 15%|█▌ | 4641/30000 [2:10:16<11:44:26, 1.67s/it] 15%|█▌ | 4642/30000 [2:10:17<11:44:04, 1.67s/it] 15%|█▌ | 4643/30000 [2:10:19<11:44:41, 1.67s/it] 15%|█▌ | 4644/30000 [2:10:21<11:43:41, 1.67s/it] 15%|█▌ | 4645/30000 [2:10:22<11:44:26, 1.67s/it] 15%|█▌ | 4646/30000 [2:10:24<11:44:10, 1.67s/it] 15%|█▌ | 4647/30000 [2:10:26<11:43:18, 1.66s/it] 15%|█▌ | 4648/30000 [2:10:27<11:42:12, 1.66s/it] 15%|█▌ | 4649/30000 [2:10:29<11:42:32, 1.66s/it] 16%|█▌ | 4650/30000 [2:10:31<11:43:47, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.14939580857753754, 'learning_rate': 2.910535343054112e-05, 'flow_matching_loss': 0.024523174203932286, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.35} + 16%|█▌ | 4650/30000 [2:10:31<11:43:47, 1.67s/it] 16%|█▌ | 4651/30000 [2:10:32<11:42:32, 1.66s/it] 16%|█▌ | 4652/30000 [2:10:34<11:44:10, 1.67s/it] 16%|█▌ | 4653/30000 [2:10:36<11:43:41, 1.67s/it] 16%|█▌ | 4654/30000 [2:10:37<11:43:51, 1.67s/it] 16%|█▌ | 4655/30000 [2:10:39<11:44:27, 1.67s/it] 16%|█▌ | 4656/30000 [2:10:41<11:44:28, 1.67s/it] 16%|█▌ | 4657/30000 [2:10:42<11:43:33, 1.67s/it] 16%|█▌ | 4658/30000 [2:10:44<11:44:08, 1.67s/it] 16%|█▌ | 4659/30000 [2:10:46<11:44:40, 1.67s/it] 16%|█▌ | 4660/30000 [2:10:47<11:44:05, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.1444704532623291, 'learning_rate': 2.909971993098145e-05, 'flow_matching_loss': 0.023712510988116265, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.36} + 16%|█▌ | 4660/30000 [2:10:47<11:44:05, 1.67s/it] 16%|█▌ | 4661/30000 [2:10:49<11:43:59, 1.67s/it] 16%|█▌ | 4662/30000 [2:10:51<11:43:07, 1.66s/it] 16%|█▌ | 4663/30000 [2:10:52<11:44:15, 1.67s/it] 16%|█▌ | 4664/30000 [2:10:54<11:44:38, 1.67s/it] 16%|█▌ | 4665/30000 [2:10:56<11:44:29, 1.67s/it] 16%|█▌ | 4666/30000 [2:10:57<11:44:00, 1.67s/it] 16%|█▌ | 4667/30000 [2:10:59<11:43:33, 1.67s/it] 16%|█▌ | 4668/30000 [2:11:01<11:41:29, 1.66s/it] 16%|█▌ | 4669/30000 [2:11:02<11:41:26, 1.66s/it] 16%|█▌ | 4670/30000 [2:11:04<11:42:23, 1.66s/it] {'loss': 0.0273, 'grad_norm': 0.13874873518943787, 'learning_rate': 2.9094069298932552e-05, 'flow_matching_loss': 0.02732396237552166, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.36} + 16%|█▌ | 4670/30000 [2:11:04<11:42:23, 1.66s/it] 16%|█▌ | 4671/30000 [2:11:06<11:43:18, 1.67s/it] 16%|█▌ | 4672/30000 [2:11:07<11:45:18, 1.67s/it] 16%|█▌ | 4673/30000 [2:11:09<11:44:49, 1.67s/it] 16%|█▌ | 4674/30000 [2:11:11<11:44:34, 1.67s/it] 16%|█▌ | 4675/30000 [2:11:12<11:43:34, 1.67s/it] 16%|█▌ | 4676/30000 [2:11:14<11:44:15, 1.67s/it] 16%|█▌ | 4677/30000 [2:11:16<11:44:46, 1.67s/it] 16%|█▌ | 4678/30000 [2:11:17<11:46:11, 1.67s/it] 16%|█▌ | 4679/30000 [2:11:19<11:46:52, 1.67s/it] 16%|█▌ | 4680/30000 [2:11:21<11:46:55, 1.68s/it] {'loss': 0.0253, 'grad_norm': 0.15724989771842957, 'learning_rate': 2.908840154126047e-05, 'flow_matching_loss': 0.02530003394931555, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.36} + 16%|█▌ | 4680/30000 [2:11:21<11:46:55, 1.68s/it] 16%|█▌ | 4681/30000 [2:11:22<11:46:31, 1.67s/it] 16%|█▌ | 4682/30000 [2:11:24<11:46:42, 1.67s/it] 16%|█▌ | 4683/30000 [2:11:26<11:46:35, 1.67s/it] 16%|█▌ | 4684/30000 [2:11:27<11:45:11, 1.67s/it] 16%|█▌ | 4685/30000 [2:11:29<11:44:28, 1.67s/it] 16%|█▌ | 4686/30000 [2:11:31<11:44:41, 1.67s/it] 16%|█▌ | 4687/30000 [2:11:32<11:44:10, 1.67s/it] 16%|█▌ | 4688/30000 [2:11:34<11:43:09, 1.67s/it] 16%|█▌ | 4689/30000 [2:11:36<11:42:42, 1.67s/it] 16%|█▌ | 4690/30000 [2:11:37<11:42:37, 1.67s/it] {'loss': 0.0273, 'grad_norm': 0.16345730423927307, 'learning_rate': 2.9082716664852063e-05, 'flow_matching_loss': 0.027341967262327672, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.36} + 16%|█▌ | 4690/30000 [2:11:37<11:42:37, 1.67s/it] 16%|█▌ | 4691/30000 [2:11:39<11:43:37, 1.67s/it] 16%|█▌ | 4692/30000 [2:11:41<11:43:00, 1.67s/it] 16%|█▌ | 4693/30000 [2:11:42<11:41:56, 1.66s/it] 16%|█▌ | 4694/30000 [2:11:44<11:42:14, 1.67s/it] 16%|█▌ | 4695/30000 [2:11:46<11:41:20, 1.66s/it] 16%|█▌ | 4696/30000 [2:11:47<11:43:37, 1.67s/it] 16%|█▌ | 4697/30000 [2:11:49<11:42:44, 1.67s/it] 16%|█▌ | 4698/30000 [2:11:51<11:43:55, 1.67s/it] 16%|█▌ | 4699/30000 [2:11:52<11:42:35, 1.67s/it] 16%|█▌ | 4700/30000 [2:11:54<11:41:51, 1.66s/it] {'loss': 0.0266, 'grad_norm': 0.1332678198814392, 'learning_rate': 2.9077014676615e-05, 'flow_matching_loss': 0.026649215258657932, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.37} + 16%|█▌ | 4700/30000 [2:11:54<11:41:51, 1.66s/it] 16%|█▌ | 4701/30000 [2:11:56<11:42:28, 1.67s/it] 16%|█▌ | 4702/30000 [2:11:57<11:43:11, 1.67s/it] 16%|█▌ | 4703/30000 [2:11:59<11:42:15, 1.67s/it] 16%|█▌ | 4704/30000 [2:12:01<11:43:06, 1.67s/it] 16%|█▌ | 4705/30000 [2:12:02<11:42:29, 1.67s/it] 16%|█▌ | 4706/30000 [2:12:04<11:43:35, 1.67s/it] 16%|█▌ | 4707/30000 [2:12:06<11:43:14, 1.67s/it] 16%|█▌ | 4708/30000 [2:12:07<11:43:02, 1.67s/it] 16%|█▌ | 4709/30000 [2:12:09<11:44:44, 1.67s/it] 16%|█▌ | 4710/30000 [2:12:11<11:44:55, 1.67s/it] {'loss': 0.0247, 'grad_norm': 0.11940170079469681, 'learning_rate': 2.9071295583477724e-05, 'flow_matching_loss': 0.0246761966496706, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.37} + 16%|█▌ | 4710/30000 [2:12:11<11:44:55, 1.67s/it] 16%|█▌ | 4711/30000 [2:12:12<11:44:40, 1.67s/it] 16%|█▌ | 4712/30000 [2:12:14<11:43:35, 1.67s/it] 16%|█▌ | 4713/30000 [2:12:16<11:43:12, 1.67s/it] 16%|█▌ | 4714/30000 [2:12:17<11:43:24, 1.67s/it] 16%|█▌ | 4715/30000 [2:12:19<11:43:50, 1.67s/it] 16%|█▌ | 4716/30000 [2:12:21<11:44:50, 1.67s/it] 16%|█▌ | 4717/30000 [2:12:22<11:44:10, 1.67s/it] 16%|█▌ | 4718/30000 [2:12:24<11:45:55, 1.68s/it] 16%|█▌ | 4719/30000 [2:12:26<11:46:00, 1.68s/it] 16%|█▌ | 4720/30000 [2:12:27<11:45:34, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.15776842832565308, 'learning_rate': 2.906555939238948e-05, 'flow_matching_loss': 0.02603677920997143, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.37} + 16%|█▌ | 4720/30000 [2:12:27<11:45:34, 1.67s/it] 16%|█▌ | 4721/30000 [2:12:29<11:44:39, 1.67s/it] 16%|█▌ | 4722/30000 [2:12:31<11:43:56, 1.67s/it] 16%|█▌ | 4723/30000 [2:12:32<11:44:56, 1.67s/it] 16%|█▌ | 4724/30000 [2:12:34<11:44:55, 1.67s/it] 16%|█▌ | 4725/30000 [2:12:36<11:45:43, 1.68s/it] 16%|█▌ | 4726/30000 [2:12:37<11:44:47, 1.67s/it] 16%|█▌ | 4727/30000 [2:12:39<11:44:02, 1.67s/it] 16%|█▌ | 4728/30000 [2:12:41<11:44:14, 1.67s/it] 16%|█▌ | 4729/30000 [2:12:42<11:44:00, 1.67s/it] 16%|█▌ | 4730/30000 [2:12:44<11:45:41, 1.68s/it] {'loss': 0.0243, 'grad_norm': 0.16926118731498718, 'learning_rate': 2.905980611032028e-05, 'flow_matching_loss': 0.02425273172557354, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.38} + 16%|█▌ | 4730/30000 [2:12:44<11:45:41, 1.68s/it] 16%|█▌ | 4731/30000 [2:12:46<11:43:15, 1.67s/it] 16%|█▌ | 4732/30000 [2:12:47<11:41:39, 1.67s/it] 16%|█▌ | 4733/30000 [2:12:49<11:41:16, 1.67s/it] 16%|█▌ | 4734/30000 [2:12:51<11:39:44, 1.66s/it] 16%|█▌ | 4735/30000 [2:12:52<11:40:43, 1.66s/it] 16%|█▌ | 4736/30000 [2:12:54<11:40:51, 1.66s/it] 16%|█▌ | 4737/30000 [2:12:56<11:40:36, 1.66s/it] 16%|█▌ | 4738/30000 [2:12:57<11:40:03, 1.66s/it] 16%|█▌ | 4739/30000 [2:12:59<11:39:41, 1.66s/it] 16%|█▌ | 4740/30000 [2:13:01<11:41:09, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.1657392978668213, 'learning_rate': 2.9054035744260904e-05, 'flow_matching_loss': 0.024193397350609304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.38} + 16%|█▌ | 4740/30000 [2:13:01<11:41:09, 1.67s/it] 16%|█▌ | 4741/30000 [2:13:02<11:41:46, 1.67s/it] 16%|█▌ | 4742/30000 [2:13:04<11:41:45, 1.67s/it] 16%|█▌ | 4743/30000 [2:13:06<11:40:36, 1.66s/it] 16%|█▌ | 4744/30000 [2:13:07<11:39:12, 1.66s/it] 16%|█▌ | 4745/30000 [2:13:09<11:39:31, 1.66s/it] 16%|█▌ | 4746/30000 [2:13:11<11:40:16, 1.66s/it] 16%|█▌ | 4747/30000 [2:13:12<11:39:08, 1.66s/it] 16%|█▌ | 4748/30000 [2:13:14<11:38:44, 1.66s/it] 16%|█▌ | 4749/30000 [2:13:16<11:38:12, 1.66s/it] 16%|█▌ | 4750/30000 [2:13:17<11:39:05, 1.66s/it] {'loss': 0.0286, 'grad_norm': 0.2784864902496338, 'learning_rate': 2.9048248301222885e-05, 'flow_matching_loss': 0.0286212719976902, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.38} + 16%|█▌ | 4750/30000 [2:13:17<11:39:05, 1.66s/it] 16%|█▌ | 4751/30000 [2:13:19<11:39:33, 1.66s/it] 16%|█▌ | 4752/30000 [2:13:21<11:39:51, 1.66s/it] 16%|█▌ | 4753/30000 [2:13:22<11:40:27, 1.66s/it] 16%|█▌ | 4754/30000 [2:13:24<11:39:18, 1.66s/it] 16%|█▌ | 4755/30000 [2:13:26<11:38:31, 1.66s/it] 16%|█▌ | 4756/30000 [2:13:27<11:39:28, 1.66s/it] 16%|█▌ | 4757/30000 [2:13:29<11:42:06, 1.67s/it] 16%|█▌ | 4758/30000 [2:13:31<11:41:39, 1.67s/it] 16%|█▌ | 4759/30000 [2:13:32<11:41:48, 1.67s/it] 16%|█▌ | 4760/30000 [2:13:34<11:40:37, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.17902772128582, 'learning_rate': 2.904244378823852e-05, 'flow_matching_loss': 0.0243248688057065, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.38} + 16%|█▌ | 4760/30000 [2:13:34<11:40:37, 1.67s/it] 16%|█▌ | 4761/30000 [2:13:36<11:41:06, 1.67s/it] 16%|█▌ | 4762/30000 [2:13:37<11:41:38, 1.67s/it] 16%|█▌ | 4763/30000 [2:13:39<11:40:27, 1.67s/it] 16%|█▌ | 4764/30000 [2:13:41<11:41:11, 1.67s/it] 16%|█▌ | 4765/30000 [2:13:42<11:42:53, 1.67s/it] 16%|█▌ | 4766/30000 [2:13:44<11:42:31, 1.67s/it] 16%|█▌ | 4767/30000 [2:13:46<11:43:47, 1.67s/it] 16%|█▌ | 4768/30000 [2:13:47<11:43:20, 1.67s/it] 16%|█▌ | 4769/30000 [2:13:49<11:42:38, 1.67s/it] 16%|█▌ | 4770/30000 [2:13:51<11:42:14, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.14257226884365082, 'learning_rate': 2.9036622212360836e-05, 'flow_matching_loss': 0.02570738811045885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.39} + 16%|█▌ | 4770/30000 [2:13:51<11:42:14, 1.67s/it] 16%|█▌ | 4771/30000 [2:13:52<11:41:49, 1.67s/it] 16%|█▌ | 4772/30000 [2:13:54<11:41:46, 1.67s/it] 16%|█▌ | 4773/30000 [2:13:56<11:42:10, 1.67s/it] 16%|█▌ | 4774/30000 [2:13:57<11:41:14, 1.67s/it] 16%|█▌ | 4775/30000 [2:13:59<11:42:59, 1.67s/it] 16%|█▌ | 4776/30000 [2:14:01<11:44:09, 1.67s/it] 16%|█▌ | 4777/30000 [2:14:02<11:41:35, 1.67s/it] 16%|█▌ | 4778/30000 [2:14:04<11:41:42, 1.67s/it] 16%|█▌ | 4779/30000 [2:14:06<11:43:20, 1.67s/it] 16%|█▌ | 4780/30000 [2:14:07<11:42:37, 1.67s/it] {'loss': 0.0269, 'grad_norm': 0.13045094907283783, 'learning_rate': 2.9030783580663596e-05, 'flow_matching_loss': 0.026882939226925372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.39} + 16%|█▌ | 4780/30000 [2:14:07<11:42:37, 1.67s/it] 16%|█▌ | 4781/30000 [2:14:09<11:43:14, 1.67s/it] 16%|█▌ | 4782/30000 [2:14:11<11:43:02, 1.67s/it] 16%|█▌ | 4783/30000 [2:14:12<11:42:02, 1.67s/it] 16%|█▌ | 4784/30000 [2:14:14<11:40:45, 1.67s/it] 16%|█▌ | 4785/30000 [2:14:16<11:40:24, 1.67s/it] 16%|█▌ | 4786/30000 [2:14:17<11:40:25, 1.67s/it] 16%|█▌ | 4787/30000 [2:14:19<11:40:08, 1.67s/it] 16%|█▌ | 4788/30000 [2:14:21<11:39:50, 1.67s/it] 16%|█▌ | 4789/30000 [2:14:22<11:41:10, 1.67s/it] 16%|█▌ | 4790/30000 [2:14:24<11:41:23, 1.67s/it] {'loss': 0.0261, 'grad_norm': 0.17098985612392426, 'learning_rate': 2.902492790024129e-05, 'flow_matching_loss': 0.026087034214287996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.39} + 16%|█▌ | 4790/30000 [2:14:24<11:41:23, 1.67s/it] 16%|█▌ | 4791/30000 [2:14:26<11:41:24, 1.67s/it] 16%|█▌ | 4792/30000 [2:14:27<11:42:52, 1.67s/it] 16%|█▌ | 4793/30000 [2:14:29<11:41:58, 1.67s/it] 16%|█▌ | 4794/30000 [2:14:31<11:43:14, 1.67s/it] 16%|█▌ | 4795/30000 [2:14:32<11:40:00, 1.67s/it] 16%|█▌ | 4796/30000 [2:14:34<11:39:29, 1.67s/it] 16%|█▌ | 4797/30000 [2:14:36<11:39:03, 1.66s/it] 16%|█▌ | 4798/30000 [2:14:37<11:39:30, 1.67s/it] 16%|█▌ | 4799/30000 [2:14:39<11:40:08, 1.67s/it] 16%|█▌ | 4800/30000 [2:14:41<11:39:40, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.12743471562862396, 'learning_rate': 2.901905517820912e-05, 'flow_matching_loss': 0.02229566974565387, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.4} + 16%|█▌ | 4800/30000 [2:14:41<11:39:40, 1.67s/it] 16%|█▌ | 4801/30000 [2:14:42<11:41:27, 1.67s/it] 16%|█▌ | 4802/30000 [2:14:44<11:41:02, 1.67s/it] 16%|█▌ | 4803/30000 [2:14:46<11:41:50, 1.67s/it] 16%|█▌ | 4804/30000 [2:14:47<11:40:28, 1.67s/it] 16%|█▌ | 4805/30000 [2:14:49<11:39:40, 1.67s/it] 16%|█▌ | 4806/30000 [2:14:51<11:39:51, 1.67s/it] 16%|█▌ | 4807/30000 [2:14:52<11:40:32, 1.67s/it] 16%|█▌ | 4808/30000 [2:14:54<11:42:55, 1.67s/it] 16%|█▌ | 4809/30000 [2:14:56<11:41:29, 1.67s/it] 16%|█▌ | 4810/30000 [2:14:57<11:41:07, 1.67s/it] {'loss': 0.028, 'grad_norm': 0.16832418739795685, 'learning_rate': 2.9013165421703e-05, 'flow_matching_loss': 0.027996549010276796, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.4} + 16%|█▌ | 4810/30000 [2:14:57<11:41:07, 1.67s/it] 16%|█▌ | 4811/30000 [2:14:59<11:39:42, 1.67s/it] 16%|█▌ | 4812/30000 [2:15:01<11:39:52, 1.67s/it] 16%|█▌ | 4813/30000 [2:15:02<11:39:02, 1.67s/it] 16%|█▌ | 4814/30000 [2:15:04<11:39:01, 1.67s/it] 16%|█▌ | 4815/30000 [2:15:06<11:38:57, 1.67s/it] 16%|█▌ | 4816/30000 [2:15:07<11:39:24, 1.67s/it] 16%|█▌ | 4817/30000 [2:15:09<11:38:40, 1.66s/it] 16%|█▌ | 4818/30000 [2:15:11<11:38:45, 1.66s/it] 16%|█▌ | 4819/30000 [2:15:12<11:38:56, 1.67s/it] 16%|█▌ | 4820/30000 [2:15:14<11:39:09, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.10946693271398544, 'learning_rate': 2.9007258637879534e-05, 'flow_matching_loss': 0.026171650364995004, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.4} + 16%|█▌ | 4820/30000 [2:15:14<11:39:09, 1.67s/it] 16%|█▌ | 4821/30000 [2:15:16<11:40:44, 1.67s/it] 16%|█▌ | 4822/30000 [2:15:17<11:41:01, 1.67s/it] 16%|█▌ | 4823/30000 [2:15:19<11:39:06, 1.67s/it] 16%|█▌ | 4824/30000 [2:15:21<11:38:48, 1.67s/it] 16%|█▌ | 4825/30000 [2:15:22<11:38:58, 1.67s/it] 16%|█▌ | 4826/30000 [2:15:24<11:39:12, 1.67s/it] 16%|█▌ | 4827/30000 [2:15:26<11:37:47, 1.66s/it] 16%|█▌ | 4828/30000 [2:15:27<11:38:36, 1.67s/it] 16%|█▌ | 4829/30000 [2:15:29<11:39:18, 1.67s/it] 16%|█▌ | 4830/30000 [2:15:31<11:38:31, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.12700483202934265, 'learning_rate': 2.9001334833916025e-05, 'flow_matching_loss': 0.025024954602122305, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.41} + 16%|█▌ | 4830/30000 [2:15:31<11:38:31, 1.67s/it] 16%|█▌ | 4831/30000 [2:15:32<11:38:05, 1.66s/it] 16%|█▌ | 4832/30000 [2:15:34<11:39:15, 1.67s/it] 16%|█▌ | 4833/30000 [2:15:36<11:38:53, 1.67s/it] 16%|█▌ | 4834/30000 [2:15:37<11:40:06, 1.67s/it] 16%|█▌ | 4835/30000 [2:15:39<11:39:04, 1.67s/it] 16%|█▌ | 4836/30000 [2:15:41<11:39:27, 1.67s/it] 16%|█▌ | 4837/30000 [2:15:42<11:38:18, 1.67s/it] 16%|█▌ | 4838/30000 [2:15:44<11:38:35, 1.67s/it] 16%|█▌ | 4839/30000 [2:15:46<11:39:39, 1.67s/it] 16%|█▌ | 4840/30000 [2:15:47<11:39:45, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.16179309785366058, 'learning_rate': 2.899539401701046e-05, 'flow_matching_loss': 0.025236240401864053, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.41} + 16%|█▌ | 4840/30000 [2:15:47<11:39:45, 1.67s/it] 16%|█▌ | 4841/30000 [2:15:49<11:38:43, 1.67s/it] 16%|█▌ | 4842/30000 [2:15:51<11:36:44, 1.66s/it] 16%|█▌ | 4843/30000 [2:15:52<11:37:07, 1.66s/it] 16%|█▌ | 4844/30000 [2:15:54<11:37:10, 1.66s/it] 16%|█▌ | 4845/30000 [2:15:56<11:37:48, 1.66s/it] 16%|█▌ | 4846/30000 [2:15:57<11:38:30, 1.67s/it] 16%|█▌ | 4847/30000 [2:15:59<11:38:31, 1.67s/it] 16%|█▌ | 4848/30000 [2:16:01<11:38:13, 1.67s/it] 16%|█▌ | 4849/30000 [2:16:02<11:39:29, 1.67s/it] 16%|█▌ | 4850/30000 [2:16:04<11:38:57, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.14038406312465668, 'learning_rate': 2.8989436194381474e-05, 'flow_matching_loss': 0.023786571994423866, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.41} + 16%|█▌ | 4850/30000 [2:16:04<11:38:57, 1.67s/it] 16%|█▌ | 4851/30000 [2:16:06<11:38:51, 1.67s/it] 16%|█▌ | 4852/30000 [2:16:07<11:37:29, 1.66s/it] 16%|█▌ | 4853/30000 [2:16:09<11:37:13, 1.66s/it] 16%|█▌ | 4854/30000 [2:16:11<11:37:16, 1.66s/it] 16%|█▌ | 4855/30000 [2:16:12<11:37:30, 1.66s/it] 16%|█▌ | 4856/30000 [2:16:14<11:37:35, 1.66s/it] 16%|█▌ | 4857/30000 [2:16:16<11:37:52, 1.67s/it] 16%|█▌ | 4858/30000 [2:16:17<11:39:20, 1.67s/it] 16%|█▌ | 4859/30000 [2:16:19<11:41:09, 1.67s/it] 16%|█▌ | 4860/30000 [2:16:21<11:40:01, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.18088023364543915, 'learning_rate': 2.8983461373268404e-05, 'flow_matching_loss': 0.026722987182438374, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.41} + 16%|█▌ | 4860/30000 [2:16:21<11:40:01, 1.67s/it] 16%|█▌ | 4861/30000 [2:16:22<11:39:09, 1.67s/it] 16%|█▌ | 4862/30000 [2:16:24<11:38:57, 1.67s/it] 16%|█▌ | 4863/30000 [2:16:26<11:39:50, 1.67s/it] 16%|█▌ | 4864/30000 [2:16:27<11:38:43, 1.67s/it] 16%|█▌ | 4865/30000 [2:16:29<11:37:53, 1.67s/it] 16%|█▌ | 4866/30000 [2:16:31<11:37:56, 1.67s/it] 16%|█▌ | 4867/30000 [2:16:32<11:37:06, 1.66s/it] 16%|█▌ | 4868/30000 [2:16:34<11:37:15, 1.66s/it] 16%|█▌ | 4869/30000 [2:16:36<11:36:37, 1.66s/it] 16%|█▌ | 4870/30000 [2:16:37<11:38:43, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.14129410684108734, 'learning_rate': 2.8977469560931205e-05, 'flow_matching_loss': 0.025773227959871293, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.42} + 16%|█▌ | 4870/30000 [2:16:37<11:38:43, 1.67s/it] 16%|█▌ | 4871/30000 [2:16:39<11:38:12, 1.67s/it] 16%|█▌ | 4872/30000 [2:16:41<11:38:36, 1.67s/it] 16%|█▌ | 4873/30000 [2:16:42<11:40:06, 1.67s/it] 16%|█▌ | 4874/30000 [2:16:44<11:38:55, 1.67s/it] 16%|█▋ | 4875/30000 [2:16:46<11:39:28, 1.67s/it] 16%|█▋ | 4876/30000 [2:16:47<11:38:33, 1.67s/it] 16%|█▋ | 4877/30000 [2:16:49<11:39:13, 1.67s/it] 16%|█▋ | 4878/30000 [2:16:51<11:38:13, 1.67s/it] 16%|█▋ | 4879/30000 [2:16:52<11:39:41, 1.67s/it] 16%|█▋ | 4880/30000 [2:16:54<11:38:18, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.147248312830925, 'learning_rate': 2.8971460764650502e-05, 'flow_matching_loss': 0.025565495900809764, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.42} + 16%|█▋ | 4880/30000 [2:16:54<11:38:18, 1.67s/it] 16%|█▋ | 4881/30000 [2:16:56<11:38:17, 1.67s/it] 16%|█▋ | 4882/30000 [2:16:57<11:37:41, 1.67s/it] 16%|█▋ | 4883/30000 [2:16:59<11:37:26, 1.67s/it] 16%|█▋ | 4884/30000 [2:17:01<11:37:50, 1.67s/it] 16%|█▋ | 4885/30000 [2:17:02<11:37:49, 1.67s/it] 16%|█▋ | 4886/30000 [2:17:04<11:37:58, 1.67s/it] 16%|█▋ | 4887/30000 [2:17:06<11:37:43, 1.67s/it] 16%|█▋ | 4888/30000 [2:17:07<11:37:07, 1.67s/it] 16%|█▋ | 4889/30000 [2:17:09<11:36:16, 1.66s/it] 16%|█▋ | 4890/30000 [2:17:11<11:37:11, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.09753800183534622, 'learning_rate': 2.8965434991727545e-05, 'flow_matching_loss': 0.022579418029636145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.42} + 16%|█▋ | 4890/30000 [2:17:11<11:37:11, 1.67s/it] 16%|█▋ | 4891/30000 [2:17:12<11:37:29, 1.67s/it] 16%|█▋ | 4892/30000 [2:17:14<11:37:46, 1.67s/it] 16%|█▋ | 4893/30000 [2:17:16<11:36:43, 1.67s/it] 16%|█▋ | 4894/30000 [2:17:17<11:36:48, 1.67s/it] 16%|█▋ | 4895/30000 [2:17:19<11:37:19, 1.67s/it] 16%|█▋ | 4896/30000 [2:17:21<11:36:27, 1.66s/it] 16%|█▋ | 4897/30000 [2:17:22<11:36:21, 1.66s/it] 16%|█▋ | 4898/30000 [2:17:24<11:36:16, 1.66s/it] 16%|█▋ | 4899/30000 [2:17:26<11:36:26, 1.66s/it] 16%|█▋ | 4900/30000 [2:17:27<11:37:03, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.11361506581306458, 'learning_rate': 2.895939224948422e-05, 'flow_matching_loss': 0.024214138649404048, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.43} + 16%|█▋ | 4900/30000 [2:17:27<11:37:03, 1.67s/it] 16%|█▋ | 4901/30000 [2:17:29<11:37:55, 1.67s/it] 16%|█▋ | 4902/30000 [2:17:31<11:37:01, 1.67s/it] 16%|█▋ | 4903/30000 [2:17:32<11:36:04, 1.66s/it] 16%|█▋ | 4904/30000 [2:17:34<11:35:45, 1.66s/it] 16%|█▋ | 4905/30000 [2:17:36<11:35:38, 1.66s/it] 16%|█▋ | 4906/30000 [2:17:37<11:34:31, 1.66s/it] 16%|█▋ | 4907/30000 [2:17:39<11:34:50, 1.66s/it] 16%|█▋ | 4908/30000 [2:17:41<11:35:28, 1.66s/it] 16%|█▋ | 4909/30000 [2:17:42<11:36:31, 1.67s/it] 16%|█▋ | 4910/30000 [2:17:44<11:36:40, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.16868238151073456, 'learning_rate': 2.895333254526303e-05, 'flow_matching_loss': 0.02519617136567831, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.43} + 16%|█▋ | 4910/30000 [2:17:44<11:36:40, 1.67s/it] 16%|█▋ | 4911/30000 [2:17:46<11:35:33, 1.66s/it] 16%|█▋ | 4912/30000 [2:17:47<11:35:28, 1.66s/it] 16%|█▋ | 4913/30000 [2:17:49<11:36:40, 1.67s/it] 16%|█▋ | 4914/30000 [2:17:51<11:37:29, 1.67s/it] 16%|█▋ | 4915/30000 [2:17:52<11:37:32, 1.67s/it] 16%|█▋ | 4916/30000 [2:17:54<11:38:21, 1.67s/it] 16%|█▋ | 4917/30000 [2:17:56<11:38:20, 1.67s/it] 16%|█▋ | 4918/30000 [2:17:57<11:37:19, 1.67s/it] 16%|█▋ | 4919/30000 [2:17:59<11:36:10, 1.67s/it] 16%|█▋ | 4920/30000 [2:18:01<11:35:15, 1.66s/it] {'loss': 0.0286, 'grad_norm': 0.18000838160514832, 'learning_rate': 2.8947255886427084e-05, 'flow_matching_loss': 0.028603440336883067, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.43} + 16%|█▋ | 4920/30000 [2:18:01<11:35:15, 1.66s/it] 16%|█▋ | 4921/30000 [2:18:02<11:34:35, 1.66s/it] 16%|█▋ | 4922/30000 [2:18:04<11:34:44, 1.66s/it] 16%|█▋ | 4923/30000 [2:18:06<11:34:42, 1.66s/it] 16%|█▋ | 4924/30000 [2:18:07<11:35:12, 1.66s/it] 16%|█▋ | 4925/30000 [2:18:09<11:33:29, 1.66s/it] 16%|█▋ | 4926/30000 [2:18:11<11:33:59, 1.66s/it] 16%|█▋ | 4927/30000 [2:18:12<11:33:40, 1.66s/it] 16%|█▋ | 4928/30000 [2:18:14<11:33:26, 1.66s/it] 16%|█▋ | 4929/30000 [2:18:16<11:34:00, 1.66s/it] 16%|█▋ | 4930/30000 [2:18:17<11:33:18, 1.66s/it] {'loss': 0.0257, 'grad_norm': 0.1643441915512085, 'learning_rate': 2.8941162280360095e-05, 'flow_matching_loss': 0.025661297701299192, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.43} + 16%|█▋ | 4930/30000 [2:18:17<11:33:18, 1.66s/it] 16%|█▋ | 4931/30000 [2:18:19<11:32:59, 1.66s/it] 16%|█▋ | 4932/30000 [2:18:21<11:32:04, 1.66s/it] 16%|█▋ | 4933/30000 [2:18:22<11:32:09, 1.66s/it] 16%|█▋ | 4934/30000 [2:18:24<11:32:18, 1.66s/it] 16%|█▋ | 4935/30000 [2:18:26<11:32:15, 1.66s/it] 16%|█▋ | 4936/30000 [2:18:27<11:32:32, 1.66s/it] 16%|█▋ | 4937/30000 [2:18:29<11:32:40, 1.66s/it] 16%|█▋ | 4938/30000 [2:18:31<11:33:49, 1.66s/it] 16%|█▋ | 4939/30000 [2:18:32<11:33:41, 1.66s/it] 16%|█▋ | 4940/30000 [2:18:34<11:33:31, 1.66s/it] {'loss': 0.0233, 'grad_norm': 0.13597498834133148, 'learning_rate': 2.8935051734466368e-05, 'flow_matching_loss': 0.023263429570943118, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.44} + 16%|█▋ | 4940/30000 [2:18:34<11:33:31, 1.66s/it] 16%|█▋ | 4941/30000 [2:18:36<11:33:45, 1.66s/it] 16%|█▋ | 4942/30000 [2:18:37<11:34:01, 1.66s/it] 16%|█▋ | 4943/30000 [2:18:39<11:33:29, 1.66s/it] 16%|█▋ | 4944/30000 [2:18:41<11:32:16, 1.66s/it] 16%|█▋ | 4945/30000 [2:18:42<11:33:10, 1.66s/it] 16%|█▋ | 4946/30000 [2:18:44<11:32:57, 1.66s/it] 16%|█▋ | 4947/30000 [2:18:46<11:33:44, 1.66s/it] 16%|█▋ | 4948/30000 [2:18:47<11:32:38, 1.66s/it] 16%|█▋ | 4949/30000 [2:18:49<11:34:14, 1.66s/it] 16%|█▋ | 4950/30000 [2:18:51<11:34:44, 1.66s/it] {'loss': 0.0253, 'grad_norm': 0.14063729345798492, 'learning_rate': 2.8928924256170792e-05, 'flow_matching_loss': 0.02532685063779354, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.44} + 16%|█▋ | 4950/30000 [2:18:51<11:34:44, 1.66s/it] 17%|█▋ | 4951/30000 [2:18:52<11:33:57, 1.66s/it] 17%|█▋ | 4952/30000 [2:18:54<11:34:07, 1.66s/it] 17%|█▋ | 4953/30000 [2:18:56<11:33:18, 1.66s/it] 17%|█▋ | 4954/30000 [2:18:57<11:33:48, 1.66s/it] 17%|█▋ | 4955/30000 [2:18:59<11:34:30, 1.66s/it] 17%|█▋ | 4956/30000 [2:19:01<11:35:17, 1.67s/it] 17%|█▋ | 4957/30000 [2:19:02<11:35:52, 1.67s/it] 17%|█▋ | 4958/30000 [2:19:04<11:34:54, 1.66s/it] 17%|█▋ | 4959/30000 [2:19:06<11:35:06, 1.67s/it] 17%|█▋ | 4960/30000 [2:19:07<11:33:44, 1.66s/it] {'loss': 0.0262, 'grad_norm': 0.12268900871276855, 'learning_rate': 2.8922779852918836e-05, 'flow_matching_loss': 0.026152809895575047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.44} + 17%|█▋ | 4960/30000 [2:19:07<11:33:44, 1.66s/it] 17%|█▋ | 4961/30000 [2:19:09<11:34:31, 1.66s/it] 17%|█▋ | 4962/30000 [2:19:11<11:36:34, 1.67s/it] 17%|█▋ | 4963/30000 [2:19:12<11:35:58, 1.67s/it] 17%|█▋ | 4964/30000 [2:19:14<11:34:53, 1.67s/it] 17%|█▋ | 4965/30000 [2:19:16<11:35:33, 1.67s/it] 17%|█▋ | 4966/30000 [2:19:17<11:36:00, 1.67s/it] 17%|█▋ | 4967/30000 [2:19:19<11:36:07, 1.67s/it] 17%|█▋ | 4968/30000 [2:19:21<11:35:28, 1.67s/it] 17%|█▋ | 4969/30000 [2:19:22<11:34:48, 1.67s/it] 17%|█▋ | 4970/30000 [2:19:24<11:35:45, 1.67s/it] {'loss': 0.0247, 'grad_norm': 0.16173012554645538, 'learning_rate': 2.8916618532176526e-05, 'flow_matching_loss': 0.02470654435455799, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.45} + 17%|█▋ | 4970/30000 [2:19:24<11:35:45, 1.67s/it] 17%|█▋ | 4971/30000 [2:19:26<11:35:59, 1.67s/it] 17%|█▋ | 4972/30000 [2:19:27<11:35:22, 1.67s/it] 17%|█▋ | 4973/30000 [2:19:29<11:34:26, 1.66s/it] 17%|█▋ | 4974/30000 [2:19:30<11:34:25, 1.66s/it] 17%|█▋ | 4975/30000 [2:19:32<11:34:31, 1.67s/it] 17%|█▋ | 4976/30000 [2:19:34<11:34:36, 1.67s/it] 17%|█▋ | 4977/30000 [2:19:35<11:34:08, 1.66s/it] 17%|█▋ | 4978/30000 [2:19:37<11:34:08, 1.66s/it] 17%|█▋ | 4979/30000 [2:19:39<11:37:08, 1.67s/it] 17%|█▋ | 4980/30000 [2:19:41<11:37:00, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.13056258857250214, 'learning_rate': 2.891044030143045e-05, 'flow_matching_loss': 0.02501650173217058, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.45} + 17%|█▋ | 4980/30000 [2:19:41<11:37:00, 1.67s/it] 17%|█▋ | 4981/30000 [2:19:42<11:35:54, 1.67s/it] 17%|█▋ | 4982/30000 [2:19:44<11:37:25, 1.67s/it] 17%|█▋ | 4983/30000 [2:19:46<11:35:05, 1.67s/it] 17%|█▋ | 4984/30000 [2:19:47<11:34:16, 1.67s/it] 17%|█▋ | 4985/30000 [2:19:49<11:33:40, 1.66s/it] 17%|█▋ | 4986/30000 [2:19:51<11:34:23, 1.67s/it] 17%|█▋ | 4987/30000 [2:19:52<11:33:57, 1.66s/it] 17%|█▋ | 4988/30000 [2:19:54<11:33:28, 1.66s/it] 17%|█▋ | 4989/30000 [2:19:55<11:33:01, 1.66s/it] 17%|█▋ | 4990/30000 [2:19:57<11:34:50, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.1367703378200531, 'learning_rate': 2.890424516818774e-05, 'flow_matching_loss': 0.023611931689083578, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.45} + 17%|█▋ | 4990/30000 [2:19:57<11:34:50, 1.67s/it] 17%|█▋ | 4991/30000 [2:19:59<11:35:54, 1.67s/it] 17%|█▋ | 4992/30000 [2:20:01<11:38:04, 1.67s/it] 17%|█▋ | 4993/30000 [2:20:02<11:36:30, 1.67s/it] 17%|█▋ | 4994/30000 [2:20:04<11:36:58, 1.67s/it] 17%|█▋ | 4995/30000 [2:20:06<11:35:13, 1.67s/it] 17%|█▋ | 4996/30000 [2:20:07<11:33:52, 1.67s/it] 17%|█▋ | 4997/30000 [2:20:09<11:36:42, 1.67s/it] 17%|█▋ | 4998/30000 [2:20:11<11:38:04, 1.68s/it] 17%|█▋ | 4999/30000 [2:20:12<11:37:57, 1.68s/it] 17%|█▋ | 5000/30000 [2:20:14<11:37:08, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.18535496294498444, 'learning_rate': 2.8898033139976057e-05, 'flow_matching_loss': 0.02547117155045271, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.45} + 17%|█▋ | 5000/30000 [2:20:14<11:37:08, 1.67s/it] 17%|█▋ | 5001/30000 [2:20:16<11:37:00, 1.67s/it] 17%|█▋ | 5002/30000 [2:20:17<11:37:05, 1.67s/it] 17%|█▋ | 5003/30000 [2:20:19<11:37:13, 1.67s/it] 17%|█▋ | 5004/30000 [2:20:21<11:35:50, 1.67s/it] 17%|█▋ | 5005/30000 [2:20:22<11:36:52, 1.67s/it] 17%|█▋ | 5006/30000 [2:20:24<11:37:46, 1.68s/it] 17%|█▋ | 5007/30000 [2:20:26<11:38:03, 1.68s/it] 17%|█▋ | 5008/30000 [2:20:27<11:38:23, 1.68s/it] 17%|█▋ | 5009/30000 [2:20:29<11:37:56, 1.68s/it] 17%|█▋ | 5010/30000 [2:20:31<11:36:27, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.1539682149887085, 'learning_rate': 2.889180422434362e-05, 'flow_matching_loss': 0.024521525390446185, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.46} + 17%|█▋ | 5010/30000 [2:20:31<11:36:27, 1.67s/it] 17%|█▋ | 5011/30000 [2:20:32<11:36:37, 1.67s/it] 17%|█▋ | 5012/30000 [2:20:34<11:35:47, 1.67s/it] 17%|█▋ | 5013/30000 [2:20:36<11:35:46, 1.67s/it] 17%|█▋ | 5014/30000 [2:20:37<11:35:38, 1.67s/it] 17%|█▋ | 5015/30000 [2:20:39<11:35:27, 1.67s/it] 17%|█▋ | 5016/30000 [2:20:41<11:35:46, 1.67s/it] 17%|█▋ | 5017/30000 [2:20:42<11:35:13, 1.67s/it] 17%|█▋ | 5018/30000 [2:20:44<11:33:09, 1.66s/it] 17%|█▋ | 5019/30000 [2:20:46<11:33:08, 1.66s/it] 17%|█▋ | 5020/30000 [2:20:47<11:32:01, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.1661023199558258, 'learning_rate': 2.8885558428859136e-05, 'flow_matching_loss': 0.02462023850530386, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.46} + 17%|█▋ | 5020/30000 [2:20:47<11:32:01, 1.66s/it] 17%|█▋ | 5021/30000 [2:20:49<11:33:01, 1.66s/it] 17%|█▋ | 5022/30000 [2:20:51<11:31:54, 1.66s/it] 17%|█▋ | 5023/30000 [2:20:52<11:33:34, 1.67s/it] 17%|█▋ | 5024/30000 [2:20:54<11:33:09, 1.67s/it] 17%|█▋ | 5025/30000 [2:20:56<11:32:42, 1.66s/it] 17%|█▋ | 5026/30000 [2:20:57<11:32:59, 1.66s/it] 17%|█▋ | 5027/30000 [2:20:59<11:32:29, 1.66s/it] 17%|█▋ | 5028/30000 [2:21:01<11:31:09, 1.66s/it] 17%|█▋ | 5029/30000 [2:21:02<11:31:05, 1.66s/it] 17%|█▋ | 5030/30000 [2:21:04<11:32:36, 1.66s/it] {'loss': 0.0254, 'grad_norm': 0.17300420999526978, 'learning_rate': 2.8879295761111835e-05, 'flow_matching_loss': 0.025370490178465842, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.46} + 17%|█▋ | 5030/30000 [2:21:04<11:32:36, 1.66s/it] 17%|█▋ | 5031/30000 [2:21:06<11:33:36, 1.67s/it] 17%|█▋ | 5032/30000 [2:21:07<11:34:39, 1.67s/it] 17%|█▋ | 5033/30000 [2:21:09<11:35:05, 1.67s/it] 17%|█▋ | 5034/30000 [2:21:11<11:33:49, 1.67s/it] 17%|█▋ | 5035/30000 [2:21:12<11:33:00, 1.67s/it] 17%|█▋ | 5036/30000 [2:21:14<11:31:57, 1.66s/it] 17%|█▋ | 5037/30000 [2:21:16<11:32:49, 1.67s/it] 17%|█▋ | 5038/30000 [2:21:17<11:33:21, 1.67s/it] 17%|█▋ | 5039/30000 [2:21:19<11:32:55, 1.67s/it] 17%|█▋ | 5040/30000 [2:21:21<11:32:39, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.08406531065702438, 'learning_rate': 2.8873016228711452e-05, 'flow_matching_loss': 0.024481727462261915, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.47} + 17%|█▋ | 5040/30000 [2:21:21<11:32:39, 1.67s/it] 17%|█▋ | 5041/30000 [2:21:22<11:33:23, 1.67s/it] 17%|█▋ | 5042/30000 [2:21:24<11:32:44, 1.67s/it] 17%|█▋ | 5043/30000 [2:21:26<11:32:02, 1.66s/it] 17%|█▋ | 5044/30000 [2:21:27<11:30:40, 1.66s/it] 17%|█▋ | 5045/30000 [2:21:29<11:30:42, 1.66s/it] 17%|█▋ | 5046/30000 [2:21:31<11:32:06, 1.66s/it] 17%|█▋ | 5047/30000 [2:21:32<11:33:13, 1.67s/it] 17%|█▋ | 5048/30000 [2:21:34<11:33:34, 1.67s/it] 17%|█▋ | 5049/30000 [2:21:36<11:33:08, 1.67s/it] 17%|█▋ | 5050/30000 [2:21:37<11:34:06, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.15700358152389526, 'learning_rate': 2.8866719839288215e-05, 'flow_matching_loss': 0.023386810906231403, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.47} + 17%|█▋ | 5050/30000 [2:21:37<11:34:06, 1.67s/it] 17%|█▋ | 5051/30000 [2:21:39<11:34:45, 1.67s/it] 17%|█▋ | 5052/30000 [2:21:41<11:35:32, 1.67s/it] 17%|█▋ | 5053/30000 [2:21:42<11:35:44, 1.67s/it] 17%|█▋ | 5054/30000 [2:21:44<11:34:49, 1.67s/it] 17%|█▋ | 5055/30000 [2:21:46<11:34:40, 1.67s/it] 17%|█▋ | 5056/30000 [2:21:47<11:34:36, 1.67s/it] 17%|█▋ | 5057/30000 [2:21:49<11:34:14, 1.67s/it] 17%|█▋ | 5058/30000 [2:21:51<11:32:05, 1.66s/it] 17%|█▋ | 5059/30000 [2:21:52<11:31:58, 1.66s/it] 17%|█▋ | 5060/30000 [2:21:54<11:32:51, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.1822592169046402, 'learning_rate': 2.886040660049283e-05, 'flow_matching_loss': 0.023869168665260076, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.47} + 17%|█▋ | 5060/30000 [2:21:54<11:32:51, 1.67s/it] 17%|█▋ | 5061/30000 [2:21:56<11:33:09, 1.67s/it] 17%|█▋ | 5062/30000 [2:21:57<11:34:45, 1.67s/it] 17%|█▋ | 5063/30000 [2:21:59<11:35:34, 1.67s/it] 17%|█▋ | 5064/30000 [2:22:01<11:33:39, 1.67s/it] 17%|█▋ | 5065/30000 [2:22:02<11:34:15, 1.67s/it] 17%|█▋ | 5066/30000 [2:22:04<11:33:37, 1.67s/it] 17%|█▋ | 5067/30000 [2:22:06<11:34:18, 1.67s/it] 17%|█▋ | 5068/30000 [2:22:07<11:34:16, 1.67s/it] 17%|█▋ | 5069/30000 [2:22:09<11:34:01, 1.67s/it] 17%|█▋ | 5070/30000 [2:22:11<11:33:58, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.11011053621768951, 'learning_rate': 2.8854076519996467e-05, 'flow_matching_loss': 0.02310804035514593, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.48} + 17%|█▋ | 5070/30000 [2:22:11<11:33:58, 1.67s/it] 17%|█▋ | 5071/30000 [2:22:12<11:34:05, 1.67s/it] 17%|█▋ | 5072/30000 [2:22:14<11:34:24, 1.67s/it] 17%|█▋ | 5073/30000 [2:22:16<11:33:04, 1.67s/it] 17%|█▋ | 5074/30000 [2:22:17<11:32:06, 1.67s/it] 17%|█▋ | 5075/30000 [2:22:19<11:33:02, 1.67s/it] 17%|█▋ | 5076/30000 [2:22:21<11:30:51, 1.66s/it] 17%|█▋ | 5077/30000 [2:22:22<11:34:05, 1.67s/it] 17%|█▋ | 5078/30000 [2:22:24<11:34:40, 1.67s/it] 17%|█▋ | 5079/30000 [2:22:26<11:33:59, 1.67s/it] 17%|█▋ | 5080/30000 [2:22:27<11:33:54, 1.67s/it] {'loss': 0.0246, 'grad_norm': 0.1329481452703476, 'learning_rate': 2.884772960549078e-05, 'flow_matching_loss': 0.024636149778962134, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.48} + 17%|█▋ | 5080/30000 [2:22:27<11:33:54, 1.67s/it] 17%|█▋ | 5081/30000 [2:22:29<11:34:38, 1.67s/it] 17%|█▋ | 5082/30000 [2:22:31<11:32:45, 1.67s/it] 17%|█▋ | 5083/30000 [2:22:32<11:32:58, 1.67s/it] 17%|█▋ | 5084/30000 [2:22:34<11:33:25, 1.67s/it] 17%|█▋ | 5085/30000 [2:22:36<11:33:37, 1.67s/it] 17%|█▋ | 5086/30000 [2:22:37<11:35:25, 1.67s/it] 17%|█▋ | 5087/30000 [2:22:39<11:35:47, 1.68s/it] 17%|█▋ | 5088/30000 [2:22:41<11:35:51, 1.68s/it] 17%|█▋ | 5089/30000 [2:22:42<11:34:55, 1.67s/it] 17%|█▋ | 5090/30000 [2:22:44<11:33:07, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.15911370515823364, 'learning_rate': 2.8841365864687867e-05, 'flow_matching_loss': 0.023853330686688424, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.48} + 17%|█▋ | 5090/30000 [2:22:44<11:33:07, 1.67s/it] 17%|█▋ | 5091/30000 [2:22:46<11:35:47, 1.68s/it] 17%|█▋ | 5092/30000 [2:22:47<11:34:41, 1.67s/it] 17%|█▋ | 5093/30000 [2:22:49<11:34:17, 1.67s/it] 17%|█▋ | 5094/30000 [2:22:51<11:34:22, 1.67s/it] 17%|█▋ | 5095/30000 [2:22:52<11:33:37, 1.67s/it] 17%|█▋ | 5096/30000 [2:22:54<11:34:47, 1.67s/it] 17%|█▋ | 5097/30000 [2:22:56<11:33:51, 1.67s/it] 17%|█▋ | 5098/30000 [2:22:57<11:32:50, 1.67s/it] 17%|█▋ | 5099/30000 [2:22:59<11:33:20, 1.67s/it] 17%|█▋ | 5100/30000 [2:23:01<11:33:07, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.13969489932060242, 'learning_rate': 2.8834985305320276e-05, 'flow_matching_loss': 0.024547286704182623, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.48} + 17%|█▋ | 5100/30000 [2:23:01<11:33:07, 1.67s/it] 17%|█▋ | 5101/30000 [2:23:02<11:34:11, 1.67s/it] 17%|█▋ | 5102/30000 [2:23:04<11:35:14, 1.68s/it] 17%|█▋ | 5103/30000 [2:23:06<11:35:06, 1.68s/it] 17%|█▋ | 5104/30000 [2:23:07<11:33:07, 1.67s/it] 17%|█▋ | 5105/30000 [2:23:09<11:34:15, 1.67s/it] 17%|█▋ | 5106/30000 [2:23:11<11:33:29, 1.67s/it] 17%|█▋ | 5107/30000 [2:23:13<11:32:58, 1.67s/it] 17%|█▋ | 5108/30000 [2:23:14<11:33:01, 1.67s/it] 17%|█▋ | 5109/30000 [2:23:16<11:32:39, 1.67s/it] 17%|█▋ | 5110/30000 [2:23:18<11:32:07, 1.67s/it] {'loss': 0.0258, 'grad_norm': 0.17625656723976135, 'learning_rate': 2.882858793514098e-05, 'flow_matching_loss': 0.025767570547759532, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.49} + 17%|█▋ | 5110/30000 [2:23:18<11:32:07, 1.67s/it] 17%|█▋ | 5111/30000 [2:23:19<11:31:30, 1.67s/it] 17%|█▋ | 5112/30000 [2:23:21<11:32:08, 1.67s/it] 17%|█▋ | 5113/30000 [2:23:23<11:32:20, 1.67s/it] 17%|█▋ | 5114/30000 [2:23:24<11:32:17, 1.67s/it] 17%|█▋ | 5115/30000 [2:23:26<11:31:40, 1.67s/it] 17%|█▋ | 5116/30000 [2:23:28<11:32:13, 1.67s/it] 17%|█▋ | 5117/30000 [2:23:29<11:31:27, 1.67s/it] 17%|█▋ | 5118/30000 [2:23:31<11:33:54, 1.67s/it] 17%|█▋ | 5119/30000 [2:23:33<11:34:22, 1.67s/it] 17%|█▋ | 5120/30000 [2:23:34<11:32:35, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.13357697427272797, 'learning_rate': 2.8822173761923398e-05, 'flow_matching_loss': 0.023509868048131467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.49} + 17%|█▋ | 5120/30000 [2:23:34<11:32:35, 1.67s/it] 17%|█▋ | 5121/30000 [2:23:36<11:31:28, 1.67s/it] 17%|█▋ | 5122/30000 [2:23:38<11:31:04, 1.67s/it] 17%|█▋ | 5123/30000 [2:23:39<11:32:40, 1.67s/it] 17%|█▋ | 5124/30000 [2:23:41<11:31:31, 1.67s/it] 17%|█▋ | 5125/30000 [2:23:43<11:30:40, 1.67s/it] 17%|█▋ | 5126/30000 [2:23:44<11:31:42, 1.67s/it] 17%|█▋ | 5127/30000 [2:23:46<11:34:17, 1.67s/it] 17%|█▋ | 5128/30000 [2:23:48<11:32:46, 1.67s/it] 17%|█▋ | 5129/30000 [2:23:49<11:32:28, 1.67s/it] 17%|█▋ | 5130/30000 [2:23:51<11:31:43, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.18851634860038757, 'learning_rate': 2.8815742793461343e-05, 'flow_matching_loss': 0.02504678200930357, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.49} + 17%|█▋ | 5130/30000 [2:23:51<11:31:43, 1.67s/it] 17%|█▋ | 5131/30000 [2:23:53<11:31:06, 1.67s/it] 17%|█▋ | 5132/30000 [2:23:54<11:30:11, 1.67s/it] 17%|█▋ | 5133/30000 [2:23:56<11:30:07, 1.67s/it] 17%|█▋ | 5134/30000 [2:23:58<11:29:25, 1.66s/it] 17%|█▋ | 5135/30000 [2:23:59<11:30:33, 1.67s/it] 17%|█▋ | 5136/30000 [2:24:01<11:30:04, 1.67s/it] 17%|█▋ | 5137/30000 [2:24:03<11:29:26, 1.66s/it] 17%|█▋ | 5138/30000 [2:24:04<11:28:49, 1.66s/it] 17%|█▋ | 5139/30000 [2:24:06<11:30:04, 1.67s/it] 17%|█▋ | 5140/30000 [2:24:08<11:30:59, 1.67s/it] {'loss': 0.0291, 'grad_norm': 0.15856942534446716, 'learning_rate': 2.880929503756906e-05, 'flow_matching_loss': 0.0291216392070055, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.5} + 17%|█▋ | 5140/30000 [2:24:08<11:30:59, 1.67s/it] 17%|█▋ | 5141/30000 [2:24:09<11:32:02, 1.67s/it] 17%|█▋ | 5142/30000 [2:24:11<11:32:42, 1.67s/it] 17%|█▋ | 5143/30000 [2:24:13<11:32:18, 1.67s/it] 17%|█▋ | 5144/30000 [2:24:14<11:31:34, 1.67s/it] 17%|█▋ | 5145/30000 [2:24:16<11:31:56, 1.67s/it] 17%|█▋ | 5146/30000 [2:24:18<11:30:21, 1.67s/it] 17%|█▋ | 5147/30000 [2:24:19<11:30:49, 1.67s/it] 17%|█▋ | 5148/30000 [2:24:21<11:31:15, 1.67s/it] 17%|█▋ | 5149/30000 [2:24:23<11:31:44, 1.67s/it] 17%|█▋ | 5150/30000 [2:24:24<11:31:59, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.09967806935310364, 'learning_rate': 2.880283050208117e-05, 'flow_matching_loss': 0.025996128842234612, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.5} + 17%|█▋ | 5150/30000 [2:24:24<11:31:59, 1.67s/it] 17%|█▋ | 5151/30000 [2:24:26<11:31:09, 1.67s/it] 17%|█▋ | 5152/30000 [2:24:28<11:30:35, 1.67s/it] 17%|█▋ | 5153/30000 [2:24:29<11:30:49, 1.67s/it] 17%|█▋ | 5154/30000 [2:24:31<11:30:25, 1.67s/it] 17%|█▋ | 5155/30000 [2:24:33<11:30:19, 1.67s/it] 17%|█▋ | 5156/30000 [2:24:34<11:29:07, 1.66s/it] 17%|█▋ | 5157/30000 [2:24:36<11:29:25, 1.67s/it] 17%|█▋ | 5158/30000 [2:24:38<11:29:50, 1.67s/it] 17%|█▋ | 5159/30000 [2:24:39<11:29:15, 1.66s/it] 17%|█▋ | 5160/30000 [2:24:41<11:27:31, 1.66s/it] {'loss': 0.026, 'grad_norm': 0.14980190992355347, 'learning_rate': 2.8796349194852704e-05, 'flow_matching_loss': 0.02603494208306074, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.5} + 17%|█▋ | 5160/30000 [2:24:41<11:27:31, 1.66s/it] 17%|█▋ | 5161/30000 [2:24:43<11:27:13, 1.66s/it] 17%|█▋ | 5162/30000 [2:24:44<11:27:05, 1.66s/it] 17%|█▋ | 5163/30000 [2:24:46<11:27:32, 1.66s/it] 17%|█▋ | 5164/30000 [2:24:48<11:26:51, 1.66s/it] 17%|█▋ | 5165/30000 [2:24:49<11:26:59, 1.66s/it] 17%|█▋ | 5166/30000 [2:24:51<11:26:25, 1.66s/it] 17%|█▋ | 5167/30000 [2:24:53<11:27:41, 1.66s/it] 17%|█▋ | 5168/30000 [2:24:54<11:27:49, 1.66s/it] 17%|█▋ | 5169/30000 [2:24:56<11:27:56, 1.66s/it] 17%|█▋ | 5170/30000 [2:24:58<11:30:25, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.12885122001171112, 'learning_rate': 2.8789851123759052e-05, 'flow_matching_loss': 0.023442664369940757, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.5} + 17%|█▋ | 5170/30000 [2:24:58<11:30:25, 1.67s/it] 17%|█▋ | 5171/30000 [2:24:59<11:30:31, 1.67s/it] 17%|█▋ | 5172/30000 [2:25:01<11:29:44, 1.67s/it] 17%|█▋ | 5173/30000 [2:25:03<11:30:13, 1.67s/it] 17%|█▋ | 5174/30000 [2:25:04<11:29:04, 1.67s/it] 17%|█▋ | 5175/30000 [2:25:06<11:29:23, 1.67s/it] 17%|█▋ | 5176/30000 [2:25:08<11:29:29, 1.67s/it] 17%|█▋ | 5177/30000 [2:25:09<11:28:20, 1.66s/it] 17%|█▋ | 5178/30000 [2:25:11<11:27:51, 1.66s/it] 17%|█▋ | 5179/30000 [2:25:13<11:29:16, 1.67s/it] 17%|█▋ | 5180/30000 [2:25:14<11:26:02, 1.66s/it] {'loss': 0.0229, 'grad_norm': 0.11334294080734253, 'learning_rate': 2.8783336296695985e-05, 'flow_matching_loss': 0.02286391509696841, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.51} + 17%|█▋ | 5180/30000 [2:25:14<11:26:02, 1.66s/it] 17%|█▋ | 5181/30000 [2:25:16<11:28:07, 1.66s/it] 17%|█▋ | 5182/30000 [2:25:18<11:29:30, 1.67s/it] 17%|█▋ | 5183/30000 [2:25:19<11:28:12, 1.66s/it] 17%|█▋ | 5184/30000 [2:25:21<11:28:39, 1.67s/it] 17%|█▋ | 5185/30000 [2:25:23<11:29:36, 1.67s/it] 17%|█▋ | 5186/30000 [2:25:24<11:29:12, 1.67s/it] 17%|█▋ | 5187/30000 [2:25:26<11:28:45, 1.67s/it] 17%|█▋ | 5188/30000 [2:25:27<11:28:05, 1.66s/it] 17%|█▋ | 5189/30000 [2:25:29<11:28:28, 1.66s/it] 17%|█▋ | 5190/30000 [2:25:31<11:28:45, 1.67s/it] {'loss': 0.0276, 'grad_norm': 0.1592893898487091, 'learning_rate': 2.877680472157964e-05, 'flow_matching_loss': 0.02759842723608017, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.51} + 17%|█▋ | 5190/30000 [2:25:31<11:28:45, 1.67s/it] 17%|█▋ | 5191/30000 [2:25:32<11:29:26, 1.67s/it] 17%|█▋ | 5192/30000 [2:25:34<11:29:29, 1.67s/it] 17%|█▋ | 5193/30000 [2:25:36<11:29:50, 1.67s/it] 17%|█▋ | 5194/30000 [2:25:37<11:28:43, 1.67s/it] 17%|█▋ | 5195/30000 [2:25:39<11:29:16, 1.67s/it] 17%|█▋ | 5196/30000 [2:25:41<11:28:58, 1.67s/it] 17%|█▋ | 5197/30000 [2:25:42<11:28:49, 1.67s/it] 17%|█▋ | 5198/30000 [2:25:44<11:29:15, 1.67s/it] 17%|█▋ | 5199/30000 [2:25:46<11:29:47, 1.67s/it] 17%|█▋ | 5200/30000 [2:25:47<11:27:58, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.1227080300450325, 'learning_rate': 2.8770256406346483e-05, 'flow_matching_loss': 0.023136775754392148, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.51} + 17%|█▋ | 5200/30000 [2:25:48<11:27:58, 1.66s/it] 17%|█▋ | 5201/30000 [2:25:49<11:27:55, 1.66s/it] 17%|█▋ | 5202/30000 [2:25:51<11:27:19, 1.66s/it] 17%|█▋ | 5203/30000 [2:25:52<11:28:11, 1.67s/it] 17%|█▋ | 5204/30000 [2:25:54<11:27:34, 1.66s/it] 17%|█▋ | 5205/30000 [2:25:56<11:27:30, 1.66s/it] 17%|█▋ | 5206/30000 [2:25:57<11:28:13, 1.67s/it] 17%|█▋ | 5207/30000 [2:25:59<11:29:37, 1.67s/it] 17%|█▋ | 5208/30000 [2:26:01<11:30:47, 1.67s/it] 17%|█▋ | 5209/30000 [2:26:02<11:29:02, 1.67s/it] 17%|█▋ | 5210/30000 [2:26:04<11:28:34, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.23067361116409302, 'learning_rate': 2.8763691358953348e-05, 'flow_matching_loss': 0.0240891819819808, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.52} + 17%|█▋ | 5210/30000 [2:26:04<11:28:34, 1.67s/it] 17%|█▋ | 5211/30000 [2:26:06<11:28:40, 1.67s/it] 17%|█▋ | 5212/30000 [2:26:07<11:28:14, 1.67s/it] 17%|█▋ | 5213/30000 [2:26:09<11:31:14, 1.67s/it] 17%|█▋ | 5214/30000 [2:26:11<11:29:00, 1.67s/it] 17%|█▋ | 5215/30000 [2:26:13<11:28:28, 1.67s/it] 17%|█▋ | 5216/30000 [2:26:14<11:27:46, 1.67s/it] 17%|█▋ | 5217/30000 [2:26:16<11:27:01, 1.66s/it] 17%|█▋ | 5218/30000 [2:26:17<11:28:03, 1.67s/it] 17%|█▋ | 5219/30000 [2:26:19<11:27:27, 1.66s/it] 17%|█▋ | 5220/30000 [2:26:21<11:26:56, 1.66s/it] {'loss': 0.024, 'grad_norm': 0.1572355180978775, 'learning_rate': 2.8757109587377377e-05, 'flow_matching_loss': 0.024014935456216337, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.52} + 17%|█▋ | 5220/30000 [2:26:21<11:26:56, 1.66s/it] 17%|█▋ | 5221/30000 [2:26:22<11:27:01, 1.66s/it] 17%|█▋ | 5222/30000 [2:26:24<11:26:40, 1.66s/it] 17%|█▋ | 5223/30000 [2:26:26<11:27:07, 1.66s/it] 17%|█▋ | 5224/30000 [2:26:27<11:27:05, 1.66s/it] 17%|█▋ | 5225/30000 [2:26:29<11:27:15, 1.66s/it] 17%|█▋ | 5226/30000 [2:26:31<11:27:34, 1.67s/it] 17%|█▋ | 5227/30000 [2:26:32<11:27:30, 1.67s/it] 17%|█▋ | 5228/30000 [2:26:34<11:26:48, 1.66s/it] 17%|█▋ | 5229/30000 [2:26:36<11:27:07, 1.66s/it] 17%|█▋ | 5230/30000 [2:26:37<11:27:19, 1.66s/it] {'loss': 0.0243, 'grad_norm': 0.12956129014492035, 'learning_rate': 2.8750511099616047e-05, 'flow_matching_loss': 0.024272217974066736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.52} + 17%|█▋ | 5230/30000 [2:26:38<11:27:19, 1.66s/it] 17%|█▋ | 5231/30000 [2:26:39<11:27:50, 1.67s/it] 17%|█▋ | 5232/30000 [2:26:41<11:27:40, 1.67s/it] 17%|█▋ | 5233/30000 [2:26:42<11:26:58, 1.66s/it] 17%|█▋ | 5234/30000 [2:26:44<11:25:57, 1.66s/it] 17%|█▋ | 5235/30000 [2:26:46<11:28:03, 1.67s/it] 17%|█▋ | 5236/30000 [2:26:47<11:26:49, 1.66s/it] 17%|█▋ | 5237/30000 [2:26:49<11:27:24, 1.67s/it] 17%|█▋ | 5238/30000 [2:26:51<11:26:45, 1.66s/it] 17%|█▋ | 5239/30000 [2:26:52<11:26:44, 1.66s/it] 17%|█▋ | 5240/30000 [2:26:54<11:25:31, 1.66s/it] {'loss': 0.0238, 'grad_norm': 0.148040309548378, 'learning_rate': 2.8743895903687143e-05, 'flow_matching_loss': 0.023762484639883043, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.52} + 17%|█▋ | 5240/30000 [2:26:54<11:25:31, 1.66s/it] 17%|█▋ | 5241/30000 [2:26:56<11:27:22, 1.67s/it] 17%|█▋ | 5242/30000 [2:26:57<11:25:31, 1.66s/it] 17%|█▋ | 5243/30000 [2:26:59<11:27:16, 1.67s/it] 17%|█▋ | 5244/30000 [2:27:01<11:27:13, 1.67s/it] 17%|█▋ | 5245/30000 [2:27:02<11:26:03, 1.66s/it] 17%|█▋ | 5246/30000 [2:27:04<11:25:42, 1.66s/it] 17%|█▋ | 5247/30000 [2:27:06<11:25:18, 1.66s/it] 17%|█▋ | 5248/30000 [2:27:07<11:25:21, 1.66s/it] 17%|█▋ | 5249/30000 [2:27:09<11:25:09, 1.66s/it] 18%|█▊ | 5250/30000 [2:27:11<11:25:39, 1.66s/it] {'loss': 0.0243, 'grad_norm': 0.1413414627313614, 'learning_rate': 2.8737264007628753e-05, 'flow_matching_loss': 0.02434292873367667, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.53} + 18%|█▊ | 5250/30000 [2:27:11<11:25:39, 1.66s/it] 18%|█▊ | 5251/30000 [2:27:12<11:26:06, 1.66s/it] 18%|█▊ | 5252/30000 [2:27:14<11:26:14, 1.66s/it] 18%|█▊ | 5253/30000 [2:27:16<11:25:51, 1.66s/it] 18%|█▊ | 5254/30000 [2:27:17<11:28:27, 1.67s/it] 18%|█▊ | 5255/30000 [2:27:19<11:27:25, 1.67s/it] 18%|█▊ | 5256/30000 [2:27:21<11:29:17, 1.67s/it] 18%|█▊ | 5257/30000 [2:27:22<11:29:38, 1.67s/it] 18%|█▊ | 5258/30000 [2:27:24<11:28:10, 1.67s/it] 18%|█▊ | 5259/30000 [2:27:26<11:27:57, 1.67s/it] 18%|█▊ | 5260/30000 [2:27:27<11:27:31, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.18691430985927582, 'learning_rate': 2.8730615419499247e-05, 'flow_matching_loss': 0.027537889406085016, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.53} + 18%|█▊ | 5260/30000 [2:27:27<11:27:31, 1.67s/it] 18%|█▊ | 5261/30000 [2:27:29<11:27:40, 1.67s/it] 18%|█▊ | 5262/30000 [2:27:31<11:27:42, 1.67s/it] 18%|█▊ | 5263/30000 [2:27:32<11:28:06, 1.67s/it] 18%|█▊ | 5264/30000 [2:27:34<11:28:52, 1.67s/it] 18%|█▊ | 5265/30000 [2:27:36<11:28:08, 1.67s/it] 18%|█▊ | 5266/30000 [2:27:37<11:27:34, 1.67s/it] 18%|█▊ | 5267/30000 [2:27:39<11:27:49, 1.67s/it] 18%|█▊ | 5268/30000 [2:27:41<11:29:23, 1.67s/it] 18%|█▊ | 5269/30000 [2:27:42<11:28:45, 1.67s/it] 18%|█▊ | 5270/30000 [2:27:44<11:29:45, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.1357005536556244, 'learning_rate': 2.8723950147377303e-05, 'flow_matching_loss': 0.023638374730944635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.53} + 18%|█▊ | 5270/30000 [2:27:44<11:29:45, 1.67s/it] 18%|█▊ | 5271/30000 [2:27:46<11:28:10, 1.67s/it] 18%|█▊ | 5272/30000 [2:27:47<11:27:06, 1.67s/it] 18%|█▊ | 5273/30000 [2:27:49<11:27:19, 1.67s/it] 18%|█▊ | 5274/30000 [2:27:51<11:27:47, 1.67s/it] 18%|█▊ | 5275/30000 [2:27:52<11:27:40, 1.67s/it] 18%|█▊ | 5276/30000 [2:27:54<11:25:35, 1.66s/it] 18%|█▊ | 5277/30000 [2:27:56<11:25:33, 1.66s/it] 18%|█▊ | 5278/30000 [2:27:57<11:25:41, 1.66s/it] 18%|█▊ | 5279/30000 [2:27:59<11:26:02, 1.67s/it] 18%|█▊ | 5280/30000 [2:28:01<11:26:16, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.1782829910516739, 'learning_rate': 2.871726819936184e-05, 'flow_matching_loss': 0.023787632025778292, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.54} + 18%|█▊ | 5280/30000 [2:28:01<11:26:16, 1.67s/it] 18%|█▊ | 5281/30000 [2:28:02<11:26:48, 1.67s/it] 18%|█▊ | 5282/30000 [2:28:04<11:25:45, 1.66s/it] 18%|█▊ | 5283/30000 [2:28:06<11:25:38, 1.66s/it] 18%|█▊ | 5284/30000 [2:28:07<11:25:08, 1.66s/it] 18%|█▊ | 5285/30000 [2:28:09<11:25:32, 1.66s/it] 18%|█▊ | 5286/30000 [2:28:11<11:27:10, 1.67s/it] 18%|█▊ | 5287/30000 [2:28:12<11:25:37, 1.66s/it] 18%|█▊ | 5288/30000 [2:28:14<11:25:26, 1.66s/it] 18%|█▊ | 5289/30000 [2:28:16<11:25:32, 1.66s/it] 18%|█▊ | 5290/30000 [2:28:17<11:25:22, 1.66s/it] {'loss': 0.0238, 'grad_norm': 0.11804739385843277, 'learning_rate': 2.8710569583572068e-05, 'flow_matching_loss': 0.023772339895367624, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.54} + 18%|█▊ | 5290/30000 [2:28:17<11:25:22, 1.66s/it] 18%|█▊ | 5291/30000 [2:28:19<11:27:30, 1.67s/it] 18%|█▊ | 5292/30000 [2:28:21<11:28:00, 1.67s/it] 18%|█▊ | 5293/30000 [2:28:22<11:26:36, 1.67s/it] 18%|█▊ | 5294/30000 [2:28:24<11:25:17, 1.66s/it] 18%|█▊ | 5295/30000 [2:28:26<11:24:18, 1.66s/it] 18%|█▊ | 5296/30000 [2:28:27<11:24:35, 1.66s/it] 18%|█▊ | 5297/30000 [2:28:29<11:25:46, 1.67s/it] 18%|█▊ | 5298/30000 [2:28:31<11:24:53, 1.66s/it] 18%|█▊ | 5299/30000 [2:28:32<11:26:41, 1.67s/it] 18%|█▊ | 5300/30000 [2:28:34<11:25:40, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.12433389574289322, 'learning_rate': 2.870385430814742e-05, 'flow_matching_loss': 0.024434016458690165, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.54} + 18%|█▊ | 5300/30000 [2:28:34<11:25:40, 1.67s/it] 18%|█▊ | 5301/30000 [2:28:36<11:26:00, 1.67s/it] 18%|█▊ | 5302/30000 [2:28:37<11:25:30, 1.67s/it] 18%|█▊ | 5303/30000 [2:28:39<11:25:24, 1.67s/it] 18%|█▊ | 5304/30000 [2:28:41<11:23:39, 1.66s/it] 18%|█▊ | 5305/30000 [2:28:42<11:24:31, 1.66s/it] 18%|█▊ | 5306/30000 [2:28:44<11:24:20, 1.66s/it] 18%|█▊ | 5307/30000 [2:28:46<11:24:55, 1.66s/it] 18%|█▊ | 5308/30000 [2:28:47<11:25:04, 1.66s/it] 18%|█▊ | 5309/30000 [2:28:49<11:27:16, 1.67s/it] 18%|█▊ | 5310/30000 [2:28:51<11:27:36, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.13909971714019775, 'learning_rate': 2.8697122381247605e-05, 'flow_matching_loss': 0.023102836310863496, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.54} + 18%|█▊ | 5310/30000 [2:28:51<11:27:36, 1.67s/it] 18%|█▊ | 5311/30000 [2:28:52<11:26:39, 1.67s/it] 18%|█▊ | 5312/30000 [2:28:54<11:25:36, 1.67s/it] 18%|█▊ | 5313/30000 [2:28:56<11:26:27, 1.67s/it] 18%|█▊ | 5314/30000 [2:28:57<11:25:54, 1.67s/it] 18%|█▊ | 5315/30000 [2:28:59<11:26:21, 1.67s/it] 18%|█▊ | 5316/30000 [2:29:01<11:24:53, 1.66s/it] 18%|█▊ | 5317/30000 [2:29:02<11:24:20, 1.66s/it] 18%|█▊ | 5318/30000 [2:29:04<11:25:54, 1.67s/it] 18%|█▊ | 5319/30000 [2:29:06<11:26:00, 1.67s/it] 18%|█▊ | 5320/30000 [2:29:07<11:26:20, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.11132974922657013, 'learning_rate': 2.8690373811052545e-05, 'flow_matching_loss': 0.025249293074011803, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.55} + 18%|█▊ | 5320/30000 [2:29:07<11:26:20, 1.67s/it] 18%|█▊ | 5321/30000 [2:29:09<11:25:58, 1.67s/it] 18%|█▊ | 5322/30000 [2:29:11<11:24:46, 1.66s/it] 18%|█▊ | 5323/30000 [2:29:12<11:25:47, 1.67s/it] 18%|█▊ | 5324/30000 [2:29:14<11:25:16, 1.67s/it] 18%|█▊ | 5325/30000 [2:29:16<11:25:23, 1.67s/it] 18%|█▊ | 5326/30000 [2:29:17<11:25:40, 1.67s/it] 18%|█▊ | 5327/30000 [2:29:19<11:27:51, 1.67s/it] 18%|█▊ | 5328/30000 [2:29:21<11:25:20, 1.67s/it] 18%|█▊ | 5329/30000 [2:29:22<11:24:53, 1.67s/it] 18%|█▊ | 5330/30000 [2:29:24<11:22:55, 1.66s/it] {'loss': 0.023, 'grad_norm': 0.19160541892051697, 'learning_rate': 2.8683608605762378e-05, 'flow_matching_loss': 0.0230326060205698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.55} + 18%|█▊ | 5330/30000 [2:29:24<11:22:55, 1.66s/it] 18%|█▊ | 5331/30000 [2:29:26<11:23:16, 1.66s/it] 18%|█▊ | 5332/30000 [2:29:27<11:23:54, 1.66s/it] 18%|█▊ | 5333/30000 [2:29:29<11:23:44, 1.66s/it] 18%|█▊ | 5334/30000 [2:29:31<11:22:09, 1.66s/it] 18%|█▊ | 5335/30000 [2:29:32<11:23:05, 1.66s/it] 18%|█▊ | 5336/30000 [2:29:34<11:24:40, 1.67s/it] 18%|█▊ | 5337/30000 [2:29:36<11:24:24, 1.67s/it] 18%|█▊ | 5338/30000 [2:29:37<11:23:03, 1.66s/it] 18%|█▊ | 5339/30000 [2:29:39<11:23:23, 1.66s/it] 18%|█▊ | 5340/30000 [2:29:41<11:23:10, 1.66s/it] {'loss': 0.0245, 'grad_norm': 0.1285342425107956, 'learning_rate': 2.8676826773597485e-05, 'flow_matching_loss': 0.02446903344243765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.55} + 18%|█▊ | 5340/30000 [2:29:41<11:23:10, 1.66s/it] 18%|█▊ | 5341/30000 [2:29:42<11:23:11, 1.66s/it] 18%|█▊ | 5342/30000 [2:29:44<11:25:46, 1.67s/it] 18%|█▊ | 5343/30000 [2:29:46<11:25:44, 1.67s/it] 18%|█▊ | 5344/30000 [2:29:47<11:26:58, 1.67s/it] 18%|█▊ | 5345/30000 [2:29:49<11:26:15, 1.67s/it] 18%|█▊ | 5346/30000 [2:29:51<11:24:27, 1.67s/it] 18%|█▊ | 5347/30000 [2:29:52<11:24:17, 1.67s/it] 18%|█▊ | 5348/30000 [2:29:54<11:25:24, 1.67s/it] 18%|█▊ | 5349/30000 [2:29:56<11:25:17, 1.67s/it] 18%|█▊ | 5350/30000 [2:29:57<11:27:38, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.15853305160999298, 'learning_rate': 2.8670028322798413e-05, 'flow_matching_loss': 0.022762046940624715, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.56} + 18%|█▊ | 5350/30000 [2:29:57<11:27:38, 1.67s/it] 18%|█▊ | 5351/30000 [2:29:59<11:26:39, 1.67s/it] 18%|█▊ | 5352/30000 [2:30:01<11:24:53, 1.67s/it] 18%|█▊ | 5353/30000 [2:30:02<11:27:06, 1.67s/it] 18%|█▊ | 5354/30000 [2:30:04<11:26:35, 1.67s/it] 18%|█▊ | 5355/30000 [2:30:06<11:26:49, 1.67s/it] 18%|█▊ | 5356/30000 [2:30:07<11:27:14, 1.67s/it] 18%|█▊ | 5357/30000 [2:30:09<11:29:16, 1.68s/it] 18%|█▊ | 5358/30000 [2:30:11<11:28:18, 1.68s/it] 18%|█▊ | 5359/30000 [2:30:12<11:27:13, 1.67s/it] 18%|█▊ | 5360/30000 [2:30:14<11:27:30, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.1239461824297905, 'learning_rate': 2.8663213261625932e-05, 'flow_matching_loss': 0.02378190355375409, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.56} + 18%|█▊ | 5360/30000 [2:30:14<11:27:30, 1.67s/it] 18%|█▊ | 5361/30000 [2:30:16<11:26:59, 1.67s/it] 18%|█▊ | 5362/30000 [2:30:17<11:25:02, 1.67s/it] 18%|█▊ | 5363/30000 [2:30:19<11:25:32, 1.67s/it] 18%|█▊ | 5364/30000 [2:30:21<11:25:49, 1.67s/it] 18%|█▊ | 5365/30000 [2:30:22<11:24:24, 1.67s/it] 18%|█▊ | 5366/30000 [2:30:24<11:24:29, 1.67s/it] 18%|█▊ | 5367/30000 [2:30:26<11:25:26, 1.67s/it] 18%|█▊ | 5368/30000 [2:30:27<11:23:42, 1.67s/it] 18%|█▊ | 5369/30000 [2:30:29<11:23:35, 1.67s/it] 18%|█▊ | 5370/30000 [2:30:31<11:23:28, 1.66s/it] {'loss': 0.0244, 'grad_norm': 0.14243923127651215, 'learning_rate': 2.865638159836098e-05, 'flow_matching_loss': 0.024376974627375602, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.56} + 18%|█▊ | 5370/30000 [2:30:31<11:23:28, 1.66s/it] 18%|█▊ | 5371/30000 [2:30:32<11:24:24, 1.67s/it] 18%|█▊ | 5372/30000 [2:30:34<11:23:13, 1.66s/it] 18%|█▊ | 5373/30000 [2:30:36<11:25:02, 1.67s/it] 18%|█▊ | 5374/30000 [2:30:37<11:24:14, 1.67s/it] 18%|█▊ | 5375/30000 [2:30:39<11:24:08, 1.67s/it] 18%|█▊ | 5376/30000 [2:30:41<11:23:11, 1.66s/it] 18%|█▊ | 5377/30000 [2:30:42<11:21:54, 1.66s/it] 18%|█▊ | 5378/30000 [2:30:44<11:20:56, 1.66s/it] 18%|█▊ | 5379/30000 [2:30:46<11:19:59, 1.66s/it] 18%|█▊ | 5380/30000 [2:30:47<11:22:31, 1.66s/it] {'loss': 0.0244, 'grad_norm': 0.13134540617465973, 'learning_rate': 2.8649533341304677e-05, 'flow_matching_loss': 0.024412678368389607, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.57} + 18%|█▊ | 5380/30000 [2:30:47<11:22:31, 1.66s/it] 18%|█▊ | 5381/30000 [2:30:49<11:23:55, 1.67s/it] 18%|█▊ | 5382/30000 [2:30:51<11:25:07, 1.67s/it] 18%|█▊ | 5383/30000 [2:30:52<11:24:21, 1.67s/it] 18%|█▊ | 5384/30000 [2:30:54<11:23:34, 1.67s/it] 18%|█▊ | 5385/30000 [2:30:56<11:23:45, 1.67s/it] 18%|█▊ | 5386/30000 [2:30:57<11:23:52, 1.67s/it] 18%|█▊ | 5387/30000 [2:30:59<11:23:52, 1.67s/it] 18%|█▊ | 5388/30000 [2:31:01<11:24:16, 1.67s/it] 18%|█▊ | 5389/30000 [2:31:02<11:24:22, 1.67s/it] 18%|█▊ | 5390/30000 [2:31:04<11:25:11, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.11884168535470963, 'learning_rate': 2.8642668498778297e-05, 'flow_matching_loss': 0.026199351996183395, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.57} + 18%|█▊ | 5390/30000 [2:31:04<11:25:11, 1.67s/it] 18%|█▊ | 5391/30000 [2:31:06<11:26:04, 1.67s/it] 18%|█▊ | 5392/30000 [2:31:07<11:25:28, 1.67s/it] 18%|█▊ | 5393/30000 [2:31:09<11:24:52, 1.67s/it] 18%|█▊ | 5394/30000 [2:31:11<11:23:53, 1.67s/it] 18%|█▊ | 5395/30000 [2:31:12<11:24:10, 1.67s/it] 18%|█▊ | 5396/30000 [2:31:14<11:25:00, 1.67s/it] 18%|█▊ | 5397/30000 [2:31:16<11:26:03, 1.67s/it] 18%|█▊ | 5398/30000 [2:31:17<11:24:22, 1.67s/it] 18%|█▊ | 5399/30000 [2:31:19<11:24:17, 1.67s/it] 18%|█▊ | 5400/30000 [2:31:21<11:23:56, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.20074215531349182, 'learning_rate': 2.8635787079123268e-05, 'flow_matching_loss': 0.02553892768919468, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.57} + 18%|█▊ | 5400/30000 [2:31:21<11:23:56, 1.67s/it] 18%|█▊ | 5401/30000 [2:31:23<11:25:29, 1.67s/it] 18%|█▊ | 5402/30000 [2:31:24<11:23:35, 1.67s/it] 18%|█▊ | 5403/30000 [2:31:26<11:23:52, 1.67s/it] 18%|█▊ | 5404/30000 [2:31:27<11:24:22, 1.67s/it] 18%|█▊ | 5405/30000 [2:31:29<11:25:15, 1.67s/it] 18%|█▊ | 5406/30000 [2:31:31<11:25:15, 1.67s/it] 18%|█▊ | 5407/30000 [2:31:33<11:25:34, 1.67s/it] 18%|█▊ | 5408/30000 [2:31:34<11:26:31, 1.67s/it] 18%|█▊ | 5409/30000 [2:31:36<11:26:26, 1.67s/it] 18%|█▊ | 5410/30000 [2:31:38<11:24:56, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.13206416368484497, 'learning_rate': 2.8628889090701175e-05, 'flow_matching_loss': 0.024791746214032174, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.57} + 18%|█▊ | 5410/30000 [2:31:38<11:24:56, 1.67s/it] 18%|█▊ | 5411/30000 [2:31:39<11:24:01, 1.67s/it] 18%|█▊ | 5412/30000 [2:31:41<11:22:47, 1.67s/it] 18%|█▊ | 5413/30000 [2:31:43<11:21:50, 1.66s/it] 18%|█▊ | 5414/30000 [2:31:44<11:22:10, 1.66s/it] 18%|█▊ | 5415/30000 [2:31:46<11:21:08, 1.66s/it] 18%|█▊ | 5416/30000 [2:31:48<11:21:07, 1.66s/it] 18%|█▊ | 5417/30000 [2:31:49<11:21:18, 1.66s/it] 18%|█▊ | 5418/30000 [2:31:51<11:20:21, 1.66s/it] 18%|█▊ | 5419/30000 [2:31:53<11:21:50, 1.66s/it] 18%|█▊ | 5420/30000 [2:31:54<11:21:40, 1.66s/it] {'loss': 0.0253, 'grad_norm': 0.13686934113502502, 'learning_rate': 2.862197454189371e-05, 'flow_matching_loss': 0.025298931822180747, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.58} + 18%|█▊ | 5420/30000 [2:31:54<11:21:40, 1.66s/it] 18%|█▊ | 5421/30000 [2:31:56<11:21:29, 1.66s/it] 18%|█▊ | 5422/30000 [2:31:58<11:23:00, 1.67s/it] 18%|█▊ | 5423/30000 [2:31:59<11:23:37, 1.67s/it] 18%|█▊ | 5424/30000 [2:32:01<11:24:19, 1.67s/it] 18%|█▊ | 5425/30000 [2:32:03<11:22:52, 1.67s/it] 18%|█▊ | 5426/30000 [2:32:04<11:22:24, 1.67s/it] 18%|█▊ | 5427/30000 [2:32:06<11:24:04, 1.67s/it] 18%|█▊ | 5428/30000 [2:32:08<11:23:43, 1.67s/it] 18%|█▊ | 5429/30000 [2:32:09<11:22:38, 1.67s/it] 18%|█▊ | 5430/30000 [2:32:11<11:23:18, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.1223936527967453, 'learning_rate': 2.8615043441102708e-05, 'flow_matching_loss': 0.02310339715331793, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.58} + 18%|█▊ | 5430/30000 [2:32:11<11:23:18, 1.67s/it] 18%|█▊ | 5431/30000 [2:32:13<11:24:34, 1.67s/it] 18%|█▊ | 5432/30000 [2:32:14<11:22:26, 1.67s/it] 18%|█▊ | 5433/30000 [2:32:16<11:20:55, 1.66s/it] 18%|█▊ | 5434/30000 [2:32:18<11:21:57, 1.67s/it] 18%|█▊ | 5435/30000 [2:32:19<11:21:46, 1.67s/it] 18%|█▊ | 5436/30000 [2:32:21<11:22:15, 1.67s/it] 18%|█▊ | 5437/30000 [2:32:23<11:21:45, 1.67s/it] 18%|█▊ | 5438/30000 [2:32:24<11:21:53, 1.67s/it] 18%|█▊ | 5439/30000 [2:32:26<11:21:56, 1.67s/it] 18%|█▊ | 5440/30000 [2:32:27<11:20:00, 1.66s/it] {'loss': 0.0225, 'grad_norm': 0.17772842943668365, 'learning_rate': 2.860809579675011e-05, 'flow_matching_loss': 0.022452268935739993, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.58} + 18%|█▊ | 5440/30000 [2:32:28<11:20:00, 1.66s/it] 18%|█▊ | 5441/30000 [2:32:29<11:20:37, 1.66s/it] 18%|█▊ | 5442/30000 [2:32:31<11:20:53, 1.66s/it] 18%|█▊ | 5443/30000 [2:32:32<11:21:36, 1.67s/it] 18%|█▊ | 5444/30000 [2:32:34<11:21:18, 1.66s/it] 18%|█▊ | 5445/30000 [2:32:36<11:20:14, 1.66s/it] 18%|█▊ | 5446/30000 [2:32:37<11:20:44, 1.66s/it] 18%|█▊ | 5447/30000 [2:32:39<11:20:56, 1.66s/it] 18%|█▊ | 5448/30000 [2:32:41<11:19:12, 1.66s/it] 18%|█▊ | 5449/30000 [2:32:42<11:19:57, 1.66s/it] 18%|█▊ | 5450/30000 [2:32:44<11:20:16, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.12095744162797928, 'learning_rate': 2.860113161727796e-05, 'flow_matching_loss': 0.023385263234376907, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.59} + 18%|█▊ | 5450/30000 [2:32:44<11:20:16, 1.66s/it] 18%|█▊ | 5451/30000 [2:32:46<11:21:50, 1.67s/it] 18%|█▊ | 5452/30000 [2:32:47<11:22:18, 1.67s/it] 18%|█▊ | 5453/30000 [2:32:49<11:22:22, 1.67s/it] 18%|█▊ | 5454/30000 [2:32:51<11:21:35, 1.67s/it] 18%|█▊ | 5455/30000 [2:32:52<11:22:05, 1.67s/it] 18%|█▊ | 5456/30000 [2:32:54<11:21:42, 1.67s/it] 18%|█▊ | 5457/30000 [2:32:56<11:21:48, 1.67s/it] 18%|█▊ | 5458/30000 [2:32:57<11:21:19, 1.67s/it] 18%|█▊ | 5459/30000 [2:32:59<11:23:00, 1.67s/it] 18%|█▊ | 5460/30000 [2:33:01<11:21:52, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.17619244754314423, 'learning_rate': 2.8594150911148393e-05, 'flow_matching_loss': 0.021763797290623187, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.59} + 18%|█▊ | 5460/30000 [2:33:01<11:21:52, 1.67s/it] 18%|█▊ | 5461/30000 [2:33:02<11:22:01, 1.67s/it] 18%|█▊ | 5462/30000 [2:33:04<11:22:18, 1.67s/it] 18%|█▊ | 5463/30000 [2:33:06<11:23:27, 1.67s/it] 18%|█▊ | 5464/30000 [2:33:07<11:22:00, 1.67s/it] 18%|█▊ | 5465/30000 [2:33:09<11:21:37, 1.67s/it] 18%|█▊ | 5466/30000 [2:33:11<11:20:47, 1.66s/it] 18%|█▊ | 5467/30000 [2:33:12<11:20:56, 1.67s/it] 18%|█▊ | 5468/30000 [2:33:14<11:20:22, 1.66s/it] 18%|█▊ | 5469/30000 [2:33:16<11:21:45, 1.67s/it] 18%|█▊ | 5470/30000 [2:33:17<11:21:03, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.1031036376953125, 'learning_rate': 2.8587153686843626e-05, 'flow_matching_loss': 0.024990706518292428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.59} + 18%|█▊ | 5470/30000 [2:33:18<11:21:03, 1.67s/it] 18%|█▊ | 5471/30000 [2:33:19<11:21:01, 1.67s/it] 18%|█▊ | 5472/30000 [2:33:21<11:20:11, 1.66s/it] 18%|█▊ | 5473/30000 [2:33:22<11:20:29, 1.66s/it] 18%|█▊ | 5474/30000 [2:33:24<11:21:20, 1.67s/it] 18%|█▊ | 5475/30000 [2:33:26<11:20:40, 1.67s/it] 18%|█▊ | 5476/30000 [2:33:27<11:21:10, 1.67s/it] 18%|█▊ | 5477/30000 [2:33:29<11:19:34, 1.66s/it] 18%|█▊ | 5478/30000 [2:33:31<11:19:58, 1.66s/it] 18%|█▊ | 5479/30000 [2:33:32<11:20:40, 1.67s/it] 18%|█▊ | 5480/30000 [2:33:34<11:22:16, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.13219992816448212, 'learning_rate': 2.858013995286594e-05, 'flow_matching_loss': 0.024873621948063373, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.59} + 18%|█▊ | 5480/30000 [2:33:34<11:22:16, 1.67s/it] 18%|█▊ | 5481/30000 [2:33:36<11:20:07, 1.66s/it] 18%|█▊ | 5482/30000 [2:33:37<11:19:48, 1.66s/it] 18%|█▊ | 5483/30000 [2:33:39<11:19:50, 1.66s/it] 18%|█▊ | 5484/30000 [2:33:41<11:20:11, 1.66s/it] 18%|█▊ | 5485/30000 [2:33:42<11:20:14, 1.66s/it] 18%|█▊ | 5486/30000 [2:33:44<11:21:01, 1.67s/it] 18%|█▊ | 5487/30000 [2:33:46<11:23:29, 1.67s/it] 18%|█▊ | 5488/30000 [2:33:47<11:21:55, 1.67s/it] 18%|█▊ | 5489/30000 [2:33:49<11:19:49, 1.66s/it] 18%|█▊ | 5490/30000 [2:33:51<11:19:23, 1.66s/it] {'loss': 0.025, 'grad_norm': 0.16169802844524384, 'learning_rate': 2.857310971773769e-05, 'flow_matching_loss': 0.024971690960228443, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.6} + 18%|█▊ | 5490/30000 [2:33:51<11:19:23, 1.66s/it] 18%|█▊ | 5491/30000 [2:33:52<11:21:19, 1.67s/it] 18%|█▊ | 5492/30000 [2:33:54<11:20:45, 1.67s/it] 18%|█▊ | 5493/30000 [2:33:56<11:20:06, 1.67s/it] 18%|█▊ | 5494/30000 [2:33:57<11:20:13, 1.67s/it] 18%|█▊ | 5495/30000 [2:33:59<11:20:48, 1.67s/it] 18%|█▊ | 5496/30000 [2:34:01<11:20:36, 1.67s/it] 18%|█▊ | 5497/30000 [2:34:02<11:22:47, 1.67s/it] 18%|█▊ | 5498/30000 [2:34:04<11:20:00, 1.67s/it] 18%|█▊ | 5499/30000 [2:34:06<11:20:07, 1.67s/it] 18%|█▊ | 5500/30000 [2:34:07<11:20:59, 1.67s/it] {'loss': 0.0284, 'grad_norm': 0.11827974021434784, 'learning_rate': 2.8566062990001274e-05, 'flow_matching_loss': 0.028413051553070546, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.6} + 18%|█▊ | 5500/30000 [2:34:08<11:20:59, 1.67s/it] 18%|█▊ | 5501/30000 [2:34:09<11:22:21, 1.67s/it] 18%|█▊ | 5502/30000 [2:34:11<11:20:30, 1.67s/it] 18%|█▊ | 5503/30000 [2:34:12<11:19:41, 1.66s/it] 18%|█▊ | 5504/30000 [2:34:14<11:20:44, 1.67s/it] 18%|█▊ | 5505/30000 [2:34:16<11:19:23, 1.66s/it] 18%|█▊ | 5506/30000 [2:34:17<11:17:32, 1.66s/it] 18%|█▊ | 5507/30000 [2:34:19<11:17:13, 1.66s/it] 18%|█▊ | 5508/30000 [2:34:21<11:17:24, 1.66s/it] 18%|█▊ | 5509/30000 [2:34:22<11:18:20, 1.66s/it] 18%|█▊ | 5510/30000 [2:34:24<11:20:50, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.1520756036043167, 'learning_rate': 2.8558999778219126e-05, 'flow_matching_loss': 0.023660877905786037, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.6} + 18%|█▊ | 5510/30000 [2:34:24<11:20:50, 1.67s/it] 18%|█▊ | 5511/30000 [2:34:26<11:20:30, 1.67s/it] 18%|█▊ | 5512/30000 [2:34:27<11:18:32, 1.66s/it] 18%|█▊ | 5513/30000 [2:34:29<11:19:31, 1.67s/it] 18%|█▊ | 5514/30000 [2:34:31<11:19:42, 1.67s/it] 18%|█▊ | 5515/30000 [2:34:32<11:19:12, 1.66s/it] 18%|█▊ | 5516/30000 [2:34:34<11:18:57, 1.66s/it] 18%|█▊ | 5517/30000 [2:34:36<11:20:15, 1.67s/it] 18%|█▊ | 5518/30000 [2:34:37<11:21:08, 1.67s/it] 18%|█▊ | 5519/30000 [2:34:39<11:20:43, 1.67s/it] 18%|█▊ | 5520/30000 [2:34:41<11:20:18, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.12178356945514679, 'learning_rate': 2.8551920090973722e-05, 'flow_matching_loss': 0.023904439248144626, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.61} + 18%|█▊ | 5520/30000 [2:34:41<11:20:18, 1.67s/it] 18%|█▊ | 5521/30000 [2:34:42<11:19:30, 1.67s/it] 18%|█▊ | 5522/30000 [2:34:44<11:18:38, 1.66s/it] 18%|█▊ | 5523/30000 [2:34:46<11:19:54, 1.67s/it] 18%|█▊ | 5524/30000 [2:34:47<11:18:37, 1.66s/it] 18%|█▊ | 5525/30000 [2:34:49<11:19:14, 1.67s/it] 18%|█▊ | 5526/30000 [2:34:51<11:19:56, 1.67s/it] 18%|█▊ | 5527/30000 [2:34:52<11:20:48, 1.67s/it] 18%|█▊ | 5528/30000 [2:34:54<11:20:36, 1.67s/it] 18%|█▊ | 5529/30000 [2:34:56<11:20:14, 1.67s/it] 18%|█▊ | 5530/30000 [2:34:57<11:21:39, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.1283026784658432, 'learning_rate': 2.854482393686754e-05, 'flow_matching_loss': 0.02234454108402133, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.61} + 18%|█▊ | 5530/30000 [2:34:57<11:21:39, 1.67s/it] 18%|█▊ | 5531/30000 [2:34:59<11:20:11, 1.67s/it] 18%|█▊ | 5532/30000 [2:35:01<11:20:18, 1.67s/it] 18%|█▊ | 5533/30000 [2:35:02<11:20:09, 1.67s/it] 18%|█▊ | 5534/30000 [2:35:04<11:20:26, 1.67s/it] 18%|█▊ | 5535/30000 [2:35:06<11:20:13, 1.67s/it] 18%|█▊ | 5536/30000 [2:35:07<11:19:44, 1.67s/it] 18%|█▊ | 5537/30000 [2:35:09<11:19:36, 1.67s/it] 18%|█▊ | 5538/30000 [2:35:11<11:19:09, 1.67s/it] 18%|█▊ | 5539/30000 [2:35:12<11:19:09, 1.67s/it] 18%|█▊ | 5540/30000 [2:35:14<11:19:11, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.1324464976787567, 'learning_rate': 2.8537711324523086e-05, 'flow_matching_loss': 0.025979840941727162, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.61} + 18%|█▊ | 5540/30000 [2:35:14<11:19:11, 1.67s/it] 18%|█▊ | 5541/30000 [2:35:16<11:19:34, 1.67s/it] 18%|█▊ | 5542/30000 [2:35:17<11:19:18, 1.67s/it] 18%|█▊ | 5543/30000 [2:35:19<11:19:14, 1.67s/it] 18%|█▊ | 5544/30000 [2:35:21<11:20:14, 1.67s/it] 18%|█▊ | 5545/30000 [2:35:22<11:19:20, 1.67s/it] 18%|█▊ | 5546/30000 [2:35:24<11:20:48, 1.67s/it] 18%|█▊ | 5547/30000 [2:35:26<11:19:42, 1.67s/it] 18%|█▊ | 5548/30000 [2:35:27<11:20:21, 1.67s/it] 18%|█▊ | 5549/30000 [2:35:29<11:18:33, 1.67s/it] 18%|█▊ | 5550/30000 [2:35:31<11:19:58, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.12227553129196167, 'learning_rate': 2.8530582262582845e-05, 'flow_matching_loss': 0.0235435351729393, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.61} + 18%|█▊ | 5550/30000 [2:35:31<11:19:58, 1.67s/it] 19%|█▊ | 5551/30000 [2:35:32<11:20:57, 1.67s/it] 19%|█▊ | 5552/30000 [2:35:34<11:18:29, 1.67s/it] 19%|█▊ | 5553/30000 [2:35:36<11:18:36, 1.67s/it] 19%|█▊ | 5554/30000 [2:35:37<11:18:01, 1.66s/it] 19%|█▊ | 5555/30000 [2:35:39<11:19:23, 1.67s/it] 19%|█▊ | 5556/30000 [2:35:41<11:18:51, 1.67s/it] 19%|█▊ | 5557/30000 [2:35:42<11:18:51, 1.67s/it] 19%|█▊ | 5558/30000 [2:35:44<11:19:18, 1.67s/it] 19%|█▊ | 5559/30000 [2:35:46<11:19:01, 1.67s/it] 19%|█▊ | 5560/30000 [2:35:47<11:18:40, 1.67s/it] {'loss': 0.0262, 'grad_norm': 0.13081441819667816, 'learning_rate': 2.8523436759709306e-05, 'flow_matching_loss': 0.02615090161561966, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.62} + 19%|█▊ | 5560/30000 [2:35:47<11:18:40, 1.67s/it] 19%|█▊ | 5561/30000 [2:35:49<11:19:56, 1.67s/it] 19%|█▊ | 5562/30000 [2:35:51<11:17:32, 1.66s/it] 19%|█▊ | 5563/30000 [2:35:52<11:17:02, 1.66s/it] 19%|█▊ | 5564/30000 [2:35:54<11:17:00, 1.66s/it] 19%|█▊ | 5565/30000 [2:35:56<11:17:21, 1.66s/it] 19%|█▊ | 5566/30000 [2:35:57<11:18:18, 1.67s/it] 19%|█▊ | 5567/30000 [2:35:59<11:19:15, 1.67s/it] 19%|█▊ | 5568/30000 [2:36:01<11:19:04, 1.67s/it] 19%|█▊ | 5569/30000 [2:36:02<11:18:40, 1.67s/it] 19%|█▊ | 5570/30000 [2:36:04<11:18:05, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.12817992269992828, 'learning_rate': 2.8516274824584926e-05, 'flow_matching_loss': 0.024121651984751226, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.62} + 19%|█▊ | 5570/30000 [2:36:04<11:18:05, 1.67s/it] 19%|█▊ | 5571/30000 [2:36:06<11:18:48, 1.67s/it] 19%|█▊ | 5572/30000 [2:36:07<11:18:19, 1.67s/it] 19%|█▊ | 5573/30000 [2:36:09<11:18:26, 1.67s/it] 19%|█▊ | 5574/30000 [2:36:11<11:19:47, 1.67s/it] 19%|█▊ | 5575/30000 [2:36:12<11:19:44, 1.67s/it] 19%|█▊ | 5576/30000 [2:36:14<11:18:35, 1.67s/it] 19%|█▊ | 5577/30000 [2:36:16<11:19:02, 1.67s/it] 19%|█▊ | 5578/30000 [2:36:17<11:18:46, 1.67s/it] 19%|█▊ | 5579/30000 [2:36:19<11:17:29, 1.66s/it] 19%|█▊ | 5580/30000 [2:36:21<11:18:03, 1.67s/it] {'loss': 0.0276, 'grad_norm': 0.1476633995771408, 'learning_rate': 2.8509096465912136e-05, 'flow_matching_loss': 0.02755750883370638, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.62} + 19%|█▊ | 5580/30000 [2:36:21<11:18:03, 1.67s/it] 19%|█▊ | 5581/30000 [2:36:22<11:17:31, 1.66s/it] 19%|█▊ | 5582/30000 [2:36:24<11:17:12, 1.66s/it] 19%|█▊ | 5583/30000 [2:36:26<11:17:46, 1.67s/it] 19%|█▊ | 5584/30000 [2:36:27<11:17:56, 1.67s/it] 19%|█▊ | 5585/30000 [2:36:29<11:17:53, 1.67s/it] 19%|█▊ | 5586/30000 [2:36:31<11:17:30, 1.67s/it] 19%|█▊ | 5587/30000 [2:36:32<11:17:14, 1.66s/it] 19%|█▊ | 5588/30000 [2:36:34<11:18:20, 1.67s/it] 19%|█▊ | 5589/30000 [2:36:36<11:18:41, 1.67s/it] 19%|█▊ | 5590/30000 [2:36:37<11:18:33, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.11622324585914612, 'learning_rate': 2.8501901692413315e-05, 'flow_matching_loss': 0.024363415874540807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.63} + 19%|█▊ | 5590/30000 [2:36:37<11:18:33, 1.67s/it] 19%|█▊ | 5591/30000 [2:36:39<11:18:01, 1.67s/it] 19%|█▊ | 5592/30000 [2:36:41<11:16:58, 1.66s/it] 19%|█▊ | 5593/30000 [2:36:42<11:16:40, 1.66s/it] 19%|█▊ | 5594/30000 [2:36:44<11:17:00, 1.66s/it] 19%|█▊ | 5595/30000 [2:36:46<11:17:43, 1.67s/it] 19%|█▊ | 5596/30000 [2:36:47<11:18:11, 1.67s/it] 19%|█▊ | 5597/30000 [2:36:49<11:17:03, 1.66s/it] 19%|█▊ | 5598/30000 [2:36:51<11:17:08, 1.66s/it] 19%|█▊ | 5599/30000 [2:36:52<11:16:49, 1.66s/it] 19%|█▊ | 5600/30000 [2:36:54<11:16:03, 1.66s/it] {'loss': 0.0276, 'grad_norm': 0.13621345162391663, 'learning_rate': 2.8494690512830788e-05, 'flow_matching_loss': 0.02761650551110506, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.63} + 19%|█▊ | 5600/30000 [2:36:54<11:16:03, 1.66s/it] 19%|█▊ | 5601/30000 [2:36:56<11:14:57, 1.66s/it] 19%|█▊ | 5602/30000 [2:36:57<11:14:48, 1.66s/it] 19%|█▊ | 5603/30000 [2:36:59<11:16:56, 1.66s/it] 19%|█▊ | 5604/30000 [2:37:01<11:16:10, 1.66s/it] 19%|█▊ | 5605/30000 [2:37:02<11:17:40, 1.67s/it] 19%|█▊ | 5606/30000 [2:37:04<11:17:17, 1.67s/it] 19%|█▊ | 5607/30000 [2:37:06<11:16:31, 1.66s/it] 19%|█▊ | 5608/30000 [2:37:07<11:15:54, 1.66s/it] 19%|█▊ | 5609/30000 [2:37:09<11:15:44, 1.66s/it] 19%|█▊ | 5610/30000 [2:37:11<11:15:42, 1.66s/it] {'loss': 0.026, 'grad_norm': 0.13410471379756927, 'learning_rate': 2.8487462935926823e-05, 'flow_matching_loss': 0.02598667871206999, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.63} + 19%|█▊ | 5610/30000 [2:37:11<11:15:42, 1.66s/it] 19%|█▊ | 5611/30000 [2:37:12<11:17:31, 1.67s/it] 19%|█▊ | 5612/30000 [2:37:14<11:16:04, 1.66s/it] 19%|█▊ | 5613/30000 [2:37:16<11:14:51, 1.66s/it] 19%|█▊ | 5614/30000 [2:37:17<11:14:21, 1.66s/it] 19%|█▊ | 5615/30000 [2:37:19<11:15:58, 1.66s/it] 19%|█▊ | 5616/30000 [2:37:21<11:14:51, 1.66s/it] 19%|█▊ | 5617/30000 [2:37:22<11:16:31, 1.66s/it] 19%|█▊ | 5618/30000 [2:37:24<11:17:03, 1.67s/it] 19%|█▊ | 5619/30000 [2:37:26<11:18:06, 1.67s/it] 19%|█▊ | 5620/30000 [2:37:27<11:16:52, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.10759177058935165, 'learning_rate': 2.8480218970483606e-05, 'flow_matching_loss': 0.024090498220175505, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.64} + 19%|█▊ | 5620/30000 [2:37:27<11:16:52, 1.67s/it] 19%|█▊ | 5621/30000 [2:37:29<11:16:54, 1.67s/it] 19%|█▊ | 5622/30000 [2:37:31<11:17:09, 1.67s/it] 19%|█▊ | 5623/30000 [2:37:32<11:16:53, 1.67s/it] 19%|█▊ | 5624/30000 [2:37:34<11:18:08, 1.67s/it] 19%|█▉ | 5625/30000 [2:37:36<11:19:26, 1.67s/it] 19%|█▉ | 5626/30000 [2:37:37<11:18:21, 1.67s/it] 19%|█▉ | 5627/30000 [2:37:39<11:17:41, 1.67s/it] 19%|█▉ | 5628/30000 [2:37:41<11:18:35, 1.67s/it] 19%|█▉ | 5629/30000 [2:37:42<11:20:09, 1.67s/it] 19%|█▉ | 5630/30000 [2:37:44<11:18:20, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.14017897844314575, 'learning_rate': 2.847295862530324e-05, 'flow_matching_loss': 0.02571474090218544, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.64} + 19%|█▉ | 5630/30000 [2:37:44<11:18:20, 1.67s/it] 19%|█▉ | 5631/30000 [2:37:46<11:17:44, 1.67s/it] 19%|█▉ | 5632/30000 [2:37:47<11:17:48, 1.67s/it] 19%|█▉ | 5633/30000 [2:37:49<11:19:03, 1.67s/it] 19%|█▉ | 5634/30000 [2:37:51<11:18:15, 1.67s/it] 19%|█▉ | 5635/30000 [2:37:52<11:18:59, 1.67s/it] 19%|█▉ | 5636/30000 [2:37:54<11:18:40, 1.67s/it] 19%|█▉ | 5637/30000 [2:37:56<11:19:07, 1.67s/it] 19%|█▉ | 5638/30000 [2:37:57<11:17:38, 1.67s/it] 19%|█▉ | 5639/30000 [2:37:59<11:17:00, 1.67s/it] 19%|█▉ | 5640/30000 [2:38:01<11:16:42, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.13425448536872864, 'learning_rate': 2.846568190920773e-05, 'flow_matching_loss': 0.02272211145609617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.64} + 19%|█▉ | 5640/30000 [2:38:01<11:16:42, 1.67s/it] 19%|█▉ | 5641/30000 [2:38:02<11:15:19, 1.66s/it] 19%|█▉ | 5642/30000 [2:38:04<11:15:05, 1.66s/it] 19%|█▉ | 5643/30000 [2:38:06<11:15:42, 1.66s/it] 19%|█▉ | 5644/30000 [2:38:07<11:14:00, 1.66s/it] 19%|█▉ | 5645/30000 [2:38:09<11:14:02, 1.66s/it] 19%|█▉ | 5646/30000 [2:38:11<11:14:04, 1.66s/it] 19%|█▉ | 5647/30000 [2:38:12<11:14:44, 1.66s/it] 19%|█▉ | 5648/30000 [2:38:14<11:16:37, 1.67s/it] 19%|█▉ | 5649/30000 [2:38:16<11:16:29, 1.67s/it] 19%|█▉ | 5650/30000 [2:38:17<11:16:26, 1.67s/it] {'loss': 0.0265, 'grad_norm': 0.14160151779651642, 'learning_rate': 2.8458388831038965e-05, 'flow_matching_loss': 0.02647576853632927, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.64} + 19%|█▉ | 5650/30000 [2:38:17<11:16:26, 1.67s/it] 19%|█▉ | 5651/30000 [2:38:19<11:16:48, 1.67s/it] 19%|█▉ | 5652/30000 [2:38:21<11:16:32, 1.67s/it] 19%|█▉ | 5653/30000 [2:38:22<11:16:40, 1.67s/it] 19%|█▉ | 5654/30000 [2:38:24<11:17:50, 1.67s/it] 19%|█▉ | 5655/30000 [2:38:26<11:16:41, 1.67s/it] 19%|█▉ | 5656/30000 [2:38:27<11:16:59, 1.67s/it] 19%|█▉ | 5657/30000 [2:38:29<11:15:33, 1.67s/it] 19%|█▉ | 5658/30000 [2:38:31<11:15:36, 1.67s/it] 19%|█▉ | 5659/30000 [2:38:32<11:15:26, 1.66s/it] 19%|█▉ | 5660/30000 [2:38:34<11:13:15, 1.66s/it] {'loss': 0.0235, 'grad_norm': 0.16536302864551544, 'learning_rate': 2.8451079399658725e-05, 'flow_matching_loss': 0.02350055743008852, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.65} + 19%|█▉ | 5660/30000 [2:38:34<11:13:15, 1.66s/it] 19%|█▉ | 5661/30000 [2:38:36<11:14:03, 1.66s/it] 19%|█▉ | 5662/30000 [2:38:37<11:13:35, 1.66s/it] 19%|█▉ | 5663/30000 [2:38:39<11:14:45, 1.66s/it] 19%|█▉ | 5664/30000 [2:38:41<11:15:01, 1.66s/it] 19%|█▉ | 5665/30000 [2:38:42<11:14:30, 1.66s/it] 19%|█▉ | 5666/30000 [2:38:44<11:15:02, 1.66s/it] 19%|█▉ | 5667/30000 [2:38:46<11:16:21, 1.67s/it] 19%|█▉ | 5668/30000 [2:38:47<11:16:37, 1.67s/it] 19%|█▉ | 5669/30000 [2:38:49<11:16:46, 1.67s/it] 19%|█▉ | 5670/30000 [2:38:51<11:15:36, 1.67s/it] {'loss': 0.0263, 'grad_norm': 0.2214515656232834, 'learning_rate': 2.8443753623948665e-05, 'flow_matching_loss': 0.02632702998816967, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.65} + 19%|█▉ | 5670/30000 [2:38:51<11:15:36, 1.67s/it] 19%|█▉ | 5671/30000 [2:38:52<11:15:43, 1.67s/it] 19%|█▉ | 5672/30000 [2:38:54<11:17:01, 1.67s/it] 19%|█▉ | 5673/30000 [2:38:56<11:15:54, 1.67s/it] 19%|█▉ | 5674/30000 [2:38:57<11:14:53, 1.66s/it] 19%|█▉ | 5675/30000 [2:38:59<11:15:59, 1.67s/it] 19%|█▉ | 5676/30000 [2:39:01<11:16:53, 1.67s/it] 19%|█▉ | 5677/30000 [2:39:02<11:15:18, 1.67s/it] 19%|█▉ | 5678/30000 [2:39:04<11:17:05, 1.67s/it] 19%|█▉ | 5679/30000 [2:39:06<11:16:41, 1.67s/it] 19%|█▉ | 5680/30000 [2:39:07<11:18:22, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.1733960509300232, 'learning_rate': 2.8436411512810288e-05, 'flow_matching_loss': 0.021847856417298316, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.65} + 19%|█▉ | 5680/30000 [2:39:07<11:18:22, 1.67s/it] 19%|█▉ | 5681/30000 [2:39:09<11:17:54, 1.67s/it] 19%|█▉ | 5682/30000 [2:39:11<11:18:10, 1.67s/it] 19%|█▉ | 5683/30000 [2:39:12<11:17:23, 1.67s/it] 19%|█▉ | 5684/30000 [2:39:14<11:16:12, 1.67s/it] 19%|█▉ | 5685/30000 [2:39:16<11:17:28, 1.67s/it] 19%|█▉ | 5686/30000 [2:39:17<11:16:10, 1.67s/it] 19%|█▉ | 5687/30000 [2:39:19<11:14:59, 1.67s/it] 19%|█▉ | 5688/30000 [2:39:21<11:14:49, 1.67s/it] 19%|█▉ | 5689/30000 [2:39:22<11:14:48, 1.67s/it] 19%|█▉ | 5690/30000 [2:39:24<11:15:13, 1.67s/it] {'loss': 0.0267, 'grad_norm': 0.1213567927479744, 'learning_rate': 2.842905307516495e-05, 'flow_matching_loss': 0.026708765514194967, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.66} + 19%|█▉ | 5690/30000 [2:39:24<11:15:13, 1.67s/it] 19%|█▉ | 5691/30000 [2:39:26<11:16:14, 1.67s/it] 19%|█▉ | 5692/30000 [2:39:27<11:14:30, 1.66s/it] 19%|█▉ | 5693/30000 [2:39:29<11:14:44, 1.67s/it] 19%|█▉ | 5694/30000 [2:39:31<11:15:15, 1.67s/it] 19%|█▉ | 5695/30000 [2:39:32<11:15:55, 1.67s/it] 19%|█▉ | 5696/30000 [2:39:34<11:14:25, 1.66s/it] 19%|█▉ | 5697/30000 [2:39:36<11:13:54, 1.66s/it] 19%|█▉ | 5698/30000 [2:39:37<11:13:27, 1.66s/it] 19%|█▉ | 5699/30000 [2:39:39<11:13:24, 1.66s/it] 19%|█▉ | 5700/30000 [2:39:41<11:14:29, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13028456270694733, 'learning_rate': 2.8421678319953854e-05, 'flow_matching_loss': 0.021139498427510263, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.66} + 19%|█▉ | 5700/30000 [2:39:41<11:14:29, 1.67s/it] 19%|█▉ | 5701/30000 [2:39:42<11:14:37, 1.67s/it] 19%|█▉ | 5702/30000 [2:39:44<11:14:00, 1.66s/it] 19%|█▉ | 5703/30000 [2:39:46<11:16:36, 1.67s/it] 19%|█▉ | 5704/30000 [2:39:47<11:14:28, 1.67s/it] 19%|█▉ | 5705/30000 [2:39:49<11:13:44, 1.66s/it] 19%|█▉ | 5706/30000 [2:39:51<11:13:50, 1.66s/it] 19%|█▉ | 5707/30000 [2:39:52<11:14:17, 1.67s/it] 19%|█▉ | 5708/30000 [2:39:54<11:14:37, 1.67s/it] 19%|█▉ | 5709/30000 [2:39:56<11:15:19, 1.67s/it] 19%|█▉ | 5710/30000 [2:39:57<11:15:28, 1.67s/it] {'loss': 0.0264, 'grad_norm': 0.17163264751434326, 'learning_rate': 2.841428725613801e-05, 'flow_matching_loss': 0.026438825018703937, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.66} + 19%|█▉ | 5710/30000 [2:39:57<11:15:28, 1.67s/it] 19%|█▉ | 5711/30000 [2:39:59<11:14:55, 1.67s/it] 19%|█▉ | 5712/30000 [2:40:01<11:15:20, 1.67s/it] 19%|█▉ | 5713/30000 [2:40:02<11:13:26, 1.66s/it] 19%|█▉ | 5714/30000 [2:40:04<11:13:06, 1.66s/it] 19%|█▉ | 5715/30000 [2:40:06<11:12:14, 1.66s/it] 19%|█▉ | 5716/30000 [2:40:07<11:12:05, 1.66s/it] 19%|█▉ | 5717/30000 [2:40:09<11:13:11, 1.66s/it] 19%|█▉ | 5718/30000 [2:40:11<11:13:10, 1.66s/it] 19%|█▉ | 5719/30000 [2:40:12<11:13:30, 1.66s/it] 19%|█▉ | 5720/30000 [2:40:14<11:13:35, 1.66s/it] {'loss': 0.0248, 'grad_norm': 0.1651315540075302, 'learning_rate': 2.8406879892698272e-05, 'flow_matching_loss': 0.024750666134059428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.66} + 19%|█▉ | 5720/30000 [2:40:14<11:13:35, 1.66s/it] 19%|█▉ | 5721/30000 [2:40:16<11:13:47, 1.67s/it] 19%|█▉ | 5722/30000 [2:40:17<11:13:22, 1.66s/it] 19%|█▉ | 5723/30000 [2:40:19<11:15:55, 1.67s/it] 19%|█▉ | 5724/30000 [2:40:21<11:14:45, 1.67s/it] 19%|█▉ | 5725/30000 [2:40:22<11:15:24, 1.67s/it] 19%|█▉ | 5726/30000 [2:40:24<11:16:28, 1.67s/it] 19%|█▉ | 5727/30000 [2:40:26<11:14:34, 1.67s/it] 19%|█▉ | 5728/30000 [2:40:27<11:15:47, 1.67s/it] 19%|█▉ | 5729/30000 [2:40:29<11:14:17, 1.67s/it] 19%|█▉ | 5730/30000 [2:40:31<11:13:46, 1.67s/it] {'loss': 0.0297, 'grad_norm': 0.15913154184818268, 'learning_rate': 2.8399456238635274e-05, 'flow_matching_loss': 0.02969774082303047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.67} + 19%|█▉ | 5730/30000 [2:40:31<11:13:46, 1.67s/it] 19%|█▉ | 5731/30000 [2:40:32<11:14:04, 1.67s/it] 19%|█▉ | 5732/30000 [2:40:34<11:15:33, 1.67s/it] 19%|█▉ | 5733/30000 [2:40:36<11:14:48, 1.67s/it] 19%|█▉ | 5734/30000 [2:40:37<11:15:16, 1.67s/it] 19%|█▉ | 5735/30000 [2:40:39<11:15:29, 1.67s/it] 19%|█▉ | 5736/30000 [2:40:41<11:15:27, 1.67s/it] 19%|█▉ | 5737/30000 [2:40:42<11:15:20, 1.67s/it] 19%|█▉ | 5738/30000 [2:40:44<11:16:29, 1.67s/it] 19%|█▉ | 5739/30000 [2:40:46<11:13:55, 1.67s/it] 19%|█▉ | 5740/30000 [2:40:47<11:13:18, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.19016505777835846, 'learning_rate': 2.8392016302969457e-05, 'flow_matching_loss': 0.02500296998769045, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.67} + 19%|█▉ | 5740/30000 [2:40:47<11:13:18, 1.67s/it] 19%|█▉ | 5741/30000 [2:40:49<11:15:46, 1.67s/it] 19%|█▉ | 5742/30000 [2:40:51<11:14:52, 1.67s/it] 19%|█▉ | 5743/30000 [2:40:52<11:14:05, 1.67s/it] 19%|█▉ | 5744/30000 [2:40:54<11:12:05, 1.66s/it] 19%|█▉ | 5745/30000 [2:40:56<11:15:03, 1.67s/it] 19%|█▉ | 5746/30000 [2:40:57<11:12:53, 1.66s/it] 19%|█▉ | 5747/30000 [2:40:59<11:13:02, 1.67s/it] 19%|█▉ | 5748/30000 [2:41:01<11:12:07, 1.66s/it] 19%|█▉ | 5749/30000 [2:41:02<11:11:44, 1.66s/it] 19%|█▉ | 5750/30000 [2:41:04<11:12:08, 1.66s/it] {'loss': 0.0229, 'grad_norm': 0.11438190191984177, 'learning_rate': 2.8384560094741055e-05, 'flow_matching_loss': 0.022891916893422605, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.67} + 19%|█▉ | 5750/30000 [2:41:04<11:12:08, 1.66s/it] 19%|█▉ | 5751/30000 [2:41:06<11:13:42, 1.67s/it] 19%|█▉ | 5752/30000 [2:41:07<11:13:33, 1.67s/it] 19%|█▉ | 5753/30000 [2:41:09<11:12:32, 1.66s/it] 19%|█▉ | 5754/30000 [2:41:11<11:13:06, 1.67s/it] 19%|█▉ | 5755/30000 [2:41:12<11:13:39, 1.67s/it] 19%|█▉ | 5756/30000 [2:41:14<11:13:40, 1.67s/it] 19%|█▉ | 5757/30000 [2:41:16<11:12:50, 1.67s/it] 19%|█▉ | 5758/30000 [2:41:17<11:13:18, 1.67s/it] 19%|█▉ | 5759/30000 [2:41:19<11:12:48, 1.67s/it] 19%|█▉ | 5760/30000 [2:41:21<11:12:48, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.13244907557964325, 'learning_rate': 2.8377087623010054e-05, 'flow_matching_loss': 0.02271317131817341, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.68} + 19%|█▉ | 5760/30000 [2:41:21<11:12:48, 1.67s/it] 19%|█▉ | 5761/30000 [2:41:22<11:13:13, 1.67s/it] 19%|█▉ | 5762/30000 [2:41:24<11:12:48, 1.67s/it] 19%|█▉ | 5763/30000 [2:41:26<11:13:03, 1.67s/it] 19%|█▉ | 5764/30000 [2:41:27<11:12:48, 1.67s/it] 19%|█▉ | 5765/30000 [2:41:29<11:12:12, 1.66s/it] 19%|█▉ | 5766/30000 [2:41:31<11:12:51, 1.67s/it] 19%|█▉ | 5767/30000 [2:41:32<11:13:48, 1.67s/it] 19%|█▉ | 5768/30000 [2:41:34<11:14:08, 1.67s/it] 19%|█▉ | 5769/30000 [2:41:36<11:12:49, 1.67s/it] 19%|█▉ | 5770/30000 [2:41:37<11:11:47, 1.66s/it] {'loss': 0.0238, 'grad_norm': 0.15216751396656036, 'learning_rate': 2.8369598896856213e-05, 'flow_matching_loss': 0.02378838285803795, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.68} + 19%|█▉ | 5770/30000 [2:41:37<11:11:47, 1.66s/it] 19%|█▉ | 5771/30000 [2:41:39<11:14:00, 1.67s/it] 19%|█▉ | 5772/30000 [2:41:41<11:13:18, 1.67s/it] 19%|█▉ | 5773/30000 [2:41:42<11:11:58, 1.66s/it] 19%|█▉ | 5774/30000 [2:41:44<11:13:02, 1.67s/it] 19%|█▉ | 5775/30000 [2:41:46<11:12:55, 1.67s/it] 19%|█▉ | 5776/30000 [2:41:47<11:13:33, 1.67s/it] 19%|█▉ | 5777/30000 [2:41:49<11:13:35, 1.67s/it] 19%|█▉ | 5778/30000 [2:41:51<11:13:54, 1.67s/it] 19%|█▉ | 5779/30000 [2:41:52<11:13:34, 1.67s/it] 19%|█▉ | 5780/30000 [2:41:54<11:11:41, 1.66s/it] {'loss': 0.024, 'grad_norm': 0.12673285603523254, 'learning_rate': 2.836209392537904e-05, 'flow_matching_loss': 0.02395770289003849, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.68} + 19%|█▉ | 5780/30000 [2:41:54<11:11:41, 1.66s/it] 19%|█▉ | 5781/30000 [2:41:56<11:12:13, 1.67s/it] 19%|█▉ | 5782/30000 [2:41:57<11:13:00, 1.67s/it] 19%|█▉ | 5783/30000 [2:41:59<11:14:42, 1.67s/it] 19%|█▉ | 5784/30000 [2:42:01<11:14:46, 1.67s/it] 19%|█▉ | 5785/30000 [2:42:02<11:13:45, 1.67s/it] 19%|█▉ | 5786/30000 [2:42:04<11:13:12, 1.67s/it] 19%|█▉ | 5787/30000 [2:42:06<11:13:36, 1.67s/it] 19%|█▉ | 5788/30000 [2:42:07<11:12:57, 1.67s/it] 19%|█▉ | 5789/30000 [2:42:09<11:11:52, 1.67s/it] 19%|█▉ | 5790/30000 [2:42:11<11:12:08, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.125627338886261, 'learning_rate': 2.8354572717697787e-05, 'flow_matching_loss': 0.021024778392165898, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.68} + 19%|█▉ | 5790/30000 [2:42:11<11:12:08, 1.67s/it] 19%|█▉ | 5791/30000 [2:42:12<11:13:05, 1.67s/it] 19%|█▉ | 5792/30000 [2:42:14<11:12:45, 1.67s/it] 19%|█▉ | 5793/30000 [2:42:16<11:12:28, 1.67s/it] 19%|█▉ | 5794/30000 [2:42:17<11:11:11, 1.66s/it] 19%|█▉ | 5795/30000 [2:42:19<11:12:10, 1.67s/it] 19%|█▉ | 5796/30000 [2:42:21<11:11:27, 1.66s/it] 19%|█▉ | 5797/30000 [2:42:22<11:11:22, 1.66s/it] 19%|█▉ | 5798/30000 [2:42:24<11:11:54, 1.67s/it] 19%|█▉ | 5799/30000 [2:42:26<11:12:17, 1.67s/it] 19%|█▉ | 5800/30000 [2:42:27<11:12:12, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.12152893096208572, 'learning_rate': 2.8347035282951428e-05, 'flow_matching_loss': 0.023751809634268282, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.69} + 19%|█▉ | 5800/30000 [2:42:27<11:12:12, 1.67s/it] 19%|█▉ | 5801/30000 [2:42:29<11:13:05, 1.67s/it] 19%|█▉ | 5802/30000 [2:42:31<11:11:59, 1.67s/it] 19%|█▉ | 5803/30000 [2:42:32<11:11:47, 1.67s/it] 19%|█▉ | 5804/30000 [2:42:34<11:12:01, 1.67s/it] 19%|█▉ | 5805/30000 [2:42:36<11:14:05, 1.67s/it] 19%|█▉ | 5806/30000 [2:42:37<11:14:14, 1.67s/it] 19%|█▉ | 5807/30000 [2:42:39<11:13:02, 1.67s/it] 19%|█▉ | 5808/30000 [2:42:41<11:11:10, 1.66s/it] 19%|█▉ | 5809/30000 [2:42:42<11:13:10, 1.67s/it] 19%|█▉ | 5810/30000 [2:42:44<11:12:40, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.13972081243991852, 'learning_rate': 2.8339481630298653e-05, 'flow_matching_loss': 0.02351013571023941, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.69} + 19%|█▉ | 5810/30000 [2:42:44<11:12:40, 1.67s/it] 19%|█▉ | 5811/30000 [2:42:46<11:11:26, 1.67s/it] 19%|█▉ | 5812/30000 [2:42:47<11:10:25, 1.66s/it] 19%|█▉ | 5813/30000 [2:42:49<11:09:57, 1.66s/it] 19%|█▉ | 5814/30000 [2:42:51<11:11:29, 1.67s/it] 19%|█▉ | 5815/30000 [2:42:52<11:10:58, 1.66s/it] 19%|█▉ | 5816/30000 [2:42:54<11:10:47, 1.66s/it] 19%|█▉ | 5817/30000 [2:42:56<11:11:11, 1.67s/it] 19%|█▉ | 5818/30000 [2:42:57<11:11:40, 1.67s/it] 19%|█▉ | 5819/30000 [2:42:59<11:11:54, 1.67s/it] 19%|█▉ | 5820/30000 [2:43:01<11:11:01, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.11660003662109375, 'learning_rate': 2.833191176891787e-05, 'flow_matching_loss': 0.022940328065305948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.69} + 19%|█▉ | 5820/30000 [2:43:01<11:11:01, 1.67s/it] 19%|█▉ | 5821/30000 [2:43:02<11:10:52, 1.66s/it] 19%|█▉ | 5822/30000 [2:43:04<11:10:55, 1.66s/it] 19%|█▉ | 5823/30000 [2:43:06<11:10:56, 1.67s/it] 19%|█▉ | 5824/30000 [2:43:07<11:10:20, 1.66s/it] 19%|█▉ | 5825/30000 [2:43:09<11:12:01, 1.67s/it] 19%|█▉ | 5826/30000 [2:43:11<11:10:44, 1.66s/it] 19%|█▉ | 5827/30000 [2:43:12<11:11:05, 1.67s/it] 19%|█▉ | 5828/30000 [2:43:14<11:10:25, 1.66s/it] 19%|█▉ | 5829/30000 [2:43:16<11:10:27, 1.66s/it] 19%|█▉ | 5830/30000 [2:43:17<11:11:36, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.12315183877944946, 'learning_rate': 2.832432570800717e-05, 'flow_matching_loss': 0.02358836680650711, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.7} + 19%|█▉ | 5830/30000 [2:43:17<11:11:36, 1.67s/it] 19%|█▉ | 5831/30000 [2:43:19<11:11:47, 1.67s/it] 19%|█▉ | 5832/30000 [2:43:21<11:13:35, 1.67s/it] 19%|█▉ | 5833/30000 [2:43:22<11:11:55, 1.67s/it] 19%|█▉ | 5834/30000 [2:43:24<11:11:33, 1.67s/it] 19%|█▉ | 5835/30000 [2:43:26<11:11:07, 1.67s/it] 19%|█▉ | 5836/30000 [2:43:27<11:12:50, 1.67s/it] 19%|█▉ | 5837/30000 [2:43:29<11:12:25, 1.67s/it] 19%|█▉ | 5838/30000 [2:43:31<11:10:01, 1.66s/it] 19%|█▉ | 5839/30000 [2:43:32<11:09:24, 1.66s/it] 19%|█▉ | 5840/30000 [2:43:34<11:11:09, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.15191330015659332, 'learning_rate': 2.8316723456784332e-05, 'flow_matching_loss': 0.023017019405961035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.7} + 19%|█▉ | 5840/30000 [2:43:34<11:11:09, 1.67s/it] 19%|█▉ | 5841/30000 [2:43:36<11:09:50, 1.66s/it] 19%|█▉ | 5842/30000 [2:43:37<11:11:33, 1.67s/it] 19%|█▉ | 5843/30000 [2:43:39<11:10:19, 1.66s/it] 19%|█▉ | 5844/30000 [2:43:41<11:09:51, 1.66s/it] 19%|█▉ | 5845/30000 [2:43:42<11:10:28, 1.67s/it] 19%|█▉ | 5846/30000 [2:43:44<11:09:14, 1.66s/it] 19%|█▉ | 5847/30000 [2:43:46<11:11:38, 1.67s/it] 19%|█▉ | 5848/30000 [2:43:47<11:10:15, 1.67s/it] 19%|█▉ | 5849/30000 [2:43:49<11:11:05, 1.67s/it] 20%|█▉ | 5850/30000 [2:43:51<11:10:03, 1.66s/it] {'loss': 0.0238, 'grad_norm': 0.19321954250335693, 'learning_rate': 2.8309105024486808e-05, 'flow_matching_loss': 0.023782576899975538, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.7} + 20%|█▉ | 5850/30000 [2:43:51<11:10:03, 1.66s/it] 20%|█▉ | 5851/30000 [2:43:52<11:10:28, 1.67s/it] 20%|█▉ | 5852/30000 [2:43:54<11:10:05, 1.66s/it] 20%|█▉ | 5853/30000 [2:43:56<11:09:26, 1.66s/it] 20%|█▉ | 5854/30000 [2:43:57<11:09:43, 1.66s/it] 20%|█▉ | 5855/30000 [2:43:59<11:10:26, 1.67s/it] 20%|█▉ | 5856/30000 [2:44:01<11:08:31, 1.66s/it] 20%|█▉ | 5857/30000 [2:44:02<11:08:08, 1.66s/it] 20%|█▉ | 5858/30000 [2:44:04<11:09:07, 1.66s/it] 20%|█▉ | 5859/30000 [2:44:06<11:08:42, 1.66s/it] 20%|█▉ | 5860/30000 [2:44:07<11:09:07, 1.66s/it] {'loss': 0.0237, 'grad_norm': 0.12517893314361572, 'learning_rate': 2.830147042037172e-05, 'flow_matching_loss': 0.023656392749398947, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.7} + 20%|█▉ | 5860/30000 [2:44:07<11:09:07, 1.66s/it] 20%|█▉ | 5861/30000 [2:44:09<11:08:09, 1.66s/it] 20%|█▉ | 5862/30000 [2:44:11<11:07:59, 1.66s/it] 20%|█▉ | 5863/30000 [2:44:12<11:09:08, 1.66s/it] 20%|█▉ | 5864/30000 [2:44:14<11:08:16, 1.66s/it] 20%|█▉ | 5865/30000 [2:44:16<11:08:38, 1.66s/it] 20%|█▉ | 5866/30000 [2:44:17<11:08:46, 1.66s/it] 20%|█▉ | 5867/30000 [2:44:19<11:09:19, 1.66s/it] 20%|█▉ | 5868/30000 [2:44:21<11:09:30, 1.66s/it] 20%|█▉ | 5869/30000 [2:44:22<11:09:58, 1.67s/it] 20%|█▉ | 5870/30000 [2:44:24<11:10:11, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.10884521901607513, 'learning_rate': 2.8293819653715816e-05, 'flow_matching_loss': 0.02231073509901762, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.71} + 20%|█▉ | 5870/30000 [2:44:24<11:10:11, 1.67s/it] 20%|█▉ | 5871/30000 [2:44:26<11:10:45, 1.67s/it] 20%|█▉ | 5872/30000 [2:44:27<11:10:14, 1.67s/it] 20%|█▉ | 5873/30000 [2:44:29<11:09:52, 1.67s/it] 20%|█▉ | 5874/30000 [2:44:31<11:08:43, 1.66s/it] 20%|█▉ | 5875/30000 [2:44:32<11:09:50, 1.67s/it] 20%|█▉ | 5876/30000 [2:44:34<11:08:50, 1.66s/it] 20%|█▉ | 5877/30000 [2:44:36<11:08:25, 1.66s/it] 20%|█▉ | 5878/30000 [2:44:37<11:09:46, 1.67s/it] 20%|█▉ | 5879/30000 [2:44:39<11:09:44, 1.67s/it] 20%|█▉ | 5880/30000 [2:44:41<11:11:51, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.11498996615409851, 'learning_rate': 2.828615273381551e-05, 'flow_matching_loss': 0.024887533392757177, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.71} + 20%|█▉ | 5880/30000 [2:44:41<11:11:51, 1.67s/it] 20%|█▉ | 5881/30000 [2:44:42<11:10:49, 1.67s/it] 20%|█▉ | 5882/30000 [2:44:44<11:09:55, 1.67s/it] 20%|█▉ | 5883/30000 [2:44:46<11:09:38, 1.67s/it] 20%|█▉ | 5884/30000 [2:44:47<11:09:11, 1.66s/it] 20%|█▉ | 5885/30000 [2:44:49<11:09:17, 1.67s/it] 20%|█▉ | 5886/30000 [2:44:51<11:08:50, 1.66s/it] 20%|█▉ | 5887/30000 [2:44:52<11:08:37, 1.66s/it] 20%|█▉ | 5888/30000 [2:44:54<11:08:13, 1.66s/it] 20%|█▉ | 5889/30000 [2:44:56<11:08:58, 1.66s/it] 20%|█▉ | 5890/30000 [2:44:57<11:09:00, 1.66s/it] {'loss': 0.0203, 'grad_norm': 0.13862760365009308, 'learning_rate': 2.827846966998683e-05, 'flow_matching_loss': 0.0203475589863956, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.71} + 20%|█▉ | 5890/30000 [2:44:57<11:09:00, 1.66s/it] 20%|█▉ | 5891/30000 [2:44:59<11:09:16, 1.67s/it] 20%|█▉ | 5892/30000 [2:45:01<11:09:04, 1.67s/it] 20%|█▉ | 5893/30000 [2:45:02<11:09:36, 1.67s/it] 20%|█▉ | 5894/30000 [2:45:04<11:10:54, 1.67s/it] 20%|█▉ | 5895/30000 [2:45:06<11:10:46, 1.67s/it] 20%|█▉ | 5896/30000 [2:45:07<11:09:45, 1.67s/it] 20%|█▉ | 5897/30000 [2:45:09<11:08:57, 1.67s/it] 20%|█▉ | 5898/30000 [2:45:11<11:08:57, 1.67s/it] 20%|█▉ | 5899/30000 [2:45:12<11:09:52, 1.67s/it] 20%|█▉ | 5900/30000 [2:45:14<11:09:27, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.159555584192276, 'learning_rate': 2.8270770471565422e-05, 'flow_matching_loss': 0.02359612174332142, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.72} + 20%|█▉ | 5900/30000 [2:45:14<11:09:27, 1.67s/it] 20%|█▉ | 5901/30000 [2:45:16<11:09:41, 1.67s/it] 20%|█▉ | 5902/30000 [2:45:17<11:09:06, 1.67s/it] 20%|█▉ | 5903/30000 [2:45:19<11:08:30, 1.66s/it] 20%|█▉ | 5904/30000 [2:45:21<11:07:28, 1.66s/it] 20%|█▉ | 5905/30000 [2:45:22<11:06:59, 1.66s/it] 20%|█▉ | 5906/30000 [2:45:24<11:08:12, 1.66s/it] 20%|█▉ | 5907/30000 [2:45:26<11:08:08, 1.66s/it] 20%|█▉ | 5908/30000 [2:45:27<11:09:32, 1.67s/it] 20%|█▉ | 5909/30000 [2:45:29<11:10:23, 1.67s/it] 20%|█▉ | 5910/30000 [2:45:31<11:09:29, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.14153800904750824, 'learning_rate': 2.826305514790654e-05, 'flow_matching_loss': 0.022271190676838158, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.72} + 20%|█▉ | 5910/30000 [2:45:31<11:09:29, 1.67s/it] 20%|█▉ | 5911/30000 [2:45:32<11:09:38, 1.67s/it] 20%|█▉ | 5912/30000 [2:45:34<11:09:29, 1.67s/it] 20%|█▉ | 5913/30000 [2:45:36<11:08:49, 1.67s/it] 20%|█▉ | 5914/30000 [2:45:37<11:09:18, 1.67s/it] 20%|█▉ | 5915/30000 [2:45:39<11:09:08, 1.67s/it] 20%|█▉ | 5916/30000 [2:45:41<11:09:30, 1.67s/it] 20%|█▉ | 5917/30000 [2:45:42<11:06:59, 1.66s/it] 20%|█▉ | 5918/30000 [2:45:44<11:07:21, 1.66s/it] 20%|█▉ | 5919/30000 [2:45:46<11:06:29, 1.66s/it] 20%|█▉ | 5920/30000 [2:45:47<11:07:49, 1.66s/it] {'loss': 0.025, 'grad_norm': 0.1330643892288208, 'learning_rate': 2.825532370838503e-05, 'flow_matching_loss': 0.025022901594638824, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.72} + 20%|█▉ | 5920/30000 [2:45:47<11:07:49, 1.66s/it] 20%|█▉ | 5921/30000 [2:45:49<11:07:18, 1.66s/it] 20%|█▉ | 5922/30000 [2:45:51<11:07:48, 1.66s/it] 20%|█▉ | 5923/30000 [2:45:52<11:08:27, 1.67s/it] 20%|█▉ | 5924/30000 [2:45:54<11:08:05, 1.66s/it] 20%|█▉ | 5925/30000 [2:45:56<11:07:15, 1.66s/it] 20%|█▉ | 5926/30000 [2:45:57<11:07:32, 1.66s/it] 20%|█▉ | 5927/30000 [2:45:59<11:06:33, 1.66s/it] 20%|█▉ | 5928/30000 [2:46:01<11:06:55, 1.66s/it] 20%|█▉ | 5929/30000 [2:46:02<11:06:37, 1.66s/it] 20%|█▉ | 5930/30000 [2:46:04<11:06:40, 1.66s/it] {'loss': 0.0264, 'grad_norm': 0.18230664730072021, 'learning_rate': 2.824757616239532e-05, 'flow_matching_loss': 0.02641751114279032, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.73} + 20%|█▉ | 5930/30000 [2:46:04<11:06:40, 1.66s/it] 20%|█▉ | 5931/30000 [2:46:06<11:07:22, 1.66s/it] 20%|█▉ | 5932/30000 [2:46:07<11:06:40, 1.66s/it] 20%|█▉ | 5933/30000 [2:46:09<11:06:21, 1.66s/it] 20%|█▉ | 5934/30000 [2:46:11<11:07:06, 1.66s/it] 20%|█▉ | 5935/30000 [2:46:12<11:08:12, 1.67s/it] 20%|█▉ | 5936/30000 [2:46:14<11:07:11, 1.66s/it] 20%|█▉ | 5937/30000 [2:46:16<11:05:59, 1.66s/it] 20%|█▉ | 5938/30000 [2:46:17<11:06:08, 1.66s/it] 20%|█▉ | 5939/30000 [2:46:19<11:06:02, 1.66s/it] 20%|█▉ | 5940/30000 [2:46:21<11:08:27, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.1312989443540573, 'learning_rate': 2.8239812519351404e-05, 'flow_matching_loss': 0.025095426104962827, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.73} + 20%|█▉ | 5940/30000 [2:46:21<11:08:27, 1.67s/it] 20%|█▉ | 5941/30000 [2:46:22<11:08:56, 1.67s/it] 20%|█▉ | 5942/30000 [2:46:24<11:10:13, 1.67s/it] 20%|█▉ | 5943/30000 [2:46:26<11:09:36, 1.67s/it] 20%|█▉ | 5944/30000 [2:46:27<11:10:23, 1.67s/it] 20%|█▉ | 5945/30000 [2:46:29<11:12:44, 1.68s/it] 20%|█▉ | 5946/30000 [2:46:31<11:11:18, 1.67s/it] 20%|█▉ | 5947/30000 [2:46:32<11:10:06, 1.67s/it] 20%|█▉ | 5948/30000 [2:46:34<11:09:48, 1.67s/it] 20%|█▉ | 5949/30000 [2:46:36<11:10:20, 1.67s/it] 20%|█▉ | 5950/30000 [2:46:37<11:09:12, 1.67s/it] {'loss': 0.0266, 'grad_norm': 0.20917263627052307, 'learning_rate': 2.823203278868685e-05, 'flow_matching_loss': 0.026615205220878124, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.73} + 20%|█▉ | 5950/30000 [2:46:37<11:09:12, 1.67s/it] 20%|█▉ | 5951/30000 [2:46:39<11:11:46, 1.68s/it] 20%|█▉ | 5952/30000 [2:46:41<11:12:00, 1.68s/it] 20%|█▉ | 5953/30000 [2:46:42<11:12:39, 1.68s/it] 20%|█▉ | 5954/30000 [2:46:44<11:11:03, 1.67s/it] 20%|█▉ | 5955/30000 [2:46:46<11:10:38, 1.67s/it] 20%|█▉ | 5956/30000 [2:46:47<11:09:31, 1.67s/it] 20%|█▉ | 5957/30000 [2:46:49<11:09:22, 1.67s/it] 20%|█▉ | 5958/30000 [2:46:51<11:08:04, 1.67s/it] 20%|█▉ | 5959/30000 [2:46:52<11:10:01, 1.67s/it] 20%|█▉ | 5960/30000 [2:46:54<11:09:22, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.14870581030845642, 'learning_rate': 2.8224236979854752e-05, 'flow_matching_loss': 0.024156640376895668, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.73} + 20%|█▉ | 5960/30000 [2:46:54<11:09:22, 1.67s/it] 20%|█▉ | 5961/30000 [2:46:56<11:08:46, 1.67s/it] 20%|█▉ | 5962/30000 [2:46:57<11:08:24, 1.67s/it] 20%|█▉ | 5963/30000 [2:46:59<11:07:21, 1.67s/it] 20%|█▉ | 5964/30000 [2:47:01<11:07:09, 1.67s/it] 20%|█▉ | 5965/30000 [2:47:02<11:06:31, 1.66s/it] 20%|█▉ | 5966/30000 [2:47:04<11:09:09, 1.67s/it] 20%|█▉ | 5967/30000 [2:47:06<11:09:53, 1.67s/it] 20%|█▉ | 5968/30000 [2:47:07<11:10:31, 1.67s/it] 20%|█▉ | 5969/30000 [2:47:09<11:09:29, 1.67s/it] 20%|█▉ | 5970/30000 [2:47:11<11:08:55, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.14455564320087433, 'learning_rate': 2.821642510232776e-05, 'flow_matching_loss': 0.022256787680089474, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.74} + 20%|█▉ | 5970/30000 [2:47:11<11:08:55, 1.67s/it] 20%|█▉ | 5971/30000 [2:47:12<11:09:07, 1.67s/it] 20%|█▉ | 5972/30000 [2:47:14<11:08:37, 1.67s/it] 20%|█▉ | 5973/30000 [2:47:16<11:09:35, 1.67s/it] 20%|█▉ | 5974/30000 [2:47:17<11:09:55, 1.67s/it] 20%|█▉ | 5975/30000 [2:47:19<11:09:36, 1.67s/it] 20%|█▉ | 5976/30000 [2:47:21<11:10:03, 1.67s/it] 20%|█▉ | 5977/30000 [2:47:22<11:08:40, 1.67s/it] 20%|█▉ | 5978/30000 [2:47:24<11:09:16, 1.67s/it] 20%|█▉ | 5979/30000 [2:47:26<11:08:47, 1.67s/it] 20%|█▉ | 5980/30000 [2:47:27<11:08:22, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.12255280464887619, 'learning_rate': 2.8208597165598046e-05, 'flow_matching_loss': 0.021477902121841908, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.74} + 20%|█▉ | 5980/30000 [2:47:27<11:08:22, 1.67s/it] 20%|█▉ | 5981/30000 [2:47:29<11:07:54, 1.67s/it] 20%|█▉ | 5982/30000 [2:47:31<11:08:11, 1.67s/it] 20%|█▉ | 5983/30000 [2:47:32<11:08:10, 1.67s/it] 20%|█▉ | 5984/30000 [2:47:34<11:08:20, 1.67s/it] 20%|█▉ | 5985/30000 [2:47:36<11:07:10, 1.67s/it] 20%|█▉ | 5986/30000 [2:47:37<11:07:18, 1.67s/it] 20%|█▉ | 5987/30000 [2:47:39<11:06:58, 1.67s/it] 20%|█▉ | 5988/30000 [2:47:41<11:08:06, 1.67s/it] 20%|█▉ | 5989/30000 [2:47:42<11:06:46, 1.67s/it] 20%|█▉ | 5990/30000 [2:47:44<11:06:00, 1.66s/it] {'loss': 0.0243, 'grad_norm': 0.1553295999765396, 'learning_rate': 2.8200753179177285e-05, 'flow_matching_loss': 0.02433424610644579, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.74} + 20%|█▉ | 5990/30000 [2:47:44<11:06:00, 1.66s/it] 20%|█▉ | 5991/30000 [2:47:46<11:07:50, 1.67s/it] 20%|█▉ | 5992/30000 [2:47:47<11:08:22, 1.67s/it] 20%|█▉ | 5993/30000 [2:47:49<11:08:15, 1.67s/it] 20%|█▉ | 5994/30000 [2:47:51<11:07:32, 1.67s/it] 20%|█▉ | 5995/30000 [2:47:52<11:08:17, 1.67s/it] 20%|█▉ | 5996/30000 [2:47:54<11:07:15, 1.67s/it] 20%|█▉ | 5997/30000 [2:47:56<11:08:11, 1.67s/it] 20%|█▉ | 5998/30000 [2:47:57<11:09:15, 1.67s/it] 20%|█▉ | 5999/30000 [2:47:59<11:07:59, 1.67s/it] 20%|██ | 6000/30000 [2:48:01<11:09:27, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.11468901485204697, 'learning_rate': 2.819289315259666e-05, 'flow_matching_loss': 0.022223322093486785, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.75} + 20%|██ | 6000/30000 [2:48:01<11:09:27, 1.67s/it] 20%|██ | 6001/30000 [2:48:02<11:08:07, 1.67s/it] 20%|██ | 6002/30000 [2:48:04<11:07:38, 1.67s/it] 20%|██ | 6003/30000 [2:48:06<11:07:46, 1.67s/it] 20%|██ | 6004/30000 [2:48:07<11:07:22, 1.67s/it] 20%|██ | 6005/30000 [2:48:09<11:06:58, 1.67s/it] 20%|██ | 6006/30000 [2:48:11<11:07:16, 1.67s/it] 20%|██ | 6007/30000 [2:48:12<11:07:35, 1.67s/it] 20%|██ | 6008/30000 [2:48:14<11:07:36, 1.67s/it] 20%|██ | 6009/30000 [2:48:16<11:06:49, 1.67s/it] 20%|██ | 6010/30000 [2:48:17<11:07:01, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.15156148374080658, 'learning_rate': 2.8185017095406845e-05, 'flow_matching_loss': 0.024454742297530176, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.75} + 20%|██ | 6010/30000 [2:48:17<11:07:01, 1.67s/it] 20%|██ | 6011/30000 [2:48:19<11:07:46, 1.67s/it] 20%|██ | 6012/30000 [2:48:21<11:08:33, 1.67s/it] 20%|██ | 6013/30000 [2:48:22<11:09:24, 1.67s/it] 20%|██ | 6014/30000 [2:48:24<11:08:28, 1.67s/it] 20%|██ | 6015/30000 [2:48:26<11:07:51, 1.67s/it] 20%|██ | 6016/30000 [2:48:27<11:07:00, 1.67s/it] 20%|██ | 6017/30000 [2:48:29<11:06:30, 1.67s/it] 20%|██ | 6018/30000 [2:48:31<11:08:13, 1.67s/it] 20%|██ | 6019/30000 [2:48:32<11:07:57, 1.67s/it] 20%|██ | 6020/30000 [2:48:34<11:06:19, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.14907966554164886, 'learning_rate': 2.8177125017177998e-05, 'flow_matching_loss': 0.024142324365675448, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.75} + 20%|██ | 6020/30000 [2:48:34<11:06:19, 1.67s/it] 20%|██ | 6021/30000 [2:48:36<11:06:37, 1.67s/it] 20%|██ | 6022/30000 [2:48:37<11:06:12, 1.67s/it] 20%|██ | 6023/30000 [2:48:39<11:05:44, 1.67s/it] 20%|██ | 6024/30000 [2:48:41<11:05:34, 1.67s/it] 20%|██ | 6025/30000 [2:48:42<11:05:04, 1.66s/it] 20%|██ | 6026/30000 [2:48:44<11:04:45, 1.66s/it] 20%|██ | 6027/30000 [2:48:46<11:05:25, 1.67s/it] 20%|██ | 6028/30000 [2:48:47<11:05:45, 1.67s/it] 20%|██ | 6029/30000 [2:48:49<11:05:33, 1.67s/it] 20%|██ | 6030/30000 [2:48:51<11:06:37, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.19960173964500427, 'learning_rate': 2.8169216927499727e-05, 'flow_matching_loss': 0.02749516796320677, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.75} + 20%|██ | 6030/30000 [2:48:51<11:06:37, 1.67s/it] 20%|██ | 6031/30000 [2:48:52<11:07:24, 1.67s/it] 20%|██ | 6032/30000 [2:48:54<11:08:02, 1.67s/it] 20%|██ | 6033/30000 [2:48:56<11:08:19, 1.67s/it] 20%|██ | 6034/30000 [2:48:58<11:07:06, 1.67s/it] 20%|██ | 6035/30000 [2:48:59<11:06:48, 1.67s/it] 20%|██ | 6036/30000 [2:49:01<11:05:02, 1.67s/it] 20%|██ | 6037/30000 [2:49:03<11:07:20, 1.67s/it] 20%|██ | 6038/30000 [2:49:04<11:05:59, 1.67s/it] 20%|██ | 6039/30000 [2:49:06<11:04:58, 1.67s/it] 20%|██ | 6040/30000 [2:49:07<11:04:55, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.15116281807422638, 'learning_rate': 2.816129283598112e-05, 'flow_matching_loss': 0.021468933671712875, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.76} + 20%|██ | 6040/30000 [2:49:08<11:04:55, 1.67s/it] 20%|██ | 6041/30000 [2:49:09<11:04:56, 1.67s/it] 20%|██ | 6042/30000 [2:49:11<11:04:15, 1.66s/it] 20%|██ | 6043/30000 [2:49:12<11:04:15, 1.66s/it] 20%|██ | 6044/30000 [2:49:14<11:03:43, 1.66s/it] 20%|██ | 6045/30000 [2:49:16<11:04:15, 1.66s/it] 20%|██ | 6046/30000 [2:49:17<11:05:06, 1.67s/it] 20%|██ | 6047/30000 [2:49:19<11:05:13, 1.67s/it] 20%|██ | 6048/30000 [2:49:21<11:04:42, 1.67s/it] 20%|██ | 6049/30000 [2:49:22<11:04:40, 1.67s/it] 20%|██ | 6050/30000 [2:49:24<11:04:52, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.1070428192615509, 'learning_rate': 2.815335275225068e-05, 'flow_matching_loss': 0.023748036101460458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.76} + 20%|██ | 6050/30000 [2:49:24<11:04:52, 1.67s/it] 20%|██ | 6051/30000 [2:49:26<11:06:25, 1.67s/it] 20%|██ | 6052/30000 [2:49:27<11:06:29, 1.67s/it] 20%|██ | 6053/30000 [2:49:29<11:06:26, 1.67s/it] 20%|██ | 6054/30000 [2:49:31<11:06:24, 1.67s/it] 20%|██ | 6055/30000 [2:49:33<11:08:42, 1.68s/it] 20%|██ | 6056/30000 [2:49:34<11:07:25, 1.67s/it] 20%|██ | 6057/30000 [2:49:36<11:06:28, 1.67s/it] 20%|██ | 6058/30000 [2:49:38<11:05:16, 1.67s/it] 20%|██ | 6059/30000 [2:49:39<11:05:26, 1.67s/it] 20%|██ | 6060/30000 [2:49:41<11:05:35, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.12550534307956696, 'learning_rate': 2.8145396685956374e-05, 'flow_matching_loss': 0.023744091391563416, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.76} + 20%|██ | 6060/30000 [2:49:41<11:05:35, 1.67s/it] 20%|██ | 6061/30000 [2:49:43<11:05:17, 1.67s/it] 20%|██ | 6062/30000 [2:49:44<11:04:51, 1.67s/it] 20%|██ | 6063/30000 [2:49:46<11:04:57, 1.67s/it] 20%|██ | 6064/30000 [2:49:48<11:04:43, 1.67s/it] 20%|██ | 6065/30000 [2:49:49<11:06:15, 1.67s/it] 20%|██ | 6066/30000 [2:49:51<11:05:39, 1.67s/it] 20%|██ | 6067/30000 [2:49:53<11:06:00, 1.67s/it] 20%|██ | 6068/30000 [2:49:54<11:06:36, 1.67s/it] 20%|██ | 6069/30000 [2:49:56<11:06:32, 1.67s/it] 20%|██ | 6070/30000 [2:49:58<11:05:30, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.1285734325647354, 'learning_rate': 2.813742464676556e-05, 'flow_matching_loss': 0.023046823032200337, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.77} + 20%|██ | 6070/30000 [2:49:58<11:05:30, 1.67s/it] 20%|██ | 6071/30000 [2:49:59<11:04:43, 1.67s/it] 20%|██ | 6072/30000 [2:50:01<11:05:45, 1.67s/it] 20%|██ | 6073/30000 [2:50:03<11:05:01, 1.67s/it] 20%|██ | 6074/30000 [2:50:04<11:05:50, 1.67s/it] 20%|██ | 6075/30000 [2:50:06<11:06:00, 1.67s/it] 20%|██ | 6076/30000 [2:50:08<11:04:02, 1.67s/it] 20%|██ | 6077/30000 [2:50:09<11:03:11, 1.66s/it] 20%|██ | 6078/30000 [2:50:11<11:03:42, 1.66s/it] 20%|██ | 6079/30000 [2:50:13<11:04:14, 1.67s/it] 20%|██ | 6080/30000 [2:50:14<11:03:39, 1.66s/it] {'loss': 0.0278, 'grad_norm': 0.12211577594280243, 'learning_rate': 2.8129436644365025e-05, 'flow_matching_loss': 0.02782214041799307, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.77} + 20%|██ | 6080/30000 [2:50:14<11:03:39, 1.66s/it] 20%|██ | 6081/30000 [2:50:16<11:03:25, 1.66s/it] 20%|██ | 6082/30000 [2:50:18<11:03:17, 1.66s/it] 20%|██ | 6083/30000 [2:50:19<11:03:59, 1.67s/it] 20%|██ | 6084/30000 [2:50:21<11:04:05, 1.67s/it] 20%|██ | 6085/30000 [2:50:23<11:04:11, 1.67s/it] 20%|██ | 6086/30000 [2:50:24<11:05:19, 1.67s/it] 20%|██ | 6087/30000 [2:50:26<11:04:24, 1.67s/it] 20%|██ | 6088/30000 [2:50:28<11:03:56, 1.67s/it] 20%|██ | 6089/30000 [2:50:29<11:03:27, 1.66s/it] 20%|██ | 6090/30000 [2:50:31<11:03:23, 1.66s/it] {'loss': 0.0236, 'grad_norm': 0.13875730335712433, 'learning_rate': 2.8121432688460938e-05, 'flow_matching_loss': 0.023615209385752678, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.77} + 20%|██ | 6090/30000 [2:50:31<11:03:23, 1.66s/it] 20%|██ | 6091/30000 [2:50:33<11:03:25, 1.66s/it] 20%|██ | 6092/30000 [2:50:34<11:04:21, 1.67s/it] 20%|██ | 6093/30000 [2:50:36<11:05:01, 1.67s/it] 20%|██ | 6094/30000 [2:50:38<11:05:41, 1.67s/it] 20%|██ | 6095/30000 [2:50:39<11:06:44, 1.67s/it] 20%|██ | 6096/30000 [2:50:41<11:05:53, 1.67s/it] 20%|██ | 6097/30000 [2:50:43<11:05:11, 1.67s/it] 20%|██ | 6098/30000 [2:50:44<11:05:53, 1.67s/it] 20%|██ | 6099/30000 [2:50:46<11:05:24, 1.67s/it] 20%|██ | 6100/30000 [2:50:48<11:03:48, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.13857397437095642, 'learning_rate': 2.8113412788778867e-05, 'flow_matching_loss': 0.02230990380048752, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.77} + 20%|██ | 6100/30000 [2:50:48<11:03:48, 1.67s/it] 20%|██ | 6101/30000 [2:50:49<11:04:20, 1.67s/it] 20%|██ | 6102/30000 [2:50:51<11:04:46, 1.67s/it] 20%|██ | 6103/30000 [2:50:53<11:04:22, 1.67s/it] 20%|██ | 6104/30000 [2:50:54<11:03:12, 1.67s/it] 20%|██ | 6105/30000 [2:50:56<11:03:02, 1.66s/it] 20%|██ | 6106/30000 [2:50:58<11:02:11, 1.66s/it] 20%|██ | 6107/30000 [2:50:59<11:01:57, 1.66s/it] 20%|██ | 6108/30000 [2:51:01<11:03:53, 1.67s/it] 20%|██ | 6109/30000 [2:51:03<11:03:41, 1.67s/it] 20%|██ | 6110/30000 [2:51:04<11:05:03, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.14385561645030975, 'learning_rate': 2.8105376955063744e-05, 'flow_matching_loss': 0.024903105199337007, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.78} + 20%|██ | 6110/30000 [2:51:04<11:05:03, 1.67s/it] 20%|██ | 6111/30000 [2:51:06<11:04:30, 1.67s/it] 20%|██ | 6112/30000 [2:51:08<11:04:45, 1.67s/it] 20%|██ | 6113/30000 [2:51:09<11:04:38, 1.67s/it] 20%|██ | 6114/30000 [2:51:11<11:04:21, 1.67s/it] 20%|██ | 6115/30000 [2:51:13<11:04:23, 1.67s/it] 20%|██ | 6116/30000 [2:51:14<11:03:00, 1.67s/it] 20%|██ | 6117/30000 [2:51:16<11:04:13, 1.67s/it] 20%|██ | 6118/30000 [2:51:18<11:04:33, 1.67s/it] 20%|██ | 6119/30000 [2:51:19<11:02:48, 1.67s/it] 20%|██ | 6120/30000 [2:51:21<11:00:51, 1.66s/it] {'loss': 0.0255, 'grad_norm': 0.1228492334485054, 'learning_rate': 2.8097325197079862e-05, 'flow_matching_loss': 0.02554260715842247, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.78} + 20%|██ | 6120/30000 [2:51:21<11:00:51, 1.66s/it] 20%|██ | 6121/30000 [2:51:23<11:02:02, 1.66s/it] 20%|██ | 6122/30000 [2:51:24<11:00:51, 1.66s/it] 20%|██ | 6123/30000 [2:51:26<11:03:24, 1.67s/it] 20%|██ | 6124/30000 [2:51:28<11:04:53, 1.67s/it] 20%|██ | 6125/30000 [2:51:29<11:04:20, 1.67s/it] 20%|██ | 6126/30000 [2:51:31<11:04:19, 1.67s/it] 20%|██ | 6127/30000 [2:51:33<11:03:56, 1.67s/it] 20%|██ | 6128/30000 [2:51:34<11:03:37, 1.67s/it] 20%|██ | 6129/30000 [2:51:36<11:02:10, 1.66s/it] 20%|██ | 6130/30000 [2:51:38<11:01:08, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.12209916859865189, 'learning_rate': 2.808925752461087e-05, 'flow_matching_loss': 0.024579497054219246, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.78} + 20%|██ | 6130/30000 [2:51:38<11:01:08, 1.66s/it] 20%|██ | 6131/30000 [2:51:39<11:01:54, 1.66s/it] 20%|██ | 6132/30000 [2:51:41<11:01:25, 1.66s/it] 20%|██ | 6133/30000 [2:51:43<11:02:29, 1.67s/it] 20%|██ | 6134/30000 [2:51:44<11:02:24, 1.67s/it] 20%|██ | 6135/30000 [2:51:46<11:02:13, 1.66s/it] 20%|██ | 6136/30000 [2:51:48<11:02:24, 1.67s/it] 20%|██ | 6137/30000 [2:51:49<11:01:08, 1.66s/it] 20%|██ | 6138/30000 [2:51:51<10:59:39, 1.66s/it] 20%|██ | 6139/30000 [2:51:53<11:01:57, 1.66s/it] 20%|██ | 6140/30000 [2:51:54<11:02:57, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.152769535779953, 'learning_rate': 2.808117394745975e-05, 'flow_matching_loss': 0.02442519124597311, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.79} + 20%|██ | 6140/30000 [2:51:54<11:02:57, 1.67s/it] 20%|██ | 6141/30000 [2:51:56<11:03:37, 1.67s/it] 20%|██ | 6142/30000 [2:51:58<11:03:57, 1.67s/it] 20%|██ | 6143/30000 [2:51:59<11:03:15, 1.67s/it] 20%|██ | 6144/30000 [2:52:01<11:02:10, 1.67s/it] 20%|██ | 6145/30000 [2:52:03<11:02:19, 1.67s/it] 20%|██ | 6146/30000 [2:52:04<11:01:44, 1.66s/it] 20%|██ | 6147/30000 [2:52:06<11:02:17, 1.67s/it] 20%|██ | 6148/30000 [2:52:08<11:02:14, 1.67s/it] 20%|██ | 6149/30000 [2:52:09<11:01:47, 1.66s/it] 20%|██ | 6150/30000 [2:52:11<11:02:07, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.10569784045219421, 'learning_rate': 2.807307447544881e-05, 'flow_matching_loss': 0.02127491161227226, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.79} + 20%|██ | 6150/30000 [2:52:11<11:02:07, 1.67s/it] 21%|██ | 6151/30000 [2:52:13<11:02:36, 1.67s/it] 21%|██ | 6152/30000 [2:52:14<11:01:31, 1.66s/it] 21%|██ | 6153/30000 [2:52:16<11:00:30, 1.66s/it] 21%|██ | 6154/30000 [2:52:17<10:59:45, 1.66s/it] 21%|██ | 6155/30000 [2:52:19<11:00:29, 1.66s/it] 21%|██ | 6156/30000 [2:52:21<11:01:36, 1.66s/it] 21%|██ | 6157/30000 [2:52:23<11:03:44, 1.67s/it] 21%|██ | 6158/30000 [2:52:24<11:03:36, 1.67s/it] 21%|██ | 6159/30000 [2:52:26<11:03:42, 1.67s/it] 21%|██ | 6160/30000 [2:52:28<11:02:44, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.12598398327827454, 'learning_rate': 2.806495911841967e-05, 'flow_matching_loss': 0.023942339792847635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.79} + 21%|██ | 6160/30000 [2:52:28<11:02:44, 1.67s/it] 21%|██ | 6161/30000 [2:52:29<11:02:06, 1.67s/it] 21%|██ | 6162/30000 [2:52:31<11:02:30, 1.67s/it] 21%|██ | 6163/30000 [2:52:33<11:02:08, 1.67s/it] 21%|██ | 6164/30000 [2:52:34<11:01:15, 1.66s/it] 21%|██ | 6165/30000 [2:52:36<11:01:21, 1.66s/it] 21%|██ | 6166/30000 [2:52:38<11:02:30, 1.67s/it] 21%|██ | 6167/30000 [2:52:39<11:01:26, 1.67s/it] 21%|██ | 6168/30000 [2:52:41<11:00:56, 1.66s/it] 21%|██ | 6169/30000 [2:52:43<11:01:06, 1.66s/it] 21%|██ | 6170/30000 [2:52:44<11:01:59, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.1132965087890625, 'learning_rate': 2.8056827886233255e-05, 'flow_matching_loss': 0.020600279606878758, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.8} + 21%|██ | 6170/30000 [2:52:44<11:01:59, 1.67s/it] 21%|██ | 6171/30000 [2:52:46<11:01:57, 1.67s/it] 21%|██ | 6172/30000 [2:52:48<11:00:38, 1.66s/it] 21%|██ | 6173/30000 [2:52:49<11:00:13, 1.66s/it] 21%|██ | 6174/30000 [2:52:51<11:00:52, 1.66s/it] 21%|██ | 6175/30000 [2:52:52<10:59:20, 1.66s/it] 21%|██ | 6176/30000 [2:52:54<10:59:55, 1.66s/it] 21%|██ | 6177/30000 [2:52:56<11:01:22, 1.67s/it] 21%|██ | 6178/30000 [2:52:57<11:00:24, 1.66s/it] 21%|██ | 6179/30000 [2:52:59<11:03:13, 1.67s/it] 21%|██ | 6180/30000 [2:53:01<11:01:25, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.1447487473487854, 'learning_rate': 2.8048680788769783e-05, 'flow_matching_loss': 0.023059160634875297, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.8} + 21%|██ | 6180/30000 [2:53:01<11:01:25, 1.67s/it] 21%|██ | 6181/30000 [2:53:02<11:02:41, 1.67s/it] 21%|██ | 6182/30000 [2:53:04<11:02:38, 1.67s/it] 21%|██ | 6183/30000 [2:53:06<11:01:54, 1.67s/it] 21%|██ | 6184/30000 [2:53:07<11:01:20, 1.67s/it] 21%|██ | 6185/30000 [2:53:09<11:02:36, 1.67s/it] 21%|██ | 6186/30000 [2:53:11<10:59:29, 1.66s/it] 21%|██ | 6187/30000 [2:53:12<10:59:33, 1.66s/it] 21%|██ | 6188/30000 [2:53:14<11:00:20, 1.66s/it] 21%|██ | 6189/30000 [2:53:16<11:00:46, 1.67s/it] 21%|██ | 6190/30000 [2:53:17<11:01:31, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.15869535505771637, 'learning_rate': 2.8040517835928742e-05, 'flow_matching_loss': 0.022303610946983098, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.8} + 21%|██ | 6190/30000 [2:53:18<11:01:31, 1.67s/it] 21%|██ | 6191/30000 [2:53:19<11:00:21, 1.66s/it] 21%|██ | 6192/30000 [2:53:21<10:59:19, 1.66s/it] 21%|██ | 6193/30000 [2:53:22<10:59:28, 1.66s/it] 21%|██ | 6194/30000 [2:53:24<10:59:39, 1.66s/it] 21%|██ | 6195/30000 [2:53:26<11:01:12, 1.67s/it] 21%|██ | 6196/30000 [2:53:27<11:02:00, 1.67s/it] 21%|██ | 6197/30000 [2:53:29<11:02:40, 1.67s/it] 21%|██ | 6198/30000 [2:53:31<11:04:36, 1.68s/it] 21%|██ | 6199/30000 [2:53:33<11:03:44, 1.67s/it] 21%|██ | 6200/30000 [2:53:34<11:02:29, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.17212027311325073, 'learning_rate': 2.803233903762889e-05, 'flow_matching_loss': 0.02276346329599619, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.8} + 21%|██ | 6200/30000 [2:53:34<11:02:29, 1.67s/it] 21%|██ | 6201/30000 [2:53:36<11:02:32, 1.67s/it] 21%|██ | 6202/30000 [2:53:38<11:01:39, 1.67s/it] 21%|██ | 6203/30000 [2:53:39<11:01:42, 1.67s/it] 21%|██ | 6204/30000 [2:53:41<11:01:50, 1.67s/it] 21%|██ | 6205/30000 [2:53:43<11:01:14, 1.67s/it] 21%|██ | 6206/30000 [2:53:44<10:59:31, 1.66s/it] 21%|██ | 6207/30000 [2:53:46<11:00:56, 1.67s/it] 21%|██ | 6208/30000 [2:53:47<11:00:15, 1.67s/it] 21%|██ | 6209/30000 [2:53:49<11:00:09, 1.66s/it] 21%|██ | 6210/30000 [2:53:51<10:59:03, 1.66s/it] {'loss': 0.0247, 'grad_norm': 0.10809541493654251, 'learning_rate': 2.8024144403808235e-05, 'flow_matching_loss': 0.024715935438871385, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.81} + 21%|██ | 6210/30000 [2:53:51<10:59:03, 1.66s/it] 21%|██ | 6211/30000 [2:53:52<10:59:55, 1.66s/it] 21%|██ | 6212/30000 [2:53:54<10:59:55, 1.66s/it] 21%|██ | 6213/30000 [2:53:56<10:59:47, 1.66s/it] 21%|██ | 6214/30000 [2:53:57<10:59:59, 1.66s/it] 21%|██ | 6215/30000 [2:53:59<11:01:21, 1.67s/it] 21%|██ | 6216/30000 [2:54:01<11:00:43, 1.67s/it] 21%|██ | 6217/30000 [2:54:02<10:59:27, 1.66s/it] 21%|██ | 6218/30000 [2:54:04<10:59:36, 1.66s/it] 21%|██ | 6219/30000 [2:54:06<11:00:03, 1.67s/it] 21%|██ | 6220/30000 [2:54:07<11:00:57, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.12706105411052704, 'learning_rate': 2.8015933944424037e-05, 'flow_matching_loss': 0.021738110389560462, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.81} + 21%|██ | 6220/30000 [2:54:08<11:00:57, 1.67s/it] 21%|██ | 6221/30000 [2:54:09<11:00:51, 1.67s/it] 21%|██ | 6222/30000 [2:54:11<10:59:44, 1.66s/it] 21%|██ | 6223/30000 [2:54:12<10:58:47, 1.66s/it] 21%|██ | 6224/30000 [2:54:14<10:57:30, 1.66s/it] 21%|██ | 6225/30000 [2:54:16<10:59:27, 1.66s/it] 21%|██ | 6226/30000 [2:54:17<10:58:27, 1.66s/it] 21%|██ | 6227/30000 [2:54:19<10:57:19, 1.66s/it] 21%|██ | 6228/30000 [2:54:21<10:56:59, 1.66s/it] 21%|██ | 6229/30000 [2:54:22<10:58:07, 1.66s/it] 21%|██ | 6230/30000 [2:54:24<10:58:34, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.1406761109828949, 'learning_rate': 2.800770766945277e-05, 'flow_matching_loss': 0.023066115751862525, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.81} + 21%|██ | 6230/30000 [2:54:24<10:58:34, 1.66s/it] 21%|██ | 6231/30000 [2:54:26<10:58:51, 1.66s/it] 21%|██ | 6232/30000 [2:54:27<10:59:18, 1.66s/it] 21%|██ | 6233/30000 [2:54:29<10:57:46, 1.66s/it] 21%|██ | 6234/30000 [2:54:31<10:57:41, 1.66s/it] 21%|██ | 6235/30000 [2:54:32<10:57:03, 1.66s/it] 21%|██ | 6236/30000 [2:54:34<10:56:10, 1.66s/it] 21%|██ | 6237/30000 [2:54:36<10:57:34, 1.66s/it] 21%|██ | 6238/30000 [2:54:37<10:57:12, 1.66s/it] 21%|██ | 6239/30000 [2:54:39<10:56:41, 1.66s/it] 21%|██ | 6240/30000 [2:54:41<10:57:06, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.123615562915802, 'learning_rate': 2.7999465588890135e-05, 'flow_matching_loss': 0.024639014899730683, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.82} + 21%|██ | 6240/30000 [2:54:41<10:57:06, 1.66s/it] 21%|██ | 6241/30000 [2:54:42<10:57:54, 1.66s/it] 21%|██ | 6242/30000 [2:54:44<10:58:26, 1.66s/it] 21%|██ | 6243/30000 [2:54:46<10:58:26, 1.66s/it] 21%|██ | 6244/30000 [2:54:47<10:58:27, 1.66s/it] 21%|██ | 6245/30000 [2:54:49<10:57:40, 1.66s/it] 21%|██ | 6246/30000 [2:54:51<10:58:32, 1.66s/it] 21%|██ | 6247/30000 [2:54:52<10:59:33, 1.67s/it] 21%|██ | 6248/30000 [2:54:54<10:58:19, 1.66s/it] 21%|██ | 6249/30000 [2:54:56<10:58:19, 1.66s/it] 21%|██ | 6250/30000 [2:54:57<10:58:25, 1.66s/it] {'loss': 0.022, 'grad_norm': 0.16174384951591492, 'learning_rate': 2.799120771275105e-05, 'flow_matching_loss': 0.022005772963166238, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.82} + 21%|██ | 6250/30000 [2:54:57<10:58:25, 1.66s/it] 21%|██ | 6251/30000 [2:54:59<10:58:45, 1.66s/it] 21%|██ | 6252/30000 [2:55:01<10:58:03, 1.66s/it] 21%|██ | 6253/30000 [2:55:02<10:57:38, 1.66s/it] 21%|██ | 6254/30000 [2:55:04<10:57:50, 1.66s/it] 21%|██ | 6255/30000 [2:55:06<10:57:22, 1.66s/it] 21%|██ | 6256/30000 [2:55:07<10:57:54, 1.66s/it] 21%|██ | 6257/30000 [2:55:09<10:58:39, 1.66s/it] 21%|██ | 6258/30000 [2:55:11<10:58:40, 1.66s/it] 21%|██ | 6259/30000 [2:55:12<11:00:04, 1.67s/it] 21%|██ | 6260/30000 [2:55:14<11:00:34, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.11071781814098358, 'learning_rate': 2.7982934051069597e-05, 'flow_matching_loss': 0.022609811462461948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.82} + 21%|██ | 6260/30000 [2:55:14<11:00:34, 1.67s/it] 21%|██ | 6261/30000 [2:55:16<11:00:38, 1.67s/it] 21%|██ | 6262/30000 [2:55:17<11:00:18, 1.67s/it] 21%|██ | 6263/30000 [2:55:19<10:59:45, 1.67s/it] 21%|██ | 6264/30000 [2:55:21<10:59:11, 1.67s/it] 21%|██ | 6265/30000 [2:55:22<10:58:07, 1.66s/it] 21%|██ | 6266/30000 [2:55:24<10:58:23, 1.66s/it] 21%|██ | 6267/30000 [2:55:26<10:59:22, 1.67s/it] 21%|██ | 6268/30000 [2:55:27<10:59:02, 1.67s/it] 21%|██ | 6269/30000 [2:55:29<10:58:44, 1.67s/it] 21%|██ | 6270/30000 [2:55:31<10:59:37, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.12078134715557098, 'learning_rate': 2.7974644613899063e-05, 'flow_matching_loss': 0.022384561970829962, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.82} + 21%|██ | 6270/30000 [2:55:31<10:59:37, 1.67s/it] 21%|██ | 6271/30000 [2:55:32<10:59:43, 1.67s/it] 21%|██ | 6272/30000 [2:55:34<10:59:25, 1.67s/it] 21%|██ | 6273/30000 [2:55:36<11:00:03, 1.67s/it] 21%|██ | 6274/30000 [2:55:37<10:59:33, 1.67s/it] 21%|██ | 6275/30000 [2:55:39<10:59:07, 1.67s/it] 21%|██ | 6276/30000 [2:55:41<10:57:32, 1.66s/it] 21%|██ | 6277/30000 [2:55:42<10:57:39, 1.66s/it] 21%|██ | 6278/30000 [2:55:44<10:58:36, 1.67s/it] 21%|██ | 6279/30000 [2:55:46<10:57:21, 1.66s/it] 21%|██ | 6280/30000 [2:55:47<10:57:02, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.10256242007017136, 'learning_rate': 2.796633941131189e-05, 'flow_matching_loss': 0.020374797843396665, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.83} + 21%|██ | 6280/30000 [2:55:47<10:57:02, 1.66s/it] 21%|██ | 6281/30000 [2:55:49<10:57:56, 1.66s/it] 21%|██ | 6282/30000 [2:55:51<10:57:45, 1.66s/it] 21%|██ | 6283/30000 [2:55:52<10:58:04, 1.66s/it] 21%|██ | 6284/30000 [2:55:54<10:57:31, 1.66s/it] 21%|██ | 6285/30000 [2:55:56<10:57:41, 1.66s/it] 21%|██ | 6286/30000 [2:55:57<10:58:28, 1.67s/it] 21%|██ | 6287/30000 [2:55:59<10:58:18, 1.67s/it] 21%|██ | 6288/30000 [2:56:01<10:57:55, 1.66s/it] 21%|██ | 6289/30000 [2:56:02<10:58:47, 1.67s/it] 21%|██ | 6290/30000 [2:56:04<10:58:39, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.15368029475212097, 'learning_rate': 2.795801845339969e-05, 'flow_matching_loss': 0.024509489163756372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.83} + 21%|██ | 6290/30000 [2:56:04<10:58:39, 1.67s/it] 21%|██ | 6291/30000 [2:56:06<10:58:49, 1.67s/it] 21%|██ | 6292/30000 [2:56:07<11:00:22, 1.67s/it] 21%|██ | 6293/30000 [2:56:09<10:58:58, 1.67s/it] 21%|██ | 6294/30000 [2:56:11<10:59:31, 1.67s/it] 21%|██ | 6295/30000 [2:56:12<11:00:40, 1.67s/it] 21%|██ | 6296/30000 [2:56:14<11:01:15, 1.67s/it] 21%|██ | 6297/30000 [2:56:16<10:59:59, 1.67s/it] 21%|██ | 6298/30000 [2:56:17<10:58:51, 1.67s/it] 21%|██ | 6299/30000 [2:56:19<10:59:12, 1.67s/it] 21%|██ | 6300/30000 [2:56:21<10:58:22, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.1329030841588974, 'learning_rate': 2.7949681750273208e-05, 'flow_matching_loss': 0.0229819156229496, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.83} + 21%|██ | 6300/30000 [2:56:21<10:58:22, 1.67s/it] 21%|██ | 6301/30000 [2:56:22<10:58:35, 1.67s/it] 21%|██ | 6302/30000 [2:56:24<10:59:05, 1.67s/it] 21%|██ | 6303/30000 [2:56:26<10:59:19, 1.67s/it] 21%|██ | 6304/30000 [2:56:27<10:58:38, 1.67s/it] 21%|██ | 6305/30000 [2:56:29<10:58:44, 1.67s/it] 21%|██ | 6306/30000 [2:56:31<10:57:06, 1.66s/it] 21%|██ | 6307/30000 [2:56:32<10:58:20, 1.67s/it] 21%|██ | 6308/30000 [2:56:34<10:58:16, 1.67s/it] 21%|██ | 6309/30000 [2:56:36<10:59:26, 1.67s/it] 21%|██ | 6310/30000 [2:56:37<10:58:32, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.11552242189645767, 'learning_rate': 2.7941329312062322e-05, 'flow_matching_loss': 0.02185848243534565, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.84} + 21%|██ | 6310/30000 [2:56:37<10:58:32, 1.67s/it] 21%|██ | 6311/30000 [2:56:39<10:57:56, 1.67s/it] 21%|██ | 6312/30000 [2:56:41<10:56:21, 1.66s/it] 21%|██ | 6313/30000 [2:56:42<10:56:56, 1.66s/it] 21%|██ | 6314/30000 [2:56:44<10:56:38, 1.66s/it] 21%|██ | 6315/30000 [2:56:46<10:57:36, 1.67s/it] 21%|██ | 6316/30000 [2:56:47<10:57:43, 1.67s/it] 21%|██ | 6317/30000 [2:56:49<10:57:50, 1.67s/it] 21%|██ | 6318/30000 [2:56:51<10:57:56, 1.67s/it] 21%|██ | 6319/30000 [2:56:52<10:57:22, 1.67s/it] 21%|██ | 6320/30000 [2:56:54<10:57:22, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.14395961165428162, 'learning_rate': 2.7932961148916037e-05, 'flow_matching_loss': 0.022704438865184785, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.84} + 21%|██ | 6320/30000 [2:56:54<10:57:22, 1.67s/it] 21%|██ | 6321/30000 [2:56:56<10:57:35, 1.67s/it] 21%|██ | 6322/30000 [2:56:57<10:56:26, 1.66s/it] 21%|██ | 6323/30000 [2:56:59<10:56:17, 1.66s/it] 21%|██ | 6324/30000 [2:57:01<10:56:00, 1.66s/it] 21%|██ | 6325/30000 [2:57:02<10:55:36, 1.66s/it] 21%|██ | 6326/30000 [2:57:04<10:56:49, 1.66s/it] 21%|██ | 6327/30000 [2:57:06<10:57:11, 1.67s/it] 21%|██ | 6328/30000 [2:57:07<10:56:45, 1.66s/it] 21%|██ | 6329/30000 [2:57:09<10:58:29, 1.67s/it] 21%|██ | 6330/30000 [2:57:11<10:57:58, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.12317883968353271, 'learning_rate': 2.7924577271002456e-05, 'flow_matching_loss': 0.024495299346745013, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.84} + 21%|██ | 6330/30000 [2:57:11<10:57:58, 1.67s/it] 21%|██ | 6331/30000 [2:57:12<10:58:29, 1.67s/it] 21%|██ | 6332/30000 [2:57:14<10:56:42, 1.66s/it] 21%|██ | 6333/30000 [2:57:16<10:57:12, 1.67s/it] 21%|██ | 6334/30000 [2:57:17<10:57:44, 1.67s/it] 21%|██ | 6335/30000 [2:57:19<10:58:21, 1.67s/it] 21%|██ | 6336/30000 [2:57:21<10:58:19, 1.67s/it] 21%|██ | 6337/30000 [2:57:22<11:00:19, 1.67s/it] 21%|██ | 6338/30000 [2:57:24<10:58:05, 1.67s/it] 21%|██ | 6339/30000 [2:57:26<10:58:52, 1.67s/it] 21%|██ | 6340/30000 [2:57:27<10:58:09, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.10458696633577347, 'learning_rate': 2.7916177688508782e-05, 'flow_matching_loss': 0.02166303638368845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.84} + 21%|██ | 6340/30000 [2:57:27<10:58:09, 1.67s/it] 21%|██ | 6341/30000 [2:57:29<10:58:16, 1.67s/it] 21%|██ | 6342/30000 [2:57:31<10:59:23, 1.67s/it] 21%|██ | 6343/30000 [2:57:32<11:00:35, 1.68s/it] 21%|██ | 6344/30000 [2:57:34<10:58:31, 1.67s/it] 21%|██ | 6345/30000 [2:57:36<10:58:13, 1.67s/it] 21%|██ | 6346/30000 [2:57:37<10:58:55, 1.67s/it] 21%|██ | 6347/30000 [2:57:39<10:58:41, 1.67s/it] 21%|██ | 6348/30000 [2:57:41<10:57:56, 1.67s/it] 21%|██ | 6349/30000 [2:57:42<10:57:19, 1.67s/it] 21%|██ | 6350/30000 [2:57:44<10:57:14, 1.67s/it] {'loss': 0.0277, 'grad_norm': 0.14902089536190033, 'learning_rate': 2.7907762411641302e-05, 'flow_matching_loss': 0.02768204566091299, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.85} + 21%|██ | 6350/30000 [2:57:44<10:57:14, 1.67s/it] 21%|██ | 6351/30000 [2:57:46<10:58:08, 1.67s/it] 21%|██ | 6352/30000 [2:57:47<10:56:40, 1.67s/it] 21%|██ | 6353/30000 [2:57:49<10:56:12, 1.67s/it] 21%|██ | 6354/30000 [2:57:51<10:56:17, 1.67s/it] 21%|██ | 6355/30000 [2:57:52<10:56:39, 1.67s/it] 21%|██ | 6356/30000 [2:57:54<10:56:25, 1.67s/it] 21%|██ | 6357/30000 [2:57:56<10:55:50, 1.66s/it] 21%|██ | 6358/30000 [2:57:57<10:56:00, 1.66s/it] 21%|██ | 6359/30000 [2:57:59<10:55:57, 1.66s/it] 21%|██ | 6360/30000 [2:58:01<10:56:59, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.15589666366577148, 'learning_rate': 2.7899331450625367e-05, 'flow_matching_loss': 0.02234783284366131, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.85} + 21%|██ | 6360/30000 [2:58:01<10:56:59, 1.67s/it] 21%|██ | 6361/30000 [2:58:02<10:56:28, 1.67s/it] 21%|██ | 6362/30000 [2:58:04<10:56:27, 1.67s/it] 21%|██ | 6363/30000 [2:58:06<10:55:52, 1.66s/it] 21%|██ | 6364/30000 [2:58:07<10:55:30, 1.66s/it] 21%|██ | 6365/30000 [2:58:09<10:55:06, 1.66s/it] 21%|██ | 6366/30000 [2:58:11<10:56:19, 1.67s/it] 21%|██ | 6367/30000 [2:58:12<10:57:19, 1.67s/it] 21%|██ | 6368/30000 [2:58:14<10:55:44, 1.66s/it] 21%|██ | 6369/30000 [2:58:16<10:56:15, 1.67s/it] 21%|██ | 6370/30000 [2:58:17<10:54:54, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.13379280269145966, 'learning_rate': 2.7890884815705397e-05, 'flow_matching_loss': 0.022192906867712737, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.85} + 21%|██ | 6370/30000 [2:58:17<10:54:54, 1.66s/it] 21%|██ | 6371/30000 [2:58:19<10:56:01, 1.67s/it] 21%|██ | 6372/30000 [2:58:21<10:56:20, 1.67s/it] 21%|██ | 6373/30000 [2:58:22<10:56:26, 1.67s/it] 21%|██ | 6374/30000 [2:58:24<10:56:20, 1.67s/it] 21%|██▏ | 6375/30000 [2:58:26<10:55:57, 1.67s/it] 21%|██▏ | 6376/30000 [2:58:27<10:55:30, 1.66s/it] 21%|██▏ | 6377/30000 [2:58:29<10:55:32, 1.67s/it] 21%|██▏ | 6378/30000 [2:58:31<10:56:51, 1.67s/it] 21%|██▏ | 6379/30000 [2:58:32<10:57:43, 1.67s/it] 21%|██▏ | 6380/30000 [2:58:34<10:58:00, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.17094184458255768, 'learning_rate': 2.788242251714484e-05, 'flow_matching_loss': 0.023513520322740077, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.86} + 21%|██▏ | 6380/30000 [2:58:34<10:58:00, 1.67s/it] 21%|██▏ | 6381/30000 [2:58:36<10:57:01, 1.67s/it] 21%|██▏ | 6382/30000 [2:58:37<10:56:17, 1.67s/it] 21%|██▏ | 6383/30000 [2:58:39<10:57:07, 1.67s/it] 21%|██▏ | 6384/30000 [2:58:41<10:57:03, 1.67s/it] 21%|██▏ | 6385/30000 [2:58:42<10:56:50, 1.67s/it] 21%|██▏ | 6386/30000 [2:58:44<10:57:19, 1.67s/it] 21%|██▏ | 6387/30000 [2:58:46<10:58:27, 1.67s/it] 21%|██▏ | 6388/30000 [2:58:47<10:56:23, 1.67s/it] 21%|██▏ | 6389/30000 [2:58:49<10:55:26, 1.67s/it] 21%|██▏ | 6390/30000 [2:58:51<10:56:52, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.1077052429318428, 'learning_rate': 2.787394456522619e-05, 'flow_matching_loss': 0.02502396646887064, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.86} + 21%|██▏ | 6390/30000 [2:58:51<10:56:52, 1.67s/it] 21%|██▏ | 6391/30000 [2:58:52<10:56:49, 1.67s/it] 21%|██▏ | 6392/30000 [2:58:54<10:57:22, 1.67s/it] 21%|██▏ | 6393/30000 [2:58:56<10:57:25, 1.67s/it] 21%|██▏ | 6394/30000 [2:58:57<10:57:25, 1.67s/it] 21%|██▏ | 6395/30000 [2:58:59<10:57:06, 1.67s/it] 21%|██▏ | 6396/30000 [2:59:01<10:56:34, 1.67s/it] 21%|██▏ | 6397/30000 [2:59:02<10:55:57, 1.67s/it] 21%|██▏ | 6398/30000 [2:59:04<10:55:42, 1.67s/it] 21%|██▏ | 6399/30000 [2:59:06<10:56:01, 1.67s/it] 21%|██▏ | 6400/30000 [2:59:07<10:55:29, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.15695270895957947, 'learning_rate': 2.7865450970250965e-05, 'flow_matching_loss': 0.025996742770075798, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.86} + 21%|██▏ | 6400/30000 [2:59:07<10:55:29, 1.67s/it] 21%|██▏ | 6401/30000 [2:59:09<10:56:48, 1.67s/it] 21%|██▏ | 6402/30000 [2:59:11<10:57:01, 1.67s/it] 21%|██▏ | 6403/30000 [2:59:12<10:56:06, 1.67s/it] 21%|██▏ | 6404/30000 [2:59:14<10:55:01, 1.67s/it] 21%|██▏ | 6405/30000 [2:59:16<10:55:28, 1.67s/it] 21%|██▏ | 6406/30000 [2:59:17<10:54:48, 1.67s/it] 21%|██▏ | 6407/30000 [2:59:19<10:54:00, 1.66s/it] 21%|██▏ | 6408/30000 [2:59:21<10:54:46, 1.67s/it] 21%|██▏ | 6409/30000 [2:59:22<10:56:11, 1.67s/it] 21%|██▏ | 6410/30000 [2:59:24<10:55:20, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.1781679391860962, 'learning_rate': 2.7856941742539676e-05, 'flow_matching_loss': 0.025718207098543645, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.86} + 21%|██▏ | 6410/30000 [2:59:24<10:55:20, 1.67s/it] 21%|██▏ | 6411/30000 [2:59:26<10:55:46, 1.67s/it] 21%|██▏ | 6412/30000 [2:59:27<10:54:34, 1.67s/it] 21%|██▏ | 6413/30000 [2:59:29<10:54:04, 1.66s/it] 21%|██▏ | 6414/30000 [2:59:31<10:54:20, 1.66s/it] 21%|██▏ | 6415/30000 [2:59:32<10:56:24, 1.67s/it] 21%|██▏ | 6416/30000 [2:59:34<10:56:31, 1.67s/it] 21%|██▏ | 6417/30000 [2:59:36<10:56:09, 1.67s/it] 21%|██▏ | 6418/30000 [2:59:37<10:56:35, 1.67s/it] 21%|██▏ | 6419/30000 [2:59:39<10:56:51, 1.67s/it] 21%|██▏ | 6420/30000 [2:59:41<10:56:56, 1.67s/it] {'loss': 0.024, 'grad_norm': 0.12326450645923615, 'learning_rate': 2.784841689243184e-05, 'flow_matching_loss': 0.02404104024171829, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.87} + 21%|██▏ | 6420/30000 [2:59:41<10:56:56, 1.67s/it] 21%|██▏ | 6421/30000 [2:59:42<10:56:20, 1.67s/it] 21%|██▏ | 6422/30000 [2:59:44<10:54:43, 1.67s/it] 21%|██▏ | 6423/30000 [2:59:46<10:53:55, 1.66s/it] 21%|██▏ | 6424/30000 [2:59:47<10:54:26, 1.67s/it] 21%|██▏ | 6425/30000 [2:59:49<10:54:45, 1.67s/it] 21%|██▏ | 6426/30000 [2:59:51<10:55:18, 1.67s/it] 21%|██▏ | 6427/30000 [2:59:52<10:55:50, 1.67s/it] 21%|██▏ | 6428/30000 [2:59:54<10:53:25, 1.66s/it] 21%|██▏ | 6429/30000 [2:59:56<10:53:17, 1.66s/it] 21%|██▏ | 6430/30000 [2:59:57<10:54:12, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.16992108523845673, 'learning_rate': 2.783987643028595e-05, 'flow_matching_loss': 0.02299760403111577, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.87} + 21%|██▏ | 6430/30000 [2:59:57<10:54:12, 1.67s/it] 21%|██▏ | 6431/30000 [2:59:59<10:54:48, 1.67s/it] 21%|██▏ | 6432/30000 [3:00:01<10:55:58, 1.67s/it] 21%|██▏ | 6433/30000 [3:00:02<10:55:23, 1.67s/it] 21%|██▏ | 6434/30000 [3:00:04<10:55:16, 1.67s/it] 21%|██▏ | 6435/30000 [3:00:06<10:53:28, 1.66s/it] 21%|██▏ | 6436/30000 [3:00:07<10:53:18, 1.66s/it] 21%|██▏ | 6437/30000 [3:00:09<10:53:10, 1.66s/it] 21%|██▏ | 6438/30000 [3:00:11<10:53:10, 1.66s/it] 21%|██▏ | 6439/30000 [3:00:12<10:54:53, 1.67s/it] 21%|██▏ | 6440/30000 [3:00:14<10:53:28, 1.66s/it] {'loss': 0.0244, 'grad_norm': 0.1585732251405716, 'learning_rate': 2.783132036647948e-05, 'flow_matching_loss': 0.024382176995277404, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.87} + 21%|██▏ | 6440/30000 [3:00:14<10:53:28, 1.66s/it] 21%|██▏ | 6441/30000 [3:00:16<10:54:29, 1.67s/it] 21%|██▏ | 6442/30000 [3:00:17<10:54:39, 1.67s/it] 21%|██▏ | 6443/30000 [3:00:19<10:53:41, 1.66s/it] 21%|██▏ | 6444/30000 [3:00:21<10:52:37, 1.66s/it] 21%|██▏ | 6445/30000 [3:00:22<10:52:14, 1.66s/it] 21%|██▏ | 6446/30000 [3:00:24<10:52:19, 1.66s/it] 21%|██▏ | 6447/30000 [3:00:26<10:52:57, 1.66s/it] 21%|██▏ | 6448/30000 [3:00:27<10:52:31, 1.66s/it] 21%|██▏ | 6449/30000 [3:00:29<10:52:17, 1.66s/it] 22%|██▏ | 6450/30000 [3:00:31<10:51:56, 1.66s/it] {'loss': 0.024, 'grad_norm': 0.12170694023370743, 'learning_rate': 2.7822748711408852e-05, 'flow_matching_loss': 0.024005651660263538, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.88} + 22%|██▏ | 6450/30000 [3:00:31<10:51:56, 1.66s/it] 22%|██▏ | 6451/30000 [3:00:32<10:52:44, 1.66s/it] 22%|██▏ | 6452/30000 [3:00:34<10:52:47, 1.66s/it] 22%|██▏ | 6453/30000 [3:00:36<10:53:29, 1.67s/it] 22%|██▏ | 6454/30000 [3:00:37<10:53:37, 1.67s/it] 22%|██▏ | 6455/30000 [3:00:39<10:53:18, 1.66s/it] 22%|██▏ | 6456/30000 [3:00:41<10:52:48, 1.66s/it] 22%|██▏ | 6457/30000 [3:00:42<10:53:43, 1.67s/it] 22%|██▏ | 6458/30000 [3:00:44<10:53:38, 1.67s/it] 22%|██▏ | 6459/30000 [3:00:46<10:54:29, 1.67s/it] 22%|██▏ | 6460/30000 [3:00:47<10:54:50, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.17226369678974152, 'learning_rate': 2.7814161475489428e-05, 'flow_matching_loss': 0.024074002355337142, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.88} + 22%|██▏ | 6460/30000 [3:00:47<10:54:50, 1.67s/it] 22%|██▏ | 6461/30000 [3:00:49<10:55:30, 1.67s/it] 22%|██▏ | 6462/30000 [3:00:51<10:54:20, 1.67s/it] 22%|██▏ | 6463/30000 [3:00:52<10:54:52, 1.67s/it] 22%|██▏ | 6464/30000 [3:00:54<10:54:31, 1.67s/it] 22%|██▏ | 6465/30000 [3:00:56<10:54:57, 1.67s/it] 22%|██▏ | 6466/30000 [3:00:57<10:55:21, 1.67s/it] 22%|██▏ | 6467/30000 [3:00:59<10:55:55, 1.67s/it] 22%|██▏ | 6468/30000 [3:01:01<10:53:19, 1.67s/it] 22%|██▏ | 6469/30000 [3:01:02<10:53:07, 1.67s/it] 22%|██▏ | 6470/30000 [3:01:04<10:53:00, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.13594383001327515, 'learning_rate': 2.780555866915552e-05, 'flow_matching_loss': 0.02101823454722762, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.88} + 22%|██▏ | 6470/30000 [3:01:04<10:53:00, 1.67s/it] 22%|██▏ | 6471/30000 [3:01:06<10:52:41, 1.66s/it] 22%|██▏ | 6472/30000 [3:01:07<10:53:45, 1.67s/it] 22%|██▏ | 6473/30000 [3:01:09<10:54:02, 1.67s/it] 22%|██▏ | 6474/30000 [3:01:11<10:53:48, 1.67s/it] 22%|██▏ | 6475/30000 [3:01:12<10:53:42, 1.67s/it] 22%|██▏ | 6476/30000 [3:01:14<10:54:15, 1.67s/it] 22%|██▏ | 6477/30000 [3:01:16<10:55:17, 1.67s/it] 22%|██▏ | 6478/30000 [3:01:17<10:54:57, 1.67s/it] 22%|██▏ | 6479/30000 [3:01:19<10:54:34, 1.67s/it] 22%|██▏ | 6480/30000 [3:01:21<10:53:29, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.12076950818300247, 'learning_rate': 2.7796940302860338e-05, 'flow_matching_loss': 0.022756479680538177, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.89} + 22%|██▏ | 6480/30000 [3:01:21<10:53:29, 1.67s/it] 22%|██▏ | 6481/30000 [3:01:22<10:54:12, 1.67s/it] 22%|██▏ | 6482/30000 [3:01:24<10:54:04, 1.67s/it] 22%|██▏ | 6483/30000 [3:01:26<10:55:22, 1.67s/it] 22%|██▏ | 6484/30000 [3:01:27<10:55:33, 1.67s/it] 22%|██▏ | 6485/30000 [3:01:29<10:54:56, 1.67s/it] 22%|██▏ | 6486/30000 [3:01:31<10:55:09, 1.67s/it] 22%|██▏ | 6487/30000 [3:01:32<10:53:59, 1.67s/it] 22%|██▏ | 6488/30000 [3:01:34<10:54:00, 1.67s/it] 22%|██▏ | 6489/30000 [3:01:36<10:52:52, 1.67s/it] 22%|██▏ | 6490/30000 [3:01:37<10:53:19, 1.67s/it] {'loss': 0.0247, 'grad_norm': 0.12669703364372253, 'learning_rate': 2.7788306387076018e-05, 'flow_matching_loss': 0.02471319381147623, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.89} + 22%|██▏ | 6490/30000 [3:01:37<10:53:19, 1.67s/it] 22%|██▏ | 6491/30000 [3:01:39<10:53:47, 1.67s/it] 22%|██▏ | 6492/30000 [3:01:41<10:53:39, 1.67s/it] 22%|██▏ | 6493/30000 [3:01:42<10:53:02, 1.67s/it] 22%|██▏ | 6494/30000 [3:01:44<10:52:32, 1.67s/it] 22%|██▏ | 6495/30000 [3:01:46<10:55:10, 1.67s/it] 22%|██▏ | 6496/30000 [3:01:47<10:52:45, 1.67s/it] 22%|██▏ | 6497/30000 [3:01:49<10:53:45, 1.67s/it] 22%|██▏ | 6498/30000 [3:01:51<10:53:19, 1.67s/it] 22%|██▏ | 6499/30000 [3:01:52<10:51:27, 1.66s/it] 22%|██▏ | 6500/30000 [3:01:54<10:51:20, 1.66s/it] {'loss': 0.0242, 'grad_norm': 0.12755130231380463, 'learning_rate': 2.7779656932293584e-05, 'flow_matching_loss': 0.02422335185110569, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.89} + 22%|██▏ | 6500/30000 [3:01:54<10:51:20, 1.66s/it] 22%|██▏ | 6501/30000 [3:01:56<10:51:24, 1.66s/it] 22%|██▏ | 6502/30000 [3:01:57<10:52:53, 1.67s/it] 22%|██▏ | 6503/30000 [3:01:59<10:52:03, 1.67s/it] 22%|██▏ | 6504/30000 [3:02:01<10:50:45, 1.66s/it] 22%|██▏ | 6505/30000 [3:02:02<10:50:20, 1.66s/it] 22%|██▏ | 6506/30000 [3:02:04<10:50:21, 1.66s/it] 22%|██▏ | 6507/30000 [3:02:06<10:50:34, 1.66s/it] 22%|██▏ | 6508/30000 [3:02:07<10:50:57, 1.66s/it] 22%|██▏ | 6509/30000 [3:02:09<10:51:00, 1.66s/it] 22%|██▏ | 6510/30000 [3:02:11<10:51:29, 1.66s/it] {'loss': 0.0264, 'grad_norm': 0.15551277995109558, 'learning_rate': 2.777099194902293e-05, 'flow_matching_loss': 0.02637392599135637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.89} + 22%|██▏ | 6510/30000 [3:02:11<10:51:29, 1.66s/it] 22%|██▏ | 6511/30000 [3:02:12<10:53:05, 1.67s/it] 22%|██▏ | 6512/30000 [3:02:14<10:52:09, 1.67s/it] 22%|██▏ | 6513/30000 [3:02:16<10:51:58, 1.67s/it] 22%|██▏ | 6514/30000 [3:02:17<10:52:19, 1.67s/it] 22%|██▏ | 6515/30000 [3:02:19<10:52:49, 1.67s/it] 22%|██▏ | 6516/30000 [3:02:21<10:53:58, 1.67s/it] 22%|██▏ | 6517/30000 [3:02:22<10:52:47, 1.67s/it] 22%|██▏ | 6518/30000 [3:02:24<10:53:26, 1.67s/it] 22%|██▏ | 6519/30000 [3:02:26<10:54:11, 1.67s/it] 22%|██▏ | 6520/30000 [3:02:27<10:52:46, 1.67s/it] {'loss': 0.0233, 'grad_norm': 0.17286254465579987, 'learning_rate': 2.776231144779283e-05, 'flow_matching_loss': 0.023286672495305537, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.9} + 22%|██▏ | 6520/30000 [3:02:27<10:52:46, 1.67s/it] 22%|██▏ | 6521/30000 [3:02:29<10:51:58, 1.67s/it] 22%|██▏ | 6522/30000 [3:02:31<10:52:12, 1.67s/it] 22%|██▏ | 6523/30000 [3:02:32<10:51:40, 1.67s/it] 22%|██▏ | 6524/30000 [3:02:34<10:51:23, 1.66s/it] 22%|██▏ | 6525/30000 [3:02:36<10:51:30, 1.67s/it] 22%|██▏ | 6526/30000 [3:02:37<10:51:08, 1.66s/it] 22%|██▏ | 6527/30000 [3:02:39<10:52:04, 1.67s/it] 22%|██▏ | 6528/30000 [3:02:41<10:51:46, 1.67s/it] 22%|██▏ | 6529/30000 [3:02:42<10:52:06, 1.67s/it] 22%|██▏ | 6530/30000 [3:02:44<10:52:41, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.13472677767276764, 'learning_rate': 2.775361543915091e-05, 'flow_matching_loss': 0.023440809547901155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.9} + 22%|██▏ | 6530/30000 [3:02:44<10:52:41, 1.67s/it] 22%|██▏ | 6531/30000 [3:02:46<10:53:07, 1.67s/it] 22%|██▏ | 6532/30000 [3:02:47<10:52:19, 1.67s/it] 22%|██▏ | 6533/30000 [3:02:49<10:51:08, 1.66s/it] 22%|██▏ | 6534/30000 [3:02:51<10:50:51, 1.66s/it] 22%|██▏ | 6535/30000 [3:02:52<10:52:13, 1.67s/it] 22%|██▏ | 6536/30000 [3:02:54<10:51:53, 1.67s/it] 22%|██▏ | 6537/30000 [3:02:56<10:52:23, 1.67s/it] 22%|██▏ | 6538/30000 [3:02:57<10:51:37, 1.67s/it] 22%|██▏ | 6539/30000 [3:02:59<10:51:41, 1.67s/it] 22%|██▏ | 6540/30000 [3:03:01<10:52:40, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.1392565816640854, 'learning_rate': 2.774490393366365e-05, 'flow_matching_loss': 0.02105284659191966, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.9} + 22%|██▏ | 6540/30000 [3:03:01<10:52:40, 1.67s/it] 22%|██▏ | 6541/30000 [3:03:02<10:53:34, 1.67s/it] 22%|██▏ | 6542/30000 [3:03:04<10:53:07, 1.67s/it] 22%|██▏ | 6543/30000 [3:03:06<10:51:11, 1.67s/it] 22%|██▏ | 6544/30000 [3:03:07<10:50:50, 1.66s/it] 22%|██▏ | 6545/30000 [3:03:09<10:50:40, 1.66s/it] 22%|██▏ | 6546/30000 [3:03:11<10:50:32, 1.66s/it] 22%|██▏ | 6547/30000 [3:03:12<10:51:20, 1.67s/it] 22%|██▏ | 6548/30000 [3:03:14<10:51:24, 1.67s/it] 22%|██▏ | 6549/30000 [3:03:16<10:52:19, 1.67s/it] 22%|██▏ | 6550/30000 [3:03:17<10:52:54, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.16190844774246216, 'learning_rate': 2.7736176941916346e-05, 'flow_matching_loss': 0.023928477987647058, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.91} + 22%|██▏ | 6550/30000 [3:03:17<10:52:54, 1.67s/it] 22%|██▏ | 6551/30000 [3:03:19<10:53:39, 1.67s/it] 22%|██▏ | 6552/30000 [3:03:21<10:54:04, 1.67s/it] 22%|██▏ | 6553/30000 [3:03:22<10:51:57, 1.67s/it] 22%|██▏ | 6554/30000 [3:03:24<10:51:10, 1.67s/it] 22%|██▏ | 6555/30000 [3:03:26<10:52:18, 1.67s/it] 22%|██▏ | 6556/30000 [3:03:27<10:51:06, 1.67s/it] 22%|██▏ | 6557/30000 [3:03:29<10:51:42, 1.67s/it] 22%|██▏ | 6558/30000 [3:03:31<10:50:54, 1.67s/it] 22%|██▏ | 6559/30000 [3:03:32<10:51:39, 1.67s/it] 22%|██▏ | 6560/30000 [3:03:34<10:50:51, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.13632813096046448, 'learning_rate': 2.772743447451311e-05, 'flow_matching_loss': 0.025096040964126588, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.91} + 22%|██▏ | 6560/30000 [3:03:34<10:50:51, 1.67s/it] 22%|██▏ | 6561/30000 [3:03:36<10:49:26, 1.66s/it] 22%|██▏ | 6562/30000 [3:03:37<10:50:33, 1.67s/it] 22%|██▏ | 6563/30000 [3:03:39<10:50:04, 1.66s/it] 22%|██▏ | 6564/30000 [3:03:41<10:50:10, 1.66s/it] 22%|██▏ | 6565/30000 [3:03:42<10:51:35, 1.67s/it] 22%|██▏ | 6566/30000 [3:03:44<10:51:52, 1.67s/it] 22%|██▏ | 6567/30000 [3:03:46<10:50:54, 1.67s/it] 22%|██▏ | 6568/30000 [3:03:47<10:51:16, 1.67s/it] 22%|██▏ | 6569/30000 [3:03:49<10:51:37, 1.67s/it] 22%|██▏ | 6570/30000 [3:03:51<10:52:36, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.13735568523406982, 'learning_rate': 2.7718676542076872e-05, 'flow_matching_loss': 0.0250669177621603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.91} + 22%|██▏ | 6570/30000 [3:03:51<10:52:36, 1.67s/it] 22%|██▏ | 6571/30000 [3:03:52<10:52:16, 1.67s/it] 22%|██▏ | 6572/30000 [3:03:54<10:52:27, 1.67s/it] 22%|██▏ | 6573/30000 [3:03:56<10:52:42, 1.67s/it] 22%|██▏ | 6574/30000 [3:03:57<10:51:51, 1.67s/it] 22%|██▏ | 6575/30000 [3:03:59<10:51:08, 1.67s/it] 22%|██▏ | 6576/30000 [3:04:01<10:51:37, 1.67s/it] 22%|██▏ | 6577/30000 [3:04:02<10:50:58, 1.67s/it] 22%|██▏ | 6578/30000 [3:04:04<10:50:11, 1.67s/it] 22%|██▏ | 6579/30000 [3:04:06<10:50:29, 1.67s/it] 22%|██▏ | 6580/30000 [3:04:07<10:50:43, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.1435137391090393, 'learning_rate': 2.770990315524934e-05, 'flow_matching_loss': 0.02082933681085706, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.91} + 22%|██▏ | 6580/30000 [3:04:07<10:50:43, 1.67s/it] 22%|██▏ | 6581/30000 [3:04:09<10:52:52, 1.67s/it] 22%|██▏ | 6582/30000 [3:04:11<10:52:51, 1.67s/it] 22%|██▏ | 6583/30000 [3:04:12<10:52:00, 1.67s/it] 22%|██▏ | 6584/30000 [3:04:14<10:51:03, 1.67s/it] 22%|██▏ | 6585/30000 [3:04:16<10:50:46, 1.67s/it] 22%|██▏ | 6586/30000 [3:04:17<10:51:13, 1.67s/it] 22%|██▏ | 6587/30000 [3:04:19<10:50:36, 1.67s/it] 22%|██▏ | 6588/30000 [3:04:21<10:49:49, 1.67s/it] 22%|██▏ | 6589/30000 [3:04:22<10:48:58, 1.66s/it] 22%|██▏ | 6590/30000 [3:04:24<10:49:42, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.12594066560268402, 'learning_rate': 2.7701114324691015e-05, 'flow_matching_loss': 0.02338800337165594, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.92} + 22%|██▏ | 6590/30000 [3:04:24<10:49:42, 1.67s/it] 22%|██▏ | 6591/30000 [3:04:26<10:58:53, 1.69s/it] 22%|██▏ | 6592/30000 [3:04:28<10:54:14, 1.68s/it] 22%|██▏ | 6593/30000 [3:04:29<10:51:43, 1.67s/it] 22%|██▏ | 6594/30000 [3:04:31<10:51:50, 1.67s/it] 22%|██▏ | 6595/30000 [3:04:33<10:53:53, 1.68s/it] 22%|██▏ | 6596/30000 [3:04:34<10:52:38, 1.67s/it] 22%|██▏ | 6597/30000 [3:04:36<10:50:40, 1.67s/it] 22%|██▏ | 6598/30000 [3:04:38<10:51:06, 1.67s/it] 22%|██▏ | 6599/30000 [3:04:39<10:49:41, 1.67s/it] 22%|██▏ | 6600/30000 [3:04:41<10:51:34, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.1605255901813507, 'learning_rate': 2.7692310061081145e-05, 'flow_matching_loss': 0.02435908783227205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.92} + 22%|██▏ | 6600/30000 [3:04:41<10:51:34, 1.67s/it] 22%|██▏ | 6601/30000 [3:04:43<10:51:39, 1.67s/it] 22%|██▏ | 6602/30000 [3:04:44<10:51:07, 1.67s/it] 22%|██▏ | 6603/30000 [3:04:46<10:51:50, 1.67s/it] 22%|██▏ | 6604/30000 [3:04:48<10:51:49, 1.67s/it] 22%|██▏ | 6605/30000 [3:04:49<10:52:46, 1.67s/it] 22%|██▏ | 6606/30000 [3:04:51<10:52:46, 1.67s/it] 22%|██▏ | 6607/30000 [3:04:53<10:53:45, 1.68s/it] 22%|██▏ | 6608/30000 [3:04:54<10:52:55, 1.67s/it] 22%|██▏ | 6609/30000 [3:04:56<10:53:33, 1.68s/it] 22%|██▏ | 6610/30000 [3:04:58<10:52:38, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.15296410024166107, 'learning_rate': 2.7683490375117742e-05, 'flow_matching_loss': 0.02421186976134777, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.92} + 22%|██▏ | 6610/30000 [3:04:58<10:52:38, 1.67s/it] 22%|██▏ | 6611/30000 [3:04:59<10:52:26, 1.67s/it] 22%|██▏ | 6612/30000 [3:05:01<10:51:41, 1.67s/it] 22%|██▏ | 6613/30000 [3:05:03<10:52:03, 1.67s/it] 22%|██▏ | 6614/30000 [3:05:04<10:50:50, 1.67s/it] 22%|██▏ | 6615/30000 [3:05:06<10:50:29, 1.67s/it] 22%|██▏ | 6616/30000 [3:05:08<10:49:52, 1.67s/it] 22%|██▏ | 6617/30000 [3:05:09<10:49:31, 1.67s/it] 22%|██▏ | 6618/30000 [3:05:11<10:51:03, 1.67s/it] 22%|██▏ | 6619/30000 [3:05:13<10:49:56, 1.67s/it] 22%|██▏ | 6620/30000 [3:05:14<10:49:48, 1.67s/it] {'loss': 0.0263, 'grad_norm': 0.1676870882511139, 'learning_rate': 2.7674655277517556e-05, 'flow_matching_loss': 0.026341256499290467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.93} + 22%|██▏ | 6620/30000 [3:05:14<10:49:48, 1.67s/it] 22%|██▏ | 6621/30000 [3:05:16<10:50:03, 1.67s/it] 22%|██▏ | 6622/30000 [3:05:18<10:50:35, 1.67s/it] 22%|██▏ | 6623/30000 [3:05:19<10:52:03, 1.67s/it] 22%|██▏ | 6624/30000 [3:05:21<10:51:55, 1.67s/it] 22%|██▏ | 6625/30000 [3:05:23<10:51:14, 1.67s/it] 22%|██▏ | 6626/30000 [3:05:24<10:51:11, 1.67s/it] 22%|██▏ | 6627/30000 [3:05:26<10:50:50, 1.67s/it] 22%|██▏ | 6628/30000 [3:05:28<10:50:05, 1.67s/it] 22%|██▏ | 6629/30000 [3:05:29<10:50:23, 1.67s/it] 22%|██▏ | 6630/30000 [3:05:31<10:51:44, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.18816497921943665, 'learning_rate': 2.7665804779016072e-05, 'flow_matching_loss': 0.0256503751501441, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.93} + 22%|██▏ | 6630/30000 [3:05:31<10:51:44, 1.67s/it] 22%|██▏ | 6631/30000 [3:05:33<10:51:38, 1.67s/it] 22%|██▏ | 6632/30000 [3:05:34<10:49:21, 1.67s/it] 22%|██▏ | 6633/30000 [3:05:36<10:49:42, 1.67s/it] 22%|██▏ | 6634/30000 [3:05:38<10:50:16, 1.67s/it] 22%|██▏ | 6635/30000 [3:05:39<10:49:02, 1.67s/it] 22%|██▏ | 6636/30000 [3:05:41<10:48:36, 1.67s/it] 22%|██▏ | 6637/30000 [3:05:43<10:48:57, 1.67s/it] 22%|██▏ | 6638/30000 [3:05:44<10:48:07, 1.66s/it] 22%|██▏ | 6639/30000 [3:05:46<10:48:55, 1.67s/it] 22%|██▏ | 6640/30000 [3:05:48<10:48:20, 1.67s/it] {'loss': 0.026, 'grad_norm': 0.15007703006267548, 'learning_rate': 2.765693889036747e-05, 'flow_matching_loss': 0.02598706856369972, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.93} + 22%|██▏ | 6640/30000 [3:05:48<10:48:20, 1.67s/it] 22%|██▏ | 6641/30000 [3:05:49<10:49:06, 1.67s/it] 22%|██▏ | 6642/30000 [3:05:51<10:49:22, 1.67s/it] 22%|██▏ | 6643/30000 [3:05:53<10:48:59, 1.67s/it] 22%|██▏ | 6644/30000 [3:05:54<10:49:19, 1.67s/it] 22%|██▏ | 6645/30000 [3:05:56<10:49:37, 1.67s/it] 22%|██▏ | 6646/30000 [3:05:58<10:49:16, 1.67s/it] 22%|██▏ | 6647/30000 [3:05:59<10:49:52, 1.67s/it] 22%|██▏ | 6648/30000 [3:06:01<10:48:46, 1.67s/it] 22%|██▏ | 6649/30000 [3:06:03<10:47:33, 1.66s/it] 22%|██▏ | 6650/30000 [3:06:04<10:47:45, 1.66s/it] {'loss': 0.0281, 'grad_norm': 0.12334592640399933, 'learning_rate': 2.764805762234465e-05, 'flow_matching_loss': 0.028124879114329815, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.93} + 22%|██▏ | 6650/30000 [3:06:04<10:47:45, 1.66s/it] 22%|██▏ | 6651/30000 [3:06:06<10:49:29, 1.67s/it] 22%|██▏ | 6652/30000 [3:06:08<10:48:56, 1.67s/it] 22%|██▏ | 6653/30000 [3:06:09<10:48:37, 1.67s/it] 22%|██▏ | 6654/30000 [3:06:11<10:49:33, 1.67s/it] 22%|██▏ | 6655/30000 [3:06:13<10:48:13, 1.67s/it] 22%|██▏ | 6656/30000 [3:06:14<10:46:12, 1.66s/it] 22%|██▏ | 6657/30000 [3:06:16<10:46:48, 1.66s/it] 22%|██▏ | 6658/30000 [3:06:18<10:46:26, 1.66s/it] 22%|██▏ | 6659/30000 [3:06:19<10:47:13, 1.66s/it] 22%|██▏ | 6660/30000 [3:06:21<10:46:18, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.14868564903736115, 'learning_rate': 2.7639160985739182e-05, 'flow_matching_loss': 0.021554932091385128, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.94} + 22%|██▏ | 6660/30000 [3:06:21<10:46:18, 1.66s/it] 22%|██▏ | 6661/30000 [3:06:23<10:47:16, 1.66s/it] 22%|██▏ | 6662/30000 [3:06:24<10:47:52, 1.67s/it] 22%|██▏ | 6663/30000 [3:06:26<10:48:40, 1.67s/it] 22%|██▏ | 6664/30000 [3:06:28<10:49:34, 1.67s/it] 22%|██▏ | 6665/30000 [3:06:29<10:50:13, 1.67s/it] 22%|██▏ | 6666/30000 [3:06:31<10:50:00, 1.67s/it] 22%|██▏ | 6667/30000 [3:06:33<10:49:22, 1.67s/it] 22%|██▏ | 6668/30000 [3:06:34<10:48:08, 1.67s/it] 22%|██▏ | 6669/30000 [3:06:36<10:49:04, 1.67s/it] 22%|██▏ | 6670/30000 [3:06:38<10:48:33, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.14767122268676758, 'learning_rate': 2.7630248991361317e-05, 'flow_matching_loss': 0.024786939658224583, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.94} + 22%|██▏ | 6670/30000 [3:06:38<10:48:33, 1.67s/it] 22%|██▏ | 6671/30000 [3:06:39<10:48:50, 1.67s/it] 22%|██▏ | 6672/30000 [3:06:41<10:48:24, 1.67s/it] 22%|██▏ | 6673/30000 [3:06:43<10:48:34, 1.67s/it] 22%|██▏ | 6674/30000 [3:06:44<10:47:56, 1.67s/it] 22%|██▏ | 6675/30000 [3:06:46<10:47:45, 1.67s/it] 22%|██▏ | 6676/30000 [3:06:48<10:48:06, 1.67s/it] 22%|██▏ | 6677/30000 [3:06:49<10:47:37, 1.67s/it] 22%|██▏ | 6678/30000 [3:06:51<10:48:45, 1.67s/it] 22%|██▏ | 6679/30000 [3:06:53<10:48:20, 1.67s/it] 22%|██▏ | 6680/30000 [3:06:54<10:48:30, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.1464526206254959, 'learning_rate': 2.762132165003998e-05, 'flow_matching_loss': 0.0213842467404902, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.94} + 22%|██▏ | 6680/30000 [3:06:54<10:48:30, 1.67s/it] 22%|██▏ | 6681/30000 [3:06:56<10:47:44, 1.67s/it] 22%|██▏ | 6682/30000 [3:06:58<10:47:30, 1.67s/it] 22%|██▏ | 6683/30000 [3:06:59<10:47:13, 1.67s/it] 22%|██▏ | 6684/30000 [3:07:01<10:46:48, 1.66s/it] 22%|██▏ | 6685/30000 [3:07:03<10:47:20, 1.67s/it] 22%|██▏ | 6686/30000 [3:07:04<10:46:10, 1.66s/it] 22%|██▏ | 6687/30000 [3:07:06<10:48:15, 1.67s/it] 22%|██▏ | 6688/30000 [3:07:08<10:48:00, 1.67s/it] 22%|██▏ | 6689/30000 [3:07:09<10:48:06, 1.67s/it] 22%|██▏ | 6690/30000 [3:07:11<10:48:12, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1312238872051239, 'learning_rate': 2.7612378972622722e-05, 'flow_matching_loss': 0.022140775434672834, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.95} + 22%|██▏ | 6690/30000 [3:07:11<10:48:12, 1.67s/it] 22%|██▏ | 6691/30000 [3:07:13<10:47:43, 1.67s/it] 22%|██▏ | 6692/30000 [3:07:14<10:47:11, 1.67s/it] 22%|██▏ | 6693/30000 [3:07:16<10:47:16, 1.67s/it] 22%|██▏ | 6694/30000 [3:07:18<10:47:06, 1.67s/it] 22%|██▏ | 6695/30000 [3:07:19<10:47:09, 1.67s/it] 22%|██▏ | 6696/30000 [3:07:21<10:48:03, 1.67s/it] 22%|██▏ | 6697/30000 [3:07:23<10:47:10, 1.67s/it] 22%|██▏ | 6698/30000 [3:07:24<10:47:10, 1.67s/it] 22%|██▏ | 6699/30000 [3:07:26<10:47:41, 1.67s/it] 22%|██▏ | 6700/30000 [3:07:28<10:47:07, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.13585884869098663, 'learning_rate': 2.7603420969975743e-05, 'flow_matching_loss': 0.022786722145974637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.95} + 22%|██▏ | 6700/30000 [3:07:28<10:47:07, 1.67s/it] 22%|██▏ | 6701/30000 [3:07:29<10:47:27, 1.67s/it] 22%|██▏ | 6702/30000 [3:07:31<10:48:03, 1.67s/it] 22%|██▏ | 6703/30000 [3:07:33<10:48:18, 1.67s/it] 22%|██▏ | 6704/30000 [3:07:34<10:48:51, 1.67s/it] 22%|██▏ | 6705/30000 [3:07:36<10:50:17, 1.67s/it] 22%|██▏ | 6706/30000 [3:07:38<10:49:59, 1.67s/it] 22%|██▏ | 6707/30000 [3:07:39<10:48:44, 1.67s/it] 22%|██▏ | 6708/30000 [3:07:41<10:47:56, 1.67s/it] 22%|██▏ | 6709/30000 [3:07:43<10:47:46, 1.67s/it] 22%|██▏ | 6710/30000 [3:07:44<10:48:03, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.12297417968511581, 'learning_rate': 2.7594447652983862e-05, 'flow_matching_loss': 0.025080757215619087, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.95} + 22%|██▏ | 6710/30000 [3:07:44<10:48:03, 1.67s/it] 22%|██▏ | 6711/30000 [3:07:46<10:47:51, 1.67s/it] 22%|██▏ | 6712/30000 [3:07:48<10:46:40, 1.67s/it] 22%|██▏ | 6713/30000 [3:07:49<10:46:32, 1.67s/it] 22%|██▏ | 6714/30000 [3:07:51<10:47:15, 1.67s/it] 22%|██▏ | 6715/30000 [3:07:53<10:45:33, 1.66s/it] 22%|██▏ | 6716/30000 [3:07:54<10:45:58, 1.66s/it] 22%|██▏ | 6717/30000 [3:07:56<10:45:30, 1.66s/it] 22%|██▏ | 6718/30000 [3:07:58<10:46:29, 1.67s/it] 22%|██▏ | 6719/30000 [3:07:59<10:46:21, 1.67s/it] 22%|██▏ | 6720/30000 [3:08:01<10:45:54, 1.66s/it] {'loss': 0.0279, 'grad_norm': 0.1899918168783188, 'learning_rate': 2.7585459032550497e-05, 'flow_matching_loss': 0.02792223896831274, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.96} + 22%|██▏ | 6720/30000 [3:08:01<10:45:54, 1.66s/it] 22%|██▏ | 6721/30000 [3:08:03<10:45:52, 1.66s/it] 22%|██▏ | 6722/30000 [3:08:04<10:45:27, 1.66s/it] 22%|██▏ | 6723/30000 [3:08:06<10:45:35, 1.66s/it] 22%|██▏ | 6724/30000 [3:08:08<10:45:23, 1.66s/it] 22%|██▏ | 6725/30000 [3:08:09<10:45:50, 1.66s/it] 22%|██▏ | 6726/30000 [3:08:11<10:48:38, 1.67s/it] 22%|██▏ | 6727/30000 [3:08:13<10:47:35, 1.67s/it] 22%|██▏ | 6728/30000 [3:08:14<10:48:03, 1.67s/it] 22%|██▏ | 6729/30000 [3:08:16<10:46:13, 1.67s/it] 22%|██▏ | 6730/30000 [3:08:18<10:47:13, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.18020114302635193, 'learning_rate': 2.7576455119597684e-05, 'flow_matching_loss': 0.024398276396095753, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.96} + 22%|██▏ | 6730/30000 [3:08:18<10:47:13, 1.67s/it] 22%|██▏ | 6731/30000 [3:08:19<10:47:46, 1.67s/it] 22%|██▏ | 6732/30000 [3:08:21<10:46:23, 1.67s/it] 22%|██▏ | 6733/30000 [3:08:23<10:47:29, 1.67s/it] 22%|██▏ | 6734/30000 [3:08:24<10:48:46, 1.67s/it] 22%|██▏ | 6735/30000 [3:08:26<10:47:03, 1.67s/it] 22%|██▏ | 6736/30000 [3:08:28<10:46:16, 1.67s/it] 22%|██▏ | 6737/30000 [3:08:29<10:46:36, 1.67s/it] 22%|██▏ | 6738/30000 [3:08:31<10:46:22, 1.67s/it] 22%|██▏ | 6739/30000 [3:08:33<10:47:17, 1.67s/it] 22%|██▏ | 6740/30000 [3:08:34<10:46:03, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1152721643447876, 'learning_rate': 2.7567435925066012e-05, 'flow_matching_loss': 0.02214480806142092, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.96} + 22%|██▏ | 6740/30000 [3:08:34<10:46:03, 1.67s/it] 22%|██▏ | 6741/30000 [3:08:36<10:46:05, 1.67s/it] 22%|██▏ | 6742/30000 [3:08:38<10:46:34, 1.67s/it] 22%|██▏ | 6743/30000 [3:08:39<10:45:48, 1.67s/it] 22%|██▏ | 6744/30000 [3:08:41<10:45:02, 1.66s/it] 22%|██▏ | 6745/30000 [3:08:43<10:46:50, 1.67s/it] 22%|██▏ | 6746/30000 [3:08:44<10:46:55, 1.67s/it] 22%|██▏ | 6747/30000 [3:08:46<10:47:17, 1.67s/it] 22%|██▏ | 6748/30000 [3:08:48<10:46:49, 1.67s/it] 22%|██▏ | 6749/30000 [3:08:49<10:46:59, 1.67s/it] 22%|██▎ | 6750/30000 [3:08:51<10:46:41, 1.67s/it] {'loss': 0.0274, 'grad_norm': 0.12523360550403595, 'learning_rate': 2.7558401459914665e-05, 'flow_matching_loss': 0.02736442759633064, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.96} + 22%|██▎ | 6750/30000 [3:08:51<10:46:41, 1.67s/it] 23%|██▎ | 6751/30000 [3:08:53<10:47:35, 1.67s/it] 23%|██▎ | 6752/30000 [3:08:54<10:46:43, 1.67s/it] 23%|██▎ | 6753/30000 [3:08:56<10:46:38, 1.67s/it] 23%|██▎ | 6754/30000 [3:08:58<10:46:14, 1.67s/it] 23%|██▎ | 6755/30000 [3:08:59<10:44:43, 1.66s/it] 23%|██▎ | 6756/30000 [3:09:01<10:43:37, 1.66s/it] 23%|██▎ | 6757/30000 [3:09:03<10:44:41, 1.66s/it] 23%|██▎ | 6758/30000 [3:09:04<10:46:09, 1.67s/it] 23%|██▎ | 6759/30000 [3:09:06<10:45:22, 1.67s/it] 23%|██▎ | 6760/30000 [3:09:08<10:45:44, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.1589033156633377, 'learning_rate': 2.7549351735121362e-05, 'flow_matching_loss': 0.02487059831619263, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.97} + 23%|██▎ | 6760/30000 [3:09:08<10:45:44, 1.67s/it] 23%|██▎ | 6761/30000 [3:09:09<10:46:26, 1.67s/it] 23%|██▎ | 6762/30000 [3:09:11<10:46:12, 1.67s/it] 23%|██▎ | 6763/30000 [3:09:13<10:45:18, 1.67s/it] 23%|██▎ | 6764/30000 [3:09:14<10:45:08, 1.67s/it] 23%|██▎ | 6765/30000 [3:09:16<10:46:50, 1.67s/it] 23%|██▎ | 6766/30000 [3:09:18<10:46:21, 1.67s/it] 23%|██▎ | 6767/30000 [3:09:19<10:46:04, 1.67s/it] 23%|██▎ | 6768/30000 [3:09:21<10:45:46, 1.67s/it] 23%|██▎ | 6769/30000 [3:09:23<10:44:07, 1.66s/it] 23%|██▎ | 6770/30000 [3:09:24<10:47:54, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.1291133016347885, 'learning_rate': 2.7540286761682377e-05, 'flow_matching_loss': 0.025229304656386377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.97} + 23%|██▎ | 6770/30000 [3:09:24<10:47:54, 1.67s/it] 23%|██▎ | 6771/30000 [3:09:26<10:46:46, 1.67s/it] 23%|██▎ | 6772/30000 [3:09:28<10:45:52, 1.67s/it] 23%|██▎ | 6773/30000 [3:09:29<10:46:53, 1.67s/it] 23%|██▎ | 6774/30000 [3:09:31<10:46:11, 1.67s/it] 23%|██▎ | 6775/30000 [3:09:33<10:45:53, 1.67s/it] 23%|██▎ | 6776/30000 [3:09:34<10:45:50, 1.67s/it] 23%|██▎ | 6777/30000 [3:09:36<10:45:12, 1.67s/it] 23%|██▎ | 6778/30000 [3:09:38<10:45:47, 1.67s/it] 23%|██▎ | 6779/30000 [3:09:39<10:46:02, 1.67s/it] 23%|██▎ | 6780/30000 [3:09:41<10:46:08, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.15186724066734314, 'learning_rate': 2.75312065506125e-05, 'flow_matching_loss': 0.024349964782595636, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.97} + 23%|██▎ | 6780/30000 [3:09:41<10:46:08, 1.67s/it] 23%|██▎ | 6781/30000 [3:09:43<10:46:45, 1.67s/it] 23%|██▎ | 6782/30000 [3:09:44<10:46:33, 1.67s/it] 23%|██▎ | 6783/30000 [3:09:46<10:47:56, 1.67s/it] 23%|██▎ | 6784/30000 [3:09:48<10:47:33, 1.67s/it] 23%|██▎ | 6785/30000 [3:09:49<10:46:56, 1.67s/it] 23%|██▎ | 6786/30000 [3:09:51<10:46:42, 1.67s/it] 23%|██▎ | 6787/30000 [3:09:53<10:46:12, 1.67s/it] 23%|██▎ | 6788/30000 [3:09:54<10:44:11, 1.67s/it] 23%|██▎ | 6789/30000 [3:09:56<10:45:22, 1.67s/it] 23%|██▎ | 6790/30000 [3:09:58<10:43:49, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.13933317363262177, 'learning_rate': 2.7522111112945052e-05, 'flow_matching_loss': 0.023083348665386437, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.98} + 23%|██▎ | 6790/30000 [3:09:58<10:43:49, 1.66s/it] 23%|██▎ | 6791/30000 [3:09:59<10:44:21, 1.67s/it] 23%|██▎ | 6792/30000 [3:10:01<10:43:35, 1.66s/it] 23%|██▎ | 6793/30000 [3:10:03<10:44:55, 1.67s/it] 23%|██▎ | 6794/30000 [3:10:04<10:44:23, 1.67s/it] 23%|██▎ | 6795/30000 [3:10:06<10:43:50, 1.66s/it] 23%|██▎ | 6796/30000 [3:10:08<10:42:56, 1.66s/it] 23%|██▎ | 6797/30000 [3:10:09<10:42:55, 1.66s/it] 23%|██▎ | 6798/30000 [3:10:11<10:43:03, 1.66s/it] 23%|██▎ | 6799/30000 [3:10:13<10:43:44, 1.66s/it] 23%|██▎ | 6800/30000 [3:10:14<10:43:11, 1.66s/it] {'loss': 0.0241, 'grad_norm': 0.1157083585858345, 'learning_rate': 2.751300045973184e-05, 'flow_matching_loss': 0.02413683496415615, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.98} + 23%|██▎ | 6800/30000 [3:10:15<10:43:11, 1.66s/it] 23%|██▎ | 6801/30000 [3:10:16<10:44:00, 1.67s/it] 23%|██▎ | 6802/30000 [3:10:18<10:45:10, 1.67s/it] 23%|██▎ | 6803/30000 [3:10:19<10:45:02, 1.67s/it] 23%|██▎ | 6804/30000 [3:10:21<10:46:50, 1.67s/it] 23%|██▎ | 6805/30000 [3:10:23<10:47:06, 1.67s/it] 23%|██▎ | 6806/30000 [3:10:25<10:46:04, 1.67s/it] 23%|██▎ | 6807/30000 [3:10:26<10:46:25, 1.67s/it] 23%|██▎ | 6808/30000 [3:10:28<10:45:19, 1.67s/it] 23%|██▎ | 6809/30000 [3:10:30<10:44:53, 1.67s/it] 23%|██▎ | 6810/30000 [3:10:31<10:45:14, 1.67s/it] {'loss': 0.0254, 'grad_norm': 0.1465865671634674, 'learning_rate': 2.750387460204317e-05, 'flow_matching_loss': 0.02540582064539194, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.98} + 23%|██▎ | 6810/30000 [3:10:31<10:45:14, 1.67s/it] 23%|██▎ | 6811/30000 [3:10:33<10:46:42, 1.67s/it] 23%|██▎ | 6812/30000 [3:10:35<10:46:11, 1.67s/it] 23%|██▎ | 6813/30000 [3:10:36<10:46:15, 1.67s/it] 23%|██▎ | 6814/30000 [3:10:38<10:45:25, 1.67s/it] 23%|██▎ | 6815/30000 [3:10:40<10:43:34, 1.67s/it] 23%|██▎ | 6816/30000 [3:10:41<10:43:23, 1.67s/it] 23%|██▎ | 6817/30000 [3:10:43<10:43:57, 1.67s/it] 23%|██▎ | 6818/30000 [3:10:45<10:44:18, 1.67s/it] 23%|██▎ | 6819/30000 [3:10:46<10:43:09, 1.66s/it] 23%|██▎ | 6820/30000 [3:10:48<10:42:18, 1.66s/it] {'loss': 0.0275, 'grad_norm': 0.14169874787330627, 'learning_rate': 2.7494733550967827e-05, 'flow_matching_loss': 0.027507674135267734, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.98} + 23%|██▎ | 6820/30000 [3:10:48<10:42:18, 1.66s/it] 23%|██▎ | 6821/30000 [3:10:50<10:42:19, 1.66s/it] 23%|██▎ | 6822/30000 [3:10:51<10:43:05, 1.66s/it] 23%|██▎ | 6823/30000 [3:10:53<10:42:49, 1.66s/it] 23%|██▎ | 6824/30000 [3:10:54<10:42:26, 1.66s/it] 23%|██▎ | 6825/30000 [3:10:56<10:42:36, 1.66s/it] 23%|██▎ | 6826/30000 [3:10:58<10:41:44, 1.66s/it] 23%|██▎ | 6827/30000 [3:10:59<10:42:02, 1.66s/it] 23%|██▎ | 6828/30000 [3:11:01<10:42:07, 1.66s/it] 23%|██▎ | 6829/30000 [3:11:03<10:42:40, 1.66s/it] 23%|██▎ | 6830/30000 [3:11:04<10:42:40, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.10891606658697128, 'learning_rate': 2.748557731761304e-05, 'flow_matching_loss': 0.02224279996007681, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.99} + 23%|██▎ | 6830/30000 [3:11:05<10:42:40, 1.66s/it] 23%|██▎ | 6831/30000 [3:11:06<10:42:26, 1.66s/it] 23%|██▎ | 6832/30000 [3:11:08<10:41:59, 1.66s/it] 23%|██▎ | 6833/30000 [3:11:09<10:43:04, 1.67s/it] 23%|██▎ | 6834/30000 [3:11:11<10:42:40, 1.66s/it] 23%|██▎ | 6835/30000 [3:11:13<10:42:50, 1.67s/it] 23%|██▎ | 6836/30000 [3:11:14<10:43:03, 1.67s/it] 23%|██▎ | 6837/30000 [3:11:16<10:42:58, 1.67s/it] 23%|██▎ | 6838/30000 [3:11:18<10:43:41, 1.67s/it] 23%|██▎ | 6839/30000 [3:11:19<10:44:17, 1.67s/it] 23%|██▎ | 6840/30000 [3:11:21<10:44:03, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.14947685599327087, 'learning_rate': 2.74764059131045e-05, 'flow_matching_loss': 0.02442383011803031, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.99} + 23%|██▎ | 6840/30000 [3:11:21<10:44:03, 1.67s/it] 23%|██▎ | 6841/30000 [3:11:23<10:44:03, 1.67s/it] 23%|██▎ | 6842/30000 [3:11:24<10:44:20, 1.67s/it] 23%|██▎ | 6843/30000 [3:11:26<10:43:57, 1.67s/it] 23%|██▎ | 6844/30000 [3:11:28<10:41:27, 1.66s/it] 23%|██▎ | 6845/30000 [3:11:29<10:41:47, 1.66s/it] 23%|██▎ | 6846/30000 [3:11:31<10:41:51, 1.66s/it] 23%|██▎ | 6847/30000 [3:11:33<10:41:33, 1.66s/it] 23%|██▎ | 6848/30000 [3:11:34<10:41:51, 1.66s/it] 23%|██▎ | 6849/30000 [3:11:36<10:41:41, 1.66s/it] 23%|██▎ | 6850/30000 [3:11:38<10:42:16, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.10865505039691925, 'learning_rate': 2.7467219348586322e-05, 'flow_matching_loss': 0.02324928380548954, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 1.99} + 23%|██▎ | 6850/30000 [3:11:38<10:42:16, 1.66s/it] 23%|██▎ | 6851/30000 [3:11:39<10:42:07, 1.66s/it] 23%|██▎ | 6852/30000 [3:11:41<10:41:07, 1.66s/it] 23%|██▎ | 6853/30000 [3:11:43<10:41:33, 1.66s/it] 23%|██▎ | 6854/30000 [3:11:44<10:43:34, 1.67s/it] 23%|██▎ | 6855/30000 [3:11:46<10:43:14, 1.67s/it] 23%|██▎ | 6856/30000 [3:11:48<10:42:31, 1.67s/it] 23%|██▎ | 6857/30000 [3:11:49<10:43:40, 1.67s/it] 23%|██▎ | 6858/30000 [3:11:51<10:43:21, 1.67s/it] 23%|██▎ | 6859/30000 [3:11:53<10:42:11, 1.67s/it] 23%|██▎ | 6860/30000 [3:11:54<10:40:18, 1.66s/it] {'loss': 0.0243, 'grad_norm': 0.143776074051857, 'learning_rate': 2.7458017635221056e-05, 'flow_matching_loss': 0.024349433742463587, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.0} + 23%|██▎ | 6860/30000 [3:11:54<10:40:18, 1.66s/it] 23%|██▎ | 6861/30000 [3:11:56<10:39:28, 1.66s/it] 23%|██▎ | 6862/30000 [3:11:58<10:38:37, 1.66s/it] 23%|██▎ | 6863/30000 [3:11:59<10:38:09, 1.65s/it] 23%|██▎ | 6864/30000 [3:12:01<10:37:23, 1.65s/it] 23%|██▎ | 6865/30000 [3:12:03<10:37:23, 1.65s/it] 23%|██▎ | 6866/30000 [3:12:04<10:36:51, 1.65s/it] 23%|██▎ | 6867/30000 [3:12:06<10:37:00, 1.65s/it] 23%|██▎ | 6868/30000 [3:12:08<10:36:56, 1.65s/it] 23%|██▎ | 6869/30000 [3:12:09<10:37:12, 1.65s/it] 23%|██▎ | 6870/30000 [3:12:11<10:37:01, 1.65s/it] {'loss': 0.0226, 'grad_norm': 0.13026101887226105, 'learning_rate': 2.7448800784189652e-05, 'flow_matching_loss': 0.022612627781927585, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.0} + 23%|██▎ | 6870/30000 [3:12:11<10:37:01, 1.65s/it] 23%|██▎ | 6871/30000 [3:12:13<10:36:45, 1.65s/it] 23%|██▎ | 6872/30000 [3:12:14<10:36:20, 1.65s/it] 23%|██▎ | 6873/30000 [3:12:16<10:35:56, 1.65s/it] 23%|██▎ | 6874/30000 [3:12:18<10:32:48, 1.64s/it] 23%|██▎ | 6875/30000 [3:12:27<26:12:21, 4.08s/it] 23%|██▎ | 6876/30000 [3:12:29<21:35:14, 3.36s/it] 23%|██▎ | 6877/30000 [3:12:31<18:22:59, 2.86s/it] 23%|██▎ | 6878/30000 [3:12:32<16:06:16, 2.51s/it] 23%|██▎ | 6879/30000 [3:12:34<14:31:38, 2.26s/it] 23%|██▎ | 6880/30000 [3:12:36<13:23:55, 2.09s/it] {'loss': 0.0238, 'grad_norm': 0.15322379767894745, 'learning_rate': 2.7439568806691448e-05, 'flow_matching_loss': 0.023839173838496208, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.0} + 23%|██▎ | 6880/30000 [3:12:36<13:23:55, 2.09s/it] 23%|██▎ | 6881/30000 [3:12:37<12:37:42, 1.97s/it] 23%|██▎ | 6882/30000 [3:12:39<12:05:14, 1.88s/it] 23%|██▎ | 6883/30000 [3:12:41<11:43:39, 1.83s/it] 23%|██▎ | 6884/30000 [3:12:42<11:24:22, 1.78s/it] 23%|██▎ | 6885/30000 [3:12:44<11:12:00, 1.74s/it] 23%|██▎ | 6886/30000 [3:12:46<11:01:14, 1.72s/it] 23%|██▎ | 6887/30000 [3:12:47<10:54:28, 1.70s/it] 23%|██▎ | 6888/30000 [3:12:49<10:49:08, 1.69s/it] 23%|██▎ | 6889/30000 [3:12:51<10:45:35, 1.68s/it] 23%|██▎ | 6890/30000 [3:12:52<10:43:27, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.0937097892165184, 'learning_rate': 2.7430321713944167e-05, 'flow_matching_loss': 0.023184315394610168, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.0} + 23%|██▎ | 6890/30000 [3:12:52<10:43:27, 1.67s/it] 23%|██▎ | 6891/30000 [3:12:54<10:43:37, 1.67s/it] 23%|██▎ | 6892/30000 [3:12:56<10:42:44, 1.67s/it] 23%|██▎ | 6893/30000 [3:12:57<10:42:03, 1.67s/it] 23%|██▎ | 6894/30000 [3:12:59<10:39:41, 1.66s/it] 23%|██▎ | 6895/30000 [3:13:01<10:40:23, 1.66s/it] 23%|██▎ | 6896/30000 [3:13:02<10:39:36, 1.66s/it] 23%|██▎ | 6897/30000 [3:13:04<10:38:47, 1.66s/it] 23%|██▎ | 6898/30000 [3:13:06<10:37:59, 1.66s/it] 23%|██▎ | 6899/30000 [3:13:07<10:38:33, 1.66s/it] 23%|██▎ | 6900/30000 [3:13:09<10:38:20, 1.66s/it] {'loss': 0.0242, 'grad_norm': 0.15882042050361633, 'learning_rate': 2.7421059517183906e-05, 'flow_matching_loss': 0.024193538539111614, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.01} + 23%|██▎ | 6900/30000 [3:13:09<10:38:20, 1.66s/it] 23%|██▎ | 6901/30000 [3:13:11<10:38:23, 1.66s/it] 23%|██▎ | 6902/30000 [3:13:12<10:39:01, 1.66s/it] 23%|██▎ | 6903/30000 [3:13:14<10:39:14, 1.66s/it] 23%|██▎ | 6904/30000 [3:13:16<10:39:01, 1.66s/it] 23%|██▎ | 6905/30000 [3:13:17<10:38:36, 1.66s/it] 23%|██▎ | 6906/30000 [3:13:19<10:38:35, 1.66s/it] 23%|██▎ | 6907/30000 [3:13:21<10:40:25, 1.66s/it] 23%|██▎ | 6908/30000 [3:13:22<10:40:50, 1.67s/it] 23%|██▎ | 6909/30000 [3:13:24<10:39:12, 1.66s/it] 23%|██▎ | 6910/30000 [3:13:26<10:39:25, 1.66s/it] {'loss': 0.0258, 'grad_norm': 0.13140550255775452, 'learning_rate': 2.7411782227665097e-05, 'flow_matching_loss': 0.02578495964407921, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.01} + 23%|██▎ | 6910/30000 [3:13:26<10:39:25, 1.66s/it] 23%|██▎ | 6911/30000 [3:13:27<10:39:37, 1.66s/it] 23%|██▎ | 6912/30000 [3:13:29<10:38:25, 1.66s/it] 23%|██▎ | 6913/30000 [3:13:31<10:38:10, 1.66s/it] 23%|██▎ | 6914/30000 [3:13:32<10:37:58, 1.66s/it] 23%|██▎ | 6915/30000 [3:13:34<10:38:40, 1.66s/it] 23%|██▎ | 6916/30000 [3:13:36<10:39:14, 1.66s/it] 23%|██▎ | 6917/30000 [3:13:37<10:38:50, 1.66s/it] 23%|██▎ | 6918/30000 [3:13:39<10:38:57, 1.66s/it] 23%|██▎ | 6919/30000 [3:13:41<10:38:04, 1.66s/it] 23%|██▎ | 6920/30000 [3:13:42<10:38:53, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.10482872277498245, 'learning_rate': 2.7402489856660528e-05, 'flow_matching_loss': 0.023157872818410398, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.01} + 23%|██▎ | 6920/30000 [3:13:42<10:38:53, 1.66s/it] 23%|██▎ | 6921/30000 [3:13:44<10:39:13, 1.66s/it] 23%|██▎ | 6922/30000 [3:13:46<10:39:45, 1.66s/it] 23%|██▎ | 6923/30000 [3:13:47<10:39:20, 1.66s/it] 23%|██▎ | 6924/30000 [3:13:49<10:39:11, 1.66s/it] 23%|██▎ | 6925/30000 [3:13:51<10:38:43, 1.66s/it] 23%|██▎ | 6926/30000 [3:13:52<10:40:01, 1.66s/it] 23%|██▎ | 6927/30000 [3:13:54<10:39:46, 1.66s/it] 23%|██▎ | 6928/30000 [3:13:56<10:40:55, 1.67s/it] 23%|██▎ | 6929/30000 [3:13:57<10:40:40, 1.67s/it] 23%|██▎ | 6930/30000 [3:13:59<10:39:48, 1.66s/it] {'loss': 0.0239, 'grad_norm': 0.16455769538879395, 'learning_rate': 2.7393182415461307e-05, 'flow_matching_loss': 0.02389764357358217, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.02} + 23%|██▎ | 6930/30000 [3:13:59<10:39:48, 1.66s/it] 23%|██▎ | 6931/30000 [3:14:01<10:40:29, 1.67s/it] 23%|██▎ | 6932/30000 [3:14:02<10:41:29, 1.67s/it] 23%|██▎ | 6933/30000 [3:14:04<10:41:26, 1.67s/it] 23%|██▎ | 6934/30000 [3:14:06<10:41:21, 1.67s/it] 23%|██▎ | 6935/30000 [3:14:07<10:40:27, 1.67s/it] 23%|██▎ | 6936/30000 [3:14:09<10:40:15, 1.67s/it] 23%|██▎ | 6937/30000 [3:14:10<10:38:50, 1.66s/it] 23%|██▎ | 6938/30000 [3:14:12<10:38:54, 1.66s/it] 23%|██▎ | 6939/30000 [3:14:14<10:40:25, 1.67s/it] 23%|██▎ | 6940/30000 [3:14:16<10:41:27, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.12310706824064255, 'learning_rate': 2.7383859915376853e-05, 'flow_matching_loss': 0.02121623195707798, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.02} + 23%|██▎ | 6940/30000 [3:14:16<10:41:27, 1.67s/it] 23%|██▎ | 6941/30000 [3:14:17<10:40:19, 1.67s/it] 23%|██▎ | 6942/30000 [3:14:19<10:39:30, 1.66s/it] 23%|██▎ | 6943/30000 [3:14:20<10:39:26, 1.66s/it] 23%|██▎ | 6944/30000 [3:14:22<10:38:19, 1.66s/it] 23%|██▎ | 6945/30000 [3:14:24<10:37:51, 1.66s/it] 23%|██▎ | 6946/30000 [3:14:25<10:37:26, 1.66s/it] 23%|██▎ | 6947/30000 [3:14:27<10:37:22, 1.66s/it] 23%|██▎ | 6948/30000 [3:14:29<10:38:14, 1.66s/it] 23%|██▎ | 6949/30000 [3:14:30<10:37:10, 1.66s/it] 23%|██▎ | 6950/30000 [3:14:32<10:37:15, 1.66s/it] {'loss': 0.0238, 'grad_norm': 0.16117440164089203, 'learning_rate': 2.7374522367734875e-05, 'flow_matching_loss': 0.023767521046102046, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.02} + 23%|██▎ | 6950/30000 [3:14:32<10:37:15, 1.66s/it] 23%|██▎ | 6951/30000 [3:14:34<10:39:16, 1.66s/it] 23%|██▎ | 6952/30000 [3:14:35<10:38:41, 1.66s/it] 23%|██▎ | 6953/30000 [3:14:37<10:37:57, 1.66s/it] 23%|██▎ | 6954/30000 [3:14:39<10:38:26, 1.66s/it] 23%|██▎ | 6955/30000 [3:14:40<10:38:36, 1.66s/it] 23%|██▎ | 6956/30000 [3:14:42<10:38:27, 1.66s/it] 23%|██▎ | 6957/30000 [3:14:44<10:38:30, 1.66s/it] 23%|██▎ | 6958/30000 [3:14:45<10:38:41, 1.66s/it] 23%|██▎ | 6959/30000 [3:14:47<10:38:40, 1.66s/it] 23%|██▎ | 6960/30000 [3:14:49<10:38:49, 1.66s/it] {'loss': 0.0245, 'grad_norm': 0.16611574590206146, 'learning_rate': 2.7365169783881378e-05, 'flow_matching_loss': 0.024461878649890422, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.03} + 23%|██▎ | 6960/30000 [3:14:49<10:38:49, 1.66s/it] 23%|██▎ | 6961/30000 [3:14:50<10:37:45, 1.66s/it] 23%|██▎ | 6962/30000 [3:14:52<10:40:21, 1.67s/it] 23%|██▎ | 6963/30000 [3:14:54<10:39:50, 1.67s/it] 23%|██▎ | 6964/30000 [3:14:55<10:39:12, 1.66s/it] 23%|██▎ | 6965/30000 [3:14:57<10:37:28, 1.66s/it] 23%|██▎ | 6966/30000 [3:14:59<10:37:40, 1.66s/it] 23%|██▎ | 6967/30000 [3:15:00<10:38:42, 1.66s/it] 23%|██▎ | 6968/30000 [3:15:02<10:38:23, 1.66s/it] 23%|██▎ | 6969/30000 [3:15:04<10:38:18, 1.66s/it] 23%|██▎ | 6970/30000 [3:15:05<10:38:49, 1.66s/it] {'loss': 0.0235, 'grad_norm': 0.13429443538188934, 'learning_rate': 2.735580217518064e-05, 'flow_matching_loss': 0.023503969050943853, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.03} + 23%|██▎ | 6970/30000 [3:15:05<10:38:49, 1.66s/it] 23%|██▎ | 6971/30000 [3:15:07<10:40:21, 1.67s/it] 23%|██▎ | 6972/30000 [3:15:09<10:39:04, 1.67s/it] 23%|██▎ | 6973/30000 [3:15:10<10:38:29, 1.66s/it] 23%|██▎ | 6974/30000 [3:15:12<10:39:55, 1.67s/it] 23%|██▎ | 6975/30000 [3:15:14<10:39:47, 1.67s/it] 23%|██▎ | 6976/30000 [3:15:15<10:40:07, 1.67s/it] 23%|██▎ | 6977/30000 [3:15:17<10:39:06, 1.67s/it] 23%|██▎ | 6978/30000 [3:15:19<10:40:14, 1.67s/it] 23%|██▎ | 6979/30000 [3:15:20<10:41:42, 1.67s/it] 23%|██▎ | 6980/30000 [3:15:22<10:41:58, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.130142942070961, 'learning_rate': 2.7346419553015175e-05, 'flow_matching_loss': 0.02408811580389738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.03} + 23%|██▎ | 6980/30000 [3:15:22<10:41:58, 1.67s/it] 23%|██▎ | 6981/30000 [3:15:24<10:40:42, 1.67s/it] 23%|██▎ | 6982/30000 [3:15:25<10:40:08, 1.67s/it] 23%|██▎ | 6983/30000 [3:15:27<10:39:50, 1.67s/it] 23%|██▎ | 6984/30000 [3:15:29<10:39:42, 1.67s/it] 23%|██▎ | 6985/30000 [3:15:30<10:37:58, 1.66s/it] 23%|██▎ | 6986/30000 [3:15:32<10:38:07, 1.66s/it] 23%|██▎ | 6987/30000 [3:15:34<10:37:40, 1.66s/it] 23%|██▎ | 6988/30000 [3:15:35<10:38:31, 1.66s/it] 23%|██▎ | 6989/30000 [3:15:37<10:38:48, 1.67s/it] 23%|██▎ | 6990/30000 [3:15:39<10:40:39, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.13351832330226898, 'learning_rate': 2.733702192878577e-05, 'flow_matching_loss': 0.02195131666958332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.03} + 23%|██▎ | 6990/30000 [3:15:39<10:40:39, 1.67s/it] 23%|██▎ | 6991/30000 [3:15:40<10:38:38, 1.67s/it] 23%|██▎ | 6992/30000 [3:15:42<10:39:28, 1.67s/it] 23%|██▎ | 6993/30000 [3:15:44<10:38:50, 1.67s/it] 23%|██▎ | 6994/30000 [3:15:45<10:38:39, 1.67s/it] 23%|██▎ | 6995/30000 [3:15:47<10:38:10, 1.66s/it] 23%|██▎ | 6996/30000 [3:15:49<10:38:33, 1.67s/it] 23%|██▎ | 6997/30000 [3:15:50<10:37:41, 1.66s/it] 23%|██▎ | 6998/30000 [3:15:52<10:38:09, 1.66s/it] 23%|██▎ | 6999/30000 [3:15:54<10:37:33, 1.66s/it] 23%|██▎ | 7000/30000 [3:15:55<10:39:02, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1330736130475998, 'learning_rate': 2.732760931391141e-05, 'flow_matching_loss': 0.022102522291243078, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.04} + 23%|██▎ | 7000/30000 [3:15:55<10:39:02, 1.67s/it] 23%|██▎ | 7001/30000 [3:15:57<10:38:45, 1.67s/it] 23%|██▎ | 7002/30000 [3:15:59<10:38:29, 1.67s/it] 23%|██▎ | 7003/30000 [3:16:00<10:38:14, 1.67s/it] 23%|██▎ | 7004/30000 [3:16:02<10:38:01, 1.66s/it] 23%|██▎ | 7005/30000 [3:16:04<10:38:19, 1.67s/it] 23%|██▎ | 7006/30000 [3:16:05<10:37:59, 1.66s/it] 23%|██▎ | 7007/30000 [3:16:07<10:37:15, 1.66s/it] 23%|██▎ | 7008/30000 [3:16:09<10:36:46, 1.66s/it] 23%|██▎ | 7009/30000 [3:16:10<10:36:30, 1.66s/it] 23%|██▎ | 7010/30000 [3:16:12<10:37:20, 1.66s/it] {'loss': 0.0243, 'grad_norm': 0.15428945422172546, 'learning_rate': 2.731818171982932e-05, 'flow_matching_loss': 0.024315168149769306, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.04} + 23%|██▎ | 7010/30000 [3:16:12<10:37:20, 1.66s/it] 23%|██▎ | 7011/30000 [3:16:14<10:38:57, 1.67s/it] 23%|██▎ | 7012/30000 [3:16:15<10:38:30, 1.67s/it] 23%|██▎ | 7013/30000 [3:16:17<10:38:49, 1.67s/it] 23%|██▎ | 7014/30000 [3:16:19<10:38:37, 1.67s/it] 23%|██▎ | 7015/30000 [3:16:20<10:37:43, 1.66s/it] 23%|██▎ | 7016/30000 [3:16:22<10:37:46, 1.66s/it] 23%|██▎ | 7017/30000 [3:16:24<10:37:51, 1.67s/it] 23%|██▎ | 7018/30000 [3:16:25<10:37:12, 1.66s/it] 23%|██▎ | 7019/30000 [3:16:27<10:37:06, 1.66s/it] 23%|██▎ | 7020/30000 [3:16:29<10:38:07, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.119630366563797, 'learning_rate': 2.730873915799491e-05, 'flow_matching_loss': 0.021205801982432604, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.04} + 23%|██▎ | 7020/30000 [3:16:29<10:38:07, 1.67s/it] 23%|██▎ | 7021/30000 [3:16:30<10:39:02, 1.67s/it] 23%|██▎ | 7022/30000 [3:16:32<10:39:09, 1.67s/it] 23%|██▎ | 7023/30000 [3:16:34<10:37:45, 1.67s/it] 23%|██▎ | 7024/30000 [3:16:35<10:37:18, 1.66s/it] 23%|██▎ | 7025/30000 [3:16:37<10:38:05, 1.67s/it] 23%|██▎ | 7026/30000 [3:16:39<10:37:55, 1.67s/it] 23%|██▎ | 7027/30000 [3:16:40<10:37:54, 1.67s/it] 23%|██▎ | 7028/30000 [3:16:42<10:37:54, 1.67s/it] 23%|██▎ | 7029/30000 [3:16:44<10:36:42, 1.66s/it] 23%|██▎ | 7030/30000 [3:16:45<10:36:46, 1.66s/it] {'loss': 0.0214, 'grad_norm': 0.1538415104150772, 'learning_rate': 2.7299281639881783e-05, 'flow_matching_loss': 0.021353614702820777, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.05} + 23%|██▎ | 7030/30000 [3:16:45<10:36:46, 1.66s/it] 23%|██▎ | 7031/30000 [3:16:47<10:36:00, 1.66s/it] 23%|██▎ | 7032/30000 [3:16:49<10:38:28, 1.67s/it] 23%|██▎ | 7033/30000 [3:16:50<10:37:09, 1.66s/it] 23%|██▎ | 7034/30000 [3:16:52<10:37:38, 1.67s/it] 23%|██▎ | 7035/30000 [3:16:54<10:38:00, 1.67s/it] 23%|██▎ | 7036/30000 [3:16:55<10:38:13, 1.67s/it] 23%|██▎ | 7037/30000 [3:16:57<10:37:20, 1.67s/it] 23%|██▎ | 7038/30000 [3:16:59<10:37:26, 1.67s/it] 23%|██▎ | 7039/30000 [3:17:00<10:38:29, 1.67s/it] 23%|██▎ | 7040/30000 [3:17:02<10:37:28, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.14653730392456055, 'learning_rate': 2.728980917698172e-05, 'flow_matching_loss': 0.023453503660857678, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.05} + 23%|██▎ | 7040/30000 [3:17:02<10:37:28, 1.67s/it] 23%|██▎ | 7041/30000 [3:17:04<10:38:48, 1.67s/it] 23%|██▎ | 7042/30000 [3:17:05<10:38:55, 1.67s/it] 23%|██▎ | 7043/30000 [3:17:07<10:38:11, 1.67s/it] 23%|██▎ | 7044/30000 [3:17:09<10:39:04, 1.67s/it] 23%|██▎ | 7045/30000 [3:17:10<10:37:51, 1.67s/it] 23%|██▎ | 7046/30000 [3:17:12<10:37:22, 1.67s/it] 23%|██▎ | 7047/30000 [3:17:14<10:37:43, 1.67s/it] 23%|██▎ | 7048/30000 [3:17:15<10:38:50, 1.67s/it] 23%|██▎ | 7049/30000 [3:17:17<10:36:09, 1.66s/it] 24%|██▎ | 7050/30000 [3:17:19<10:36:09, 1.66s/it] {'loss': 0.0227, 'grad_norm': 0.1451479196548462, 'learning_rate': 2.7280321780804655e-05, 'flow_matching_loss': 0.02269607512280345, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.05} + 24%|██▎ | 7050/30000 [3:17:19<10:36:09, 1.66s/it] 24%|██▎ | 7051/30000 [3:17:20<10:36:24, 1.66s/it] 24%|██▎ | 7052/30000 [3:17:22<10:35:21, 1.66s/it] 24%|██▎ | 7053/30000 [3:17:24<10:34:45, 1.66s/it] 24%|██▎ | 7054/30000 [3:17:25<10:35:26, 1.66s/it] 24%|██▎ | 7055/30000 [3:17:27<10:35:22, 1.66s/it] 24%|██▎ | 7056/30000 [3:17:29<10:35:52, 1.66s/it] 24%|██▎ | 7057/30000 [3:17:30<10:35:11, 1.66s/it] 24%|██▎ | 7058/30000 [3:17:32<10:35:06, 1.66s/it] 24%|██▎ | 7059/30000 [3:17:34<10:37:36, 1.67s/it] 24%|██▎ | 7060/30000 [3:17:35<10:37:07, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.11608699709177017, 'learning_rate': 2.7270819462878666e-05, 'flow_matching_loss': 0.021279280725866555, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.05} + 24%|██▎ | 7060/30000 [3:17:35<10:37:07, 1.67s/it] 24%|██▎ | 7061/30000 [3:17:37<10:37:24, 1.67s/it] 24%|██▎ | 7062/30000 [3:17:39<10:37:35, 1.67s/it] 24%|██▎ | 7063/30000 [3:17:40<10:37:36, 1.67s/it] 24%|██▎ | 7064/30000 [3:17:42<10:37:17, 1.67s/it] 24%|██▎ | 7065/30000 [3:17:44<10:37:48, 1.67s/it] 24%|██▎ | 7066/30000 [3:17:45<10:37:35, 1.67s/it] 24%|██▎ | 7067/30000 [3:17:47<10:37:42, 1.67s/it] 24%|██▎ | 7068/30000 [3:17:49<10:39:31, 1.67s/it] 24%|██▎ | 7069/30000 [3:17:50<10:37:12, 1.67s/it] 24%|██▎ | 7070/30000 [3:17:52<10:38:51, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.13035598397254944, 'learning_rate': 2.7261302234749965e-05, 'flow_matching_loss': 0.024070763029158115, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.06} + 24%|██▎ | 7070/30000 [3:17:52<10:38:51, 1.67s/it] 24%|██▎ | 7071/30000 [3:17:54<10:37:18, 1.67s/it] 24%|██▎ | 7072/30000 [3:17:55<10:37:24, 1.67s/it] 24%|██▎ | 7073/30000 [3:17:57<10:36:30, 1.67s/it] 24%|██▎ | 7074/30000 [3:17:59<10:36:30, 1.67s/it] 24%|██▎ | 7075/30000 [3:18:00<10:37:37, 1.67s/it] 24%|██▎ | 7076/30000 [3:18:02<10:36:52, 1.67s/it] 24%|██▎ | 7077/30000 [3:18:04<10:35:17, 1.66s/it] 24%|██▎ | 7078/30000 [3:18:05<10:35:48, 1.66s/it] 24%|██▎ | 7079/30000 [3:18:07<10:35:27, 1.66s/it] 24%|██▎ | 7080/30000 [3:18:09<10:35:19, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.1640634834766388, 'learning_rate': 2.7251770107982888e-05, 'flow_matching_loss': 0.02035402078181505, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.06} + 24%|██▎ | 7080/30000 [3:18:09<10:35:19, 1.66s/it] 24%|██▎ | 7081/30000 [3:18:10<10:37:02, 1.67s/it] 24%|██▎ | 7082/30000 [3:18:12<10:37:41, 1.67s/it] 24%|██▎ | 7083/30000 [3:18:14<10:37:19, 1.67s/it] 24%|██▎ | 7084/30000 [3:18:15<10:37:22, 1.67s/it] 24%|██▎ | 7085/30000 [3:18:17<10:36:35, 1.67s/it] 24%|██▎ | 7086/30000 [3:18:19<10:36:25, 1.67s/it] 24%|██▎ | 7087/30000 [3:18:20<10:36:21, 1.67s/it] 24%|██▎ | 7088/30000 [3:18:22<10:37:31, 1.67s/it] 24%|██▎ | 7089/30000 [3:18:24<10:36:02, 1.67s/it] 24%|██▎ | 7090/30000 [3:18:25<10:36:11, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.15992850065231323, 'learning_rate': 2.7242223094159856e-05, 'flow_matching_loss': 0.022526257671415806, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.06} + 24%|██▎ | 7090/30000 [3:18:25<10:36:11, 1.67s/it] 24%|██▎ | 7091/30000 [3:18:27<10:36:07, 1.67s/it] 24%|██▎ | 7092/30000 [3:18:29<10:35:19, 1.66s/it] 24%|██▎ | 7093/30000 [3:18:30<10:34:45, 1.66s/it] 24%|██▎ | 7094/30000 [3:18:32<10:35:11, 1.66s/it] 24%|██▎ | 7095/30000 [3:18:34<10:35:47, 1.67s/it] 24%|██▎ | 7096/30000 [3:18:35<10:34:55, 1.66s/it] 24%|██▎ | 7097/30000 [3:18:37<10:34:17, 1.66s/it] 24%|██▎ | 7098/30000 [3:18:39<10:34:39, 1.66s/it] 24%|██▎ | 7099/30000 [3:18:40<10:34:50, 1.66s/it] 24%|██▎ | 7100/30000 [3:18:42<10:35:19, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.10155229270458221, 'learning_rate': 2.7232661204881408e-05, 'flow_matching_loss': 0.022197386249899864, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.07} + 24%|██▎ | 7100/30000 [3:18:42<10:35:19, 1.66s/it] 24%|██▎ | 7101/30000 [3:18:44<10:35:57, 1.67s/it] 24%|██▎ | 7102/30000 [3:18:45<10:34:40, 1.66s/it] 24%|██▎ | 7103/30000 [3:18:47<10:35:23, 1.66s/it] 24%|██▎ | 7104/30000 [3:18:49<10:34:22, 1.66s/it] 24%|██▎ | 7105/30000 [3:18:50<10:36:03, 1.67s/it] 24%|██▎ | 7106/30000 [3:18:52<10:35:49, 1.67s/it] 24%|██▎ | 7107/30000 [3:18:54<10:36:10, 1.67s/it] 24%|██▎ | 7108/30000 [3:18:55<10:36:07, 1.67s/it] 24%|██▎ | 7109/30000 [3:18:57<10:35:50, 1.67s/it] 24%|██▎ | 7110/30000 [3:18:59<10:37:03, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.12571923434734344, 'learning_rate': 2.7223084451766123e-05, 'flow_matching_loss': 0.022537300549447536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.07} + 24%|██▎ | 7110/30000 [3:18:59<10:37:03, 1.67s/it] 24%|██▎ | 7111/30000 [3:19:00<10:36:05, 1.67s/it] 24%|██▎ | 7112/30000 [3:19:02<10:34:28, 1.66s/it] 24%|██▎ | 7113/30000 [3:19:04<10:35:20, 1.67s/it] 24%|██▎ | 7114/30000 [3:19:05<10:35:46, 1.67s/it] 24%|██▎ | 7115/30000 [3:19:07<10:35:25, 1.67s/it] 24%|██▎ | 7116/30000 [3:19:09<10:36:21, 1.67s/it] 24%|██▎ | 7117/30000 [3:19:10<10:36:14, 1.67s/it] 24%|██▎ | 7118/30000 [3:19:12<10:36:32, 1.67s/it] 24%|██▎ | 7119/30000 [3:19:14<10:35:17, 1.67s/it] 24%|██▎ | 7120/30000 [3:19:15<10:34:39, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.10500054806470871, 'learning_rate': 2.721349284645067e-05, 'flow_matching_loss': 0.02340607326477766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.07} + 24%|██▎ | 7120/30000 [3:19:15<10:34:39, 1.66s/it] 24%|██▎ | 7121/30000 [3:19:17<10:34:49, 1.66s/it] 24%|██▎ | 7122/30000 [3:19:19<10:35:07, 1.67s/it] 24%|██▎ | 7123/30000 [3:19:20<10:35:16, 1.67s/it] 24%|██▎ | 7124/30000 [3:19:22<10:35:32, 1.67s/it] 24%|██▍ | 7125/30000 [3:19:24<10:34:23, 1.66s/it] 24%|██▍ | 7126/30000 [3:19:25<10:39:19, 1.68s/it] 24%|██▍ | 7127/30000 [3:19:27<10:38:08, 1.67s/it] 24%|██▍ | 7128/30000 [3:19:29<10:37:20, 1.67s/it] 24%|██▍ | 7129/30000 [3:19:30<10:36:47, 1.67s/it] 24%|██▍ | 7130/30000 [3:19:32<10:35:44, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.14848636090755463, 'learning_rate': 2.7203886400589752e-05, 'flow_matching_loss': 0.024130824208259582, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.07} + 24%|██▍ | 7130/30000 [3:19:32<10:35:44, 1.67s/it] 24%|██▍ | 7131/30000 [3:19:34<10:35:42, 1.67s/it] 24%|██▍ | 7132/30000 [3:19:35<10:35:02, 1.67s/it] 24%|██▍ | 7133/30000 [3:19:37<10:34:28, 1.66s/it] 24%|██▍ | 7134/30000 [3:19:39<10:33:31, 1.66s/it] 24%|██▍ | 7135/30000 [3:19:40<10:33:54, 1.66s/it] 24%|██▍ | 7136/30000 [3:19:42<10:35:25, 1.67s/it] 24%|██▍ | 7137/30000 [3:19:44<10:36:18, 1.67s/it] 24%|██▍ | 7138/30000 [3:19:45<10:38:04, 1.67s/it] 24%|██▍ | 7139/30000 [3:19:47<10:39:25, 1.68s/it] 24%|██▍ | 7140/30000 [3:19:49<10:40:20, 1.68s/it] {'loss': 0.022, 'grad_norm': 0.1409723311662674, 'learning_rate': 2.7194265125856105e-05, 'flow_matching_loss': 0.0220431299880147, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.08} + 24%|██▍ | 7140/30000 [3:19:49<10:40:20, 1.68s/it] 24%|██▍ | 7141/30000 [3:19:50<10:38:28, 1.68s/it] 24%|██▍ | 7142/30000 [3:19:52<10:37:55, 1.67s/it] 24%|██▍ | 7143/30000 [3:19:54<10:37:18, 1.67s/it] 24%|██▍ | 7144/30000 [3:19:55<10:36:14, 1.67s/it] 24%|██▍ | 7145/30000 [3:19:57<10:35:58, 1.67s/it] 24%|██▍ | 7146/30000 [3:19:59<10:35:10, 1.67s/it] 24%|██▍ | 7147/30000 [3:20:00<10:35:37, 1.67s/it] 24%|██▍ | 7148/30000 [3:20:02<10:35:22, 1.67s/it] 24%|██▍ | 7149/30000 [3:20:04<10:35:30, 1.67s/it] 24%|██▍ | 7150/30000 [3:20:05<10:34:23, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.13927596807479858, 'learning_rate': 2.718462903394049e-05, 'flow_matching_loss': 0.020620698016136883, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.08} + 24%|██▍ | 7150/30000 [3:20:05<10:34:23, 1.67s/it] 24%|██▍ | 7151/30000 [3:20:07<10:34:46, 1.67s/it] 24%|██▍ | 7152/30000 [3:20:09<10:33:11, 1.66s/it] 24%|██▍ | 7153/30000 [3:20:10<10:33:09, 1.66s/it] 24%|██▍ | 7154/30000 [3:20:12<10:33:04, 1.66s/it] 24%|██▍ | 7155/30000 [3:20:14<10:33:58, 1.67s/it] 24%|██▍ | 7156/30000 [3:20:15<10:33:49, 1.66s/it] 24%|██▍ | 7157/30000 [3:20:17<10:33:47, 1.66s/it] 24%|██▍ | 7158/30000 [3:20:19<10:35:37, 1.67s/it] 24%|██▍ | 7159/30000 [3:20:20<10:36:00, 1.67s/it] 24%|██▍ | 7160/30000 [3:20:22<10:36:13, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.13853104412555695, 'learning_rate': 2.7174978136551662e-05, 'flow_matching_loss': 0.024121594615280628, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.08} + 24%|██▍ | 7160/30000 [3:20:22<10:36:13, 1.67s/it] 24%|██▍ | 7161/30000 [3:20:24<10:36:07, 1.67s/it] 24%|██▍ | 7162/30000 [3:20:25<10:34:59, 1.67s/it] 24%|██▍ | 7163/30000 [3:20:27<10:34:59, 1.67s/it] 24%|██▍ | 7164/30000 [3:20:29<10:36:05, 1.67s/it] 24%|██▍ | 7165/30000 [3:20:30<10:35:26, 1.67s/it] 24%|██▍ | 7166/30000 [3:20:32<10:36:23, 1.67s/it] 24%|██▍ | 7167/30000 [3:20:34<10:36:29, 1.67s/it] 24%|██▍ | 7168/30000 [3:20:35<10:36:02, 1.67s/it] 24%|██▍ | 7169/30000 [3:20:37<10:36:21, 1.67s/it] 24%|██▍ | 7170/30000 [3:20:39<10:36:44, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.1819310039281845, 'learning_rate': 2.716531244541637e-05, 'flow_matching_loss': 0.023926084488630296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.09} + 24%|██▍ | 7170/30000 [3:20:39<10:36:44, 1.67s/it] 24%|██▍ | 7171/30000 [3:20:40<10:36:22, 1.67s/it] 24%|██▍ | 7172/30000 [3:20:42<10:36:59, 1.67s/it] 24%|██▍ | 7173/30000 [3:20:44<10:36:39, 1.67s/it] 24%|██▍ | 7174/30000 [3:20:45<10:37:48, 1.68s/it] 24%|██▍ | 7175/30000 [3:20:47<10:35:22, 1.67s/it] 24%|██▍ | 7176/30000 [3:20:49<10:35:22, 1.67s/it] 24%|██▍ | 7177/30000 [3:20:50<10:34:37, 1.67s/it] 24%|██▍ | 7178/30000 [3:20:52<10:34:46, 1.67s/it] 24%|██▍ | 7179/30000 [3:20:54<10:34:49, 1.67s/it] 24%|██▍ | 7180/30000 [3:20:55<10:35:55, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.17667999863624573, 'learning_rate': 2.715563197227934e-05, 'flow_matching_loss': 0.02362675331532955, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.09} + 24%|██▍ | 7180/30000 [3:20:56<10:35:55, 1.67s/it] 24%|██▍ | 7181/30000 [3:20:57<10:35:39, 1.67s/it] 24%|██▍ | 7182/30000 [3:20:59<10:34:56, 1.67s/it] 24%|██▍ | 7183/30000 [3:21:00<10:34:48, 1.67s/it] 24%|██▍ | 7184/30000 [3:21:02<10:34:58, 1.67s/it] 24%|██▍ | 7185/30000 [3:21:04<10:34:30, 1.67s/it] 24%|██▍ | 7186/30000 [3:21:05<10:35:13, 1.67s/it] 24%|██▍ | 7187/30000 [3:21:07<10:35:50, 1.67s/it] 24%|██▍ | 7188/30000 [3:21:09<10:35:17, 1.67s/it] 24%|██▍ | 7189/30000 [3:21:11<10:36:01, 1.67s/it] 24%|██▍ | 7190/30000 [3:21:12<10:35:20, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.1372445523738861, 'learning_rate': 2.714593672890327e-05, 'flow_matching_loss': 0.023831562884151936, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.09} + 24%|██▍ | 7190/30000 [3:21:12<10:35:20, 1.67s/it] 24%|██▍ | 7191/30000 [3:21:14<10:34:51, 1.67s/it] 24%|██▍ | 7192/30000 [3:21:16<10:34:54, 1.67s/it] 24%|██▍ | 7193/30000 [3:21:17<10:33:09, 1.67s/it] 24%|██▍ | 7194/30000 [3:21:19<10:34:14, 1.67s/it] 24%|██▍ | 7195/30000 [3:21:21<10:35:52, 1.67s/it] 24%|██▍ | 7196/30000 [3:21:22<10:35:47, 1.67s/it] 24%|██▍ | 7197/30000 [3:21:24<10:34:57, 1.67s/it] 24%|██▍ | 7198/30000 [3:21:26<10:34:01, 1.67s/it] 24%|██▍ | 7199/30000 [3:21:27<10:33:59, 1.67s/it] 24%|██▍ | 7200/30000 [3:21:29<10:35:19, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.1501215547323227, 'learning_rate': 2.7136226727068783e-05, 'flow_matching_loss': 0.022474059835076332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.09} + 24%|██▍ | 7200/30000 [3:21:29<10:35:19, 1.67s/it] 24%|██▍ | 7201/30000 [3:21:31<10:34:06, 1.67s/it] 24%|██▍ | 7202/30000 [3:21:32<10:33:18, 1.67s/it] 24%|██▍ | 7203/30000 [3:21:34<10:34:30, 1.67s/it] 24%|██▍ | 7204/30000 [3:21:36<10:35:09, 1.67s/it] 24%|██▍ | 7205/30000 [3:21:37<10:34:59, 1.67s/it] 24%|██▍ | 7206/30000 [3:21:39<10:34:37, 1.67s/it] 24%|██▍ | 7207/30000 [3:21:41<10:34:13, 1.67s/it] 24%|██▍ | 7208/30000 [3:21:42<10:34:07, 1.67s/it] 24%|██▍ | 7209/30000 [3:21:44<10:33:40, 1.67s/it] 24%|██▍ | 7210/30000 [3:21:46<10:33:40, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.1145797148346901, 'learning_rate': 2.712650197857445e-05, 'flow_matching_loss': 0.022777984756976365, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.1} + 24%|██▍ | 7210/30000 [3:21:46<10:33:40, 1.67s/it] 24%|██▍ | 7211/30000 [3:21:47<10:34:55, 1.67s/it] 24%|██▍ | 7212/30000 [3:21:49<10:34:50, 1.67s/it] 24%|██▍ | 7213/30000 [3:21:51<10:34:43, 1.67s/it] 24%|██▍ | 7214/30000 [3:21:52<10:34:32, 1.67s/it] 24%|██▍ | 7215/30000 [3:21:54<10:34:50, 1.67s/it] 24%|██▍ | 7216/30000 [3:21:56<10:34:43, 1.67s/it] 24%|██▍ | 7217/30000 [3:21:57<10:34:02, 1.67s/it] 24%|██▍ | 7218/30000 [3:21:59<10:34:16, 1.67s/it] 24%|██▍ | 7219/30000 [3:22:01<10:34:07, 1.67s/it] 24%|██▍ | 7220/30000 [3:22:02<10:33:49, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.101673424243927, 'learning_rate': 2.7116762495236763e-05, 'flow_matching_loss': 0.02060458166524768, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.1} + 24%|██▍ | 7220/30000 [3:22:02<10:33:49, 1.67s/it] 24%|██▍ | 7221/30000 [3:22:04<10:33:38, 1.67s/it] 24%|██▍ | 7222/30000 [3:22:06<10:34:15, 1.67s/it] 24%|██▍ | 7223/30000 [3:22:07<10:33:46, 1.67s/it] 24%|██▍ | 7224/30000 [3:22:09<10:34:10, 1.67s/it] 24%|██▍ | 7225/30000 [3:22:11<10:33:19, 1.67s/it] 24%|██▍ | 7226/30000 [3:22:12<10:33:29, 1.67s/it] 24%|██▍ | 7227/30000 [3:22:14<10:34:04, 1.67s/it] 24%|██▍ | 7228/30000 [3:22:16<10:34:27, 1.67s/it] 24%|██▍ | 7229/30000 [3:22:17<10:33:49, 1.67s/it] 24%|██▍ | 7230/30000 [3:22:19<10:33:41, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.1329323649406433, 'learning_rate': 2.7107008288890106e-05, 'flow_matching_loss': 0.023747635819017888, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.1} + 24%|██▍ | 7230/30000 [3:22:19<10:33:41, 1.67s/it] 24%|██▍ | 7231/30000 [3:22:21<10:34:38, 1.67s/it] 24%|██▍ | 7232/30000 [3:22:22<10:33:05, 1.67s/it] 24%|██▍ | 7233/30000 [3:22:24<10:32:17, 1.67s/it] 24%|██▍ | 7234/30000 [3:22:26<10:33:29, 1.67s/it] 24%|██▍ | 7235/30000 [3:22:27<10:33:10, 1.67s/it] 24%|██▍ | 7236/30000 [3:22:29<10:33:44, 1.67s/it] 24%|██▍ | 7237/30000 [3:22:31<10:33:04, 1.67s/it] 24%|██▍ | 7238/30000 [3:22:32<10:32:56, 1.67s/it] 24%|██▍ | 7239/30000 [3:22:34<10:32:58, 1.67s/it] 24%|██▍ | 7240/30000 [3:22:36<10:33:04, 1.67s/it] {'loss': 0.025, 'grad_norm': 0.13829123973846436, 'learning_rate': 2.709723937138676e-05, 'flow_matching_loss': 0.025030968617647885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.11} + 24%|██▍ | 7240/30000 [3:22:36<10:33:04, 1.67s/it] 24%|██▍ | 7241/30000 [3:22:37<10:32:54, 1.67s/it] 24%|██▍ | 7242/30000 [3:22:39<10:33:39, 1.67s/it] 24%|██▍ | 7243/30000 [3:22:41<10:33:39, 1.67s/it] 24%|██▍ | 7244/30000 [3:22:42<10:33:37, 1.67s/it] 24%|██▍ | 7245/30000 [3:22:44<10:34:21, 1.67s/it] 24%|██▍ | 7246/30000 [3:22:46<10:33:54, 1.67s/it] 24%|██▍ | 7247/30000 [3:22:47<10:32:35, 1.67s/it] 24%|██▍ | 7248/30000 [3:22:49<10:32:49, 1.67s/it] 24%|██▍ | 7249/30000 [3:22:51<10:32:56, 1.67s/it] 24%|██▍ | 7250/30000 [3:22:52<10:33:53, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.1332845240831375, 'learning_rate': 2.7087455754596883e-05, 'flow_matching_loss': 0.02047284012660384, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.11} + 24%|██▍ | 7250/30000 [3:22:52<10:33:53, 1.67s/it] 24%|██▍ | 7251/30000 [3:22:54<10:33:59, 1.67s/it] 24%|██▍ | 7252/30000 [3:22:56<10:32:54, 1.67s/it] 24%|██▍ | 7253/30000 [3:22:57<10:32:47, 1.67s/it] 24%|██▍ | 7254/30000 [3:22:59<10:33:59, 1.67s/it] 24%|██▍ | 7255/30000 [3:23:01<10:33:46, 1.67s/it] 24%|██▍ | 7256/30000 [3:23:02<10:35:25, 1.68s/it] 24%|██▍ | 7257/30000 [3:23:04<10:34:10, 1.67s/it] 24%|██▍ | 7258/30000 [3:23:06<10:34:24, 1.67s/it] 24%|██▍ | 7259/30000 [3:23:07<10:33:56, 1.67s/it] 24%|██▍ | 7260/30000 [3:23:09<10:34:14, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.1482817381620407, 'learning_rate': 2.7077657450408498e-05, 'flow_matching_loss': 0.020757609233260154, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.11} + 24%|██▍ | 7260/30000 [3:23:09<10:34:14, 1.67s/it] 24%|██▍ | 7261/30000 [3:23:11<10:33:42, 1.67s/it] 24%|██▍ | 7262/30000 [3:23:12<10:33:48, 1.67s/it] 24%|██▍ | 7263/30000 [3:23:14<10:32:20, 1.67s/it] 24%|██▍ | 7264/30000 [3:23:16<10:33:06, 1.67s/it] 24%|██▍ | 7265/30000 [3:23:17<10:30:59, 1.67s/it] 24%|██▍ | 7266/30000 [3:23:19<10:29:50, 1.66s/it] 24%|██▍ | 7267/30000 [3:23:21<10:30:56, 1.67s/it] 24%|██▍ | 7268/30000 [3:23:22<10:33:13, 1.67s/it] 24%|██▍ | 7269/30000 [3:23:24<10:33:19, 1.67s/it] 24%|██▍ | 7270/30000 [3:23:26<10:33:00, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.14302097260951996, 'learning_rate': 2.7067844470727456e-05, 'flow_matching_loss': 0.02423451514914632, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.12} + 24%|██▍ | 7270/30000 [3:23:26<10:33:00, 1.67s/it] 24%|██▍ | 7271/30000 [3:23:27<10:32:28, 1.67s/it] 24%|██▍ | 7272/30000 [3:23:29<10:32:12, 1.67s/it] 24%|██▍ | 7273/30000 [3:23:31<10:32:07, 1.67s/it] 24%|██▍ | 7274/30000 [3:23:32<10:33:22, 1.67s/it] 24%|██▍ | 7275/30000 [3:23:34<10:34:08, 1.67s/it] 24%|██▍ | 7276/30000 [3:23:36<10:33:09, 1.67s/it] 24%|██▍ | 7277/30000 [3:23:37<10:32:49, 1.67s/it] 24%|██▍ | 7278/30000 [3:23:39<10:31:17, 1.67s/it] 24%|██▍ | 7279/30000 [3:23:41<10:31:52, 1.67s/it] 24%|██▍ | 7280/30000 [3:23:42<10:31:35, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.13594865798950195, 'learning_rate': 2.7058016827477455e-05, 'flow_matching_loss': 0.02424383144825697, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.12} + 24%|██▍ | 7280/30000 [3:23:43<10:31:35, 1.67s/it] 24%|██▍ | 7281/30000 [3:23:44<10:32:14, 1.67s/it] 24%|██▍ | 7282/30000 [3:23:46<10:32:06, 1.67s/it] 24%|██▍ | 7283/30000 [3:23:47<10:33:04, 1.67s/it] 24%|██▍ | 7284/30000 [3:23:49<10:33:35, 1.67s/it] 24%|██▍ | 7285/30000 [3:23:51<10:33:08, 1.67s/it] 24%|██▍ | 7286/30000 [3:23:53<10:32:40, 1.67s/it] 24%|██▍ | 7287/30000 [3:23:54<10:31:58, 1.67s/it] 24%|██▍ | 7288/30000 [3:23:56<10:32:06, 1.67s/it] 24%|██▍ | 7289/30000 [3:23:58<10:30:59, 1.67s/it] 24%|██▍ | 7290/30000 [3:23:59<10:30:15, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.16080118715763092, 'learning_rate': 2.7048174532600018e-05, 'flow_matching_loss': 0.025583548191934823, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.12} + 24%|██▍ | 7290/30000 [3:23:59<10:30:15, 1.67s/it] 24%|██▍ | 7291/30000 [3:24:01<10:32:04, 1.67s/it] 24%|██▍ | 7292/30000 [3:24:03<10:30:12, 1.67s/it] 24%|██▍ | 7293/30000 [3:24:04<10:29:55, 1.66s/it] 24%|██▍ | 7294/30000 [3:24:06<10:30:00, 1.66s/it] 24%|██▍ | 7295/30000 [3:24:07<10:29:59, 1.66s/it] 24%|██▍ | 7296/30000 [3:24:09<10:29:47, 1.66s/it] 24%|██▍ | 7297/30000 [3:24:11<10:32:03, 1.67s/it] 24%|██▍ | 7298/30000 [3:24:13<10:32:43, 1.67s/it] 24%|██▍ | 7299/30000 [3:24:14<10:32:38, 1.67s/it] 24%|██▍ | 7300/30000 [3:24:16<10:31:08, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.14736150205135345, 'learning_rate': 2.7038317598054455e-05, 'flow_matching_loss': 0.02205797899514437, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.12} + 24%|██▍ | 7300/30000 [3:24:16<10:31:08, 1.67s/it] 24%|██▍ | 7301/30000 [3:24:18<10:31:11, 1.67s/it] 24%|██▍ | 7302/30000 [3:24:19<10:32:41, 1.67s/it] 24%|██▍ | 7303/30000 [3:24:21<10:31:31, 1.67s/it] 24%|██▍ | 7304/30000 [3:24:23<10:31:18, 1.67s/it] 24%|██▍ | 7305/30000 [3:24:24<10:29:37, 1.66s/it] 24%|██▍ | 7306/30000 [3:24:26<10:31:08, 1.67s/it] 24%|██▍ | 7307/30000 [3:24:28<10:30:18, 1.67s/it] 24%|██▍ | 7308/30000 [3:24:29<10:30:48, 1.67s/it] 24%|██▍ | 7309/30000 [3:24:31<10:29:52, 1.67s/it] 24%|██▍ | 7310/30000 [3:24:33<10:31:04, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.15005207061767578, 'learning_rate': 2.702844603581787e-05, 'flow_matching_loss': 0.02305854605510831, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.13} + 24%|██▍ | 7310/30000 [3:24:33<10:31:04, 1.67s/it] 24%|██▍ | 7311/30000 [3:24:34<10:30:54, 1.67s/it] 24%|██▍ | 7312/30000 [3:24:36<10:30:19, 1.67s/it] 24%|██▍ | 7313/30000 [3:24:38<10:29:16, 1.66s/it] 24%|██▍ | 7314/30000 [3:24:39<10:29:10, 1.66s/it] 24%|██▍ | 7315/30000 [3:24:41<10:29:49, 1.67s/it] 24%|██▍ | 7316/30000 [3:24:43<10:28:47, 1.66s/it] 24%|██▍ | 7317/30000 [3:24:44<10:29:01, 1.66s/it] 24%|██▍ | 7318/30000 [3:24:46<10:30:19, 1.67s/it] 24%|██▍ | 7319/30000 [3:24:48<10:31:29, 1.67s/it] 24%|██▍ | 7320/30000 [3:24:49<10:32:53, 1.67s/it] {'loss': 0.0251, 'grad_norm': 0.11895003914833069, 'learning_rate': 2.701855985788514e-05, 'flow_matching_loss': 0.025100331380963327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.13} + 24%|██▍ | 7320/30000 [3:24:49<10:32:53, 1.67s/it] 24%|██▍ | 7321/30000 [3:24:51<10:30:53, 1.67s/it] 24%|██▍ | 7322/30000 [3:24:53<10:30:31, 1.67s/it] 24%|██▍ | 7323/30000 [3:24:54<10:30:17, 1.67s/it] 24%|██▍ | 7324/30000 [3:24:56<10:31:06, 1.67s/it] 24%|██▍ | 7325/30000 [3:24:58<10:29:25, 1.67s/it] 24%|██▍ | 7326/30000 [3:24:59<10:31:32, 1.67s/it] 24%|██▍ | 7327/30000 [3:25:01<10:30:32, 1.67s/it] 24%|██▍ | 7328/30000 [3:25:03<10:29:22, 1.67s/it] 24%|██▍ | 7329/30000 [3:25:04<10:30:02, 1.67s/it] 24%|██▍ | 7330/30000 [3:25:06<10:30:30, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.09577933698892593, 'learning_rate': 2.7008659076268912e-05, 'flow_matching_loss': 0.022786409966647624, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.13} + 24%|██▍ | 7330/30000 [3:25:06<10:30:30, 1.67s/it] 24%|██▍ | 7331/30000 [3:25:08<10:31:12, 1.67s/it] 24%|██▍ | 7332/30000 [3:25:09<10:30:52, 1.67s/it] 24%|██▍ | 7333/30000 [3:25:11<10:30:50, 1.67s/it] 24%|██▍ | 7334/30000 [3:25:13<10:31:27, 1.67s/it] 24%|██▍ | 7335/30000 [3:25:14<10:30:22, 1.67s/it] 24%|██▍ | 7336/30000 [3:25:16<10:30:14, 1.67s/it] 24%|██▍ | 7337/30000 [3:25:18<10:29:21, 1.67s/it] 24%|██▍ | 7338/30000 [3:25:19<10:29:20, 1.67s/it] 24%|██▍ | 7339/30000 [3:25:21<10:29:12, 1.67s/it] 24%|██▍ | 7340/30000 [3:25:23<10:31:24, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.09562094509601593, 'learning_rate': 2.6998743702999562e-05, 'flow_matching_loss': 0.02300622072070837, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.14} + 24%|██▍ | 7340/30000 [3:25:23<10:31:24, 1.67s/it] 24%|██▍ | 7341/30000 [3:25:24<10:30:24, 1.67s/it] 24%|██▍ | 7342/30000 [3:25:26<10:30:46, 1.67s/it] 24%|██▍ | 7343/30000 [3:25:28<10:29:58, 1.67s/it] 24%|██▍ | 7344/30000 [3:25:29<10:30:00, 1.67s/it] 24%|██▍ | 7345/30000 [3:25:31<10:28:20, 1.66s/it] 24%|██▍ | 7346/30000 [3:25:33<10:30:16, 1.67s/it] 24%|██▍ | 7347/30000 [3:25:34<10:30:20, 1.67s/it] 24%|██▍ | 7348/30000 [3:25:36<10:29:44, 1.67s/it] 24%|██▍ | 7349/30000 [3:25:38<10:28:50, 1.67s/it] 24%|██▍ | 7350/30000 [3:25:39<10:27:57, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.1288784295320511, 'learning_rate': 2.6988813750125202e-05, 'flow_matching_loss': 0.02337186336517334, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.14} + 24%|██▍ | 7350/30000 [3:25:39<10:27:57, 1.66s/it] 25%|██▍ | 7351/30000 [3:25:41<10:27:45, 1.66s/it] 25%|██▍ | 7352/30000 [3:25:43<10:27:49, 1.66s/it] 25%|██▍ | 7353/30000 [3:25:44<10:27:25, 1.66s/it] 25%|██▍ | 7354/30000 [3:25:46<10:29:05, 1.67s/it] 25%|██▍ | 7355/30000 [3:25:48<10:29:04, 1.67s/it] 25%|██▍ | 7356/30000 [3:25:49<10:28:31, 1.67s/it] 25%|██▍ | 7357/30000 [3:25:51<10:28:24, 1.67s/it] 25%|██▍ | 7358/30000 [3:25:53<10:28:27, 1.67s/it] 25%|██▍ | 7359/30000 [3:25:54<10:27:42, 1.66s/it] 25%|██▍ | 7360/30000 [3:25:56<10:29:54, 1.67s/it] {'loss': 0.0275, 'grad_norm': 0.146310493350029, 'learning_rate': 2.6978869229711668e-05, 'flow_matching_loss': 0.027492752112448216, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.14} + 25%|██▍ | 7360/30000 [3:25:56<10:29:54, 1.67s/it] 25%|██▍ | 7361/30000 [3:25:58<10:29:19, 1.67s/it] 25%|██▍ | 7362/30000 [3:25:59<10:29:21, 1.67s/it] 25%|██▍ | 7363/30000 [3:26:01<10:30:00, 1.67s/it] 25%|██▍ | 7364/30000 [3:26:03<10:28:56, 1.67s/it] 25%|██▍ | 7365/30000 [3:26:04<10:28:46, 1.67s/it] 25%|██▍ | 7366/30000 [3:26:06<10:28:50, 1.67s/it] 25%|██▍ | 7367/30000 [3:26:08<10:29:48, 1.67s/it] 25%|██▍ | 7368/30000 [3:26:09<10:30:53, 1.67s/it] 25%|██▍ | 7369/30000 [3:26:11<10:28:33, 1.67s/it] 25%|██▍ | 7370/30000 [3:26:13<10:27:59, 1.67s/it] {'loss': 0.0257, 'grad_norm': 0.159430593252182, 'learning_rate': 2.6968910153842484e-05, 'flow_matching_loss': 0.0257422361522913, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.14} + 25%|██▍ | 7370/30000 [3:26:13<10:27:59, 1.67s/it] 25%|██▍ | 7371/30000 [3:26:14<10:28:35, 1.67s/it] 25%|██▍ | 7372/30000 [3:26:16<10:28:58, 1.67s/it] 25%|██▍ | 7373/30000 [3:26:18<10:29:04, 1.67s/it] 25%|██▍ | 7374/30000 [3:26:19<10:29:24, 1.67s/it] 25%|██▍ | 7375/30000 [3:26:21<10:29:30, 1.67s/it] 25%|██▍ | 7376/30000 [3:26:23<10:28:41, 1.67s/it] 25%|██▍ | 7377/30000 [3:26:24<10:29:34, 1.67s/it] 25%|██▍ | 7378/30000 [3:26:26<10:29:58, 1.67s/it] 25%|██▍ | 7379/30000 [3:26:28<10:30:10, 1.67s/it] 25%|██▍ | 7380/30000 [3:26:29<10:29:53, 1.67s/it] {'loss': 0.024, 'grad_norm': 0.126685231924057, 'learning_rate': 2.6958936534618874e-05, 'flow_matching_loss': 0.024032287951558828, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.15} + 25%|██▍ | 7380/30000 [3:26:29<10:29:53, 1.67s/it] 25%|██▍ | 7381/30000 [3:26:31<10:29:23, 1.67s/it] 25%|██▍ | 7382/30000 [3:26:33<10:29:00, 1.67s/it] 25%|██▍ | 7383/30000 [3:26:34<10:28:52, 1.67s/it] 25%|██▍ | 7384/30000 [3:26:36<10:29:12, 1.67s/it] 25%|██▍ | 7385/30000 [3:26:38<10:28:56, 1.67s/it] 25%|██▍ | 7386/30000 [3:26:39<10:27:56, 1.67s/it] 25%|██▍ | 7387/30000 [3:26:41<10:28:48, 1.67s/it] 25%|██▍ | 7388/30000 [3:26:43<10:29:09, 1.67s/it] 25%|██▍ | 7389/30000 [3:26:44<10:28:14, 1.67s/it] 25%|██▍ | 7390/30000 [3:26:46<10:28:16, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.1535138040781021, 'learning_rate': 2.694894838415971e-05, 'flow_matching_loss': 0.025615565851330756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.15} + 25%|██▍ | 7390/30000 [3:26:46<10:28:16, 1.67s/it] 25%|██▍ | 7391/30000 [3:26:48<10:29:05, 1.67s/it] 25%|██▍ | 7392/30000 [3:26:49<10:28:09, 1.67s/it] 25%|██▍ | 7393/30000 [3:26:51<10:28:04, 1.67s/it] 25%|██▍ | 7394/30000 [3:26:53<10:28:35, 1.67s/it] 25%|██▍ | 7395/30000 [3:26:54<10:29:50, 1.67s/it] 25%|██▍ | 7396/30000 [3:26:56<10:29:30, 1.67s/it] 25%|██▍ | 7397/30000 [3:26:58<10:28:42, 1.67s/it] 25%|██▍ | 7398/30000 [3:26:59<10:28:24, 1.67s/it] 25%|██▍ | 7399/30000 [3:27:01<10:27:23, 1.67s/it] 25%|██▍ | 7400/30000 [3:27:03<10:28:36, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.11991406977176666, 'learning_rate': 2.6938945714601555e-05, 'flow_matching_loss': 0.020617507863789797, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.15} + 25%|██▍ | 7400/30000 [3:27:03<10:28:36, 1.67s/it] 25%|██▍ | 7401/30000 [3:27:04<10:27:28, 1.67s/it] 25%|██▍ | 7402/30000 [3:27:06<10:27:22, 1.67s/it] 25%|██▍ | 7403/30000 [3:27:08<10:28:55, 1.67s/it] 25%|██▍ | 7404/30000 [3:27:09<10:29:55, 1.67s/it] 25%|██▍ | 7405/30000 [3:27:11<10:28:15, 1.67s/it] 25%|██▍ | 7406/30000 [3:27:13<10:28:30, 1.67s/it] 25%|██▍ | 7407/30000 [3:27:14<10:28:59, 1.67s/it] 25%|██▍ | 7408/30000 [3:27:16<10:28:27, 1.67s/it] 25%|██▍ | 7409/30000 [3:27:18<10:28:31, 1.67s/it] 25%|██▍ | 7410/30000 [3:27:19<10:28:04, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.1213471069931984, 'learning_rate': 2.6928928538098587e-05, 'flow_matching_loss': 0.022683351300656796, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.16} + 25%|██▍ | 7410/30000 [3:27:19<10:28:04, 1.67s/it] 25%|██▍ | 7411/30000 [3:27:21<10:29:29, 1.67s/it] 25%|██▍ | 7412/30000 [3:27:23<10:30:17, 1.67s/it] 25%|██▍ | 7413/30000 [3:27:24<10:30:43, 1.68s/it] 25%|██▍ | 7414/30000 [3:27:26<10:29:58, 1.67s/it] 25%|██▍ | 7415/30000 [3:27:28<10:29:35, 1.67s/it] 25%|██▍ | 7416/30000 [3:27:29<10:30:35, 1.68s/it] 25%|██▍ | 7417/30000 [3:27:31<10:29:14, 1.67s/it] 25%|██▍ | 7418/30000 [3:27:33<10:29:49, 1.67s/it] 25%|██▍ | 7419/30000 [3:27:34<10:28:42, 1.67s/it] 25%|██▍ | 7420/30000 [3:27:36<10:28:59, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.15761741995811462, 'learning_rate': 2.6918896866822615e-05, 'flow_matching_loss': 0.02255390156060457, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.16} + 25%|██▍ | 7420/30000 [3:27:36<10:28:59, 1.67s/it] 25%|██▍ | 7421/30000 [3:27:38<10:29:21, 1.67s/it] 25%|██▍ | 7422/30000 [3:27:39<10:29:22, 1.67s/it] 25%|██▍ | 7423/30000 [3:27:41<10:27:46, 1.67s/it] 25%|██▍ | 7424/30000 [3:27:43<10:26:38, 1.67s/it] 25%|██▍ | 7425/30000 [3:27:44<10:27:21, 1.67s/it] 25%|██▍ | 7426/30000 [3:27:46<10:27:04, 1.67s/it] 25%|██▍ | 7427/30000 [3:27:48<10:27:43, 1.67s/it] 25%|██▍ | 7428/30000 [3:27:49<10:28:44, 1.67s/it] 25%|██▍ | 7429/30000 [3:27:51<10:29:55, 1.67s/it] 25%|██▍ | 7430/30000 [3:27:53<10:29:20, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.11058831959962845, 'learning_rate': 2.690885071296308e-05, 'flow_matching_loss': 0.022359190322458745, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.16} + 25%|██▍ | 7430/30000 [3:27:53<10:29:20, 1.67s/it] 25%|██▍ | 7431/30000 [3:27:54<10:29:03, 1.67s/it] 25%|██▍ | 7432/30000 [3:27:56<10:29:00, 1.67s/it] 25%|██▍ | 7433/30000 [3:27:58<10:27:25, 1.67s/it] 25%|██▍ | 7434/30000 [3:27:59<10:28:49, 1.67s/it] 25%|██▍ | 7435/30000 [3:28:01<10:29:35, 1.67s/it] 25%|██▍ | 7436/30000 [3:28:03<10:28:29, 1.67s/it] 25%|██▍ | 7437/30000 [3:28:04<10:27:54, 1.67s/it] 25%|██▍ | 7438/30000 [3:28:06<10:27:22, 1.67s/it] 25%|██▍ | 7439/30000 [3:28:08<10:26:52, 1.67s/it] 25%|██▍ | 7440/30000 [3:28:09<10:25:40, 1.66s/it] {'loss': 0.0224, 'grad_norm': 0.1405395269393921, 'learning_rate': 2.6898790088726993e-05, 'flow_matching_loss': 0.022427423670887948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.16} + 25%|██▍ | 7440/30000 [3:28:09<10:25:40, 1.66s/it] 25%|██▍ | 7441/30000 [3:28:11<10:27:20, 1.67s/it] 25%|██▍ | 7442/30000 [3:28:13<10:26:44, 1.67s/it] 25%|██▍ | 7443/30000 [3:28:14<10:26:21, 1.67s/it] 25%|██▍ | 7444/30000 [3:28:16<10:27:12, 1.67s/it] 25%|██▍ | 7445/30000 [3:28:18<10:27:04, 1.67s/it] 25%|██▍ | 7446/30000 [3:28:19<10:27:26, 1.67s/it] 25%|██▍ | 7447/30000 [3:28:21<10:25:38, 1.66s/it] 25%|██▍ | 7448/30000 [3:28:23<10:27:01, 1.67s/it] 25%|██▍ | 7449/30000 [3:28:24<10:26:54, 1.67s/it] 25%|██▍ | 7450/30000 [3:28:26<10:26:51, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.11225788295269012, 'learning_rate': 2.6888715006338968e-05, 'flow_matching_loss': 0.022498826775699855, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.17} + 25%|██▍ | 7450/30000 [3:28:26<10:26:51, 1.67s/it] 25%|██▍ | 7451/30000 [3:28:28<10:27:36, 1.67s/it] 25%|██▍ | 7452/30000 [3:28:29<10:28:28, 1.67s/it] 25%|██▍ | 7453/30000 [3:28:31<10:27:33, 1.67s/it] 25%|██▍ | 7454/30000 [3:28:33<10:27:44, 1.67s/it] 25%|██▍ | 7455/30000 [3:28:34<10:27:43, 1.67s/it] 25%|██▍ | 7456/30000 [3:28:36<10:26:44, 1.67s/it] 25%|██▍ | 7457/30000 [3:28:38<10:26:53, 1.67s/it] 25%|██▍ | 7458/30000 [3:28:39<10:27:21, 1.67s/it] 25%|██▍ | 7459/30000 [3:28:41<10:26:40, 1.67s/it] 25%|██▍ | 7460/30000 [3:28:43<10:26:51, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.1452331244945526, 'learning_rate': 2.6878625478041172e-05, 'flow_matching_loss': 0.025171638838946818, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.17} + 25%|██▍ | 7460/30000 [3:28:43<10:26:51, 1.67s/it] 25%|██▍ | 7461/30000 [3:28:45<10:27:54, 1.67s/it] 25%|██▍ | 7462/30000 [3:28:46<10:26:15, 1.67s/it] 25%|██▍ | 7463/30000 [3:28:48<10:26:17, 1.67s/it] 25%|██▍ | 7464/30000 [3:28:50<10:26:08, 1.67s/it] 25%|██▍ | 7465/30000 [3:28:51<10:25:07, 1.66s/it] 25%|██▍ | 7466/30000 [3:28:53<10:25:35, 1.67s/it] 25%|██▍ | 7467/30000 [3:28:54<10:25:58, 1.67s/it] 25%|██▍ | 7468/30000 [3:28:56<10:25:51, 1.67s/it] 25%|██▍ | 7469/30000 [3:28:58<10:25:09, 1.66s/it] 25%|██▍ | 7470/30000 [3:29:00<10:26:31, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.12427420169115067, 'learning_rate': 2.6868521516093342e-05, 'flow_matching_loss': 0.022293405421078206, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.17} + 25%|██▍ | 7470/30000 [3:29:00<10:26:31, 1.67s/it] 25%|██▍ | 7471/30000 [3:29:01<10:26:10, 1.67s/it] 25%|██▍ | 7472/30000 [3:29:03<10:26:07, 1.67s/it] 25%|██▍ | 7473/30000 [3:29:05<10:26:13, 1.67s/it] 25%|██▍ | 7474/30000 [3:29:06<10:26:23, 1.67s/it] 25%|██▍ | 7475/30000 [3:29:08<10:26:09, 1.67s/it] 25%|██▍ | 7476/30000 [3:29:10<10:26:32, 1.67s/it] 25%|██▍ | 7477/30000 [3:29:11<10:26:58, 1.67s/it] 25%|██▍ | 7478/30000 [3:29:13<10:27:32, 1.67s/it] 25%|██▍ | 7479/30000 [3:29:15<10:27:06, 1.67s/it] 25%|██▍ | 7480/30000 [3:29:16<10:27:09, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.14677052199840546, 'learning_rate': 2.6858403132772745e-05, 'flow_matching_loss': 0.02091340087354183, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.18} + 25%|██▍ | 7480/30000 [3:29:16<10:27:09, 1.67s/it] 25%|██▍ | 7481/30000 [3:29:18<10:26:19, 1.67s/it] 25%|██▍ | 7482/30000 [3:29:20<10:25:53, 1.67s/it] 25%|██▍ | 7483/30000 [3:29:21<10:25:49, 1.67s/it] 25%|██▍ | 7484/30000 [3:29:23<10:26:29, 1.67s/it] 25%|██▍ | 7485/30000 [3:29:25<10:27:37, 1.67s/it] 25%|██▍ | 7486/30000 [3:29:26<10:26:47, 1.67s/it] 25%|██▍ | 7487/30000 [3:29:28<10:26:08, 1.67s/it] 25%|██▍ | 7488/30000 [3:29:30<10:25:45, 1.67s/it] 25%|██▍ | 7489/30000 [3:29:31<10:24:58, 1.67s/it] 25%|██▍ | 7490/30000 [3:29:33<10:26:07, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.09985506534576416, 'learning_rate': 2.6848270340374162e-05, 'flow_matching_loss': 0.020881787221878768, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.18} + 25%|██▍ | 7490/30000 [3:29:33<10:26:07, 1.67s/it] 25%|██▍ | 7491/30000 [3:29:35<10:25:27, 1.67s/it] 25%|██▍ | 7492/30000 [3:29:36<10:26:56, 1.67s/it] 25%|██▍ | 7493/30000 [3:29:38<10:25:19, 1.67s/it] 25%|██▍ | 7494/30000 [3:29:40<10:25:02, 1.67s/it] 25%|██▍ | 7495/30000 [3:29:41<10:24:52, 1.67s/it] 25%|██▍ | 7496/30000 [3:29:43<10:24:13, 1.66s/it] 25%|██▍ | 7497/30000 [3:29:45<10:24:42, 1.67s/it] 25%|██▍ | 7498/30000 [3:29:46<10:25:25, 1.67s/it] 25%|██▍ | 7499/30000 [3:29:48<10:26:45, 1.67s/it] 25%|██▌ | 7500/30000 [3:29:50<10:26:01, 1.67s/it] {'loss': 0.0254, 'grad_norm': 0.19415126740932465, 'learning_rate': 2.68381231512099e-05, 'flow_matching_loss': 0.025448531471192838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.18} + 25%|██▌ | 7500/30000 [3:29:50<10:26:01, 1.67s/it] 25%|██▌ | 7501/30000 [3:29:51<10:25:31, 1.67s/it] 25%|██▌ | 7502/30000 [3:29:53<10:26:51, 1.67s/it] 25%|██▌ | 7503/30000 [3:29:55<10:25:12, 1.67s/it] 25%|██▌ | 7504/30000 [3:29:56<10:25:18, 1.67s/it] 25%|██▌ | 7505/30000 [3:29:58<10:24:56, 1.67s/it] 25%|██▌ | 7506/30000 [3:30:00<10:25:11, 1.67s/it] 25%|██▌ | 7507/30000 [3:30:01<10:26:19, 1.67s/it] 25%|██▌ | 7508/30000 [3:30:03<10:25:35, 1.67s/it] 25%|██▌ | 7509/30000 [3:30:05<10:24:30, 1.67s/it] 25%|██▌ | 7510/30000 [3:30:06<10:24:11, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.11214090883731842, 'learning_rate': 2.6827961577609745e-05, 'flow_matching_loss': 0.022673538140952586, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.19} + 25%|██▌ | 7510/30000 [3:30:06<10:24:11, 1.67s/it] 25%|██▌ | 7511/30000 [3:30:08<10:24:59, 1.67s/it] 25%|██▌ | 7512/30000 [3:30:10<10:24:43, 1.67s/it] 25%|██▌ | 7513/30000 [3:30:11<10:24:55, 1.67s/it] 25%|██▌ | 7514/30000 [3:30:13<10:24:41, 1.67s/it] 25%|██▌ | 7515/30000 [3:30:15<10:23:35, 1.66s/it] 25%|██▌ | 7516/30000 [3:30:16<10:24:17, 1.67s/it] 25%|██▌ | 7517/30000 [3:30:18<10:24:14, 1.67s/it] 25%|██▌ | 7518/30000 [3:30:20<10:24:34, 1.67s/it] 25%|██▌ | 7519/30000 [3:30:21<10:24:42, 1.67s/it] 25%|██▌ | 7520/30000 [3:30:23<10:25:31, 1.67s/it] {'loss': 0.0246, 'grad_norm': 0.11934559047222137, 'learning_rate': 2.681778563192097e-05, 'flow_matching_loss': 0.024588159658014773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.19} + 25%|██▌ | 7520/30000 [3:30:23<10:25:31, 1.67s/it] 25%|██▌ | 7521/30000 [3:30:25<10:24:33, 1.67s/it] 25%|██▌ | 7522/30000 [3:30:26<10:25:00, 1.67s/it] 25%|██▌ | 7523/30000 [3:30:28<10:24:32, 1.67s/it] 25%|██▌ | 7524/30000 [3:30:30<10:24:10, 1.67s/it] 25%|██▌ | 7525/30000 [3:30:31<10:23:56, 1.67s/it] 25%|██▌ | 7526/30000 [3:30:33<10:23:49, 1.67s/it] 25%|██▌ | 7527/30000 [3:30:35<10:22:31, 1.66s/it] 25%|██▌ | 7528/30000 [3:30:36<10:22:45, 1.66s/it] 25%|██▌ | 7529/30000 [3:30:38<10:22:38, 1.66s/it] 25%|██▌ | 7530/30000 [3:30:40<10:23:45, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.10865949839353561, 'learning_rate': 2.6807595326508308e-05, 'flow_matching_loss': 0.02155427997931838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.19} + 25%|██▌ | 7530/30000 [3:30:40<10:23:45, 1.67s/it] 25%|██▌ | 7531/30000 [3:30:41<10:24:25, 1.67s/it] 25%|██▌ | 7532/30000 [3:30:43<10:24:19, 1.67s/it] 25%|██▌ | 7533/30000 [3:30:45<10:23:52, 1.67s/it] 25%|██▌ | 7534/30000 [3:30:46<10:24:14, 1.67s/it] 25%|██▌ | 7535/30000 [3:30:48<10:25:35, 1.67s/it] 25%|██▌ | 7536/30000 [3:30:50<10:26:04, 1.67s/it] 25%|██▌ | 7537/30000 [3:30:51<10:25:21, 1.67s/it] 25%|██▌ | 7538/30000 [3:30:53<10:24:34, 1.67s/it] 25%|██▌ | 7539/30000 [3:30:55<10:24:39, 1.67s/it] 25%|██▌ | 7540/30000 [3:30:56<10:24:00, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.1212984099984169, 'learning_rate': 2.679739067375394e-05, 'flow_matching_loss': 0.021025780774652957, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.19} + 25%|██▌ | 7540/30000 [3:30:56<10:24:00, 1.67s/it] 25%|██▌ | 7541/30000 [3:30:58<10:25:21, 1.67s/it] 25%|██▌ | 7542/30000 [3:31:00<10:25:16, 1.67s/it] 25%|██▌ | 7543/30000 [3:31:01<10:24:38, 1.67s/it] 25%|██▌ | 7544/30000 [3:31:03<10:26:13, 1.67s/it] 25%|██▌ | 7545/30000 [3:31:05<10:25:45, 1.67s/it] 25%|██▌ | 7546/30000 [3:31:06<10:24:12, 1.67s/it] 25%|██▌ | 7547/30000 [3:31:08<10:23:42, 1.67s/it] 25%|██▌ | 7548/30000 [3:31:10<10:22:59, 1.66s/it] 25%|██▌ | 7549/30000 [3:31:11<10:23:10, 1.67s/it] 25%|██▌ | 7550/30000 [3:31:13<10:24:54, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.1601601243019104, 'learning_rate': 2.6787171686057487e-05, 'flow_matching_loss': 0.023167931754142047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.2} + 25%|██▌ | 7550/30000 [3:31:13<10:24:54, 1.67s/it] 25%|██▌ | 7551/30000 [3:31:15<10:24:00, 1.67s/it] 25%|██▌ | 7552/30000 [3:31:16<10:25:39, 1.67s/it] 25%|██▌ | 7553/30000 [3:31:18<10:23:48, 1.67s/it] 25%|██▌ | 7554/30000 [3:31:20<10:24:33, 1.67s/it] 25%|██▌ | 7555/30000 [3:31:21<10:23:30, 1.67s/it] 25%|██▌ | 7556/30000 [3:31:23<10:23:41, 1.67s/it] 25%|██▌ | 7557/30000 [3:31:25<10:22:34, 1.66s/it] 25%|██▌ | 7558/30000 [3:31:26<10:22:37, 1.66s/it] 25%|██▌ | 7559/30000 [3:31:28<10:23:52, 1.67s/it] 25%|██▌ | 7560/30000 [3:31:30<10:23:43, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.14722830057144165, 'learning_rate': 2.677693837583597e-05, 'flow_matching_loss': 0.025594298262149096, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.2} + 25%|██▌ | 7560/30000 [3:31:30<10:23:43, 1.67s/it] 25%|██▌ | 7561/30000 [3:31:31<10:23:33, 1.67s/it] 25%|██▌ | 7562/30000 [3:31:33<10:23:45, 1.67s/it] 25%|██▌ | 7563/30000 [3:31:35<10:23:20, 1.67s/it] 25%|██▌ | 7564/30000 [3:31:36<10:23:10, 1.67s/it] 25%|██▌ | 7565/30000 [3:31:38<10:22:41, 1.67s/it] 25%|██▌ | 7566/30000 [3:31:40<10:22:53, 1.67s/it] 25%|██▌ | 7567/30000 [3:31:41<10:22:35, 1.67s/it] 25%|██▌ | 7568/30000 [3:31:43<10:22:20, 1.66s/it] 25%|██▌ | 7569/30000 [3:31:45<10:23:15, 1.67s/it] 25%|██▌ | 7570/30000 [3:31:46<10:22:29, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.1345837116241455, 'learning_rate': 2.6766690755523836e-05, 'flow_matching_loss': 0.021945173386484385, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.2} + 25%|██▌ | 7570/30000 [3:31:46<10:22:29, 1.67s/it] 25%|██▌ | 7571/30000 [3:31:48<10:22:36, 1.67s/it] 25%|██▌ | 7572/30000 [3:31:50<10:23:08, 1.67s/it] 25%|██▌ | 7573/30000 [3:31:51<10:22:28, 1.67s/it] 25%|██▌ | 7574/30000 [3:31:53<10:22:15, 1.66s/it] 25%|██▌ | 7575/30000 [3:31:55<10:21:29, 1.66s/it] 25%|██▌ | 7576/30000 [3:31:56<10:21:19, 1.66s/it] 25%|██▌ | 7577/30000 [3:31:58<10:20:43, 1.66s/it] 25%|██▌ | 7578/30000 [3:32:00<10:20:21, 1.66s/it] 25%|██▌ | 7579/30000 [3:32:01<10:22:03, 1.66s/it] 25%|██▌ | 7580/30000 [3:32:03<10:25:19, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.13251332938671112, 'learning_rate': 2.675642883757291e-05, 'flow_matching_loss': 0.021834703534841536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.21} + 25%|██▌ | 7580/30000 [3:32:03<10:25:19, 1.67s/it] 25%|██▌ | 7581/30000 [3:32:05<10:24:58, 1.67s/it] 25%|██▌ | 7582/30000 [3:32:06<10:25:17, 1.67s/it] 25%|██▌ | 7583/30000 [3:32:08<10:24:41, 1.67s/it] 25%|██▌ | 7584/30000 [3:32:10<10:25:19, 1.67s/it] 25%|██▌ | 7585/30000 [3:32:11<10:24:34, 1.67s/it] 25%|██▌ | 7586/30000 [3:32:13<10:24:38, 1.67s/it] 25%|██▌ | 7587/30000 [3:32:15<10:23:24, 1.67s/it] 25%|██▌ | 7588/30000 [3:32:16<10:25:13, 1.67s/it] 25%|██▌ | 7589/30000 [3:32:18<10:23:29, 1.67s/it] 25%|██▌ | 7590/30000 [3:32:20<10:23:16, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.13810966908931732, 'learning_rate': 2.674615263445239e-05, 'flow_matching_loss': 0.020788036845624448, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.21} + 25%|██▌ | 7590/30000 [3:32:20<10:23:16, 1.67s/it] 25%|██▌ | 7591/30000 [3:32:21<10:23:35, 1.67s/it] 25%|██▌ | 7592/30000 [3:32:23<10:23:59, 1.67s/it] 25%|██▌ | 7593/30000 [3:32:25<10:23:49, 1.67s/it] 25%|██▌ | 7594/30000 [3:32:26<10:25:10, 1.67s/it] 25%|██▌ | 7595/30000 [3:32:28<10:24:50, 1.67s/it] 25%|██▌ | 7596/30000 [3:32:30<10:24:40, 1.67s/it] 25%|██▌ | 7597/30000 [3:32:31<10:24:52, 1.67s/it] 25%|██▌ | 7598/30000 [3:32:33<10:24:02, 1.67s/it] 25%|██▌ | 7599/30000 [3:32:35<10:23:02, 1.67s/it] 25%|██▌ | 7600/30000 [3:32:36<10:22:04, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.12760275602340698, 'learning_rate': 2.673586215864882e-05, 'flow_matching_loss': 0.02219445798546076, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.21} + 25%|██▌ | 7600/30000 [3:32:36<10:22:04, 1.67s/it] 25%|██▌ | 7601/30000 [3:32:38<10:22:51, 1.67s/it] 25%|██▌ | 7602/30000 [3:32:40<10:22:29, 1.67s/it] 25%|██▌ | 7603/30000 [3:32:41<10:21:58, 1.67s/it] 25%|██▌ | 7604/30000 [3:32:43<10:21:46, 1.67s/it] 25%|██▌ | 7605/30000 [3:32:45<10:22:35, 1.67s/it] 25%|██▌ | 7606/30000 [3:32:46<10:21:40, 1.67s/it] 25%|██▌ | 7607/30000 [3:32:48<10:21:57, 1.67s/it] 25%|██▌ | 7608/30000 [3:32:50<10:23:36, 1.67s/it] 25%|██▌ | 7609/30000 [3:32:51<10:23:01, 1.67s/it] 25%|██▌ | 7610/30000 [3:32:53<10:22:32, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.10139608383178711, 'learning_rate': 2.6725557422666113e-05, 'flow_matching_loss': 0.02208505179733038, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.21} + 25%|██▌ | 7610/30000 [3:32:53<10:22:32, 1.67s/it] 25%|██▌ | 7611/30000 [3:32:55<10:22:14, 1.67s/it] 25%|██▌ | 7612/30000 [3:32:56<10:22:17, 1.67s/it] 25%|██▌ | 7613/30000 [3:32:58<10:21:57, 1.67s/it] 25%|██▌ | 7614/30000 [3:33:00<10:22:32, 1.67s/it] 25%|██▌ | 7615/30000 [3:33:01<10:21:42, 1.67s/it] 25%|██▌ | 7616/30000 [3:33:03<10:21:27, 1.67s/it] 25%|██▌ | 7617/30000 [3:33:05<10:21:48, 1.67s/it] 25%|██▌ | 7618/30000 [3:33:06<10:21:19, 1.67s/it] 25%|██▌ | 7619/30000 [3:33:08<10:21:15, 1.67s/it] 25%|██▌ | 7620/30000 [3:33:10<10:21:16, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.1421399563550949, 'learning_rate': 2.6715238439025493e-05, 'flow_matching_loss': 0.021924489922821522, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.22} + 25%|██▌ | 7620/30000 [3:33:10<10:21:16, 1.67s/it] 25%|██▌ | 7621/30000 [3:33:11<10:21:19, 1.67s/it] 25%|██▌ | 7622/30000 [3:33:13<10:21:46, 1.67s/it] 25%|██▌ | 7623/30000 [3:33:15<10:21:16, 1.67s/it] 25%|██▌ | 7624/30000 [3:33:16<10:20:48, 1.66s/it] 25%|██▌ | 7625/30000 [3:33:18<10:20:55, 1.67s/it] 25%|██▌ | 7626/30000 [3:33:20<10:22:09, 1.67s/it] 25%|██▌ | 7627/30000 [3:33:21<10:22:48, 1.67s/it] 25%|██▌ | 7628/30000 [3:33:23<10:22:46, 1.67s/it] 25%|██▌ | 7629/30000 [3:33:25<10:21:19, 1.67s/it] 25%|██▌ | 7630/30000 [3:33:26<10:24:05, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.14049403369426727, 'learning_rate': 2.6704905220265493e-05, 'flow_matching_loss': 0.023352745920419693, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.22} + 25%|██▌ | 7630/30000 [3:33:26<10:24:05, 1.67s/it] 25%|██▌ | 7631/30000 [3:33:28<10:22:52, 1.67s/it] 25%|██▌ | 7632/30000 [3:33:30<10:22:18, 1.67s/it] 25%|██▌ | 7633/30000 [3:33:31<10:24:19, 1.67s/it] 25%|██▌ | 7634/30000 [3:33:33<10:22:13, 1.67s/it] 25%|██▌ | 7635/30000 [3:33:35<10:22:24, 1.67s/it] 25%|██▌ | 7636/30000 [3:33:36<10:22:26, 1.67s/it] 25%|██▌ | 7637/30000 [3:33:38<10:21:56, 1.67s/it] 25%|██▌ | 7638/30000 [3:33:40<10:21:51, 1.67s/it] 25%|██▌ | 7639/30000 [3:33:41<10:22:00, 1.67s/it] 25%|██▌ | 7640/30000 [3:33:43<10:21:37, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.17470304667949677, 'learning_rate': 2.6694557778941947e-05, 'flow_matching_loss': 0.022286269441246988, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.22} + 25%|██▌ | 7640/30000 [3:33:43<10:21:37, 1.67s/it] 25%|██▌ | 7641/30000 [3:33:45<10:20:39, 1.67s/it] 25%|██▌ | 7642/30000 [3:33:46<10:19:21, 1.66s/it] 25%|██▌ | 7643/30000 [3:33:48<10:18:51, 1.66s/it] 25%|██▌ | 7644/30000 [3:33:50<10:19:31, 1.66s/it] 25%|██▌ | 7645/30000 [3:33:51<10:20:47, 1.67s/it] 25%|██▌ | 7646/30000 [3:33:53<10:20:29, 1.67s/it] 25%|██▌ | 7647/30000 [3:33:55<10:20:20, 1.67s/it] 25%|██▌ | 7648/30000 [3:33:56<10:19:51, 1.66s/it] 25%|██▌ | 7649/30000 [3:33:58<10:20:05, 1.66s/it] 26%|██▌ | 7650/30000 [3:34:00<10:20:31, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.1458423137664795, 'learning_rate': 2.6684196127627977e-05, 'flow_matching_loss': 0.02379682715982199, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.23} + 26%|██▌ | 7650/30000 [3:34:00<10:20:31, 1.67s/it] 26%|██▌ | 7651/30000 [3:34:01<10:20:16, 1.67s/it] 26%|██▌ | 7652/30000 [3:34:03<10:19:14, 1.66s/it] 26%|██▌ | 7653/30000 [3:34:05<10:18:47, 1.66s/it] 26%|██▌ | 7654/30000 [3:34:06<10:19:46, 1.66s/it] 26%|██▌ | 7655/30000 [3:34:08<10:19:03, 1.66s/it] 26%|██▌ | 7656/30000 [3:34:10<10:18:52, 1.66s/it] 26%|██▌ | 7657/30000 [3:34:11<10:19:27, 1.66s/it] 26%|██▌ | 7658/30000 [3:34:13<10:19:36, 1.66s/it] 26%|██▌ | 7659/30000 [3:34:15<10:19:14, 1.66s/it] 26%|██▌ | 7660/30000 [3:34:16<10:18:54, 1.66s/it] {'loss': 0.0284, 'grad_norm': 0.1534554809331894, 'learning_rate': 2.6673820278913963e-05, 'flow_matching_loss': 0.028404022008180617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.23} + 26%|██▌ | 7660/30000 [3:34:16<10:18:54, 1.66s/it] 26%|██▌ | 7661/30000 [3:34:18<10:19:18, 1.66s/it] 26%|██▌ | 7662/30000 [3:34:20<10:20:14, 1.67s/it] 26%|██▌ | 7663/30000 [3:34:21<10:19:00, 1.66s/it] 26%|██▌ | 7664/30000 [3:34:23<10:19:36, 1.66s/it] 26%|██▌ | 7665/30000 [3:34:25<10:19:06, 1.66s/it] 26%|██▌ | 7666/30000 [3:34:26<10:18:50, 1.66s/it] 26%|██▌ | 7667/30000 [3:34:28<10:19:24, 1.66s/it] 26%|██▌ | 7668/30000 [3:34:30<10:19:45, 1.67s/it] 26%|██▌ | 7669/30000 [3:34:31<10:19:34, 1.66s/it] 26%|██▌ | 7670/30000 [3:34:33<10:21:42, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.1420104205608368, 'learning_rate': 2.6663430245407544e-05, 'flow_matching_loss': 0.023241152986884117, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.23} + 26%|██▌ | 7670/30000 [3:34:33<10:21:42, 1.67s/it] 26%|██▌ | 7671/30000 [3:34:35<10:21:02, 1.67s/it] 26%|██▌ | 7672/30000 [3:34:36<10:21:12, 1.67s/it] 26%|██▌ | 7673/30000 [3:34:38<10:20:22, 1.67s/it] 26%|██▌ | 7674/30000 [3:34:40<10:20:34, 1.67s/it] 26%|██▌ | 7675/30000 [3:34:41<10:20:32, 1.67s/it] 26%|██▌ | 7676/30000 [3:34:43<10:21:15, 1.67s/it] 26%|██▌ | 7677/30000 [3:34:45<10:21:16, 1.67s/it] 26%|██▌ | 7678/30000 [3:34:46<10:20:11, 1.67s/it] 26%|██▌ | 7679/30000 [3:34:48<10:20:25, 1.67s/it] 26%|██▌ | 7680/30000 [3:34:50<10:20:25, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.14614583551883698, 'learning_rate': 2.6653026039733585e-05, 'flow_matching_loss': 0.022325318213552235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.23} + 26%|██▌ | 7680/30000 [3:34:50<10:20:25, 1.67s/it] 26%|██▌ | 7681/30000 [3:34:51<10:21:14, 1.67s/it] 26%|██▌ | 7682/30000 [3:34:53<10:20:42, 1.67s/it] 26%|██▌ | 7683/30000 [3:34:55<10:20:19, 1.67s/it] 26%|██▌ | 7684/30000 [3:34:56<10:19:33, 1.67s/it] 26%|██▌ | 7685/30000 [3:34:58<10:18:36, 1.66s/it] 26%|██▌ | 7686/30000 [3:35:00<10:18:57, 1.66s/it] 26%|██▌ | 7687/30000 [3:35:01<10:19:02, 1.66s/it] 26%|██▌ | 7688/30000 [3:35:03<10:19:38, 1.67s/it] 26%|██▌ | 7689/30000 [3:35:05<10:18:40, 1.66s/it] 26%|██▌ | 7690/30000 [3:35:06<10:19:35, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.17567315697669983, 'learning_rate': 2.6642607674534176e-05, 'flow_matching_loss': 0.020806248486042022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.24} + 26%|██▌ | 7690/30000 [3:35:06<10:19:35, 1.67s/it] 26%|██▌ | 7691/30000 [3:35:08<10:20:35, 1.67s/it] 26%|██▌ | 7692/30000 [3:35:10<10:19:37, 1.67s/it] 26%|██▌ | 7693/30000 [3:35:11<10:20:00, 1.67s/it] 26%|██▌ | 7694/30000 [3:35:13<10:19:05, 1.67s/it] 26%|██▌ | 7695/30000 [3:35:15<10:18:58, 1.67s/it] 26%|██▌ | 7696/30000 [3:35:16<10:19:04, 1.67s/it] 26%|██▌ | 7697/30000 [3:35:18<10:18:34, 1.66s/it] 26%|██▌ | 7698/30000 [3:35:20<10:18:20, 1.66s/it] 26%|██▌ | 7699/30000 [3:35:21<10:18:10, 1.66s/it] 26%|██▌ | 7700/30000 [3:35:23<10:18:08, 1.66s/it] {'loss': 0.0276, 'grad_norm': 0.14456208050251007, 'learning_rate': 2.663217516246862e-05, 'flow_matching_loss': 0.02756620217114687, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.24} + 26%|██▌ | 7700/30000 [3:35:23<10:18:08, 1.66s/it] 26%|██▌ | 7701/30000 [3:35:25<10:19:20, 1.67s/it] 26%|██▌ | 7702/30000 [3:35:26<10:19:04, 1.67s/it] 26%|██▌ | 7703/30000 [3:35:28<10:18:31, 1.66s/it] 26%|██▌ | 7704/30000 [3:35:30<10:17:53, 1.66s/it] 26%|██▌ | 7705/30000 [3:35:31<10:17:36, 1.66s/it] 26%|██▌ | 7706/30000 [3:35:33<10:17:58, 1.66s/it] 26%|██▌ | 7707/30000 [3:35:35<10:18:15, 1.66s/it] 26%|██▌ | 7708/30000 [3:35:36<10:20:05, 1.67s/it] 26%|██▌ | 7709/30000 [3:35:38<10:18:49, 1.67s/it] 26%|██▌ | 7710/30000 [3:35:40<10:19:09, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.16751603782176971, 'learning_rate': 2.66217285162134e-05, 'flow_matching_loss': 0.024094248563051222, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.24} + 26%|██▌ | 7710/30000 [3:35:40<10:19:09, 1.67s/it] 26%|██▌ | 7711/30000 [3:35:41<10:18:27, 1.66s/it] 26%|██▌ | 7712/30000 [3:35:43<10:18:51, 1.67s/it] 26%|██▌ | 7713/30000 [3:35:45<10:18:10, 1.66s/it] 26%|██▌ | 7714/30000 [3:35:46<10:18:40, 1.67s/it] 26%|██▌ | 7715/30000 [3:35:48<10:19:36, 1.67s/it] 26%|██▌ | 7716/30000 [3:35:50<10:18:57, 1.67s/it] 26%|██▌ | 7717/30000 [3:35:51<10:17:27, 1.66s/it] 26%|██▌ | 7718/30000 [3:35:53<10:19:06, 1.67s/it] 26%|██▌ | 7719/30000 [3:35:55<10:17:54, 1.66s/it] 26%|██▌ | 7720/30000 [3:35:56<10:18:12, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.13401640951633453, 'learning_rate': 2.6611267748462175e-05, 'flow_matching_loss': 0.021349752321839333, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.25} + 26%|██▌ | 7720/30000 [3:35:56<10:18:12, 1.66s/it] 26%|██▌ | 7721/30000 [3:35:58<10:18:12, 1.66s/it] 26%|██▌ | 7722/30000 [3:36:00<10:18:27, 1.67s/it] 26%|██▌ | 7723/30000 [3:36:01<10:18:18, 1.67s/it] 26%|██▌ | 7724/30000 [3:36:03<10:19:54, 1.67s/it] 26%|██▌ | 7725/30000 [3:36:05<10:18:13, 1.67s/it] 26%|██▌ | 7726/30000 [3:36:06<10:19:24, 1.67s/it] 26%|██▌ | 7727/30000 [3:36:08<10:17:23, 1.66s/it] 26%|██▌ | 7728/30000 [3:36:10<10:17:30, 1.66s/it] 26%|██▌ | 7729/30000 [3:36:11<10:17:05, 1.66s/it] 26%|██▌ | 7730/30000 [3:36:13<10:17:23, 1.66s/it] {'loss': 0.0229, 'grad_norm': 0.1592203974723816, 'learning_rate': 2.6600792871925764e-05, 'flow_matching_loss': 0.022900236956775188, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.25} + 26%|██▌ | 7730/30000 [3:36:13<10:17:23, 1.66s/it] 26%|██▌ | 7731/30000 [3:36:15<10:16:41, 1.66s/it] 26%|██▌ | 7732/30000 [3:36:16<10:18:29, 1.67s/it] 26%|██▌ | 7733/30000 [3:36:18<10:17:38, 1.66s/it] 26%|██▌ | 7734/30000 [3:36:20<10:18:02, 1.67s/it] 26%|██▌ | 7735/30000 [3:36:21<10:17:03, 1.66s/it] 26%|██▌ | 7736/30000 [3:36:23<10:18:54, 1.67s/it] 26%|██▌ | 7737/30000 [3:36:25<10:16:57, 1.66s/it] 26%|██▌ | 7738/30000 [3:36:26<10:16:48, 1.66s/it] 26%|██▌ | 7739/30000 [3:36:28<10:17:51, 1.67s/it] 26%|██▌ | 7740/30000 [3:36:30<10:17:39, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.14335981011390686, 'learning_rate': 2.659030389933213e-05, 'flow_matching_loss': 0.021678611263632776, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.25} + 26%|██▌ | 7740/30000 [3:36:30<10:17:39, 1.66s/it] 26%|██▌ | 7741/30000 [3:36:31<10:17:32, 1.66s/it] 26%|██▌ | 7742/30000 [3:36:33<10:16:54, 1.66s/it] 26%|██▌ | 7743/30000 [3:36:35<10:17:24, 1.66s/it] 26%|██▌ | 7744/30000 [3:36:36<10:17:22, 1.66s/it] 26%|██▌ | 7745/30000 [3:36:38<10:17:03, 1.66s/it] 26%|██▌ | 7746/30000 [3:36:40<10:18:41, 1.67s/it] 26%|██▌ | 7747/30000 [3:36:41<10:18:42, 1.67s/it] 26%|██▌ | 7748/30000 [3:36:43<10:18:43, 1.67s/it] 26%|██▌ | 7749/30000 [3:36:45<10:19:16, 1.67s/it] 26%|██▌ | 7750/30000 [3:36:46<10:19:09, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.13676920533180237, 'learning_rate': 2.6579800843426358e-05, 'flow_matching_loss': 0.023006318882107735, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.25} + 26%|██▌ | 7750/30000 [3:36:46<10:19:09, 1.67s/it] 26%|██▌ | 7751/30000 [3:36:48<10:18:10, 1.67s/it] 26%|██▌ | 7752/30000 [3:36:50<10:16:15, 1.66s/it] 26%|██▌ | 7753/30000 [3:36:51<10:16:20, 1.66s/it] 26%|██▌ | 7754/30000 [3:36:53<10:17:10, 1.66s/it] 26%|██▌ | 7755/30000 [3:36:55<10:17:03, 1.66s/it] 26%|██▌ | 7756/30000 [3:36:56<10:16:26, 1.66s/it] 26%|██▌ | 7757/30000 [3:36:58<10:16:36, 1.66s/it] 26%|██▌ | 7758/30000 [3:37:00<10:17:04, 1.66s/it] 26%|██▌ | 7759/30000 [3:37:01<10:17:20, 1.67s/it] 26%|██▌ | 7760/30000 [3:37:03<10:18:02, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.12211540341377258, 'learning_rate': 2.656928371697067e-05, 'flow_matching_loss': 0.023640684224665164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.26} + 26%|██▌ | 7760/30000 [3:37:03<10:18:02, 1.67s/it] 26%|██▌ | 7761/30000 [3:37:05<10:16:26, 1.66s/it] 26%|██▌ | 7762/30000 [3:37:06<10:17:18, 1.67s/it] 26%|██▌ | 7763/30000 [3:37:08<10:18:18, 1.67s/it] 26%|██▌ | 7764/30000 [3:37:10<10:17:18, 1.67s/it] 26%|██▌ | 7765/30000 [3:37:11<10:17:22, 1.67s/it] 26%|██▌ | 7766/30000 [3:37:13<10:18:07, 1.67s/it] 26%|██▌ | 7767/30000 [3:37:15<10:17:49, 1.67s/it] 26%|██▌ | 7768/30000 [3:37:16<10:17:16, 1.67s/it] 26%|██▌ | 7769/30000 [3:37:18<10:17:14, 1.67s/it] 26%|██▌ | 7770/30000 [3:37:20<10:17:10, 1.67s/it] {'loss': 0.0265, 'grad_norm': 0.14078760147094727, 'learning_rate': 2.6558752532744346e-05, 'flow_matching_loss': 0.026543292962014676, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.26} + 26%|██▌ | 7770/30000 [3:37:20<10:17:10, 1.67s/it] 26%|██▌ | 7771/30000 [3:37:21<10:16:29, 1.66s/it] 26%|██▌ | 7772/30000 [3:37:23<10:17:04, 1.67s/it] 26%|██▌ | 7773/30000 [3:37:25<10:15:57, 1.66s/it] 26%|██▌ | 7774/30000 [3:37:26<10:16:08, 1.66s/it] 26%|██▌ | 7775/30000 [3:37:28<10:15:42, 1.66s/it] 26%|██▌ | 7776/30000 [3:37:30<10:15:15, 1.66s/it] 26%|██▌ | 7777/30000 [3:37:31<10:14:27, 1.66s/it] 26%|██▌ | 7778/30000 [3:37:33<10:17:45, 1.67s/it] 26%|██▌ | 7779/30000 [3:37:35<10:17:24, 1.67s/it] 26%|██▌ | 7780/30000 [3:37:36<10:17:25, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13074734807014465, 'learning_rate': 2.654820730354377e-05, 'flow_matching_loss': 0.021137335523962974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.26} + 26%|██▌ | 7780/30000 [3:37:36<10:17:25, 1.67s/it] 26%|██▌ | 7781/30000 [3:37:38<10:17:27, 1.67s/it] 26%|██▌ | 7782/30000 [3:37:40<10:18:03, 1.67s/it] 26%|██▌ | 7783/30000 [3:37:41<10:15:48, 1.66s/it] 26%|██▌ | 7784/30000 [3:37:43<10:15:27, 1.66s/it] 26%|██▌ | 7785/30000 [3:37:45<10:15:51, 1.66s/it] 26%|██▌ | 7786/30000 [3:37:46<10:15:11, 1.66s/it] 26%|██▌ | 7787/30000 [3:37:48<10:16:03, 1.66s/it] 26%|██▌ | 7788/30000 [3:37:50<10:17:50, 1.67s/it] 26%|██▌ | 7789/30000 [3:37:51<10:17:46, 1.67s/it] 26%|██▌ | 7790/30000 [3:37:53<10:17:47, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.13688816130161285, 'learning_rate': 2.6537648042182406e-05, 'flow_matching_loss': 0.022128908429294825, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.27} + 26%|██▌ | 7790/30000 [3:37:53<10:17:47, 1.67s/it] 26%|██▌ | 7791/30000 [3:37:55<10:17:26, 1.67s/it] 26%|██▌ | 7792/30000 [3:37:56<10:17:45, 1.67s/it] 26%|██▌ | 7793/30000 [3:37:58<10:17:42, 1.67s/it] 26%|██▌ | 7794/30000 [3:38:00<10:18:27, 1.67s/it] 26%|██▌ | 7795/30000 [3:38:01<10:19:08, 1.67s/it] 26%|██▌ | 7796/30000 [3:38:03<10:18:46, 1.67s/it] 26%|██▌ | 7797/30000 [3:38:05<10:17:55, 1.67s/it] 26%|██▌ | 7798/30000 [3:38:06<10:17:27, 1.67s/it] 26%|██▌ | 7799/30000 [3:38:08<10:16:42, 1.67s/it] 26%|██▌ | 7800/30000 [3:38:10<10:16:40, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.10008224844932556, 'learning_rate': 2.6527074761490735e-05, 'flow_matching_loss': 0.021388356667011978, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.27} + 26%|██▌ | 7800/30000 [3:38:10<10:16:40, 1.67s/it] 26%|██▌ | 7801/30000 [3:38:11<10:16:03, 1.67s/it] 26%|██▌ | 7802/30000 [3:38:13<10:15:21, 1.66s/it] 26%|██▌ | 7803/30000 [3:38:15<10:14:58, 1.66s/it] 26%|██▌ | 7804/30000 [3:38:16<10:14:22, 1.66s/it] 26%|██▌ | 7805/30000 [3:38:18<10:13:41, 1.66s/it] 26%|██▌ | 7806/30000 [3:38:19<10:14:06, 1.66s/it] 26%|██▌ | 7807/30000 [3:38:21<10:14:29, 1.66s/it] 26%|██▌ | 7808/30000 [3:38:23<10:14:34, 1.66s/it] 26%|██▌ | 7809/30000 [3:38:24<10:14:32, 1.66s/it] 26%|██▌ | 7810/30000 [3:38:26<10:14:35, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.12830482423305511, 'learning_rate': 2.6516487474316303e-05, 'flow_matching_loss': 0.023199679888784887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.27} + 26%|██▌ | 7810/30000 [3:38:26<10:14:35, 1.66s/it] 26%|██▌ | 7811/30000 [3:38:28<10:14:48, 1.66s/it] 26%|██▌ | 7812/30000 [3:38:29<10:15:11, 1.66s/it] 26%|██▌ | 7813/30000 [3:38:31<10:15:06, 1.66s/it] 26%|██▌ | 7814/30000 [3:38:33<10:14:32, 1.66s/it] 26%|██▌ | 7815/30000 [3:38:34<10:13:37, 1.66s/it] 26%|██▌ | 7816/30000 [3:38:36<10:13:19, 1.66s/it] 26%|██▌ | 7817/30000 [3:38:38<10:13:00, 1.66s/it] 26%|██▌ | 7818/30000 [3:38:39<10:12:37, 1.66s/it] 26%|██▌ | 7819/30000 [3:38:41<10:13:31, 1.66s/it] 26%|██▌ | 7820/30000 [3:38:43<10:13:18, 1.66s/it] {'loss': 0.0191, 'grad_norm': 0.1112048476934433, 'learning_rate': 2.650588619352365e-05, 'flow_matching_loss': 0.019089433178305627, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.28} + 26%|██▌ | 7820/30000 [3:38:43<10:13:18, 1.66s/it] 26%|██▌ | 7821/30000 [3:38:44<10:13:35, 1.66s/it] 26%|██▌ | 7822/30000 [3:38:46<10:14:14, 1.66s/it] 26%|██▌ | 7823/30000 [3:38:48<10:14:23, 1.66s/it] 26%|██▌ | 7824/30000 [3:38:49<10:14:41, 1.66s/it] 26%|██▌ | 7825/30000 [3:38:51<10:15:43, 1.67s/it] 26%|██▌ | 7826/30000 [3:38:53<10:14:41, 1.66s/it] 26%|██▌ | 7827/30000 [3:38:54<10:15:32, 1.67s/it] 26%|██▌ | 7828/30000 [3:38:56<10:15:06, 1.66s/it] 26%|██▌ | 7829/30000 [3:38:58<10:14:59, 1.66s/it] 26%|██▌ | 7830/30000 [3:38:59<10:14:41, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.21612845361232758, 'learning_rate': 2.649527093199434e-05, 'flow_matching_loss': 0.024570091720670463, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.28} + 26%|██▌ | 7830/30000 [3:38:59<10:14:41, 1.66s/it] 26%|██▌ | 7831/30000 [3:39:01<10:14:39, 1.66s/it] 26%|██▌ | 7832/30000 [3:39:03<10:14:19, 1.66s/it] 26%|██▌ | 7833/30000 [3:39:04<10:14:58, 1.66s/it] 26%|██▌ | 7834/30000 [3:39:06<10:15:13, 1.67s/it] 26%|██▌ | 7835/30000 [3:39:08<10:15:33, 1.67s/it] 26%|██▌ | 7836/30000 [3:39:09<10:15:50, 1.67s/it] 26%|██▌ | 7837/30000 [3:39:11<10:16:14, 1.67s/it] 26%|██▌ | 7838/30000 [3:39:13<10:16:15, 1.67s/it] 26%|██▌ | 7839/30000 [3:39:14<10:16:52, 1.67s/it] 26%|██▌ | 7840/30000 [3:39:16<10:18:52, 1.68s/it] {'loss': 0.022, 'grad_norm': 0.11955477297306061, 'learning_rate': 2.6484641702626914e-05, 'flow_matching_loss': 0.02199663147330284, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.28} + 26%|██▌ | 7840/30000 [3:39:16<10:18:52, 1.68s/it] 26%|██▌ | 7841/30000 [3:39:18<10:18:41, 1.68s/it] 26%|██▌ | 7842/30000 [3:39:19<10:17:26, 1.67s/it] 26%|██▌ | 7843/30000 [3:39:21<10:16:14, 1.67s/it] 26%|██▌ | 7844/30000 [3:39:23<10:16:22, 1.67s/it] 26%|██▌ | 7845/30000 [3:39:24<10:16:20, 1.67s/it] 26%|██▌ | 7846/30000 [3:39:26<10:16:23, 1.67s/it] 26%|██▌ | 7847/30000 [3:39:28<10:16:11, 1.67s/it] 26%|██▌ | 7848/30000 [3:39:29<10:13:40, 1.66s/it] 26%|██▌ | 7849/30000 [3:39:31<10:14:10, 1.66s/it] 26%|██▌ | 7850/30000 [3:39:33<10:13:54, 1.66s/it] {'loss': 0.0221, 'grad_norm': 0.13411320745944977, 'learning_rate': 2.647399851833689e-05, 'flow_matching_loss': 0.022126136533915996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.28} + 26%|██▌ | 7850/30000 [3:39:33<10:13:54, 1.66s/it] 26%|██▌ | 7851/30000 [3:39:34<10:15:43, 1.67s/it] 26%|██▌ | 7852/30000 [3:39:36<10:15:58, 1.67s/it] 26%|██▌ | 7853/30000 [3:39:38<10:15:11, 1.67s/it] 26%|██▌ | 7854/30000 [3:39:39<10:14:43, 1.67s/it] 26%|██▌ | 7855/30000 [3:39:41<10:14:06, 1.66s/it] 26%|██▌ | 7856/30000 [3:39:43<10:15:14, 1.67s/it] 26%|██▌ | 7857/30000 [3:39:44<10:14:03, 1.66s/it] 26%|██▌ | 7858/30000 [3:39:46<10:12:48, 1.66s/it] 26%|██▌ | 7859/30000 [3:39:48<10:13:49, 1.66s/it] 26%|██▌ | 7860/30000 [3:39:49<10:14:12, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.11738477647304535, 'learning_rate': 2.6463341392056735e-05, 'flow_matching_loss': 0.02306329142302275, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.29} + 26%|██▌ | 7860/30000 [3:39:49<10:14:12, 1.66s/it] 26%|██▌ | 7861/30000 [3:39:51<10:14:17, 1.66s/it] 26%|██▌ | 7862/30000 [3:39:53<10:14:33, 1.67s/it] 26%|██▌ | 7863/30000 [3:39:54<10:13:19, 1.66s/it] 26%|██▌ | 7864/30000 [3:39:56<10:14:25, 1.67s/it] 26%|██▌ | 7865/30000 [3:39:58<10:13:50, 1.66s/it] 26%|██▌ | 7866/30000 [3:39:59<10:13:52, 1.66s/it] 26%|██▌ | 7867/30000 [3:40:01<10:14:44, 1.67s/it] 26%|██▌ | 7868/30000 [3:40:03<10:13:48, 1.66s/it] 26%|██▌ | 7869/30000 [3:40:04<10:13:56, 1.66s/it] 26%|██▌ | 7870/30000 [3:40:06<10:13:53, 1.66s/it] {'loss': 0.0221, 'grad_norm': 0.15441599488258362, 'learning_rate': 2.6452670336735867e-05, 'flow_matching_loss': 0.022116564400494098, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.29} + 26%|██▌ | 7870/30000 [3:40:06<10:13:53, 1.66s/it] 26%|██▌ | 7871/30000 [3:40:08<10:16:31, 1.67s/it] 26%|██▌ | 7872/30000 [3:40:09<10:15:05, 1.67s/it] 26%|██▌ | 7873/30000 [3:40:11<10:14:37, 1.67s/it] 26%|██▌ | 7874/30000 [3:40:13<10:14:16, 1.67s/it] 26%|██▋ | 7875/30000 [3:40:14<10:14:13, 1.67s/it] 26%|██▋ | 7876/30000 [3:40:16<10:14:22, 1.67s/it] 26%|██▋ | 7877/30000 [3:40:18<10:15:26, 1.67s/it] 26%|██▋ | 7878/30000 [3:40:19<10:15:54, 1.67s/it] 26%|██▋ | 7879/30000 [3:40:21<10:15:26, 1.67s/it] 26%|██▋ | 7880/30000 [3:40:23<10:16:06, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.1417495459318161, 'learning_rate': 2.644198536534063e-05, 'flow_matching_loss': 0.02386444415897131, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.29} + 26%|██▋ | 7880/30000 [3:40:23<10:16:06, 1.67s/it] 26%|██▋ | 7881/30000 [3:40:24<10:15:52, 1.67s/it] 26%|██▋ | 7882/30000 [3:40:26<10:15:12, 1.67s/it] 26%|██▋ | 7883/30000 [3:40:28<10:14:58, 1.67s/it] 26%|██▋ | 7884/30000 [3:40:29<10:14:45, 1.67s/it] 26%|██▋ | 7885/30000 [3:40:31<10:14:47, 1.67s/it] 26%|██▋ | 7886/30000 [3:40:33<10:13:29, 1.66s/it] 26%|██▋ | 7887/30000 [3:40:34<10:13:21, 1.66s/it] 26%|██▋ | 7888/30000 [3:40:36<10:11:57, 1.66s/it] 26%|██▋ | 7889/30000 [3:40:38<10:12:12, 1.66s/it] 26%|██▋ | 7890/30000 [3:40:39<10:12:35, 1.66s/it] {'loss': 0.025, 'grad_norm': 0.19361476600170135, 'learning_rate': 2.6431286490854255e-05, 'flow_matching_loss': 0.025020633824169636, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.3} + 26%|██▋ | 7890/30000 [3:40:39<10:12:35, 1.66s/it] 26%|██▋ | 7891/30000 [3:40:41<10:12:49, 1.66s/it] 26%|██▋ | 7892/30000 [3:40:43<10:13:30, 1.67s/it] 26%|██▋ | 7893/30000 [3:40:44<10:11:26, 1.66s/it] 26%|██▋ | 7894/30000 [3:40:46<10:12:30, 1.66s/it] 26%|██▋ | 7895/30000 [3:40:48<10:11:19, 1.66s/it] 26%|██▋ | 7896/30000 [3:40:49<10:13:35, 1.67s/it] 26%|██▋ | 7897/30000 [3:40:51<10:14:14, 1.67s/it] 26%|██▋ | 7898/30000 [3:40:53<10:13:45, 1.67s/it] 26%|██▋ | 7899/30000 [3:40:54<10:13:41, 1.67s/it] 26%|██▋ | 7900/30000 [3:40:56<10:14:01, 1.67s/it] {'loss': 0.0233, 'grad_norm': 0.17299745976924896, 'learning_rate': 2.6420573726276903e-05, 'flow_matching_loss': 0.02334739677608013, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.3} + 26%|██▋ | 7900/30000 [3:40:56<10:14:01, 1.67s/it] 26%|██▋ | 7901/30000 [3:40:58<10:14:19, 1.67s/it] 26%|██▋ | 7902/30000 [3:40:59<10:14:24, 1.67s/it] 26%|██▋ | 7903/30000 [3:41:01<10:13:12, 1.67s/it] 26%|██▋ | 7904/30000 [3:41:03<10:14:21, 1.67s/it] 26%|██▋ | 7905/30000 [3:41:04<10:13:38, 1.67s/it] 26%|██▋ | 7906/30000 [3:41:06<10:12:46, 1.66s/it] 26%|██▋ | 7907/30000 [3:41:08<10:12:38, 1.66s/it] 26%|██▋ | 7908/30000 [3:41:09<10:15:14, 1.67s/it] 26%|██▋ | 7909/30000 [3:41:11<10:14:24, 1.67s/it] 26%|██▋ | 7910/30000 [3:41:13<10:13:50, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.13052286207675934, 'learning_rate': 2.6409847084625575e-05, 'flow_matching_loss': 0.022440566774457694, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.3} + 26%|██▋ | 7910/30000 [3:41:13<10:13:50, 1.67s/it] 26%|██▋ | 7911/30000 [3:41:14<10:15:14, 1.67s/it] 26%|██▋ | 7912/30000 [3:41:16<10:15:08, 1.67s/it] 26%|██▋ | 7913/30000 [3:41:18<10:14:35, 1.67s/it] 26%|██▋ | 7914/30000 [3:41:19<10:13:31, 1.67s/it] 26%|██▋ | 7915/30000 [3:41:21<10:12:53, 1.67s/it] 26%|██▋ | 7916/30000 [3:41:23<10:13:43, 1.67s/it] 26%|██▋ | 7917/30000 [3:41:24<10:13:28, 1.67s/it] 26%|██▋ | 7918/30000 [3:41:26<10:13:32, 1.67s/it] 26%|██▋ | 7919/30000 [3:41:28<10:11:40, 1.66s/it] 26%|██▋ | 7920/30000 [3:41:29<10:10:34, 1.66s/it] {'loss': 0.0218, 'grad_norm': 0.11399237811565399, 'learning_rate': 2.6399106578934167e-05, 'flow_matching_loss': 0.02180586839094758, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.3} + 26%|██▋ | 7920/30000 [3:41:29<10:10:34, 1.66s/it] 26%|██▋ | 7921/30000 [3:41:31<10:11:10, 1.66s/it] 26%|██▋ | 7922/30000 [3:41:33<10:12:01, 1.66s/it] 26%|██▋ | 7923/30000 [3:41:34<10:12:36, 1.66s/it] 26%|██▋ | 7924/30000 [3:41:36<10:12:00, 1.66s/it] 26%|██▋ | 7925/30000 [3:41:38<10:12:16, 1.66s/it] 26%|██▋ | 7926/30000 [3:41:39<10:11:17, 1.66s/it] 26%|██▋ | 7927/30000 [3:41:41<10:11:40, 1.66s/it] 26%|██▋ | 7928/30000 [3:41:43<10:11:40, 1.66s/it] 26%|██▋ | 7929/30000 [3:41:44<10:12:08, 1.66s/it] 26%|██▋ | 7930/30000 [3:41:46<10:11:47, 1.66s/it] {'loss': 0.0227, 'grad_norm': 0.09909702092409134, 'learning_rate': 2.63883522222534e-05, 'flow_matching_loss': 0.02272658534348011, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.31} + 26%|██▋ | 7930/30000 [3:41:46<10:11:47, 1.66s/it] 26%|██▋ | 7931/30000 [3:41:48<10:11:50, 1.66s/it] 26%|██▋ | 7932/30000 [3:41:49<10:11:50, 1.66s/it] 26%|██▋ | 7933/30000 [3:41:51<10:09:58, 1.66s/it] 26%|██▋ | 7934/30000 [3:41:53<10:11:21, 1.66s/it] 26%|██▋ | 7935/30000 [3:41:54<10:10:50, 1.66s/it] 26%|██▋ | 7936/30000 [3:41:56<10:10:20, 1.66s/it] 26%|██▋ | 7937/30000 [3:41:58<10:11:17, 1.66s/it] 26%|██▋ | 7938/30000 [3:41:59<10:11:02, 1.66s/it] 26%|██▋ | 7939/30000 [3:42:01<10:11:03, 1.66s/it] 26%|██▋ | 7940/30000 [3:42:03<10:12:39, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.14617331326007843, 'learning_rate': 2.6377584027650827e-05, 'flow_matching_loss': 0.023921578377485275, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.31} + 26%|██▋ | 7940/30000 [3:42:03<10:12:39, 1.67s/it] 26%|██▋ | 7941/30000 [3:42:04<10:12:49, 1.67s/it] 26%|██▋ | 7942/30000 [3:42:06<10:12:12, 1.67s/it] 26%|██▋ | 7943/30000 [3:42:08<10:13:01, 1.67s/it] 26%|██▋ | 7944/30000 [3:42:09<10:11:59, 1.66s/it] 26%|██▋ | 7945/30000 [3:42:11<10:11:34, 1.66s/it] 26%|██▋ | 7946/30000 [3:42:13<10:11:46, 1.66s/it] 26%|██▋ | 7947/30000 [3:42:14<10:12:52, 1.67s/it] 26%|██▋ | 7948/30000 [3:42:16<10:12:27, 1.67s/it] 26%|██▋ | 7949/30000 [3:42:18<10:11:52, 1.66s/it] 26%|██▋ | 7950/30000 [3:42:19<10:11:01, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.11481165140867233, 'learning_rate': 2.636680200821083e-05, 'flow_matching_loss': 0.023184734024107458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.31} + 26%|██▋ | 7950/30000 [3:42:19<10:11:01, 1.66s/it] 27%|██▋ | 7951/30000 [3:42:21<10:10:51, 1.66s/it] 27%|██▋ | 7952/30000 [3:42:23<10:11:37, 1.66s/it] 27%|██▋ | 7953/30000 [3:42:24<10:10:18, 1.66s/it] 27%|██▋ | 7954/30000 [3:42:26<10:11:58, 1.67s/it] 27%|██▋ | 7955/30000 [3:42:28<10:12:47, 1.67s/it] 27%|██▋ | 7956/30000 [3:42:29<10:11:52, 1.67s/it] 27%|██▋ | 7957/30000 [3:42:31<10:11:22, 1.66s/it] 27%|██▋ | 7958/30000 [3:42:33<10:11:04, 1.66s/it] 27%|██▋ | 7959/30000 [3:42:34<10:10:45, 1.66s/it] 27%|██▋ | 7960/30000 [3:42:36<10:12:00, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.1692267656326294, 'learning_rate': 2.635600617703457e-05, 'flow_matching_loss': 0.024349329806864262, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.32} + 27%|██▋ | 7960/30000 [3:42:36<10:12:00, 1.67s/it] 27%|██▋ | 7961/30000 [3:42:38<10:12:37, 1.67s/it] 27%|██▋ | 7962/30000 [3:42:39<10:12:11, 1.67s/it] 27%|██▋ | 7963/30000 [3:42:41<10:11:44, 1.67s/it] 27%|██▋ | 7964/30000 [3:42:43<10:12:17, 1.67s/it] 27%|██▋ | 7965/30000 [3:42:44<10:09:53, 1.66s/it] 27%|██▋ | 7966/30000 [3:42:46<10:10:34, 1.66s/it] 27%|██▋ | 7967/30000 [3:42:48<10:10:09, 1.66s/it] 27%|██▋ | 7968/30000 [3:42:49<10:10:21, 1.66s/it] 27%|██▋ | 7969/30000 [3:42:51<10:09:49, 1.66s/it] 27%|██▋ | 7970/30000 [3:42:53<10:08:58, 1.66s/it] {'loss': 0.0249, 'grad_norm': 0.13886679708957672, 'learning_rate': 2.6345196547240007e-05, 'flow_matching_loss': 0.024913828074932098, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.32} + 27%|██▋ | 7970/30000 [3:42:53<10:08:58, 1.66s/it] 27%|██▋ | 7971/30000 [3:42:54<10:09:48, 1.66s/it] 27%|██▋ | 7972/30000 [3:42:56<10:10:43, 1.66s/it] 27%|██▋ | 7973/30000 [3:42:58<10:11:20, 1.67s/it] 27%|██▋ | 7974/30000 [3:42:59<10:12:02, 1.67s/it] 27%|██▋ | 7975/30000 [3:43:01<10:11:08, 1.66s/it] 27%|██▋ | 7976/30000 [3:43:03<10:10:30, 1.66s/it] 27%|██▋ | 7977/30000 [3:43:04<10:09:02, 1.66s/it] 27%|██▋ | 7978/30000 [3:43:06<10:09:51, 1.66s/it] 27%|██▋ | 7979/30000 [3:43:08<10:10:50, 1.66s/it] 27%|██▋ | 7980/30000 [3:43:09<10:11:51, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.12186431139707565, 'learning_rate': 2.6334373131961854e-05, 'flow_matching_loss': 0.022036652825772763, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.32} + 27%|██▋ | 7980/30000 [3:43:09<10:11:51, 1.67s/it] 27%|██▋ | 7981/30000 [3:43:11<10:13:43, 1.67s/it] 27%|██▋ | 7982/30000 [3:43:13<10:12:50, 1.67s/it] 27%|██▋ | 7983/30000 [3:43:14<10:13:10, 1.67s/it] 27%|██▋ | 7984/30000 [3:43:16<10:12:34, 1.67s/it] 27%|██▋ | 7985/30000 [3:43:18<10:11:51, 1.67s/it] 27%|██▋ | 7986/30000 [3:43:19<10:11:08, 1.67s/it] 27%|██▋ | 7987/30000 [3:43:21<10:11:05, 1.67s/it] 27%|██▋ | 7988/30000 [3:43:23<10:12:19, 1.67s/it] 27%|██▋ | 7989/30000 [3:43:24<10:11:42, 1.67s/it] 27%|██▋ | 7990/30000 [3:43:26<10:10:46, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.14607512950897217, 'learning_rate': 2.6323535944351583e-05, 'flow_matching_loss': 0.024471455626189707, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.32} + 27%|██▋ | 7990/30000 [3:43:26<10:10:46, 1.67s/it] 27%|██▋ | 7991/30000 [3:43:28<10:11:44, 1.67s/it] 27%|██▋ | 7992/30000 [3:43:29<10:10:04, 1.66s/it] 27%|██▋ | 7993/30000 [3:43:31<10:08:25, 1.66s/it] 27%|██▋ | 7994/30000 [3:43:33<10:09:08, 1.66s/it] 27%|██▋ | 7995/30000 [3:43:34<10:08:52, 1.66s/it] 27%|██▋ | 7996/30000 [3:43:36<10:09:48, 1.66s/it] 27%|██▋ | 7997/30000 [3:43:38<10:10:17, 1.66s/it] 27%|██▋ | 7998/30000 [3:43:39<10:10:38, 1.67s/it] 27%|██▋ | 7999/30000 [3:43:41<10:10:05, 1.66s/it] 27%|██▋ | 8000/30000 [3:43:42<10:10:44, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.1369205266237259, 'learning_rate': 2.63126849975774e-05, 'flow_matching_loss': 0.02338235005736351, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.33} + 27%|██▋ | 8000/30000 [3:43:43<10:10:44, 1.67s/it] 27%|██▋ | 8001/30000 [3:43:44<10:11:01, 1.67s/it] 27%|██▋ | 8002/30000 [3:43:46<10:12:44, 1.67s/it] 27%|██▋ | 8003/30000 [3:43:48<10:12:23, 1.67s/it] 27%|██▋ | 8004/30000 [3:43:49<10:12:25, 1.67s/it] 27%|██▋ | 8005/30000 [3:43:51<10:11:19, 1.67s/it] 27%|██▋ | 8006/30000 [3:43:53<10:11:22, 1.67s/it] 27%|██▋ | 8007/30000 [3:43:54<10:10:16, 1.66s/it] 27%|██▋ | 8008/30000 [3:43:56<10:10:56, 1.67s/it] 27%|██▋ | 8009/30000 [3:43:58<10:11:37, 1.67s/it] 27%|██▋ | 8010/30000 [3:43:59<10:11:21, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.11261700093746185, 'learning_rate': 2.6301820304824234e-05, 'flow_matching_loss': 0.019778738729655743, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.33} + 27%|██▋ | 8010/30000 [3:43:59<10:11:21, 1.67s/it] 27%|██▋ | 8011/30000 [3:44:01<10:10:31, 1.67s/it] 27%|██▋ | 8012/30000 [3:44:03<10:11:25, 1.67s/it] 27%|██▋ | 8013/30000 [3:44:04<10:10:02, 1.66s/it] 27%|██▋ | 8014/30000 [3:44:06<10:08:58, 1.66s/it] 27%|██▋ | 8015/30000 [3:44:07<10:08:37, 1.66s/it] 27%|██▋ | 8016/30000 [3:44:09<10:09:59, 1.66s/it] 27%|██▋ | 8017/30000 [3:44:11<10:10:11, 1.67s/it] 27%|██▋ | 8018/30000 [3:44:12<10:09:50, 1.66s/it] 27%|██▋ | 8019/30000 [3:44:14<10:09:24, 1.66s/it] 27%|██▋ | 8020/30000 [3:44:16<10:10:09, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.1390094757080078, 'learning_rate': 2.6290941879293703e-05, 'flow_matching_loss': 0.02062745289877057, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.33} + 27%|██▋ | 8020/30000 [3:44:16<10:10:09, 1.67s/it] 27%|██▋ | 8021/30000 [3:44:17<10:10:26, 1.67s/it] 27%|██▋ | 8022/30000 [3:44:19<10:10:41, 1.67s/it] 27%|██▋ | 8023/30000 [3:44:21<10:09:05, 1.66s/it] 27%|██▋ | 8024/30000 [3:44:22<10:08:18, 1.66s/it] 27%|██▋ | 8025/30000 [3:44:24<10:09:17, 1.66s/it] 27%|██▋ | 8026/30000 [3:44:26<10:09:33, 1.66s/it] 27%|██▋ | 8027/30000 [3:44:27<10:10:01, 1.67s/it] 27%|██▋ | 8028/30000 [3:44:29<10:08:39, 1.66s/it] 27%|██▋ | 8029/30000 [3:44:31<10:10:09, 1.67s/it] 27%|██▋ | 8030/30000 [3:44:32<10:10:36, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.12091301381587982, 'learning_rate': 2.628004973420412e-05, 'flow_matching_loss': 0.02277110479772091, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.34} + 27%|██▋ | 8030/30000 [3:44:33<10:10:36, 1.67s/it] 27%|██▋ | 8031/30000 [3:44:34<10:11:27, 1.67s/it] 27%|██▋ | 8032/30000 [3:44:36<10:12:29, 1.67s/it] 27%|██▋ | 8033/30000 [3:44:37<10:10:24, 1.67s/it] 27%|██▋ | 8034/30000 [3:44:39<10:09:58, 1.67s/it] 27%|██▋ | 8035/30000 [3:44:41<10:09:53, 1.67s/it] 27%|██▋ | 8036/30000 [3:44:42<10:10:58, 1.67s/it] 27%|██▋ | 8037/30000 [3:44:44<10:11:08, 1.67s/it] 27%|██▋ | 8038/30000 [3:44:46<10:10:41, 1.67s/it] 27%|██▋ | 8039/30000 [3:44:47<10:09:38, 1.67s/it] 27%|██▋ | 8040/30000 [3:44:49<10:11:43, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.15626151859760284, 'learning_rate': 2.626914388279047e-05, 'flow_matching_loss': 0.02405534088611603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.34} + 27%|██▋ | 8040/30000 [3:44:49<10:11:43, 1.67s/it] 27%|██▋ | 8041/30000 [3:44:51<10:11:16, 1.67s/it] 27%|██▋ | 8042/30000 [3:44:53<10:10:25, 1.67s/it] 27%|██▋ | 8043/30000 [3:44:54<10:10:47, 1.67s/it] 27%|██▋ | 8044/30000 [3:44:56<10:12:07, 1.67s/it] 27%|██▋ | 8045/30000 [3:44:58<10:12:09, 1.67s/it] 27%|██▋ | 8046/30000 [3:44:59<10:11:45, 1.67s/it] 27%|██▋ | 8047/30000 [3:45:01<10:10:55, 1.67s/it] 27%|██▋ | 8048/30000 [3:45:03<10:12:33, 1.67s/it] 27%|██▋ | 8049/30000 [3:45:04<10:12:46, 1.67s/it] 27%|██▋ | 8050/30000 [3:45:06<10:12:25, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.12589387595653534, 'learning_rate': 2.6258224338304394e-05, 'flow_matching_loss': 0.02230503670871258, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.34} + 27%|██▋ | 8050/30000 [3:45:06<10:12:25, 1.67s/it] 27%|██▋ | 8051/30000 [3:45:08<10:10:56, 1.67s/it] 27%|██▋ | 8052/30000 [3:45:09<10:10:18, 1.67s/it] 27%|██▋ | 8053/30000 [3:45:11<10:10:13, 1.67s/it] 27%|██▋ | 8054/30000 [3:45:13<10:10:03, 1.67s/it] 27%|██▋ | 8055/30000 [3:45:14<10:09:11, 1.67s/it] 27%|██▋ | 8056/30000 [3:45:16<10:12:12, 1.67s/it] 27%|██▋ | 8057/30000 [3:45:18<10:11:02, 1.67s/it] 27%|██▋ | 8058/30000 [3:45:19<10:09:46, 1.67s/it] 27%|██▋ | 8059/30000 [3:45:21<10:08:47, 1.66s/it] 27%|██▋ | 8060/30000 [3:45:23<10:08:31, 1.66s/it] {'loss': 0.0229, 'grad_norm': 0.12181161344051361, 'learning_rate': 2.6247291114014166e-05, 'flow_matching_loss': 0.022901284508407116, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.35} + 27%|██▋ | 8060/30000 [3:45:23<10:08:31, 1.66s/it] 27%|██▋ | 8061/30000 [3:45:24<10:08:00, 1.66s/it] 27%|██▋ | 8062/30000 [3:45:26<10:07:58, 1.66s/it] 27%|██▋ | 8063/30000 [3:45:28<10:07:54, 1.66s/it] 27%|██▋ | 8064/30000 [3:45:29<10:08:40, 1.66s/it] 27%|██▋ | 8065/30000 [3:45:31<10:07:26, 1.66s/it] 27%|██▋ | 8066/30000 [3:45:33<10:06:49, 1.66s/it] 27%|██▋ | 8067/30000 [3:45:34<10:08:00, 1.66s/it] 27%|██▋ | 8068/30000 [3:45:36<10:08:08, 1.66s/it] 27%|██▋ | 8069/30000 [3:45:38<10:08:56, 1.67s/it] 27%|██▋ | 8070/30000 [3:45:39<10:10:18, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.15568403899669647, 'learning_rate': 2.6236344223204683e-05, 'flow_matching_loss': 0.022237195260822774, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.35} + 27%|██▋ | 8070/30000 [3:45:39<10:10:18, 1.67s/it] 27%|██▋ | 8071/30000 [3:45:41<10:10:51, 1.67s/it] 27%|██▋ | 8072/30000 [3:45:43<10:10:55, 1.67s/it] 27%|██▋ | 8073/30000 [3:45:44<10:09:15, 1.67s/it] 27%|██▋ | 8074/30000 [3:45:46<10:08:56, 1.67s/it] 27%|██▋ | 8075/30000 [3:45:48<10:08:40, 1.67s/it] 27%|██▋ | 8076/30000 [3:45:49<10:09:14, 1.67s/it] 27%|██▋ | 8077/30000 [3:45:51<10:11:43, 1.67s/it] 27%|██▋ | 8078/30000 [3:45:53<10:12:36, 1.68s/it] 27%|██▋ | 8079/30000 [3:45:54<10:11:42, 1.67s/it] 27%|██▋ | 8080/30000 [3:45:56<10:11:25, 1.67s/it] {'loss': 0.0233, 'grad_norm': 0.14363795518875122, 'learning_rate': 2.6225383679177453e-05, 'flow_matching_loss': 0.023258466366678478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.35} + 27%|██▋ | 8080/30000 [3:45:56<10:11:25, 1.67s/it] 27%|██▋ | 8081/30000 [3:45:58<10:11:45, 1.67s/it] 27%|██▋ | 8082/30000 [3:45:59<10:10:14, 1.67s/it] 27%|██▋ | 8083/30000 [3:46:01<10:10:18, 1.67s/it] 27%|██▋ | 8084/30000 [3:46:03<10:11:30, 1.67s/it] 27%|██▋ | 8085/30000 [3:46:04<10:12:09, 1.68s/it] 27%|██▋ | 8086/30000 [3:46:06<10:11:47, 1.68s/it] 27%|██▋ | 8087/30000 [3:46:08<10:11:19, 1.67s/it] 27%|██▋ | 8088/30000 [3:46:09<10:11:42, 1.67s/it] 27%|██▋ | 8089/30000 [3:46:11<10:09:51, 1.67s/it] 27%|██▋ | 8090/30000 [3:46:13<10:08:59, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.11983133107423782, 'learning_rate': 2.6214409495250568e-05, 'flow_matching_loss': 0.022888862155377866, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.35} + 27%|██▋ | 8090/30000 [3:46:13<10:08:59, 1.67s/it] 27%|██▋ | 8091/30000 [3:46:14<10:09:31, 1.67s/it] 27%|██▋ | 8092/30000 [3:46:16<10:09:01, 1.67s/it] 27%|██▋ | 8093/30000 [3:46:18<10:08:36, 1.67s/it] 27%|██▋ | 8094/30000 [3:46:19<10:07:45, 1.66s/it] 27%|██▋ | 8095/30000 [3:46:21<10:07:48, 1.66s/it] 27%|██▋ | 8096/30000 [3:46:23<10:09:03, 1.67s/it] 27%|██▋ | 8097/30000 [3:46:24<10:09:39, 1.67s/it] 27%|██▋ | 8098/30000 [3:46:26<10:09:53, 1.67s/it] 27%|██▋ | 8099/30000 [3:46:28<10:09:08, 1.67s/it] 27%|██▋ | 8100/30000 [3:46:29<10:10:09, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.11793273687362671, 'learning_rate': 2.620342168475869e-05, 'flow_matching_loss': 0.024240120872855188, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.36} + 27%|██▋ | 8100/30000 [3:46:29<10:10:09, 1.67s/it] 27%|██▋ | 8101/30000 [3:46:31<10:11:36, 1.68s/it] 27%|██▋ | 8102/30000 [3:46:33<10:09:53, 1.67s/it] 27%|██▋ | 8103/30000 [3:46:34<10:09:49, 1.67s/it] 27%|██▋ | 8104/30000 [3:46:36<10:13:00, 1.68s/it] 27%|██▋ | 8105/30000 [3:46:38<10:11:25, 1.68s/it] 27%|██▋ | 8106/30000 [3:46:39<10:10:41, 1.67s/it] 27%|██▋ | 8107/30000 [3:46:41<10:09:55, 1.67s/it] 27%|██▋ | 8108/30000 [3:46:43<10:09:18, 1.67s/it] 27%|██▋ | 8109/30000 [3:46:44<10:09:30, 1.67s/it] 27%|██▋ | 8110/30000 [3:46:46<10:10:04, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.16426724195480347, 'learning_rate': 2.619242026105306e-05, 'flow_matching_loss': 0.02168186316266656, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.36} + 27%|██▋ | 8110/30000 [3:46:46<10:10:04, 1.67s/it] 27%|██▋ | 8111/30000 [3:46:48<10:08:40, 1.67s/it] 27%|██▋ | 8112/30000 [3:46:49<10:08:54, 1.67s/it] 27%|██▋ | 8113/30000 [3:46:51<10:08:00, 1.67s/it] 27%|██▋ | 8114/30000 [3:46:53<10:08:04, 1.67s/it] 27%|██▋ | 8115/30000 [3:46:54<10:07:18, 1.66s/it] 27%|██▋ | 8116/30000 [3:46:56<10:06:59, 1.66s/it] 27%|██▋ | 8117/30000 [3:46:58<10:07:42, 1.67s/it] 27%|██▋ | 8118/30000 [3:46:59<10:08:44, 1.67s/it] 27%|██▋ | 8119/30000 [3:47:01<10:07:57, 1.67s/it] 27%|██▋ | 8120/30000 [3:47:03<10:08:48, 1.67s/it] {'loss': 0.024, 'grad_norm': 0.16390448808670044, 'learning_rate': 2.618140523750143e-05, 'flow_matching_loss': 0.02401181273162365, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.36} + 27%|██▋ | 8120/30000 [3:47:03<10:08:48, 1.67s/it] 27%|██▋ | 8121/30000 [3:47:04<10:08:56, 1.67s/it] 27%|██▋ | 8122/30000 [3:47:06<10:08:11, 1.67s/it] 27%|██▋ | 8123/30000 [3:47:08<10:07:50, 1.67s/it] 27%|██▋ | 8124/30000 [3:47:09<10:07:25, 1.67s/it] 27%|██▋ | 8125/30000 [3:47:11<10:06:34, 1.66s/it] 27%|██▋ | 8126/30000 [3:47:13<10:06:19, 1.66s/it] 27%|██▋ | 8127/30000 [3:47:14<10:06:13, 1.66s/it] 27%|██▋ | 8128/30000 [3:47:16<10:07:09, 1.67s/it] 27%|██▋ | 8129/30000 [3:47:18<10:07:10, 1.67s/it] 27%|██▋ | 8130/30000 [3:47:19<10:05:09, 1.66s/it] {'loss': 0.0245, 'grad_norm': 0.14003194868564606, 'learning_rate': 2.6170376627488103e-05, 'flow_matching_loss': 0.02446702290326357, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.37} + 27%|██▋ | 8130/30000 [3:47:19<10:05:09, 1.66s/it] 27%|██▋ | 8131/30000 [3:47:21<10:06:15, 1.66s/it] 27%|██▋ | 8132/30000 [3:47:23<10:07:52, 1.67s/it] 27%|██▋ | 8133/30000 [3:47:24<10:07:30, 1.67s/it] 27%|██▋ | 8134/30000 [3:47:26<10:07:02, 1.67s/it] 27%|██▋ | 8135/30000 [3:47:28<10:07:33, 1.67s/it] 27%|██▋ | 8136/30000 [3:47:29<10:07:04, 1.67s/it] 27%|██▋ | 8137/30000 [3:47:31<10:06:09, 1.66s/it] 27%|██▋ | 8138/30000 [3:47:33<10:05:55, 1.66s/it] 27%|██▋ | 8139/30000 [3:47:34<10:06:25, 1.66s/it] 27%|██▋ | 8140/30000 [3:47:36<10:08:43, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.1368069350719452, 'learning_rate': 2.6159334444413873e-05, 'flow_matching_loss': 0.02104292893782258, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.37} + 27%|██▋ | 8140/30000 [3:47:36<10:08:43, 1.67s/it] 27%|██▋ | 8141/30000 [3:47:38<10:08:28, 1.67s/it] 27%|██▋ | 8142/30000 [3:47:39<10:07:15, 1.67s/it] 27%|██▋ | 8143/30000 [3:47:41<10:07:17, 1.67s/it] 27%|██▋ | 8144/30000 [3:47:43<10:09:04, 1.67s/it] 27%|██▋ | 8145/30000 [3:47:44<10:08:23, 1.67s/it] 27%|██▋ | 8146/30000 [3:47:46<10:09:18, 1.67s/it] 27%|██▋ | 8147/30000 [3:47:48<10:07:47, 1.67s/it] 27%|██▋ | 8148/30000 [3:47:49<10:07:16, 1.67s/it] 27%|██▋ | 8149/30000 [3:47:51<10:06:44, 1.67s/it] 27%|██▋ | 8150/30000 [3:47:53<10:08:21, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.15522252023220062, 'learning_rate': 2.614827870169604e-05, 'flow_matching_loss': 0.023691501840949057, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.37} + 27%|██▋ | 8150/30000 [3:47:53<10:08:21, 1.67s/it] 27%|██▋ | 8151/30000 [3:47:54<10:07:36, 1.67s/it] 27%|██▋ | 8152/30000 [3:47:56<10:07:42, 1.67s/it] 27%|██▋ | 8153/30000 [3:47:58<10:06:38, 1.67s/it] 27%|██▋ | 8154/30000 [3:47:59<10:07:00, 1.67s/it] 27%|██▋ | 8155/30000 [3:48:01<10:06:29, 1.67s/it] 27%|██▋ | 8156/30000 [3:48:03<10:07:44, 1.67s/it] 27%|██▋ | 8157/30000 [3:48:04<10:09:06, 1.67s/it] 27%|██▋ | 8158/30000 [3:48:06<10:09:05, 1.67s/it] 27%|██▋ | 8159/30000 [3:48:08<10:06:58, 1.67s/it] 27%|██▋ | 8160/30000 [3:48:09<10:07:17, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.13554991781711578, 'learning_rate': 2.6137209412768367e-05, 'flow_matching_loss': 0.02290002629160881, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.37} + 27%|██▋ | 8160/30000 [3:48:09<10:07:17, 1.67s/it] 27%|██▋ | 8161/30000 [3:48:11<10:06:21, 1.67s/it] 27%|██▋ | 8162/30000 [3:48:13<10:07:26, 1.67s/it] 27%|██▋ | 8163/30000 [3:48:14<10:06:38, 1.67s/it] 27%|██▋ | 8164/30000 [3:48:16<10:07:03, 1.67s/it] 27%|██▋ | 8165/30000 [3:48:18<10:07:25, 1.67s/it] 27%|██▋ | 8166/30000 [3:48:19<10:07:24, 1.67s/it] 27%|██▋ | 8167/30000 [3:48:21<10:05:42, 1.66s/it] 27%|██▋ | 8168/30000 [3:48:23<10:06:36, 1.67s/it] 27%|██▋ | 8169/30000 [3:48:24<10:05:20, 1.66s/it] 27%|██▋ | 8170/30000 [3:48:26<10:05:32, 1.66s/it] {'loss': 0.0242, 'grad_norm': 0.13072170317173004, 'learning_rate': 2.612612659108109e-05, 'flow_matching_loss': 0.024160258285701276, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.38} + 27%|██▋ | 8170/30000 [3:48:26<10:05:32, 1.66s/it] 27%|██▋ | 8171/30000 [3:48:28<10:07:02, 1.67s/it] 27%|██▋ | 8172/30000 [3:48:29<10:06:51, 1.67s/it] 27%|██▋ | 8173/30000 [3:48:31<10:05:14, 1.66s/it] 27%|██▋ | 8174/30000 [3:48:33<10:06:32, 1.67s/it] 27%|██▋ | 8175/30000 [3:48:34<10:05:57, 1.67s/it] 27%|██▋ | 8176/30000 [3:48:36<10:06:50, 1.67s/it] 27%|██▋ | 8177/30000 [3:48:38<10:06:00, 1.67s/it] 27%|██▋ | 8178/30000 [3:48:39<10:05:21, 1.66s/it] 27%|██▋ | 8179/30000 [3:48:41<10:05:05, 1.66s/it] 27%|██▋ | 8180/30000 [3:48:43<10:05:41, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.13832126557826996, 'learning_rate': 2.611503025010088e-05, 'flow_matching_loss': 0.020645084977149963, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.38} + 27%|██▋ | 8180/30000 [3:48:43<10:05:41, 1.67s/it] 27%|██▋ | 8181/30000 [3:48:44<10:06:24, 1.67s/it] 27%|██▋ | 8182/30000 [3:48:46<10:07:21, 1.67s/it] 27%|██▋ | 8183/30000 [3:48:48<10:05:46, 1.67s/it] 27%|██▋ | 8184/30000 [3:48:49<10:05:50, 1.67s/it] 27%|██▋ | 8185/30000 [3:48:51<10:07:55, 1.67s/it] 27%|██▋ | 8186/30000 [3:48:53<10:08:55, 1.67s/it] 27%|██▋ | 8187/30000 [3:48:54<10:08:24, 1.67s/it] 27%|██▋ | 8188/30000 [3:48:56<10:08:24, 1.67s/it] 27%|██▋ | 8189/30000 [3:48:58<10:08:30, 1.67s/it] 27%|██▋ | 8190/30000 [3:48:59<10:07:19, 1.67s/it] {'loss': 0.0256, 'grad_norm': 0.15356972813606262, 'learning_rate': 2.6103920403310832e-05, 'flow_matching_loss': 0.025559420883655547, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.38} + 27%|██▋ | 8190/30000 [3:49:00<10:07:19, 1.67s/it] 27%|██▋ | 8191/30000 [3:49:01<10:06:15, 1.67s/it] 27%|██▋ | 8192/30000 [3:49:03<10:09:02, 1.68s/it] 27%|██▋ | 8193/30000 [3:49:04<10:07:36, 1.67s/it] 27%|██▋ | 8194/30000 [3:49:06<10:07:15, 1.67s/it] 27%|██▋ | 8195/30000 [3:49:08<10:06:18, 1.67s/it] 27%|██▋ | 8196/30000 [3:49:09<10:07:34, 1.67s/it] 27%|██▋ | 8197/30000 [3:49:11<10:06:57, 1.67s/it] 27%|██▋ | 8198/30000 [3:49:13<10:07:01, 1.67s/it] 27%|██▋ | 8199/30000 [3:49:14<10:06:38, 1.67s/it] 27%|██▋ | 8200/30000 [3:49:16<10:06:36, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.1433885246515274, 'learning_rate': 2.6092797064210465e-05, 'flow_matching_loss': 0.021464088931679726, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.39} + 27%|██▋ | 8200/30000 [3:49:16<10:06:36, 1.67s/it] 27%|██▋ | 8201/30000 [3:49:18<10:05:30, 1.67s/it] 27%|██▋ | 8202/30000 [3:49:19<10:05:22, 1.67s/it] 27%|██▋ | 8203/30000 [3:49:21<10:04:28, 1.66s/it] 27%|██▋ | 8204/30000 [3:49:23<10:07:14, 1.67s/it] 27%|██▋ | 8205/30000 [3:49:25<10:06:28, 1.67s/it] 27%|██▋ | 8206/30000 [3:49:26<10:05:01, 1.67s/it] 27%|██▋ | 8207/30000 [3:49:28<10:04:13, 1.66s/it] 27%|██▋ | 8208/30000 [3:49:29<10:06:00, 1.67s/it] 27%|██▋ | 8209/30000 [3:49:31<10:06:20, 1.67s/it] 27%|██▋ | 8210/30000 [3:49:33<10:04:56, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.13208803534507751, 'learning_rate': 2.6081660246315685e-05, 'flow_matching_loss': 0.022471024096012114, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.39} + 27%|██▋ | 8210/30000 [3:49:33<10:04:56, 1.67s/it] 27%|██▋ | 8211/30000 [3:49:34<10:04:47, 1.67s/it] 27%|██▋ | 8212/30000 [3:49:36<10:05:05, 1.67s/it] 27%|██▋ | 8213/30000 [3:49:38<10:05:22, 1.67s/it] 27%|██▋ | 8214/30000 [3:49:40<10:05:54, 1.67s/it] 27%|██▋ | 8215/30000 [3:49:41<10:05:22, 1.67s/it] 27%|██▋ | 8216/30000 [3:49:43<10:06:53, 1.67s/it] 27%|██▋ | 8217/30000 [3:49:45<10:06:47, 1.67s/it] 27%|██▋ | 8218/30000 [3:49:46<10:05:48, 1.67s/it] 27%|██▋ | 8219/30000 [3:49:48<10:05:48, 1.67s/it] 27%|██▋ | 8220/30000 [3:49:50<10:06:15, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.14348278939723969, 'learning_rate': 2.6070509963158774e-05, 'flow_matching_loss': 0.02041880525648594, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.39} + 27%|██▋ | 8220/30000 [3:49:50<10:06:15, 1.67s/it] 27%|██▋ | 8221/30000 [3:49:51<10:05:39, 1.67s/it] 27%|██▋ | 8222/30000 [3:49:53<10:05:04, 1.67s/it] 27%|██▋ | 8223/30000 [3:49:55<10:04:35, 1.67s/it] 27%|██▋ | 8224/30000 [3:49:56<10:05:59, 1.67s/it] 27%|██▋ | 8225/30000 [3:49:58<10:05:29, 1.67s/it] 27%|██▋ | 8226/30000 [3:50:00<10:05:18, 1.67s/it] 27%|██▋ | 8227/30000 [3:50:01<10:05:08, 1.67s/it] 27%|██▋ | 8228/30000 [3:50:03<10:05:34, 1.67s/it] 27%|██▋ | 8229/30000 [3:50:05<10:05:36, 1.67s/it] 27%|██▋ | 8230/30000 [3:50:06<10:04:35, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.16030734777450562, 'learning_rate': 2.6059346228288375e-05, 'flow_matching_loss': 0.021666139550507068, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.39} + 27%|██▋ | 8230/30000 [3:50:06<10:04:35, 1.67s/it] 27%|██▋ | 8231/30000 [3:50:08<10:05:03, 1.67s/it] 27%|██▋ | 8232/30000 [3:50:10<10:05:12, 1.67s/it] 27%|██▋ | 8233/30000 [3:50:11<10:04:44, 1.67s/it] 27%|██▋ | 8234/30000 [3:50:13<10:04:48, 1.67s/it] 27%|██▋ | 8235/30000 [3:50:15<10:03:57, 1.66s/it] 27%|██▋ | 8236/30000 [3:50:16<10:03:16, 1.66s/it] 27%|██▋ | 8237/30000 [3:50:18<10:03:43, 1.66s/it] 27%|██▋ | 8238/30000 [3:50:20<10:03:23, 1.66s/it] 27%|██▋ | 8239/30000 [3:50:21<10:02:41, 1.66s/it] 27%|██▋ | 8240/30000 [3:50:23<10:03:02, 1.66s/it] {'loss': 0.0221, 'grad_norm': 0.11988817900419235, 'learning_rate': 2.604816905526948e-05, 'flow_matching_loss': 0.02205726634711027, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.4} + 27%|██▋ | 8240/30000 [3:50:23<10:03:02, 1.66s/it] 27%|██▋ | 8241/30000 [3:50:24<10:03:07, 1.66s/it] 27%|██▋ | 8242/30000 [3:50:26<10:03:27, 1.66s/it] 27%|██▋ | 8243/30000 [3:50:28<10:03:01, 1.66s/it] 27%|██▋ | 8244/30000 [3:50:29<10:03:50, 1.67s/it] 27%|██▋ | 8245/30000 [3:50:31<10:04:00, 1.67s/it] 27%|██▋ | 8246/30000 [3:50:33<10:04:35, 1.67s/it] 27%|██▋ | 8247/30000 [3:50:35<10:04:34, 1.67s/it] 27%|██▋ | 8248/30000 [3:50:36<10:05:37, 1.67s/it] 27%|██▋ | 8249/30000 [3:50:38<10:03:51, 1.67s/it] 28%|██▊ | 8250/30000 [3:50:40<10:05:13, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.11186449229717255, 'learning_rate': 2.603697845768341e-05, 'flow_matching_loss': 0.02204225230962038, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.4} + 28%|██▊ | 8250/30000 [3:50:40<10:05:13, 1.67s/it] 28%|██▊ | 8251/30000 [3:50:41<10:05:37, 1.67s/it] 28%|██▊ | 8252/30000 [3:50:43<10:05:05, 1.67s/it] 28%|██▊ | 8253/30000 [3:50:45<10:04:05, 1.67s/it] 28%|██▊ | 8254/30000 [3:50:46<10:03:22, 1.66s/it] 28%|██▊ | 8255/30000 [3:50:48<10:01:47, 1.66s/it] 28%|██▊ | 8256/30000 [3:50:50<10:03:32, 1.67s/it] 28%|██▊ | 8257/30000 [3:50:51<10:03:33, 1.67s/it] 28%|██▊ | 8258/30000 [3:50:53<10:02:09, 1.66s/it] 28%|██▊ | 8259/30000 [3:50:54<10:02:54, 1.66s/it] 28%|██▊ | 8260/30000 [3:50:56<10:04:04, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.12844814360141754, 'learning_rate': 2.6025774449127792e-05, 'flow_matching_loss': 0.02248386722058058, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.4} + 28%|██▊ | 8260/30000 [3:50:56<10:04:04, 1.67s/it] 28%|██▊ | 8261/30000 [3:50:58<10:04:39, 1.67s/it] 28%|██▊ | 8262/30000 [3:51:00<10:05:21, 1.67s/it] 28%|██▊ | 8263/30000 [3:51:01<10:02:57, 1.66s/it] 28%|██▊ | 8264/30000 [3:51:03<10:04:48, 1.67s/it] 28%|██▊ | 8265/30000 [3:51:05<10:05:54, 1.67s/it] 28%|██▊ | 8266/30000 [3:51:06<10:05:40, 1.67s/it] 28%|██▊ | 8267/30000 [3:51:08<10:05:50, 1.67s/it] 28%|██▊ | 8268/30000 [3:51:10<10:07:19, 1.68s/it] 28%|██▊ | 8269/30000 [3:51:11<10:06:42, 1.68s/it] 28%|██▊ | 8270/30000 [3:51:13<10:07:12, 1.68s/it] {'loss': 0.022, 'grad_norm': 0.13310030102729797, 'learning_rate': 2.6014557043216562e-05, 'flow_matching_loss': 0.021985040046274662, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.41} + 28%|██▊ | 8270/30000 [3:51:13<10:07:12, 1.68s/it] 28%|██▊ | 8271/30000 [3:51:15<10:06:02, 1.67s/it] 28%|██▊ | 8272/30000 [3:51:16<10:05:41, 1.67s/it] 28%|██▊ | 8273/30000 [3:51:18<10:04:48, 1.67s/it] 28%|██▊ | 8274/30000 [3:51:20<10:03:46, 1.67s/it] 28%|██▊ | 8275/30000 [3:51:21<10:04:01, 1.67s/it] 28%|██▊ | 8276/30000 [3:51:23<10:04:01, 1.67s/it] 28%|██▊ | 8277/30000 [3:51:25<10:03:25, 1.67s/it] 28%|██▊ | 8278/30000 [3:51:26<10:03:47, 1.67s/it] 28%|██▊ | 8279/30000 [3:51:28<10:03:06, 1.67s/it] 28%|██▊ | 8280/30000 [3:51:30<10:02:13, 1.66s/it] {'loss': 0.0218, 'grad_norm': 0.10150500386953354, 'learning_rate': 2.6003326253579913e-05, 'flow_matching_loss': 0.021826996933668852, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.41} + 28%|██▊ | 8280/30000 [3:51:30<10:02:13, 1.66s/it] 28%|██▊ | 8281/30000 [3:51:31<10:01:40, 1.66s/it] 28%|██▊ | 8282/30000 [3:51:33<10:01:34, 1.66s/it] 28%|██▊ | 8283/30000 [3:51:35<10:02:23, 1.66s/it] 28%|██▊ | 8284/30000 [3:51:36<10:02:28, 1.66s/it] 28%|██▊ | 8285/30000 [3:51:38<10:03:44, 1.67s/it] 28%|██▊ | 8286/30000 [3:51:40<10:02:38, 1.67s/it] 28%|██▊ | 8287/30000 [3:51:41<10:01:23, 1.66s/it] 28%|██▊ | 8288/30000 [3:51:43<10:02:33, 1.67s/it] 28%|██▊ | 8289/30000 [3:51:45<10:01:47, 1.66s/it] 28%|██▊ | 8290/30000 [3:51:46<10:02:19, 1.66s/it] {'loss': 0.0243, 'grad_norm': 0.1541842669248581, 'learning_rate': 2.599208209386432e-05, 'flow_matching_loss': 0.024293196760118006, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.41} + 28%|██▊ | 8290/30000 [3:51:46<10:02:19, 1.66s/it] 28%|██▊ | 8291/30000 [3:51:48<10:02:06, 1.66s/it] 28%|██▊ | 8292/30000 [3:51:50<10:01:52, 1.66s/it] 28%|██▊ | 8293/30000 [3:51:51<10:02:02, 1.66s/it] 28%|██▊ | 8294/30000 [3:51:53<10:02:15, 1.66s/it] 28%|██▊ | 8295/30000 [3:51:55<10:02:05, 1.66s/it] 28%|██▊ | 8296/30000 [3:51:56<10:02:07, 1.66s/it] 28%|██▊ | 8297/30000 [3:51:58<10:01:47, 1.66s/it] 28%|██▊ | 8298/30000 [3:52:00<10:01:30, 1.66s/it] 28%|██▊ | 8299/30000 [3:52:01<10:01:32, 1.66s/it] 28%|██▊ | 8300/30000 [3:52:03<10:01:14, 1.66s/it] {'loss': 0.0224, 'grad_norm': 0.18297378718852997, 'learning_rate': 2.5980824577732502e-05, 'flow_matching_loss': 0.022388172056525945, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.41} + 28%|██▊ | 8300/30000 [3:52:03<10:01:14, 1.66s/it] 28%|██▊ | 8301/30000 [3:52:04<10:01:08, 1.66s/it] 28%|██▊ | 8302/30000 [3:52:06<10:02:03, 1.66s/it] 28%|██▊ | 8303/30000 [3:52:08<10:01:30, 1.66s/it] 28%|██▊ | 8304/30000 [3:52:10<10:02:56, 1.67s/it] 28%|██▊ | 8305/30000 [3:52:11<10:02:22, 1.67s/it] 28%|██▊ | 8306/30000 [3:52:13<10:02:12, 1.67s/it] 28%|██▊ | 8307/30000 [3:52:15<10:02:52, 1.67s/it] 28%|██▊ | 8308/30000 [3:52:16<10:02:36, 1.67s/it] 28%|██▊ | 8309/30000 [3:52:18<10:01:56, 1.67s/it] 28%|██▊ | 8310/30000 [3:52:20<10:03:02, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.17842191457748413, 'learning_rate': 2.5969553718863395e-05, 'flow_matching_loss': 0.0243440018966794, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.42} + 28%|██▊ | 8310/30000 [3:52:20<10:03:02, 1.67s/it] 28%|██▊ | 8311/30000 [3:52:21<10:02:00, 1.67s/it] 28%|██▊ | 8312/30000 [3:52:23<10:03:04, 1.67s/it] 28%|██▊ | 8313/30000 [3:52:25<10:03:56, 1.67s/it] 28%|██▊ | 8314/30000 [3:52:26<10:03:57, 1.67s/it] 28%|██▊ | 8315/30000 [3:52:28<10:03:15, 1.67s/it] 28%|██▊ | 8316/30000 [3:52:30<10:03:05, 1.67s/it] 28%|██▊ | 8317/30000 [3:52:31<10:03:29, 1.67s/it] 28%|██▊ | 8318/30000 [3:52:33<10:02:24, 1.67s/it] 28%|██▊ | 8319/30000 [3:52:35<10:04:30, 1.67s/it] 28%|██▊ | 8320/30000 [3:52:36<10:03:15, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.15509071946144104, 'learning_rate': 2.595826953095216e-05, 'flow_matching_loss': 0.02198910601437092, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.42} + 28%|██▊ | 8320/30000 [3:52:36<10:03:15, 1.67s/it] 28%|██▊ | 8321/30000 [3:52:38<10:04:16, 1.67s/it] 28%|██▊ | 8322/30000 [3:52:40<10:03:11, 1.67s/it] 28%|██▊ | 8323/30000 [3:52:41<10:03:00, 1.67s/it] 28%|██▊ | 8324/30000 [3:52:43<10:01:43, 1.67s/it] 28%|██▊ | 8325/30000 [3:52:45<10:02:00, 1.67s/it] 28%|██▊ | 8326/30000 [3:52:46<10:03:56, 1.67s/it] 28%|██▊ | 8327/30000 [3:52:48<10:01:54, 1.67s/it] 28%|██▊ | 8328/30000 [3:52:50<10:03:12, 1.67s/it] 28%|██▊ | 8329/30000 [3:52:51<10:02:08, 1.67s/it] 28%|██▊ | 8330/30000 [3:52:53<10:01:37, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.09310296177864075, 'learning_rate': 2.594697202771014e-05, 'flow_matching_loss': 0.023145965393632652, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.42} + 28%|██▊ | 8330/30000 [3:52:53<10:01:37, 1.67s/it] 28%|██▊ | 8331/30000 [3:52:55<10:02:00, 1.67s/it] 28%|██▊ | 8332/30000 [3:52:56<10:02:16, 1.67s/it] 28%|██▊ | 8333/30000 [3:52:58<10:02:06, 1.67s/it] 28%|██▊ | 8334/30000 [3:53:00<10:02:52, 1.67s/it] 28%|██▊ | 8335/30000 [3:53:01<10:01:18, 1.67s/it] 28%|██▊ | 8336/30000 [3:53:03<10:02:18, 1.67s/it] 28%|██▊ | 8337/30000 [3:53:05<10:02:11, 1.67s/it] 28%|██▊ | 8338/30000 [3:53:06<10:01:22, 1.67s/it] 28%|██▊ | 8339/30000 [3:53:08<10:01:03, 1.66s/it] 28%|██▊ | 8340/30000 [3:53:10<10:01:20, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.1429479569196701, 'learning_rate': 2.5935661222864888e-05, 'flow_matching_loss': 0.02248222380876541, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.43} + 28%|██▊ | 8340/30000 [3:53:10<10:01:20, 1.67s/it] 28%|██▊ | 8341/30000 [3:53:11<10:00:53, 1.66s/it] 28%|██▊ | 8342/30000 [3:53:13<10:01:01, 1.67s/it] 28%|██▊ | 8343/30000 [3:53:15<10:00:48, 1.66s/it] 28%|██▊ | 8344/30000 [3:53:16<10:02:07, 1.67s/it] 28%|██▊ | 8345/30000 [3:53:18<10:01:04, 1.67s/it] 28%|██▊ | 8346/30000 [3:53:20<10:00:12, 1.66s/it] 28%|██▊ | 8347/30000 [3:53:21<10:00:59, 1.67s/it] 28%|██▊ | 8348/30000 [3:53:23<9:59:48, 1.66s/it] 28%|██▊ | 8349/30000 [3:53:25<10:00:10, 1.66s/it] 28%|██▊ | 8350/30000 [3:53:26<10:00:02, 1.66s/it] {'loss': 0.0241, 'grad_norm': 0.22490711510181427, 'learning_rate': 2.592433713016008e-05, 'flow_matching_loss': 0.02406301312148571, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.43} + 28%|██▊ | 8350/30000 [3:53:26<10:00:02, 1.66s/it] 28%|██▊ | 8351/30000 [3:53:28<10:00:55, 1.67s/it] 28%|██▊ | 8352/30000 [3:53:30<10:00:48, 1.67s/it] 28%|██▊ | 8353/30000 [3:53:31<10:01:31, 1.67s/it] 28%|██▊ | 8354/30000 [3:53:33<10:01:08, 1.67s/it] 28%|██▊ | 8355/30000 [3:53:35<10:00:42, 1.67s/it] 28%|██▊ | 8356/30000 [3:53:36<10:00:58, 1.67s/it] 28%|██▊ | 8357/30000 [3:53:38<10:01:09, 1.67s/it] 28%|██▊ | 8358/30000 [3:53:40<10:02:00, 1.67s/it] 28%|██▊ | 8359/30000 [3:53:41<10:01:38, 1.67s/it] 28%|██▊ | 8360/30000 [3:53:43<10:03:04, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.12650299072265625, 'learning_rate': 2.5912999763355553e-05, 'flow_matching_loss': 0.022141505032777786, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.43} + 28%|██▊ | 8360/30000 [3:53:43<10:03:04, 1.67s/it] 28%|██▊ | 8361/30000 [3:53:45<10:03:29, 1.67s/it] 28%|██▊ | 8362/30000 [3:53:46<10:02:27, 1.67s/it] 28%|██▊ | 8363/30000 [3:53:48<10:02:15, 1.67s/it] 28%|██▊ | 8364/30000 [3:53:50<10:02:19, 1.67s/it] 28%|██▊ | 8365/30000 [3:53:51<10:02:28, 1.67s/it] 28%|██▊ | 8366/30000 [3:53:53<10:02:24, 1.67s/it] 28%|██▊ | 8367/30000 [3:53:55<10:02:22, 1.67s/it] 28%|██▊ | 8368/30000 [3:53:56<10:02:25, 1.67s/it] 28%|██▊ | 8369/30000 [3:53:58<10:01:00, 1.67s/it] 28%|██▊ | 8370/30000 [3:54:00<10:00:59, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.08356630802154541, 'learning_rate': 2.590164913622729e-05, 'flow_matching_loss': 0.019742731284350157, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.44} + 28%|██▊ | 8370/30000 [3:54:00<10:00:59, 1.67s/it] 28%|██▊ | 8371/30000 [3:54:01<10:03:04, 1.67s/it] 28%|██▊ | 8372/30000 [3:54:03<10:02:26, 1.67s/it] 28%|██▊ | 8373/30000 [3:54:05<10:02:05, 1.67s/it] 28%|██▊ | 8374/30000 [3:54:06<10:01:10, 1.67s/it] 28%|██▊ | 8375/30000 [3:54:08<10:01:46, 1.67s/it] 28%|██▊ | 8376/30000 [3:54:10<10:01:48, 1.67s/it] 28%|██▊ | 8377/30000 [3:54:11<10:00:57, 1.67s/it] 28%|██▊ | 8378/30000 [3:54:13<10:01:50, 1.67s/it] 28%|██▊ | 8379/30000 [3:54:15<10:01:14, 1.67s/it] 28%|██▊ | 8380/30000 [3:54:16<10:00:43, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.1310577243566513, 'learning_rate': 2.589028526256737e-05, 'flow_matching_loss': 0.023637629579752684, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.44} + 28%|██▊ | 8380/30000 [3:54:16<10:00:43, 1.67s/it] 28%|██▊ | 8381/30000 [3:54:18<10:00:16, 1.67s/it] 28%|██▊ | 8382/30000 [3:54:20<10:00:02, 1.67s/it] 28%|██▊ | 8383/30000 [3:54:21<10:00:14, 1.67s/it] 28%|██▊ | 8384/30000 [3:54:23<10:00:32, 1.67s/it] 28%|██▊ | 8385/30000 [3:54:25<10:01:35, 1.67s/it] 28%|██▊ | 8386/30000 [3:54:26<10:00:26, 1.67s/it] 28%|██▊ | 8387/30000 [3:54:28<10:00:56, 1.67s/it] 28%|██▊ | 8388/30000 [3:54:30<9:59:28, 1.66s/it] 28%|██▊ | 8389/30000 [3:54:31<9:58:52, 1.66s/it] 28%|██▊ | 8390/30000 [3:54:33<9:59:50, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.13762761652469635, 'learning_rate': 2.587890815618397e-05, 'flow_matching_loss': 0.022038477193564176, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.44} + 28%|██▊ | 8390/30000 [3:54:33<9:59:50, 1.67s/it] 28%|██▊ | 8391/30000 [3:54:35<10:00:48, 1.67s/it] 28%|██▊ | 8392/30000 [3:54:36<10:02:50, 1.67s/it] 28%|██▊ | 8393/30000 [3:54:38<10:01:43, 1.67s/it] 28%|██▊ | 8394/30000 [3:54:40<10:02:11, 1.67s/it] 28%|██▊ | 8395/30000 [3:54:41<10:00:55, 1.67s/it] 28%|██▊ | 8396/30000 [3:54:43<10:01:49, 1.67s/it] 28%|██▊ | 8397/30000 [3:54:45<10:01:18, 1.67s/it] 28%|██▊ | 8398/30000 [3:54:46<10:00:42, 1.67s/it] 28%|██▊ | 8399/30000 [3:54:48<10:00:44, 1.67s/it] 28%|██▊ | 8400/30000 [3:54:50<10:02:01, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.09216348081827164, 'learning_rate': 2.5867517830901343e-05, 'flow_matching_loss': 0.02166772009804845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.44} + 28%|██▊ | 8400/30000 [3:54:50<10:02:01, 1.67s/it] 28%|██▊ | 8401/30000 [3:54:51<10:00:11, 1.67s/it] 28%|██▊ | 8402/30000 [3:54:53<10:00:03, 1.67s/it] 28%|██▊ | 8403/30000 [3:54:55<9:59:34, 1.67s/it] 28%|██▊ | 8404/30000 [3:54:56<10:00:08, 1.67s/it] 28%|██▊ | 8405/30000 [3:54:58<9:58:48, 1.66s/it] 28%|██▊ | 8406/30000 [3:55:00<10:00:08, 1.67s/it] 28%|██▊ | 8407/30000 [3:55:01<10:00:08, 1.67s/it] 28%|██▊ | 8408/30000 [3:55:03<10:01:08, 1.67s/it] 28%|██▊ | 8409/30000 [3:55:05<10:00:54, 1.67s/it] 28%|██▊ | 8410/30000 [3:55:06<10:00:45, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.13640464842319489, 'learning_rate': 2.5856114300559812e-05, 'flow_matching_loss': 0.02430597096681595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.45} + 28%|██▊ | 8410/30000 [3:55:06<10:00:45, 1.67s/it] 28%|██▊ | 8411/30000 [3:55:08<10:00:00, 1.67s/it] 28%|██▊ | 8412/30000 [3:55:10<9:59:51, 1.67s/it] 28%|██▊ | 8413/30000 [3:55:11<9:58:39, 1.66s/it] 28%|██▊ | 8414/30000 [3:55:13<9:59:35, 1.67s/it] 28%|██▊ | 8415/30000 [3:55:15<9:59:27, 1.67s/it] 28%|██▊ | 8416/30000 [3:55:16<10:01:23, 1.67s/it] 28%|██▊ | 8417/30000 [3:55:18<10:01:45, 1.67s/it] 28%|██▊ | 8418/30000 [3:55:20<10:00:37, 1.67s/it] 28%|██▊ | 8419/30000 [3:55:21<10:01:12, 1.67s/it] 28%|██▊ | 8420/30000 [3:55:23<10:00:32, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.1424301564693451, 'learning_rate': 2.584469757901574e-05, 'flow_matching_loss': 0.023214500583708286, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.45} + 28%|██▊ | 8420/30000 [3:55:23<10:00:32, 1.67s/it] 28%|██▊ | 8421/30000 [3:55:25<10:00:06, 1.67s/it] 28%|██▊ | 8422/30000 [3:55:26<9:59:07, 1.67s/it] 28%|██▊ | 8423/30000 [3:55:28<9:58:04, 1.66s/it] 28%|██▊ | 8424/30000 [3:55:30<10:00:51, 1.67s/it] 28%|██▊ | 8425/30000 [3:55:31<10:00:00, 1.67s/it] 28%|██▊ | 8426/30000 [3:55:33<10:01:06, 1.67s/it] 28%|██▊ | 8427/30000 [3:55:35<9:59:28, 1.67s/it] 28%|██▊ | 8428/30000 [3:55:36<9:58:19, 1.66s/it] 28%|██▊ | 8429/30000 [3:55:38<9:57:48, 1.66s/it] 28%|██▊ | 8430/30000 [3:55:40<9:57:37, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.13625194132328033, 'learning_rate': 2.5833267680141526e-05, 'flow_matching_loss': 0.02099641878157854, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.45} + 28%|██▊ | 8430/30000 [3:55:40<9:57:37, 1.66s/it] 28%|██▊ | 8431/30000 [3:55:41<9:57:40, 1.66s/it] 28%|██▊ | 8432/30000 [3:55:43<9:58:32, 1.67s/it] 28%|██▊ | 8433/30000 [3:55:45<9:57:55, 1.66s/it] 28%|██▊ | 8434/30000 [3:55:46<10:00:08, 1.67s/it] 28%|██▊ | 8435/30000 [3:55:48<10:00:09, 1.67s/it] 28%|██▊ | 8436/30000 [3:55:50<9:59:09, 1.67s/it] 28%|██▊ | 8437/30000 [3:55:51<9:57:31, 1.66s/it] 28%|██▊ | 8438/30000 [3:55:53<9:56:56, 1.66s/it] 28%|██▊ | 8439/30000 [3:55:55<9:57:17, 1.66s/it] 28%|██▊ | 8440/30000 [3:55:56<9:57:48, 1.66s/it] {'loss': 0.0239, 'grad_norm': 0.13953834772109985, 'learning_rate': 2.5821824617825564e-05, 'flow_matching_loss': 0.02393960766494274, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.46} + 28%|██▊ | 8440/30000 [3:55:56<9:57:48, 1.66s/it] 28%|██▊ | 8441/30000 [3:55:58<9:57:48, 1.66s/it] 28%|██▊ | 8442/30000 [3:56:00<9:57:34, 1.66s/it] 28%|██▊ | 8443/30000 [3:56:01<9:58:42, 1.67s/it] 28%|██▊ | 8444/30000 [3:56:03<9:58:04, 1.66s/it] 28%|██▊ | 8445/30000 [3:56:05<9:57:40, 1.66s/it] 28%|██▊ | 8446/30000 [3:56:06<9:57:38, 1.66s/it] 28%|██▊ | 8447/30000 [3:56:08<9:57:51, 1.66s/it] 28%|██▊ | 8448/30000 [3:56:10<9:58:39, 1.67s/it] 28%|██▊ | 8449/30000 [3:56:11<9:59:10, 1.67s/it] 28%|██▊ | 8450/30000 [3:56:13<9:59:06, 1.67s/it] {'loss': 0.0263, 'grad_norm': 0.1788495033979416, 'learning_rate': 2.5810368405972265e-05, 'flow_matching_loss': 0.026313801668584345, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.46} + 28%|██▊ | 8450/30000 [3:56:13<9:59:06, 1.67s/it] 28%|██▊ | 8451/30000 [3:56:15<9:59:40, 1.67s/it] 28%|██▊ | 8452/30000 [3:56:16<9:59:58, 1.67s/it] 28%|██▊ | 8453/30000 [3:56:18<9:58:53, 1.67s/it] 28%|██▊ | 8454/30000 [3:56:20<9:58:47, 1.67s/it] 28%|██▊ | 8455/30000 [3:56:21<9:57:59, 1.67s/it] 28%|██▊ | 8456/30000 [3:56:23<9:58:44, 1.67s/it] 28%|██▊ | 8457/30000 [3:56:25<9:58:28, 1.67s/it] 28%|██▊ | 8458/30000 [3:56:26<9:58:38, 1.67s/it] 28%|██▊ | 8459/30000 [3:56:28<9:58:08, 1.67s/it] 28%|██▊ | 8460/30000 [3:56:30<9:59:12, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.12462086230516434, 'learning_rate': 2.5798899058501996e-05, 'flow_matching_loss': 0.02280146535485983, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.46} + 28%|██▊ | 8460/30000 [3:56:30<9:59:12, 1.67s/it] 28%|██▊ | 8461/30000 [3:56:31<9:58:24, 1.67s/it] 28%|██▊ | 8462/30000 [3:56:33<9:58:38, 1.67s/it] 28%|██▊ | 8463/30000 [3:56:35<9:58:02, 1.67s/it] 28%|██▊ | 8464/30000 [3:56:36<9:59:03, 1.67s/it] 28%|██▊ | 8465/30000 [3:56:38<9:58:33, 1.67s/it] 28%|██▊ | 8466/30000 [3:56:40<9:58:26, 1.67s/it] 28%|██▊ | 8467/30000 [3:56:41<9:57:57, 1.67s/it] 28%|██▊ | 8468/30000 [3:56:43<9:57:35, 1.67s/it] 28%|██▊ | 8469/30000 [3:56:45<9:57:19, 1.66s/it] 28%|██▊ | 8470/30000 [3:56:46<9:57:25, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.16036711633205414, 'learning_rate': 2.578741658935111e-05, 'flow_matching_loss': 0.023387146927416325, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.46} + 28%|██▊ | 8470/30000 [3:56:46<9:57:25, 1.66s/it] 28%|██▊ | 8471/30000 [3:56:48<9:58:36, 1.67s/it] 28%|██▊ | 8472/30000 [3:56:50<9:59:01, 1.67s/it] 28%|██▊ | 8473/30000 [3:56:51<9:58:09, 1.67s/it] 28%|██▊ | 8474/30000 [3:56:53<9:58:11, 1.67s/it] 28%|██▊ | 8475/30000 [3:56:55<9:59:29, 1.67s/it] 28%|██▊ | 8476/30000 [3:56:56<9:58:51, 1.67s/it] 28%|██▊ | 8477/30000 [3:56:58<9:57:51, 1.67s/it] 28%|██▊ | 8478/30000 [3:57:00<9:58:18, 1.67s/it] 28%|██▊ | 8479/30000 [3:57:01<9:58:06, 1.67s/it] 28%|██▊ | 8480/30000 [3:57:03<9:57:56, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.11054427176713943, 'learning_rate': 2.5775921012471875e-05, 'flow_matching_loss': 0.022020071744918823, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.47} + 28%|██▊ | 8480/30000 [3:57:03<9:57:56, 1.67s/it] 28%|██▊ | 8481/30000 [3:57:05<9:57:44, 1.67s/it] 28%|██▊ | 8482/30000 [3:57:06<9:57:56, 1.67s/it] 28%|██▊ | 8483/30000 [3:57:08<9:57:53, 1.67s/it] 28%|██▊ | 8484/30000 [3:57:10<9:58:50, 1.67s/it] 28%|██▊ | 8485/30000 [3:57:11<9:57:53, 1.67s/it] 28%|██▊ | 8486/30000 [3:57:13<9:57:51, 1.67s/it] 28%|██▊ | 8487/30000 [3:57:15<9:57:12, 1.67s/it] 28%|██▊ | 8488/30000 [3:57:16<9:56:46, 1.66s/it] 28%|██▊ | 8489/30000 [3:57:18<9:56:21, 1.66s/it] 28%|██▊ | 8490/30000 [3:57:20<9:56:53, 1.66s/it] {'loss': 0.0227, 'grad_norm': 0.15702231228351593, 'learning_rate': 2.5764412341832505e-05, 'flow_matching_loss': 0.022683095000684262, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.47} + 28%|██▊ | 8490/30000 [3:57:20<9:56:53, 1.66s/it] 28%|██▊ | 8491/30000 [3:57:21<9:57:13, 1.67s/it] 28%|██▊ | 8492/30000 [3:57:23<9:57:19, 1.67s/it] 28%|██▊ | 8493/30000 [3:57:25<9:56:02, 1.66s/it] 28%|██▊ | 8494/30000 [3:57:26<9:56:04, 1.66s/it] 28%|██▊ | 8495/30000 [3:57:28<9:58:20, 1.67s/it] 28%|██▊ | 8496/30000 [3:57:30<9:58:47, 1.67s/it] 28%|██▊ | 8497/30000 [3:57:31<9:57:11, 1.67s/it] 28%|██▊ | 8498/30000 [3:57:33<9:57:12, 1.67s/it] 28%|██▊ | 8499/30000 [3:57:35<9:57:34, 1.67s/it] 28%|██▊ | 8500/30000 [3:57:36<9:57:08, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.16344940662384033, 'learning_rate': 2.5752890591417125e-05, 'flow_matching_loss': 0.023948789201676847, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.47} + 28%|██▊ | 8500/30000 [3:57:36<9:57:08, 1.67s/it] 28%|██▊ | 8501/30000 [3:57:38<9:57:41, 1.67s/it] 28%|██▊ | 8502/30000 [3:57:40<9:57:16, 1.67s/it] 28%|██▊ | 8503/30000 [3:57:41<9:57:07, 1.67s/it] 28%|██▊ | 8504/30000 [3:57:43<9:56:59, 1.67s/it] 28%|██▊ | 8505/30000 [3:57:45<9:56:34, 1.67s/it] 28%|██▊ | 8506/30000 [3:57:46<9:56:23, 1.66s/it] 28%|██▊ | 8507/30000 [3:57:48<9:56:24, 1.66s/it] 28%|██▊ | 8508/30000 [3:57:50<9:55:59, 1.66s/it] 28%|██▊ | 8509/30000 [3:57:51<9:55:26, 1.66s/it] 28%|██▊ | 8510/30000 [3:57:53<9:55:36, 1.66s/it] {'loss': 0.022, 'grad_norm': 0.1053076758980751, 'learning_rate': 2.5741355775225744e-05, 'flow_matching_loss': 0.022029692213982342, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.48} + 28%|██▊ | 8510/30000 [3:57:53<9:55:36, 1.66s/it] 28%|██▊ | 8511/30000 [3:57:55<9:56:00, 1.66s/it] 28%|██▊ | 8512/30000 [3:57:56<9:57:53, 1.67s/it] 28%|██▊ | 8513/30000 [3:57:58<9:56:27, 1.67s/it] 28%|██▊ | 8514/30000 [3:58:00<9:56:09, 1.66s/it] 28%|██▊ | 8515/30000 [3:58:01<9:57:57, 1.67s/it] 28%|██▊ | 8516/30000 [3:58:03<9:56:12, 1.67s/it] 28%|██▊ | 8517/30000 [3:58:05<9:55:30, 1.66s/it] 28%|██▊ | 8518/30000 [3:58:06<9:55:26, 1.66s/it] 28%|██▊ | 8519/30000 [3:58:08<9:55:45, 1.66s/it] 28%|██▊ | 8520/30000 [3:58:10<9:58:30, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.1716621071100235, 'learning_rate': 2.5729807907274254e-05, 'flow_matching_loss': 0.022238965891301633, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.48} + 28%|██▊ | 8520/30000 [3:58:10<9:58:30, 1.67s/it] 28%|██▊ | 8521/30000 [3:58:11<9:57:03, 1.67s/it] 28%|██▊ | 8522/30000 [3:58:13<9:56:45, 1.67s/it] 28%|██▊ | 8523/30000 [3:58:15<9:57:11, 1.67s/it] 28%|██▊ | 8524/30000 [3:58:16<9:56:50, 1.67s/it] 28%|██▊ | 8525/30000 [3:58:18<9:56:08, 1.67s/it] 28%|██▊ | 8526/30000 [3:58:20<9:56:58, 1.67s/it] 28%|██▊ | 8527/30000 [3:58:21<9:57:17, 1.67s/it] 28%|██▊ | 8528/30000 [3:58:23<9:56:59, 1.67s/it] 28%|██▊ | 8529/30000 [3:58:25<9:56:04, 1.67s/it] 28%|██▊ | 8530/30000 [3:58:26<9:56:20, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.15656529366970062, 'learning_rate': 2.5718247001594403e-05, 'flow_matching_loss': 0.022751642763614653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.48} + 28%|██▊ | 8530/30000 [3:58:26<9:56:20, 1.67s/it] 28%|██▊ | 8531/30000 [3:58:28<9:59:02, 1.67s/it] 28%|██▊ | 8532/30000 [3:58:30<9:57:35, 1.67s/it] 28%|██▊ | 8533/30000 [3:58:31<9:56:26, 1.67s/it] 28%|██▊ | 8534/30000 [3:58:33<9:55:52, 1.67s/it] 28%|██▊ | 8535/30000 [3:58:35<9:56:51, 1.67s/it] 28%|██▊ | 8536/30000 [3:58:36<9:56:42, 1.67s/it] 28%|██▊ | 8537/30000 [3:58:38<9:55:32, 1.66s/it] 28%|██▊ | 8538/30000 [3:58:40<9:55:35, 1.67s/it] 28%|██▊ | 8539/30000 [3:58:41<9:55:39, 1.67s/it] 28%|██▊ | 8540/30000 [3:58:43<9:55:30, 1.66s/it] {'loss': 0.0244, 'grad_norm': 0.1164417639374733, 'learning_rate': 2.5706673072233776e-05, 'flow_matching_loss': 0.0244109564460814, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.48} + 28%|██▊ | 8540/30000 [3:58:43<9:55:30, 1.66s/it] 28%|██▊ | 8541/30000 [3:58:45<9:55:22, 1.66s/it] 28%|██▊ | 8542/30000 [3:58:46<9:55:47, 1.67s/it] 28%|██▊ | 8543/30000 [3:58:48<9:55:50, 1.67s/it] 28%|██▊ | 8544/30000 [3:58:50<9:56:45, 1.67s/it] 28%|██▊ | 8545/30000 [3:58:51<9:55:15, 1.66s/it] 28%|██▊ | 8546/30000 [3:58:53<9:55:26, 1.67s/it] 28%|██▊ | 8547/30000 [3:58:55<9:56:39, 1.67s/it] 28%|██▊ | 8548/30000 [3:58:56<9:55:39, 1.67s/it] 28%|██▊ | 8549/30000 [3:58:58<9:55:39, 1.67s/it] 28%|██▊ | 8550/30000 [3:59:00<9:54:57, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.13268470764160156, 'learning_rate': 2.5695086133255795e-05, 'flow_matching_loss': 0.021609869599342347, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.49} + 28%|██▊ | 8550/30000 [3:59:00<9:54:57, 1.66s/it] 29%|██▊ | 8551/30000 [3:59:01<9:56:34, 1.67s/it] 29%|██▊ | 8552/30000 [3:59:03<9:57:14, 1.67s/it] 29%|██▊ | 8553/30000 [3:59:05<9:56:53, 1.67s/it] 29%|██▊ | 8554/30000 [3:59:06<9:55:17, 1.67s/it] 29%|██▊ | 8555/30000 [3:59:08<9:55:56, 1.67s/it] 29%|██▊ | 8556/30000 [3:59:10<9:54:58, 1.66s/it] 29%|██▊ | 8557/30000 [3:59:11<9:54:25, 1.66s/it] 29%|██▊ | 8558/30000 [3:59:13<9:54:14, 1.66s/it] 29%|██▊ | 8559/30000 [3:59:15<9:54:32, 1.66s/it] 29%|██▊ | 8560/30000 [3:59:16<9:55:14, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.13588455319404602, 'learning_rate': 2.5683486198739687e-05, 'flow_matching_loss': 0.024395153392106295, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.49} + 29%|██▊ | 8560/30000 [3:59:16<9:55:14, 1.67s/it] 29%|██▊ | 8561/30000 [3:59:18<9:54:47, 1.66s/it] 29%|██▊ | 8562/30000 [3:59:20<9:55:15, 1.67s/it] 29%|██▊ | 8563/30000 [3:59:21<9:55:58, 1.67s/it] 29%|██▊ | 8564/30000 [3:59:23<9:55:39, 1.67s/it] 29%|██▊ | 8565/30000 [3:59:25<9:55:38, 1.67s/it] 29%|██▊ | 8566/30000 [3:59:26<9:54:54, 1.67s/it] 29%|██▊ | 8567/30000 [3:59:28<9:55:00, 1.67s/it] 29%|██▊ | 8568/30000 [3:59:30<9:55:33, 1.67s/it] 29%|██▊ | 8569/30000 [3:59:31<9:54:35, 1.66s/it] 29%|██▊ | 8570/30000 [3:59:33<9:54:26, 1.66s/it] {'loss': 0.0257, 'grad_norm': 0.15710756182670593, 'learning_rate': 2.5671873282780452e-05, 'flow_matching_loss': 0.025734677724540234, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.49} + 29%|██▊ | 8570/30000 [3:59:33<9:54:26, 1.66s/it] 29%|██▊ | 8571/30000 [3:59:35<9:55:00, 1.67s/it] 29%|██▊ | 8572/30000 [3:59:36<9:55:21, 1.67s/it] 29%|██▊ | 8573/30000 [3:59:38<9:54:35, 1.66s/it] 29%|██▊ | 8574/30000 [3:59:40<9:55:05, 1.67s/it] 29%|██▊ | 8575/30000 [3:59:41<9:54:38, 1.67s/it] 29%|██▊ | 8576/30000 [3:59:43<9:55:21, 1.67s/it] 29%|██▊ | 8577/30000 [3:59:45<9:54:27, 1.66s/it] 29%|██▊ | 8578/30000 [3:59:46<9:54:00, 1.66s/it] 29%|██▊ | 8579/30000 [3:59:48<9:53:44, 1.66s/it] 29%|██▊ | 8580/30000 [3:59:50<9:54:11, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.16668975353240967, 'learning_rate': 2.5660247399488887e-05, 'flow_matching_loss': 0.022249116841703654, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.5} + 29%|██▊ | 8580/30000 [3:59:50<9:54:11, 1.66s/it] 29%|██▊ | 8581/30000 [3:59:51<9:53:32, 1.66s/it] 29%|██▊ | 8582/30000 [3:59:53<9:53:54, 1.66s/it] 29%|██▊ | 8583/30000 [3:59:55<9:53:24, 1.66s/it] 29%|██▊ | 8584/30000 [3:59:56<9:54:32, 1.67s/it] 29%|██▊ | 8585/30000 [3:59:58<9:54:05, 1.66s/it] 29%|██▊ | 8586/30000 [4:00:00<9:54:01, 1.66s/it] 29%|██▊ | 8587/30000 [4:00:01<9:55:13, 1.67s/it] 29%|██▊ | 8588/30000 [4:00:03<9:54:51, 1.67s/it] 29%|██▊ | 8589/30000 [4:00:05<9:54:55, 1.67s/it] 29%|██▊ | 8590/30000 [4:00:06<9:55:05, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.1679120808839798, 'learning_rate': 2.564860856299154e-05, 'flow_matching_loss': 0.022677788510918617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.5} + 29%|██▊ | 8590/30000 [4:00:06<9:55:05, 1.67s/it] 29%|██▊ | 8591/30000 [4:00:08<9:56:13, 1.67s/it] 29%|██▊ | 8592/30000 [4:00:10<9:56:36, 1.67s/it] 29%|██▊ | 8593/30000 [4:00:11<9:55:26, 1.67s/it] 29%|██▊ | 8594/30000 [4:00:13<9:55:19, 1.67s/it] 29%|██▊ | 8595/30000 [4:00:15<9:55:37, 1.67s/it] 29%|██▊ | 8596/30000 [4:00:16<9:54:26, 1.67s/it] 29%|██▊ | 8597/30000 [4:00:18<9:53:48, 1.66s/it] 29%|██▊ | 8598/30000 [4:00:20<9:53:59, 1.67s/it] 29%|██▊ | 8599/30000 [4:00:21<9:54:27, 1.67s/it] 29%|██▊ | 8600/30000 [4:00:23<9:53:48, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.1869274079799652, 'learning_rate': 2.5636956787430693e-05, 'flow_matching_loss': 0.020851477049291134, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.5} + 29%|██▊ | 8600/30000 [4:00:23<9:53:48, 1.66s/it] 29%|██▊ | 8601/30000 [4:00:25<9:53:04, 1.66s/it] 29%|██▊ | 8602/30000 [4:00:26<9:53:12, 1.66s/it] 29%|██▊ | 8603/30000 [4:00:28<9:53:14, 1.66s/it] 29%|██▊ | 8604/30000 [4:00:30<9:53:09, 1.66s/it] 29%|██▊ | 8605/30000 [4:00:31<9:53:24, 1.66s/it] 29%|██▊ | 8606/30000 [4:00:33<9:53:01, 1.66s/it] 29%|██▊ | 8607/30000 [4:00:35<9:53:04, 1.66s/it] 29%|██▊ | 8608/30000 [4:00:36<9:54:31, 1.67s/it] 29%|██▊ | 8609/30000 [4:00:38<9:53:59, 1.67s/it] 29%|██▊ | 8610/30000 [4:00:40<9:53:42, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.1356126070022583, 'learning_rate': 2.5625292086964346e-05, 'flow_matching_loss': 0.024919911101460458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.51} + 29%|██▊ | 8610/30000 [4:00:40<9:53:42, 1.67s/it] 29%|██▊ | 8611/30000 [4:00:41<9:54:18, 1.67s/it] 29%|██▊ | 8612/30000 [4:00:43<9:53:38, 1.67s/it] 29%|██▊ | 8613/30000 [4:00:45<9:53:24, 1.66s/it] 29%|██▊ | 8614/30000 [4:00:46<9:53:24, 1.66s/it] 29%|██▊ | 8615/30000 [4:00:48<9:53:59, 1.67s/it] 29%|██▊ | 8616/30000 [4:00:50<9:54:29, 1.67s/it] 29%|██▊ | 8617/30000 [4:00:51<9:53:14, 1.66s/it] 29%|██▊ | 8618/30000 [4:00:53<9:53:12, 1.66s/it] 29%|██▊ | 8619/30000 [4:00:55<9:54:16, 1.67s/it] 29%|██▊ | 8620/30000 [4:00:56<9:53:54, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.13875418901443481, 'learning_rate': 2.5613614475766212e-05, 'flow_matching_loss': 0.021854176931083203, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.51} + 29%|██▊ | 8620/30000 [4:00:56<9:53:54, 1.67s/it] 29%|██▊ | 8621/30000 [4:00:58<9:53:41, 1.67s/it] 29%|██▊ | 8622/30000 [4:01:00<9:53:21, 1.67s/it] 29%|██▊ | 8623/30000 [4:01:01<9:53:06, 1.66s/it] 29%|██▊ | 8624/30000 [4:01:03<9:53:54, 1.67s/it] 29%|██▉ | 8625/30000 [4:01:05<9:53:16, 1.67s/it] 29%|██▉ | 8626/30000 [4:01:06<9:52:39, 1.66s/it] 29%|██▉ | 8627/30000 [4:01:08<9:53:04, 1.66s/it] 29%|██▉ | 8628/30000 [4:01:10<9:52:50, 1.66s/it] 29%|██▉ | 8629/30000 [4:01:11<9:52:43, 1.66s/it] 29%|██▉ | 8630/30000 [4:01:13<9:52:57, 1.66s/it] {'loss': 0.0233, 'grad_norm': 0.12183106690645218, 'learning_rate': 2.5601923968025694e-05, 'flow_matching_loss': 0.0233488280326128, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.51} + 29%|██▉ | 8630/30000 [4:01:13<9:52:57, 1.66s/it] 29%|██▉ | 8631/30000 [4:01:15<9:52:54, 1.66s/it] 29%|██▉ | 8632/30000 [4:01:16<9:53:40, 1.67s/it] 29%|██▉ | 8633/30000 [4:01:18<9:53:16, 1.67s/it] 29%|██▉ | 8634/30000 [4:01:20<9:53:12, 1.67s/it] 29%|██▉ | 8635/30000 [4:01:21<9:52:24, 1.66s/it] 29%|██▉ | 8636/30000 [4:01:23<9:52:22, 1.66s/it] 29%|██▉ | 8637/30000 [4:01:25<9:52:08, 1.66s/it] 29%|██▉ | 8638/30000 [4:01:26<9:52:29, 1.66s/it] 29%|██▉ | 8639/30000 [4:01:28<9:52:53, 1.67s/it] 29%|██▉ | 8640/30000 [4:01:30<9:53:33, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.18542063236236572, 'learning_rate': 2.5590220577947862e-05, 'flow_matching_loss': 0.02445301041007042, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.51} + 29%|██▉ | 8640/30000 [4:01:30<9:53:33, 1.67s/it] 29%|██▉ | 8641/30000 [4:01:31<9:53:02, 1.67s/it] 29%|██▉ | 8642/30000 [4:01:33<9:53:44, 1.67s/it] 29%|██▉ | 8643/30000 [4:01:35<9:54:04, 1.67s/it] 29%|██▉ | 8644/30000 [4:01:36<9:54:12, 1.67s/it] 29%|██▉ | 8645/30000 [4:01:38<9:53:08, 1.67s/it] 29%|██▉ | 8646/30000 [4:01:40<9:52:53, 1.67s/it] 29%|██▉ | 8647/30000 [4:01:41<9:52:49, 1.67s/it] 29%|██▉ | 8648/30000 [4:01:43<9:53:18, 1.67s/it] 29%|██▉ | 8649/30000 [4:01:45<9:51:58, 1.66s/it] 29%|██▉ | 8650/30000 [4:01:46<9:52:16, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.1443229466676712, 'learning_rate': 2.5578504319753427e-05, 'flow_matching_loss': 0.023103507421910762, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.52} + 29%|██▉ | 8650/30000 [4:01:46<9:52:16, 1.66s/it] 29%|██▉ | 8651/30000 [4:01:48<9:54:27, 1.67s/it] 29%|██▉ | 8652/30000 [4:01:50<9:53:47, 1.67s/it] 29%|██▉ | 8653/30000 [4:01:51<9:52:05, 1.66s/it] 29%|██▉ | 8654/30000 [4:01:53<9:51:57, 1.66s/it] 29%|██▉ | 8655/30000 [4:01:55<9:52:24, 1.67s/it] 29%|██▉ | 8656/30000 [4:01:56<9:53:00, 1.67s/it] 29%|██▉ | 8657/30000 [4:01:58<9:51:24, 1.66s/it] 29%|██▉ | 8658/30000 [4:02:00<9:51:41, 1.66s/it] 29%|██▉ | 8659/30000 [4:02:01<9:52:01, 1.66s/it] 29%|██▉ | 8660/30000 [4:02:03<9:51:17, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.111859031021595, 'learning_rate': 2.556677520767876e-05, 'flow_matching_loss': 0.02161678671836853, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.52} + 29%|██▉ | 8660/30000 [4:02:03<9:51:17, 1.66s/it] 29%|██▉ | 8661/30000 [4:02:05<9:52:27, 1.67s/it] 29%|██▉ | 8662/30000 [4:02:06<9:52:26, 1.67s/it] 29%|██▉ | 8663/30000 [4:02:08<9:52:19, 1.67s/it] 29%|██▉ | 8664/30000 [4:02:10<9:53:09, 1.67s/it] 29%|██▉ | 8665/30000 [4:02:11<9:51:57, 1.66s/it] 29%|██▉ | 8666/30000 [4:02:13<9:51:13, 1.66s/it] 29%|██▉ | 8667/30000 [4:02:15<9:51:59, 1.66s/it] 29%|██▉ | 8668/30000 [4:02:16<9:51:17, 1.66s/it] 29%|██▉ | 8669/30000 [4:02:18<9:51:27, 1.66s/it] 29%|██▉ | 8670/30000 [4:02:20<9:51:45, 1.66s/it] {'loss': 0.0251, 'grad_norm': 0.10847236216068268, 'learning_rate': 2.5555033255975835e-05, 'flow_matching_loss': 0.025051994528621436, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.52} + 29%|██▉ | 8670/30000 [4:02:20<9:51:45, 1.66s/it] 29%|██▉ | 8671/30000 [4:02:21<9:51:39, 1.66s/it] 29%|██▉ | 8672/30000 [4:02:23<9:51:18, 1.66s/it] 29%|██▉ | 8673/30000 [4:02:24<9:51:12, 1.66s/it] 29%|██▉ | 8674/30000 [4:02:26<9:50:39, 1.66s/it] 29%|██▉ | 8675/30000 [4:02:28<9:51:26, 1.66s/it] 29%|██▉ | 8676/30000 [4:02:29<9:50:56, 1.66s/it] 29%|██▉ | 8677/30000 [4:02:31<9:50:47, 1.66s/it] 29%|██▉ | 8678/30000 [4:02:33<9:51:00, 1.66s/it] 29%|██▉ | 8679/30000 [4:02:34<9:50:25, 1.66s/it] 29%|██▉ | 8680/30000 [4:02:36<9:52:03, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.12316186726093292, 'learning_rate': 2.5543278478912228e-05, 'flow_matching_loss': 0.02415047250688076, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.53} + 29%|██▉ | 8680/30000 [4:02:36<9:52:03, 1.67s/it] 29%|██▉ | 8681/30000 [4:02:38<9:50:31, 1.66s/it] 29%|██▉ | 8682/30000 [4:02:39<9:49:47, 1.66s/it] 29%|██▉ | 8683/30000 [4:02:41<9:50:44, 1.66s/it] 29%|██▉ | 8684/30000 [4:02:43<9:49:44, 1.66s/it] 29%|██▉ | 8685/30000 [4:02:44<9:50:23, 1.66s/it] 29%|██▉ | 8686/30000 [4:02:46<9:49:38, 1.66s/it] 29%|██▉ | 8687/30000 [4:02:48<9:49:50, 1.66s/it] 29%|██▉ | 8688/30000 [4:02:49<9:50:54, 1.66s/it] 29%|██▉ | 8689/30000 [4:02:51<9:50:16, 1.66s/it] 29%|██▉ | 8690/30000 [4:02:53<9:50:12, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.12928654253482819, 'learning_rate': 2.55315108907711e-05, 'flow_matching_loss': 0.021285839192569257, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.53} + 29%|██▉ | 8690/30000 [4:02:53<9:50:12, 1.66s/it] 29%|██▉ | 8691/30000 [4:02:54<9:51:39, 1.67s/it] 29%|██▉ | 8692/30000 [4:02:56<9:52:32, 1.67s/it] 29%|██▉ | 8693/30000 [4:02:58<9:51:27, 1.67s/it] 29%|██▉ | 8694/30000 [4:02:59<9:51:00, 1.66s/it] 29%|██▉ | 8695/30000 [4:03:01<9:51:52, 1.67s/it] 29%|██▉ | 8696/30000 [4:03:03<9:52:29, 1.67s/it] 29%|██▉ | 8697/30000 [4:03:04<9:50:40, 1.66s/it] 29%|██▉ | 8698/30000 [4:03:06<9:51:12, 1.67s/it] 29%|██▉ | 8699/30000 [4:03:08<9:51:17, 1.67s/it] 29%|██▉ | 8700/30000 [4:03:09<9:50:54, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.1291259229183197, 'learning_rate': 2.551973050585119e-05, 'flow_matching_loss': 0.020438439026474953, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.53} + 29%|██▉ | 8700/30000 [4:03:09<9:50:54, 1.66s/it] 29%|██▉ | 8701/30000 [4:03:11<9:50:34, 1.66s/it] 29%|██▉ | 8702/30000 [4:03:13<9:50:50, 1.66s/it] 29%|██▉ | 8703/30000 [4:03:14<9:50:38, 1.66s/it] 29%|██▉ | 8704/30000 [4:03:16<9:51:13, 1.67s/it] 29%|██▉ | 8705/30000 [4:03:18<9:49:08, 1.66s/it] 29%|██▉ | 8706/30000 [4:03:19<9:48:46, 1.66s/it] 29%|██▉ | 8707/30000 [4:03:21<9:49:52, 1.66s/it] 29%|██▉ | 8708/30000 [4:03:23<9:48:42, 1.66s/it] 29%|██▉ | 8709/30000 [4:03:24<9:48:57, 1.66s/it] 29%|██▉ | 8710/30000 [4:03:26<9:49:06, 1.66s/it] {'loss': 0.0252, 'grad_norm': 0.15524879097938538, 'learning_rate': 2.5507937338466768e-05, 'flow_matching_loss': 0.025202775746583937, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.53} + 29%|██▉ | 8710/30000 [4:03:26<9:49:06, 1.66s/it] 29%|██▉ | 8711/30000 [4:03:28<9:50:06, 1.66s/it] 29%|██▉ | 8712/30000 [4:03:29<9:50:44, 1.67s/it] 29%|██▉ | 8713/30000 [4:03:31<9:50:30, 1.66s/it] 29%|██▉ | 8714/30000 [4:03:33<9:49:51, 1.66s/it] 29%|██▉ | 8715/30000 [4:03:34<9:50:46, 1.67s/it] 29%|██▉ | 8716/30000 [4:03:36<9:50:12, 1.66s/it] 29%|██▉ | 8717/30000 [4:03:38<9:50:02, 1.66s/it] 29%|██▉ | 8718/30000 [4:03:39<9:49:52, 1.66s/it] 29%|██▉ | 8719/30000 [4:03:41<9:50:18, 1.66s/it] 29%|██▉ | 8720/30000 [4:03:43<9:51:07, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.13055312633514404, 'learning_rate': 2.549613140294764e-05, 'flow_matching_loss': 0.02301073111593723, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.54} + 29%|██▉ | 8720/30000 [4:03:43<9:51:07, 1.67s/it] 29%|██▉ | 8721/30000 [4:03:44<9:50:24, 1.66s/it] 29%|██▉ | 8722/30000 [4:03:46<9:49:47, 1.66s/it] 29%|██▉ | 8723/30000 [4:03:48<9:50:06, 1.66s/it] 29%|██▉ | 8724/30000 [4:03:49<9:50:08, 1.66s/it] 29%|██▉ | 8725/30000 [4:03:51<9:51:11, 1.67s/it] 29%|██▉ | 8726/30000 [4:03:53<9:51:22, 1.67s/it] 29%|██▉ | 8727/30000 [4:03:54<9:51:25, 1.67s/it] 29%|██▉ | 8728/30000 [4:03:56<9:53:02, 1.67s/it] 29%|██▉ | 8729/30000 [4:03:58<9:51:26, 1.67s/it] 29%|██▉ | 8730/30000 [4:03:59<9:50:34, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.14927369356155396, 'learning_rate': 2.548431271363914e-05, 'flow_matching_loss': 0.021180912107229232, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.54} + 29%|██▉ | 8730/30000 [4:03:59<9:50:34, 1.67s/it] 29%|██▉ | 8731/30000 [4:04:01<9:51:17, 1.67s/it] 29%|██▉ | 8732/30000 [4:04:03<9:50:31, 1.67s/it] 29%|██▉ | 8733/30000 [4:04:04<9:49:30, 1.66s/it] 29%|██▉ | 8734/30000 [4:04:06<9:49:45, 1.66s/it] 29%|██▉ | 8735/30000 [4:04:08<9:49:35, 1.66s/it] 29%|██▉ | 8736/30000 [4:04:09<9:50:49, 1.67s/it] 29%|██▉ | 8737/30000 [4:04:11<9:49:33, 1.66s/it] 29%|██▉ | 8738/30000 [4:04:13<9:49:48, 1.66s/it] 29%|██▉ | 8739/30000 [4:04:14<9:50:24, 1.67s/it] 29%|██▉ | 8740/30000 [4:04:16<9:50:13, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.12673591077327728, 'learning_rate': 2.5472481284902092e-05, 'flow_matching_loss': 0.02307836301624775, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.54} + 29%|██▉ | 8740/30000 [4:04:16<9:50:13, 1.67s/it] 29%|██▉ | 8741/30000 [4:04:18<9:49:53, 1.66s/it] 29%|██▉ | 8742/30000 [4:04:19<9:49:33, 1.66s/it] 29%|██▉ | 8743/30000 [4:04:21<9:49:28, 1.66s/it] 29%|██▉ | 8744/30000 [4:04:23<9:50:33, 1.67s/it] 29%|██▉ | 8745/30000 [4:04:24<9:50:59, 1.67s/it] 29%|██▉ | 8746/30000 [4:04:26<9:50:24, 1.67s/it] 29%|██▉ | 8747/30000 [4:04:28<9:50:38, 1.67s/it] 29%|██▉ | 8748/30000 [4:04:29<9:50:05, 1.67s/it] 29%|██▉ | 8749/30000 [4:04:31<9:49:46, 1.67s/it] 29%|██▉ | 8750/30000 [4:04:33<9:49:25, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.15504315495491028, 'learning_rate': 2.5460637131112788e-05, 'flow_matching_loss': 0.02129885843023658, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.55} + 29%|██▉ | 8750/30000 [4:04:33<9:49:25, 1.66s/it] 29%|██▉ | 8751/30000 [4:04:34<9:49:34, 1.66s/it] 29%|██▉ | 8752/30000 [4:04:36<9:49:53, 1.67s/it] 29%|██▉ | 8753/30000 [4:04:38<9:49:08, 1.66s/it] 29%|██▉ | 8754/30000 [4:04:39<9:48:45, 1.66s/it] 29%|██▉ | 8755/30000 [4:04:41<9:50:11, 1.67s/it] 29%|██▉ | 8756/30000 [4:04:43<9:49:53, 1.67s/it] 29%|██▉ | 8757/30000 [4:04:44<9:49:04, 1.66s/it] 29%|██▉ | 8758/30000 [4:04:46<9:48:54, 1.66s/it] 29%|██▉ | 8759/30000 [4:04:48<9:49:00, 1.66s/it] 29%|██▉ | 8760/30000 [4:04:49<9:49:25, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.1280249059200287, 'learning_rate': 2.5448780266662995e-05, 'flow_matching_loss': 0.021657916810363533, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.55} + 29%|██▉ | 8760/30000 [4:04:49<9:49:25, 1.67s/it] 29%|██▉ | 8761/30000 [4:04:51<9:48:34, 1.66s/it] 29%|██▉ | 8762/30000 [4:04:53<9:49:08, 1.66s/it] 29%|██▉ | 8763/30000 [4:04:54<9:50:00, 1.67s/it] 29%|██▉ | 8764/30000 [4:04:56<9:49:09, 1.66s/it] 29%|██▉ | 8765/30000 [4:04:58<9:48:32, 1.66s/it] 29%|██▉ | 8766/30000 [4:04:59<9:48:46, 1.66s/it] 29%|██▉ | 8767/30000 [4:05:01<9:49:34, 1.67s/it] 29%|██▉ | 8768/30000 [4:05:03<9:49:45, 1.67s/it] 29%|██▉ | 8769/30000 [4:05:04<9:48:30, 1.66s/it] 29%|██▉ | 8770/30000 [4:05:06<9:48:42, 1.66s/it] {'loss': 0.0248, 'grad_norm': 0.09949175268411636, 'learning_rate': 2.5436910705959926e-05, 'flow_matching_loss': 0.024844053946435452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.55} + 29%|██▉ | 8770/30000 [4:05:06<9:48:42, 1.66s/it] 29%|██▉ | 8771/30000 [4:05:08<9:49:16, 1.67s/it] 29%|██▉ | 8772/30000 [4:05:09<9:47:44, 1.66s/it] 29%|██▉ | 8773/30000 [4:05:11<9:47:32, 1.66s/it] 29%|██▉ | 8774/30000 [4:05:13<9:48:25, 1.66s/it] 29%|██▉ | 8775/30000 [4:05:14<9:48:40, 1.66s/it] 29%|██▉ | 8776/30000 [4:05:16<9:49:12, 1.67s/it] 29%|██▉ | 8777/30000 [4:05:18<9:48:33, 1.66s/it] 29%|██▉ | 8778/30000 [4:05:19<9:48:11, 1.66s/it] 29%|██▉ | 8779/30000 [4:05:21<9:48:39, 1.66s/it] 29%|██▉ | 8780/30000 [4:05:23<9:48:36, 1.66s/it] {'loss': 0.024, 'grad_norm': 0.1326514333486557, 'learning_rate': 2.542502846342621e-05, 'flow_matching_loss': 0.024016217980533838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.55} + 29%|██▉ | 8780/30000 [4:05:23<9:48:36, 1.66s/it] 29%|██▉ | 8781/30000 [4:05:24<9:48:39, 1.66s/it] 29%|██▉ | 8782/30000 [4:05:26<9:48:52, 1.67s/it] 29%|██▉ | 8783/30000 [4:05:28<9:48:47, 1.67s/it] 29%|██▉ | 8784/30000 [4:05:29<9:49:03, 1.67s/it] 29%|██▉ | 8785/30000 [4:05:31<9:48:25, 1.66s/it] 29%|██▉ | 8786/30000 [4:05:33<9:48:20, 1.66s/it] 29%|██▉ | 8787/30000 [4:05:34<9:48:58, 1.67s/it] 29%|██▉ | 8788/30000 [4:05:36<9:48:15, 1.66s/it] 29%|██▉ | 8789/30000 [4:05:38<9:47:35, 1.66s/it] 29%|██▉ | 8790/30000 [4:05:39<9:48:11, 1.66s/it] {'loss': 0.0228, 'grad_norm': 0.13845331966876984, 'learning_rate': 2.5413133553499892e-05, 'flow_matching_loss': 0.022815937455743552, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.56} + 29%|██▉ | 8790/30000 [4:05:39<9:48:11, 1.66s/it] 29%|██▉ | 8791/30000 [4:05:41<9:48:17, 1.66s/it] 29%|██▉ | 8792/30000 [4:05:43<9:49:32, 1.67s/it] 29%|██▉ | 8793/30000 [4:05:44<9:49:55, 1.67s/it] 29%|██▉ | 8794/30000 [4:05:46<9:48:17, 1.66s/it] 29%|██▉ | 8795/30000 [4:05:48<9:48:20, 1.66s/it] 29%|██▉ | 8796/30000 [4:05:49<9:48:19, 1.66s/it] 29%|██▉ | 8797/30000 [4:05:51<9:47:31, 1.66s/it] 29%|██▉ | 8798/30000 [4:05:53<9:47:45, 1.66s/it] 29%|██▉ | 8799/30000 [4:05:54<9:48:24, 1.67s/it] 29%|██▉ | 8800/30000 [4:05:56<9:50:14, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.16737791895866394, 'learning_rate': 2.540122599063442e-05, 'flow_matching_loss': 0.019885072018951178, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.56} + 29%|██▉ | 8800/30000 [4:05:56<9:50:14, 1.67s/it] 29%|██▉ | 8801/30000 [4:05:58<9:49:13, 1.67s/it] 29%|██▉ | 8802/30000 [4:05:59<9:48:42, 1.67s/it] 29%|██▉ | 8803/30000 [4:06:01<9:49:17, 1.67s/it] 29%|██▉ | 8804/30000 [4:06:03<9:50:21, 1.67s/it] 29%|██▉ | 8805/30000 [4:06:04<9:49:45, 1.67s/it] 29%|██▉ | 8806/30000 [4:06:06<9:49:01, 1.67s/it] 29%|██▉ | 8807/30000 [4:06:08<9:48:57, 1.67s/it] 29%|██▉ | 8808/30000 [4:06:09<9:49:19, 1.67s/it] 29%|██▉ | 8809/30000 [4:06:11<9:47:57, 1.66s/it] 29%|██▉ | 8810/30000 [4:06:13<9:47:20, 1.66s/it] {'loss': 0.0214, 'grad_norm': 0.13004714250564575, 'learning_rate': 2.538930578929859e-05, 'flow_matching_loss': 0.021366620622575282, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.56} + 29%|██▉ | 8810/30000 [4:06:13<9:47:20, 1.66s/it] 29%|██▉ | 8811/30000 [4:06:14<9:48:52, 1.67s/it] 29%|██▉ | 8812/30000 [4:06:16<9:48:46, 1.67s/it] 29%|██▉ | 8813/30000 [4:06:18<9:47:47, 1.66s/it] 29%|██▉ | 8814/30000 [4:06:19<9:47:18, 1.66s/it] 29%|██▉ | 8815/30000 [4:06:21<9:47:52, 1.66s/it] 29%|██▉ | 8816/30000 [4:06:23<9:48:28, 1.67s/it] 29%|██▉ | 8817/30000 [4:06:24<9:48:03, 1.67s/it] 29%|██▉ | 8818/30000 [4:06:26<9:47:53, 1.67s/it] 29%|██▉ | 8819/30000 [4:06:28<9:47:41, 1.66s/it] 29%|██▉ | 8820/30000 [4:06:29<9:47:37, 1.66s/it] {'loss': 0.023, 'grad_norm': 0.1291113942861557, 'learning_rate': 2.537737296397658e-05, 'flow_matching_loss': 0.02297511827200651, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.57} + 29%|██▉ | 8820/30000 [4:06:29<9:47:37, 1.66s/it] 29%|██▉ | 8821/30000 [4:06:31<9:48:21, 1.67s/it] 29%|██▉ | 8822/30000 [4:06:33<9:48:14, 1.67s/it] 29%|██▉ | 8823/30000 [4:06:34<9:47:37, 1.66s/it] 29%|██▉ | 8824/30000 [4:06:36<9:48:35, 1.67s/it] 29%|██▉ | 8825/30000 [4:06:38<9:47:56, 1.67s/it] 29%|██▉ | 8826/30000 [4:06:39<9:48:24, 1.67s/it] 29%|██▉ | 8827/30000 [4:06:41<9:48:37, 1.67s/it] 29%|██▉ | 8828/30000 [4:06:43<9:47:53, 1.67s/it] 29%|██▉ | 8829/30000 [4:06:44<9:46:13, 1.66s/it] 29%|██▉ | 8830/30000 [4:06:46<9:46:52, 1.66s/it] {'loss': 0.022, 'grad_norm': 0.1171753853559494, 'learning_rate': 2.5365427529167903e-05, 'flow_matching_loss': 0.022043799608945848, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.57} + 29%|██▉ | 8830/30000 [4:06:46<9:46:52, 1.66s/it] 29%|██▉ | 8831/30000 [4:06:48<9:47:09, 1.66s/it] 29%|██▉ | 8832/30000 [4:06:49<9:48:03, 1.67s/it] 29%|██▉ | 8833/30000 [4:06:51<9:47:20, 1.66s/it] 29%|██▉ | 8834/30000 [4:06:53<9:48:27, 1.67s/it] 29%|██▉ | 8835/30000 [4:06:54<9:49:19, 1.67s/it] 29%|██▉ | 8836/30000 [4:06:56<9:49:19, 1.67s/it] 29%|██▉ | 8837/30000 [4:06:58<9:48:19, 1.67s/it] 29%|██▉ | 8838/30000 [4:06:59<9:47:29, 1.67s/it] 29%|██▉ | 8839/30000 [4:07:01<9:47:36, 1.67s/it] 29%|██▉ | 8840/30000 [4:07:03<9:48:03, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.1136261373758316, 'learning_rate': 2.5353469499387375e-05, 'flow_matching_loss': 0.024871717020869256, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.57} + 29%|██▉ | 8840/30000 [4:07:03<9:48:03, 1.67s/it] 29%|██▉ | 8841/30000 [4:07:04<9:47:05, 1.66s/it] 29%|██▉ | 8842/30000 [4:07:06<9:46:55, 1.66s/it] 29%|██▉ | 8843/30000 [4:07:08<9:46:22, 1.66s/it] 29%|██▉ | 8844/30000 [4:07:09<9:45:42, 1.66s/it] 29%|██▉ | 8845/30000 [4:07:11<9:46:58, 1.66s/it] 29%|██▉ | 8846/30000 [4:07:13<9:47:08, 1.67s/it] 29%|██▉ | 8847/30000 [4:07:14<9:47:18, 1.67s/it] 29%|██▉ | 8848/30000 [4:07:16<9:48:34, 1.67s/it] 29%|██▉ | 8849/30000 [4:07:18<9:47:00, 1.67s/it] 30%|██▉ | 8850/30000 [4:07:19<9:47:01, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.155861496925354, 'learning_rate': 2.534149888916514e-05, 'flow_matching_loss': 0.02485451977699995, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.57} + 30%|██▉ | 8850/30000 [4:07:19<9:47:01, 1.67s/it] 30%|██▉ | 8851/30000 [4:07:21<9:47:14, 1.67s/it] 30%|██▉ | 8852/30000 [4:07:23<9:46:48, 1.66s/it] 30%|██▉ | 8853/30000 [4:07:24<9:48:06, 1.67s/it] 30%|██▉ | 8854/30000 [4:07:26<9:47:35, 1.67s/it] 30%|██▉ | 8855/30000 [4:07:28<9:48:42, 1.67s/it] 30%|██▉ | 8856/30000 [4:07:29<9:48:19, 1.67s/it] 30%|██▉ | 8857/30000 [4:07:31<9:46:53, 1.67s/it] 30%|██▉ | 8858/30000 [4:07:33<9:45:39, 1.66s/it] 30%|██▉ | 8859/30000 [4:07:34<9:45:09, 1.66s/it] 30%|██▉ | 8860/30000 [4:07:36<9:46:44, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.14372313022613525, 'learning_rate': 2.5329515713046616e-05, 'flow_matching_loss': 0.022255420219153166, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.58} + 30%|██▉ | 8860/30000 [4:07:36<9:46:44, 1.67s/it] 30%|██▉ | 8861/30000 [4:07:38<9:45:53, 1.66s/it] 30%|██▉ | 8862/30000 [4:07:39<9:46:18, 1.66s/it] 30%|██▉ | 8863/30000 [4:07:41<9:46:09, 1.66s/it] 30%|██▉ | 8864/30000 [4:07:43<9:47:18, 1.67s/it] 30%|██▉ | 8865/30000 [4:07:44<9:46:11, 1.66s/it] 30%|██▉ | 8866/30000 [4:07:46<9:47:00, 1.67s/it] 30%|██▉ | 8867/30000 [4:07:48<9:46:58, 1.67s/it] 30%|██▉ | 8868/30000 [4:07:49<9:46:03, 1.66s/it] 30%|██▉ | 8869/30000 [4:07:51<9:44:51, 1.66s/it] 30%|██▉ | 8870/30000 [4:07:52<9:45:28, 1.66s/it] {'loss': 0.0246, 'grad_norm': 0.17062421143054962, 'learning_rate': 2.531751998559249e-05, 'flow_matching_loss': 0.024551094509661198, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.58} + 30%|██▉ | 8870/30000 [4:07:53<9:45:28, 1.66s/it] 30%|██▉ | 8871/30000 [4:07:54<9:45:57, 1.66s/it] 30%|██▉ | 8872/30000 [4:07:56<9:47:20, 1.67s/it] 30%|██▉ | 8873/30000 [4:07:57<9:47:08, 1.67s/it] 30%|██▉ | 8874/30000 [4:07:59<9:47:00, 1.67s/it] 30%|██▉ | 8875/30000 [4:08:01<9:46:29, 1.67s/it] 30%|██▉ | 8876/30000 [4:08:02<9:45:51, 1.66s/it] 30%|██▉ | 8877/30000 [4:08:04<9:45:48, 1.66s/it] 30%|██▉ | 8878/30000 [4:08:06<9:46:45, 1.67s/it] 30%|██▉ | 8879/30000 [4:08:07<9:47:06, 1.67s/it] 30%|██▉ | 8880/30000 [4:08:09<9:47:23, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.16094060242176056, 'learning_rate': 2.5305511721378703e-05, 'flow_matching_loss': 0.020595444459468128, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.58} + 30%|██▉ | 8880/30000 [4:08:09<9:47:23, 1.67s/it] 30%|██▉ | 8881/30000 [4:08:11<9:46:53, 1.67s/it] 30%|██▉ | 8882/30000 [4:08:12<9:47:16, 1.67s/it] 30%|██▉ | 8883/30000 [4:08:14<9:47:01, 1.67s/it] 30%|██▉ | 8884/30000 [4:08:16<9:47:18, 1.67s/it] 30%|██▉ | 8885/30000 [4:08:17<9:46:02, 1.67s/it] 30%|██▉ | 8886/30000 [4:08:19<9:45:31, 1.66s/it] 30%|██▉ | 8887/30000 [4:08:21<9:45:56, 1.67s/it] 30%|██▉ | 8888/30000 [4:08:22<9:46:39, 1.67s/it] 30%|██▉ | 8889/30000 [4:08:24<9:45:23, 1.66s/it] 30%|██▉ | 8890/30000 [4:08:26<9:45:55, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.11123485118150711, 'learning_rate': 2.529349093499642e-05, 'flow_matching_loss': 0.022969357296824457, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.59} + 30%|██▉ | 8890/30000 [4:08:26<9:45:55, 1.67s/it] 30%|██▉ | 8891/30000 [4:08:27<9:45:57, 1.67s/it] 30%|██▉ | 8892/30000 [4:08:29<9:45:34, 1.66s/it] 30%|██▉ | 8893/30000 [4:08:31<9:44:37, 1.66s/it] 30%|██▉ | 8894/30000 [4:08:32<9:44:55, 1.66s/it] 30%|██▉ | 8895/30000 [4:08:34<9:45:19, 1.66s/it] 30%|██▉ | 8896/30000 [4:08:36<9:46:26, 1.67s/it] 30%|██▉ | 8897/30000 [4:08:37<9:45:34, 1.66s/it] 30%|██▉ | 8898/30000 [4:08:39<9:45:42, 1.67s/it] 30%|██▉ | 8899/30000 [4:08:41<9:45:29, 1.66s/it] 30%|██▉ | 8900/30000 [4:08:42<9:44:36, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.11795631051063538, 'learning_rate': 2.528145764105205e-05, 'flow_matching_loss': 0.023156268708407878, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.59} + 30%|██▉ | 8900/30000 [4:08:43<9:44:36, 1.66s/it] 30%|██▉ | 8901/30000 [4:08:44<9:45:09, 1.66s/it] 30%|██▉ | 8902/30000 [4:08:46<9:44:11, 1.66s/it] 30%|██▉ | 8903/30000 [4:08:47<9:44:18, 1.66s/it] 30%|██▉ | 8904/30000 [4:08:49<9:46:11, 1.67s/it] 30%|██▉ | 8905/30000 [4:08:51<9:45:45, 1.67s/it] 30%|██▉ | 8906/30000 [4:08:52<9:45:55, 1.67s/it] 30%|██▉ | 8907/30000 [4:08:54<9:45:25, 1.67s/it] 30%|██▉ | 8908/30000 [4:08:56<9:45:03, 1.66s/it] 30%|██▉ | 8909/30000 [4:08:57<9:44:57, 1.66s/it] 30%|██▉ | 8910/30000 [4:08:59<9:45:44, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.1560710370540619, 'learning_rate': 2.5269411854167166e-05, 'flow_matching_loss': 0.021067928057163954, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.59} + 30%|██▉ | 8910/30000 [4:08:59<9:45:44, 1.67s/it] 30%|██▉ | 8911/30000 [4:09:01<9:45:41, 1.67s/it] 30%|██▉ | 8912/30000 [4:09:02<9:46:24, 1.67s/it] 30%|██▉ | 8913/30000 [4:09:04<9:44:59, 1.66s/it] 30%|██▉ | 8914/30000 [4:09:06<9:46:37, 1.67s/it] 30%|██▉ | 8915/30000 [4:09:07<9:46:12, 1.67s/it] 30%|██▉ | 8916/30000 [4:09:09<9:44:48, 1.66s/it] 30%|██▉ | 8917/30000 [4:09:11<9:44:13, 1.66s/it] 30%|██▉ | 8918/30000 [4:09:12<9:44:22, 1.66s/it] 30%|██▉ | 8919/30000 [4:09:14<9:44:38, 1.66s/it] 30%|██▉ | 8920/30000 [4:09:16<9:45:17, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.1409531980752945, 'learning_rate': 2.5257353588978534e-05, 'flow_matching_loss': 0.022795958537608386, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.6} + 30%|██▉ | 8920/30000 [4:09:16<9:45:17, 1.67s/it] 30%|██▉ | 8921/30000 [4:09:17<9:44:39, 1.66s/it] 30%|██▉ | 8922/30000 [4:09:19<9:44:59, 1.67s/it] 30%|██▉ | 8923/30000 [4:09:21<9:45:02, 1.67s/it] 30%|██▉ | 8924/30000 [4:09:22<9:44:17, 1.66s/it] 30%|██▉ | 8925/30000 [4:09:24<9:44:18, 1.66s/it] 30%|██▉ | 8926/30000 [4:09:26<9:44:26, 1.66s/it] 30%|██▉ | 8927/30000 [4:09:27<9:44:12, 1.66s/it] 30%|██▉ | 8928/30000 [4:09:29<9:44:36, 1.66s/it] 30%|██▉ | 8929/30000 [4:09:31<9:44:39, 1.66s/it] 30%|██▉ | 8930/30000 [4:09:32<9:43:59, 1.66s/it] {'loss': 0.0263, 'grad_norm': 0.14405490458011627, 'learning_rate': 2.5245282860138083e-05, 'flow_matching_loss': 0.026280822791159154, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.6} + 30%|██▉ | 8930/30000 [4:09:32<9:43:59, 1.66s/it] 30%|██▉ | 8931/30000 [4:09:34<9:43:31, 1.66s/it] 30%|██▉ | 8932/30000 [4:09:36<9:43:18, 1.66s/it] 30%|██▉ | 8933/30000 [4:09:37<9:43:16, 1.66s/it] 30%|██▉ | 8934/30000 [4:09:39<9:43:32, 1.66s/it] 30%|██▉ | 8935/30000 [4:09:41<9:43:59, 1.66s/it] 30%|██▉ | 8936/30000 [4:09:42<9:44:59, 1.67s/it] 30%|██▉ | 8937/30000 [4:09:44<9:43:55, 1.66s/it] 30%|██▉ | 8938/30000 [4:09:46<9:43:25, 1.66s/it] 30%|██▉ | 8939/30000 [4:09:47<9:43:50, 1.66s/it] 30%|██▉ | 8940/30000 [4:09:49<9:43:52, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.14255574345588684, 'learning_rate': 2.5233199682312894e-05, 'flow_matching_loss': 0.023402608558535577, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.6} + 30%|██▉ | 8940/30000 [4:09:49<9:43:52, 1.66s/it] 30%|██▉ | 8941/30000 [4:09:51<9:43:56, 1.66s/it] 30%|██▉ | 8942/30000 [4:09:52<9:43:56, 1.66s/it] 30%|██▉ | 8943/30000 [4:09:54<9:44:11, 1.66s/it] 30%|██▉ | 8944/30000 [4:09:56<9:44:56, 1.67s/it] 30%|██▉ | 8945/30000 [4:09:57<9:43:48, 1.66s/it] 30%|██▉ | 8946/30000 [4:09:59<9:44:02, 1.66s/it] 30%|██▉ | 8947/30000 [4:10:01<9:44:09, 1.66s/it] 30%|██▉ | 8948/30000 [4:10:02<9:44:33, 1.67s/it] 30%|██▉ | 8949/30000 [4:10:04<9:44:32, 1.67s/it] 30%|██▉ | 8950/30000 [4:10:06<9:44:11, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.08755601197481155, 'learning_rate': 2.5221104070185163e-05, 'flow_matching_loss': 0.02211662782356143, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.6} + 30%|██▉ | 8950/30000 [4:10:06<9:44:11, 1.67s/it] 30%|██▉ | 8951/30000 [4:10:07<9:44:33, 1.67s/it] 30%|██▉ | 8952/30000 [4:10:09<9:44:17, 1.67s/it] 30%|██▉ | 8953/30000 [4:10:11<9:43:40, 1.66s/it] 30%|██▉ | 8954/30000 [4:10:12<9:44:29, 1.67s/it] 30%|██▉ | 8955/30000 [4:10:14<9:44:16, 1.67s/it] 30%|██▉ | 8956/30000 [4:10:16<9:43:36, 1.66s/it] 30%|██▉ | 8957/30000 [4:10:17<9:43:25, 1.66s/it] 30%|██▉ | 8958/30000 [4:10:19<9:43:22, 1.66s/it] 30%|██▉ | 8959/30000 [4:10:21<9:44:02, 1.67s/it] 30%|██▉ | 8960/30000 [4:10:22<9:43:47, 1.66s/it] {'loss': 0.0247, 'grad_norm': 0.09724309295415878, 'learning_rate': 2.5208996038452204e-05, 'flow_matching_loss': 0.024668267462402582, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.61} + 30%|██▉ | 8960/30000 [4:10:22<9:43:47, 1.66s/it] 30%|██▉ | 8961/30000 [4:10:24<9:44:13, 1.67s/it] 30%|██▉ | 8962/30000 [4:10:26<9:44:00, 1.67s/it] 30%|██▉ | 8963/30000 [4:10:27<9:44:14, 1.67s/it] 30%|██▉ | 8964/30000 [4:10:29<9:44:13, 1.67s/it] 30%|██▉ | 8965/30000 [4:10:31<9:44:16, 1.67s/it] 30%|██▉ | 8966/30000 [4:10:32<9:43:19, 1.66s/it] 30%|██▉ | 8967/30000 [4:10:34<9:43:38, 1.66s/it] 30%|██▉ | 8968/30000 [4:10:36<9:45:12, 1.67s/it] 30%|██▉ | 8969/30000 [4:10:37<9:43:45, 1.67s/it] 30%|██▉ | 8970/30000 [4:10:39<9:43:30, 1.66s/it] {'loss': 0.0249, 'grad_norm': 0.16509082913398743, 'learning_rate': 2.5196875601826403e-05, 'flow_matching_loss': 0.02485793922096491, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.61} + 30%|██▉ | 8970/30000 [4:10:39<9:43:30, 1.66s/it] 30%|██▉ | 8971/30000 [4:10:41<9:44:28, 1.67s/it] 30%|██▉ | 8972/30000 [4:10:42<9:43:13, 1.66s/it] 30%|██▉ | 8973/30000 [4:10:44<9:44:32, 1.67s/it] 30%|██▉ | 8974/30000 [4:10:46<9:44:00, 1.67s/it] 30%|██▉ | 8975/30000 [4:10:47<9:43:23, 1.66s/it] 30%|██▉ | 8976/30000 [4:10:49<9:44:51, 1.67s/it] 30%|██▉ | 8977/30000 [4:10:51<9:44:13, 1.67s/it] 30%|██▉ | 8978/30000 [4:10:52<9:44:06, 1.67s/it] 30%|██▉ | 8979/30000 [4:10:54<9:44:26, 1.67s/it] 30%|██▉ | 8980/30000 [4:10:56<9:44:48, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.1561688929796219, 'learning_rate': 2.518474277503525e-05, 'flow_matching_loss': 0.022365491650998593, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.61} + 30%|██▉ | 8980/30000 [4:10:56<9:44:48, 1.67s/it] 30%|██▉ | 8981/30000 [4:10:57<9:44:52, 1.67s/it] 30%|██▉ | 8982/30000 [4:10:59<9:43:32, 1.67s/it] 30%|██▉ | 8983/30000 [4:11:01<9:42:46, 1.66s/it] 30%|██▉ | 8984/30000 [4:11:02<9:43:27, 1.67s/it] 30%|██▉ | 8985/30000 [4:11:04<9:42:51, 1.66s/it] 30%|██▉ | 8986/30000 [4:11:06<9:43:21, 1.67s/it] 30%|██▉ | 8987/30000 [4:11:07<9:43:44, 1.67s/it] 30%|██▉ | 8988/30000 [4:11:09<9:43:24, 1.67s/it] 30%|██▉ | 8989/30000 [4:11:11<9:42:36, 1.66s/it] 30%|██▉ | 8990/30000 [4:11:12<9:42:40, 1.66s/it] {'loss': 0.0239, 'grad_norm': 0.11968272179365158, 'learning_rate': 2.5172597572821266e-05, 'flow_matching_loss': 0.023938834480941296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.62} + 30%|██▉ | 8990/30000 [4:11:12<9:42:40, 1.66s/it] 30%|██▉ | 8991/30000 [4:11:14<9:42:48, 1.66s/it] 30%|██▉ | 8992/30000 [4:11:16<9:43:31, 1.67s/it] 30%|██▉ | 8993/30000 [4:11:17<9:42:26, 1.66s/it] 30%|██▉ | 8994/30000 [4:11:19<9:42:52, 1.66s/it] 30%|██▉ | 8995/30000 [4:11:21<9:42:20, 1.66s/it] 30%|██▉ | 8996/30000 [4:11:22<9:42:42, 1.66s/it] 30%|██▉ | 8997/30000 [4:11:24<9:42:16, 1.66s/it] 30%|██▉ | 8998/30000 [4:11:26<9:41:10, 1.66s/it] 30%|██▉ | 8999/30000 [4:11:27<9:42:09, 1.66s/it] 30%|███ | 9000/30000 [4:11:29<9:42:37, 1.66s/it] {'loss': 0.0228, 'grad_norm': 0.15307188034057617, 'learning_rate': 2.5160440009942015e-05, 'flow_matching_loss': 0.02280752370133996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.62} + 30%|███ | 9000/30000 [4:11:29<9:42:37, 1.66s/it] 30%|███ | 9001/30000 [4:11:31<9:41:48, 1.66s/it] 30%|███ | 9002/30000 [4:11:32<9:42:32, 1.66s/it] 30%|███ | 9003/30000 [4:11:34<9:42:39, 1.66s/it] 30%|███ | 9004/30000 [4:11:36<9:43:06, 1.67s/it] 30%|███ | 9005/30000 [4:11:37<9:42:15, 1.66s/it] 30%|███ | 9006/30000 [4:11:39<9:42:26, 1.66s/it] 30%|███ | 9007/30000 [4:11:41<9:42:44, 1.67s/it] 30%|███ | 9008/30000 [4:11:42<9:43:50, 1.67s/it] 30%|███ | 9009/30000 [4:11:44<9:42:45, 1.67s/it] 30%|███ | 9010/30000 [4:11:46<9:43:39, 1.67s/it] {'loss': 0.0236, 'grad_norm': 0.15920844674110413, 'learning_rate': 2.514827010117009e-05, 'flow_matching_loss': 0.023551280423998833, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.62} + 30%|███ | 9010/30000 [4:11:46<9:43:39, 1.67s/it] 30%|███ | 9011/30000 [4:11:47<9:43:15, 1.67s/it] 30%|███ | 9012/30000 [4:11:49<9:43:01, 1.67s/it] 30%|███ | 9013/30000 [4:11:51<9:42:09, 1.66s/it] 30%|███ | 9014/30000 [4:11:52<9:42:25, 1.67s/it] 30%|███ | 9015/30000 [4:11:54<9:42:36, 1.67s/it] 30%|███ | 9016/30000 [4:11:56<9:43:22, 1.67s/it] 30%|███ | 9017/30000 [4:11:57<9:42:10, 1.66s/it] 30%|███ | 9018/30000 [4:11:59<9:42:34, 1.67s/it] 30%|███ | 9019/30000 [4:12:01<9:42:12, 1.66s/it] 30%|███ | 9020/30000 [4:12:02<9:42:36, 1.67s/it] {'loss': 0.0233, 'grad_norm': 0.16067175567150116, 'learning_rate': 2.5136087861293068e-05, 'flow_matching_loss': 0.023295158892869948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.62} + 30%|███ | 9020/30000 [4:12:02<9:42:36, 1.67s/it] 30%|███ | 9021/30000 [4:12:04<9:42:03, 1.66s/it] 30%|███ | 9022/30000 [4:12:06<9:41:45, 1.66s/it] 30%|███ | 9023/30000 [4:12:07<9:43:03, 1.67s/it] 30%|███ | 9024/30000 [4:12:09<9:43:46, 1.67s/it] 30%|███ | 9025/30000 [4:12:11<9:43:33, 1.67s/it] 30%|███ | 9026/30000 [4:12:12<9:42:03, 1.67s/it] 30%|███ | 9027/30000 [4:12:14<9:42:21, 1.67s/it] 30%|███ | 9028/30000 [4:12:16<9:43:23, 1.67s/it] 30%|███ | 9029/30000 [4:12:17<9:42:37, 1.67s/it] 30%|███ | 9030/30000 [4:12:19<9:42:32, 1.67s/it] {'loss': 0.0246, 'grad_norm': 0.13822293281555176, 'learning_rate': 2.5123893305113525e-05, 'flow_matching_loss': 0.024590133503079415, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.63} + 30%|███ | 9030/30000 [4:12:19<9:42:32, 1.67s/it] 30%|███ | 9031/30000 [4:12:21<9:42:54, 1.67s/it] 30%|███ | 9032/30000 [4:12:22<9:43:10, 1.67s/it] 30%|███ | 9033/30000 [4:12:24<9:42:21, 1.67s/it] 30%|███ | 9034/30000 [4:12:26<9:42:15, 1.67s/it] 30%|███ | 9035/30000 [4:12:27<9:42:19, 1.67s/it] 30%|███ | 9036/30000 [4:12:29<9:41:29, 1.66s/it] 30%|███ | 9037/30000 [4:12:31<9:41:48, 1.67s/it] 30%|███ | 9038/30000 [4:12:32<9:42:06, 1.67s/it] 30%|███ | 9039/30000 [4:12:34<9:42:10, 1.67s/it] 30%|███ | 9040/30000 [4:12:36<9:41:56, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.1312665343284607, 'learning_rate': 2.5111686447448997e-05, 'flow_matching_loss': 0.02160036573186517, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.63} + 30%|███ | 9040/30000 [4:12:36<9:41:56, 1.67s/it] 30%|███ | 9041/30000 [4:12:37<9:41:44, 1.67s/it] 30%|███ | 9042/30000 [4:12:39<9:41:10, 1.66s/it] 30%|███ | 9043/30000 [4:12:41<9:40:45, 1.66s/it] 30%|███ | 9044/30000 [4:12:42<9:40:54, 1.66s/it] 30%|███ | 9045/30000 [4:12:44<9:40:41, 1.66s/it] 30%|███ | 9046/30000 [4:12:46<9:40:46, 1.66s/it] 30%|███ | 9047/30000 [4:12:47<9:41:31, 1.67s/it] 30%|███ | 9048/30000 [4:12:49<9:42:32, 1.67s/it] 30%|███ | 9049/30000 [4:12:51<9:42:20, 1.67s/it] 30%|███ | 9050/30000 [4:12:52<9:41:57, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.1357147991657257, 'learning_rate': 2.5099467303131966e-05, 'flow_matching_loss': 0.021925549115985633, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.63} + 30%|███ | 9050/30000 [4:12:52<9:41:57, 1.67s/it] 30%|███ | 9051/30000 [4:12:54<9:41:58, 1.67s/it] 30%|███ | 9052/30000 [4:12:56<9:41:22, 1.67s/it] 30%|███ | 9053/30000 [4:12:57<9:41:27, 1.67s/it] 30%|███ | 9054/30000 [4:12:59<9:41:06, 1.66s/it] 30%|███ | 9055/30000 [4:13:01<9:41:41, 1.67s/it] 30%|███ | 9056/30000 [4:13:02<9:42:28, 1.67s/it] 30%|███ | 9057/30000 [4:13:04<9:42:15, 1.67s/it] 30%|███ | 9058/30000 [4:13:06<9:42:27, 1.67s/it] 30%|███ | 9059/30000 [4:13:07<9:41:53, 1.67s/it] 30%|███ | 9060/30000 [4:13:09<9:41:42, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.13338685035705566, 'learning_rate': 2.508723588700984e-05, 'flow_matching_loss': 0.023064694553613662, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.64} + 30%|███ | 9060/30000 [4:13:09<9:41:42, 1.67s/it] 30%|███ | 9061/30000 [4:13:11<9:42:54, 1.67s/it] 30%|███ | 9062/30000 [4:13:12<9:42:17, 1.67s/it] 30%|███ | 9063/30000 [4:13:14<9:42:19, 1.67s/it] 30%|███ | 9064/30000 [4:13:16<9:43:07, 1.67s/it] 30%|███ | 9065/30000 [4:13:17<9:43:03, 1.67s/it] 30%|███ | 9066/30000 [4:13:19<9:43:21, 1.67s/it] 30%|███ | 9067/30000 [4:13:21<9:42:40, 1.67s/it] 30%|███ | 9068/30000 [4:13:22<9:41:45, 1.67s/it] 30%|███ | 9069/30000 [4:13:24<9:41:34, 1.67s/it] 30%|███ | 9070/30000 [4:13:26<9:41:13, 1.67s/it] {'loss': 0.0244, 'grad_norm': 0.16741880774497986, 'learning_rate': 2.5074992213944952e-05, 'flow_matching_loss': 0.02435481157153845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.64} + 30%|███ | 9070/30000 [4:13:26<9:41:13, 1.67s/it] 30%|███ | 9071/30000 [4:13:27<9:41:42, 1.67s/it] 30%|███ | 9072/30000 [4:13:29<9:41:46, 1.67s/it] 30%|███ | 9073/30000 [4:13:31<9:42:13, 1.67s/it] 30%|███ | 9074/30000 [4:13:32<9:41:58, 1.67s/it] 30%|███ | 9075/30000 [4:13:34<9:41:24, 1.67s/it] 30%|███ | 9076/30000 [4:13:36<9:40:33, 1.66s/it] 30%|███ | 9077/30000 [4:13:37<9:40:55, 1.67s/it] 30%|███ | 9078/30000 [4:13:39<9:40:36, 1.67s/it] 30%|███ | 9079/30000 [4:13:41<9:41:33, 1.67s/it] 30%|███ | 9080/30000 [4:13:42<9:42:09, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.1289617419242859, 'learning_rate': 2.506273629881451e-05, 'flow_matching_loss': 0.022729572653770447, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.64} + 30%|███ | 9080/30000 [4:13:42<9:42:09, 1.67s/it] 30%|███ | 9081/30000 [4:13:44<9:42:04, 1.67s/it] 30%|███ | 9082/30000 [4:13:46<9:41:39, 1.67s/it] 30%|███ | 9083/30000 [4:13:47<9:40:23, 1.66s/it] 30%|███ | 9084/30000 [4:13:49<9:41:02, 1.67s/it] 30%|███ | 9085/30000 [4:13:51<9:40:23, 1.66s/it] 30%|███ | 9086/30000 [4:13:52<9:40:50, 1.67s/it] 30%|███ | 9087/30000 [4:13:54<9:41:42, 1.67s/it] 30%|███ | 9088/30000 [4:13:56<9:41:01, 1.67s/it] 30%|███ | 9089/30000 [4:13:57<9:41:06, 1.67s/it] 30%|███ | 9090/30000 [4:13:59<9:40:37, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.17194612324237823, 'learning_rate': 2.5050468156510617e-05, 'flow_matching_loss': 0.021803784370422363, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.64} + 30%|███ | 9090/30000 [4:13:59<9:40:37, 1.67s/it] 30%|███ | 9091/30000 [4:14:01<9:40:21, 1.67s/it] 30%|███ | 9092/30000 [4:14:02<9:40:09, 1.66s/it] 30%|███ | 9093/30000 [4:14:04<9:39:38, 1.66s/it] 30%|███ | 9094/30000 [4:14:06<9:40:10, 1.67s/it] 30%|███ | 9095/30000 [4:14:07<9:39:52, 1.66s/it] 30%|███ | 9096/30000 [4:14:09<9:40:51, 1.67s/it] 30%|███ | 9097/30000 [4:14:11<9:39:23, 1.66s/it] 30%|███ | 9098/30000 [4:14:12<9:39:34, 1.66s/it] 30%|███ | 9099/30000 [4:14:14<9:40:06, 1.67s/it] 30%|███ | 9100/30000 [4:14:16<9:39:43, 1.66s/it] {'loss': 0.0233, 'grad_norm': 0.09285113960504532, 'learning_rate': 2.5038187801940215e-05, 'flow_matching_loss': 0.0232532967813313, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.65} + 30%|███ | 9100/30000 [4:14:16<9:39:43, 1.66s/it] 30%|███ | 9101/30000 [4:14:17<9:38:47, 1.66s/it] 30%|███ | 9102/30000 [4:14:19<9:39:14, 1.66s/it] 30%|███ | 9103/30000 [4:14:21<9:39:40, 1.66s/it] 30%|███ | 9104/30000 [4:14:22<9:41:29, 1.67s/it] 30%|███ | 9105/30000 [4:14:24<9:41:02, 1.67s/it] 30%|███ | 9106/30000 [4:14:26<9:40:26, 1.67s/it] 30%|███ | 9107/30000 [4:14:27<9:40:11, 1.67s/it] 30%|███ | 9108/30000 [4:14:29<9:39:15, 1.66s/it] 30%|███ | 9109/30000 [4:14:31<9:39:37, 1.66s/it] 30%|███ | 9110/30000 [4:14:32<9:38:38, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.1515720784664154, 'learning_rate': 2.5025895250025088e-05, 'flow_matching_loss': 0.022184147499501705, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.65} + 30%|███ | 9110/30000 [4:14:32<9:38:38, 1.66s/it] 30%|███ | 9111/30000 [4:14:34<9:39:44, 1.67s/it] 30%|███ | 9112/30000 [4:14:36<9:39:48, 1.67s/it] 30%|███ | 9113/30000 [4:14:37<9:40:13, 1.67s/it] 30%|███ | 9114/30000 [4:14:39<9:40:02, 1.67s/it] 30%|███ | 9115/30000 [4:14:41<9:40:08, 1.67s/it] 30%|███ | 9116/30000 [4:14:42<9:39:11, 1.66s/it] 30%|███ | 9117/30000 [4:14:44<9:37:20, 1.66s/it] 30%|███ | 9118/30000 [4:14:46<9:38:21, 1.66s/it] 30%|███ | 9119/30000 [4:14:47<9:38:45, 1.66s/it] 30%|███ | 9120/30000 [4:14:49<9:39:33, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.14676834642887115, 'learning_rate': 2.501359051570186e-05, 'flow_matching_loss': 0.023549604415893554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.65} + 30%|███ | 9120/30000 [4:14:49<9:39:33, 1.67s/it] 30%|███ | 9121/30000 [4:14:51<9:39:26, 1.67s/it] 30%|███ | 9122/30000 [4:14:52<9:39:40, 1.67s/it] 30%|███ | 9123/30000 [4:14:54<9:39:13, 1.66s/it] 30%|███ | 9124/30000 [4:14:56<9:38:03, 1.66s/it] 30%|███ | 9125/30000 [4:14:57<9:39:01, 1.66s/it] 30%|███ | 9126/30000 [4:14:59<9:38:11, 1.66s/it] 30%|███ | 9127/30000 [4:15:01<9:40:18, 1.67s/it] 30%|███ | 9128/30000 [4:15:02<9:42:24, 1.67s/it] 30%|███ | 9129/30000 [4:15:04<9:40:43, 1.67s/it] 30%|███ | 9130/30000 [4:15:06<9:40:18, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.10899008810520172, 'learning_rate': 2.500127361392193e-05, 'flow_matching_loss': 0.0214933960698545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.66} + 30%|███ | 9130/30000 [4:15:06<9:40:18, 1.67s/it] 30%|███ | 9131/30000 [4:15:07<9:39:57, 1.67s/it] 30%|███ | 9132/30000 [4:15:09<9:39:51, 1.67s/it] 30%|███ | 9133/30000 [4:15:11<9:39:31, 1.67s/it] 30%|███ | 9134/30000 [4:15:12<9:39:07, 1.67s/it] 30%|███ | 9135/30000 [4:15:14<9:39:34, 1.67s/it] 30%|███ | 9136/30000 [4:15:16<9:39:22, 1.67s/it] 30%|███ | 9137/30000 [4:15:17<9:38:32, 1.66s/it] 30%|███ | 9138/30000 [4:15:19<9:38:23, 1.66s/it] 30%|███ | 9139/30000 [4:15:21<9:38:21, 1.66s/it] 30%|███ | 9140/30000 [4:15:22<9:37:47, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.10075270384550095, 'learning_rate': 2.49889445596515e-05, 'flow_matching_loss': 0.021552461944520474, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.66} + 30%|███ | 9140/30000 [4:15:22<9:37:47, 1.66s/it] 30%|███ | 9141/30000 [4:15:24<9:38:34, 1.66s/it] 30%|███ | 9142/30000 [4:15:26<9:38:57, 1.67s/it] 30%|███ | 9143/30000 [4:15:27<9:38:50, 1.67s/it] 30%|███ | 9144/30000 [4:15:29<9:39:32, 1.67s/it] 30%|███ | 9145/30000 [4:15:31<9:39:07, 1.67s/it] 30%|███ | 9146/30000 [4:15:32<9:38:51, 1.67s/it] 30%|███ | 9147/30000 [4:15:34<9:38:37, 1.66s/it] 30%|███ | 9148/30000 [4:15:36<9:38:16, 1.66s/it] 30%|███ | 9149/30000 [4:15:37<9:38:28, 1.66s/it] 30%|███ | 9150/30000 [4:15:39<9:38:50, 1.67s/it] {'loss': 0.0254, 'grad_norm': 0.15378281474113464, 'learning_rate': 2.497660336787154e-05, 'flow_matching_loss': 0.025367163494229315, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.66} + 30%|███ | 9150/30000 [4:15:39<9:38:50, 1.67s/it] 31%|███ | 9151/30000 [4:15:41<9:39:17, 1.67s/it] 31%|███ | 9152/30000 [4:15:42<9:40:01, 1.67s/it] 31%|███ | 9153/30000 [4:15:44<9:38:39, 1.67s/it] 31%|███ | 9154/30000 [4:15:46<9:38:24, 1.66s/it] 31%|███ | 9155/30000 [4:15:47<9:38:00, 1.66s/it] 31%|███ | 9156/30000 [4:15:49<9:38:46, 1.67s/it] 31%|███ | 9157/30000 [4:15:51<9:38:05, 1.66s/it] 31%|███ | 9158/30000 [4:15:52<9:38:18, 1.66s/it] 31%|███ | 9159/30000 [4:15:54<9:39:06, 1.67s/it] 31%|███ | 9160/30000 [4:15:56<9:39:32, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.11811460554599762, 'learning_rate': 2.496425005357775e-05, 'flow_matching_loss': 0.020981767494231463, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.67} + 31%|███ | 9160/30000 [4:15:56<9:39:32, 1.67s/it] 31%|███ | 9161/30000 [4:15:57<9:38:48, 1.67s/it] 31%|███ | 9162/30000 [4:15:59<9:39:15, 1.67s/it] 31%|███ | 9163/30000 [4:16:01<9:38:55, 1.67s/it] 31%|███ | 9164/30000 [4:16:02<9:39:44, 1.67s/it] 31%|███ | 9165/30000 [4:16:04<9:38:02, 1.66s/it] 31%|███ | 9166/30000 [4:16:06<9:38:22, 1.67s/it] 31%|███ | 9167/30000 [4:16:07<9:38:07, 1.67s/it] 31%|███ | 9168/30000 [4:16:09<9:39:42, 1.67s/it] 31%|███ | 9169/30000 [4:16:11<9:39:11, 1.67s/it] 31%|███ | 9170/30000 [4:16:12<9:38:43, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.13862363994121552, 'learning_rate': 2.4951884631780578e-05, 'flow_matching_loss': 0.022383459843695164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.67} + 31%|███ | 9170/30000 [4:16:12<9:38:43, 1.67s/it] 31%|███ | 9171/30000 [4:16:14<9:37:34, 1.66s/it] 31%|███ | 9172/30000 [4:16:16<9:37:27, 1.66s/it] 31%|███ | 9173/30000 [4:16:17<9:36:56, 1.66s/it] 31%|███ | 9174/30000 [4:16:19<9:37:32, 1.66s/it] 31%|███ | 9175/30000 [4:16:21<9:38:00, 1.67s/it] 31%|███ | 9176/30000 [4:16:22<9:37:51, 1.66s/it] 31%|███ | 9177/30000 [4:16:24<9:36:28, 1.66s/it] 31%|███ | 9178/30000 [4:16:25<9:36:14, 1.66s/it] 31%|███ | 9179/30000 [4:16:27<9:36:19, 1.66s/it] 31%|███ | 9180/30000 [4:16:29<9:36:06, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.1073731780052185, 'learning_rate': 2.493950711750518e-05, 'flow_matching_loss': 0.02132406076416373, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.67} + 31%|███ | 9180/30000 [4:16:29<9:36:06, 1.66s/it] 31%|███ | 9181/30000 [4:16:30<9:37:21, 1.66s/it] 31%|███ | 9182/30000 [4:16:32<9:37:31, 1.66s/it] 31%|███ | 9183/30000 [4:16:34<9:38:00, 1.67s/it] 31%|███ | 9184/30000 [4:16:35<9:38:34, 1.67s/it] 31%|███ | 9185/30000 [4:16:37<9:39:44, 1.67s/it] 31%|███ | 9186/30000 [4:16:39<9:39:30, 1.67s/it] 31%|███ | 9187/30000 [4:16:41<9:38:44, 1.67s/it] 31%|███ | 9188/30000 [4:16:42<9:37:50, 1.67s/it] 31%|███ | 9189/30000 [4:16:44<9:38:14, 1.67s/it] 31%|███ | 9190/30000 [4:16:46<9:39:14, 1.67s/it] {'loss': 0.0252, 'grad_norm': 0.15103191137313843, 'learning_rate': 2.49271175257914e-05, 'flow_matching_loss': 0.02518158396705985, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.67} + 31%|███ | 9190/30000 [4:16:46<9:39:14, 1.67s/it] 31%|███ | 9191/30000 [4:16:47<9:38:50, 1.67s/it] 31%|███ | 9192/30000 [4:16:49<9:39:08, 1.67s/it] 31%|███ | 9193/30000 [4:16:51<9:38:17, 1.67s/it] 31%|███ | 9194/30000 [4:16:52<9:37:15, 1.66s/it] 31%|███ | 9195/30000 [4:16:54<9:36:49, 1.66s/it] 31%|███ | 9196/30000 [4:16:55<9:36:37, 1.66s/it] 31%|███ | 9197/30000 [4:16:57<9:36:52, 1.66s/it] 31%|███ | 9198/30000 [4:16:59<9:36:35, 1.66s/it] 31%|███ | 9199/30000 [4:17:00<9:37:05, 1.66s/it] 31%|███ | 9200/30000 [4:17:02<9:37:38, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.13146929442882538, 'learning_rate': 2.4914715871693757e-05, 'flow_matching_loss': 0.02253631381317973, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.68} + 31%|███ | 9200/30000 [4:17:02<9:37:38, 1.67s/it] 31%|███ | 9201/30000 [4:17:04<9:37:28, 1.67s/it] 31%|███ | 9202/30000 [4:17:05<9:37:06, 1.66s/it] 31%|███ | 9203/30000 [4:17:07<9:36:46, 1.66s/it] 31%|███ | 9204/30000 [4:17:09<9:36:06, 1.66s/it] 31%|███ | 9205/30000 [4:17:10<9:36:04, 1.66s/it] 31%|███ | 9206/30000 [4:17:12<9:35:16, 1.66s/it] 31%|███ | 9207/30000 [4:17:14<9:35:36, 1.66s/it] 31%|███ | 9208/30000 [4:17:15<9:36:25, 1.66s/it] 31%|███ | 9209/30000 [4:17:17<9:34:58, 1.66s/it] 31%|███ | 9210/30000 [4:17:19<9:35:16, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.1406281590461731, 'learning_rate': 2.4902302170281438e-05, 'flow_matching_loss': 0.023396090231835844, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.68} + 31%|███ | 9210/30000 [4:17:19<9:35:16, 1.66s/it] 31%|███ | 9211/30000 [4:17:20<9:36:00, 1.66s/it] 31%|███ | 9212/30000 [4:17:22<9:36:22, 1.66s/it] 31%|███ | 9213/30000 [4:17:24<9:35:33, 1.66s/it] 31%|███ | 9214/30000 [4:17:25<9:35:46, 1.66s/it] 31%|███ | 9215/30000 [4:17:27<9:36:22, 1.66s/it] 31%|███ | 9216/30000 [4:17:29<9:37:26, 1.67s/it] 31%|███ | 9217/30000 [4:17:30<9:37:33, 1.67s/it] 31%|███ | 9218/30000 [4:17:32<9:36:23, 1.66s/it] 31%|███ | 9219/30000 [4:17:34<9:36:10, 1.66s/it] 31%|███ | 9220/30000 [4:17:35<9:35:31, 1.66s/it] {'loss': 0.0231, 'grad_norm': 0.15595053136348724, 'learning_rate': 2.4889876436638252e-05, 'flow_matching_loss': 0.023074019141495226, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.68} + 31%|███ | 9220/30000 [4:17:35<9:35:31, 1.66s/it] 31%|███ | 9221/30000 [4:17:37<9:35:41, 1.66s/it] 31%|███ | 9222/30000 [4:17:39<9:36:22, 1.66s/it] 31%|███ | 9223/30000 [4:17:40<9:36:03, 1.66s/it] 31%|███ | 9224/30000 [4:17:42<9:36:16, 1.66s/it] 31%|███ | 9225/30000 [4:17:44<9:36:13, 1.66s/it] 31%|███ | 9226/30000 [4:17:45<9:36:10, 1.66s/it] 31%|███ | 9227/30000 [4:17:47<9:35:44, 1.66s/it] 31%|███ | 9228/30000 [4:17:49<9:35:04, 1.66s/it] 31%|███ | 9229/30000 [4:17:50<9:34:21, 1.66s/it] 31%|███ | 9230/30000 [4:17:52<9:36:55, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.14063875377178192, 'learning_rate': 2.4877438685862643e-05, 'flow_matching_loss': 0.02481639925390482, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.69} + 31%|███ | 9230/30000 [4:17:52<9:36:55, 1.67s/it] 31%|███ | 9231/30000 [4:17:54<9:37:13, 1.67s/it] 31%|███ | 9232/30000 [4:17:55<9:37:58, 1.67s/it] 31%|███ | 9233/30000 [4:17:57<9:36:21, 1.67s/it] 31%|███ | 9234/30000 [4:17:59<9:37:05, 1.67s/it] 31%|███ | 9235/30000 [4:18:00<9:36:31, 1.67s/it] 31%|███ | 9236/30000 [4:18:02<9:36:28, 1.67s/it] 31%|███ | 9237/30000 [4:18:04<9:36:22, 1.67s/it] 31%|███ | 9238/30000 [4:18:05<9:36:12, 1.67s/it] 31%|███ | 9239/30000 [4:18:07<9:36:00, 1.66s/it] 31%|███ | 9240/30000 [4:18:09<9:36:38, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.17735376954078674, 'learning_rate': 2.486498893306765e-05, 'flow_matching_loss': 0.020726342033594847, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.69} + 31%|███ | 9240/30000 [4:18:09<9:36:38, 1.67s/it] 31%|███ | 9241/30000 [4:18:10<9:36:21, 1.67s/it] 31%|███ | 9242/30000 [4:18:12<9:36:10, 1.67s/it] 31%|███ | 9243/30000 [4:18:14<9:34:50, 1.66s/it] 31%|███ | 9244/30000 [4:18:15<9:35:31, 1.66s/it] 31%|███ | 9245/30000 [4:18:17<9:34:53, 1.66s/it] 31%|███ | 9246/30000 [4:18:19<9:35:12, 1.66s/it] 31%|███ | 9247/30000 [4:18:20<9:35:31, 1.66s/it] 31%|███ | 9248/30000 [4:18:22<9:36:47, 1.67s/it] 31%|███ | 9249/30000 [4:18:24<9:35:42, 1.66s/it] 31%|███ | 9250/30000 [4:18:25<9:34:57, 1.66s/it] {'loss': 0.0223, 'grad_norm': 0.09516385197639465, 'learning_rate': 2.485252719338089e-05, 'flow_matching_loss': 0.022308427095413207, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.69} + 31%|███ | 9250/30000 [4:18:25<9:34:57, 1.66s/it] 31%|███ | 9251/30000 [4:18:27<9:36:25, 1.67s/it] 31%|███ | 9252/30000 [4:18:29<9:36:01, 1.67s/it] 31%|███ | 9253/30000 [4:18:30<9:35:52, 1.67s/it] 31%|███ | 9254/30000 [4:18:32<9:35:59, 1.67s/it] 31%|███ | 9255/30000 [4:18:34<9:36:00, 1.67s/it] 31%|███ | 9256/30000 [4:18:35<9:36:12, 1.67s/it] 31%|███ | 9257/30000 [4:18:37<9:36:05, 1.67s/it] 31%|███ | 9258/30000 [4:18:39<9:35:50, 1.67s/it] 31%|███ | 9259/30000 [4:18:40<9:35:25, 1.66s/it] 31%|███ | 9260/30000 [4:18:42<9:35:23, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.1472259759902954, 'learning_rate': 2.4840053481944563e-05, 'flow_matching_loss': 0.023192120902240276, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.69} + 31%|███ | 9260/30000 [4:18:42<9:35:23, 1.66s/it] 31%|███ | 9261/30000 [4:18:44<9:35:40, 1.67s/it] 31%|███ | 9262/30000 [4:18:45<9:35:48, 1.67s/it] 31%|███ | 9263/30000 [4:18:47<9:36:12, 1.67s/it] 31%|███ | 9264/30000 [4:18:49<9:36:36, 1.67s/it] 31%|███ | 9265/30000 [4:18:50<9:36:46, 1.67s/it] 31%|███ | 9266/30000 [4:18:52<9:36:52, 1.67s/it] 31%|███ | 9267/30000 [4:18:54<9:35:33, 1.67s/it] 31%|███ | 9268/30000 [4:18:55<9:35:58, 1.67s/it] 31%|███ | 9269/30000 [4:18:57<9:35:56, 1.67s/it] 31%|███ | 9270/30000 [4:18:59<9:36:03, 1.67s/it] {'loss': 0.0248, 'grad_norm': 0.1536857932806015, 'learning_rate': 2.4827567813915398e-05, 'flow_matching_loss': 0.02480484265834093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.7} + 31%|███ | 9270/30000 [4:18:59<9:36:03, 1.67s/it] 31%|███ | 9271/30000 [4:19:00<9:36:09, 1.67s/it] 31%|███ | 9272/30000 [4:19:02<9:36:35, 1.67s/it] 31%|███ | 9273/30000 [4:19:04<9:34:47, 1.66s/it] 31%|███ | 9274/30000 [4:19:05<9:35:04, 1.66s/it] 31%|███ | 9275/30000 [4:19:07<9:34:59, 1.66s/it] 31%|███ | 9276/30000 [4:19:09<9:35:31, 1.67s/it] 31%|███ | 9277/30000 [4:19:10<9:34:48, 1.66s/it] 31%|███ | 9278/30000 [4:19:12<9:35:33, 1.67s/it] 31%|███ | 9279/30000 [4:19:14<9:35:21, 1.67s/it] 31%|███ | 9280/30000 [4:19:15<9:36:17, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.17132240533828735, 'learning_rate': 2.481507020446466e-05, 'flow_matching_loss': 0.02322478573769331, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.7} + 31%|███ | 9280/30000 [4:19:15<9:36:17, 1.67s/it] 31%|███ | 9281/30000 [4:19:17<9:35:39, 1.67s/it] 31%|███ | 9282/30000 [4:19:19<9:35:42, 1.67s/it] 31%|███ | 9283/30000 [4:19:20<9:34:13, 1.66s/it] 31%|███ | 9284/30000 [4:19:22<9:33:58, 1.66s/it] 31%|███ | 9285/30000 [4:19:24<9:34:43, 1.66s/it] 31%|███ | 9286/30000 [4:19:25<9:34:42, 1.66s/it] 31%|███ | 9287/30000 [4:19:27<9:35:38, 1.67s/it] 31%|███ | 9288/30000 [4:19:29<9:35:31, 1.67s/it] 31%|███ | 9289/30000 [4:19:30<9:35:04, 1.67s/it] 31%|███ | 9290/30000 [4:19:32<9:34:48, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.1555146723985672, 'learning_rate': 2.4802560668778122e-05, 'flow_matching_loss': 0.020591836515814067, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.7} + 31%|███ | 9290/30000 [4:19:32<9:34:48, 1.67s/it] 31%|███ | 9291/30000 [4:19:34<9:34:34, 1.66s/it] 31%|███ | 9292/30000 [4:19:35<9:34:41, 1.67s/it] 31%|███ | 9293/30000 [4:19:37<9:33:52, 1.66s/it] 31%|███ | 9294/30000 [4:19:39<9:35:03, 1.67s/it] 31%|███ | 9295/30000 [4:19:40<9:35:32, 1.67s/it] 31%|███ | 9296/30000 [4:19:42<9:36:31, 1.67s/it] 31%|███ | 9297/30000 [4:19:44<9:34:43, 1.67s/it] 31%|███ | 9298/30000 [4:19:45<9:34:32, 1.67s/it] 31%|███ | 9299/30000 [4:19:47<9:33:54, 1.66s/it] 31%|███ | 9300/30000 [4:19:49<9:33:31, 1.66s/it] {'loss': 0.0236, 'grad_norm': 0.15835408866405487, 'learning_rate': 2.479003922205605e-05, 'flow_matching_loss': 0.02360647078603506, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.71} + 31%|███ | 9300/30000 [4:19:49<9:33:31, 1.66s/it] 31%|███ | 9301/30000 [4:19:50<9:33:47, 1.66s/it] 31%|███ | 9302/30000 [4:19:52<9:34:01, 1.66s/it] 31%|███ | 9303/30000 [4:19:54<9:34:10, 1.66s/it] 31%|███ | 9304/30000 [4:19:55<9:34:54, 1.67s/it] 31%|███ | 9305/30000 [4:19:57<9:34:44, 1.67s/it] 31%|███ | 9306/30000 [4:19:59<9:34:56, 1.67s/it] 31%|███ | 9307/30000 [4:20:00<9:35:25, 1.67s/it] 31%|███ | 9308/30000 [4:20:02<9:34:28, 1.67s/it] 31%|███ | 9309/30000 [4:20:04<9:33:58, 1.66s/it] 31%|███ | 9310/30000 [4:20:05<9:34:08, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1687714010477066, 'learning_rate': 2.4777505879513183e-05, 'flow_matching_loss': 0.02214285982772708, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.71} + 31%|███ | 9310/30000 [4:20:05<9:34:08, 1.67s/it] 31%|███ | 9311/30000 [4:20:07<9:34:30, 1.67s/it] 31%|███ | 9312/30000 [4:20:09<9:34:52, 1.67s/it] 31%|███ | 9313/30000 [4:20:10<9:34:34, 1.67s/it] 31%|███ | 9314/30000 [4:20:12<9:34:44, 1.67s/it] 31%|███ | 9315/30000 [4:20:14<9:34:08, 1.67s/it] 31%|███ | 9316/30000 [4:20:15<9:34:32, 1.67s/it] 31%|███ | 9317/30000 [4:20:17<9:34:14, 1.67s/it] 31%|███ | 9318/30000 [4:20:19<9:34:32, 1.67s/it] 31%|███ | 9319/30000 [4:20:20<9:34:09, 1.67s/it] 31%|███ | 9320/30000 [4:20:22<9:33:49, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.09938312321901321, 'learning_rate': 2.4764960656378714e-05, 'flow_matching_loss': 0.02043469725176692, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.71} + 31%|███ | 9320/30000 [4:20:22<9:33:49, 1.66s/it] 31%|███ | 9321/30000 [4:20:24<9:33:24, 1.66s/it] 31%|███ | 9322/30000 [4:20:25<9:33:36, 1.66s/it] 31%|███ | 9323/30000 [4:20:27<9:33:18, 1.66s/it] 31%|███ | 9324/30000 [4:20:29<9:32:51, 1.66s/it] 31%|███ | 9325/30000 [4:20:30<9:32:53, 1.66s/it] 31%|███ | 9326/30000 [4:20:32<9:33:57, 1.67s/it] 31%|███ | 9327/30000 [4:20:34<9:35:05, 1.67s/it] 31%|███ | 9328/30000 [4:20:35<9:34:51, 1.67s/it] 31%|███ | 9329/30000 [4:20:37<9:34:07, 1.67s/it] 31%|███ | 9330/30000 [4:20:39<9:33:51, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.11805792897939682, 'learning_rate': 2.4752403567896274e-05, 'flow_matching_loss': 0.02187490984797478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.71} + 31%|███ | 9330/30000 [4:20:39<9:33:51, 1.67s/it] 31%|███ | 9331/30000 [4:20:40<9:34:01, 1.67s/it] 31%|███ | 9332/30000 [4:20:42<9:34:10, 1.67s/it] 31%|███ | 9333/30000 [4:20:44<9:33:59, 1.67s/it] 31%|███ | 9334/30000 [4:20:45<9:33:52, 1.67s/it] 31%|███ | 9335/30000 [4:20:47<9:34:17, 1.67s/it] 31%|███ | 9336/30000 [4:20:49<9:34:48, 1.67s/it] 31%|███ | 9337/30000 [4:20:50<9:34:10, 1.67s/it] 31%|███ | 9338/30000 [4:20:52<9:34:18, 1.67s/it] 31%|███ | 9339/30000 [4:20:54<9:33:31, 1.67s/it] 31%|███ | 9340/30000 [4:20:55<9:33:34, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.106363445520401, 'learning_rate': 2.47398346293239e-05, 'flow_matching_loss': 0.02554642017930746, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.72} + 31%|███ | 9340/30000 [4:20:55<9:33:34, 1.67s/it] 31%|███ | 9341/30000 [4:20:57<9:35:05, 1.67s/it] 31%|███ | 9342/30000 [4:20:59<9:34:51, 1.67s/it] 31%|███ | 9343/30000 [4:21:00<9:34:28, 1.67s/it] 31%|███ | 9344/30000 [4:21:02<9:34:33, 1.67s/it] 31%|███ | 9345/30000 [4:21:04<9:33:52, 1.67s/it] 31%|███ | 9346/30000 [4:21:05<9:34:13, 1.67s/it] 31%|███ | 9347/30000 [4:21:07<9:33:43, 1.67s/it] 31%|███ | 9348/30000 [4:21:09<9:34:48, 1.67s/it] 31%|███ | 9349/30000 [4:21:10<9:33:46, 1.67s/it] 31%|███ | 9350/30000 [4:21:12<9:33:51, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.13653625547885895, 'learning_rate': 2.4727253855934055e-05, 'flow_matching_loss': 0.023147276230156423, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.72} + 31%|███ | 9350/30000 [4:21:12<9:33:51, 1.67s/it] 31%|███ | 9351/30000 [4:21:14<9:34:09, 1.67s/it] 31%|███ | 9352/30000 [4:21:15<9:34:05, 1.67s/it] 31%|███ | 9353/30000 [4:21:17<9:33:13, 1.67s/it] 31%|███ | 9354/30000 [4:21:19<9:33:12, 1.67s/it] 31%|███ | 9355/30000 [4:21:20<9:32:22, 1.66s/it] 31%|███ | 9356/30000 [4:21:22<9:32:21, 1.66s/it] 31%|███ | 9357/30000 [4:21:24<9:32:25, 1.66s/it] 31%|███ | 9358/30000 [4:21:25<9:32:45, 1.66s/it] 31%|███ | 9359/30000 [4:21:27<9:33:08, 1.67s/it] 31%|███ | 9360/30000 [4:21:29<9:33:40, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.12408169358968735, 'learning_rate': 2.4714661263013548e-05, 'flow_matching_loss': 0.022079435363411903, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.72} + 31%|███ | 9360/30000 [4:21:29<9:33:40, 1.67s/it] 31%|███ | 9361/30000 [4:21:30<9:32:01, 1.66s/it] 31%|███ | 9362/30000 [4:21:32<9:33:09, 1.67s/it] 31%|███ | 9363/30000 [4:21:34<9:32:22, 1.66s/it] 31%|███ | 9364/30000 [4:21:35<9:33:45, 1.67s/it] 31%|███ | 9365/30000 [4:21:37<9:33:04, 1.67s/it] 31%|███ | 9366/30000 [4:21:39<9:33:04, 1.67s/it] 31%|███ | 9367/30000 [4:21:40<9:33:39, 1.67s/it] 31%|███ | 9368/30000 [4:21:42<9:34:07, 1.67s/it] 31%|███ | 9369/30000 [4:21:44<9:32:39, 1.67s/it] 31%|███ | 9370/30000 [4:21:45<9:32:59, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.11335643380880356, 'learning_rate': 2.4702056865863575e-05, 'flow_matching_loss': 0.019957643002271652, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.73} + 31%|███ | 9370/30000 [4:21:45<9:32:59, 1.67s/it] 31%|███ | 9371/30000 [4:21:47<9:32:32, 1.67s/it] 31%|███ | 9372/30000 [4:21:49<9:33:09, 1.67s/it] 31%|███ | 9373/30000 [4:21:50<9:33:12, 1.67s/it] 31%|███ | 9374/30000 [4:21:52<9:32:49, 1.67s/it] 31%|███▏ | 9375/30000 [4:21:54<9:32:42, 1.67s/it] 31%|███▏ | 9376/30000 [4:21:55<9:33:11, 1.67s/it] 31%|███▏ | 9377/30000 [4:21:57<9:32:10, 1.66s/it] 31%|███▏ | 9378/30000 [4:21:59<9:32:04, 1.66s/it] 31%|███▏ | 9379/30000 [4:22:00<9:31:40, 1.66s/it] 31%|███▏ | 9380/30000 [4:22:02<9:32:05, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.1140398308634758, 'learning_rate': 2.4689440679799672e-05, 'flow_matching_loss': 0.019252260494977236, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.73} + 31%|███▏ | 9380/30000 [4:22:02<9:32:05, 1.66s/it] 31%|███▏ | 9381/30000 [4:22:04<9:31:38, 1.66s/it] 31%|███▏ | 9382/30000 [4:22:05<9:32:35, 1.67s/it] 31%|███▏ | 9383/30000 [4:22:07<9:33:01, 1.67s/it] 31%|███▏ | 9384/30000 [4:22:09<9:34:18, 1.67s/it] 31%|███▏ | 9385/30000 [4:22:10<9:33:03, 1.67s/it] 31%|███▏ | 9386/30000 [4:22:12<9:33:35, 1.67s/it] 31%|███▏ | 9387/30000 [4:22:14<9:35:16, 1.67s/it] 31%|███▏ | 9388/30000 [4:22:15<9:35:04, 1.67s/it] 31%|███▏ | 9389/30000 [4:22:17<9:33:33, 1.67s/it] 31%|███▏ | 9390/30000 [4:22:19<9:33:16, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.1486455500125885, 'learning_rate': 2.4676812720151678e-05, 'flow_matching_loss': 0.02270340546965599, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.73} + 31%|███▏ | 9390/30000 [4:22:19<9:33:16, 1.67s/it] 31%|███▏ | 9391/30000 [4:22:20<9:32:46, 1.67s/it] 31%|███▏ | 9392/30000 [4:22:22<9:33:10, 1.67s/it] 31%|███▏ | 9393/30000 [4:22:24<9:32:10, 1.67s/it] 31%|███▏ | 9394/30000 [4:22:25<9:32:48, 1.67s/it] 31%|███▏ | 9395/30000 [4:22:27<9:32:36, 1.67s/it] 31%|███▏ | 9396/30000 [4:22:29<9:32:44, 1.67s/it] 31%|███▏ | 9397/30000 [4:22:30<9:32:02, 1.67s/it] 31%|███▏ | 9398/30000 [4:22:32<9:30:50, 1.66s/it] 31%|███▏ | 9399/30000 [4:22:34<9:31:46, 1.67s/it] 31%|███▏ | 9400/30000 [4:22:35<9:32:28, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.14157544076442719, 'learning_rate': 2.466417300226377e-05, 'flow_matching_loss': 0.022724217269569635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.73} + 31%|███▏ | 9400/30000 [4:22:35<9:32:28, 1.67s/it] 31%|███▏ | 9401/30000 [4:22:37<9:32:10, 1.67s/it] 31%|███▏ | 9402/30000 [4:22:39<9:32:41, 1.67s/it] 31%|███▏ | 9403/30000 [4:22:40<9:31:48, 1.67s/it] 31%|███▏ | 9404/30000 [4:22:42<9:31:35, 1.67s/it] 31%|███▏ | 9405/30000 [4:22:44<9:31:09, 1.66s/it] 31%|███▏ | 9406/30000 [4:22:45<9:30:58, 1.66s/it] 31%|███▏ | 9407/30000 [4:22:47<9:30:16, 1.66s/it] 31%|███▏ | 9408/30000 [4:22:49<9:31:07, 1.66s/it] 31%|███▏ | 9409/30000 [4:22:50<9:31:00, 1.66s/it] 31%|███▏ | 9410/30000 [4:22:52<9:31:37, 1.67s/it] {'loss': 0.0235, 'grad_norm': 0.12650388479232788, 'learning_rate': 2.4651521541494394e-05, 'flow_matching_loss': 0.02353538479655981, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.74} + 31%|███▏ | 9410/30000 [4:22:52<9:31:37, 1.67s/it] 31%|███▏ | 9411/30000 [4:22:54<9:31:13, 1.66s/it] 31%|███▏ | 9412/30000 [4:22:55<9:31:25, 1.67s/it] 31%|███▏ | 9413/30000 [4:22:57<9:30:45, 1.66s/it] 31%|███▏ | 9414/30000 [4:22:59<9:31:20, 1.67s/it] 31%|███▏ | 9415/30000 [4:23:00<9:31:29, 1.67s/it] 31%|███▏ | 9416/30000 [4:23:02<9:33:32, 1.67s/it] 31%|███▏ | 9417/30000 [4:23:04<9:33:11, 1.67s/it] 31%|███▏ | 9418/30000 [4:23:05<9:32:18, 1.67s/it] 31%|███▏ | 9419/30000 [4:23:07<9:31:33, 1.67s/it] 31%|███▏ | 9420/30000 [4:23:09<9:31:26, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.11444868892431259, 'learning_rate': 2.4638858353216267e-05, 'flow_matching_loss': 0.020405422430485487, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.74} + 31%|███▏ | 9420/30000 [4:23:09<9:31:26, 1.67s/it] 31%|███▏ | 9421/30000 [4:23:10<9:31:02, 1.66s/it] 31%|███▏ | 9422/30000 [4:23:12<9:30:58, 1.66s/it] 31%|███▏ | 9423/30000 [4:23:14<9:32:13, 1.67s/it] 31%|███▏ | 9424/30000 [4:23:15<9:32:41, 1.67s/it] 31%|███▏ | 9425/30000 [4:23:17<9:31:39, 1.67s/it] 31%|███▏ | 9426/30000 [4:23:19<9:31:31, 1.67s/it] 31%|███▏ | 9427/30000 [4:23:20<9:30:45, 1.66s/it] 31%|███▏ | 9428/30000 [4:23:22<9:30:46, 1.66s/it] 31%|███▏ | 9429/30000 [4:23:24<9:30:46, 1.66s/it] 31%|███▏ | 9430/30000 [4:23:25<9:30:15, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.12058315426111221, 'learning_rate': 2.4626183452816355e-05, 'flow_matching_loss': 0.020917945355176926, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.74} + 31%|███▏ | 9430/30000 [4:23:25<9:30:15, 1.66s/it] 31%|███▏ | 9431/30000 [4:23:27<9:31:31, 1.67s/it] 31%|███▏ | 9432/30000 [4:23:29<9:31:26, 1.67s/it] 31%|███▏ | 9433/30000 [4:23:30<9:30:42, 1.66s/it] 31%|███▏ | 9434/30000 [4:23:32<9:32:03, 1.67s/it] 31%|███▏ | 9435/30000 [4:23:34<9:30:54, 1.67s/it] 31%|███▏ | 9436/30000 [4:23:35<9:31:18, 1.67s/it] 31%|███▏ | 9437/30000 [4:23:37<9:31:13, 1.67s/it] 31%|███▏ | 9438/30000 [4:23:39<9:30:47, 1.67s/it] 31%|███▏ | 9439/30000 [4:23:40<9:31:05, 1.67s/it] 31%|███▏ | 9440/30000 [4:23:42<9:32:02, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1421751081943512, 'learning_rate': 2.4613496855695855e-05, 'flow_matching_loss': 0.02212733346968889, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.75} + 31%|███▏ | 9440/30000 [4:23:42<9:32:02, 1.67s/it] 31%|███▏ | 9441/30000 [4:23:44<9:31:03, 1.67s/it] 31%|███▏ | 9442/30000 [4:23:45<9:31:35, 1.67s/it] 31%|███▏ | 9443/30000 [4:23:47<9:30:46, 1.67s/it] 31%|███▏ | 9444/30000 [4:23:49<9:31:28, 1.67s/it] 31%|███▏ | 9445/30000 [4:23:50<9:31:01, 1.67s/it] 31%|███▏ | 9446/30000 [4:23:52<9:30:59, 1.67s/it] 31%|███▏ | 9447/30000 [4:23:54<9:30:31, 1.67s/it] 31%|███▏ | 9448/30000 [4:23:55<9:31:24, 1.67s/it] 31%|███▏ | 9449/30000 [4:23:57<9:31:26, 1.67s/it] 32%|███▏ | 9450/30000 [4:23:59<9:32:46, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.17085307836532593, 'learning_rate': 2.4600798577270183e-05, 'flow_matching_loss': 0.022171998117119073, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.75} + 32%|███▏ | 9450/30000 [4:23:59<9:32:46, 1.67s/it] 32%|███▏ | 9451/30000 [4:24:00<9:32:34, 1.67s/it] 32%|███▏ | 9452/30000 [4:24:02<9:31:00, 1.67s/it] 32%|███▏ | 9453/30000 [4:24:04<9:31:20, 1.67s/it] 32%|███▏ | 9454/30000 [4:24:05<9:31:45, 1.67s/it] 32%|███▏ | 9455/30000 [4:24:07<9:30:50, 1.67s/it] 32%|███▏ | 9456/30000 [4:24:09<9:30:52, 1.67s/it] 32%|███▏ | 9457/30000 [4:24:10<9:30:14, 1.67s/it] 32%|███▏ | 9458/30000 [4:24:12<9:30:36, 1.67s/it] 32%|███▏ | 9459/30000 [4:24:14<9:31:48, 1.67s/it] 32%|███▏ | 9460/30000 [4:24:15<9:30:59, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.15306971967220306, 'learning_rate': 2.4588088632968944e-05, 'flow_matching_loss': 0.023090249206870795, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.75} + 32%|███▏ | 9460/30000 [4:24:15<9:30:59, 1.67s/it] 32%|███▏ | 9461/30000 [4:24:17<9:30:30, 1.67s/it] 32%|███▏ | 9462/30000 [4:24:19<9:30:22, 1.67s/it] 32%|███▏ | 9463/30000 [4:24:20<9:30:18, 1.67s/it] 32%|███▏ | 9464/30000 [4:24:22<9:31:20, 1.67s/it] 32%|███▏ | 9465/30000 [4:24:24<9:30:54, 1.67s/it] 32%|███▏ | 9466/30000 [4:24:25<9:31:29, 1.67s/it] 32%|███▏ | 9467/30000 [4:24:27<9:31:06, 1.67s/it] 32%|███▏ | 9468/30000 [4:24:29<9:31:01, 1.67s/it] 32%|███▏ | 9469/30000 [4:24:30<9:30:36, 1.67s/it] 32%|███▏ | 9470/30000 [4:24:32<9:30:08, 1.67s/it] {'loss': 0.0245, 'grad_norm': 0.11180134117603302, 'learning_rate': 2.4575367038235916e-05, 'flow_matching_loss': 0.02446425287052989, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.76} + 32%|███▏ | 9470/30000 [4:24:32<9:30:08, 1.67s/it] 32%|███▏ | 9471/30000 [4:24:34<9:29:44, 1.67s/it] 32%|███▏ | 9472/30000 [4:24:35<9:30:37, 1.67s/it] 32%|███▏ | 9473/30000 [4:24:37<9:30:19, 1.67s/it] 32%|███▏ | 9474/30000 [4:24:39<9:30:25, 1.67s/it] 32%|███▏ | 9475/30000 [4:24:40<9:30:06, 1.67s/it] 32%|███▏ | 9476/30000 [4:24:42<9:30:04, 1.67s/it] 32%|███▏ | 9477/30000 [4:24:44<9:29:01, 1.66s/it] 32%|███▏ | 9478/30000 [4:24:45<9:28:12, 1.66s/it] 32%|███▏ | 9479/30000 [4:24:47<9:28:33, 1.66s/it] 32%|███▏ | 9480/30000 [4:24:49<9:28:47, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.15130555629730225, 'learning_rate': 2.4562633808529043e-05, 'flow_matching_loss': 0.022173119243234396, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.76} + 32%|███▏ | 9480/30000 [4:24:49<9:28:47, 1.66s/it] 32%|███▏ | 9481/30000 [4:24:50<9:29:47, 1.67s/it] 32%|███▏ | 9482/30000 [4:24:52<9:30:52, 1.67s/it] 32%|███▏ | 9483/30000 [4:24:54<9:30:37, 1.67s/it] 32%|███▏ | 9484/30000 [4:24:55<9:30:18, 1.67s/it] 32%|███▏ | 9485/30000 [4:24:57<9:30:44, 1.67s/it] 32%|███▏ | 9486/30000 [4:24:59<9:30:09, 1.67s/it] 32%|███▏ | 9487/30000 [4:25:00<9:30:08, 1.67s/it] 32%|███▏ | 9488/30000 [4:25:02<9:29:44, 1.67s/it] 32%|███▏ | 9489/30000 [4:25:04<9:30:02, 1.67s/it] 32%|███▏ | 9490/30000 [4:25:05<9:31:16, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.1309170126914978, 'learning_rate': 2.4549888959320396e-05, 'flow_matching_loss': 0.0212877687998116, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.76} + 32%|███▏ | 9490/30000 [4:25:05<9:31:16, 1.67s/it] 32%|███▏ | 9491/30000 [4:25:07<9:31:21, 1.67s/it] 32%|███▏ | 9492/30000 [4:25:09<9:31:23, 1.67s/it] 32%|███▏ | 9493/30000 [4:25:10<9:30:49, 1.67s/it] 32%|███▏ | 9494/30000 [4:25:12<9:30:09, 1.67s/it] 32%|███▏ | 9495/30000 [4:25:14<9:30:09, 1.67s/it] 32%|███▏ | 9496/30000 [4:25:15<9:30:48, 1.67s/it] 32%|███▏ | 9497/30000 [4:25:17<9:30:38, 1.67s/it] 32%|███▏ | 9498/30000 [4:25:19<9:30:38, 1.67s/it] 32%|███▏ | 9499/30000 [4:25:20<9:30:36, 1.67s/it] 32%|███▏ | 9500/30000 [4:25:22<9:30:34, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.11608417332172394, 'learning_rate': 2.4537132506096162e-05, 'flow_matching_loss': 0.019426129199564456, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.76} + 32%|███▏ | 9500/30000 [4:25:22<9:30:34, 1.67s/it] 32%|███▏ | 9501/30000 [4:25:24<9:30:01, 1.67s/it] 32%|███▏ | 9502/30000 [4:25:25<9:29:40, 1.67s/it] 32%|███▏ | 9503/30000 [4:25:27<9:29:55, 1.67s/it] 32%|███▏ | 9504/30000 [4:25:29<9:29:07, 1.67s/it] 32%|███▏ | 9505/30000 [4:25:30<9:29:59, 1.67s/it] 32%|███▏ | 9506/30000 [4:25:32<9:30:20, 1.67s/it] 32%|███▏ | 9507/30000 [4:25:34<9:31:30, 1.67s/it] 32%|███▏ | 9508/30000 [4:25:35<9:31:06, 1.67s/it] 32%|███▏ | 9509/30000 [4:25:37<9:29:42, 1.67s/it] 32%|███▏ | 9510/30000 [4:25:39<9:29:19, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.162780299782753, 'learning_rate': 2.452436446435664e-05, 'flow_matching_loss': 0.022625418659299613, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.77} + 32%|███▏ | 9510/30000 [4:25:39<9:29:19, 1.67s/it] 32%|███▏ | 9511/30000 [4:25:40<9:29:33, 1.67s/it] 32%|███▏ | 9512/30000 [4:25:42<9:29:54, 1.67s/it] 32%|███▏ | 9513/30000 [4:25:44<9:30:20, 1.67s/it] 32%|███▏ | 9514/30000 [4:25:45<9:31:43, 1.67s/it] 32%|███▏ | 9515/30000 [4:25:47<9:30:59, 1.67s/it] 32%|███▏ | 9516/30000 [4:25:49<9:30:31, 1.67s/it] 32%|███▏ | 9517/30000 [4:25:50<9:29:10, 1.67s/it] 32%|███▏ | 9518/30000 [4:25:52<9:28:37, 1.67s/it] 32%|███▏ | 9519/30000 [4:25:54<9:28:55, 1.67s/it] 32%|███▏ | 9520/30000 [4:25:55<9:28:48, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.11899685114622116, 'learning_rate': 2.451158484961621e-05, 'flow_matching_loss': 0.024156435579061507, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.77} + 32%|███▏ | 9520/30000 [4:25:55<9:28:48, 1.67s/it] 32%|███▏ | 9521/30000 [4:25:57<9:30:07, 1.67s/it] 32%|███▏ | 9522/30000 [4:25:59<9:29:45, 1.67s/it] 32%|███▏ | 9523/30000 [4:26:00<9:29:11, 1.67s/it] 32%|███▏ | 9524/30000 [4:26:02<9:29:19, 1.67s/it] 32%|███▏ | 9525/30000 [4:26:04<9:28:53, 1.67s/it] 32%|███▏ | 9526/30000 [4:26:05<9:28:41, 1.67s/it] 32%|███▏ | 9527/30000 [4:26:07<9:28:13, 1.67s/it] 32%|███▏ | 9528/30000 [4:26:09<9:28:21, 1.67s/it] 32%|███▏ | 9529/30000 [4:26:10<9:28:07, 1.67s/it] 32%|███▏ | 9530/30000 [4:26:12<9:29:38, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.10502714663743973, 'learning_rate': 2.4498793677403304e-05, 'flow_matching_loss': 0.01880165496841073, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.77} + 32%|███▏ | 9530/30000 [4:26:12<9:29:38, 1.67s/it] 32%|███▏ | 9531/30000 [4:26:14<9:29:34, 1.67s/it] 32%|███▏ | 9532/30000 [4:26:15<9:28:59, 1.67s/it] 32%|███▏ | 9533/30000 [4:26:17<9:28:52, 1.67s/it] 32%|███▏ | 9534/30000 [4:26:19<9:29:07, 1.67s/it] 32%|███▏ | 9535/30000 [4:26:20<9:29:12, 1.67s/it] 32%|███▏ | 9536/30000 [4:26:22<9:29:09, 1.67s/it] 32%|███▏ | 9537/30000 [4:26:24<9:28:27, 1.67s/it] 32%|███▏ | 9538/30000 [4:26:25<9:29:28, 1.67s/it] 32%|███▏ | 9539/30000 [4:26:27<9:29:49, 1.67s/it] 32%|███▏ | 9540/30000 [4:26:29<9:29:46, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.1330205798149109, 'learning_rate': 2.4485990963260398e-05, 'flow_matching_loss': 0.022394949570298195, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.78} + 32%|███▏ | 9540/30000 [4:26:29<9:29:46, 1.67s/it] 32%|███▏ | 9541/30000 [4:26:30<9:30:30, 1.67s/it] 32%|███▏ | 9542/30000 [4:26:32<9:29:03, 1.67s/it] 32%|███▏ | 9543/30000 [4:26:34<9:28:37, 1.67s/it] 32%|███▏ | 9544/30000 [4:26:35<9:28:27, 1.67s/it] 32%|███▏ | 9545/30000 [4:26:37<9:27:58, 1.67s/it] 32%|███▏ | 9546/30000 [4:26:39<9:28:40, 1.67s/it] 32%|███▏ | 9547/30000 [4:26:40<9:28:52, 1.67s/it] 32%|███▏ | 9548/30000 [4:26:42<9:29:23, 1.67s/it] 32%|███▏ | 9549/30000 [4:26:44<9:30:22, 1.67s/it] 32%|███▏ | 9550/30000 [4:26:45<9:29:44, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.16546495258808136, 'learning_rate': 2.4473176722744e-05, 'flow_matching_loss': 0.022469335049390794, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.78} + 32%|███▏ | 9550/30000 [4:26:46<9:29:44, 1.67s/it] 32%|███▏ | 9551/30000 [4:26:47<9:28:56, 1.67s/it] 32%|███▏ | 9552/30000 [4:26:49<9:28:32, 1.67s/it] 32%|███▏ | 9553/30000 [4:26:50<9:28:46, 1.67s/it] 32%|███▏ | 9554/30000 [4:26:52<9:28:51, 1.67s/it] 32%|███▏ | 9555/30000 [4:26:54<9:28:51, 1.67s/it] 32%|███▏ | 9556/30000 [4:26:55<9:28:15, 1.67s/it] 32%|███▏ | 9557/30000 [4:26:57<9:29:42, 1.67s/it] 32%|███▏ | 9558/30000 [4:26:59<9:28:42, 1.67s/it] 32%|███▏ | 9559/30000 [4:27:00<9:27:23, 1.67s/it] 32%|███▏ | 9560/30000 [4:27:02<9:28:26, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.11695613712072372, 'learning_rate': 2.446035097142463e-05, 'flow_matching_loss': 0.02000259216874838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.78} + 32%|███▏ | 9560/30000 [4:27:02<9:28:26, 1.67s/it] 32%|███▏ | 9561/30000 [4:27:04<9:28:18, 1.67s/it] 32%|███▏ | 9562/30000 [4:27:06<9:28:55, 1.67s/it] 32%|███▏ | 9563/30000 [4:27:07<9:28:42, 1.67s/it] 32%|███▏ | 9564/30000 [4:27:09<9:28:42, 1.67s/it] 32%|███▏ | 9565/30000 [4:27:11<9:26:59, 1.66s/it] 32%|███▏ | 9566/30000 [4:27:12<9:26:38, 1.66s/it] 32%|███▏ | 9567/30000 [4:27:14<9:26:28, 1.66s/it] 32%|███▏ | 9568/30000 [4:27:15<9:26:02, 1.66s/it] 32%|███▏ | 9569/30000 [4:27:17<9:26:06, 1.66s/it] 32%|███▏ | 9570/30000 [4:27:19<9:26:05, 1.66s/it] {'loss': 0.0223, 'grad_norm': 0.12491809576749802, 'learning_rate': 2.444751372488677e-05, 'flow_matching_loss': 0.022334250435233117, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.78} + 32%|███▏ | 9570/30000 [4:27:19<9:26:05, 1.66s/it] 32%|███▏ | 9571/30000 [4:27:20<9:26:44, 1.66s/it] 32%|███▏ | 9572/30000 [4:27:22<9:27:34, 1.67s/it] 32%|███▏ | 9573/30000 [4:27:24<9:27:10, 1.67s/it] 32%|███▏ | 9574/30000 [4:27:25<9:26:13, 1.66s/it] 32%|███▏ | 9575/30000 [4:27:27<9:25:37, 1.66s/it] 32%|███▏ | 9576/30000 [4:27:29<9:26:41, 1.66s/it] 32%|███▏ | 9577/30000 [4:27:30<9:27:02, 1.67s/it] 32%|███▏ | 9578/30000 [4:27:32<9:27:47, 1.67s/it] 32%|███▏ | 9579/30000 [4:27:34<9:27:23, 1.67s/it] 32%|███▏ | 9580/30000 [4:27:35<9:27:36, 1.67s/it] {'loss': 0.024, 'grad_norm': 0.16327236592769623, 'learning_rate': 2.443466499872889e-05, 'flow_matching_loss': 0.023973615653812886, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.79} + 32%|███▏ | 9580/30000 [4:27:36<9:27:36, 1.67s/it] 32%|███▏ | 9581/30000 [4:27:37<9:26:09, 1.66s/it] 32%|███▏ | 9582/30000 [4:27:39<9:26:46, 1.67s/it] 32%|███▏ | 9583/30000 [4:27:40<9:25:36, 1.66s/it] 32%|███▏ | 9584/30000 [4:27:42<9:25:36, 1.66s/it] 32%|███▏ | 9585/30000 [4:27:44<9:25:26, 1.66s/it] 32%|███▏ | 9586/30000 [4:27:45<9:26:27, 1.66s/it] 32%|███▏ | 9587/30000 [4:27:47<9:26:21, 1.66s/it] 32%|███▏ | 9588/30000 [4:27:49<9:26:37, 1.67s/it] 32%|███▏ | 9589/30000 [4:27:50<9:26:18, 1.66s/it] 32%|███▏ | 9590/30000 [4:27:52<9:26:23, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.15780505537986755, 'learning_rate': 2.4421804808563413e-05, 'flow_matching_loss': 0.022854766994714736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.79} + 32%|███▏ | 9590/30000 [4:27:52<9:26:23, 1.67s/it] 32%|███▏ | 9591/30000 [4:27:54<9:25:38, 1.66s/it] 32%|███▏ | 9592/30000 [4:27:55<9:26:26, 1.67s/it] 32%|███▏ | 9593/30000 [4:27:57<9:26:05, 1.66s/it] 32%|███▏ | 9594/30000 [4:27:59<9:26:46, 1.67s/it] 32%|███▏ | 9595/30000 [4:28:00<9:28:10, 1.67s/it] 32%|███▏ | 9596/30000 [4:28:02<9:28:32, 1.67s/it] 32%|███▏ | 9597/30000 [4:28:04<9:26:53, 1.67s/it] 32%|███▏ | 9598/30000 [4:28:05<9:28:08, 1.67s/it] 32%|███▏ | 9599/30000 [4:28:07<9:27:46, 1.67s/it] 32%|███▏ | 9600/30000 [4:28:09<9:28:17, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1092355027794838, 'learning_rate': 2.440893317001667e-05, 'flow_matching_loss': 0.022057750541716815, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.79} + 32%|███▏ | 9600/30000 [4:28:09<9:28:17, 1.67s/it] 32%|███▏ | 9601/30000 [4:28:10<9:28:18, 1.67s/it] 32%|███▏ | 9602/30000 [4:28:12<9:28:39, 1.67s/it] 32%|███▏ | 9603/30000 [4:28:14<9:27:33, 1.67s/it] 32%|███▏ | 9604/30000 [4:28:15<9:28:06, 1.67s/it] 32%|███▏ | 9605/30000 [4:28:17<9:26:20, 1.67s/it] 32%|███▏ | 9606/30000 [4:28:19<9:26:27, 1.67s/it] 32%|███▏ | 9607/30000 [4:28:20<9:26:34, 1.67s/it] 32%|███▏ | 9608/30000 [4:28:22<9:26:43, 1.67s/it] 32%|███▏ | 9609/30000 [4:28:24<9:26:39, 1.67s/it] 32%|███▏ | 9610/30000 [4:28:26<9:27:44, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.13087192177772522, 'learning_rate': 2.4396050098728925e-05, 'flow_matching_loss': 0.021585038397461176, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.8} + 32%|███▏ | 9610/30000 [4:28:26<9:27:44, 1.67s/it] 32%|███▏ | 9611/30000 [4:28:27<9:27:29, 1.67s/it] 32%|███▏ | 9612/30000 [4:28:29<9:27:42, 1.67s/it] 32%|███▏ | 9613/30000 [4:28:30<9:26:21, 1.67s/it] 32%|███▏ | 9614/30000 [4:28:32<9:28:22, 1.67s/it] 32%|███▏ | 9615/30000 [4:28:34<9:27:18, 1.67s/it] 32%|███▏ | 9616/30000 [4:28:36<9:26:57, 1.67s/it] 32%|███▏ | 9617/30000 [4:28:37<9:26:59, 1.67s/it] 32%|███▏ | 9618/30000 [4:28:39<9:26:59, 1.67s/it] 32%|███▏ | 9619/30000 [4:28:41<9:26:19, 1.67s/it] 32%|███▏ | 9620/30000 [4:28:42<9:27:21, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.11778249591588974, 'learning_rate': 2.4383155610354314e-05, 'flow_matching_loss': 0.02284984355792403, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.8} + 32%|███▏ | 9620/30000 [4:28:42<9:27:21, 1.67s/it] 32%|███▏ | 9621/30000 [4:28:44<9:26:42, 1.67s/it] 32%|███▏ | 9622/30000 [4:28:46<9:27:10, 1.67s/it] 32%|███▏ | 9623/30000 [4:28:47<9:27:40, 1.67s/it] 32%|███▏ | 9624/30000 [4:28:49<9:27:11, 1.67s/it] 32%|███▏ | 9625/30000 [4:28:51<9:26:29, 1.67s/it] 32%|███▏ | 9626/30000 [4:28:52<9:26:59, 1.67s/it] 32%|███▏ | 9627/30000 [4:28:54<9:27:17, 1.67s/it] 32%|███▏ | 9628/30000 [4:28:56<9:27:40, 1.67s/it] 32%|███▏ | 9629/30000 [4:28:57<9:26:22, 1.67s/it] 32%|███▏ | 9630/30000 [4:28:59<9:26:49, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.10012535005807877, 'learning_rate': 2.437024972056087e-05, 'flow_matching_loss': 0.02084630448371172, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.8} + 32%|███▏ | 9630/30000 [4:28:59<9:26:49, 1.67s/it] 32%|███▏ | 9631/30000 [4:29:01<9:26:14, 1.67s/it] 32%|███▏ | 9632/30000 [4:29:02<9:25:54, 1.67s/it] 32%|███▏ | 9633/30000 [4:29:04<9:25:30, 1.67s/it] 32%|███▏ | 9634/30000 [4:29:06<9:25:51, 1.67s/it] 32%|███▏ | 9635/30000 [4:29:07<9:25:32, 1.67s/it] 32%|███▏ | 9636/30000 [4:29:09<9:25:54, 1.67s/it] 32%|███▏ | 9637/30000 [4:29:11<9:25:18, 1.67s/it] 32%|███▏ | 9638/30000 [4:29:12<9:25:52, 1.67s/it] 32%|███▏ | 9639/30000 [4:29:14<9:25:48, 1.67s/it] 32%|███▏ | 9640/30000 [4:29:16<9:25:33, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.14916151762008667, 'learning_rate': 2.4357332445030452e-05, 'flow_matching_loss': 0.021457475796341895, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.8} + 32%|███▏ | 9640/30000 [4:29:16<9:25:33, 1.67s/it] 32%|███▏ | 9641/30000 [4:29:17<9:25:00, 1.67s/it] 32%|███▏ | 9642/30000 [4:29:19<9:26:05, 1.67s/it] 32%|███▏ | 9643/30000 [4:29:21<9:25:47, 1.67s/it] 32%|███▏ | 9644/30000 [4:29:22<9:26:17, 1.67s/it] 32%|███▏ | 9645/30000 [4:29:24<9:24:55, 1.67s/it] 32%|███▏ | 9646/30000 [4:29:26<9:25:36, 1.67s/it] 32%|███▏ | 9647/30000 [4:29:27<9:25:25, 1.67s/it] 32%|███▏ | 9648/30000 [4:29:29<9:25:13, 1.67s/it] 32%|███▏ | 9649/30000 [4:29:31<9:24:47, 1.67s/it] 32%|███▏ | 9650/30000 [4:29:32<9:25:16, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.1435043066740036, 'learning_rate': 2.434440379945878e-05, 'flow_matching_loss': 0.021561077795922756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.81} + 32%|███▏ | 9650/30000 [4:29:32<9:25:16, 1.67s/it] 32%|███▏ | 9651/30000 [4:29:34<9:25:37, 1.67s/it] 32%|███▏ | 9652/30000 [4:29:36<9:26:28, 1.67s/it] 32%|███▏ | 9653/30000 [4:29:37<9:26:39, 1.67s/it] 32%|███▏ | 9654/30000 [4:29:39<9:25:43, 1.67s/it] 32%|███▏ | 9655/30000 [4:29:41<9:25:09, 1.67s/it] 32%|███▏ | 9656/30000 [4:29:42<9:25:40, 1.67s/it] 32%|███▏ | 9657/30000 [4:29:44<9:25:26, 1.67s/it] 32%|███▏ | 9658/30000 [4:29:46<9:25:55, 1.67s/it] 32%|███▏ | 9659/30000 [4:29:47<9:25:42, 1.67s/it] 32%|███▏ | 9660/30000 [4:29:49<9:26:05, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11720447987318039, 'learning_rate': 2.4331463799555366e-05, 'flow_matching_loss': 0.01923527717590332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.81} + 32%|███▏ | 9660/30000 [4:29:49<9:26:05, 1.67s/it] 32%|███▏ | 9661/30000 [4:29:51<9:25:46, 1.67s/it] 32%|███▏ | 9662/30000 [4:29:52<9:25:33, 1.67s/it] 32%|███▏ | 9663/30000 [4:29:54<9:24:52, 1.67s/it] 32%|███▏ | 9664/30000 [4:29:56<9:24:57, 1.67s/it] 32%|███▏ | 9665/30000 [4:29:57<9:24:35, 1.67s/it] 32%|███▏ | 9666/30000 [4:29:59<9:25:11, 1.67s/it] 32%|███▏ | 9667/30000 [4:30:01<9:24:52, 1.67s/it] 32%|███▏ | 9668/30000 [4:30:02<9:25:26, 1.67s/it] 32%|███▏ | 9669/30000 [4:30:04<9:25:53, 1.67s/it] 32%|███▏ | 9670/30000 [4:30:06<9:26:02, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.18619155883789062, 'learning_rate': 2.4318512461043544e-05, 'flow_matching_loss': 0.02137266015633941, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.81} + 32%|███▏ | 9670/30000 [4:30:06<9:26:02, 1.67s/it] 32%|███▏ | 9671/30000 [4:30:07<9:25:19, 1.67s/it] 32%|███▏ | 9672/30000 [4:30:09<9:25:14, 1.67s/it] 32%|███▏ | 9673/30000 [4:30:11<9:24:40, 1.67s/it] 32%|███▏ | 9674/30000 [4:30:12<9:25:47, 1.67s/it] 32%|███▏ | 9675/30000 [4:30:14<9:26:13, 1.67s/it] 32%|███▏ | 9676/30000 [4:30:16<9:26:22, 1.67s/it] 32%|███▏ | 9677/30000 [4:30:17<9:25:17, 1.67s/it] 32%|███▏ | 9678/30000 [4:30:19<9:25:12, 1.67s/it] 32%|███▏ | 9679/30000 [4:30:21<9:24:21, 1.67s/it] 32%|███▏ | 9680/30000 [4:30:22<9:24:44, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.16129560768604279, 'learning_rate': 2.4305549799660397e-05, 'flow_matching_loss': 0.01985869249328971, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.82} + 32%|███▏ | 9680/30000 [4:30:22<9:24:44, 1.67s/it] 32%|███▏ | 9681/30000 [4:30:24<9:24:31, 1.67s/it] 32%|███▏ | 9682/30000 [4:30:26<9:26:13, 1.67s/it] 32%|███▏ | 9683/30000 [4:30:27<9:25:15, 1.67s/it] 32%|███▏ | 9684/30000 [4:30:29<9:24:52, 1.67s/it] 32%|███▏ | 9685/30000 [4:30:31<9:23:42, 1.66s/it] 32%|███▏ | 9686/30000 [4:30:32<9:26:14, 1.67s/it] 32%|███▏ | 9687/30000 [4:30:34<9:24:37, 1.67s/it] 32%|███▏ | 9688/30000 [4:30:36<9:23:48, 1.67s/it] 32%|███▏ | 9689/30000 [4:30:37<9:23:47, 1.67s/it] 32%|███▏ | 9690/30000 [4:30:39<9:24:51, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.0984429344534874, 'learning_rate': 2.429257583115679e-05, 'flow_matching_loss': 0.02138398392125964, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.82} + 32%|███▏ | 9690/30000 [4:30:39<9:24:51, 1.67s/it] 32%|███▏ | 9691/30000 [4:30:41<9:25:29, 1.67s/it] 32%|███▏ | 9692/30000 [4:30:42<9:25:33, 1.67s/it] 32%|███▏ | 9693/30000 [4:30:44<9:24:21, 1.67s/it] 32%|███▏ | 9694/30000 [4:30:46<9:25:02, 1.67s/it] 32%|███▏ | 9695/30000 [4:30:47<9:24:31, 1.67s/it] 32%|███▏ | 9696/30000 [4:30:49<9:24:31, 1.67s/it] 32%|███▏ | 9697/30000 [4:30:51<9:24:18, 1.67s/it] 32%|███▏ | 9698/30000 [4:30:52<9:25:44, 1.67s/it] 32%|███▏ | 9699/30000 [4:30:54<9:25:35, 1.67s/it] 32%|███▏ | 9700/30000 [4:30:56<9:26:13, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.11696168780326843, 'learning_rate': 2.4279590571297316e-05, 'flow_matching_loss': 0.021713736839592455, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.82} + 32%|███▏ | 9700/30000 [4:30:56<9:26:13, 1.67s/it] 32%|███▏ | 9701/30000 [4:30:57<9:26:03, 1.67s/it] 32%|███▏ | 9702/30000 [4:30:59<9:26:05, 1.67s/it] 32%|███▏ | 9703/30000 [4:31:01<9:25:55, 1.67s/it] 32%|███▏ | 9704/30000 [4:31:02<9:25:18, 1.67s/it] 32%|███▏ | 9705/30000 [4:31:04<9:24:47, 1.67s/it] 32%|███▏ | 9706/30000 [4:31:06<9:25:39, 1.67s/it] 32%|███▏ | 9707/30000 [4:31:07<9:25:55, 1.67s/it] 32%|███▏ | 9708/30000 [4:31:09<9:25:11, 1.67s/it] 32%|███▏ | 9709/30000 [4:31:11<9:24:45, 1.67s/it] 32%|███▏ | 9710/30000 [4:31:12<9:24:44, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.11075721681118011, 'learning_rate': 2.4266594035860288e-05, 'flow_matching_loss': 0.021165626775473356, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.83} + 32%|███▏ | 9710/30000 [4:31:12<9:24:44, 1.67s/it] 32%|███▏ | 9711/30000 [4:31:14<9:24:56, 1.67s/it] 32%|███▏ | 9712/30000 [4:31:16<9:24:04, 1.67s/it] 32%|███▏ | 9713/30000 [4:31:17<9:23:43, 1.67s/it] 32%|███▏ | 9714/30000 [4:31:19<9:24:35, 1.67s/it] 32%|███▏ | 9715/30000 [4:31:21<9:24:17, 1.67s/it] 32%|███▏ | 9716/30000 [4:31:22<9:24:24, 1.67s/it] 32%|███▏ | 9717/30000 [4:31:24<9:23:28, 1.67s/it] 32%|███▏ | 9718/30000 [4:31:26<9:23:18, 1.67s/it] 32%|███▏ | 9719/30000 [4:31:27<9:22:58, 1.67s/it] 32%|███▏ | 9720/30000 [4:31:29<9:23:54, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.12741243839263916, 'learning_rate': 2.425358624063773e-05, 'flow_matching_loss': 0.021057345252484084, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.83} + 32%|███▏ | 9720/30000 [4:31:29<9:23:54, 1.67s/it] 32%|███▏ | 9721/30000 [4:31:31<9:23:22, 1.67s/it] 32%|███▏ | 9722/30000 [4:31:32<9:24:00, 1.67s/it] 32%|███▏ | 9723/30000 [4:31:34<9:26:04, 1.68s/it] 32%|███▏ | 9724/30000 [4:31:36<9:25:06, 1.67s/it] 32%|███▏ | 9725/30000 [4:31:37<9:24:36, 1.67s/it] 32%|███▏ | 9726/30000 [4:31:39<9:23:35, 1.67s/it] 32%|███▏ | 9727/30000 [4:31:41<9:22:33, 1.66s/it] 32%|███▏ | 9728/30000 [4:31:42<9:22:43, 1.67s/it] 32%|███▏ | 9729/30000 [4:31:44<9:22:36, 1.67s/it] 32%|███▏ | 9730/30000 [4:31:46<9:22:51, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.13280010223388672, 'learning_rate': 2.424056720143532e-05, 'flow_matching_loss': 0.01908676652237773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.83} + 32%|███▏ | 9730/30000 [4:31:46<9:22:51, 1.67s/it] 32%|███▏ | 9731/30000 [4:31:47<9:24:20, 1.67s/it] 32%|███▏ | 9732/30000 [4:31:49<9:24:02, 1.67s/it] 32%|███▏ | 9733/30000 [4:31:51<9:24:06, 1.67s/it] 32%|███▏ | 9734/30000 [4:31:52<9:23:14, 1.67s/it] 32%|███▏ | 9735/30000 [4:31:54<9:22:59, 1.67s/it] 32%|███▏ | 9736/30000 [4:31:56<9:23:16, 1.67s/it] 32%|███▏ | 9737/30000 [4:31:57<9:22:56, 1.67s/it] 32%|███▏ | 9738/30000 [4:31:59<9:22:42, 1.67s/it] 32%|███▏ | 9739/30000 [4:32:01<9:23:41, 1.67s/it] 32%|███▏ | 9740/30000 [4:32:02<9:25:06, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.13890650868415833, 'learning_rate': 2.422753693407244e-05, 'flow_matching_loss': 0.02546921242028475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.83} + 32%|███▏ | 9740/30000 [4:32:02<9:25:06, 1.67s/it] 32%|███▏ | 9741/30000 [4:32:04<9:24:31, 1.67s/it] 32%|███▏ | 9742/30000 [4:32:06<9:24:08, 1.67s/it] 32%|███▏ | 9743/30000 [4:32:07<9:23:15, 1.67s/it] 32%|███▏ | 9744/30000 [4:32:09<9:23:22, 1.67s/it] 32%|███▏ | 9745/30000 [4:32:11<9:22:53, 1.67s/it] 32%|███▏ | 9746/30000 [4:32:12<9:23:34, 1.67s/it] 32%|███▏ | 9747/30000 [4:32:14<9:23:28, 1.67s/it] 32%|███▏ | 9748/30000 [4:32:16<9:23:01, 1.67s/it] 32%|███▏ | 9749/30000 [4:32:17<9:22:59, 1.67s/it] 32%|███▎ | 9750/30000 [4:32:19<9:22:44, 1.67s/it] {'loss': 0.0233, 'grad_norm': 0.15898005664348602, 'learning_rate': 2.421449545438209e-05, 'flow_matching_loss': 0.023277438897639512, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.84} + 32%|███▎ | 9750/30000 [4:32:19<9:22:44, 1.67s/it] 33%|███▎ | 9751/30000 [4:32:21<9:22:02, 1.67s/it] 33%|███▎ | 9752/30000 [4:32:22<9:22:45, 1.67s/it] 33%|███▎ | 9753/30000 [4:32:24<9:22:52, 1.67s/it] 33%|███▎ | 9754/30000 [4:32:26<9:23:16, 1.67s/it] 33%|███▎ | 9755/30000 [4:32:27<9:22:56, 1.67s/it] 33%|███▎ | 9756/30000 [4:32:29<9:23:27, 1.67s/it] 33%|███▎ | 9757/30000 [4:32:31<9:22:56, 1.67s/it] 33%|███▎ | 9758/30000 [4:32:32<9:23:06, 1.67s/it] 33%|███▎ | 9759/30000 [4:32:34<9:22:19, 1.67s/it] 33%|███▎ | 9760/30000 [4:32:36<9:21:42, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.09414738416671753, 'learning_rate': 2.4201442778210887e-05, 'flow_matching_loss': 0.020919834915548562, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.84} + 33%|███▎ | 9760/30000 [4:32:36<9:21:42, 1.67s/it] 33%|███▎ | 9761/30000 [4:32:37<9:21:47, 1.67s/it] 33%|███▎ | 9762/30000 [4:32:39<9:23:11, 1.67s/it] 33%|███▎ | 9763/30000 [4:32:41<9:21:38, 1.67s/it] 33%|███▎ | 9764/30000 [4:32:42<9:21:37, 1.67s/it] 33%|███▎ | 9765/30000 [4:32:44<9:21:24, 1.66s/it] 33%|███▎ | 9766/30000 [4:32:46<9:22:14, 1.67s/it] 33%|███▎ | 9767/30000 [4:32:47<9:20:33, 1.66s/it] 33%|███▎ | 9768/30000 [4:32:49<9:20:59, 1.66s/it] 33%|███▎ | 9769/30000 [4:32:51<9:21:07, 1.66s/it] 33%|███▎ | 9770/30000 [4:32:52<9:22:02, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.10706725716590881, 'learning_rate': 2.418837892141907e-05, 'flow_matching_loss': 0.020910443365573884, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.84} + 33%|███▎ | 9770/30000 [4:32:53<9:22:02, 1.67s/it] 33%|███▎ | 9771/30000 [4:32:54<9:22:54, 1.67s/it] 33%|███▎ | 9772/30000 [4:32:56<9:23:03, 1.67s/it] 33%|███▎ | 9773/30000 [4:32:57<9:23:09, 1.67s/it] 33%|███▎ | 9774/30000 [4:32:59<9:23:16, 1.67s/it] 33%|███▎ | 9775/30000 [4:33:01<9:22:44, 1.67s/it] 33%|███▎ | 9776/30000 [4:33:02<9:22:39, 1.67s/it] 33%|███▎ | 9777/30000 [4:33:04<9:22:22, 1.67s/it] 33%|███▎ | 9778/30000 [4:33:06<9:22:44, 1.67s/it] 33%|███▎ | 9779/30000 [4:33:08<9:24:15, 1.67s/it] 33%|███▎ | 9780/30000 [4:33:09<9:23:12, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.12913616001605988, 'learning_rate': 2.4175303899880458e-05, 'flow_matching_loss': 0.024272035621106625, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.85} + 33%|███▎ | 9780/30000 [4:33:09<9:23:12, 1.67s/it] 33%|███▎ | 9781/30000 [4:33:11<9:22:58, 1.67s/it] 33%|███▎ | 9782/30000 [4:33:13<9:23:52, 1.67s/it] 33%|███▎ | 9783/30000 [4:33:14<9:22:23, 1.67s/it] 33%|███▎ | 9784/30000 [4:33:16<9:22:27, 1.67s/it] 33%|███▎ | 9785/30000 [4:33:18<9:21:28, 1.67s/it] 33%|███▎ | 9786/30000 [4:33:19<9:21:52, 1.67s/it] 33%|███▎ | 9787/30000 [4:33:21<9:21:46, 1.67s/it] 33%|███▎ | 9788/30000 [4:33:23<9:22:08, 1.67s/it] 33%|███▎ | 9789/30000 [4:33:24<9:21:04, 1.67s/it] 33%|███▎ | 9790/30000 [4:33:26<9:21:44, 1.67s/it] {'loss': 0.0237, 'grad_norm': 0.16186827421188354, 'learning_rate': 2.4162217729482427e-05, 'flow_matching_loss': 0.023719224892556668, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.85} + 33%|███▎ | 9790/30000 [4:33:26<9:21:44, 1.67s/it] 33%|███▎ | 9791/30000 [4:33:28<9:21:00, 1.67s/it] 33%|███▎ | 9792/30000 [4:33:29<9:21:02, 1.67s/it] 33%|███▎ | 9793/30000 [4:33:31<9:20:25, 1.66s/it] 33%|███▎ | 9794/30000 [4:33:32<9:20:28, 1.66s/it] 33%|███▎ | 9795/30000 [4:33:34<9:20:55, 1.67s/it] 33%|███▎ | 9796/30000 [4:33:36<9:19:56, 1.66s/it] 33%|███▎ | 9797/30000 [4:33:37<9:19:41, 1.66s/it] 33%|███▎ | 9798/30000 [4:33:39<9:20:36, 1.66s/it] 33%|███▎ | 9799/30000 [4:33:41<9:19:48, 1.66s/it] 33%|███▎ | 9800/30000 [4:33:42<9:20:01, 1.66s/it] {'loss': 0.0199, 'grad_norm': 0.13262750208377838, 'learning_rate': 2.4149120426125918e-05, 'flow_matching_loss': 0.019875879772007464, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.85} + 33%|███▎ | 9800/30000 [4:33:43<9:20:01, 1.66s/it] 33%|███▎ | 9801/30000 [4:33:44<9:19:58, 1.66s/it] 33%|███▎ | 9802/30000 [4:33:46<9:21:09, 1.67s/it] 33%|███▎ | 9803/30000 [4:33:47<9:21:05, 1.67s/it] 33%|███▎ | 9804/30000 [4:33:49<9:21:25, 1.67s/it] 33%|███▎ | 9805/30000 [4:33:51<9:20:28, 1.67s/it] 33%|███▎ | 9806/30000 [4:33:52<9:21:32, 1.67s/it] 33%|███▎ | 9807/30000 [4:33:54<9:21:17, 1.67s/it] 33%|███▎ | 9808/30000 [4:33:56<9:21:48, 1.67s/it] 33%|███▎ | 9809/30000 [4:33:57<9:21:40, 1.67s/it] 33%|███▎ | 9810/30000 [4:33:59<9:22:03, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.1264352649450302, 'learning_rate': 2.413601200572538e-05, 'flow_matching_loss': 0.0194993038661778, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.85} + 33%|███▎ | 9810/30000 [4:33:59<9:22:03, 1.67s/it] 33%|███▎ | 9811/30000 [4:34:01<9:22:41, 1.67s/it] 33%|███▎ | 9812/30000 [4:34:03<9:22:51, 1.67s/it] 33%|███▎ | 9813/30000 [4:34:04<9:21:42, 1.67s/it] 33%|███▎ | 9814/30000 [4:34:06<9:22:13, 1.67s/it] 33%|███▎ | 9815/30000 [4:34:08<9:21:17, 1.67s/it] 33%|███▎ | 9816/30000 [4:34:09<9:21:15, 1.67s/it] 33%|███▎ | 9817/30000 [4:34:11<9:21:49, 1.67s/it] 33%|███▎ | 9818/30000 [4:34:13<9:21:48, 1.67s/it] 33%|███▎ | 9819/30000 [4:34:14<9:20:40, 1.67s/it] 33%|███▎ | 9820/30000 [4:34:16<9:21:03, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.1507795751094818, 'learning_rate': 2.4122892484208794e-05, 'flow_matching_loss': 0.020635574869811536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.86} + 33%|███▎ | 9820/30000 [4:34:16<9:21:03, 1.67s/it] 33%|███▎ | 9821/30000 [4:34:18<9:20:38, 1.67s/it] 33%|███▎ | 9822/30000 [4:34:19<9:20:48, 1.67s/it] 33%|███▎ | 9823/30000 [4:34:21<9:19:53, 1.66s/it] 33%|███▎ | 9824/30000 [4:34:23<9:18:38, 1.66s/it] 33%|███▎ | 9825/30000 [4:34:24<9:19:15, 1.66s/it] 33%|███▎ | 9826/30000 [4:34:26<9:20:05, 1.67s/it] 33%|███▎ | 9827/30000 [4:34:28<9:19:55, 1.67s/it] 33%|███▎ | 9828/30000 [4:34:29<9:20:25, 1.67s/it] 33%|███▎ | 9829/30000 [4:34:31<9:19:54, 1.67s/it] 33%|███▎ | 9830/30000 [4:34:33<9:20:38, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.16699200868606567, 'learning_rate': 2.4109761877517603e-05, 'flow_matching_loss': 0.02200508341193199, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.86} + 33%|███▎ | 9830/30000 [4:34:33<9:20:38, 1.67s/it] 33%|███▎ | 9831/30000 [4:34:34<9:20:54, 1.67s/it] 33%|███▎ | 9832/30000 [4:34:36<9:20:35, 1.67s/it] 33%|███▎ | 9833/30000 [4:34:38<9:20:10, 1.67s/it] 33%|███▎ | 9834/30000 [4:34:39<9:19:36, 1.66s/it] 33%|███▎ | 9835/30000 [4:34:41<9:20:19, 1.67s/it] 33%|███▎ | 9836/30000 [4:34:43<9:21:08, 1.67s/it] 33%|███▎ | 9837/30000 [4:34:44<9:19:51, 1.67s/it] 33%|███▎ | 9838/30000 [4:34:46<9:20:26, 1.67s/it] 33%|███▎ | 9839/30000 [4:34:48<9:19:27, 1.66s/it] 33%|███▎ | 9840/30000 [4:34:49<9:19:43, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.10382496565580368, 'learning_rate': 2.4096620201606737e-05, 'flow_matching_loss': 0.022398761101067068, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.86} + 33%|███▎ | 9840/30000 [4:34:49<9:19:43, 1.67s/it] 33%|███▎ | 9841/30000 [4:34:51<9:19:15, 1.66s/it] 33%|███▎ | 9842/30000 [4:34:53<9:19:44, 1.67s/it] 33%|███▎ | 9843/30000 [4:34:54<9:20:11, 1.67s/it] 33%|███▎ | 9844/30000 [4:34:56<9:19:12, 1.66s/it] 33%|███▎ | 9845/30000 [4:34:58<9:20:35, 1.67s/it] 33%|███▎ | 9846/30000 [4:34:59<9:19:53, 1.67s/it] 33%|███▎ | 9847/30000 [4:35:01<9:19:35, 1.67s/it] 33%|███▎ | 9848/30000 [4:35:03<9:19:43, 1.67s/it] 33%|███▎ | 9849/30000 [4:35:04<9:18:54, 1.66s/it] 33%|███▎ | 9850/30000 [4:35:06<9:19:04, 1.66s/it] {'loss': 0.0238, 'grad_norm': 0.22416873276233673, 'learning_rate': 2.4083467472444573e-05, 'flow_matching_loss': 0.023813991993665694, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.87} + 33%|███▎ | 9850/30000 [4:35:06<9:19:04, 1.66s/it] 33%|███▎ | 9851/30000 [4:35:08<9:19:25, 1.67s/it] 33%|███▎ | 9852/30000 [4:35:09<9:19:29, 1.67s/it] 33%|███▎ | 9853/30000 [4:35:11<9:20:32, 1.67s/it] 33%|███▎ | 9854/30000 [4:35:13<9:19:50, 1.67s/it] 33%|███▎ | 9855/30000 [4:35:14<9:19:39, 1.67s/it] 33%|███▎ | 9856/30000 [4:35:16<9:19:55, 1.67s/it] 33%|███▎ | 9857/30000 [4:35:18<9:18:38, 1.66s/it] 33%|███▎ | 9858/30000 [4:35:19<9:19:21, 1.67s/it] 33%|███▎ | 9859/30000 [4:35:21<9:19:28, 1.67s/it] 33%|███▎ | 9860/30000 [4:35:23<9:19:36, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.11725971102714539, 'learning_rate': 2.4070303706012912e-05, 'flow_matching_loss': 0.020896071288734674, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.87} + 33%|███▎ | 9860/30000 [4:35:23<9:19:36, 1.67s/it] 33%|███▎ | 9861/30000 [4:35:24<9:19:33, 1.67s/it] 33%|███▎ | 9862/30000 [4:35:26<9:19:26, 1.67s/it] 33%|███▎ | 9863/30000 [4:35:28<9:18:44, 1.66s/it] 33%|███▎ | 9864/30000 [4:35:29<9:19:37, 1.67s/it] 33%|███▎ | 9865/30000 [4:35:31<9:18:59, 1.67s/it] 33%|███▎ | 9866/30000 [4:35:33<9:19:49, 1.67s/it] 33%|███▎ | 9867/30000 [4:35:34<9:18:47, 1.67s/it] 33%|███▎ | 9868/30000 [4:35:36<9:19:46, 1.67s/it] 33%|███▎ | 9869/30000 [4:35:38<9:19:13, 1.67s/it] 33%|███▎ | 9870/30000 [4:35:39<9:19:07, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.11870433390140533, 'learning_rate': 2.4057128918306975e-05, 'flow_matching_loss': 0.023078809678554534, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.87} + 33%|███▎ | 9870/30000 [4:35:39<9:19:07, 1.67s/it] 33%|███▎ | 9871/30000 [4:35:41<9:19:29, 1.67s/it] 33%|███▎ | 9872/30000 [4:35:43<9:19:07, 1.67s/it] 33%|███▎ | 9873/30000 [4:35:44<9:17:41, 1.66s/it] 33%|███▎ | 9874/30000 [4:35:46<9:18:34, 1.67s/it] 33%|███▎ | 9875/30000 [4:35:47<9:18:06, 1.66s/it] 33%|███▎ | 9876/30000 [4:35:49<9:19:06, 1.67s/it] 33%|███▎ | 9877/30000 [4:35:51<9:19:08, 1.67s/it] 33%|███▎ | 9878/30000 [4:35:53<9:19:22, 1.67s/it] 33%|███▎ | 9879/30000 [4:35:54<9:18:49, 1.67s/it] 33%|███▎ | 9880/30000 [4:35:56<9:19:05, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.1256355494260788, 'learning_rate': 2.4043943125335373e-05, 'flow_matching_loss': 0.021499708667397498, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.87} + 33%|███▎ | 9880/30000 [4:35:56<9:19:05, 1.67s/it] 33%|███▎ | 9881/30000 [4:35:58<9:18:37, 1.67s/it] 33%|███▎ | 9882/30000 [4:35:59<9:18:48, 1.67s/it] 33%|███▎ | 9883/30000 [4:36:01<9:17:46, 1.66s/it] 33%|███▎ | 9884/30000 [4:36:03<9:19:00, 1.67s/it] 33%|███▎ | 9885/30000 [4:36:04<9:17:52, 1.66s/it] 33%|███▎ | 9886/30000 [4:36:06<9:18:55, 1.67s/it] 33%|███▎ | 9887/30000 [4:36:08<9:19:00, 1.67s/it] 33%|███▎ | 9888/30000 [4:36:09<9:17:53, 1.66s/it] 33%|███▎ | 9889/30000 [4:36:11<9:17:07, 1.66s/it] 33%|███▎ | 9890/30000 [4:36:12<9:18:00, 1.66s/it] {'loss': 0.0225, 'grad_norm': 0.12277276068925858, 'learning_rate': 2.403074634312008e-05, 'flow_matching_loss': 0.0225339088588953, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.88} + 33%|███▎ | 9890/30000 [4:36:13<9:18:00, 1.66s/it] 33%|███▎ | 9891/30000 [4:36:14<9:18:34, 1.67s/it] 33%|███▎ | 9892/30000 [4:36:16<9:18:58, 1.67s/it] 33%|███▎ | 9893/30000 [4:36:17<9:18:08, 1.67s/it] 33%|███▎ | 9894/30000 [4:36:19<9:18:42, 1.67s/it] 33%|███▎ | 9895/30000 [4:36:21<9:18:08, 1.67s/it] 33%|███▎ | 9896/30000 [4:36:22<9:17:34, 1.66s/it] 33%|███▎ | 9897/30000 [4:36:24<9:16:38, 1.66s/it] 33%|███▎ | 9898/30000 [4:36:26<9:17:29, 1.66s/it] 33%|███▎ | 9899/30000 [4:36:27<9:17:22, 1.66s/it] 33%|███▎ | 9900/30000 [4:36:29<9:17:12, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.13704660534858704, 'learning_rate': 2.4017538587696442e-05, 'flow_matching_loss': 0.020963621512055396, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.88} + 33%|███▎ | 9900/30000 [4:36:29<9:17:12, 1.66s/it] 33%|███▎ | 9901/30000 [4:36:31<9:17:12, 1.66s/it] 33%|███▎ | 9902/30000 [4:36:32<9:18:08, 1.67s/it] 33%|███▎ | 9903/30000 [4:36:34<9:17:47, 1.67s/it] 33%|███▎ | 9904/30000 [4:36:36<9:18:06, 1.67s/it] 33%|███▎ | 9905/30000 [4:36:37<9:19:20, 1.67s/it] 33%|███▎ | 9906/30000 [4:36:39<9:17:44, 1.67s/it] 33%|███▎ | 9907/30000 [4:36:41<9:17:34, 1.66s/it] 33%|███▎ | 9908/30000 [4:36:42<9:17:34, 1.67s/it] 33%|███▎ | 9909/30000 [4:36:44<9:17:02, 1.66s/it] 33%|███▎ | 9910/30000 [4:36:46<9:18:14, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.12416443973779678, 'learning_rate': 2.4004319875113118e-05, 'flow_matching_loss': 0.02117684409022331, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.88} + 33%|███▎ | 9910/30000 [4:36:46<9:18:14, 1.67s/it] 33%|███▎ | 9911/30000 [4:36:47<9:18:39, 1.67s/it] 33%|███▎ | 9912/30000 [4:36:49<9:17:28, 1.67s/it] 33%|███▎ | 9913/30000 [4:36:51<9:17:17, 1.66s/it] 33%|███▎ | 9914/30000 [4:36:52<9:17:53, 1.67s/it] 33%|███▎ | 9915/30000 [4:36:54<9:16:45, 1.66s/it] 33%|███▎ | 9916/30000 [4:36:56<9:17:12, 1.66s/it] 33%|███▎ | 9917/30000 [4:36:57<9:18:22, 1.67s/it] 33%|███▎ | 9918/30000 [4:36:59<9:18:36, 1.67s/it] 33%|███▎ | 9919/30000 [4:37:01<9:18:23, 1.67s/it] 33%|███▎ | 9920/30000 [4:37:02<9:19:26, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.0984049066901207, 'learning_rate': 2.3991090221432096e-05, 'flow_matching_loss': 0.024934044759720563, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.89} + 33%|███▎ | 9920/30000 [4:37:03<9:19:26, 1.67s/it] 33%|███▎ | 9921/30000 [4:37:04<9:18:16, 1.67s/it] 33%|███▎ | 9922/30000 [4:37:06<9:18:10, 1.67s/it] 33%|███▎ | 9923/30000 [4:37:07<9:17:51, 1.67s/it] 33%|███▎ | 9924/30000 [4:37:09<9:16:51, 1.66s/it] 33%|███▎ | 9925/30000 [4:37:11<9:16:03, 1.66s/it] 33%|███▎ | 9926/30000 [4:37:12<9:17:10, 1.67s/it] 33%|███▎ | 9927/30000 [4:37:14<9:17:18, 1.67s/it] 33%|███▎ | 9928/30000 [4:37:16<9:17:13, 1.67s/it] 33%|███▎ | 9929/30000 [4:37:17<9:16:00, 1.66s/it] 33%|███▎ | 9930/30000 [4:37:19<9:18:06, 1.67s/it] {'loss': 0.0253, 'grad_norm': 0.17514504492282867, 'learning_rate': 2.397784964272865e-05, 'flow_matching_loss': 0.025261680595576763, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.89} + 33%|███▎ | 9930/30000 [4:37:19<9:18:06, 1.67s/it] 33%|███▎ | 9931/30000 [4:37:21<9:17:40, 1.67s/it] 33%|███▎ | 9932/30000 [4:37:22<9:17:58, 1.67s/it] 33%|███▎ | 9933/30000 [4:37:24<9:16:50, 1.66s/it] 33%|███▎ | 9934/30000 [4:37:26<9:17:56, 1.67s/it] 33%|███▎ | 9935/30000 [4:37:27<9:17:30, 1.67s/it] 33%|███▎ | 9936/30000 [4:37:29<9:17:27, 1.67s/it] 33%|███▎ | 9937/30000 [4:37:31<9:16:15, 1.66s/it] 33%|███▎ | 9938/30000 [4:37:32<9:16:58, 1.67s/it] 33%|███▎ | 9939/30000 [4:37:34<9:17:09, 1.67s/it] 33%|███▎ | 9940/30000 [4:37:36<9:17:13, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.12198875099420547, 'learning_rate': 2.3964598155091335e-05, 'flow_matching_loss': 0.02155388817191124, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.89} + 33%|███▎ | 9940/30000 [4:37:36<9:17:13, 1.67s/it] 33%|███▎ | 9941/30000 [4:37:37<9:16:54, 1.67s/it] 33%|███▎ | 9942/30000 [4:37:39<9:18:11, 1.67s/it] 33%|███▎ | 9943/30000 [4:37:41<9:17:52, 1.67s/it] 33%|███▎ | 9944/30000 [4:37:42<9:18:37, 1.67s/it] 33%|███▎ | 9945/30000 [4:37:44<9:16:53, 1.67s/it] 33%|███▎ | 9946/30000 [4:37:46<9:17:25, 1.67s/it] 33%|███▎ | 9947/30000 [4:37:47<9:17:11, 1.67s/it] 33%|███▎ | 9948/30000 [4:37:49<9:18:25, 1.67s/it] 33%|███▎ | 9949/30000 [4:37:51<9:16:39, 1.67s/it] 33%|███▎ | 9950/30000 [4:37:52<9:16:50, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.12358987331390381, 'learning_rate': 2.3951335774621952e-05, 'flow_matching_loss': 0.021069045085459946, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.89} + 33%|███▎ | 9950/30000 [4:37:53<9:16:50, 1.67s/it] 33%|███▎ | 9951/30000 [4:37:54<9:17:17, 1.67s/it] 33%|███▎ | 9952/30000 [4:37:56<9:16:53, 1.67s/it] 33%|███▎ | 9953/30000 [4:37:57<9:16:35, 1.67s/it] 33%|███▎ | 9954/30000 [4:37:59<9:16:07, 1.66s/it] 33%|███▎ | 9955/30000 [4:38:01<9:16:11, 1.66s/it] 33%|███▎ | 9956/30000 [4:38:02<9:16:32, 1.67s/it] 33%|███▎ | 9957/30000 [4:38:04<9:16:00, 1.66s/it] 33%|███▎ | 9958/30000 [4:38:06<9:16:27, 1.67s/it] 33%|███▎ | 9959/30000 [4:38:07<9:17:27, 1.67s/it] 33%|███▎ | 9960/30000 [4:38:09<9:17:03, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.14771176874637604, 'learning_rate': 2.3938062517435548e-05, 'flow_matching_loss': 0.020482389256358147, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.9} + 33%|███▎ | 9960/30000 [4:38:09<9:17:03, 1.67s/it] 33%|███▎ | 9961/30000 [4:38:11<9:16:33, 1.67s/it] 33%|███▎ | 9962/30000 [4:38:12<9:18:06, 1.67s/it] 33%|███▎ | 9963/30000 [4:38:14<9:17:22, 1.67s/it] 33%|███▎ | 9964/30000 [4:38:16<9:16:15, 1.67s/it] 33%|███▎ | 9965/30000 [4:38:17<9:14:34, 1.66s/it] 33%|███▎ | 9966/30000 [4:38:19<9:14:33, 1.66s/it] 33%|███▎ | 9967/30000 [4:38:21<9:15:26, 1.66s/it] 33%|███▎ | 9968/30000 [4:38:22<9:15:45, 1.66s/it] 33%|███▎ | 9969/30000 [4:38:24<9:16:06, 1.67s/it] 33%|███▎ | 9970/30000 [4:38:26<9:16:57, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.10809213668107986, 'learning_rate': 2.392477839966038e-05, 'flow_matching_loss': 0.02127098459750414, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.9} + 33%|███▎ | 9970/30000 [4:38:26<9:16:57, 1.67s/it] 33%|███▎ | 9971/30000 [4:38:27<9:16:30, 1.67s/it] 33%|███▎ | 9972/30000 [4:38:29<9:17:06, 1.67s/it] 33%|███▎ | 9973/30000 [4:38:31<9:16:19, 1.67s/it] 33%|███▎ | 9974/30000 [4:38:32<9:18:21, 1.67s/it] 33%|███▎ | 9975/30000 [4:38:34<9:17:32, 1.67s/it] 33%|███▎ | 9976/30000 [4:38:36<9:16:49, 1.67s/it] 33%|███▎ | 9977/30000 [4:38:37<9:15:24, 1.66s/it] 33%|███▎ | 9978/30000 [4:38:39<9:15:19, 1.66s/it] 33%|███▎ | 9979/30000 [4:38:41<9:15:14, 1.66s/it] 33%|███▎ | 9980/30000 [4:38:42<9:15:48, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.12639883160591125, 'learning_rate': 2.3911483437437904e-05, 'flow_matching_loss': 0.021423161309212447, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.9} + 33%|███▎ | 9980/30000 [4:38:43<9:15:48, 1.67s/it] 33%|███▎ | 9981/30000 [4:38:44<9:16:50, 1.67s/it] 33%|███▎ | 9982/30000 [4:38:46<9:16:28, 1.67s/it] 33%|███▎ | 9983/30000 [4:38:47<9:16:48, 1.67s/it] 33%|███▎ | 9984/30000 [4:38:49<9:16:10, 1.67s/it] 33%|███▎ | 9985/30000 [4:38:51<9:15:41, 1.67s/it] 33%|███▎ | 9986/30000 [4:38:52<9:16:19, 1.67s/it] 33%|███▎ | 9987/30000 [4:38:54<9:16:11, 1.67s/it] 33%|███▎ | 9988/30000 [4:38:56<9:16:09, 1.67s/it] 33%|███▎ | 9989/30000 [4:38:57<9:15:06, 1.66s/it] 33%|███▎ | 9990/30000 [4:38:59<9:15:12, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.1285092532634735, 'learning_rate': 2.3898177646922757e-05, 'flow_matching_loss': 0.020415857993066312, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.91} + 33%|███▎ | 9990/30000 [4:38:59<9:15:12, 1.66s/it] 33%|███▎ | 9991/30000 [4:39:01<9:15:00, 1.66s/it] 33%|███▎ | 9992/30000 [4:39:02<9:15:33, 1.67s/it] 33%|███▎ | 9993/30000 [4:39:04<9:15:23, 1.67s/it] 33%|███▎ | 9994/30000 [4:39:06<9:15:36, 1.67s/it] 33%|███▎ | 9995/30000 [4:39:07<9:15:28, 1.67s/it] 33%|███▎ | 9996/30000 [4:39:09<9:15:37, 1.67s/it] 33%|███▎ | 9997/30000 [4:39:11<9:14:44, 1.66s/it] 33%|███▎ | 9998/30000 [4:39:12<9:14:37, 1.66s/it] 33%|███▎ | 9999/30000 [4:39:14<9:13:53, 1.66s/it] 33%|███▎ | 10000/30000 [4:39:16<9:14:32, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.12857963144779205, 'learning_rate': 2.3884861044282722e-05, 'flow_matching_loss': 0.021749926544725896, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.91} + 33%|███▎ | 10000/30000 [4:39:16<9:14:32, 1.66s/it] 33%|███▎ | 10001/30000 [4:39:17<9:14:14, 1.66s/it] 33%|███▎ | 10002/30000 [4:39:19<9:14:47, 1.66s/it] 33%|███▎ | 10003/30000 [4:39:21<9:14:58, 1.67s/it] 33%|███▎ | 10004/30000 [4:39:22<9:15:21, 1.67s/it] 33%|███▎ | 10005/30000 [4:39:24<9:15:21, 1.67s/it] 33%|███▎ | 10006/30000 [4:39:26<9:15:10, 1.67s/it] 33%|███▎ | 10007/30000 [4:39:27<9:14:45, 1.66s/it] 33%|███▎ | 10008/30000 [4:39:29<9:14:49, 1.67s/it] 33%|███▎ | 10009/30000 [4:39:31<9:14:58, 1.67s/it] 33%|███▎ | 10010/30000 [4:39:32<9:15:53, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.09302342683076859, 'learning_rate': 2.3871533645698732e-05, 'flow_matching_loss': 0.019942876324057578, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.91} + 33%|███▎ | 10010/30000 [4:39:32<9:15:53, 1.67s/it] 33%|███▎ | 10011/30000 [4:39:34<9:15:39, 1.67s/it] 33%|███▎ | 10012/30000 [4:39:36<9:15:31, 1.67s/it] 33%|███▎ | 10013/30000 [4:39:37<9:14:20, 1.66s/it] 33%|███▎ | 10014/30000 [4:39:39<9:14:51, 1.67s/it] 33%|███▎ | 10015/30000 [4:39:41<9:14:36, 1.67s/it] 33%|███▎ | 10016/30000 [4:39:42<9:14:12, 1.66s/it] 33%|███▎ | 10017/30000 [4:39:44<9:13:24, 1.66s/it] 33%|███▎ | 10018/30000 [4:39:46<9:14:24, 1.66s/it] 33%|███▎ | 10019/30000 [4:39:47<9:13:47, 1.66s/it] 33%|███▎ | 10020/30000 [4:39:49<9:14:30, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.134690523147583, 'learning_rate': 2.3858195467364833e-05, 'flow_matching_loss': 0.022254421282559632, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.92} + 33%|███▎ | 10020/30000 [4:39:49<9:14:30, 1.67s/it] 33%|███▎ | 10021/30000 [4:39:51<9:13:56, 1.66s/it] 33%|███▎ | 10022/30000 [4:39:52<9:15:33, 1.67s/it] 33%|███▎ | 10023/30000 [4:39:54<9:15:21, 1.67s/it] 33%|███▎ | 10024/30000 [4:39:56<9:16:49, 1.67s/it] 33%|███▎ | 10025/30000 [4:39:57<9:14:49, 1.67s/it] 33%|███▎ | 10026/30000 [4:39:59<9:16:31, 1.67s/it] 33%|███▎ | 10027/30000 [4:40:01<9:17:29, 1.67s/it] 33%|███▎ | 10028/30000 [4:40:02<9:16:29, 1.67s/it] 33%|███▎ | 10029/30000 [4:40:04<9:15:18, 1.67s/it] 33%|███▎ | 10030/30000 [4:40:06<9:14:49, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.11158719658851624, 'learning_rate': 2.3844846525488166e-05, 'flow_matching_loss': 0.021687632240355015, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.92} + 33%|███▎ | 10030/30000 [4:40:06<9:14:49, 1.67s/it] 33%|███▎ | 10031/30000 [4:40:07<9:15:03, 1.67s/it] 33%|███▎ | 10032/30000 [4:40:09<9:14:39, 1.67s/it] 33%|███▎ | 10033/30000 [4:40:11<9:13:33, 1.66s/it] 33%|███▎ | 10034/30000 [4:40:12<9:14:17, 1.67s/it] 33%|███▎ | 10035/30000 [4:40:14<9:14:00, 1.66s/it] 33%|███▎ | 10036/30000 [4:40:16<9:13:56, 1.66s/it] 33%|███▎ | 10037/30000 [4:40:17<9:12:46, 1.66s/it] 33%|███▎ | 10038/30000 [4:40:19<9:13:35, 1.66s/it] 33%|███▎ | 10039/30000 [4:40:21<9:13:46, 1.66s/it] 33%|███▎ | 10040/30000 [4:40:22<9:14:14, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.11591089516878128, 'learning_rate': 2.3831486836288957e-05, 'flow_matching_loss': 0.019673304818570613, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.92} + 33%|███▎ | 10040/30000 [4:40:22<9:14:14, 1.67s/it] 33%|███▎ | 10041/30000 [4:40:24<9:12:46, 1.66s/it] 33%|███▎ | 10042/30000 [4:40:26<9:13:21, 1.66s/it] 33%|███▎ | 10043/30000 [4:40:27<9:13:55, 1.67s/it] 33%|███▎ | 10044/30000 [4:40:29<9:14:12, 1.67s/it] 33%|███▎ | 10045/30000 [4:40:31<9:12:44, 1.66s/it] 33%|███▎ | 10046/30000 [4:40:32<9:13:55, 1.67s/it] 33%|███▎ | 10047/30000 [4:40:34<9:13:16, 1.66s/it] 33%|███▎ | 10048/30000 [4:40:36<9:13:04, 1.66s/it] 33%|███▎ | 10049/30000 [4:40:37<9:12:38, 1.66s/it] 34%|███▎ | 10050/30000 [4:40:39<9:12:56, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.11980202794075012, 'learning_rate': 2.381811641600048e-05, 'flow_matching_loss': 0.020864693634212016, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.92} + 34%|███▎ | 10050/30000 [4:40:39<9:12:56, 1.66s/it] 34%|███▎ | 10051/30000 [4:40:41<9:13:20, 1.66s/it] 34%|███▎ | 10052/30000 [4:40:42<9:13:14, 1.66s/it] 34%|███▎ | 10053/30000 [4:40:44<9:12:33, 1.66s/it] 34%|███▎ | 10054/30000 [4:40:46<9:13:10, 1.66s/it] 34%|███▎ | 10055/30000 [4:40:47<9:13:16, 1.66s/it] 34%|███▎ | 10056/30000 [4:40:49<9:14:09, 1.67s/it] 34%|███▎ | 10057/30000 [4:40:51<9:12:53, 1.66s/it] 34%|███▎ | 10058/30000 [4:40:52<9:12:52, 1.66s/it] 34%|███▎ | 10059/30000 [4:40:54<9:12:38, 1.66s/it] 34%|███▎ | 10060/30000 [4:40:56<9:13:05, 1.66s/it] {'loss': 0.0201, 'grad_norm': 0.13774414360523224, 'learning_rate': 2.3804735280869073e-05, 'flow_matching_loss': 0.0201435087248683, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.93} + 34%|███▎ | 10060/30000 [4:40:56<9:13:05, 1.66s/it] 34%|███▎ | 10061/30000 [4:40:57<9:12:52, 1.66s/it] 34%|███▎ | 10062/30000 [4:40:59<9:13:33, 1.67s/it] 34%|███▎ | 10063/30000 [4:41:01<9:13:11, 1.66s/it] 34%|███▎ | 10064/30000 [4:41:02<9:14:25, 1.67s/it] 34%|███▎ | 10065/30000 [4:41:04<9:13:33, 1.67s/it] 34%|███▎ | 10066/30000 [4:41:06<9:13:47, 1.67s/it] 34%|███▎ | 10067/30000 [4:41:07<9:13:06, 1.66s/it] 34%|███▎ | 10068/30000 [4:41:09<9:13:43, 1.67s/it] 34%|███▎ | 10069/30000 [4:41:11<9:12:43, 1.66s/it] 34%|███▎ | 10070/30000 [4:41:12<9:13:40, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.15118016302585602, 'learning_rate': 2.3791343447154064e-05, 'flow_matching_loss': 0.020883880741894244, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.93} + 34%|███▎ | 10070/30000 [4:41:12<9:13:40, 1.67s/it] 34%|███▎ | 10071/30000 [4:41:14<9:12:55, 1.66s/it] 34%|███▎ | 10072/30000 [4:41:16<9:13:21, 1.67s/it] 34%|███▎ | 10073/30000 [4:41:17<9:12:33, 1.66s/it] 34%|███▎ | 10074/30000 [4:41:19<9:13:20, 1.67s/it] 34%|███▎ | 10075/30000 [4:41:21<9:13:21, 1.67s/it] 34%|███▎ | 10076/30000 [4:41:22<9:14:55, 1.67s/it] 34%|███▎ | 10077/30000 [4:41:24<9:13:59, 1.67s/it] 34%|███▎ | 10078/30000 [4:41:26<9:14:55, 1.67s/it] 34%|███▎ | 10079/30000 [4:41:27<9:15:48, 1.67s/it] 34%|███▎ | 10080/30000 [4:41:29<9:14:46, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.1368311494588852, 'learning_rate': 2.37779409311278e-05, 'flow_matching_loss': 0.023040464986115693, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.93} + 34%|███▎ | 10080/30000 [4:41:29<9:14:46, 1.67s/it] 34%|███▎ | 10081/30000 [4:41:31<9:14:45, 1.67s/it] 34%|███▎ | 10082/30000 [4:41:32<9:14:02, 1.67s/it] 34%|███▎ | 10083/30000 [4:41:34<9:13:00, 1.67s/it] 34%|███▎ | 10084/30000 [4:41:36<9:13:13, 1.67s/it] 34%|███▎ | 10085/30000 [4:41:37<9:12:09, 1.66s/it] 34%|███▎ | 10086/30000 [4:41:39<9:12:45, 1.67s/it] 34%|███▎ | 10087/30000 [4:41:41<9:13:59, 1.67s/it] 34%|███▎ | 10088/30000 [4:41:42<9:13:54, 1.67s/it] 34%|███▎ | 10089/30000 [4:41:44<9:12:54, 1.67s/it] 34%|███▎ | 10090/30000 [4:41:46<9:13:27, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.12593163549900055, 'learning_rate': 2.3764527749075596e-05, 'flow_matching_loss': 0.021577792428433894, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.94} + 34%|███▎ | 10090/30000 [4:41:46<9:13:27, 1.67s/it] 34%|███▎ | 10091/30000 [4:41:47<9:13:27, 1.67s/it] 34%|███▎ | 10092/30000 [4:41:49<9:13:24, 1.67s/it] 34%|███▎ | 10093/30000 [4:41:51<9:12:48, 1.67s/it] 34%|███▎ | 10094/30000 [4:41:52<9:12:28, 1.67s/it] 34%|███▎ | 10095/30000 [4:41:54<9:13:01, 1.67s/it] 34%|███▎ | 10096/30000 [4:41:56<9:13:03, 1.67s/it] 34%|███▎ | 10097/30000 [4:41:57<9:12:35, 1.67s/it] 34%|███▎ | 10098/30000 [4:41:59<9:13:20, 1.67s/it] 34%|███▎ | 10099/30000 [4:42:01<9:13:14, 1.67s/it] 34%|███▎ | 10100/30000 [4:42:02<9:12:32, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.1328311413526535, 'learning_rate': 2.3751103917295735e-05, 'flow_matching_loss': 0.023444248735904692, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.94} + 34%|███▎ | 10100/30000 [4:42:02<9:12:32, 1.67s/it] 34%|███▎ | 10101/30000 [4:42:04<9:11:28, 1.66s/it] 34%|███▎ | 10102/30000 [4:42:06<9:12:11, 1.67s/it] 34%|███▎ | 10103/30000 [4:42:07<9:13:07, 1.67s/it] 34%|███▎ | 10104/30000 [4:42:09<9:12:10, 1.67s/it] 34%|███▎ | 10105/30000 [4:42:11<9:12:04, 1.66s/it] 34%|███▎ | 10106/30000 [4:42:12<9:12:46, 1.67s/it] 34%|███▎ | 10107/30000 [4:42:14<9:12:41, 1.67s/it] 34%|███▎ | 10108/30000 [4:42:16<9:11:54, 1.66s/it] 34%|███▎ | 10109/30000 [4:42:17<9:11:54, 1.66s/it] 34%|███▎ | 10110/30000 [4:42:19<9:12:47, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.15279977023601532, 'learning_rate': 2.373766945209944e-05, 'flow_matching_loss': 0.02274311240762472, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.94} + 34%|███▎ | 10110/30000 [4:42:19<9:12:47, 1.67s/it] 34%|███▎ | 10111/30000 [4:42:21<9:12:50, 1.67s/it] 34%|███▎ | 10112/30000 [4:42:22<9:13:44, 1.67s/it] 34%|███▎ | 10113/30000 [4:42:24<9:12:33, 1.67s/it] 34%|███▎ | 10114/30000 [4:42:26<9:12:36, 1.67s/it] 34%|███▎ | 10115/30000 [4:42:27<9:12:02, 1.67s/it] 34%|███▎ | 10116/30000 [4:42:29<9:12:07, 1.67s/it] 34%|███▎ | 10117/30000 [4:42:31<9:12:00, 1.67s/it] 34%|███▎ | 10118/30000 [4:42:32<9:13:18, 1.67s/it] 34%|███▎ | 10119/30000 [4:42:34<9:13:13, 1.67s/it] 34%|███▎ | 10120/30000 [4:42:36<9:13:16, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.14911524951457977, 'learning_rate': 2.3724224369810856e-05, 'flow_matching_loss': 0.02152747381478548, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.94} + 34%|███▎ | 10120/30000 [4:42:36<9:13:16, 1.67s/it] 34%|███▎ | 10121/30000 [4:42:37<9:12:47, 1.67s/it] 34%|███▎ | 10122/30000 [4:42:39<9:12:30, 1.67s/it] 34%|███▎ | 10123/30000 [4:42:41<9:12:25, 1.67s/it] 34%|███▎ | 10124/30000 [4:42:42<9:12:28, 1.67s/it] 34%|███▍ | 10125/30000 [4:42:44<9:12:10, 1.67s/it] 34%|███▍ | 10126/30000 [4:42:46<9:11:55, 1.67s/it] 34%|███▍ | 10127/30000 [4:42:47<9:13:10, 1.67s/it] 34%|███▍ | 10128/30000 [4:42:49<9:12:26, 1.67s/it] 34%|███▍ | 10129/30000 [4:42:51<9:12:17, 1.67s/it] 34%|███▍ | 10130/30000 [4:42:52<9:11:54, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.10200528055429459, 'learning_rate': 2.3710768686767015e-05, 'flow_matching_loss': 0.019762330409139394, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.95} + 34%|███▍ | 10130/30000 [4:42:52<9:11:54, 1.67s/it] 34%|███▍ | 10131/30000 [4:42:54<9:13:33, 1.67s/it] 34%|███▍ | 10132/30000 [4:42:56<9:13:25, 1.67s/it] 34%|███▍ | 10133/30000 [4:42:57<9:13:40, 1.67s/it] 34%|███▍ | 10134/30000 [4:42:59<9:12:30, 1.67s/it] 34%|███▍ | 10135/30000 [4:43:01<9:12:13, 1.67s/it] 34%|███▍ | 10136/30000 [4:43:02<9:12:06, 1.67s/it] 34%|███▍ | 10137/30000 [4:43:04<9:12:23, 1.67s/it] 34%|███▍ | 10138/30000 [4:43:06<9:13:03, 1.67s/it] 34%|███▍ | 10139/30000 [4:43:07<9:12:24, 1.67s/it] 34%|███▍ | 10140/30000 [4:43:09<9:12:45, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.1431790143251419, 'learning_rate': 2.3697302419317856e-05, 'flow_matching_loss': 0.02156563438475132, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.95} + 34%|███▍ | 10140/30000 [4:43:09<9:12:45, 1.67s/it] 34%|███▍ | 10141/30000 [4:43:11<9:11:36, 1.67s/it] 34%|███▍ | 10142/30000 [4:43:12<9:11:38, 1.67s/it] 34%|███▍ | 10143/30000 [4:43:14<9:11:22, 1.67s/it] 34%|███▍ | 10144/30000 [4:43:16<9:12:54, 1.67s/it] 34%|███▍ | 10145/30000 [4:43:17<9:11:22, 1.67s/it] 34%|███▍ | 10146/30000 [4:43:19<9:11:36, 1.67s/it] 34%|███▍ | 10147/30000 [4:43:21<9:10:49, 1.66s/it] 34%|███▍ | 10148/30000 [4:43:22<9:10:58, 1.67s/it] 34%|███▍ | 10149/30000 [4:43:24<9:11:08, 1.67s/it] 34%|███▍ | 10150/30000 [4:43:26<9:11:11, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09197437018156052, 'learning_rate': 2.3683825583826146e-05, 'flow_matching_loss': 0.019275465235114097, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.95} + 34%|███▍ | 10150/30000 [4:43:26<9:11:11, 1.67s/it] 34%|███▍ | 10151/30000 [4:43:27<9:11:42, 1.67s/it] 34%|███▍ | 10152/30000 [4:43:29<9:11:52, 1.67s/it] 34%|███▍ | 10153/30000 [4:43:31<9:11:59, 1.67s/it] 34%|███▍ | 10154/30000 [4:43:32<9:12:19, 1.67s/it] 34%|███▍ | 10155/30000 [4:43:34<9:12:10, 1.67s/it] 34%|███▍ | 10156/30000 [4:43:36<9:11:29, 1.67s/it] 34%|███▍ | 10157/30000 [4:43:37<9:11:31, 1.67s/it] 34%|███▍ | 10158/30000 [4:43:39<9:12:22, 1.67s/it] 34%|███▍ | 10159/30000 [4:43:41<9:11:58, 1.67s/it] 34%|███▍ | 10160/30000 [4:43:42<9:12:28, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.16081272065639496, 'learning_rate': 2.3670338196667528e-05, 'flow_matching_loss': 0.020385732129216193, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.96} + 34%|███▍ | 10160/30000 [4:43:43<9:12:28, 1.67s/it] 34%|███▍ | 10161/30000 [4:43:44<9:11:20, 1.67s/it] 34%|███▍ | 10162/30000 [4:43:46<9:12:11, 1.67s/it] 34%|███▍ | 10163/30000 [4:43:47<9:11:19, 1.67s/it] 34%|███▍ | 10164/30000 [4:43:49<9:11:49, 1.67s/it] 34%|███▍ | 10165/30000 [4:43:51<9:10:29, 1.67s/it] 34%|███▍ | 10166/30000 [4:43:52<9:10:30, 1.67s/it] 34%|███▍ | 10167/30000 [4:43:54<9:11:32, 1.67s/it] 34%|███▍ | 10168/30000 [4:43:56<9:11:42, 1.67s/it] 34%|███▍ | 10169/30000 [4:43:57<9:10:47, 1.67s/it] 34%|███▍ | 10170/30000 [4:43:59<9:12:23, 1.67s/it] {'loss': 0.0243, 'grad_norm': 0.1395365595817566, 'learning_rate': 2.3656840274230443e-05, 'flow_matching_loss': 0.024328008666634558, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.96} + 34%|███▍ | 10170/30000 [4:43:59<9:12:23, 1.67s/it] 34%|███▍ | 10171/30000 [4:44:01<9:11:07, 1.67s/it] 34%|███▍ | 10172/30000 [4:44:02<9:10:58, 1.67s/it] 34%|███▍ | 10173/30000 [4:44:04<9:10:07, 1.66s/it] 34%|███▍ | 10174/30000 [4:44:06<9:09:42, 1.66s/it] 34%|███▍ | 10175/30000 [4:44:07<9:10:11, 1.67s/it] 34%|███▍ | 10176/30000 [4:44:09<9:11:02, 1.67s/it] 34%|███▍ | 10177/30000 [4:44:11<9:10:12, 1.67s/it] 34%|███▍ | 10178/30000 [4:44:12<9:10:39, 1.67s/it] 34%|███▍ | 10179/30000 [4:44:14<9:10:48, 1.67s/it] 34%|███▍ | 10180/30000 [4:44:16<9:10:55, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.1569191962480545, 'learning_rate': 2.3643331832916133e-05, 'flow_matching_loss': 0.022296861559152604, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.96} + 34%|███▍ | 10180/30000 [4:44:16<9:10:55, 1.67s/it] 34%|███▍ | 10181/30000 [4:44:17<9:10:18, 1.67s/it] 34%|███▍ | 10182/30000 [4:44:19<9:10:04, 1.67s/it] 34%|███▍ | 10183/30000 [4:44:21<9:10:58, 1.67s/it] 34%|███▍ | 10184/30000 [4:44:22<9:09:25, 1.66s/it] 34%|███▍ | 10185/30000 [4:44:24<9:09:28, 1.66s/it] 34%|███▍ | 10186/30000 [4:44:26<9:10:01, 1.67s/it] 34%|███▍ | 10187/30000 [4:44:27<9:08:52, 1.66s/it] 34%|███▍ | 10188/30000 [4:44:29<9:09:31, 1.66s/it] 34%|███▍ | 10189/30000 [4:44:31<9:09:21, 1.66s/it] 34%|███▍ | 10190/30000 [4:44:32<9:10:16, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.1533532440662384, 'learning_rate': 2.362981288913863e-05, 'flow_matching_loss': 0.01942601054906845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.96} + 34%|███▍ | 10190/30000 [4:44:32<9:10:16, 1.67s/it] 34%|███▍ | 10191/30000 [4:44:34<9:11:25, 1.67s/it] 34%|███▍ | 10192/30000 [4:44:36<9:11:48, 1.67s/it] 34%|███▍ | 10193/30000 [4:44:37<9:10:30, 1.67s/it] 34%|███▍ | 10194/30000 [4:44:39<9:11:51, 1.67s/it] 34%|███▍ | 10195/30000 [4:44:41<9:13:07, 1.68s/it] 34%|███▍ | 10196/30000 [4:44:43<9:12:36, 1.67s/it] 34%|███▍ | 10197/30000 [4:44:44<9:11:17, 1.67s/it] 34%|███▍ | 10198/30000 [4:44:46<9:12:18, 1.67s/it] 34%|███▍ | 10199/30000 [4:44:48<9:11:20, 1.67s/it] 34%|███▍ | 10200/30000 [4:44:49<9:09:40, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.1124073788523674, 'learning_rate': 2.3616283459324737e-05, 'flow_matching_loss': 0.019458036124706268, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.97} + 34%|███▍ | 10200/30000 [4:44:49<9:09:40, 1.67s/it] 34%|███▍ | 10201/30000 [4:44:51<9:09:18, 1.66s/it] 34%|███▍ | 10202/30000 [4:44:52<9:09:56, 1.67s/it] 34%|███▍ | 10203/30000 [4:44:54<9:09:42, 1.67s/it] 34%|███▍ | 10204/30000 [4:44:56<9:09:48, 1.67s/it] 34%|███▍ | 10205/30000 [4:44:58<9:10:38, 1.67s/it] 34%|███▍ | 10206/30000 [4:44:59<9:11:20, 1.67s/it] 34%|███▍ | 10207/30000 [4:45:01<9:12:23, 1.67s/it] 34%|███▍ | 10208/30000 [4:45:03<9:11:12, 1.67s/it] 34%|███▍ | 10209/30000 [4:45:04<9:10:07, 1.67s/it] 34%|███▍ | 10210/30000 [4:45:06<9:09:47, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.11423555016517639, 'learning_rate': 2.3602743559913973e-05, 'flow_matching_loss': 0.021299112029373644, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.97} + 34%|███▍ | 10210/30000 [4:45:06<9:09:47, 1.67s/it] 34%|███▍ | 10211/30000 [4:45:08<9:09:40, 1.67s/it] 34%|███▍ | 10212/30000 [4:45:09<9:09:49, 1.67s/it] 34%|███▍ | 10213/30000 [4:45:11<9:09:05, 1.67s/it] 34%|███▍ | 10214/30000 [4:45:13<9:09:35, 1.67s/it] 34%|███▍ | 10215/30000 [4:45:14<9:08:46, 1.66s/it] 34%|███▍ | 10216/30000 [4:45:16<9:08:35, 1.66s/it] 34%|███▍ | 10217/30000 [4:45:17<9:08:14, 1.66s/it] 34%|███▍ | 10218/30000 [4:45:19<9:09:07, 1.67s/it] 34%|███▍ | 10219/30000 [4:45:21<9:10:13, 1.67s/it] 34%|███▍ | 10220/30000 [4:45:23<9:11:36, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.1578003168106079, 'learning_rate': 2.35891932073586e-05, 'flow_matching_loss': 0.023230204358696938, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.97} + 34%|███▍ | 10220/30000 [4:45:23<9:11:36, 1.67s/it] 34%|███▍ | 10221/30000 [4:45:24<9:10:42, 1.67s/it] 34%|███▍ | 10222/30000 [4:45:26<9:10:34, 1.67s/it] 34%|███▍ | 10223/30000 [4:45:28<9:11:50, 1.67s/it] 34%|███▍ | 10224/30000 [4:45:29<9:10:24, 1.67s/it] 34%|███▍ | 10225/30000 [4:45:31<9:09:55, 1.67s/it] 34%|███▍ | 10226/30000 [4:45:33<9:10:20, 1.67s/it] 34%|███▍ | 10227/30000 [4:45:34<9:10:03, 1.67s/it] 34%|███▍ | 10228/30000 [4:45:36<9:09:19, 1.67s/it] 34%|███▍ | 10229/30000 [4:45:38<9:08:28, 1.66s/it] 34%|███▍ | 10230/30000 [4:45:39<9:09:04, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.09245467185974121, 'learning_rate': 2.357563241812357e-05, 'flow_matching_loss': 0.02040958935394883, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.98} + 34%|███▍ | 10230/30000 [4:45:39<9:09:04, 1.67s/it] 34%|███▍ | 10231/30000 [4:45:41<9:09:34, 1.67s/it] 34%|███▍ | 10232/30000 [4:45:43<9:09:15, 1.67s/it] 34%|███▍ | 10233/30000 [4:45:44<9:09:42, 1.67s/it] 34%|███▍ | 10234/30000 [4:45:46<9:09:38, 1.67s/it] 34%|███▍ | 10235/30000 [4:45:48<9:08:43, 1.67s/it] 34%|███▍ | 10236/30000 [4:45:49<9:08:42, 1.67s/it] 34%|███▍ | 10237/30000 [4:45:51<9:07:51, 1.66s/it] 34%|███▍ | 10238/30000 [4:45:53<9:07:42, 1.66s/it] 34%|███▍ | 10239/30000 [4:45:54<9:08:05, 1.66s/it] 34%|███▍ | 10240/30000 [4:45:56<9:08:39, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.1040654331445694, 'learning_rate': 2.3562061208686522e-05, 'flow_matching_loss': 0.02099717753008008, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.98} + 34%|███▍ | 10240/30000 [4:45:56<9:08:39, 1.67s/it] 34%|███▍ | 10241/30000 [4:45:58<9:07:57, 1.66s/it] 34%|███▍ | 10242/30000 [4:45:59<9:08:21, 1.67s/it] 34%|███▍ | 10243/30000 [4:46:01<9:08:24, 1.67s/it] 34%|███▍ | 10244/30000 [4:46:03<9:08:41, 1.67s/it] 34%|███▍ | 10245/30000 [4:46:04<9:08:02, 1.66s/it] 34%|███▍ | 10246/30000 [4:46:06<9:08:36, 1.67s/it] 34%|███▍ | 10247/30000 [4:46:08<9:07:58, 1.66s/it] 34%|███▍ | 10248/30000 [4:46:09<9:08:54, 1.67s/it] 34%|███▍ | 10249/30000 [4:46:11<9:07:55, 1.66s/it] 34%|███▍ | 10250/30000 [4:46:13<9:08:50, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.13308900594711304, 'learning_rate': 2.354847959553776e-05, 'flow_matching_loss': 0.019624339323490857, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.98} + 34%|███▍ | 10250/30000 [4:46:13<9:08:50, 1.67s/it] 34%|███▍ | 10251/30000 [4:46:14<9:08:39, 1.67s/it] 34%|███▍ | 10252/30000 [4:46:16<9:08:27, 1.67s/it] 34%|███▍ | 10253/30000 [4:46:18<9:07:52, 1.66s/it] 34%|███▍ | 10254/30000 [4:46:19<9:08:40, 1.67s/it] 34%|███▍ | 10255/30000 [4:46:21<9:09:33, 1.67s/it] 34%|███▍ | 10256/30000 [4:46:23<9:08:48, 1.67s/it] 34%|███▍ | 10257/30000 [4:46:24<9:07:57, 1.67s/it] 34%|███▍ | 10258/30000 [4:46:26<9:07:40, 1.66s/it] 34%|███▍ | 10259/30000 [4:46:28<9:07:25, 1.66s/it] 34%|███▍ | 10260/30000 [4:46:29<9:07:45, 1.66s/it] {'loss': 0.0225, 'grad_norm': 0.11858028173446655, 'learning_rate': 2.353488759518022e-05, 'flow_matching_loss': 0.02247646003961563, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.99} + 34%|███▍ | 10260/30000 [4:46:29<9:07:45, 1.66s/it] 34%|███▍ | 10261/30000 [4:46:31<9:08:22, 1.67s/it] 34%|███▍ | 10262/30000 [4:46:33<9:09:34, 1.67s/it] 34%|███▍ | 10263/30000 [4:46:34<9:09:51, 1.67s/it] 34%|███▍ | 10264/30000 [4:46:36<9:08:43, 1.67s/it] 34%|███▍ | 10265/30000 [4:46:38<9:07:21, 1.66s/it] 34%|███▍ | 10266/30000 [4:46:39<9:08:09, 1.67s/it] 34%|███▍ | 10267/30000 [4:46:41<9:08:53, 1.67s/it] 34%|███▍ | 10268/30000 [4:46:43<9:08:19, 1.67s/it] 34%|███▍ | 10269/30000 [4:46:44<9:07:45, 1.67s/it] 34%|███▍ | 10270/30000 [4:46:46<9:08:32, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.11562421917915344, 'learning_rate': 2.352128522412946e-05, 'flow_matching_loss': 0.021869175042957066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.99} + 34%|███▍ | 10270/30000 [4:46:46<9:08:32, 1.67s/it] 34%|███▍ | 10271/30000 [4:46:48<9:09:32, 1.67s/it] 34%|███▍ | 10272/30000 [4:46:49<9:08:38, 1.67s/it] 34%|███▍ | 10273/30000 [4:46:51<9:07:48, 1.67s/it] 34%|███▍ | 10274/30000 [4:46:53<9:08:19, 1.67s/it] 34%|███▍ | 10275/30000 [4:46:54<9:08:14, 1.67s/it] 34%|███▍ | 10276/30000 [4:46:56<9:08:12, 1.67s/it] 34%|███▍ | 10277/30000 [4:46:58<9:07:29, 1.67s/it] 34%|███▍ | 10278/30000 [4:46:59<9:08:16, 1.67s/it] 34%|███▍ | 10279/30000 [4:47:01<9:08:15, 1.67s/it] 34%|███▍ | 10280/30000 [4:47:03<9:08:29, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.12579943239688873, 'learning_rate': 2.3507672498913653e-05, 'flow_matching_loss': 0.022854689974337816, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.99} + 34%|███▍ | 10280/30000 [4:47:03<9:08:29, 1.67s/it] 34%|███▍ | 10281/30000 [4:47:04<9:06:57, 1.66s/it] 34%|███▍ | 10282/30000 [4:47:06<9:08:05, 1.67s/it] 34%|███▍ | 10283/30000 [4:47:08<9:07:43, 1.67s/it] 34%|███▍ | 10284/30000 [4:47:09<9:07:18, 1.67s/it] 34%|███▍ | 10285/30000 [4:47:11<9:06:27, 1.66s/it] 34%|███▍ | 10286/30000 [4:47:13<9:07:17, 1.67s/it] 34%|███▍ | 10287/30000 [4:47:14<9:07:45, 1.67s/it] 34%|███▍ | 10288/30000 [4:47:16<9:07:21, 1.67s/it] 34%|███▍ | 10289/30000 [4:47:18<9:06:31, 1.66s/it] 34%|███▍ | 10290/30000 [4:47:19<9:07:19, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.13726136088371277, 'learning_rate': 2.3494049436073537e-05, 'flow_matching_loss': 0.02189864609390497, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 2.99} + 34%|███▍ | 10290/30000 [4:47:19<9:07:19, 1.67s/it] 34%|███▍ | 10291/30000 [4:47:21<9:07:51, 1.67s/it] 34%|███▍ | 10292/30000 [4:47:23<9:07:58, 1.67s/it] 34%|███▍ | 10293/30000 [4:47:24<9:08:04, 1.67s/it] 34%|███▍ | 10294/30000 [4:47:26<9:08:58, 1.67s/it] 34%|███▍ | 10295/30000 [4:47:28<9:09:20, 1.67s/it] 34%|███▍ | 10296/30000 [4:47:29<9:07:50, 1.67s/it] 34%|███▍ | 10297/30000 [4:47:31<9:06:04, 1.66s/it] 34%|███▍ | 10298/30000 [4:47:33<9:05:43, 1.66s/it] 34%|███▍ | 10299/30000 [4:47:34<9:05:04, 1.66s/it] 34%|███▍ | 10300/30000 [4:47:36<9:03:59, 1.66s/it] {'loss': 0.0214, 'grad_norm': 0.14368902146816254, 'learning_rate': 2.348041605216242e-05, 'flow_matching_loss': 0.021382375992834567, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.0} + 34%|███▍ | 10300/30000 [4:47:36<9:03:59, 1.66s/it] 34%|███▍ | 10301/30000 [4:47:37<9:03:31, 1.66s/it] 34%|███▍ | 10302/30000 [4:47:39<9:04:09, 1.66s/it] 34%|███▍ | 10303/30000 [4:47:41<9:03:50, 1.66s/it] 34%|███▍ | 10304/30000 [4:47:42<9:02:59, 1.65s/it] 34%|███▍ | 10305/30000 [4:47:44<9:02:28, 1.65s/it] 34%|███▍ | 10306/30000 [4:47:46<9:03:16, 1.66s/it] 34%|███▍ | 10307/30000 [4:47:47<9:03:05, 1.65s/it] 34%|███▍ | 10308/30000 [4:47:49<9:03:17, 1.66s/it] 34%|███▍ | 10309/30000 [4:47:51<9:02:25, 1.65s/it] 34%|███▍ | 10310/30000 [4:47:52<9:02:58, 1.65s/it] {'loss': 0.0223, 'grad_norm': 0.11294040828943253, 'learning_rate': 2.3466772363746146e-05, 'flow_matching_loss': 0.022346505708992482, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.0} + 34%|███▍ | 10310/30000 [4:47:52<9:02:58, 1.65s/it] 34%|███▍ | 10311/30000 [4:47:54<9:01:25, 1.65s/it] 34%|███▍ | 10312/30000 [4:48:03<20:32:06, 3.75s/it] 34%|███▍ | 10313/30000 [4:48:04<17:08:44, 3.14s/it] 34%|███▍ | 10314/30000 [4:48:06<14:44:56, 2.70s/it] 34%|███▍ | 10315/30000 [4:48:08<13:05:53, 2.40s/it] 34%|███▍ | 10316/30000 [4:48:09<11:55:41, 2.18s/it] 34%|███▍ | 10317/30000 [4:48:11<11:05:56, 2.03s/it] 34%|███▍ | 10318/30000 [4:48:13<10:30:25, 1.92s/it] 34%|███▍ | 10319/30000 [4:48:14<10:07:45, 1.85s/it] 34%|███▍ | 10320/30000 [4:48:16<9:50:29, 1.80s/it] {'loss': 0.0195, 'grad_norm': 0.10990166664123535, 'learning_rate': 2.345311838740309e-05, 'flow_matching_loss': 0.019494285713881253, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.0} + 34%|███▍ | 10320/30000 [4:48:16<9:50:29, 1.80s/it] 34%|███▍ | 10321/30000 [4:48:18<9:36:28, 1.76s/it] 34%|███▍ | 10322/30000 [4:48:19<9:26:17, 1.73s/it] 34%|███▍ | 10323/30000 [4:48:21<9:19:42, 1.71s/it] 34%|███▍ | 10324/30000 [4:48:23<9:15:20, 1.69s/it] 34%|███▍ | 10325/30000 [4:48:24<9:11:32, 1.68s/it] 34%|███▍ | 10326/30000 [4:48:26<9:08:26, 1.67s/it] 34%|███▍ | 10327/30000 [4:48:28<9:09:45, 1.68s/it] 34%|███▍ | 10328/30000 [4:48:29<9:08:35, 1.67s/it] 34%|███▍ | 10329/30000 [4:48:31<9:07:12, 1.67s/it] 34%|███▍ | 10330/30000 [4:48:33<9:05:18, 1.66s/it] {'loss': 0.0215, 'grad_norm': 0.13811737298965454, 'learning_rate': 2.343945413972411e-05, 'flow_matching_loss': 0.021510250587016343, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.01} + 34%|███▍ | 10330/30000 [4:48:33<9:05:18, 1.66s/it] 34%|███▍ | 10331/30000 [4:48:34<9:05:44, 1.66s/it] 34%|███▍ | 10332/30000 [4:48:36<9:05:50, 1.67s/it] 34%|███▍ | 10333/30000 [4:48:38<9:05:48, 1.67s/it] 34%|███▍ | 10334/30000 [4:48:39<9:04:02, 1.66s/it] 34%|███▍ | 10335/30000 [4:48:41<9:05:25, 1.66s/it] 34%|███▍ | 10336/30000 [4:48:43<9:05:42, 1.67s/it] 34%|███▍ | 10337/30000 [4:48:44<9:06:41, 1.67s/it] 34%|███▍ | 10338/30000 [4:48:46<9:05:33, 1.66s/it] 34%|███▍ | 10339/30000 [4:48:48<9:05:41, 1.67s/it] 34%|███▍ | 10340/30000 [4:48:49<9:05:55, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.15462151169776917, 'learning_rate': 2.3425779637312568e-05, 'flow_matching_loss': 0.02214889507740736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.01} + 34%|███▍ | 10340/30000 [4:48:49<9:05:55, 1.67s/it] 34%|███▍ | 10341/30000 [4:48:51<9:05:44, 1.67s/it] 34%|███▍ | 10342/30000 [4:48:53<9:05:09, 1.66s/it] 34%|███▍ | 10343/30000 [4:48:54<9:06:19, 1.67s/it] 34%|███▍ | 10344/30000 [4:48:56<9:05:13, 1.66s/it] 34%|███▍ | 10345/30000 [4:48:58<9:05:21, 1.66s/it] 34%|███▍ | 10346/30000 [4:48:59<9:04:16, 1.66s/it] 34%|███▍ | 10347/30000 [4:49:01<9:05:35, 1.67s/it] 34%|███▍ | 10348/30000 [4:49:03<9:05:57, 1.67s/it] 34%|███▍ | 10349/30000 [4:49:04<9:05:11, 1.66s/it] 34%|███▍ | 10350/30000 [4:49:06<9:04:30, 1.66s/it] {'loss': 0.0226, 'grad_norm': 0.11771894246339798, 'learning_rate': 2.3412094896784264e-05, 'flow_matching_loss': 0.022567518055438995, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.01} + 34%|███▍ | 10350/30000 [4:49:06<9:04:30, 1.66s/it] 35%|███▍ | 10351/30000 [4:49:08<9:04:38, 1.66s/it] 35%|███▍ | 10352/30000 [4:49:09<9:05:25, 1.67s/it] 35%|███▍ | 10353/30000 [4:49:11<9:05:23, 1.67s/it] 35%|███▍ | 10354/30000 [4:49:13<9:04:01, 1.66s/it] 35%|███▍ | 10355/30000 [4:49:14<9:06:11, 1.67s/it] 35%|███▍ | 10356/30000 [4:49:16<9:04:47, 1.66s/it] 35%|███▍ | 10357/30000 [4:49:18<9:04:56, 1.66s/it] 35%|███▍ | 10358/30000 [4:49:19<9:04:26, 1.66s/it] 35%|███▍ | 10359/30000 [4:49:21<9:05:40, 1.67s/it] 35%|███▍ | 10360/30000 [4:49:23<9:04:29, 1.66s/it] {'loss': 0.0215, 'grad_norm': 0.10486352443695068, 'learning_rate': 2.339839993476745e-05, 'flow_matching_loss': 0.02153351381421089, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.01} + 35%|███▍ | 10360/30000 [4:49:23<9:04:29, 1.66s/it] 35%|███▍ | 10361/30000 [4:49:24<9:05:51, 1.67s/it] 35%|███▍ | 10362/30000 [4:49:26<9:05:09, 1.67s/it] 35%|███▍ | 10363/30000 [4:49:28<9:05:27, 1.67s/it] 35%|███▍ | 10364/30000 [4:49:29<9:05:44, 1.67s/it] 35%|███▍ | 10365/30000 [4:49:31<9:05:39, 1.67s/it] 35%|███▍ | 10366/30000 [4:49:33<9:05:06, 1.67s/it] 35%|███▍ | 10367/30000 [4:49:34<9:05:43, 1.67s/it] 35%|███▍ | 10368/30000 [4:49:36<9:05:30, 1.67s/it] 35%|███▍ | 10369/30000 [4:49:38<9:05:05, 1.67s/it] 35%|███▍ | 10370/30000 [4:49:39<9:04:47, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.12749214470386505, 'learning_rate': 2.3384694767902804e-05, 'flow_matching_loss': 0.019913619570434093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.02} + 35%|███▍ | 10370/30000 [4:49:39<9:04:47, 1.67s/it] 35%|███▍ | 10371/30000 [4:49:41<9:04:53, 1.67s/it] 35%|███▍ | 10372/30000 [4:49:43<9:04:27, 1.66s/it] 35%|███▍ | 10373/30000 [4:49:44<9:03:43, 1.66s/it] 35%|███▍ | 10374/30000 [4:49:46<9:02:58, 1.66s/it] 35%|███▍ | 10375/30000 [4:49:48<9:03:45, 1.66s/it] 35%|███▍ | 10376/30000 [4:49:49<9:03:53, 1.66s/it] 35%|███▍ | 10377/30000 [4:49:51<9:03:55, 1.66s/it] 35%|███▍ | 10378/30000 [4:49:53<9:03:44, 1.66s/it] 35%|███▍ | 10379/30000 [4:49:54<9:04:30, 1.67s/it] 35%|███▍ | 10380/30000 [4:49:56<9:05:46, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.15458688139915466, 'learning_rate': 2.3370979412843384e-05, 'flow_matching_loss': 0.020988656766712667, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.02} + 35%|███▍ | 10380/30000 [4:49:56<9:05:46, 1.67s/it] 35%|███▍ | 10381/30000 [4:49:58<9:04:52, 1.67s/it] 35%|███▍ | 10382/30000 [4:49:59<9:04:02, 1.66s/it] 35%|███▍ | 10383/30000 [4:50:01<9:04:57, 1.67s/it] 35%|███▍ | 10384/30000 [4:50:03<9:03:54, 1.66s/it] 35%|███▍ | 10385/30000 [4:50:04<9:03:37, 1.66s/it] 35%|███▍ | 10386/30000 [4:50:06<9:02:56, 1.66s/it] 35%|███▍ | 10387/30000 [4:50:08<9:03:30, 1.66s/it] 35%|███▍ | 10388/30000 [4:50:09<9:04:46, 1.67s/it] 35%|███▍ | 10389/30000 [4:50:11<9:04:26, 1.67s/it] 35%|███▍ | 10390/30000 [4:50:13<9:05:01, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.11618637293577194, 'learning_rate': 2.3357253886254648e-05, 'flow_matching_loss': 0.021728816069662572, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.02} + 35%|███▍ | 10390/30000 [4:50:13<9:05:01, 1.67s/it] 35%|███▍ | 10391/30000 [4:50:14<9:05:31, 1.67s/it] 35%|███▍ | 10392/30000 [4:50:16<9:06:09, 1.67s/it] 35%|███▍ | 10393/30000 [4:50:18<9:05:34, 1.67s/it] 35%|███▍ | 10394/30000 [4:50:19<9:04:52, 1.67s/it] 35%|███▍ | 10395/30000 [4:50:21<9:05:38, 1.67s/it] 35%|███▍ | 10396/30000 [4:50:23<9:04:54, 1.67s/it] 35%|███▍ | 10397/30000 [4:50:24<9:04:33, 1.67s/it] 35%|███▍ | 10398/30000 [4:50:26<9:03:50, 1.66s/it] 35%|███▍ | 10399/30000 [4:50:28<9:04:29, 1.67s/it] 35%|███▍ | 10400/30000 [4:50:29<9:05:01, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.11419917643070221, 'learning_rate': 2.3343518204814407e-05, 'flow_matching_loss': 0.022251419723033905, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.03} + 35%|███▍ | 10400/30000 [4:50:29<9:05:01, 1.67s/it] 35%|███▍ | 10401/30000 [4:50:31<9:03:55, 1.67s/it] 35%|███▍ | 10402/30000 [4:50:33<9:03:15, 1.66s/it] 35%|███▍ | 10403/30000 [4:50:34<9:04:12, 1.67s/it] 35%|███▍ | 10404/30000 [4:50:36<9:04:19, 1.67s/it] 35%|███▍ | 10405/30000 [4:50:38<9:03:57, 1.67s/it] 35%|███▍ | 10406/30000 [4:50:39<9:03:36, 1.66s/it] 35%|███▍ | 10407/30000 [4:50:41<9:03:54, 1.67s/it] 35%|███▍ | 10408/30000 [4:50:43<9:03:32, 1.66s/it] 35%|███▍ | 10409/30000 [4:50:44<9:03:11, 1.66s/it] 35%|███▍ | 10410/30000 [4:50:46<9:02:23, 1.66s/it] {'loss': 0.0218, 'grad_norm': 0.10963138192892075, 'learning_rate': 2.3329772385212798e-05, 'flow_matching_loss': 0.021834767796099185, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.03} + 35%|███▍ | 10410/30000 [4:50:46<9:02:23, 1.66s/it] 35%|███▍ | 10411/30000 [4:50:48<9:03:07, 1.66s/it] 35%|███▍ | 10412/30000 [4:50:49<9:03:41, 1.67s/it] 35%|███▍ | 10413/30000 [4:50:51<9:03:36, 1.67s/it] 35%|███▍ | 10414/30000 [4:50:53<9:03:40, 1.67s/it] 35%|███▍ | 10415/30000 [4:50:54<9:04:16, 1.67s/it] 35%|███▍ | 10416/30000 [4:50:56<9:03:39, 1.67s/it] 35%|███▍ | 10417/30000 [4:50:58<9:03:27, 1.67s/it] 35%|███▍ | 10418/30000 [4:50:59<9:03:13, 1.66s/it] 35%|███▍ | 10419/30000 [4:51:01<9:03:25, 1.67s/it] 35%|███▍ | 10420/30000 [4:51:03<9:02:18, 1.66s/it] {'loss': 0.0207, 'grad_norm': 0.12446524202823639, 'learning_rate': 2.3316016444152296e-05, 'flow_matching_loss': 0.02066099215298891, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.03} + 35%|███▍ | 10420/30000 [4:51:03<9:02:18, 1.66s/it] 35%|███▍ | 10421/30000 [4:51:04<9:03:05, 1.66s/it] 35%|███▍ | 10422/30000 [4:51:06<9:02:26, 1.66s/it] 35%|███▍ | 10423/30000 [4:51:08<9:03:38, 1.67s/it] 35%|███▍ | 10424/30000 [4:51:09<9:03:06, 1.66s/it] 35%|███▍ | 10425/30000 [4:51:11<9:03:14, 1.67s/it] 35%|███▍ | 10426/30000 [4:51:13<9:03:21, 1.67s/it] 35%|███▍ | 10427/30000 [4:51:14<9:04:06, 1.67s/it] 35%|███▍ | 10428/30000 [4:51:16<9:03:35, 1.67s/it] 35%|███▍ | 10429/30000 [4:51:18<9:03:11, 1.67s/it] 35%|███▍ | 10430/30000 [4:51:19<9:01:40, 1.66s/it] {'loss': 0.019, 'grad_norm': 0.10214889794588089, 'learning_rate': 2.3302250398347668e-05, 'flow_matching_loss': 0.019023910630494356, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.03} + 35%|███▍ | 10430/30000 [4:51:19<9:01:40, 1.66s/it] 35%|███▍ | 10431/30000 [4:51:21<9:03:37, 1.67s/it] 35%|███▍ | 10432/30000 [4:51:23<9:03:23, 1.67s/it] 35%|███▍ | 10433/30000 [4:51:24<9:03:14, 1.67s/it] 35%|███▍ | 10434/30000 [4:51:26<9:02:32, 1.66s/it] 35%|███▍ | 10435/30000 [4:51:28<9:03:12, 1.67s/it] 35%|███▍ | 10436/30000 [4:51:29<9:03:06, 1.67s/it] 35%|███▍ | 10437/30000 [4:51:31<9:03:44, 1.67s/it] 35%|███▍ | 10438/30000 [4:51:33<9:01:38, 1.66s/it] 35%|███▍ | 10439/30000 [4:51:34<9:02:10, 1.66s/it] 35%|███▍ | 10440/30000 [4:51:36<9:02:26, 1.66s/it] {'loss': 0.0203, 'grad_norm': 0.12613055109977722, 'learning_rate': 2.328847426452595e-05, 'flow_matching_loss': 0.020316259190440177, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.04} + 35%|███▍ | 10440/30000 [4:51:36<9:02:26, 1.66s/it] 35%|███▍ | 10441/30000 [4:51:38<9:02:42, 1.66s/it] 35%|███▍ | 10442/30000 [4:51:39<9:01:17, 1.66s/it] 35%|███▍ | 10443/30000 [4:51:41<9:03:17, 1.67s/it] 35%|███▍ | 10444/30000 [4:51:43<9:03:11, 1.67s/it] 35%|███▍ | 10445/30000 [4:51:44<9:01:57, 1.66s/it] 35%|███▍ | 10446/30000 [4:51:46<9:01:39, 1.66s/it] 35%|███▍ | 10447/30000 [4:51:48<9:02:12, 1.66s/it] 35%|███▍ | 10448/30000 [4:51:49<9:02:45, 1.67s/it] 35%|███▍ | 10449/30000 [4:51:51<9:03:05, 1.67s/it] 35%|███▍ | 10450/30000 [4:51:53<9:02:17, 1.66s/it] {'loss': 0.0211, 'grad_norm': 0.12249045819044113, 'learning_rate': 2.3274688059426456e-05, 'flow_matching_loss': 0.02105578752234578, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.04} + 35%|███▍ | 10450/30000 [4:51:53<9:02:17, 1.66s/it] 35%|███▍ | 10451/30000 [4:51:54<9:03:01, 1.67s/it] 35%|███▍ | 10452/30000 [4:51:56<9:02:44, 1.67s/it] 35%|███▍ | 10453/30000 [4:51:58<9:02:32, 1.67s/it] 35%|███▍ | 10454/30000 [4:51:59<9:01:42, 1.66s/it] 35%|███▍ | 10455/30000 [4:52:01<9:03:02, 1.67s/it] 35%|███▍ | 10456/30000 [4:52:03<9:01:37, 1.66s/it] 35%|███▍ | 10457/30000 [4:52:04<9:01:45, 1.66s/it] 35%|███▍ | 10458/30000 [4:52:06<9:01:33, 1.66s/it] 35%|███▍ | 10459/30000 [4:52:08<9:01:52, 1.66s/it] 35%|███▍ | 10460/30000 [4:52:09<9:02:11, 1.66s/it] {'loss': 0.0227, 'grad_norm': 0.12361843138933182, 'learning_rate': 2.3260891799800715e-05, 'flow_matching_loss': 0.022659806720912456, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.04} + 35%|███▍ | 10460/30000 [4:52:09<9:02:11, 1.66s/it] 35%|███▍ | 10461/30000 [4:52:11<9:02:33, 1.67s/it] 35%|███▍ | 10462/30000 [4:52:13<9:01:51, 1.66s/it] 35%|███▍ | 10463/30000 [4:52:14<9:02:47, 1.67s/it] 35%|███▍ | 10464/30000 [4:52:16<9:02:33, 1.67s/it] 35%|███▍ | 10465/30000 [4:52:18<9:02:45, 1.67s/it] 35%|███▍ | 10466/30000 [4:52:19<9:01:55, 1.66s/it] 35%|███▍ | 10467/30000 [4:52:21<9:02:38, 1.67s/it] 35%|███▍ | 10468/30000 [4:52:23<9:02:59, 1.67s/it] 35%|███▍ | 10469/30000 [4:52:24<9:02:53, 1.67s/it] 35%|███▍ | 10470/30000 [4:52:26<9:02:02, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.13693936169147491, 'learning_rate': 2.3247085502412482e-05, 'flow_matching_loss': 0.019504118151962756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.05} + 35%|███▍ | 10470/30000 [4:52:26<9:02:02, 1.67s/it] 35%|███▍ | 10471/30000 [4:52:28<9:02:54, 1.67s/it] 35%|███▍ | 10472/30000 [4:52:29<9:03:18, 1.67s/it] 35%|███▍ | 10473/30000 [4:52:31<9:03:55, 1.67s/it] 35%|███▍ | 10474/30000 [4:52:33<9:02:33, 1.67s/it] 35%|███▍ | 10475/30000 [4:52:34<9:02:41, 1.67s/it] 35%|███▍ | 10476/30000 [4:52:36<9:02:34, 1.67s/it] 35%|███▍ | 10477/30000 [4:52:38<9:01:53, 1.67s/it] 35%|███▍ | 10478/30000 [4:52:39<9:01:42, 1.66s/it] 35%|███▍ | 10479/30000 [4:52:41<9:02:28, 1.67s/it] 35%|███▍ | 10480/30000 [4:52:43<9:01:52, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.12695689499378204, 'learning_rate': 2.3233269184037717e-05, 'flow_matching_loss': 0.020898974593728782, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.05} + 35%|███▍ | 10480/30000 [4:52:43<9:01:52, 1.67s/it] 35%|███▍ | 10481/30000 [4:52:44<9:03:19, 1.67s/it] 35%|███▍ | 10482/30000 [4:52:46<9:02:49, 1.67s/it] 35%|███▍ | 10483/30000 [4:52:48<9:02:53, 1.67s/it] 35%|███▍ | 10484/30000 [4:52:49<9:02:25, 1.67s/it] 35%|███▍ | 10485/30000 [4:52:51<9:01:43, 1.67s/it] 35%|███▍ | 10486/30000 [4:52:53<9:02:54, 1.67s/it] 35%|███▍ | 10487/30000 [4:52:54<9:02:59, 1.67s/it] 35%|███▍ | 10488/30000 [4:52:56<9:03:15, 1.67s/it] 35%|███▍ | 10489/30000 [4:52:58<9:03:46, 1.67s/it] 35%|███▍ | 10490/30000 [4:52:59<9:02:32, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.09140938520431519, 'learning_rate': 2.3219442861464547e-05, 'flow_matching_loss': 0.02247872520238161, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.05} + 35%|███▍ | 10490/30000 [4:52:59<9:02:32, 1.67s/it] 35%|███▍ | 10491/30000 [4:53:01<9:02:45, 1.67s/it] 35%|███▍ | 10492/30000 [4:53:03<9:02:26, 1.67s/it] 35%|███▍ | 10493/30000 [4:53:04<9:01:46, 1.67s/it] 35%|███▍ | 10494/30000 [4:53:06<9:01:41, 1.67s/it] 35%|███▍ | 10495/30000 [4:53:08<9:01:30, 1.67s/it] 35%|███▍ | 10496/30000 [4:53:09<9:02:07, 1.67s/it] 35%|███▍ | 10497/30000 [4:53:11<9:02:21, 1.67s/it] 35%|███▍ | 10498/30000 [4:53:13<9:02:19, 1.67s/it] 35%|███▍ | 10499/30000 [4:53:14<9:03:40, 1.67s/it] 35%|███▌ | 10500/30000 [4:53:16<9:04:11, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.10843974351882935, 'learning_rate': 2.3205606551493255e-05, 'flow_matching_loss': 0.025482006650418044, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.05} + 35%|███▌ | 10500/30000 [4:53:16<9:04:11, 1.67s/it] 35%|███▌ | 10501/30000 [4:53:18<9:03:00, 1.67s/it] 35%|███▌ | 10502/30000 [4:53:19<9:02:10, 1.67s/it] 35%|███▌ | 10503/30000 [4:53:21<9:03:09, 1.67s/it] 35%|███▌ | 10504/30000 [4:53:23<9:03:23, 1.67s/it] 35%|███▌ | 10505/30000 [4:53:24<9:02:47, 1.67s/it] 35%|███▌ | 10506/30000 [4:53:26<9:02:17, 1.67s/it] 35%|███▌ | 10507/30000 [4:53:28<9:02:24, 1.67s/it] 35%|███▌ | 10508/30000 [4:53:29<9:01:37, 1.67s/it] 35%|███▌ | 10509/30000 [4:53:31<9:02:34, 1.67s/it] 35%|███▌ | 10510/30000 [4:53:33<9:01:59, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.1305042952299118, 'learning_rate': 2.319176027093627e-05, 'flow_matching_loss': 0.019743680953979492, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.06} + 35%|███▌ | 10510/30000 [4:53:33<9:01:59, 1.67s/it] 35%|███▌ | 10511/30000 [4:53:34<9:02:32, 1.67s/it] 35%|███▌ | 10512/30000 [4:53:36<9:02:17, 1.67s/it] 35%|███▌ | 10513/30000 [4:53:38<9:02:22, 1.67s/it] 35%|███▌ | 10514/30000 [4:53:39<9:01:50, 1.67s/it] 35%|███▌ | 10515/30000 [4:53:41<9:02:12, 1.67s/it] 35%|███▌ | 10516/30000 [4:53:43<9:02:17, 1.67s/it] 35%|███▌ | 10517/30000 [4:53:44<9:01:55, 1.67s/it] 35%|███▌ | 10518/30000 [4:53:46<9:01:20, 1.67s/it] 35%|███▌ | 10519/30000 [4:53:48<9:01:51, 1.67s/it] 35%|███▌ | 10520/30000 [4:53:49<9:02:30, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.1334257870912552, 'learning_rate': 2.3177904036618117e-05, 'flow_matching_loss': 0.019849172327667475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.06} + 35%|███▌ | 10520/30000 [4:53:49<9:02:30, 1.67s/it] 35%|███▌ | 10521/30000 [4:53:51<9:02:12, 1.67s/it] 35%|███▌ | 10522/30000 [4:53:53<9:01:37, 1.67s/it] 35%|███▌ | 10523/30000 [4:53:54<9:02:13, 1.67s/it] 35%|███▌ | 10524/30000 [4:53:56<9:02:18, 1.67s/it] 35%|███▌ | 10525/30000 [4:53:58<9:02:17, 1.67s/it] 35%|███▌ | 10526/30000 [4:53:59<9:01:18, 1.67s/it] 35%|███▌ | 10527/30000 [4:54:01<9:02:10, 1.67s/it] 35%|███▌ | 10528/30000 [4:54:03<9:01:40, 1.67s/it] 35%|███▌ | 10529/30000 [4:54:04<9:03:07, 1.67s/it] 35%|███▌ | 10530/30000 [4:54:06<9:02:59, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.18292416632175446, 'learning_rate': 2.316403786537544e-05, 'flow_matching_loss': 0.02393969278782606, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.06} + 35%|███▌ | 10530/30000 [4:54:06<9:02:59, 1.67s/it] 35%|███▌ | 10531/30000 [4:54:08<9:03:13, 1.67s/it] 35%|███▌ | 10532/30000 [4:54:09<9:03:08, 1.67s/it] 35%|███▌ | 10533/30000 [4:54:11<9:02:14, 1.67s/it] 35%|███▌ | 10534/30000 [4:54:13<9:01:23, 1.67s/it] 35%|███▌ | 10535/30000 [4:54:14<9:01:26, 1.67s/it] 35%|███▌ | 10536/30000 [4:54:16<9:01:59, 1.67s/it] 35%|███▌ | 10537/30000 [4:54:18<9:01:34, 1.67s/it] 35%|███▌ | 10538/30000 [4:54:19<9:00:42, 1.67s/it] 35%|███▌ | 10539/30000 [4:54:21<9:02:26, 1.67s/it] 35%|███▌ | 10540/30000 [4:54:23<9:02:08, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.10539653152227402, 'learning_rate': 2.3150161774056933e-05, 'flow_matching_loss': 0.022185854148119688, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.07} + 35%|███▌ | 10540/30000 [4:54:23<9:02:08, 1.67s/it] 35%|███▌ | 10541/30000 [4:54:24<9:01:42, 1.67s/it] 35%|███▌ | 10542/30000 [4:54:26<9:02:28, 1.67s/it] 35%|███▌ | 10543/30000 [4:54:28<9:02:22, 1.67s/it] 35%|███▌ | 10544/30000 [4:54:29<9:02:56, 1.67s/it] 35%|███▌ | 10545/30000 [4:54:31<9:03:12, 1.68s/it] 35%|███▌ | 10546/30000 [4:54:33<9:02:04, 1.67s/it] 35%|███▌ | 10547/30000 [4:54:34<9:01:33, 1.67s/it] 35%|███▌ | 10548/30000 [4:54:36<9:02:29, 1.67s/it] 35%|███▌ | 10549/30000 [4:54:38<9:00:51, 1.67s/it] 35%|███▌ | 10550/30000 [4:54:39<9:00:26, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.13990379869937897, 'learning_rate': 2.313627577952336e-05, 'flow_matching_loss': 0.022510133497416974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.07} + 35%|███▌ | 10550/30000 [4:54:39<9:00:26, 1.67s/it] 35%|███▌ | 10551/30000 [4:54:41<9:02:34, 1.67s/it] 35%|███▌ | 10552/30000 [4:54:43<9:01:02, 1.67s/it] 35%|███▌ | 10553/30000 [4:54:44<9:02:11, 1.67s/it] 35%|███▌ | 10554/30000 [4:54:46<9:00:12, 1.67s/it] 35%|███▌ | 10555/30000 [4:54:48<9:00:16, 1.67s/it] 35%|███▌ | 10556/30000 [4:54:49<9:00:33, 1.67s/it] 35%|███▌ | 10557/30000 [4:54:51<9:01:24, 1.67s/it] 35%|███▌ | 10558/30000 [4:54:53<9:00:00, 1.67s/it] 35%|███▌ | 10559/30000 [4:54:54<9:00:21, 1.67s/it] 35%|███▌ | 10560/30000 [4:54:56<9:00:33, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11688753217458725, 'learning_rate': 2.312237989864752e-05, 'flow_matching_loss': 0.020054160989820956, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.07} + 35%|███▌ | 10560/30000 [4:54:56<9:00:33, 1.67s/it] 35%|███▌ | 10561/30000 [4:54:58<9:01:10, 1.67s/it] 35%|███▌ | 10562/30000 [4:54:59<8:59:58, 1.67s/it] 35%|███▌ | 10563/30000 [4:55:01<9:00:54, 1.67s/it] 35%|███▌ | 10564/30000 [4:55:03<9:02:32, 1.67s/it] 35%|███▌ | 10565/30000 [4:55:04<9:01:33, 1.67s/it] 35%|███▌ | 10566/30000 [4:55:06<9:00:31, 1.67s/it] 35%|███▌ | 10567/30000 [4:55:08<9:01:38, 1.67s/it] 35%|███▌ | 10568/30000 [4:55:10<9:01:33, 1.67s/it] 35%|███▌ | 10569/30000 [4:55:11<9:01:29, 1.67s/it] 35%|███▌ | 10570/30000 [4:55:13<9:00:40, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13855157792568207, 'learning_rate': 2.3108474148314205e-05, 'flow_matching_loss': 0.021122287027537823, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.08} + 35%|███▌ | 10570/30000 [4:55:13<9:00:40, 1.67s/it] 35%|███▌ | 10571/30000 [4:55:15<9:01:10, 1.67s/it] 35%|███▌ | 10572/30000 [4:55:16<9:01:17, 1.67s/it] 35%|███▌ | 10573/30000 [4:55:18<9:00:48, 1.67s/it] 35%|███▌ | 10574/30000 [4:55:20<8:59:42, 1.67s/it] 35%|███▌ | 10575/30000 [4:55:21<9:00:20, 1.67s/it] 35%|███▌ | 10576/30000 [4:55:23<9:00:35, 1.67s/it] 35%|███▌ | 10577/30000 [4:55:25<8:59:55, 1.67s/it] 35%|███▌ | 10578/30000 [4:55:26<8:59:39, 1.67s/it] 35%|███▌ | 10579/30000 [4:55:28<9:00:01, 1.67s/it] 35%|███▌ | 10580/30000 [4:55:30<9:00:28, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11367372423410416, 'learning_rate': 2.309455854542023e-05, 'flow_matching_loss': 0.019244955200701953, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.08} + 35%|███▌ | 10580/30000 [4:55:30<9:00:28, 1.67s/it] 35%|███▌ | 10581/30000 [4:55:31<8:59:31, 1.67s/it] 35%|███▌ | 10582/30000 [4:55:33<8:58:23, 1.66s/it] 35%|███▌ | 10583/30000 [4:55:35<8:58:56, 1.67s/it] 35%|███▌ | 10584/30000 [4:55:36<8:58:17, 1.66s/it] 35%|███▌ | 10585/30000 [4:55:38<8:58:14, 1.66s/it] 35%|███▌ | 10586/30000 [4:55:40<8:58:26, 1.66s/it] 35%|███▌ | 10587/30000 [4:55:41<8:59:19, 1.67s/it] 35%|███▌ | 10588/30000 [4:55:43<9:00:02, 1.67s/it] 35%|███▌ | 10589/30000 [4:55:45<8:59:22, 1.67s/it] 35%|███▌ | 10590/30000 [4:55:46<8:59:19, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.1039515808224678, 'learning_rate': 2.308063310687435e-05, 'flow_matching_loss': 0.02051524315029383, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.08} + 35%|███▌ | 10590/30000 [4:55:46<8:59:19, 1.67s/it] 35%|███▌ | 10591/30000 [4:55:48<8:59:46, 1.67s/it] 35%|███▌ | 10592/30000 [4:55:50<9:00:34, 1.67s/it] 35%|███▌ | 10593/30000 [4:55:51<9:01:04, 1.67s/it] 35%|███▌ | 10594/30000 [4:55:53<9:01:17, 1.67s/it] 35%|███▌ | 10595/30000 [4:55:55<9:00:33, 1.67s/it] 35%|███▌ | 10596/30000 [4:55:56<9:01:31, 1.67s/it] 35%|███▌ | 10597/30000 [4:55:58<9:00:49, 1.67s/it] 35%|███▌ | 10598/30000 [4:56:00<8:59:39, 1.67s/it] 35%|███▌ | 10599/30000 [4:56:01<9:00:44, 1.67s/it] 35%|███▌ | 10600/30000 [4:56:03<9:00:16, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.13939806818962097, 'learning_rate': 2.306669784959729e-05, 'flow_matching_loss': 0.01994098015129566, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.08} + 35%|███▌ | 10600/30000 [4:56:03<9:00:16, 1.67s/it] 35%|███▌ | 10601/30000 [4:56:05<9:00:15, 1.67s/it] 35%|███▌ | 10602/30000 [4:56:06<8:59:47, 1.67s/it] 35%|███▌ | 10603/30000 [4:56:08<9:00:25, 1.67s/it] 35%|███▌ | 10604/30000 [4:56:10<9:00:25, 1.67s/it] 35%|███▌ | 10605/30000 [4:56:11<8:59:36, 1.67s/it] 35%|███▌ | 10606/30000 [4:56:13<8:58:32, 1.67s/it] 35%|███▌ | 10607/30000 [4:56:15<8:59:34, 1.67s/it] 35%|███▌ | 10608/30000 [4:56:16<9:00:46, 1.67s/it] 35%|███▌ | 10609/30000 [4:56:18<9:00:25, 1.67s/it] 35%|███▌ | 10610/30000 [4:56:20<8:59:47, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.12894313037395477, 'learning_rate': 2.3052752790521703e-05, 'flow_matching_loss': 0.020123218093067406, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.09} + 35%|███▌ | 10610/30000 [4:56:20<8:59:47, 1.67s/it] 35%|███▌ | 10611/30000 [4:56:21<9:00:30, 1.67s/it] 35%|███▌ | 10612/30000 [4:56:23<9:00:25, 1.67s/it] 35%|███▌ | 10613/30000 [4:56:25<9:00:17, 1.67s/it] 35%|███▌ | 10614/30000 [4:56:26<8:59:05, 1.67s/it] 35%|███▌ | 10615/30000 [4:56:28<9:00:04, 1.67s/it] 35%|███▌ | 10616/30000 [4:56:30<8:59:19, 1.67s/it] 35%|███▌ | 10617/30000 [4:56:31<9:00:00, 1.67s/it] 35%|███▌ | 10618/30000 [4:56:33<8:58:51, 1.67s/it] 35%|███▌ | 10619/30000 [4:56:35<8:59:11, 1.67s/it] 35%|███▌ | 10620/30000 [4:56:36<8:59:42, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.13704504072666168, 'learning_rate': 2.3038797946592152e-05, 'flow_matching_loss': 0.022197135910391807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.09} + 35%|███▌ | 10620/30000 [4:56:36<8:59:42, 1.67s/it] 35%|███▌ | 10621/30000 [4:56:38<8:58:57, 1.67s/it] 35%|███▌ | 10622/30000 [4:56:40<8:58:02, 1.67s/it] 35%|███▌ | 10623/30000 [4:56:41<8:58:36, 1.67s/it] 35%|███▌ | 10624/30000 [4:56:43<8:58:12, 1.67s/it] 35%|███▌ | 10625/30000 [4:56:45<8:58:38, 1.67s/it] 35%|███▌ | 10626/30000 [4:56:46<8:57:37, 1.66s/it] 35%|███▌ | 10627/30000 [4:56:48<8:58:15, 1.67s/it] 35%|███▌ | 10628/30000 [4:56:50<8:59:30, 1.67s/it] 35%|███▌ | 10629/30000 [4:56:51<8:58:27, 1.67s/it] 35%|███▌ | 10630/30000 [4:56:53<8:57:23, 1.66s/it] {'loss': 0.0211, 'grad_norm': 0.12313175946474075, 'learning_rate': 2.3024833334765087e-05, 'flow_matching_loss': 0.02113326610997319, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.09} + 35%|███▌ | 10630/30000 [4:56:53<8:57:23, 1.66s/it] 35%|███▌ | 10631/30000 [4:56:55<8:58:29, 1.67s/it] 35%|███▌ | 10632/30000 [4:56:56<8:58:49, 1.67s/it] 35%|███▌ | 10633/30000 [4:56:58<8:59:27, 1.67s/it] 35%|███▌ | 10634/30000 [4:57:00<8:58:43, 1.67s/it] 35%|███▌ | 10635/30000 [4:57:01<8:58:53, 1.67s/it] 35%|███▌ | 10636/30000 [4:57:03<9:00:29, 1.67s/it] 35%|███▌ | 10637/30000 [4:57:05<8:59:52, 1.67s/it] 35%|███▌ | 10638/30000 [4:57:06<8:58:56, 1.67s/it] 35%|███▌ | 10639/30000 [4:57:08<8:59:39, 1.67s/it] 35%|███▌ | 10640/30000 [4:57:10<8:58:54, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.10335773974657059, 'learning_rate': 2.301085897200883e-05, 'flow_matching_loss': 0.02296726740896702, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.1} + 35%|███▌ | 10640/30000 [4:57:10<8:58:54, 1.67s/it] 35%|███▌ | 10641/30000 [4:57:11<8:59:09, 1.67s/it] 35%|███▌ | 10642/30000 [4:57:13<8:57:57, 1.67s/it] 35%|███▌ | 10643/30000 [4:57:15<8:58:09, 1.67s/it] 35%|███▌ | 10644/30000 [4:57:16<8:59:45, 1.67s/it] 35%|███▌ | 10645/30000 [4:57:18<8:58:23, 1.67s/it] 35%|███▌ | 10646/30000 [4:57:20<8:57:56, 1.67s/it] 35%|███▌ | 10647/30000 [4:57:21<8:58:42, 1.67s/it] 35%|███▌ | 10648/30000 [4:57:23<8:58:52, 1.67s/it] 35%|███▌ | 10649/30000 [4:57:25<8:59:40, 1.67s/it] 36%|███▌ | 10650/30000 [4:57:26<8:57:51, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.11647211015224457, 'learning_rate': 2.299687487530354e-05, 'flow_matching_loss': 0.022391623258590697, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.1} + 36%|███▌ | 10650/30000 [4:57:26<8:57:51, 1.67s/it] 36%|███▌ | 10651/30000 [4:57:28<8:58:53, 1.67s/it] 36%|███▌ | 10652/30000 [4:57:30<8:59:22, 1.67s/it] 36%|███▌ | 10653/30000 [4:57:31<8:58:03, 1.67s/it] 36%|███▌ | 10654/30000 [4:57:33<8:57:08, 1.67s/it] 36%|███▌ | 10655/30000 [4:57:35<8:58:15, 1.67s/it] 36%|███▌ | 10656/30000 [4:57:36<8:58:26, 1.67s/it] 36%|███▌ | 10657/30000 [4:57:38<8:57:10, 1.67s/it] 36%|███▌ | 10658/30000 [4:57:40<8:57:05, 1.67s/it] 36%|███▌ | 10659/30000 [4:57:41<8:57:25, 1.67s/it] 36%|███▌ | 10660/30000 [4:57:43<8:58:17, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12395083159208298, 'learning_rate': 2.2982881061641228e-05, 'flow_matching_loss': 0.01692809648811817, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.1} + 36%|███▌ | 10660/30000 [4:57:43<8:58:17, 1.67s/it] 36%|███▌ | 10661/30000 [4:57:45<8:57:43, 1.67s/it] 36%|███▌ | 10662/30000 [4:57:46<8:57:27, 1.67s/it] 36%|███▌ | 10663/30000 [4:57:48<8:58:41, 1.67s/it] 36%|███▌ | 10664/30000 [4:57:50<8:57:37, 1.67s/it] 36%|███▌ | 10665/30000 [4:57:51<8:57:47, 1.67s/it] 36%|███▌ | 10666/30000 [4:57:53<8:56:05, 1.66s/it] 36%|███▌ | 10667/30000 [4:57:55<8:57:09, 1.67s/it] 36%|███▌ | 10668/30000 [4:57:56<8:57:08, 1.67s/it] 36%|███▌ | 10669/30000 [4:57:58<8:56:28, 1.67s/it] 36%|███▌ | 10670/30000 [4:58:00<8:55:53, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.10548129677772522, 'learning_rate': 2.296887754802569e-05, 'flow_matching_loss': 0.02087290436029434, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.1} + 36%|███▌ | 10670/30000 [4:58:00<8:55:53, 1.66s/it] 36%|███▌ | 10671/30000 [4:58:01<8:56:36, 1.67s/it] 36%|███▌ | 10672/30000 [4:58:03<8:55:45, 1.66s/it] 36%|███▌ | 10673/30000 [4:58:05<8:56:08, 1.66s/it] 36%|███▌ | 10674/30000 [4:58:06<8:55:35, 1.66s/it] 36%|███▌ | 10675/30000 [4:58:08<8:55:54, 1.66s/it] 36%|███▌ | 10676/30000 [4:58:10<8:56:07, 1.66s/it] 36%|███▌ | 10677/30000 [4:58:11<8:55:55, 1.66s/it] 36%|███▌ | 10678/30000 [4:58:13<8:55:37, 1.66s/it] 36%|███▌ | 10679/30000 [4:58:15<8:55:40, 1.66s/it] 36%|███▌ | 10680/30000 [4:58:16<8:56:00, 1.66s/it] {'loss': 0.0233, 'grad_norm': 0.1358984112739563, 'learning_rate': 2.295486435147251e-05, 'flow_matching_loss': 0.023319471161812544, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.11} + 36%|███▌ | 10680/30000 [4:58:16<8:56:00, 1.66s/it] 36%|███▌ | 10681/30000 [4:58:18<8:56:10, 1.67s/it] 36%|███▌ | 10682/30000 [4:58:20<8:55:43, 1.66s/it] 36%|███▌ | 10683/30000 [4:58:21<8:56:23, 1.67s/it] 36%|███▌ | 10684/30000 [4:58:23<8:56:48, 1.67s/it] 36%|███▌ | 10685/30000 [4:58:25<8:56:27, 1.67s/it] 36%|███▌ | 10686/30000 [4:58:26<8:56:25, 1.67s/it] 36%|███▌ | 10687/30000 [4:58:28<8:56:27, 1.67s/it] 36%|███▌ | 10688/30000 [4:58:30<8:56:10, 1.67s/it] 36%|███▌ | 10689/30000 [4:58:31<8:56:09, 1.67s/it] 36%|███▌ | 10690/30000 [4:58:33<8:55:58, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.12932254374027252, 'learning_rate': 2.294084148900905e-05, 'flow_matching_loss': 0.02213623244315386, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.11} + 36%|███▌ | 10690/30000 [4:58:33<8:55:58, 1.67s/it] 36%|███▌ | 10691/30000 [4:58:35<8:56:36, 1.67s/it] 36%|███▌ | 10692/30000 [4:58:36<8:56:37, 1.67s/it] 36%|███▌ | 10693/30000 [4:58:38<8:56:31, 1.67s/it] 36%|███▌ | 10694/30000 [4:58:40<8:55:58, 1.67s/it] 36%|███▌ | 10695/30000 [4:58:41<8:56:29, 1.67s/it] 36%|███▌ | 10696/30000 [4:58:43<8:56:33, 1.67s/it] 36%|███▌ | 10697/30000 [4:58:45<8:56:58, 1.67s/it] 36%|███▌ | 10698/30000 [4:58:46<8:56:07, 1.67s/it] 36%|███▌ | 10699/30000 [4:58:48<8:56:33, 1.67s/it] 36%|███▌ | 10700/30000 [4:58:50<8:57:10, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.12475062161684036, 'learning_rate': 2.292680897767441e-05, 'flow_matching_loss': 0.022145901806652546, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.11} + 36%|███▌ | 10700/30000 [4:58:50<8:57:10, 1.67s/it] 36%|███▌ | 10701/30000 [4:58:51<8:56:19, 1.67s/it] 36%|███▌ | 10702/30000 [4:58:53<8:55:59, 1.67s/it] 36%|███▌ | 10703/30000 [4:58:55<8:56:00, 1.67s/it] 36%|███▌ | 10704/30000 [4:58:56<8:55:23, 1.66s/it] 36%|███▌ | 10705/30000 [4:58:58<8:55:22, 1.66s/it] 36%|███▌ | 10706/30000 [4:59:00<8:54:22, 1.66s/it] 36%|███▌ | 10707/30000 [4:59:01<8:55:03, 1.66s/it] 36%|███▌ | 10708/30000 [4:59:03<8:55:53, 1.67s/it] 36%|███▌ | 10709/30000 [4:59:05<8:55:52, 1.67s/it] 36%|███▌ | 10710/30000 [4:59:06<8:54:55, 1.66s/it] {'loss': 0.0219, 'grad_norm': 0.12652911245822906, 'learning_rate': 2.291276683451941e-05, 'flow_matching_loss': 0.02193790106102824, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.12} + 36%|███▌ | 10710/30000 [4:59:06<8:54:55, 1.66s/it] 36%|███▌ | 10711/30000 [4:59:08<8:55:35, 1.67s/it] 36%|███▌ | 10712/30000 [4:59:10<8:54:48, 1.66s/it] 36%|███▌ | 10713/30000 [4:59:11<8:55:13, 1.67s/it] 36%|███▌ | 10714/30000 [4:59:13<8:54:26, 1.66s/it] 36%|███▌ | 10715/30000 [4:59:15<8:55:34, 1.67s/it] 36%|███▌ | 10716/30000 [4:59:16<8:55:16, 1.67s/it] 36%|███▌ | 10717/30000 [4:59:18<8:55:35, 1.67s/it] 36%|███▌ | 10718/30000 [4:59:20<8:54:37, 1.66s/it] 36%|███▌ | 10719/30000 [4:59:21<8:55:11, 1.67s/it] 36%|███▌ | 10720/30000 [4:59:23<8:55:20, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.11817643791437149, 'learning_rate': 2.2898715076606584e-05, 'flow_matching_loss': 0.022539849393069744, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.12} + 36%|███▌ | 10720/30000 [4:59:23<8:55:20, 1.67s/it] 36%|███▌ | 10721/30000 [4:59:25<8:56:25, 1.67s/it] 36%|███▌ | 10722/30000 [4:59:26<8:55:50, 1.67s/it] 36%|███▌ | 10723/30000 [4:59:28<8:56:27, 1.67s/it] 36%|███▌ | 10724/30000 [4:59:30<8:56:29, 1.67s/it] 36%|███▌ | 10725/30000 [4:59:31<8:56:17, 1.67s/it] 36%|███▌ | 10726/30000 [4:59:33<8:55:09, 1.67s/it] 36%|███▌ | 10727/30000 [4:59:35<8:55:36, 1.67s/it] 36%|███▌ | 10728/30000 [4:59:36<8:55:12, 1.67s/it] 36%|███▌ | 10729/30000 [4:59:38<8:55:13, 1.67s/it] 36%|███▌ | 10730/30000 [4:59:40<8:54:19, 1.66s/it] {'loss': 0.0212, 'grad_norm': 0.12470342963933945, 'learning_rate': 2.2884653721010135e-05, 'flow_matching_loss': 0.02122097508981824, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.12} + 36%|███▌ | 10730/30000 [4:59:40<8:54:19, 1.66s/it] 36%|███▌ | 10731/30000 [4:59:41<8:54:56, 1.67s/it] 36%|███▌ | 10732/30000 [4:59:43<8:55:12, 1.67s/it] 36%|███▌ | 10733/30000 [4:59:45<8:54:52, 1.67s/it] 36%|███▌ | 10734/30000 [4:59:46<8:54:10, 1.66s/it] 36%|███▌ | 10735/30000 [4:59:48<8:54:25, 1.66s/it] 36%|███▌ | 10736/30000 [4:59:50<8:53:08, 1.66s/it] 36%|███▌ | 10737/30000 [4:59:51<8:53:03, 1.66s/it] 36%|███▌ | 10738/30000 [4:59:53<8:53:40, 1.66s/it] 36%|███▌ | 10739/30000 [4:59:55<8:54:34, 1.67s/it] 36%|███▌ | 10740/30000 [4:59:56<8:55:29, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.12193119525909424, 'learning_rate': 2.2870582784815946e-05, 'flow_matching_loss': 0.022015227936208248, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.12} + 36%|███▌ | 10740/30000 [4:59:56<8:55:29, 1.67s/it] 36%|███▌ | 10741/30000 [4:59:58<8:55:26, 1.67s/it] 36%|███▌ | 10742/30000 [5:00:00<8:53:21, 1.66s/it] 36%|███▌ | 10743/30000 [5:00:01<8:53:36, 1.66s/it] 36%|███▌ | 10744/30000 [5:00:03<8:53:49, 1.66s/it] 36%|███▌ | 10745/30000 [5:00:05<8:53:22, 1.66s/it] 36%|███▌ | 10746/30000 [5:00:06<8:52:51, 1.66s/it] 36%|███▌ | 10747/30000 [5:00:08<8:54:15, 1.66s/it] 36%|███▌ | 10748/30000 [5:00:10<8:54:23, 1.67s/it] 36%|███▌ | 10749/30000 [5:00:11<8:54:39, 1.67s/it] 36%|███▌ | 10750/30000 [5:00:13<8:54:04, 1.66s/it] {'loss': 0.0226, 'grad_norm': 0.14382867515087128, 'learning_rate': 2.2856502285121525e-05, 'flow_matching_loss': 0.02259522397071123, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.13} + 36%|███▌ | 10750/30000 [5:00:13<8:54:04, 1.66s/it] 36%|███▌ | 10751/30000 [5:00:15<8:54:17, 1.67s/it] 36%|███▌ | 10752/30000 [5:00:16<8:53:55, 1.66s/it] 36%|███▌ | 10753/30000 [5:00:18<8:53:42, 1.66s/it] 36%|███▌ | 10754/30000 [5:00:20<8:54:06, 1.67s/it] 36%|███▌ | 10755/30000 [5:00:21<8:54:15, 1.67s/it] 36%|███▌ | 10756/30000 [5:00:23<8:55:46, 1.67s/it] 36%|███▌ | 10757/30000 [5:00:25<8:54:18, 1.67s/it] 36%|███▌ | 10758/30000 [5:00:26<8:53:40, 1.66s/it] 36%|███▌ | 10759/30000 [5:00:28<8:54:55, 1.67s/it] 36%|███▌ | 10760/30000 [5:00:30<8:54:04, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13505107164382935, 'learning_rate': 2.2842412239036004e-05, 'flow_matching_loss': 0.02110827136784792, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.13} + 36%|███▌ | 10760/30000 [5:00:30<8:54:04, 1.67s/it] 36%|███▌ | 10761/30000 [5:00:31<8:54:15, 1.67s/it] 36%|███▌ | 10762/30000 [5:00:33<8:54:39, 1.67s/it] 36%|███▌ | 10763/30000 [5:00:35<8:54:26, 1.67s/it] 36%|███▌ | 10764/30000 [5:00:36<8:54:46, 1.67s/it] 36%|███▌ | 10765/30000 [5:00:38<8:54:31, 1.67s/it] 36%|███▌ | 10766/30000 [5:00:40<8:53:25, 1.66s/it] 36%|███▌ | 10767/30000 [5:00:41<8:52:58, 1.66s/it] 36%|███▌ | 10768/30000 [5:00:43<8:52:42, 1.66s/it] 36%|███▌ | 10769/30000 [5:00:45<8:53:04, 1.66s/it] 36%|███▌ | 10770/30000 [5:00:46<8:54:29, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.13638538122177124, 'learning_rate': 2.2828312663680125e-05, 'flow_matching_loss': 0.02072787135839462, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.13} + 36%|███▌ | 10770/30000 [5:00:46<8:54:29, 1.67s/it] 36%|███▌ | 10771/30000 [5:00:48<8:55:06, 1.67s/it] 36%|███▌ | 10772/30000 [5:00:50<8:54:33, 1.67s/it] 36%|███▌ | 10773/30000 [5:00:51<8:55:14, 1.67s/it] 36%|███▌ | 10774/30000 [5:00:53<8:54:26, 1.67s/it] 36%|███▌ | 10775/30000 [5:00:55<8:54:05, 1.67s/it] 36%|███▌ | 10776/30000 [5:00:56<8:52:41, 1.66s/it] 36%|███▌ | 10777/30000 [5:00:58<8:52:36, 1.66s/it] 36%|███▌ | 10778/30000 [5:01:00<8:52:19, 1.66s/it] 36%|███▌ | 10779/30000 [5:01:01<8:53:40, 1.67s/it] 36%|███▌ | 10780/30000 [5:01:03<8:54:18, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.09667884558439255, 'learning_rate': 2.2814203576186194e-05, 'flow_matching_loss': 0.018893355038017035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.14} + 36%|███▌ | 10780/30000 [5:01:03<8:54:18, 1.67s/it] 36%|███▌ | 10781/30000 [5:01:05<8:54:37, 1.67s/it] 36%|███▌ | 10782/30000 [5:01:06<8:53:52, 1.67s/it] 36%|███▌ | 10783/30000 [5:01:08<8:53:39, 1.67s/it] 36%|███▌ | 10784/30000 [5:01:10<8:53:27, 1.67s/it] 36%|███▌ | 10785/30000 [5:01:11<8:52:49, 1.66s/it] 36%|███▌ | 10786/30000 [5:01:13<8:53:56, 1.67s/it] 36%|███▌ | 10787/30000 [5:01:15<8:55:04, 1.67s/it] 36%|███▌ | 10788/30000 [5:01:16<8:54:37, 1.67s/it] 36%|███▌ | 10789/30000 [5:01:18<8:54:03, 1.67s/it] 36%|███▌ | 10790/30000 [5:01:20<8:53:02, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.14572608470916748, 'learning_rate': 2.2800084993698093e-05, 'flow_matching_loss': 0.01961345998570323, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.14} + 36%|███▌ | 10790/30000 [5:01:20<8:53:02, 1.66s/it] 36%|███▌ | 10791/30000 [5:01:21<8:52:59, 1.66s/it] 36%|███▌ | 10792/30000 [5:01:23<8:52:43, 1.66s/it] 36%|███▌ | 10793/30000 [5:01:25<8:52:55, 1.66s/it] 36%|███▌ | 10794/30000 [5:01:26<8:53:01, 1.67s/it] 36%|███▌ | 10795/30000 [5:01:28<8:52:28, 1.66s/it] 36%|███▌ | 10796/30000 [5:01:30<8:53:29, 1.67s/it] 36%|███▌ | 10797/30000 [5:01:31<8:54:37, 1.67s/it] 36%|███▌ | 10798/30000 [5:01:33<8:53:33, 1.67s/it] 36%|███▌ | 10799/30000 [5:01:35<8:52:54, 1.67s/it] 36%|███▌ | 10800/30000 [5:01:36<8:52:15, 1.66s/it] {'loss': 0.0239, 'grad_norm': 0.13004279136657715, 'learning_rate': 2.2785956933371224e-05, 'flow_matching_loss': 0.023862419277429582, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.14} + 36%|███▌ | 10800/30000 [5:01:36<8:52:15, 1.66s/it] 36%|███▌ | 10801/30000 [5:01:38<8:52:27, 1.66s/it] 36%|███▌ | 10802/30000 [5:01:40<8:51:22, 1.66s/it] 36%|███▌ | 10803/30000 [5:01:41<8:52:19, 1.66s/it] 36%|███▌ | 10804/30000 [5:01:43<8:53:05, 1.67s/it] 36%|███▌ | 10805/30000 [5:01:45<8:53:50, 1.67s/it] 36%|███▌ | 10806/30000 [5:01:46<8:53:15, 1.67s/it] 36%|███▌ | 10807/30000 [5:01:48<8:53:33, 1.67s/it] 36%|███▌ | 10808/30000 [5:01:50<8:52:59, 1.67s/it] 36%|███▌ | 10809/30000 [5:01:51<8:52:55, 1.67s/it] 36%|███▌ | 10810/30000 [5:01:53<8:52:46, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.11668039113283157, 'learning_rate': 2.2771819412372505e-05, 'flow_matching_loss': 0.021575905755162238, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.15} + 36%|███▌ | 10810/30000 [5:01:53<8:52:46, 1.67s/it] 36%|███▌ | 10811/30000 [5:01:55<8:52:59, 1.67s/it] 36%|███▌ | 10812/30000 [5:01:56<8:53:04, 1.67s/it] 36%|███▌ | 10813/30000 [5:01:58<8:52:39, 1.67s/it] 36%|███▌ | 10814/30000 [5:02:00<8:52:01, 1.66s/it] 36%|███▌ | 10815/30000 [5:02:01<8:51:51, 1.66s/it] 36%|███▌ | 10816/30000 [5:02:03<8:51:49, 1.66s/it] 36%|███▌ | 10817/30000 [5:02:05<8:52:01, 1.66s/it] 36%|███▌ | 10818/30000 [5:02:06<8:52:44, 1.67s/it] 36%|███▌ | 10819/30000 [5:02:08<8:52:09, 1.66s/it] 36%|███▌ | 10820/30000 [5:02:10<8:52:24, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.12017320841550827, 'learning_rate': 2.2757672447880374e-05, 'flow_matching_loss': 0.021755258552730083, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.15} + 36%|███▌ | 10820/30000 [5:02:10<8:52:24, 1.67s/it] 36%|███▌ | 10821/30000 [5:02:11<8:52:20, 1.67s/it] 36%|███▌ | 10822/30000 [5:02:13<8:51:41, 1.66s/it] 36%|███▌ | 10823/30000 [5:02:15<8:52:40, 1.67s/it] 36%|███▌ | 10824/30000 [5:02:16<8:52:03, 1.66s/it] 36%|███▌ | 10825/30000 [5:02:18<8:52:13, 1.67s/it] 36%|███▌ | 10826/30000 [5:02:20<8:51:18, 1.66s/it] 36%|███▌ | 10827/30000 [5:02:21<8:51:49, 1.66s/it] 36%|███▌ | 10828/30000 [5:02:23<8:52:32, 1.67s/it] 36%|███▌ | 10829/30000 [5:02:25<8:52:11, 1.67s/it] 36%|███▌ | 10830/30000 [5:02:26<8:51:17, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.11677269637584686, 'learning_rate': 2.2743516057084712e-05, 'flow_matching_loss': 0.020419263001531362, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.15} + 36%|███▌ | 10830/30000 [5:02:26<8:51:17, 1.66s/it] 36%|███▌ | 10831/30000 [5:02:28<8:51:39, 1.66s/it] 36%|███▌ | 10832/30000 [5:02:30<8:51:22, 1.66s/it] 36%|███▌ | 10833/30000 [5:02:31<8:52:23, 1.67s/it] 36%|███▌ | 10834/30000 [5:02:33<8:52:36, 1.67s/it] 36%|███▌ | 10835/30000 [5:02:35<8:52:52, 1.67s/it] 36%|███▌ | 10836/30000 [5:02:36<8:53:20, 1.67s/it] 36%|███▌ | 10837/30000 [5:02:38<8:53:16, 1.67s/it] 36%|███▌ | 10838/30000 [5:02:40<8:50:57, 1.66s/it] 36%|███▌ | 10839/30000 [5:02:41<8:51:16, 1.66s/it] 36%|███▌ | 10840/30000 [5:02:43<8:51:02, 1.66s/it] {'loss': 0.0203, 'grad_norm': 0.13223806023597717, 'learning_rate': 2.2729350257186877e-05, 'flow_matching_loss': 0.020265631005167963, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.15} + 36%|███▌ | 10840/30000 [5:02:43<8:51:02, 1.66s/it] 36%|███▌ | 10841/30000 [5:02:45<8:52:02, 1.67s/it] 36%|███▌ | 10842/30000 [5:02:46<8:52:23, 1.67s/it] 36%|███▌ | 10843/30000 [5:02:48<8:53:20, 1.67s/it] 36%|███▌ | 10844/30000 [5:02:50<8:53:04, 1.67s/it] 36%|███▌ | 10845/30000 [5:02:51<8:52:02, 1.67s/it] 36%|███▌ | 10846/30000 [5:02:53<8:51:01, 1.66s/it] 36%|███▌ | 10847/30000 [5:02:55<8:52:39, 1.67s/it] 36%|███▌ | 10848/30000 [5:02:56<8:52:08, 1.67s/it] 36%|███▌ | 10849/30000 [5:02:58<8:51:38, 1.67s/it] 36%|███▌ | 10850/30000 [5:03:00<8:51:41, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.15815818309783936, 'learning_rate': 2.2715175065399655e-05, 'flow_matching_loss': 0.022372797038406132, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.16} + 36%|███▌ | 10850/30000 [5:03:00<8:51:41, 1.67s/it] 36%|███▌ | 10851/30000 [5:03:01<8:52:52, 1.67s/it] 36%|███▌ | 10852/30000 [5:03:03<8:52:01, 1.67s/it] 36%|███▌ | 10853/30000 [5:03:05<8:51:48, 1.67s/it] 36%|███▌ | 10854/30000 [5:03:06<8:50:52, 1.66s/it] 36%|███▌ | 10855/30000 [5:03:08<8:51:54, 1.67s/it] 36%|███▌ | 10856/30000 [5:03:10<8:51:15, 1.67s/it] 36%|███▌ | 10857/30000 [5:03:11<8:51:35, 1.67s/it] 36%|███▌ | 10858/30000 [5:03:13<8:52:29, 1.67s/it] 36%|███▌ | 10859/30000 [5:03:15<8:52:20, 1.67s/it] 36%|███▌ | 10860/30000 [5:03:16<8:53:08, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.13475845754146576, 'learning_rate': 2.270099049894723e-05, 'flow_matching_loss': 0.021450967714190482, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.16} + 36%|███▌ | 10860/30000 [5:03:16<8:53:08, 1.67s/it] 36%|███▌ | 10861/30000 [5:03:18<8:52:46, 1.67s/it] 36%|███▌ | 10862/30000 [5:03:20<8:51:36, 1.67s/it] 36%|███▌ | 10863/30000 [5:03:21<8:52:48, 1.67s/it] 36%|███▌ | 10864/30000 [5:03:23<8:52:18, 1.67s/it] 36%|███▌ | 10865/30000 [5:03:25<8:51:58, 1.67s/it] 36%|███▌ | 10866/30000 [5:03:26<8:52:39, 1.67s/it] 36%|███▌ | 10867/30000 [5:03:28<8:52:39, 1.67s/it] 36%|███▌ | 10868/30000 [5:03:30<8:52:19, 1.67s/it] 36%|███▌ | 10869/30000 [5:03:31<8:52:00, 1.67s/it] 36%|███▌ | 10870/30000 [5:03:33<8:50:48, 1.66s/it] {'loss': 0.0215, 'grad_norm': 0.10840435326099396, 'learning_rate': 2.268679657506519e-05, 'flow_matching_loss': 0.021524635888636113, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.16} + 36%|███▌ | 10870/30000 [5:03:33<8:50:48, 1.66s/it] 36%|███▌ | 10871/30000 [5:03:35<8:52:07, 1.67s/it] 36%|███▌ | 10872/30000 [5:03:36<8:51:35, 1.67s/it] 36%|███▌ | 10873/30000 [5:03:38<8:50:46, 1.66s/it] 36%|███▌ | 10874/30000 [5:03:40<8:51:09, 1.67s/it] 36%|███▋ | 10875/30000 [5:03:41<8:51:37, 1.67s/it] 36%|███▋ | 10876/30000 [5:03:43<8:52:59, 1.67s/it] 36%|███▋ | 10877/30000 [5:03:45<8:52:11, 1.67s/it] 36%|███▋ | 10878/30000 [5:03:46<8:50:23, 1.66s/it] 36%|███▋ | 10879/30000 [5:03:48<8:50:43, 1.67s/it] 36%|███▋ | 10880/30000 [5:03:50<8:50:23, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.13150739669799805, 'learning_rate': 2.2672593311000498e-05, 'flow_matching_loss': 0.020925206877291203, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.17} + 36%|███▋ | 10880/30000 [5:03:50<8:50:23, 1.66s/it] 36%|███▋ | 10881/30000 [5:03:51<8:50:44, 1.67s/it] 36%|███▋ | 10882/30000 [5:03:53<8:51:02, 1.67s/it] 36%|███▋ | 10883/30000 [5:03:55<8:51:25, 1.67s/it] 36%|███▋ | 10884/30000 [5:03:56<8:51:09, 1.67s/it] 36%|███▋ | 10885/30000 [5:03:58<8:51:03, 1.67s/it] 36%|███▋ | 10886/30000 [5:04:00<8:50:12, 1.66s/it] 36%|███▋ | 10887/30000 [5:04:01<8:50:46, 1.67s/it] 36%|███▋ | 10888/30000 [5:04:03<8:50:30, 1.67s/it] 36%|███▋ | 10889/30000 [5:04:05<8:50:14, 1.66s/it] 36%|███▋ | 10890/30000 [5:04:06<8:50:13, 1.66s/it] {'loss': 0.0207, 'grad_norm': 0.16066181659698486, 'learning_rate': 2.2658380724011452e-05, 'flow_matching_loss': 0.02071922440081835, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.17} + 36%|███▋ | 10890/30000 [5:04:06<8:50:13, 1.66s/it] 36%|███▋ | 10891/30000 [5:04:08<8:51:21, 1.67s/it] 36%|███▋ | 10892/30000 [5:04:10<8:50:42, 1.67s/it] 36%|███▋ | 10893/30000 [5:04:11<8:50:32, 1.67s/it] 36%|███▋ | 10894/30000 [5:04:13<8:50:01, 1.66s/it] 36%|███▋ | 10895/30000 [5:04:15<8:50:20, 1.67s/it] 36%|███▋ | 10896/30000 [5:04:16<8:49:59, 1.66s/it] 36%|███▋ | 10897/30000 [5:04:18<8:49:30, 1.66s/it] 36%|███▋ | 10898/30000 [5:04:20<8:49:56, 1.66s/it] 36%|███▋ | 10899/30000 [5:04:21<8:50:40, 1.67s/it] 36%|███▋ | 10900/30000 [5:04:23<8:51:22, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11962044984102249, 'learning_rate': 2.264415883136769e-05, 'flow_matching_loss': 0.02054700255393982, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.17} + 36%|███▋ | 10900/30000 [5:04:23<8:51:22, 1.67s/it] 36%|███▋ | 10901/30000 [5:04:25<8:52:19, 1.67s/it] 36%|███▋ | 10902/30000 [5:04:26<8:50:39, 1.67s/it] 36%|███▋ | 10903/30000 [5:04:28<8:50:35, 1.67s/it] 36%|███▋ | 10904/30000 [5:04:30<8:50:15, 1.67s/it] 36%|███▋ | 10905/30000 [5:04:31<8:50:51, 1.67s/it] 36%|███▋ | 10906/30000 [5:04:33<8:51:27, 1.67s/it] 36%|███▋ | 10907/30000 [5:04:35<8:51:25, 1.67s/it] 36%|███▋ | 10908/30000 [5:04:36<8:51:06, 1.67s/it] 36%|███▋ | 10909/30000 [5:04:38<8:49:47, 1.67s/it] 36%|███▋ | 10910/30000 [5:04:40<8:48:49, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.12207461893558502, 'learning_rate': 2.262992765035015e-05, 'flow_matching_loss': 0.020922147016972304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.17} + 36%|███▋ | 10910/30000 [5:04:40<8:48:49, 1.66s/it] 36%|███▋ | 10911/30000 [5:04:41<8:49:31, 1.66s/it] 36%|███▋ | 10912/30000 [5:04:43<8:49:33, 1.66s/it] 36%|███▋ | 10913/30000 [5:04:45<8:49:55, 1.67s/it] 36%|███▋ | 10914/30000 [5:04:46<8:50:17, 1.67s/it] 36%|███▋ | 10915/30000 [5:04:48<8:51:01, 1.67s/it] 36%|███▋ | 10916/30000 [5:04:50<8:50:48, 1.67s/it] 36%|███▋ | 10917/30000 [5:04:51<8:50:08, 1.67s/it] 36%|███▋ | 10918/30000 [5:04:53<8:49:14, 1.66s/it] 36%|███▋ | 10919/30000 [5:04:55<8:49:52, 1.67s/it] 36%|███▋ | 10920/30000 [5:04:56<8:49:34, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.11736369878053665, 'learning_rate': 2.2615687198251062e-05, 'flow_matching_loss': 0.020870100520551205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.18} + 36%|███▋ | 10920/30000 [5:04:56<8:49:34, 1.67s/it] 36%|███▋ | 10921/30000 [5:04:58<8:49:55, 1.67s/it] 36%|███▋ | 10922/30000 [5:05:00<8:50:18, 1.67s/it] 36%|███▋ | 10923/30000 [5:05:01<8:50:59, 1.67s/it] 36%|███▋ | 10924/30000 [5:05:03<8:51:27, 1.67s/it] 36%|███▋ | 10925/30000 [5:05:05<8:50:33, 1.67s/it] 36%|███▋ | 10926/30000 [5:05:06<8:50:27, 1.67s/it] 36%|███▋ | 10927/30000 [5:05:08<8:50:22, 1.67s/it] 36%|███▋ | 10928/30000 [5:05:10<8:49:30, 1.67s/it] 36%|███▋ | 10929/30000 [5:05:11<8:49:58, 1.67s/it] 36%|███▋ | 10930/30000 [5:05:13<8:50:33, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.15024128556251526, 'learning_rate': 2.2601437492373914e-05, 'flow_matching_loss': 0.0215325765311718, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.18} + 36%|███▋ | 10930/30000 [5:05:13<8:50:33, 1.67s/it] 36%|███▋ | 10931/30000 [5:05:15<8:51:16, 1.67s/it] 36%|███▋ | 10932/30000 [5:05:16<8:51:23, 1.67s/it] 36%|███▋ | 10933/30000 [5:05:18<8:50:06, 1.67s/it] 36%|███▋ | 10934/30000 [5:05:20<8:49:27, 1.67s/it] 36%|███▋ | 10935/30000 [5:05:21<8:49:47, 1.67s/it] 36%|███▋ | 10936/30000 [5:05:23<8:49:34, 1.67s/it] 36%|███▋ | 10937/30000 [5:05:25<8:49:23, 1.67s/it] 36%|███▋ | 10938/30000 [5:05:26<8:50:02, 1.67s/it] 36%|███▋ | 10939/30000 [5:05:28<8:50:22, 1.67s/it] 36%|███▋ | 10940/30000 [5:05:30<8:50:33, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.1509886234998703, 'learning_rate': 2.2587178550033444e-05, 'flow_matching_loss': 0.02119990922510624, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.18} + 36%|███▋ | 10940/30000 [5:05:30<8:50:33, 1.67s/it] 36%|███▋ | 10941/30000 [5:05:31<8:50:54, 1.67s/it] 36%|███▋ | 10942/30000 [5:05:33<8:50:49, 1.67s/it] 36%|███▋ | 10943/30000 [5:05:35<8:50:24, 1.67s/it] 36%|███▋ | 10944/30000 [5:05:36<8:50:39, 1.67s/it] 36%|███▋ | 10945/30000 [5:05:38<8:49:26, 1.67s/it] 36%|███▋ | 10946/30000 [5:05:40<8:50:34, 1.67s/it] 36%|███▋ | 10947/30000 [5:05:41<8:50:16, 1.67s/it] 36%|███▋ | 10948/30000 [5:05:43<8:49:51, 1.67s/it] 36%|███▋ | 10949/30000 [5:05:45<8:50:11, 1.67s/it] 36%|███▋ | 10950/30000 [5:05:46<8:49:38, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.13401100039482117, 'learning_rate': 2.2572910388555615e-05, 'flow_matching_loss': 0.020178777724504472, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.19} + 36%|███▋ | 10950/30000 [5:05:46<8:49:38, 1.67s/it] 37%|███▋ | 10951/30000 [5:05:48<8:49:40, 1.67s/it] 37%|███▋ | 10952/30000 [5:05:50<8:48:31, 1.66s/it] 37%|███▋ | 10953/30000 [5:05:51<8:48:47, 1.67s/it] 37%|███▋ | 10954/30000 [5:05:53<8:49:06, 1.67s/it] 37%|███▋ | 10955/30000 [5:05:55<8:48:57, 1.67s/it] 37%|███▋ | 10956/30000 [5:05:56<8:48:41, 1.67s/it] 37%|███▋ | 10957/30000 [5:05:58<8:49:14, 1.67s/it] 37%|███▋ | 10958/30000 [5:06:00<8:48:00, 1.66s/it] 37%|███▋ | 10959/30000 [5:06:01<8:48:21, 1.66s/it] 37%|███▋ | 10960/30000 [5:06:03<8:48:05, 1.66s/it] {'loss': 0.0199, 'grad_norm': 0.1302955150604248, 'learning_rate': 2.255863302527758e-05, 'flow_matching_loss': 0.019934307504445314, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.19} + 37%|███▋ | 10960/30000 [5:06:03<8:48:05, 1.66s/it] 37%|███▋ | 10961/30000 [5:06:05<8:48:29, 1.67s/it] 37%|███▋ | 10962/30000 [5:06:06<8:48:36, 1.67s/it] 37%|███▋ | 10963/30000 [5:06:08<8:47:54, 1.66s/it] 37%|███▋ | 10964/30000 [5:06:10<8:48:02, 1.66s/it] 37%|███▋ | 10965/30000 [5:06:11<8:48:33, 1.67s/it] 37%|███▋ | 10966/30000 [5:06:13<8:48:21, 1.67s/it] 37%|███▋ | 10967/30000 [5:06:15<8:48:15, 1.67s/it] 37%|███▋ | 10968/30000 [5:06:16<8:47:54, 1.66s/it] 37%|███▋ | 10969/30000 [5:06:18<8:48:31, 1.67s/it] 37%|███▋ | 10970/30000 [5:06:20<8:49:07, 1.67s/it] {'loss': 0.0239, 'grad_norm': 0.1372763067483902, 'learning_rate': 2.2544346477547685e-05, 'flow_matching_loss': 0.023889207653701304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.19} + 37%|███▋ | 10970/30000 [5:06:20<8:49:07, 1.67s/it] 37%|███▋ | 10971/30000 [5:06:21<8:49:08, 1.67s/it] 37%|███▋ | 10972/30000 [5:06:23<8:48:20, 1.67s/it] 37%|███▋ | 10973/30000 [5:06:25<8:49:37, 1.67s/it] 37%|███▋ | 10974/30000 [5:06:26<8:49:09, 1.67s/it] 37%|███▋ | 10975/30000 [5:06:28<8:49:07, 1.67s/it] 37%|███▋ | 10976/30000 [5:06:30<8:48:32, 1.67s/it] 37%|███▋ | 10977/30000 [5:06:31<8:48:39, 1.67s/it] 37%|███▋ | 10978/30000 [5:06:33<8:48:38, 1.67s/it] 37%|███▋ | 10979/30000 [5:06:35<8:48:55, 1.67s/it] 37%|███▋ | 10980/30000 [5:06:36<8:49:43, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.0953044667840004, 'learning_rate': 2.253005076272544e-05, 'flow_matching_loss': 0.019779205229133366, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.19} + 37%|███▋ | 10980/30000 [5:06:36<8:49:43, 1.67s/it] 37%|███▋ | 10981/30000 [5:06:38<8:49:48, 1.67s/it] 37%|███▋ | 10982/30000 [5:06:40<8:48:24, 1.67s/it] 37%|███▋ | 10983/30000 [5:06:41<8:48:34, 1.67s/it] 37%|███▋ | 10984/30000 [5:06:43<8:47:53, 1.67s/it] 37%|███▋ | 10985/30000 [5:06:45<8:48:59, 1.67s/it] 37%|███▋ | 10986/30000 [5:06:46<8:48:14, 1.67s/it] 37%|███▋ | 10987/30000 [5:06:48<8:47:24, 1.66s/it] 37%|███▋ | 10988/30000 [5:06:50<8:47:55, 1.67s/it] 37%|███▋ | 10989/30000 [5:06:51<8:47:59, 1.67s/it] 37%|███▋ | 10990/30000 [5:06:53<8:47:16, 1.66s/it] {'loss': 0.0235, 'grad_norm': 0.14583753049373627, 'learning_rate': 2.2515745898181477e-05, 'flow_matching_loss': 0.023508954886347057, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.2} + 37%|███▋ | 10990/30000 [5:06:53<8:47:16, 1.66s/it] 37%|███▋ | 10991/30000 [5:06:55<8:47:54, 1.67s/it] 37%|███▋ | 10992/30000 [5:06:56<8:47:09, 1.66s/it] 37%|███▋ | 10993/30000 [5:06:58<8:47:20, 1.66s/it] 37%|███▋ | 10994/30000 [5:07:00<8:47:25, 1.67s/it] 37%|███▋ | 10995/30000 [5:07:01<8:47:53, 1.67s/it] 37%|███▋ | 10996/30000 [5:07:03<8:48:01, 1.67s/it] 37%|███▋ | 10997/30000 [5:07:05<8:48:09, 1.67s/it] 37%|███▋ | 10998/30000 [5:07:06<8:47:33, 1.67s/it] 37%|███▋ | 10999/30000 [5:07:08<8:48:34, 1.67s/it] 37%|███▋ | 11000/30000 [5:07:10<8:46:35, 1.66s/it] {'loss': 0.0205, 'grad_norm': 0.13607683777809143, 'learning_rate': 2.250143190129756e-05, 'flow_matching_loss': 0.020469665061682463, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.2} + 37%|███▋ | 11000/30000 [5:07:10<8:46:35, 1.66s/it] 37%|███▋ | 11001/30000 [5:07:11<8:47:43, 1.67s/it] 37%|███▋ | 11002/30000 [5:07:13<8:47:11, 1.67s/it] 37%|███▋ | 11003/30000 [5:07:15<8:47:31, 1.67s/it] 37%|███▋ | 11004/30000 [5:07:16<8:47:06, 1.66s/it] 37%|███▋ | 11005/30000 [5:07:18<8:47:02, 1.66s/it] 37%|███▋ | 11006/30000 [5:07:20<8:46:42, 1.66s/it] 37%|███▋ | 11007/30000 [5:07:21<8:47:12, 1.67s/it] 37%|███▋ | 11008/30000 [5:07:23<8:46:11, 1.66s/it] 37%|███▋ | 11009/30000 [5:07:25<8:46:31, 1.66s/it] 37%|███▋ | 11010/30000 [5:07:26<8:47:01, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.16794028878211975, 'learning_rate': 2.2487108789466547e-05, 'flow_matching_loss': 0.02255656160414219, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.2} + 37%|███▋ | 11010/30000 [5:07:26<8:47:01, 1.67s/it] 37%|███▋ | 11011/30000 [5:07:28<8:47:46, 1.67s/it] 37%|███▋ | 11012/30000 [5:07:30<8:48:03, 1.67s/it] 37%|███▋ | 11013/30000 [5:07:31<8:47:44, 1.67s/it] 37%|███▋ | 11014/30000 [5:07:33<8:47:21, 1.67s/it] 37%|███▋ | 11015/30000 [5:07:35<8:48:03, 1.67s/it] 37%|███▋ | 11016/30000 [5:07:36<8:47:20, 1.67s/it] 37%|███▋ | 11017/30000 [5:07:38<8:47:16, 1.67s/it] 37%|███▋ | 11018/30000 [5:07:40<8:47:47, 1.67s/it] 37%|███▋ | 11019/30000 [5:07:41<8:48:05, 1.67s/it] 37%|███▋ | 11020/30000 [5:07:43<8:47:41, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.15477409958839417, 'learning_rate': 2.247277658009236e-05, 'flow_matching_loss': 0.0225411893799901, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.21} + 37%|███▋ | 11020/30000 [5:07:43<8:47:41, 1.67s/it] 37%|███▋ | 11021/30000 [5:07:45<8:47:31, 1.67s/it] 37%|███▋ | 11022/30000 [5:07:46<8:46:41, 1.67s/it] 37%|███▋ | 11023/30000 [5:07:48<8:46:19, 1.66s/it] 37%|███▋ | 11024/30000 [5:07:50<8:46:03, 1.66s/it] 37%|███▋ | 11025/30000 [5:07:51<8:46:03, 1.66s/it] 37%|███▋ | 11026/30000 [5:07:53<8:46:21, 1.66s/it] 37%|███▋ | 11027/30000 [5:07:55<8:47:08, 1.67s/it] 37%|███▋ | 11028/30000 [5:07:56<8:48:17, 1.67s/it] 37%|███▋ | 11029/30000 [5:07:58<8:48:49, 1.67s/it] 37%|███▋ | 11030/30000 [5:08:00<8:47:07, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12898516654968262, 'learning_rate': 2.245843529059e-05, 'flow_matching_loss': 0.020330743119120597, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.21} + 37%|███▋ | 11030/30000 [5:08:00<8:47:07, 1.67s/it] 37%|███▋ | 11031/30000 [5:08:01<8:46:52, 1.67s/it] 37%|███▋ | 11032/30000 [5:08:03<8:46:25, 1.67s/it] 37%|███▋ | 11033/30000 [5:08:05<8:45:53, 1.66s/it] 37%|███▋ | 11034/30000 [5:08:06<8:46:19, 1.67s/it] 37%|███▋ | 11035/30000 [5:08:08<8:46:46, 1.67s/it] 37%|███▋ | 11036/30000 [5:08:10<8:47:06, 1.67s/it] 37%|███▋ | 11037/30000 [5:08:11<8:46:49, 1.67s/it] 37%|███▋ | 11038/30000 [5:08:13<8:46:14, 1.67s/it] 37%|███▋ | 11039/30000 [5:08:15<8:46:57, 1.67s/it] 37%|███▋ | 11040/30000 [5:08:16<8:46:50, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11808391660451889, 'learning_rate': 2.244408493838547e-05, 'flow_matching_loss': 0.020542972162365912, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.21} + 37%|███▋ | 11040/30000 [5:08:16<8:46:50, 1.67s/it] 37%|███▋ | 11041/30000 [5:08:18<8:47:33, 1.67s/it] 37%|███▋ | 11042/30000 [5:08:20<8:47:45, 1.67s/it] 37%|███▋ | 11043/30000 [5:08:21<8:48:28, 1.67s/it] 37%|███▋ | 11044/30000 [5:08:23<8:48:55, 1.67s/it] 37%|███▋ | 11045/30000 [5:08:25<8:48:53, 1.67s/it] 37%|███▋ | 11046/30000 [5:08:26<8:48:04, 1.67s/it] 37%|███▋ | 11047/30000 [5:08:28<8:47:28, 1.67s/it] 37%|███▋ | 11048/30000 [5:08:30<8:45:57, 1.67s/it] 37%|███▋ | 11049/30000 [5:08:31<8:46:07, 1.67s/it] 37%|███▋ | 11050/30000 [5:08:33<8:45:55, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.13725169003009796, 'learning_rate': 2.242972554091581e-05, 'flow_matching_loss': 0.022387557849287986, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.22} + 37%|███▋ | 11050/30000 [5:08:33<8:45:55, 1.67s/it] 37%|███▋ | 11051/30000 [5:08:35<8:46:30, 1.67s/it] 37%|███▋ | 11052/30000 [5:08:36<8:47:01, 1.67s/it] 37%|███▋ | 11053/30000 [5:08:38<8:46:36, 1.67s/it] 37%|███▋ | 11054/30000 [5:08:40<8:45:37, 1.66s/it] 37%|███▋ | 11055/30000 [5:08:41<8:46:28, 1.67s/it] 37%|███▋ | 11056/30000 [5:08:43<8:46:08, 1.67s/it] 37%|███▋ | 11057/30000 [5:08:45<8:46:39, 1.67s/it] 37%|███▋ | 11058/30000 [5:08:46<8:47:08, 1.67s/it] 37%|███▋ | 11059/30000 [5:08:48<8:47:00, 1.67s/it] 37%|███▋ | 11060/30000 [5:08:50<8:46:37, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11614160239696503, 'learning_rate': 2.2415357115629045e-05, 'flow_matching_loss': 0.020526924077421425, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.22} + 37%|███▋ | 11060/30000 [5:08:50<8:46:37, 1.67s/it] 37%|███▋ | 11061/30000 [5:08:51<8:46:20, 1.67s/it] 37%|███▋ | 11062/30000 [5:08:53<8:45:26, 1.66s/it] 37%|███▋ | 11063/30000 [5:08:55<8:46:09, 1.67s/it] 37%|███▋ | 11064/30000 [5:08:56<8:46:34, 1.67s/it] 37%|███▋ | 11065/30000 [5:08:58<8:45:57, 1.67s/it] 37%|███▋ | 11066/30000 [5:09:00<8:45:41, 1.67s/it] 37%|███▋ | 11067/30000 [5:09:01<8:47:20, 1.67s/it] 37%|███▋ | 11068/30000 [5:09:03<8:47:15, 1.67s/it] 37%|███▋ | 11069/30000 [5:09:05<8:47:03, 1.67s/it] 37%|███▋ | 11070/30000 [5:09:06<8:46:47, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.11536849290132523, 'learning_rate': 2.2400979679984162e-05, 'flow_matching_loss': 0.020364953577518462, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.22} + 37%|███▋ | 11070/30000 [5:09:06<8:46:47, 1.67s/it] 37%|███▋ | 11071/30000 [5:09:08<8:46:52, 1.67s/it] 37%|███▋ | 11072/30000 [5:09:10<8:45:53, 1.67s/it] 37%|███▋ | 11073/30000 [5:09:11<8:45:25, 1.67s/it] 37%|███▋ | 11074/30000 [5:09:13<8:46:23, 1.67s/it] 37%|███▋ | 11075/30000 [5:09:15<8:46:15, 1.67s/it] 37%|███▋ | 11076/30000 [5:09:16<8:45:18, 1.67s/it] 37%|███▋ | 11077/30000 [5:09:18<8:45:41, 1.67s/it] 37%|███▋ | 11078/30000 [5:09:20<8:44:47, 1.66s/it] 37%|███▋ | 11079/30000 [5:09:21<8:45:19, 1.67s/it] 37%|███▋ | 11080/30000 [5:09:23<8:44:46, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.1388428807258606, 'learning_rate': 2.2386593251451096e-05, 'flow_matching_loss': 0.021622278820723297, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.22} + 37%|███▋ | 11080/30000 [5:09:23<8:44:46, 1.66s/it] 37%|███▋ | 11081/30000 [5:09:25<8:45:19, 1.67s/it] 37%|███▋ | 11082/30000 [5:09:26<8:45:43, 1.67s/it] 37%|███▋ | 11083/30000 [5:09:28<8:45:51, 1.67s/it] 37%|███▋ | 11084/30000 [5:09:30<8:45:37, 1.67s/it] 37%|███▋ | 11085/30000 [5:09:31<8:46:02, 1.67s/it] 37%|███▋ | 11086/30000 [5:09:33<8:45:41, 1.67s/it] 37%|███▋ | 11087/30000 [5:09:35<8:45:25, 1.67s/it] 37%|███▋ | 11088/30000 [5:09:36<8:44:55, 1.67s/it] 37%|███▋ | 11089/30000 [5:09:38<8:44:55, 1.67s/it] 37%|███▋ | 11090/30000 [5:09:40<8:45:01, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.14377084374427795, 'learning_rate': 2.2372197847510722e-05, 'flow_matching_loss': 0.021084309462457894, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.23} + 37%|███▋ | 11090/30000 [5:09:40<8:45:01, 1.67s/it] 37%|███▋ | 11091/30000 [5:09:41<8:45:03, 1.67s/it] 37%|███▋ | 11092/30000 [5:09:43<8:44:41, 1.66s/it] 37%|███▋ | 11093/30000 [5:09:45<8:44:22, 1.66s/it] 37%|███▋ | 11094/30000 [5:09:46<8:44:59, 1.67s/it] 37%|███▋ | 11095/30000 [5:09:48<8:45:02, 1.67s/it] 37%|███▋ | 11096/30000 [5:09:50<8:44:36, 1.67s/it] 37%|███▋ | 11097/30000 [5:09:51<8:44:39, 1.67s/it] 37%|███▋ | 11098/30000 [5:09:53<8:44:39, 1.67s/it] 37%|███▋ | 11099/30000 [5:09:55<8:44:58, 1.67s/it] 37%|███▋ | 11100/30000 [5:09:56<8:45:02, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.12354978173971176, 'learning_rate': 2.2357793485654813e-05, 'flow_matching_loss': 0.021213919576257467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.23} + 37%|███▋ | 11100/30000 [5:09:56<8:45:02, 1.67s/it] 37%|███▋ | 11101/30000 [5:09:58<8:45:41, 1.67s/it] 37%|███▋ | 11102/30000 [5:10:00<8:44:53, 1.67s/it] 37%|███▋ | 11103/30000 [5:10:01<8:45:16, 1.67s/it] 37%|███▋ | 11104/30000 [5:10:03<8:45:02, 1.67s/it] 37%|███▋ | 11105/30000 [5:10:05<8:44:26, 1.67s/it] 37%|███▋ | 11106/30000 [5:10:06<8:44:19, 1.67s/it] 37%|███▋ | 11107/30000 [5:10:08<8:44:23, 1.67s/it] 37%|███▋ | 11108/30000 [5:10:10<8:43:53, 1.66s/it] 37%|███▋ | 11109/30000 [5:10:11<8:43:33, 1.66s/it] 37%|███▋ | 11110/30000 [5:10:13<8:42:47, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.11042436957359314, 'learning_rate': 2.2343380183386017e-05, 'flow_matching_loss': 0.02089112913236022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.23} + 37%|███▋ | 11110/30000 [5:10:13<8:42:47, 1.66s/it] 37%|███▋ | 11111/30000 [5:10:15<8:43:16, 1.66s/it] 37%|███▋ | 11112/30000 [5:10:16<8:43:31, 1.66s/it] 37%|███▋ | 11113/30000 [5:10:18<8:43:54, 1.66s/it] 37%|███▋ | 11114/30000 [5:10:20<8:44:11, 1.67s/it] 37%|███▋ | 11115/30000 [5:10:21<8:43:40, 1.66s/it] 37%|███▋ | 11116/30000 [5:10:23<8:43:33, 1.66s/it] 37%|███▋ | 11117/30000 [5:10:25<8:44:29, 1.67s/it] 37%|███▋ | 11118/30000 [5:10:26<8:43:22, 1.66s/it] 37%|███▋ | 11119/30000 [5:10:28<8:44:21, 1.67s/it] 37%|███▋ | 11120/30000 [5:10:30<8:43:42, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.17936404049396515, 'learning_rate': 2.232895795821787e-05, 'flow_matching_loss': 0.021625598799437283, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.24} + 37%|███▋ | 11120/30000 [5:10:30<8:43:42, 1.66s/it] 37%|███▋ | 11121/30000 [5:10:31<8:44:41, 1.67s/it] 37%|███▋ | 11122/30000 [5:10:33<8:43:59, 1.67s/it] 37%|███▋ | 11123/30000 [5:10:35<8:43:49, 1.66s/it] 37%|███▋ | 11124/30000 [5:10:36<8:43:39, 1.66s/it] 37%|███▋ | 11125/30000 [5:10:38<8:43:36, 1.66s/it] 37%|███▋ | 11126/30000 [5:10:40<8:42:57, 1.66s/it] 37%|███▋ | 11127/30000 [5:10:41<8:42:54, 1.66s/it] 37%|███▋ | 11128/30000 [5:10:43<8:42:47, 1.66s/it] 37%|███▋ | 11129/30000 [5:10:45<8:43:34, 1.66s/it] 37%|███▋ | 11130/30000 [5:10:46<8:44:07, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.09837398678064346, 'learning_rate': 2.2314526827674723e-05, 'flow_matching_loss': 0.02300745341926813, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.24} + 37%|███▋ | 11130/30000 [5:10:46<8:44:07, 1.67s/it] 37%|███▋ | 11131/30000 [5:10:48<8:44:11, 1.67s/it] 37%|███▋ | 11132/30000 [5:10:50<8:43:58, 1.67s/it] 37%|███▋ | 11133/30000 [5:10:51<8:44:14, 1.67s/it] 37%|███▋ | 11134/30000 [5:10:53<8:43:41, 1.67s/it] 37%|███▋ | 11135/30000 [5:10:55<8:44:27, 1.67s/it] 37%|███▋ | 11136/30000 [5:10:56<8:44:11, 1.67s/it] 37%|███▋ | 11137/30000 [5:10:58<8:44:12, 1.67s/it] 37%|███▋ | 11138/30000 [5:11:00<8:44:15, 1.67s/it] 37%|███▋ | 11139/30000 [5:11:01<8:42:42, 1.66s/it] 37%|███▋ | 11140/30000 [5:11:03<8:43:37, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.12153858691453934, 'learning_rate': 2.230008680929177e-05, 'flow_matching_loss': 0.02043100455775857, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.24} + 37%|███▋ | 11140/30000 [5:11:03<8:43:37, 1.67s/it] 37%|███▋ | 11141/30000 [5:11:05<8:42:55, 1.66s/it] 37%|███▋ | 11142/30000 [5:11:06<8:42:31, 1.66s/it] 37%|███▋ | 11143/30000 [5:11:08<8:43:25, 1.67s/it] 37%|███▋ | 11144/30000 [5:11:10<8:43:29, 1.67s/it] 37%|███▋ | 11145/30000 [5:11:11<8:44:26, 1.67s/it] 37%|███▋ | 11146/30000 [5:11:13<8:43:50, 1.67s/it] 37%|███▋ | 11147/30000 [5:11:15<8:43:07, 1.66s/it] 37%|███▋ | 11148/30000 [5:11:16<8:43:07, 1.66s/it] 37%|███▋ | 11149/30000 [5:11:18<8:43:51, 1.67s/it] 37%|███▋ | 11150/30000 [5:11:20<8:43:21, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.11847143620252609, 'learning_rate': 2.2285637920614987e-05, 'flow_matching_loss': 0.018697139620780946, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.24} + 37%|███▋ | 11150/30000 [5:11:20<8:43:21, 1.67s/it] 37%|███▋ | 11151/30000 [5:11:21<8:44:00, 1.67s/it] 37%|███▋ | 11152/30000 [5:11:23<8:44:19, 1.67s/it] 37%|███▋ | 11153/30000 [5:11:25<8:43:22, 1.67s/it] 37%|███▋ | 11154/30000 [5:11:26<8:43:09, 1.67s/it] 37%|███▋ | 11155/30000 [5:11:28<8:43:23, 1.67s/it] 37%|███▋ | 11156/30000 [5:11:30<8:43:34, 1.67s/it] 37%|███▋ | 11157/30000 [5:11:31<8:43:48, 1.67s/it] 37%|███▋ | 11158/30000 [5:11:33<8:43:50, 1.67s/it] 37%|███▋ | 11159/30000 [5:11:35<8:43:52, 1.67s/it] 37%|███▋ | 11160/30000 [5:11:36<8:42:55, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.15767347812652588, 'learning_rate': 2.2271180179201143e-05, 'flow_matching_loss': 0.02206995151937008, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.25} + 37%|███▋ | 11160/30000 [5:11:36<8:42:55, 1.67s/it] 37%|███▋ | 11161/30000 [5:11:38<8:43:12, 1.67s/it] 37%|███▋ | 11162/30000 [5:11:40<8:43:37, 1.67s/it] 37%|███▋ | 11163/30000 [5:11:41<8:43:50, 1.67s/it] 37%|███▋ | 11164/30000 [5:11:43<8:43:34, 1.67s/it] 37%|███▋ | 11165/30000 [5:11:45<8:44:02, 1.67s/it] 37%|███▋ | 11166/30000 [5:11:46<8:43:39, 1.67s/it] 37%|███▋ | 11167/30000 [5:11:48<8:44:01, 1.67s/it] 37%|███▋ | 11168/30000 [5:11:50<8:43:26, 1.67s/it] 37%|███▋ | 11169/30000 [5:11:51<8:43:41, 1.67s/it] 37%|███▋ | 11170/30000 [5:11:53<8:44:20, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.12365289777517319, 'learning_rate': 2.225671360261775e-05, 'flow_matching_loss': 0.022378981113433838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.25} + 37%|███▋ | 11170/30000 [5:11:53<8:44:20, 1.67s/it] 37%|███▋ | 11171/30000 [5:11:55<8:43:18, 1.67s/it] 37%|███▋ | 11172/30000 [5:11:56<8:44:04, 1.67s/it] 37%|███▋ | 11173/30000 [5:11:58<8:45:01, 1.67s/it] 37%|███▋ | 11174/30000 [5:12:00<8:43:58, 1.67s/it] 37%|███▋ | 11175/30000 [5:12:01<8:43:51, 1.67s/it] 37%|███▋ | 11176/30000 [5:12:03<8:42:58, 1.67s/it] 37%|███▋ | 11177/30000 [5:12:05<8:43:03, 1.67s/it] 37%|███▋ | 11178/30000 [5:12:06<8:43:14, 1.67s/it] 37%|███▋ | 11179/30000 [5:12:08<8:43:47, 1.67s/it] 37%|███▋ | 11180/30000 [5:12:10<8:43:05, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.1238953024148941, 'learning_rate': 2.2242238208443068e-05, 'flow_matching_loss': 0.01989859277382493, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.25} + 37%|███▋ | 11180/30000 [5:12:10<8:43:05, 1.67s/it] 37%|███▋ | 11181/30000 [5:12:11<8:43:32, 1.67s/it] 37%|███▋ | 11182/30000 [5:12:13<8:43:03, 1.67s/it] 37%|███▋ | 11183/30000 [5:12:15<8:42:25, 1.67s/it] 37%|███▋ | 11184/30000 [5:12:16<8:41:49, 1.66s/it] 37%|███▋ | 11185/30000 [5:12:18<8:41:50, 1.66s/it] 37%|███▋ | 11186/30000 [5:12:20<8:42:30, 1.67s/it] 37%|███▋ | 11187/30000 [5:12:21<8:43:12, 1.67s/it] 37%|███▋ | 11188/30000 [5:12:23<8:43:10, 1.67s/it] 37%|███▋ | 11189/30000 [5:12:25<8:42:24, 1.67s/it] 37%|███▋ | 11190/30000 [5:12:26<8:41:51, 1.66s/it] {'loss': 0.0239, 'grad_norm': 0.09261620789766312, 'learning_rate': 2.2227754014266063e-05, 'flow_matching_loss': 0.023934262804687023, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.26} + 37%|███▋ | 11190/30000 [5:12:26<8:41:51, 1.66s/it] 37%|███▋ | 11191/30000 [5:12:28<8:42:26, 1.67s/it] 37%|███▋ | 11192/30000 [5:12:30<8:41:52, 1.66s/it] 37%|███▋ | 11193/30000 [5:12:31<8:41:50, 1.66s/it] 37%|███▋ | 11194/30000 [5:12:33<8:44:11, 1.67s/it] 37%|███▋ | 11195/30000 [5:12:35<8:44:13, 1.67s/it] 37%|███▋ | 11196/30000 [5:12:36<8:44:00, 1.67s/it] 37%|███▋ | 11197/30000 [5:12:38<8:44:08, 1.67s/it] 37%|███▋ | 11198/30000 [5:12:40<8:44:08, 1.67s/it] 37%|███▋ | 11199/30000 [5:12:41<8:44:06, 1.67s/it] 37%|███▋ | 11200/30000 [5:12:43<8:43:40, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.12755544483661652, 'learning_rate': 2.22132610376864e-05, 'flow_matching_loss': 0.021501778438687325, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.26} + 37%|███▋ | 11200/30000 [5:12:43<8:43:40, 1.67s/it] 37%|███▋ | 11201/30000 [5:12:45<8:43:02, 1.67s/it] 37%|███▋ | 11202/30000 [5:12:46<8:42:46, 1.67s/it] 37%|███▋ | 11203/30000 [5:12:48<8:42:37, 1.67s/it] 37%|███▋ | 11204/30000 [5:12:50<8:43:04, 1.67s/it] 37%|███▋ | 11205/30000 [5:12:51<8:42:07, 1.67s/it] 37%|███▋ | 11206/30000 [5:12:53<8:42:02, 1.67s/it] 37%|███▋ | 11207/30000 [5:12:55<8:42:40, 1.67s/it] 37%|███▋ | 11208/30000 [5:12:56<8:41:51, 1.67s/it] 37%|███▋ | 11209/30000 [5:12:58<8:41:57, 1.67s/it] 37%|███▋ | 11210/30000 [5:13:00<8:42:09, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.09437762945890427, 'learning_rate': 2.219875929631441e-05, 'flow_matching_loss': 0.02162296324968338, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.26} + 37%|███▋ | 11210/30000 [5:13:00<8:42:09, 1.67s/it] 37%|███▋ | 11211/30000 [5:13:01<8:42:19, 1.67s/it] 37%|███▋ | 11212/30000 [5:13:03<8:42:33, 1.67s/it] 37%|███▋ | 11213/30000 [5:13:05<8:43:13, 1.67s/it] 37%|███▋ | 11214/30000 [5:13:06<8:43:08, 1.67s/it] 37%|███▋ | 11215/30000 [5:13:08<8:43:16, 1.67s/it] 37%|███▋ | 11216/30000 [5:13:10<8:42:13, 1.67s/it] 37%|███▋ | 11217/30000 [5:13:11<8:42:04, 1.67s/it] 37%|███▋ | 11218/30000 [5:13:13<8:41:30, 1.67s/it] 37%|███▋ | 11219/30000 [5:13:15<8:40:42, 1.66s/it] 37%|███▋ | 11220/30000 [5:13:16<8:41:12, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09706463664770126, 'learning_rate': 2.2184248807771074e-05, 'flow_matching_loss': 0.01926049552857876, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.26} + 37%|███▋ | 11220/30000 [5:13:16<8:41:12, 1.67s/it] 37%|███▋ | 11221/30000 [5:13:18<8:42:00, 1.67s/it] 37%|███▋ | 11222/30000 [5:13:20<8:40:53, 1.66s/it] 37%|███▋ | 11223/30000 [5:13:21<8:41:19, 1.67s/it] 37%|███▋ | 11224/30000 [5:13:23<8:41:31, 1.67s/it] 37%|███▋ | 11225/30000 [5:13:25<8:41:33, 1.67s/it] 37%|███▋ | 11226/30000 [5:13:26<8:41:32, 1.67s/it] 37%|███▋ | 11227/30000 [5:13:28<8:41:21, 1.67s/it] 37%|███▋ | 11228/30000 [5:13:30<8:40:51, 1.66s/it] 37%|███▋ | 11229/30000 [5:13:31<8:40:40, 1.66s/it] 37%|███▋ | 11230/30000 [5:13:33<8:42:48, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.12968124449253082, 'learning_rate': 2.216972958968801e-05, 'flow_matching_loss': 0.024929742515087127, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.27} + 37%|███▋ | 11230/30000 [5:13:33<8:42:48, 1.67s/it] 37%|███▋ | 11231/30000 [5:13:35<8:41:20, 1.67s/it] 37%|███▋ | 11232/30000 [5:13:36<8:40:31, 1.66s/it] 37%|███▋ | 11233/30000 [5:13:38<8:40:26, 1.66s/it] 37%|███▋ | 11234/30000 [5:13:40<8:40:32, 1.66s/it] 37%|███▋ | 11235/30000 [5:13:41<8:40:45, 1.67s/it] 37%|███▋ | 11236/30000 [5:13:43<8:41:42, 1.67s/it] 37%|███▋ | 11237/30000 [5:13:45<8:42:25, 1.67s/it] 37%|███▋ | 11238/30000 [5:13:46<8:41:28, 1.67s/it] 37%|███▋ | 11239/30000 [5:13:48<8:41:17, 1.67s/it] 37%|███▋ | 11240/30000 [5:13:50<8:41:10, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.10740242898464203, 'learning_rate': 2.215520165970743e-05, 'flow_matching_loss': 0.021112293004989624, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.27} + 37%|███▋ | 11240/30000 [5:13:50<8:41:10, 1.67s/it] 37%|███▋ | 11241/30000 [5:13:51<8:41:31, 1.67s/it] 37%|███▋ | 11242/30000 [5:13:53<8:40:41, 1.67s/it] 37%|███▋ | 11243/30000 [5:13:55<8:40:34, 1.67s/it] 37%|███▋ | 11244/30000 [5:13:56<8:40:55, 1.67s/it] 37%|███▋ | 11245/30000 [5:13:58<8:41:10, 1.67s/it] 37%|███▋ | 11246/30000 [5:14:00<8:40:38, 1.67s/it] 37%|███▋ | 11247/30000 [5:14:01<8:41:02, 1.67s/it] 37%|███▋ | 11248/30000 [5:14:03<8:40:20, 1.66s/it] 37%|███▋ | 11249/30000 [5:14:05<8:42:07, 1.67s/it] 38%|███▊ | 11250/30000 [5:14:06<8:41:13, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.0997137576341629, 'learning_rate': 2.2140665035482143e-05, 'flow_matching_loss': 0.0226936262100935, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.27} + 38%|███▊ | 11250/30000 [5:14:06<8:41:13, 1.67s/it] 38%|███▊ | 11251/30000 [5:14:08<8:40:27, 1.67s/it] 38%|███▊ | 11252/30000 [5:14:10<8:41:40, 1.67s/it] 38%|███▊ | 11253/30000 [5:14:11<8:41:42, 1.67s/it] 38%|███▊ | 11254/30000 [5:14:13<8:40:33, 1.67s/it] 38%|███▊ | 11255/30000 [5:14:15<8:40:56, 1.67s/it] 38%|███▊ | 11256/30000 [5:14:16<8:40:03, 1.66s/it] 38%|███▊ | 11257/30000 [5:14:18<8:41:11, 1.67s/it] 38%|███▊ | 11258/30000 [5:14:20<8:41:15, 1.67s/it] 38%|███▊ | 11259/30000 [5:14:21<8:41:23, 1.67s/it] 38%|███▊ | 11260/30000 [5:14:23<8:41:23, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.1034519150853157, 'learning_rate': 2.2126119734675518e-05, 'flow_matching_loss': 0.020941784046590327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.28} + 38%|███▊ | 11260/30000 [5:14:23<8:41:23, 1.67s/it] 38%|███▊ | 11261/30000 [5:14:25<8:40:55, 1.67s/it] 38%|███▊ | 11262/30000 [5:14:26<8:39:38, 1.66s/it] 38%|███▊ | 11263/30000 [5:14:28<8:40:29, 1.67s/it] 38%|███▊ | 11264/30000 [5:14:30<8:40:21, 1.67s/it] 38%|███▊ | 11265/30000 [5:14:31<8:41:25, 1.67s/it] 38%|███▊ | 11266/30000 [5:14:33<8:40:33, 1.67s/it] 38%|███▊ | 11267/30000 [5:14:35<8:39:54, 1.67s/it] 38%|███▊ | 11268/30000 [5:14:36<8:40:06, 1.67s/it] 38%|███▊ | 11269/30000 [5:14:38<8:40:26, 1.67s/it] 38%|███▊ | 11270/30000 [5:14:40<8:39:58, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.121493399143219, 'learning_rate': 2.2111565774961463e-05, 'flow_matching_loss': 0.020146543532609938, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.28} + 38%|███▊ | 11270/30000 [5:14:40<8:39:58, 1.67s/it] 38%|███▊ | 11271/30000 [5:14:41<8:40:07, 1.67s/it] 38%|███▊ | 11272/30000 [5:14:43<8:40:17, 1.67s/it] 38%|███▊ | 11273/30000 [5:14:45<8:40:05, 1.67s/it] 38%|███▊ | 11274/30000 [5:14:46<8:40:36, 1.67s/it] 38%|███▊ | 11275/30000 [5:14:48<8:39:44, 1.67s/it] 38%|███▊ | 11276/30000 [5:14:50<8:40:49, 1.67s/it] 38%|███▊ | 11277/30000 [5:14:51<8:40:04, 1.67s/it] 38%|███▊ | 11278/30000 [5:14:53<8:40:07, 1.67s/it] 38%|███▊ | 11279/30000 [5:14:55<8:40:26, 1.67s/it] 38%|███▊ | 11280/30000 [5:14:56<8:39:56, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.12450702488422394, 'learning_rate': 2.2097003174024417e-05, 'flow_matching_loss': 0.018686683755367993, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.28} + 38%|███▊ | 11280/30000 [5:14:56<8:39:56, 1.67s/it] 38%|███▊ | 11281/30000 [5:14:58<8:40:11, 1.67s/it] 38%|███▊ | 11282/30000 [5:15:00<8:40:10, 1.67s/it] 38%|███▊ | 11283/30000 [5:15:01<8:40:00, 1.67s/it] 38%|███▊ | 11284/30000 [5:15:03<8:40:29, 1.67s/it] 38%|███▊ | 11285/30000 [5:15:05<8:40:09, 1.67s/it] 38%|███▊ | 11286/30000 [5:15:06<8:40:25, 1.67s/it] 38%|███▊ | 11287/30000 [5:15:08<8:40:06, 1.67s/it] 38%|███▊ | 11288/30000 [5:15:10<8:39:53, 1.67s/it] 38%|███▊ | 11289/30000 [5:15:11<8:40:06, 1.67s/it] 38%|███▊ | 11290/30000 [5:15:13<8:39:18, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.11673656851053238, 'learning_rate': 2.2082431949559315e-05, 'flow_matching_loss': 0.018753208685666323, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.28} + 38%|███▊ | 11290/30000 [5:15:13<8:39:18, 1.67s/it] 38%|███▊ | 11291/30000 [5:15:15<8:40:08, 1.67s/it] 38%|███▊ | 11292/30000 [5:15:16<8:40:24, 1.67s/it] 38%|███▊ | 11293/30000 [5:15:18<8:40:42, 1.67s/it] 38%|███▊ | 11294/30000 [5:15:20<8:39:09, 1.67s/it] 38%|███▊ | 11295/30000 [5:15:21<8:40:41, 1.67s/it] 38%|███▊ | 11296/30000 [5:15:23<8:40:34, 1.67s/it] 38%|███▊ | 11297/30000 [5:15:25<8:40:30, 1.67s/it] 38%|███▊ | 11298/30000 [5:15:26<8:40:36, 1.67s/it] 38%|███▊ | 11299/30000 [5:15:28<8:39:24, 1.67s/it] 38%|███▊ | 11300/30000 [5:15:30<8:39:56, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.1339951753616333, 'learning_rate': 2.2067852119271558e-05, 'flow_matching_loss': 0.019798177015036344, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.29} + 38%|███▊ | 11300/30000 [5:15:30<8:39:56, 1.67s/it] 38%|███▊ | 11301/30000 [5:15:31<8:40:12, 1.67s/it] 38%|███▊ | 11302/30000 [5:15:33<8:38:59, 1.67s/it] 38%|███▊ | 11303/30000 [5:15:35<8:39:17, 1.67s/it] 38%|███▊ | 11304/30000 [5:15:36<8:39:34, 1.67s/it] 38%|███▊ | 11305/30000 [5:15:38<8:39:41, 1.67s/it] 38%|███▊ | 11306/30000 [5:15:40<8:40:04, 1.67s/it] 38%|███▊ | 11307/30000 [5:15:41<8:39:23, 1.67s/it] 38%|███▊ | 11308/30000 [5:15:43<8:39:20, 1.67s/it] 38%|███▊ | 11309/30000 [5:15:45<8:39:34, 1.67s/it] 38%|███▊ | 11310/30000 [5:15:46<8:39:13, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.10318291187286377, 'learning_rate': 2.2053263700877026e-05, 'flow_matching_loss': 0.020439954567700626, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.29} + 38%|███▊ | 11310/30000 [5:15:47<8:39:13, 1.67s/it] 38%|███▊ | 11311/30000 [5:15:48<8:39:37, 1.67s/it] 38%|███▊ | 11312/30000 [5:15:50<8:38:53, 1.67s/it] 38%|███▊ | 11313/30000 [5:15:51<8:38:42, 1.67s/it] 38%|███▊ | 11314/30000 [5:15:53<8:39:06, 1.67s/it] 38%|███▊ | 11315/30000 [5:15:55<8:39:45, 1.67s/it] 38%|███▊ | 11316/30000 [5:15:56<8:39:25, 1.67s/it] 38%|███▊ | 11317/30000 [5:15:58<8:39:56, 1.67s/it] 38%|███▊ | 11318/30000 [5:16:00<8:39:09, 1.67s/it] 38%|███▊ | 11319/30000 [5:16:01<8:38:54, 1.67s/it] 38%|███▊ | 11320/30000 [5:16:03<8:39:12, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.1336655616760254, 'learning_rate': 2.2038666712102015e-05, 'flow_matching_loss': 0.019837307557463647, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.29} + 38%|███▊ | 11320/30000 [5:16:03<8:39:12, 1.67s/it] 38%|███▊ | 11321/30000 [5:16:05<8:39:00, 1.67s/it] 38%|███▊ | 11322/30000 [5:16:06<8:38:42, 1.67s/it] 38%|███▊ | 11323/30000 [5:16:08<8:39:12, 1.67s/it] 38%|███▊ | 11324/30000 [5:16:10<8:39:18, 1.67s/it] 38%|███▊ | 11325/30000 [5:16:11<8:39:22, 1.67s/it] 38%|███▊ | 11326/30000 [5:16:13<8:38:25, 1.67s/it] 38%|███▊ | 11327/30000 [5:16:15<8:39:27, 1.67s/it] 38%|███▊ | 11328/30000 [5:16:16<8:39:39, 1.67s/it] 38%|███▊ | 11329/30000 [5:16:18<8:38:52, 1.67s/it] 38%|███▊ | 11330/30000 [5:16:20<8:38:53, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.12179198116064072, 'learning_rate': 2.2024061170683246e-05, 'flow_matching_loss': 0.018663120828568934, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.3} + 38%|███▊ | 11330/30000 [5:16:20<8:38:53, 1.67s/it] 38%|███▊ | 11331/30000 [5:16:21<8:39:12, 1.67s/it] 38%|███▊ | 11332/30000 [5:16:23<8:39:07, 1.67s/it] 38%|███▊ | 11333/30000 [5:16:25<8:38:30, 1.67s/it] 38%|███▊ | 11334/30000 [5:16:26<8:38:14, 1.67s/it] 38%|███▊ | 11335/30000 [5:16:28<8:38:23, 1.67s/it] 38%|███▊ | 11336/30000 [5:16:30<8:37:55, 1.66s/it] 38%|███▊ | 11337/30000 [5:16:31<8:38:02, 1.67s/it] 38%|███▊ | 11338/30000 [5:16:33<8:38:24, 1.67s/it] 38%|███▊ | 11339/30000 [5:16:35<8:38:18, 1.67s/it] 38%|███▊ | 11340/30000 [5:16:36<8:38:28, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.09364177286624908, 'learning_rate': 2.200944709436783e-05, 'flow_matching_loss': 0.022559356689453126, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.3} + 38%|███▊ | 11340/30000 [5:16:37<8:38:28, 1.67s/it] 38%|███▊ | 11341/30000 [5:16:38<8:39:02, 1.67s/it] 38%|███▊ | 11342/30000 [5:16:40<8:38:30, 1.67s/it] 38%|███▊ | 11343/30000 [5:16:41<8:37:55, 1.67s/it] 38%|███▊ | 11344/30000 [5:16:43<8:38:19, 1.67s/it] 38%|███▊ | 11345/30000 [5:16:45<8:38:10, 1.67s/it] 38%|███▊ | 11346/30000 [5:16:46<8:37:15, 1.66s/it] 38%|███▊ | 11347/30000 [5:16:48<8:37:15, 1.66s/it] 38%|███▊ | 11348/30000 [5:16:50<8:37:46, 1.67s/it] 38%|███▊ | 11349/30000 [5:16:51<8:37:49, 1.67s/it] 38%|███▊ | 11350/30000 [5:16:53<8:37:30, 1.66s/it] {'loss': 0.0219, 'grad_norm': 0.10802248865365982, 'learning_rate': 2.1994824500913246e-05, 'flow_matching_loss': 0.021902943681925535, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.3} + 38%|███▊ | 11350/30000 [5:16:53<8:37:30, 1.66s/it] 38%|███▊ | 11351/30000 [5:16:55<8:38:10, 1.67s/it] 38%|███▊ | 11352/30000 [5:16:56<8:37:24, 1.66s/it] 38%|███▊ | 11353/30000 [5:16:58<8:37:24, 1.66s/it] 38%|███▊ | 11354/30000 [5:17:00<8:38:36, 1.67s/it] 38%|███▊ | 11355/30000 [5:17:01<8:38:11, 1.67s/it] 38%|███▊ | 11356/30000 [5:17:03<8:38:32, 1.67s/it] 38%|███▊ | 11357/30000 [5:17:05<8:38:46, 1.67s/it] 38%|███▊ | 11358/30000 [5:17:06<8:37:53, 1.67s/it] 38%|███▊ | 11359/30000 [5:17:08<8:37:56, 1.67s/it] 38%|███▊ | 11360/30000 [5:17:10<8:37:46, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.1164034977555275, 'learning_rate': 2.1980193408087322e-05, 'flow_matching_loss': 0.022195091098546983, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.31} + 38%|███▊ | 11360/30000 [5:17:10<8:37:46, 1.67s/it] 38%|███▊ | 11361/30000 [5:17:11<8:37:51, 1.67s/it] 38%|███▊ | 11362/30000 [5:17:13<8:37:55, 1.67s/it] 38%|███▊ | 11363/30000 [5:17:15<8:38:15, 1.67s/it] 38%|███▊ | 11364/30000 [5:17:16<8:38:17, 1.67s/it] 38%|███▊ | 11365/30000 [5:17:18<8:38:00, 1.67s/it] 38%|███▊ | 11366/30000 [5:17:20<8:37:25, 1.67s/it] 38%|███▊ | 11367/30000 [5:17:21<8:37:39, 1.67s/it] 38%|███▊ | 11368/30000 [5:17:23<8:37:32, 1.67s/it] 38%|███▊ | 11369/30000 [5:17:25<8:37:35, 1.67s/it] 38%|███▊ | 11370/30000 [5:17:26<8:37:17, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.09407010674476624, 'learning_rate': 2.1965553833668224e-05, 'flow_matching_loss': 0.02142278999090195, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.31} + 38%|███▊ | 11370/30000 [5:17:27<8:37:17, 1.67s/it] 38%|███▊ | 11371/30000 [5:17:28<8:37:41, 1.67s/it] 38%|███▊ | 11372/30000 [5:17:30<8:37:28, 1.67s/it] 38%|███▊ | 11373/30000 [5:17:31<8:36:59, 1.67s/it] 38%|███▊ | 11374/30000 [5:17:33<8:36:22, 1.66s/it] 38%|███▊ | 11375/30000 [5:17:35<8:37:07, 1.67s/it] 38%|███▊ | 11376/30000 [5:17:36<8:36:02, 1.66s/it] 38%|███▊ | 11377/30000 [5:17:38<8:36:20, 1.66s/it] 38%|███▊ | 11378/30000 [5:17:40<8:36:35, 1.66s/it] 38%|███▊ | 11379/30000 [5:17:41<8:36:50, 1.67s/it] 38%|███▊ | 11380/30000 [5:17:43<8:36:49, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.15221257507801056, 'learning_rate': 2.195090579544441e-05, 'flow_matching_loss': 0.02189906481653452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.31} + 38%|███▊ | 11380/30000 [5:17:43<8:36:49, 1.67s/it] 38%|███▊ | 11381/30000 [5:17:45<8:36:42, 1.67s/it] 38%|███▊ | 11382/30000 [5:17:46<8:36:12, 1.66s/it] 38%|███▊ | 11383/30000 [5:17:48<8:36:09, 1.66s/it] 38%|███▊ | 11384/30000 [5:17:50<8:35:40, 1.66s/it] 38%|███▊ | 11385/30000 [5:17:51<8:35:36, 1.66s/it] 38%|███▊ | 11386/30000 [5:17:53<8:37:54, 1.67s/it] 38%|███▊ | 11387/30000 [5:17:55<8:37:47, 1.67s/it] 38%|███▊ | 11388/30000 [5:17:56<8:37:44, 1.67s/it] 38%|███▊ | 11389/30000 [5:17:58<8:37:26, 1.67s/it] 38%|███▊ | 11390/30000 [5:18:00<8:36:35, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.14953674376010895, 'learning_rate': 2.193624931121462e-05, 'flow_matching_loss': 0.02226033844053745, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.31} + 38%|███▊ | 11390/30000 [5:18:00<8:36:35, 1.67s/it] 38%|███▊ | 11391/30000 [5:18:01<8:37:29, 1.67s/it] 38%|███▊ | 11392/30000 [5:18:03<8:36:47, 1.67s/it] 38%|███▊ | 11393/30000 [5:18:05<8:36:35, 1.67s/it] 38%|███▊ | 11394/30000 [5:18:06<8:36:19, 1.67s/it] 38%|███▊ | 11395/30000 [5:18:08<8:36:29, 1.67s/it] 38%|███▊ | 11396/30000 [5:18:10<8:36:36, 1.67s/it] 38%|███▊ | 11397/30000 [5:18:11<8:36:37, 1.67s/it] 38%|███▊ | 11398/30000 [5:18:13<8:36:45, 1.67s/it] 38%|███▊ | 11399/30000 [5:18:15<8:36:50, 1.67s/it] 38%|███▊ | 11400/30000 [5:18:16<8:36:22, 1.67s/it] {'loss': 0.0227, 'grad_norm': 0.10672392696142197, 'learning_rate': 2.1921584398787872e-05, 'flow_matching_loss': 0.02271969150751829, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.32} + 38%|███▊ | 11400/30000 [5:18:16<8:36:22, 1.67s/it] 38%|███▊ | 11401/30000 [5:18:18<8:36:47, 1.67s/it] 38%|███▊ | 11402/30000 [5:18:20<8:37:00, 1.67s/it] 38%|███▊ | 11403/30000 [5:18:21<8:37:35, 1.67s/it] 38%|███▊ | 11404/30000 [5:18:23<8:37:42, 1.67s/it] 38%|███▊ | 11405/30000 [5:18:25<8:36:57, 1.67s/it] 38%|███▊ | 11406/30000 [5:18:26<8:36:28, 1.67s/it] 38%|███▊ | 11407/30000 [5:18:28<8:37:03, 1.67s/it] 38%|███▊ | 11408/30000 [5:18:30<8:36:53, 1.67s/it] 38%|███▊ | 11409/30000 [5:18:31<8:36:53, 1.67s/it] 38%|███▊ | 11410/30000 [5:18:33<8:36:46, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.09628824144601822, 'learning_rate': 2.1906911075983418e-05, 'flow_matching_loss': 0.02162638884037733, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.32} + 38%|███▊ | 11410/30000 [5:18:33<8:36:46, 1.67s/it] 38%|███▊ | 11411/30000 [5:18:35<8:36:16, 1.67s/it] 38%|███▊ | 11412/30000 [5:18:36<8:36:09, 1.67s/it] 38%|███▊ | 11413/30000 [5:18:38<8:36:06, 1.67s/it] 38%|███▊ | 11414/30000 [5:18:40<8:36:02, 1.67s/it] 38%|███▊ | 11415/30000 [5:18:41<8:36:32, 1.67s/it] 38%|███▊ | 11416/30000 [5:18:43<8:36:17, 1.67s/it] 38%|███▊ | 11417/30000 [5:18:45<8:36:02, 1.67s/it] 38%|███▊ | 11418/30000 [5:18:46<8:36:31, 1.67s/it] 38%|███▊ | 11419/30000 [5:18:48<8:35:56, 1.67s/it] 38%|███▊ | 11420/30000 [5:18:50<8:35:37, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.13121895492076874, 'learning_rate': 2.1892229360630728e-05, 'flow_matching_loss': 0.019603279978036882, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.32} + 38%|███▊ | 11420/30000 [5:18:50<8:35:37, 1.67s/it] 38%|███▊ | 11421/30000 [5:18:51<8:35:43, 1.67s/it] 38%|███▊ | 11422/30000 [5:18:53<8:35:22, 1.66s/it] 38%|███▊ | 11423/30000 [5:18:55<8:35:46, 1.67s/it] 38%|███▊ | 11424/30000 [5:18:56<8:35:04, 1.66s/it] 38%|███▊ | 11425/30000 [5:18:58<8:35:38, 1.67s/it] 38%|███▊ | 11426/30000 [5:19:00<8:36:17, 1.67s/it] 38%|███▊ | 11427/30000 [5:19:01<8:36:37, 1.67s/it] 38%|███▊ | 11428/30000 [5:19:03<8:36:28, 1.67s/it] 38%|███▊ | 11429/30000 [5:19:05<8:36:48, 1.67s/it] 38%|███▊ | 11430/30000 [5:19:06<8:36:28, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.15094007551670074, 'learning_rate': 2.187753927056947e-05, 'flow_matching_loss': 0.019368168246001006, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.33} + 38%|███▊ | 11430/30000 [5:19:07<8:36:28, 1.67s/it] 38%|███▊ | 11431/30000 [5:19:08<8:36:16, 1.67s/it] 38%|███▊ | 11432/30000 [5:19:10<8:35:45, 1.67s/it] 38%|███▊ | 11433/30000 [5:19:11<8:35:28, 1.67s/it] 38%|███▊ | 11434/30000 [5:19:13<8:35:44, 1.67s/it] 38%|███▊ | 11435/30000 [5:19:15<8:36:00, 1.67s/it] 38%|███▊ | 11436/30000 [5:19:16<8:35:35, 1.67s/it] 38%|███▊ | 11437/30000 [5:19:18<8:35:44, 1.67s/it] 38%|███▊ | 11438/30000 [5:19:20<8:35:48, 1.67s/it] 38%|███▊ | 11439/30000 [5:19:21<8:36:00, 1.67s/it] 38%|███▊ | 11440/30000 [5:19:23<8:35:33, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.10029852390289307, 'learning_rate': 2.186284082364949e-05, 'flow_matching_loss': 0.01971165258437395, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.33} + 38%|███▊ | 11440/30000 [5:19:23<8:35:33, 1.67s/it] 38%|███▊ | 11441/30000 [5:19:25<8:35:45, 1.67s/it] 38%|███▊ | 11442/30000 [5:19:26<8:36:13, 1.67s/it] 38%|███▊ | 11443/30000 [5:19:28<8:36:12, 1.67s/it] 38%|███▊ | 11444/30000 [5:19:30<8:35:57, 1.67s/it] 38%|███▊ | 11445/30000 [5:19:31<8:35:05, 1.67s/it] 38%|███▊ | 11446/30000 [5:19:33<8:34:28, 1.66s/it] 38%|███▊ | 11447/30000 [5:19:35<8:36:23, 1.67s/it] 38%|███▊ | 11448/30000 [5:19:36<8:35:18, 1.67s/it] 38%|███▊ | 11449/30000 [5:19:38<8:36:01, 1.67s/it] 38%|███▊ | 11450/30000 [5:19:40<8:35:33, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.15029610693454742, 'learning_rate': 2.1848134037730786e-05, 'flow_matching_loss': 0.021831646747887134, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.33} + 38%|███▊ | 11450/30000 [5:19:40<8:35:33, 1.67s/it] 38%|███▊ | 11451/30000 [5:19:41<8:35:22, 1.67s/it] 38%|███▊ | 11452/30000 [5:19:43<8:35:31, 1.67s/it] 38%|███▊ | 11453/30000 [5:19:45<8:35:22, 1.67s/it] 38%|███▊ | 11454/30000 [5:19:46<8:35:17, 1.67s/it] 38%|███▊ | 11455/30000 [5:19:48<8:35:13, 1.67s/it] 38%|███▊ | 11456/30000 [5:19:50<8:34:30, 1.66s/it] 38%|███▊ | 11457/30000 [5:19:51<8:35:28, 1.67s/it] 38%|███▊ | 11458/30000 [5:19:53<8:35:16, 1.67s/it] 38%|███▊ | 11459/30000 [5:19:55<8:35:11, 1.67s/it] 38%|███▊ | 11460/30000 [5:19:56<8:35:00, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.15092076361179352, 'learning_rate': 2.183341893068349e-05, 'flow_matching_loss': 0.021298226714134217, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.33} + 38%|███▊ | 11460/30000 [5:19:57<8:35:00, 1.67s/it] 38%|███▊ | 11461/30000 [5:19:58<8:36:01, 1.67s/it] 38%|███▊ | 11462/30000 [5:20:00<8:35:13, 1.67s/it] 38%|███▊ | 11463/30000 [5:20:01<8:34:52, 1.67s/it] 38%|███▊ | 11464/30000 [5:20:03<8:33:55, 1.66s/it] 38%|███▊ | 11465/30000 [5:20:05<8:33:53, 1.66s/it] 38%|███▊ | 11466/30000 [5:20:06<8:34:29, 1.67s/it] 38%|███▊ | 11467/30000 [5:20:08<8:34:45, 1.67s/it] 38%|███▊ | 11468/30000 [5:20:10<8:34:25, 1.67s/it] 38%|███▊ | 11469/30000 [5:20:11<8:34:39, 1.67s/it] 38%|███▊ | 11470/30000 [5:20:13<8:33:47, 1.66s/it] {'loss': 0.0197, 'grad_norm': 0.1480211317539215, 'learning_rate': 2.1818695520387842e-05, 'flow_matching_loss': 0.019694274477660655, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.34} + 38%|███▊ | 11470/30000 [5:20:13<8:33:47, 1.66s/it] 38%|███▊ | 11471/30000 [5:20:15<8:34:27, 1.67s/it] 38%|███▊ | 11472/30000 [5:20:16<8:32:56, 1.66s/it] 38%|███▊ | 11473/30000 [5:20:18<8:33:16, 1.66s/it] 38%|███▊ | 11474/30000 [5:20:20<8:35:28, 1.67s/it] 38%|███▊ | 11475/30000 [5:20:21<8:35:28, 1.67s/it] 38%|███▊ | 11476/30000 [5:20:23<8:35:03, 1.67s/it] 38%|███▊ | 11477/30000 [5:20:25<8:34:48, 1.67s/it] 38%|███▊ | 11478/30000 [5:20:26<8:34:00, 1.67s/it] 38%|███▊ | 11479/30000 [5:20:28<8:34:38, 1.67s/it] 38%|███▊ | 11480/30000 [5:20:30<8:34:01, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.11118555814027786, 'learning_rate': 2.1803963824734173e-05, 'flow_matching_loss': 0.01982952617108822, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.34} + 38%|███▊ | 11480/30000 [5:20:30<8:34:01, 1.67s/it] 38%|███▊ | 11481/30000 [5:20:31<8:34:12, 1.67s/it] 38%|███▊ | 11482/30000 [5:20:33<8:35:25, 1.67s/it] 38%|███▊ | 11483/30000 [5:20:35<8:34:41, 1.67s/it] 38%|███▊ | 11484/30000 [5:20:36<8:34:59, 1.67s/it] 38%|███▊ | 11485/30000 [5:20:38<8:34:51, 1.67s/it] 38%|███▊ | 11486/30000 [5:20:40<8:34:08, 1.67s/it] 38%|███▊ | 11487/30000 [5:20:41<8:33:41, 1.66s/it] 38%|███▊ | 11488/30000 [5:20:43<8:33:15, 1.66s/it] 38%|███▊ | 11489/30000 [5:20:45<8:33:42, 1.67s/it] 38%|███▊ | 11490/30000 [5:20:46<8:35:03, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.14902839064598083, 'learning_rate': 2.1789223861622887e-05, 'flow_matching_loss': 0.020644392166286708, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.34} + 38%|███▊ | 11490/30000 [5:20:47<8:35:03, 1.67s/it] 38%|███▊ | 11491/30000 [5:20:48<8:35:36, 1.67s/it] 38%|███▊ | 11492/30000 [5:20:50<8:34:51, 1.67s/it] 38%|███▊ | 11493/30000 [5:20:51<8:34:15, 1.67s/it] 38%|███▊ | 11494/30000 [5:20:53<8:33:28, 1.66s/it] 38%|███▊ | 11495/30000 [5:20:55<8:33:46, 1.67s/it] 38%|███▊ | 11496/30000 [5:20:56<8:33:38, 1.67s/it] 38%|███▊ | 11497/30000 [5:20:58<8:33:36, 1.67s/it] 38%|███▊ | 11498/30000 [5:21:00<8:33:03, 1.66s/it] 38%|███▊ | 11499/30000 [5:21:01<8:33:13, 1.66s/it] 38%|███▊ | 11500/30000 [5:21:03<8:33:53, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.13106486201286316, 'learning_rate': 2.1774475648964428e-05, 'flow_matching_loss': 0.020144078973680736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.35} + 38%|███▊ | 11500/30000 [5:21:03<8:33:53, 1.67s/it] 38%|███▊ | 11501/30000 [5:21:05<8:37:00, 1.68s/it] 38%|███▊ | 11502/30000 [5:21:06<8:35:41, 1.67s/it] 38%|███▊ | 11503/30000 [5:21:08<8:35:08, 1.67s/it] 38%|███▊ | 11504/30000 [5:21:10<8:34:52, 1.67s/it] 38%|███▊ | 11505/30000 [5:21:12<8:34:35, 1.67s/it] 38%|███▊ | 11506/30000 [5:21:13<8:33:56, 1.67s/it] 38%|███▊ | 11507/30000 [5:21:15<8:33:09, 1.66s/it] 38%|███▊ | 11508/30000 [5:21:16<8:32:59, 1.66s/it] 38%|███▊ | 11509/30000 [5:21:18<8:33:04, 1.66s/it] 38%|███▊ | 11510/30000 [5:21:20<8:32:31, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.13590335845947266, 'learning_rate': 2.1759719204679267e-05, 'flow_matching_loss': 0.021002601087093353, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.35} + 38%|███▊ | 11510/30000 [5:21:20<8:32:31, 1.66s/it] 38%|███▊ | 11511/30000 [5:21:21<8:33:22, 1.67s/it] 38%|███▊ | 11512/30000 [5:21:23<8:33:33, 1.67s/it] 38%|███▊ | 11513/30000 [5:21:25<8:33:08, 1.67s/it] 38%|███▊ | 11514/30000 [5:21:26<8:33:20, 1.67s/it] 38%|███▊ | 11515/30000 [5:21:28<8:34:19, 1.67s/it] 38%|███▊ | 11516/30000 [5:21:30<8:33:55, 1.67s/it] 38%|███▊ | 11517/30000 [5:21:31<8:33:24, 1.67s/it] 38%|███▊ | 11518/30000 [5:21:33<8:32:38, 1.66s/it] 38%|███▊ | 11519/30000 [5:21:35<8:33:11, 1.67s/it] 38%|███▊ | 11520/30000 [5:21:36<8:33:03, 1.67s/it] {'loss': 0.0233, 'grad_norm': 0.12748295068740845, 'learning_rate': 2.174495454669787e-05, 'flow_matching_loss': 0.023283451423048974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.35} + 38%|███▊ | 11520/30000 [5:21:37<8:33:03, 1.67s/it] 38%|███▊ | 11521/30000 [5:21:38<8:32:58, 1.67s/it] 38%|███▊ | 11522/30000 [5:21:40<8:32:46, 1.67s/it] 38%|███▊ | 11523/30000 [5:21:41<8:32:54, 1.67s/it] 38%|███▊ | 11524/30000 [5:21:43<8:32:41, 1.66s/it] 38%|███▊ | 11525/30000 [5:21:45<8:32:32, 1.66s/it] 38%|███▊ | 11526/30000 [5:21:46<8:31:45, 1.66s/it] 38%|███▊ | 11527/30000 [5:21:48<8:32:39, 1.67s/it] 38%|███▊ | 11528/30000 [5:21:50<8:30:53, 1.66s/it] 38%|███▊ | 11529/30000 [5:21:51<8:31:03, 1.66s/it] 38%|███▊ | 11530/30000 [5:21:53<8:31:51, 1.66s/it] {'loss': 0.0239, 'grad_norm': 0.16596558690071106, 'learning_rate': 2.1730181692960692e-05, 'flow_matching_loss': 0.023882090020924805, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.35} + 38%|███▊ | 11530/30000 [5:21:53<8:31:51, 1.66s/it] 38%|███▊ | 11531/30000 [5:21:55<8:32:54, 1.67s/it] 38%|███▊ | 11532/30000 [5:21:56<8:31:39, 1.66s/it] 38%|███▊ | 11533/30000 [5:21:58<8:32:32, 1.67s/it] 38%|███▊ | 11534/30000 [5:22:00<8:31:37, 1.66s/it] 38%|███▊ | 11535/30000 [5:22:01<8:32:38, 1.67s/it] 38%|███▊ | 11536/30000 [5:22:03<8:32:11, 1.66s/it] 38%|███▊ | 11537/30000 [5:22:05<8:32:03, 1.66s/it] 38%|███▊ | 11538/30000 [5:22:06<8:31:32, 1.66s/it] 38%|███▊ | 11539/30000 [5:22:08<8:31:45, 1.66s/it] 38%|███▊ | 11540/30000 [5:22:10<8:32:00, 1.66s/it] {'loss': 0.0225, 'grad_norm': 0.14412757754325867, 'learning_rate': 2.171540066141814e-05, 'flow_matching_loss': 0.02254943549633026, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.36} + 38%|███▊ | 11540/30000 [5:22:10<8:32:00, 1.66s/it] 38%|███▊ | 11541/30000 [5:22:11<8:32:19, 1.67s/it] 38%|███▊ | 11542/30000 [5:22:13<8:32:32, 1.67s/it] 38%|███▊ | 11543/30000 [5:22:15<8:32:47, 1.67s/it] 38%|███▊ | 11544/30000 [5:22:16<8:33:55, 1.67s/it] 38%|███▊ | 11545/30000 [5:22:18<8:33:50, 1.67s/it] 38%|███▊ | 11546/30000 [5:22:20<8:33:45, 1.67s/it] 38%|███▊ | 11547/30000 [5:22:21<8:33:44, 1.67s/it] 38%|███▊ | 11548/30000 [5:22:23<8:33:22, 1.67s/it] 38%|███▊ | 11549/30000 [5:22:25<8:32:56, 1.67s/it] 38%|███▊ | 11550/30000 [5:22:26<8:32:02, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.11657266318798065, 'learning_rate': 2.170061147003056e-05, 'flow_matching_loss': 0.02310633286833763, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.36} + 38%|███▊ | 11550/30000 [5:22:26<8:32:02, 1.67s/it] 39%|███▊ | 11551/30000 [5:22:28<8:32:43, 1.67s/it] 39%|███▊ | 11552/30000 [5:22:30<8:33:06, 1.67s/it] 39%|███▊ | 11553/30000 [5:22:31<8:32:43, 1.67s/it] 39%|███▊ | 11554/30000 [5:22:33<8:32:42, 1.67s/it] 39%|███▊ | 11555/30000 [5:22:35<8:33:00, 1.67s/it] 39%|███▊ | 11556/30000 [5:22:36<8:32:46, 1.67s/it] 39%|███▊ | 11557/30000 [5:22:38<8:32:48, 1.67s/it] 39%|███▊ | 11558/30000 [5:22:40<8:32:18, 1.67s/it] 39%|███▊ | 11559/30000 [5:22:41<8:32:32, 1.67s/it] 39%|███▊ | 11560/30000 [5:22:43<8:32:08, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.20541884005069733, 'learning_rate': 2.1685814136768225e-05, 'flow_matching_loss': 0.0224798534065485, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.36} + 39%|███▊ | 11560/30000 [5:22:43<8:32:08, 1.67s/it] 39%|███▊ | 11561/30000 [5:22:45<8:32:17, 1.67s/it] 39%|███▊ | 11562/30000 [5:22:46<8:32:05, 1.67s/it] 39%|███▊ | 11563/30000 [5:22:48<8:32:28, 1.67s/it] 39%|███▊ | 11564/30000 [5:22:50<8:32:32, 1.67s/it] 39%|███▊ | 11565/30000 [5:22:51<8:32:31, 1.67s/it] 39%|███▊ | 11566/30000 [5:22:53<8:31:49, 1.67s/it] 39%|███▊ | 11567/30000 [5:22:55<8:32:29, 1.67s/it] 39%|███▊ | 11568/30000 [5:22:56<8:31:40, 1.67s/it] 39%|███▊ | 11569/30000 [5:22:58<8:31:40, 1.67s/it] 39%|███▊ | 11570/30000 [5:23:00<8:31:25, 1.66s/it] {'loss': 0.0206, 'grad_norm': 0.13535144925117493, 'learning_rate': 2.167100867961128e-05, 'flow_matching_loss': 0.02058784058317542, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.37} + 39%|███▊ | 11570/30000 [5:23:00<8:31:25, 1.66s/it] 39%|███▊ | 11571/30000 [5:23:01<8:32:17, 1.67s/it] 39%|███▊ | 11572/30000 [5:23:03<8:32:48, 1.67s/it] 39%|███▊ | 11573/30000 [5:23:05<8:32:27, 1.67s/it] 39%|███▊ | 11574/30000 [5:23:06<8:31:44, 1.67s/it] 39%|███▊ | 11575/30000 [5:23:08<8:31:56, 1.67s/it] 39%|███▊ | 11576/30000 [5:23:10<8:30:55, 1.66s/it] 39%|███▊ | 11577/30000 [5:23:11<8:31:08, 1.66s/it] 39%|███▊ | 11578/30000 [5:23:13<8:31:13, 1.67s/it] 39%|███▊ | 11579/30000 [5:23:15<8:31:13, 1.67s/it] 39%|███▊ | 11580/30000 [5:23:16<8:33:04, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.11939060688018799, 'learning_rate': 2.1656195116549756e-05, 'flow_matching_loss': 0.022136324923485516, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.37} + 39%|███▊ | 11580/30000 [5:23:17<8:33:04, 1.67s/it] 39%|███▊ | 11581/30000 [5:23:18<8:33:01, 1.67s/it] 39%|███▊ | 11582/30000 [5:23:20<8:32:24, 1.67s/it] 39%|███▊ | 11583/30000 [5:23:21<8:32:34, 1.67s/it] 39%|███▊ | 11584/30000 [5:23:23<8:31:49, 1.67s/it] 39%|███▊ | 11585/30000 [5:23:25<8:31:39, 1.67s/it] 39%|███▊ | 11586/30000 [5:23:26<8:30:25, 1.66s/it] 39%|███▊ | 11587/30000 [5:23:28<8:31:05, 1.67s/it] 39%|███▊ | 11588/30000 [5:23:30<8:31:23, 1.67s/it] 39%|███▊ | 11589/30000 [5:23:31<8:32:30, 1.67s/it] 39%|███▊ | 11590/30000 [5:23:33<8:32:20, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.14829248189926147, 'learning_rate': 2.1641373465583527e-05, 'flow_matching_loss': 0.02261559385806322, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.37} + 39%|███▊ | 11590/30000 [5:23:33<8:32:20, 1.67s/it] 39%|███▊ | 11591/30000 [5:23:35<8:32:01, 1.67s/it] 39%|███▊ | 11592/30000 [5:23:36<8:31:04, 1.67s/it] 39%|███▊ | 11593/30000 [5:23:38<8:30:42, 1.66s/it] 39%|███▊ | 11594/30000 [5:23:40<8:30:41, 1.66s/it] 39%|███▊ | 11595/30000 [5:23:41<8:30:52, 1.67s/it] 39%|███▊ | 11596/30000 [5:23:43<8:30:27, 1.66s/it] 39%|███▊ | 11597/30000 [5:23:45<8:31:06, 1.67s/it] 39%|███▊ | 11598/30000 [5:23:46<8:30:24, 1.66s/it] 39%|███▊ | 11599/30000 [5:23:48<8:31:33, 1.67s/it] 39%|███▊ | 11600/30000 [5:23:50<8:31:01, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11503302305936813, 'learning_rate': 2.1626543744722292e-05, 'flow_matching_loss': 0.020147368125617505, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.38} + 39%|███▊ | 11600/30000 [5:23:50<8:31:01, 1.67s/it] 39%|███▊ | 11601/30000 [5:23:51<8:31:10, 1.67s/it] 39%|███▊ | 11602/30000 [5:23:53<8:31:06, 1.67s/it] 39%|███▊ | 11603/30000 [5:23:55<8:30:55, 1.67s/it] 39%|███▊ | 11604/30000 [5:23:56<8:32:01, 1.67s/it] 39%|███▊ | 11605/30000 [5:23:58<8:33:26, 1.67s/it] 39%|███▊ | 11606/30000 [5:24:00<8:31:24, 1.67s/it] 39%|███▊ | 11607/30000 [5:24:01<8:31:21, 1.67s/it] 39%|███▊ | 11608/30000 [5:24:03<8:30:26, 1.67s/it] 39%|███▊ | 11609/30000 [5:24:05<8:30:42, 1.67s/it] 39%|███▊ | 11610/30000 [5:24:06<8:31:00, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.13332779705524445, 'learning_rate': 2.161170597198557e-05, 'flow_matching_loss': 0.023177741467952727, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.38} + 39%|███▊ | 11610/30000 [5:24:07<8:31:00, 1.67s/it] 39%|███▊ | 11611/30000 [5:24:08<8:31:19, 1.67s/it] 39%|███▊ | 11612/30000 [5:24:10<8:30:13, 1.66s/it] 39%|███▊ | 11613/30000 [5:24:11<8:29:49, 1.66s/it] 39%|███▊ | 11614/30000 [5:24:13<8:29:23, 1.66s/it] 39%|███▊ | 11615/30000 [5:24:15<8:30:01, 1.66s/it] 39%|███▊ | 11616/30000 [5:24:16<8:31:12, 1.67s/it] 39%|███▊ | 11617/30000 [5:24:18<8:30:36, 1.67s/it] 39%|███▊ | 11618/30000 [5:24:20<8:31:03, 1.67s/it] 39%|███▊ | 11619/30000 [5:24:21<8:31:33, 1.67s/it] 39%|███▊ | 11620/30000 [5:24:23<8:31:05, 1.67s/it] {'loss': 0.0241, 'grad_norm': 0.12723933160305023, 'learning_rate': 2.1596860165402645e-05, 'flow_matching_loss': 0.02408842705190182, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.38} + 39%|███▊ | 11620/30000 [5:24:23<8:31:05, 1.67s/it] 39%|███▊ | 11621/30000 [5:24:25<8:31:10, 1.67s/it] 39%|███▊ | 11622/30000 [5:24:26<8:31:14, 1.67s/it] 39%|███▊ | 11623/30000 [5:24:28<8:30:59, 1.67s/it] 39%|███▊ | 11624/30000 [5:24:30<8:31:18, 1.67s/it] 39%|███▉ | 11625/30000 [5:24:31<8:31:10, 1.67s/it] 39%|███▉ | 11626/30000 [5:24:33<8:31:17, 1.67s/it] 39%|███▉ | 11627/30000 [5:24:35<8:31:23, 1.67s/it] 39%|███▉ | 11628/30000 [5:24:37<8:31:23, 1.67s/it] 39%|███▉ | 11629/30000 [5:24:38<8:30:55, 1.67s/it] 39%|███▉ | 11630/30000 [5:24:40<8:30:36, 1.67s/it] {'loss': 0.0255, 'grad_norm': 0.18001288175582886, 'learning_rate': 2.1582006343012576e-05, 'flow_matching_loss': 0.025465017836540937, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.38} + 39%|███▉ | 11630/30000 [5:24:40<8:30:36, 1.67s/it] 39%|███▉ | 11631/30000 [5:24:42<8:30:38, 1.67s/it] 39%|███▉ | 11632/30000 [5:24:43<8:30:43, 1.67s/it] 39%|███▉ | 11633/30000 [5:24:45<8:30:51, 1.67s/it] 39%|███▉ | 11634/30000 [5:24:47<8:32:16, 1.67s/it] 39%|███▉ | 11635/30000 [5:24:48<8:30:56, 1.67s/it] 39%|███▉ | 11636/30000 [5:24:50<8:31:38, 1.67s/it] 39%|███▉ | 11637/30000 [5:24:52<8:31:22, 1.67s/it] 39%|███▉ | 11638/30000 [5:24:53<8:30:42, 1.67s/it] 39%|███▉ | 11639/30000 [5:24:55<8:30:48, 1.67s/it] 39%|███▉ | 11640/30000 [5:24:57<8:30:04, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.13699346780776978, 'learning_rate': 2.156714452286416e-05, 'flow_matching_loss': 0.020439009368419647, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.39} + 39%|███▉ | 11640/30000 [5:24:57<8:30:04, 1.67s/it] 39%|███▉ | 11641/30000 [5:24:58<8:30:31, 1.67s/it] 39%|███▉ | 11642/30000 [5:25:00<8:30:14, 1.67s/it] 39%|███▉ | 11643/30000 [5:25:02<8:29:26, 1.67s/it] 39%|███▉ | 11644/30000 [5:25:03<8:29:47, 1.67s/it] 39%|███▉ | 11645/30000 [5:25:05<8:30:07, 1.67s/it] 39%|███▉ | 11646/30000 [5:25:07<8:29:38, 1.67s/it] 39%|███▉ | 11647/30000 [5:25:08<8:29:40, 1.67s/it] 39%|███▉ | 11648/30000 [5:25:10<8:30:08, 1.67s/it] 39%|███▉ | 11649/30000 [5:25:12<8:29:55, 1.67s/it] 39%|███▉ | 11650/30000 [5:25:13<8:29:40, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.13297440111637115, 'learning_rate': 2.155227472301591e-05, 'flow_matching_loss': 0.02043330343440175, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.39} + 39%|███▉ | 11650/30000 [5:25:13<8:29:40, 1.67s/it] 39%|███▉ | 11651/30000 [5:25:15<8:29:58, 1.67s/it] 39%|███▉ | 11652/30000 [5:25:17<8:29:02, 1.66s/it] 39%|███▉ | 11653/30000 [5:25:18<8:29:35, 1.67s/it] 39%|███▉ | 11654/30000 [5:25:20<8:29:08, 1.67s/it] 39%|███▉ | 11655/30000 [5:25:22<8:29:06, 1.67s/it] 39%|███▉ | 11656/30000 [5:25:23<8:28:28, 1.66s/it] 39%|███▉ | 11657/30000 [5:25:25<8:28:04, 1.66s/it] 39%|███▉ | 11658/30000 [5:25:27<8:28:36, 1.66s/it] 39%|███▉ | 11659/30000 [5:25:28<8:28:42, 1.66s/it] 39%|███▉ | 11660/30000 [5:25:30<8:29:06, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.1264343112707138, 'learning_rate': 2.1537396961536027e-05, 'flow_matching_loss': 0.02026635203510523, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.39} + 39%|███▉ | 11660/30000 [5:25:30<8:29:06, 1.67s/it] 39%|███▉ | 11661/30000 [5:25:32<8:29:36, 1.67s/it] 39%|███▉ | 11662/30000 [5:25:33<8:29:08, 1.67s/it] 39%|███▉ | 11663/30000 [5:25:35<8:30:02, 1.67s/it] 39%|███▉ | 11664/30000 [5:25:37<8:29:47, 1.67s/it] 39%|███▉ | 11665/30000 [5:25:38<8:29:44, 1.67s/it] 39%|███▉ | 11666/30000 [5:25:40<8:29:56, 1.67s/it] 39%|███▉ | 11667/30000 [5:25:42<8:29:53, 1.67s/it] 39%|███▉ | 11668/30000 [5:25:43<8:29:20, 1.67s/it] 39%|███▉ | 11669/30000 [5:25:45<8:29:02, 1.67s/it] 39%|███▉ | 11670/30000 [5:25:47<8:28:35, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.145924374461174, 'learning_rate': 2.1522511256502403e-05, 'flow_matching_loss': 0.02092446181923151, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.4} + 39%|███▉ | 11670/30000 [5:25:47<8:28:35, 1.66s/it] 39%|███▉ | 11671/30000 [5:25:48<8:28:38, 1.67s/it] 39%|███▉ | 11672/30000 [5:25:50<8:27:59, 1.66s/it] 39%|███▉ | 11673/30000 [5:25:52<8:28:19, 1.66s/it] 39%|███▉ | 11674/30000 [5:25:53<8:29:01, 1.67s/it] 39%|███▉ | 11675/30000 [5:25:55<8:28:59, 1.67s/it] 39%|███▉ | 11676/30000 [5:25:57<8:29:11, 1.67s/it] 39%|███▉ | 11677/30000 [5:25:58<8:29:23, 1.67s/it] 39%|███▉ | 11678/30000 [5:26:00<8:28:51, 1.67s/it] 39%|███▉ | 11679/30000 [5:26:02<8:29:02, 1.67s/it] 39%|███▉ | 11680/30000 [5:26:03<8:28:36, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.14742161333560944, 'learning_rate': 2.1507617626002566e-05, 'flow_matching_loss': 0.019766313675791024, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.4} + 39%|███▉ | 11680/30000 [5:26:03<8:28:36, 1.67s/it] 39%|███▉ | 11681/30000 [5:26:05<8:29:08, 1.67s/it] 39%|███▉ | 11682/30000 [5:26:07<8:29:28, 1.67s/it] 39%|███▉ | 11683/30000 [5:26:08<8:28:55, 1.67s/it] 39%|███▉ | 11684/30000 [5:26:10<8:29:04, 1.67s/it] 39%|███▉ | 11685/30000 [5:26:12<8:28:52, 1.67s/it] 39%|███▉ | 11686/30000 [5:26:13<8:28:17, 1.67s/it] 39%|███▉ | 11687/30000 [5:26:15<8:28:47, 1.67s/it] 39%|███▉ | 11688/30000 [5:26:17<8:27:31, 1.66s/it] 39%|███▉ | 11689/30000 [5:26:18<8:27:47, 1.66s/it] 39%|███▉ | 11690/30000 [5:26:20<8:28:00, 1.66s/it] {'loss': 0.0214, 'grad_norm': 0.16349966824054718, 'learning_rate': 2.1492716088133685e-05, 'flow_matching_loss': 0.021441867016255854, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.4} + 39%|███▉ | 11690/30000 [5:26:20<8:28:00, 1.66s/it] 39%|███▉ | 11691/30000 [5:26:22<8:28:27, 1.67s/it] 39%|███▉ | 11692/30000 [5:26:23<8:29:07, 1.67s/it] 39%|███▉ | 11693/30000 [5:26:25<8:29:11, 1.67s/it] 39%|███▉ | 11694/30000 [5:26:27<8:28:22, 1.67s/it] 39%|███▉ | 11695/30000 [5:26:28<8:29:24, 1.67s/it] 39%|███▉ | 11696/30000 [5:26:30<8:29:29, 1.67s/it] 39%|███▉ | 11697/30000 [5:26:32<8:29:08, 1.67s/it] 39%|███▉ | 11698/30000 [5:26:33<8:28:53, 1.67s/it] 39%|███▉ | 11699/30000 [5:26:35<8:29:01, 1.67s/it] 39%|███▉ | 11700/30000 [5:26:37<8:28:59, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.1109490618109703, 'learning_rate': 2.1477806661002536e-05, 'flow_matching_loss': 0.021589618269354106, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.4} + 39%|███▉ | 11700/30000 [5:26:37<8:28:59, 1.67s/it] 39%|███▉ | 11701/30000 [5:26:38<8:28:51, 1.67s/it] 39%|███▉ | 11702/30000 [5:26:40<8:28:47, 1.67s/it] 39%|███▉ | 11703/30000 [5:26:42<8:28:53, 1.67s/it] 39%|███▉ | 11704/30000 [5:26:43<8:28:19, 1.67s/it] 39%|███▉ | 11705/30000 [5:26:45<8:28:37, 1.67s/it] 39%|███▉ | 11706/30000 [5:26:47<8:28:53, 1.67s/it] 39%|███▉ | 11707/30000 [5:26:48<8:28:29, 1.67s/it] 39%|███▉ | 11708/30000 [5:26:50<8:28:48, 1.67s/it] 39%|███▉ | 11709/30000 [5:26:52<8:28:44, 1.67s/it] 39%|███▉ | 11710/30000 [5:26:53<8:28:23, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.12695640325546265, 'learning_rate': 2.146288936272548e-05, 'flow_matching_loss': 0.020818517357110978, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.41} + 39%|███▉ | 11710/30000 [5:26:53<8:28:23, 1.67s/it] 39%|███▉ | 11711/30000 [5:26:55<8:29:18, 1.67s/it] 39%|███▉ | 11712/30000 [5:26:57<8:28:13, 1.67s/it] 39%|███▉ | 11713/30000 [5:26:58<8:29:33, 1.67s/it] 39%|███▉ | 11714/30000 [5:27:00<8:29:33, 1.67s/it] 39%|███▉ | 11715/30000 [5:27:02<8:29:19, 1.67s/it] 39%|███▉ | 11716/30000 [5:27:03<8:29:29, 1.67s/it] 39%|███▉ | 11717/30000 [5:27:05<8:29:20, 1.67s/it] 39%|███▉ | 11718/30000 [5:27:07<8:28:05, 1.67s/it] 39%|███▉ | 11719/30000 [5:27:08<8:28:25, 1.67s/it] 39%|███▉ | 11720/30000 [5:27:10<8:27:43, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.1339699625968933, 'learning_rate': 2.1447964211428433e-05, 'flow_matching_loss': 0.020009613968431948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.41} + 39%|███▉ | 11720/30000 [5:27:10<8:27:43, 1.67s/it] 39%|███▉ | 11721/30000 [5:27:12<8:27:39, 1.67s/it] 39%|███▉ | 11722/30000 [5:27:13<8:27:53, 1.67s/it] 39%|███▉ | 11723/30000 [5:27:15<8:27:52, 1.67s/it] 39%|███▉ | 11724/30000 [5:27:17<8:28:09, 1.67s/it] 39%|███▉ | 11725/30000 [5:27:18<8:28:10, 1.67s/it] 39%|███▉ | 11726/30000 [5:27:20<8:27:47, 1.67s/it] 39%|███▉ | 11727/30000 [5:27:22<8:27:59, 1.67s/it] 39%|███▉ | 11728/30000 [5:27:23<8:28:10, 1.67s/it] 39%|███▉ | 11729/30000 [5:27:25<8:28:37, 1.67s/it] 39%|███▉ | 11730/30000 [5:27:27<8:28:19, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.13300222158432007, 'learning_rate': 2.1433031225246865e-05, 'flow_matching_loss': 0.02253617104142904, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.41} + 39%|███▉ | 11730/30000 [5:27:27<8:28:19, 1.67s/it] 39%|███▉ | 11731/30000 [5:27:28<8:28:50, 1.67s/it] 39%|███▉ | 11732/30000 [5:27:30<8:28:40, 1.67s/it] 39%|███▉ | 11733/30000 [5:27:32<8:28:42, 1.67s/it] 39%|███▉ | 11734/30000 [5:27:33<8:27:25, 1.67s/it] 39%|███▉ | 11735/30000 [5:27:35<8:27:47, 1.67s/it] 39%|███▉ | 11736/30000 [5:27:37<8:26:57, 1.67s/it] 39%|███▉ | 11737/30000 [5:27:38<8:26:05, 1.66s/it] 39%|███▉ | 11738/30000 [5:27:40<8:26:30, 1.66s/it] 39%|███▉ | 11739/30000 [5:27:42<8:27:06, 1.67s/it] 39%|███▉ | 11740/30000 [5:27:43<8:28:32, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.11544040590524673, 'learning_rate': 2.1418090422325766e-05, 'flow_matching_loss': 0.02142203599214554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.42} + 39%|███▉ | 11740/30000 [5:27:43<8:28:32, 1.67s/it] 39%|███▉ | 11741/30000 [5:27:45<8:29:20, 1.67s/it] 39%|███▉ | 11742/30000 [5:27:47<8:27:35, 1.67s/it] 39%|███▉ | 11743/30000 [5:27:48<8:27:37, 1.67s/it] 39%|███▉ | 11744/30000 [5:27:50<8:26:45, 1.67s/it] 39%|███▉ | 11745/30000 [5:27:52<8:26:35, 1.67s/it] 39%|███▉ | 11746/30000 [5:27:53<8:26:05, 1.66s/it] 39%|███▉ | 11747/30000 [5:27:55<8:26:01, 1.66s/it] 39%|███▉ | 11748/30000 [5:27:57<8:26:27, 1.66s/it] 39%|███▉ | 11749/30000 [5:27:58<8:27:05, 1.67s/it] 39%|███▉ | 11750/30000 [5:28:00<8:26:57, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.13452774286270142, 'learning_rate': 2.1403141820819623e-05, 'flow_matching_loss': 0.02251837756484747, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.42} + 39%|███▉ | 11750/30000 [5:28:00<8:26:57, 1.67s/it] 39%|███▉ | 11751/30000 [5:28:02<8:26:36, 1.67s/it] 39%|███▉ | 11752/30000 [5:28:03<8:27:36, 1.67s/it] 39%|███▉ | 11753/30000 [5:28:05<8:27:14, 1.67s/it] 39%|███▉ | 11754/30000 [5:28:07<8:27:22, 1.67s/it] 39%|███▉ | 11755/30000 [5:28:08<8:27:51, 1.67s/it] 39%|███▉ | 11756/30000 [5:28:10<8:27:35, 1.67s/it] 39%|███▉ | 11757/30000 [5:28:12<8:27:14, 1.67s/it] 39%|███▉ | 11758/30000 [5:28:13<8:27:15, 1.67s/it] 39%|███▉ | 11759/30000 [5:28:15<8:27:57, 1.67s/it] 39%|███▉ | 11760/30000 [5:28:17<8:27:09, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.11780013144016266, 'learning_rate': 2.1388185438892377e-05, 'flow_matching_loss': 0.020881595369428397, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.42} + 39%|███▉ | 11760/30000 [5:28:17<8:27:09, 1.67s/it] 39%|███▉ | 11761/30000 [5:28:18<8:27:36, 1.67s/it] 39%|███▉ | 11762/30000 [5:28:20<8:26:39, 1.67s/it] 39%|███▉ | 11763/30000 [5:28:22<8:26:36, 1.67s/it] 39%|███▉ | 11764/30000 [5:28:23<8:27:11, 1.67s/it] 39%|███▉ | 11765/30000 [5:28:25<8:27:48, 1.67s/it] 39%|███▉ | 11766/30000 [5:28:27<8:27:07, 1.67s/it] 39%|███▉ | 11767/30000 [5:28:28<8:27:07, 1.67s/it] 39%|███▉ | 11768/30000 [5:28:30<8:26:30, 1.67s/it] 39%|███▉ | 11769/30000 [5:28:32<8:25:57, 1.67s/it] 39%|███▉ | 11770/30000 [5:28:33<8:25:48, 1.66s/it] {'loss': 0.0198, 'grad_norm': 0.10559424757957458, 'learning_rate': 2.1373221294717465e-05, 'flow_matching_loss': 0.019770305324345826, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.42} + 39%|███▉ | 11770/30000 [5:28:33<8:25:48, 1.66s/it] 39%|███▉ | 11771/30000 [5:28:35<8:25:54, 1.67s/it] 39%|███▉ | 11772/30000 [5:28:37<8:25:55, 1.67s/it] 39%|███▉ | 11773/30000 [5:28:38<8:26:12, 1.67s/it] 39%|███▉ | 11774/30000 [5:28:40<8:25:14, 1.66s/it] 39%|███▉ | 11775/30000 [5:28:42<8:25:28, 1.66s/it] 39%|███▉ | 11776/30000 [5:28:43<8:25:41, 1.66s/it] 39%|███▉ | 11777/30000 [5:28:45<8:25:59, 1.67s/it] 39%|███▉ | 11778/30000 [5:28:47<8:26:09, 1.67s/it] 39%|███▉ | 11779/30000 [5:28:48<8:25:34, 1.66s/it] 39%|███▉ | 11780/30000 [5:28:50<8:26:03, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.10838956385850906, 'learning_rate': 2.1358249406477724e-05, 'flow_matching_loss': 0.01781876776367426, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.43} + 39%|███▉ | 11780/30000 [5:28:50<8:26:03, 1.67s/it] 39%|███▉ | 11781/30000 [5:28:52<8:25:52, 1.67s/it] 39%|███▉ | 11782/30000 [5:28:53<8:25:05, 1.66s/it] 39%|███▉ | 11783/30000 [5:28:55<8:25:53, 1.67s/it] 39%|███▉ | 11784/30000 [5:28:57<8:25:16, 1.66s/it] 39%|███▉ | 11785/30000 [5:28:58<8:25:20, 1.66s/it] 39%|███▉ | 11786/30000 [5:29:00<8:25:16, 1.66s/it] 39%|███▉ | 11787/30000 [5:29:02<8:25:41, 1.67s/it] 39%|███▉ | 11788/30000 [5:29:03<8:25:34, 1.67s/it] 39%|███▉ | 11789/30000 [5:29:05<8:25:42, 1.67s/it] 39%|███▉ | 11790/30000 [5:29:07<8:25:14, 1.66s/it] {'loss': 0.0221, 'grad_norm': 0.12459693849086761, 'learning_rate': 2.1343269792365408e-05, 'flow_matching_loss': 0.022091144323349, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.43} + 39%|███▉ | 11790/30000 [5:29:07<8:25:14, 1.66s/it] 39%|███▉ | 11791/30000 [5:29:08<8:26:27, 1.67s/it] 39%|███▉ | 11792/30000 [5:29:10<8:25:45, 1.67s/it] 39%|███▉ | 11793/30000 [5:29:12<8:25:33, 1.67s/it] 39%|███▉ | 11794/30000 [5:29:13<8:26:07, 1.67s/it] 39%|███▉ | 11795/30000 [5:29:15<8:26:22, 1.67s/it] 39%|███▉ | 11796/30000 [5:29:17<8:26:08, 1.67s/it] 39%|███▉ | 11797/30000 [5:29:18<8:26:54, 1.67s/it] 39%|███▉ | 11798/30000 [5:29:20<8:26:02, 1.67s/it] 39%|███▉ | 11799/30000 [5:29:22<8:26:46, 1.67s/it] 39%|███▉ | 11800/30000 [5:29:23<8:25:12, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.1308780312538147, 'learning_rate': 2.132828247058217e-05, 'flow_matching_loss': 0.02209754176437855, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.43} + 39%|███▉ | 11800/30000 [5:29:23<8:25:12, 1.67s/it] 39%|███▉ | 11801/30000 [5:29:25<8:25:18, 1.67s/it] 39%|███▉ | 11802/30000 [5:29:27<8:25:36, 1.67s/it] 39%|███▉ | 11803/30000 [5:29:28<8:26:59, 1.67s/it] 39%|███▉ | 11804/30000 [5:29:30<8:26:45, 1.67s/it] 39%|███▉ | 11805/30000 [5:29:32<8:26:07, 1.67s/it] 39%|███▉ | 11806/30000 [5:29:33<8:25:59, 1.67s/it] 39%|███▉ | 11807/30000 [5:29:35<8:27:56, 1.68s/it] 39%|███▉ | 11808/30000 [5:29:37<8:25:58, 1.67s/it] 39%|███▉ | 11809/30000 [5:29:38<8:26:00, 1.67s/it] 39%|███▉ | 11810/30000 [5:29:40<8:25:32, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.10957960784435272, 'learning_rate': 2.1313287459339004e-05, 'flow_matching_loss': 0.021913902834057808, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.44} + 39%|███▉ | 11810/30000 [5:29:40<8:25:32, 1.67s/it] 39%|███▉ | 11811/30000 [5:29:42<8:24:43, 1.66s/it] 39%|███▉ | 11812/30000 [5:29:43<8:25:16, 1.67s/it] 39%|███▉ | 11813/30000 [5:29:45<8:25:15, 1.67s/it] 39%|███▉ | 11814/30000 [5:29:47<8:24:44, 1.67s/it] 39%|███▉ | 11815/30000 [5:29:48<8:24:54, 1.67s/it] 39%|███▉ | 11816/30000 [5:29:50<8:25:35, 1.67s/it] 39%|███▉ | 11817/30000 [5:29:52<8:24:40, 1.67s/it] 39%|███▉ | 11818/30000 [5:29:53<8:24:48, 1.67s/it] 39%|███▉ | 11819/30000 [5:29:55<8:24:43, 1.67s/it] 39%|███▉ | 11820/30000 [5:29:57<8:24:29, 1.66s/it] {'loss': 0.0223, 'grad_norm': 0.15792518854141235, 'learning_rate': 2.1298284776856276e-05, 'flow_matching_loss': 0.022313206735998393, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.44} + 39%|███▉ | 11820/30000 [5:29:57<8:24:29, 1.66s/it] 39%|███▉ | 11821/30000 [5:29:58<8:24:44, 1.67s/it] 39%|███▉ | 11822/30000 [5:30:00<8:24:27, 1.67s/it] 39%|███▉ | 11823/30000 [5:30:02<8:24:40, 1.67s/it] 39%|███▉ | 11824/30000 [5:30:03<8:23:41, 1.66s/it] 39%|███▉ | 11825/30000 [5:30:05<8:23:54, 1.66s/it] 39%|███▉ | 11826/30000 [5:30:07<8:24:32, 1.67s/it] 39%|███▉ | 11827/30000 [5:30:08<8:24:25, 1.67s/it] 39%|███▉ | 11828/30000 [5:30:10<8:24:34, 1.67s/it] 39%|███▉ | 11829/30000 [5:30:12<8:24:51, 1.67s/it] 39%|███▉ | 11830/30000 [5:30:13<8:24:12, 1.66s/it] {'loss': 0.0228, 'grad_norm': 0.12151986360549927, 'learning_rate': 2.128327444136365e-05, 'flow_matching_loss': 0.02281939946115017, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.44} + 39%|███▉ | 11830/30000 [5:30:13<8:24:12, 1.66s/it] 39%|███▉ | 11831/30000 [5:30:15<8:25:02, 1.67s/it] 39%|███▉ | 11832/30000 [5:30:17<8:24:39, 1.67s/it] 39%|███▉ | 11833/30000 [5:30:18<8:24:49, 1.67s/it] 39%|███▉ | 11834/30000 [5:30:20<8:24:12, 1.67s/it] 39%|███▉ | 11835/30000 [5:30:22<8:24:01, 1.66s/it] 39%|███▉ | 11836/30000 [5:30:23<8:25:01, 1.67s/it] 39%|███▉ | 11837/30000 [5:30:25<8:24:45, 1.67s/it] 39%|███▉ | 11838/30000 [5:30:27<8:24:18, 1.67s/it] 39%|███▉ | 11839/30000 [5:30:28<8:24:38, 1.67s/it] 39%|███▉ | 11840/30000 [5:30:30<8:23:26, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.1288408488035202, 'learning_rate': 2.1268256471100105e-05, 'flow_matching_loss': 0.023435321636497974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.44} + 39%|███▉ | 11840/30000 [5:30:30<8:23:26, 1.66s/it] 39%|███▉ | 11841/30000 [5:30:32<8:24:34, 1.67s/it] 39%|███▉ | 11842/30000 [5:30:33<8:23:47, 1.66s/it] 39%|███▉ | 11843/30000 [5:30:35<8:24:52, 1.67s/it] 39%|███▉ | 11844/30000 [5:30:37<8:24:42, 1.67s/it] 39%|███▉ | 11845/30000 [5:30:38<8:23:42, 1.66s/it] 39%|███▉ | 11846/30000 [5:30:40<8:23:28, 1.66s/it] 39%|███▉ | 11847/30000 [5:30:42<8:23:36, 1.66s/it] 39%|███▉ | 11848/30000 [5:30:43<8:22:59, 1.66s/it] 39%|███▉ | 11849/30000 [5:30:45<8:23:07, 1.66s/it] 40%|███▉ | 11850/30000 [5:30:47<8:23:08, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.141110360622406, 'learning_rate': 2.1253230884313893e-05, 'flow_matching_loss': 0.021570297703146935, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.45} + 40%|███▉ | 11850/30000 [5:30:47<8:23:08, 1.66s/it] 40%|███▉ | 11851/30000 [5:30:48<8:23:03, 1.66s/it] 40%|███▉ | 11852/30000 [5:30:50<8:23:20, 1.66s/it] 40%|███▉ | 11853/30000 [5:30:52<8:23:17, 1.66s/it] 40%|███▉ | 11854/30000 [5:30:53<8:22:52, 1.66s/it] 40%|███▉ | 11855/30000 [5:30:55<8:23:09, 1.66s/it] 40%|███▉ | 11856/30000 [5:30:57<8:23:09, 1.66s/it] 40%|███▉ | 11857/30000 [5:30:58<8:23:21, 1.66s/it] 40%|███▉ | 11858/30000 [5:31:00<8:23:51, 1.67s/it] 40%|███▉ | 11859/30000 [5:31:02<8:23:48, 1.67s/it] 40%|███▉ | 11860/30000 [5:31:03<8:23:41, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.10901430249214172, 'learning_rate': 2.123819769926251e-05, 'flow_matching_loss': 0.019625356048345567, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.45} + 40%|███▉ | 11860/30000 [5:31:03<8:23:41, 1.67s/it] 40%|███▉ | 11861/30000 [5:31:05<8:23:38, 1.67s/it] 40%|███▉ | 11862/30000 [5:31:07<8:24:00, 1.67s/it] 40%|███▉ | 11863/30000 [5:31:08<8:23:55, 1.67s/it] 40%|███▉ | 11864/30000 [5:31:10<8:23:33, 1.67s/it] 40%|███▉ | 11865/30000 [5:31:12<8:23:25, 1.67s/it] 40%|███▉ | 11866/30000 [5:31:13<8:23:43, 1.67s/it] 40%|███▉ | 11867/30000 [5:31:15<8:24:05, 1.67s/it] 40%|███▉ | 11868/30000 [5:31:17<8:24:12, 1.67s/it] 40%|███▉ | 11869/30000 [5:31:18<8:23:31, 1.67s/it] 40%|███▉ | 11870/30000 [5:31:20<8:22:49, 1.66s/it] {'loss': 0.0225, 'grad_norm': 0.1169712096452713, 'learning_rate': 2.1223156934212702e-05, 'flow_matching_loss': 0.0225248197093606, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.45} + 40%|███▉ | 11870/30000 [5:31:20<8:22:49, 1.66s/it] 40%|███▉ | 11871/30000 [5:31:22<8:22:55, 1.66s/it] 40%|███▉ | 11872/30000 [5:31:23<8:22:42, 1.66s/it] 40%|███▉ | 11873/30000 [5:31:25<8:23:05, 1.67s/it] 40%|███▉ | 11874/30000 [5:31:27<8:23:46, 1.67s/it] 40%|███▉ | 11875/30000 [5:31:28<8:23:37, 1.67s/it] 40%|███▉ | 11876/30000 [5:31:30<8:24:22, 1.67s/it] 40%|███▉ | 11877/30000 [5:31:32<8:23:28, 1.67s/it] 40%|███▉ | 11878/30000 [5:31:33<8:23:30, 1.67s/it] 40%|███▉ | 11879/30000 [5:31:35<8:23:51, 1.67s/it] 40%|███▉ | 11880/30000 [5:31:37<8:22:29, 1.66s/it] {'loss': 0.0218, 'grad_norm': 0.14378035068511963, 'learning_rate': 2.1208108607440418e-05, 'flow_matching_loss': 0.021765408106148243, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.46} + 40%|███▉ | 11880/30000 [5:31:37<8:22:29, 1.66s/it] 40%|███▉ | 11881/30000 [5:31:38<8:23:45, 1.67s/it] 40%|███▉ | 11882/30000 [5:31:40<8:23:41, 1.67s/it] 40%|███▉ | 11883/30000 [5:31:42<8:23:33, 1.67s/it] 40%|███▉ | 11884/30000 [5:31:43<8:24:30, 1.67s/it] 40%|███▉ | 11885/30000 [5:31:45<8:24:23, 1.67s/it] 40%|███▉ | 11886/30000 [5:31:47<8:23:04, 1.67s/it] 40%|███▉ | 11887/30000 [5:31:48<8:24:05, 1.67s/it] 40%|███▉ | 11888/30000 [5:31:50<8:23:21, 1.67s/it] 40%|███▉ | 11889/30000 [5:31:52<8:23:24, 1.67s/it] 40%|███▉ | 11890/30000 [5:31:53<8:23:31, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.1346711963415146, 'learning_rate': 2.119305273723078e-05, 'flow_matching_loss': 0.02113883327692747, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.46} + 40%|███▉ | 11890/30000 [5:31:53<8:23:31, 1.67s/it] 40%|███▉ | 11891/30000 [5:31:55<8:23:53, 1.67s/it] 40%|███▉ | 11892/30000 [5:31:57<8:24:47, 1.67s/it] 40%|███▉ | 11893/30000 [5:31:58<8:23:44, 1.67s/it] 40%|███▉ | 11894/30000 [5:32:00<8:22:57, 1.67s/it] 40%|███▉ | 11895/30000 [5:32:02<8:23:49, 1.67s/it] 40%|███▉ | 11896/30000 [5:32:03<8:23:02, 1.67s/it] 40%|███▉ | 11897/30000 [5:32:05<8:22:46, 1.67s/it] 40%|███▉ | 11898/30000 [5:32:07<8:22:50, 1.67s/it] 40%|███▉ | 11899/30000 [5:32:08<8:22:35, 1.67s/it] 40%|███▉ | 11900/30000 [5:32:10<8:22:34, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.09197286516427994, 'learning_rate': 2.1177989341878106e-05, 'flow_matching_loss': 0.0208596708253026, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.46} + 40%|███▉ | 11900/30000 [5:32:10<8:22:34, 1.67s/it] 40%|███▉ | 11901/30000 [5:32:12<8:22:47, 1.67s/it] 40%|███▉ | 11902/30000 [5:32:13<8:22:14, 1.67s/it] 40%|███▉ | 11903/30000 [5:32:15<8:22:46, 1.67s/it] 40%|███▉ | 11904/30000 [5:32:17<8:20:55, 1.66s/it] 40%|███▉ | 11905/30000 [5:32:18<8:21:31, 1.66s/it] 40%|███▉ | 11906/30000 [5:32:20<8:21:37, 1.66s/it] 40%|███▉ | 11907/30000 [5:32:22<8:22:17, 1.67s/it] 40%|███▉ | 11908/30000 [5:32:23<8:22:54, 1.67s/it] 40%|███▉ | 11909/30000 [5:32:25<8:22:50, 1.67s/it] 40%|███▉ | 11910/30000 [5:32:27<8:21:53, 1.66s/it] {'loss': 0.0214, 'grad_norm': 0.139291450381279, 'learning_rate': 2.116291843968583e-05, 'flow_matching_loss': 0.02139272214844823, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.47} + 40%|███▉ | 11910/30000 [5:32:27<8:21:53, 1.66s/it] 40%|███▉ | 11911/30000 [5:32:28<8:22:55, 1.67s/it] 40%|███▉ | 11912/30000 [5:32:30<8:22:21, 1.67s/it] 40%|███▉ | 11913/30000 [5:32:32<8:22:32, 1.67s/it] 40%|███▉ | 11914/30000 [5:32:33<8:23:20, 1.67s/it] 40%|███▉ | 11915/30000 [5:32:35<8:23:34, 1.67s/it] 40%|███▉ | 11916/30000 [5:32:37<8:22:52, 1.67s/it] 40%|███▉ | 11917/30000 [5:32:38<8:23:02, 1.67s/it] 40%|███▉ | 11918/30000 [5:32:40<8:22:11, 1.67s/it] 40%|███▉ | 11919/30000 [5:32:42<8:22:28, 1.67s/it] 40%|███▉ | 11920/30000 [5:32:43<8:21:48, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.11746720969676971, 'learning_rate': 2.114784004896653e-05, 'flow_matching_loss': 0.021424243226647377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.47} + 40%|███▉ | 11920/30000 [5:32:43<8:21:48, 1.67s/it] 40%|███▉ | 11921/30000 [5:32:45<8:22:18, 1.67s/it] 40%|███▉ | 11922/30000 [5:32:47<8:22:33, 1.67s/it] 40%|███▉ | 11923/30000 [5:32:48<8:23:20, 1.67s/it] 40%|███▉ | 11924/30000 [5:32:50<8:23:18, 1.67s/it] 40%|███▉ | 11925/30000 [5:32:52<8:23:28, 1.67s/it] 40%|███▉ | 11926/30000 [5:32:53<8:22:15, 1.67s/it] 40%|███▉ | 11927/30000 [5:32:55<8:23:08, 1.67s/it] 40%|███▉ | 11928/30000 [5:32:57<8:21:58, 1.67s/it] 40%|███▉ | 11929/30000 [5:32:58<8:22:06, 1.67s/it] 40%|███▉ | 11930/30000 [5:33:00<8:22:51, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.13394801318645477, 'learning_rate': 2.113275418804187e-05, 'flow_matching_loss': 0.02485373243689537, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.47} + 40%|███▉ | 11930/30000 [5:33:00<8:22:51, 1.67s/it] 40%|███▉ | 11931/30000 [5:33:02<8:23:40, 1.67s/it] 40%|███▉ | 11932/30000 [5:33:03<8:23:01, 1.67s/it] 40%|███▉ | 11933/30000 [5:33:05<8:23:18, 1.67s/it] 40%|███▉ | 11934/30000 [5:33:07<8:22:39, 1.67s/it] 40%|███▉ | 11935/30000 [5:33:08<8:22:28, 1.67s/it] 40%|███▉ | 11936/30000 [5:33:10<8:22:02, 1.67s/it] 40%|███▉ | 11937/30000 [5:33:12<8:21:30, 1.67s/it] 40%|███▉ | 11938/30000 [5:33:13<8:21:16, 1.67s/it] 40%|███▉ | 11939/30000 [5:33:15<8:21:20, 1.67s/it] 40%|███▉ | 11940/30000 [5:33:17<8:21:08, 1.66s/it] {'loss': 0.0258, 'grad_norm': 0.1629381775856018, 'learning_rate': 2.1117660875242583e-05, 'flow_matching_loss': 0.025832594931125642, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.47} + 40%|███▉ | 11940/30000 [5:33:17<8:21:08, 1.66s/it] 40%|███▉ | 11941/30000 [5:33:18<8:21:25, 1.67s/it] 40%|███▉ | 11942/30000 [5:33:20<8:21:04, 1.66s/it] 40%|███▉ | 11943/30000 [5:33:22<8:21:19, 1.67s/it] 40%|███▉ | 11944/30000 [5:33:23<8:21:31, 1.67s/it] 40%|███▉ | 11945/30000 [5:33:25<8:20:56, 1.66s/it] 40%|███▉ | 11946/30000 [5:33:27<8:21:13, 1.67s/it] 40%|███▉ | 11947/30000 [5:33:28<8:21:25, 1.67s/it] 40%|███▉ | 11948/30000 [5:33:30<8:21:06, 1.67s/it] 40%|███▉ | 11949/30000 [5:33:32<8:21:44, 1.67s/it] 40%|███▉ | 11950/30000 [5:33:33<8:20:35, 1.66s/it] {'loss': 0.0212, 'grad_norm': 0.12685364484786987, 'learning_rate': 2.1102560128908478e-05, 'flow_matching_loss': 0.02121066153049469, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.48} + 40%|███▉ | 11950/30000 [5:33:33<8:20:35, 1.66s/it] 40%|███▉ | 11951/30000 [5:33:35<8:20:57, 1.67s/it] 40%|███▉ | 11952/30000 [5:33:37<8:20:37, 1.66s/it] 40%|███▉ | 11953/30000 [5:33:38<8:20:20, 1.66s/it] 40%|███▉ | 11954/30000 [5:33:40<8:20:42, 1.66s/it] 40%|███▉ | 11955/30000 [5:33:42<8:19:44, 1.66s/it] 40%|███▉ | 11956/30000 [5:33:43<8:20:03, 1.66s/it] 40%|███▉ | 11957/30000 [5:33:45<8:20:22, 1.66s/it] 40%|███▉ | 11958/30000 [5:33:47<8:19:45, 1.66s/it] 40%|███▉ | 11959/30000 [5:33:48<8:20:41, 1.67s/it] 40%|███▉ | 11960/30000 [5:33:50<8:20:51, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.18891757726669312, 'learning_rate': 2.1087451967388384e-05, 'flow_matching_loss': 0.024244979210197925, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.48} + 40%|███▉ | 11960/30000 [5:33:50<8:20:51, 1.67s/it] 40%|███▉ | 11961/30000 [5:33:52<8:20:59, 1.67s/it] 40%|███▉ | 11962/30000 [5:33:53<8:20:58, 1.67s/it] 40%|███▉ | 11963/30000 [5:33:55<8:21:13, 1.67s/it] 40%|███▉ | 11964/30000 [5:33:57<8:20:55, 1.67s/it] 40%|███▉ | 11965/30000 [5:33:58<8:20:35, 1.67s/it] 40%|███▉ | 11966/30000 [5:34:00<8:20:16, 1.66s/it] 40%|███▉ | 11967/30000 [5:34:02<8:20:23, 1.66s/it] 40%|███▉ | 11968/30000 [5:34:03<8:21:08, 1.67s/it] 40%|███▉ | 11969/30000 [5:34:05<8:20:52, 1.67s/it] 40%|███▉ | 11970/30000 [5:34:07<8:20:33, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.13403701782226562, 'learning_rate': 2.1072336409040135e-05, 'flow_matching_loss': 0.020494434982538223, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.48} + 40%|███▉ | 11970/30000 [5:34:07<8:20:33, 1.67s/it] 40%|███▉ | 11971/30000 [5:34:08<8:21:19, 1.67s/it] 40%|███▉ | 11972/30000 [5:34:10<8:21:06, 1.67s/it] 40%|███▉ | 11973/30000 [5:34:12<8:20:53, 1.67s/it] 40%|███▉ | 11974/30000 [5:34:13<8:20:00, 1.66s/it] 40%|███▉ | 11975/30000 [5:34:15<8:20:54, 1.67s/it] 40%|███▉ | 11976/30000 [5:34:17<8:20:34, 1.67s/it] 40%|███▉ | 11977/30000 [5:34:18<8:20:13, 1.67s/it] 40%|███▉ | 11978/30000 [5:34:20<8:20:43, 1.67s/it] 40%|███▉ | 11979/30000 [5:34:22<8:20:27, 1.67s/it] 40%|███▉ | 11980/30000 [5:34:23<8:20:52, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13230744004249573, 'learning_rate': 2.1057213472230573e-05, 'flow_matching_loss': 0.021086400374770164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.49} + 40%|███▉ | 11980/30000 [5:34:23<8:20:52, 1.67s/it] 40%|███▉ | 11981/30000 [5:34:25<8:20:40, 1.67s/it] 40%|███▉ | 11982/30000 [5:34:27<8:19:06, 1.66s/it] 40%|███▉ | 11983/30000 [5:34:28<8:19:17, 1.66s/it] 40%|███▉ | 11984/30000 [5:34:30<8:19:06, 1.66s/it] 40%|███▉ | 11985/30000 [5:34:32<8:18:41, 1.66s/it] 40%|███▉ | 11986/30000 [5:34:33<8:18:48, 1.66s/it] 40%|███▉ | 11987/30000 [5:34:35<8:19:12, 1.66s/it] 40%|███▉ | 11988/30000 [5:34:37<8:18:52, 1.66s/it] 40%|███▉ | 11989/30000 [5:34:38<8:19:20, 1.66s/it] 40%|███▉ | 11990/30000 [5:34:40<8:20:17, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.10978122055530548, 'learning_rate': 2.1042083175335478e-05, 'flow_matching_loss': 0.018243178073316813, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.49} + 40%|███▉ | 11990/30000 [5:34:40<8:20:17, 1.67s/it] 40%|███▉ | 11991/30000 [5:34:42<8:20:26, 1.67s/it] 40%|███▉ | 11992/30000 [5:34:43<8:21:03, 1.67s/it] 40%|███▉ | 11993/30000 [5:34:45<8:20:29, 1.67s/it] 40%|███▉ | 11994/30000 [5:34:47<8:19:59, 1.67s/it] 40%|███▉ | 11995/30000 [5:34:48<8:19:48, 1.67s/it] 40%|███▉ | 11996/30000 [5:34:50<8:19:55, 1.67s/it] 40%|███▉ | 11997/30000 [5:34:52<8:19:51, 1.67s/it] 40%|███▉ | 11998/30000 [5:34:53<8:19:46, 1.67s/it] 40%|███▉ | 11999/30000 [5:34:55<8:19:44, 1.67s/it] 40%|████ | 12000/30000 [5:34:57<8:19:42, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.1350974291563034, 'learning_rate': 2.1026945536739595e-05, 'flow_matching_loss': 0.02250756323337555, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.49} + 40%|████ | 12000/30000 [5:34:57<8:19:42, 1.67s/it] 40%|████ | 12001/30000 [5:34:58<8:19:26, 1.66s/it] 40%|████ | 12002/30000 [5:35:00<8:19:16, 1.66s/it] 40%|████ | 12003/30000 [5:35:02<8:19:38, 1.67s/it] 40%|████ | 12004/30000 [5:35:03<8:19:26, 1.67s/it] 40%|████ | 12005/30000 [5:35:05<8:19:31, 1.67s/it] 40%|████ | 12006/30000 [5:35:07<8:19:41, 1.67s/it] 40%|████ | 12007/30000 [5:35:08<8:19:51, 1.67s/it] 40%|████ | 12008/30000 [5:35:10<8:19:30, 1.67s/it] 40%|████ | 12009/30000 [5:35:12<8:19:07, 1.66s/it] 40%|████ | 12010/30000 [5:35:13<8:19:16, 1.67s/it] {'loss': 0.0232, 'grad_norm': 0.1466386616230011, 'learning_rate': 2.1011800574836586e-05, 'flow_matching_loss': 0.02322809211909771, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.49} + 40%|████ | 12010/30000 [5:35:13<8:19:16, 1.67s/it] 40%|████ | 12011/30000 [5:35:15<8:20:08, 1.67s/it] 40%|████ | 12012/30000 [5:35:17<8:19:51, 1.67s/it] 40%|████ | 12013/30000 [5:35:18<8:19:39, 1.67s/it] 40%|████ | 12014/30000 [5:35:20<8:19:13, 1.67s/it] 40%|████ | 12015/30000 [5:35:22<8:18:51, 1.66s/it] 40%|████ | 12016/30000 [5:35:23<8:20:03, 1.67s/it] 40%|████ | 12017/30000 [5:35:25<8:19:50, 1.67s/it] 40%|████ | 12018/30000 [5:35:27<8:19:18, 1.67s/it] 40%|████ | 12019/30000 [5:35:28<8:19:29, 1.67s/it] 40%|████ | 12020/30000 [5:35:30<8:19:40, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.12107054144144058, 'learning_rate': 2.0996648308028992e-05, 'flow_matching_loss': 0.019875488989055157, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.5} + 40%|████ | 12020/30000 [5:35:30<8:19:40, 1.67s/it] 40%|████ | 12021/30000 [5:35:32<8:20:13, 1.67s/it] 40%|████ | 12022/30000 [5:35:33<8:20:04, 1.67s/it] 40%|████ | 12023/30000 [5:35:35<8:20:00, 1.67s/it] 40%|████ | 12024/30000 [5:35:37<8:20:19, 1.67s/it] 40%|████ | 12025/30000 [5:35:38<8:19:43, 1.67s/it] 40%|████ | 12026/30000 [5:35:40<8:19:20, 1.67s/it] 40%|████ | 12027/30000 [5:35:42<8:19:20, 1.67s/it] 40%|████ | 12028/30000 [5:35:43<8:19:43, 1.67s/it] 40%|████ | 12029/30000 [5:35:45<8:19:29, 1.67s/it] 40%|████ | 12030/30000 [5:35:47<8:19:09, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11852696537971497, 'learning_rate': 2.0981488754728266e-05, 'flow_matching_loss': 0.02048434056341648, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.5} + 40%|████ | 12030/30000 [5:35:47<8:19:09, 1.67s/it] 40%|████ | 12031/30000 [5:35:48<8:19:15, 1.67s/it] 40%|████ | 12032/30000 [5:35:50<8:18:53, 1.67s/it] 40%|████ | 12033/30000 [5:35:52<8:18:31, 1.66s/it] 40%|████ | 12034/30000 [5:35:53<8:18:37, 1.67s/it] 40%|████ | 12035/30000 [5:35:55<8:19:17, 1.67s/it] 40%|████ | 12036/30000 [5:35:57<8:19:15, 1.67s/it] 40%|████ | 12037/30000 [5:35:58<8:19:33, 1.67s/it] 40%|████ | 12038/30000 [5:36:00<8:18:57, 1.67s/it] 40%|████ | 12039/30000 [5:36:02<8:19:24, 1.67s/it] 40%|████ | 12040/30000 [5:36:03<8:19:45, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.09219971299171448, 'learning_rate': 2.0966321933354685e-05, 'flow_matching_loss': 0.02015399495139718, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.5} + 40%|████ | 12040/30000 [5:36:03<8:19:45, 1.67s/it] 40%|████ | 12041/30000 [5:36:05<8:19:35, 1.67s/it] 40%|████ | 12042/30000 [5:36:07<8:19:31, 1.67s/it] 40%|████ | 12043/30000 [5:36:08<8:19:06, 1.67s/it] 40%|████ | 12044/30000 [5:36:10<8:19:00, 1.67s/it] 40%|████ | 12045/30000 [5:36:12<8:18:36, 1.67s/it] 40%|████ | 12046/30000 [5:36:13<8:18:48, 1.67s/it] 40%|████ | 12047/30000 [5:36:15<8:18:48, 1.67s/it] 40%|████ | 12048/30000 [5:36:17<8:17:50, 1.66s/it] 40%|████ | 12049/30000 [5:36:18<8:17:53, 1.66s/it] 40%|████ | 12050/30000 [5:36:20<8:17:55, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.09808789938688278, 'learning_rate': 2.095114786233736e-05, 'flow_matching_loss': 0.021728210709989072, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.51} + 40%|████ | 12050/30000 [5:36:20<8:17:55, 1.66s/it] 40%|████ | 12051/30000 [5:36:22<8:17:57, 1.66s/it] 40%|████ | 12052/30000 [5:36:23<8:17:53, 1.66s/it] 40%|████ | 12053/30000 [5:36:25<8:17:58, 1.66s/it] 40%|████ | 12054/30000 [5:36:27<8:17:58, 1.66s/it] 40%|████ | 12055/30000 [5:36:28<8:17:40, 1.66s/it] 40%|████ | 12056/30000 [5:36:30<8:17:52, 1.66s/it] 40%|████ | 12057/30000 [5:36:32<8:17:31, 1.66s/it] 40%|████ | 12058/30000 [5:36:33<8:17:07, 1.66s/it] 40%|████ | 12059/30000 [5:36:35<8:16:58, 1.66s/it] 40%|████ | 12060/30000 [5:36:37<8:17:45, 1.66s/it] {'loss': 0.0221, 'grad_norm': 0.12657901644706726, 'learning_rate': 2.0935966560114236e-05, 'flow_matching_loss': 0.02211116636171937, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.51} + 40%|████ | 12060/30000 [5:36:37<8:17:45, 1.66s/it] 40%|████ | 12061/30000 [5:36:38<8:18:14, 1.67s/it] 40%|████ | 12062/30000 [5:36:40<8:17:35, 1.66s/it] 40%|████ | 12063/30000 [5:36:42<8:17:32, 1.66s/it] 40%|████ | 12064/30000 [5:36:43<8:18:53, 1.67s/it] 40%|████ | 12065/30000 [5:36:45<8:17:23, 1.66s/it] 40%|████ | 12066/30000 [5:36:47<8:17:01, 1.66s/it] 40%|████ | 12067/30000 [5:36:48<8:17:09, 1.66s/it] 40%|████ | 12068/30000 [5:36:50<8:18:05, 1.67s/it] 40%|████ | 12069/30000 [5:36:52<8:18:23, 1.67s/it] 40%|████ | 12070/30000 [5:36:53<8:17:45, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.10312247276306152, 'learning_rate': 2.092077804513201e-05, 'flow_matching_loss': 0.019604588858783245, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.51} + 40%|████ | 12070/30000 [5:36:53<8:17:45, 1.67s/it] 40%|████ | 12071/30000 [5:36:55<8:19:42, 1.67s/it] 40%|████ | 12072/30000 [5:36:57<8:18:49, 1.67s/it] 40%|████ | 12073/30000 [5:36:58<8:17:43, 1.67s/it] 40%|████ | 12074/30000 [5:37:00<8:17:48, 1.67s/it] 40%|████ | 12075/30000 [5:37:02<8:17:58, 1.67s/it] 40%|████ | 12076/30000 [5:37:03<8:18:20, 1.67s/it] 40%|████ | 12077/30000 [5:37:05<8:17:33, 1.67s/it] 40%|████ | 12078/30000 [5:37:07<8:17:10, 1.66s/it] 40%|████ | 12079/30000 [5:37:08<8:17:40, 1.67s/it] 40%|████ | 12080/30000 [5:37:10<8:16:26, 1.66s/it] {'loss': 0.0206, 'grad_norm': 0.11676841974258423, 'learning_rate': 2.0905582335846167e-05, 'flow_matching_loss': 0.02055679392069578, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.51} + 40%|████ | 12080/30000 [5:37:10<8:16:26, 1.66s/it] 40%|████ | 12081/30000 [5:37:12<8:15:36, 1.66s/it] 40%|████ | 12082/30000 [5:37:13<8:16:27, 1.66s/it] 40%|████ | 12083/30000 [5:37:15<8:17:18, 1.67s/it] 40%|████ | 12084/30000 [5:37:17<8:18:09, 1.67s/it] 40%|████ | 12085/30000 [5:37:18<8:18:06, 1.67s/it] 40%|████ | 12086/30000 [5:37:20<8:17:23, 1.67s/it] 40%|████ | 12087/30000 [5:37:22<8:17:05, 1.67s/it] 40%|████ | 12088/30000 [5:37:23<8:17:15, 1.67s/it] 40%|████ | 12089/30000 [5:37:25<8:17:25, 1.67s/it] 40%|████ | 12090/30000 [5:37:27<8:17:22, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.10677514970302582, 'learning_rate': 2.0890379450720927e-05, 'flow_matching_loss': 0.019830206222832204, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.52} + 40%|████ | 12090/30000 [5:37:27<8:17:22, 1.67s/it] 40%|████ | 12091/30000 [5:37:28<8:16:31, 1.66s/it] 40%|████ | 12092/30000 [5:37:30<8:15:45, 1.66s/it] 40%|████ | 12093/30000 [5:37:32<8:16:25, 1.66s/it] 40%|████ | 12094/30000 [5:37:33<8:16:46, 1.66s/it] 40%|████ | 12095/30000 [5:37:35<8:16:39, 1.66s/it] 40%|████ | 12096/30000 [5:37:36<8:16:22, 1.66s/it] 40%|████ | 12097/30000 [5:37:38<8:17:03, 1.67s/it] 40%|████ | 12098/30000 [5:37:40<8:17:00, 1.67s/it] 40%|████ | 12099/30000 [5:37:42<8:17:01, 1.67s/it] 40%|████ | 12100/30000 [5:37:43<8:16:24, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.11625487357378006, 'learning_rate': 2.087516940822923e-05, 'flow_matching_loss': 0.02220802763476968, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.52} + 40%|████ | 12100/30000 [5:37:43<8:16:24, 1.66s/it] 40%|████ | 12101/30000 [5:37:45<8:17:01, 1.67s/it] 40%|████ | 12102/30000 [5:37:46<8:16:12, 1.66s/it] 40%|████ | 12103/30000 [5:37:48<8:16:44, 1.67s/it] 40%|████ | 12104/30000 [5:37:50<8:17:05, 1.67s/it] 40%|████ | 12105/30000 [5:37:51<8:15:59, 1.66s/it] 40%|████ | 12106/30000 [5:37:53<8:16:18, 1.66s/it] 40%|████ | 12107/30000 [5:37:55<8:17:40, 1.67s/it] 40%|████ | 12108/30000 [5:37:56<8:16:42, 1.67s/it] 40%|████ | 12109/30000 [5:37:58<8:16:24, 1.66s/it] 40%|████ | 12110/30000 [5:38:00<8:16:03, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.10987640917301178, 'learning_rate': 2.085995222685271e-05, 'flow_matching_loss': 0.021713653951883315, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.52} + 40%|████ | 12110/30000 [5:38:00<8:16:03, 1.66s/it] 40%|████ | 12111/30000 [5:38:01<8:16:39, 1.67s/it] 40%|████ | 12112/30000 [5:38:03<8:16:37, 1.67s/it] 40%|████ | 12113/30000 [5:38:05<8:16:27, 1.67s/it] 40%|████ | 12114/30000 [5:38:06<8:16:45, 1.67s/it] 40%|████ | 12115/30000 [5:38:08<8:16:30, 1.67s/it] 40%|████ | 12116/30000 [5:38:10<8:17:30, 1.67s/it] 40%|████ | 12117/30000 [5:38:11<8:17:32, 1.67s/it] 40%|████ | 12118/30000 [5:38:13<8:16:43, 1.67s/it] 40%|████ | 12119/30000 [5:38:15<8:16:15, 1.67s/it] 40%|████ | 12120/30000 [5:38:16<8:16:38, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.13703031837940216, 'learning_rate': 2.084472792508167e-05, 'flow_matching_loss': 0.020723098516464235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.53} + 40%|████ | 12120/30000 [5:38:17<8:16:38, 1.67s/it] 40%|████ | 12121/30000 [5:38:18<8:16:44, 1.67s/it] 40%|████ | 12122/30000 [5:38:20<8:16:11, 1.67s/it] 40%|████ | 12123/30000 [5:38:21<8:16:26, 1.67s/it] 40%|████ | 12124/30000 [5:38:23<8:16:41, 1.67s/it] 40%|████ | 12125/30000 [5:38:25<8:16:51, 1.67s/it] 40%|████ | 12126/30000 [5:38:26<8:15:58, 1.66s/it] 40%|████ | 12127/30000 [5:38:28<8:15:58, 1.67s/it] 40%|████ | 12128/30000 [5:38:30<8:16:34, 1.67s/it] 40%|████ | 12129/30000 [5:38:31<8:16:19, 1.67s/it] 40%|████ | 12130/30000 [5:38:33<8:17:02, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.1850503385066986, 'learning_rate': 2.082949652141508e-05, 'flow_matching_loss': 0.02104196762666106, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.53} + 40%|████ | 12130/30000 [5:38:33<8:17:02, 1.67s/it] 40%|████ | 12131/30000 [5:38:35<8:16:35, 1.67s/it] 40%|████ | 12132/30000 [5:38:36<8:16:14, 1.67s/it] 40%|████ | 12133/30000 [5:38:38<8:17:01, 1.67s/it] 40%|████ | 12134/30000 [5:38:40<8:16:21, 1.67s/it] 40%|████ | 12135/30000 [5:38:41<8:16:07, 1.67s/it] 40%|████ | 12136/30000 [5:38:43<8:15:44, 1.67s/it] 40%|████ | 12137/30000 [5:38:45<8:15:32, 1.66s/it] 40%|████ | 12138/30000 [5:38:46<8:15:37, 1.66s/it] 40%|████ | 12139/30000 [5:38:48<8:15:51, 1.67s/it] 40%|████ | 12140/30000 [5:38:50<8:15:54, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.12602965533733368, 'learning_rate': 2.081425803436054e-05, 'flow_matching_loss': 0.020145802572369576, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.53} + 40%|████ | 12140/30000 [5:38:50<8:15:54, 1.67s/it] 40%|████ | 12141/30000 [5:38:51<8:16:22, 1.67s/it] 40%|████ | 12142/30000 [5:38:53<8:15:54, 1.67s/it] 40%|████ | 12143/30000 [5:38:55<8:15:56, 1.67s/it] 40%|████ | 12144/30000 [5:38:56<8:15:46, 1.67s/it] 40%|████ | 12145/30000 [5:38:58<8:14:37, 1.66s/it] 40%|████ | 12146/30000 [5:39:00<8:14:58, 1.66s/it] 40%|████ | 12147/30000 [5:39:01<8:14:41, 1.66s/it] 40%|████ | 12148/30000 [5:39:03<8:15:31, 1.67s/it] 40%|████ | 12149/30000 [5:39:05<8:15:36, 1.67s/it] 40%|████ | 12150/30000 [5:39:06<8:15:20, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.1438933163881302, 'learning_rate': 2.079901248243423e-05, 'flow_matching_loss': 0.019686385430395602, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.54} + 40%|████ | 12150/30000 [5:39:07<8:15:20, 1.67s/it] 41%|████ | 12151/30000 [5:39:08<8:15:16, 1.66s/it] 41%|████ | 12152/30000 [5:39:10<8:15:35, 1.67s/it] 41%|████ | 12153/30000 [5:39:11<8:16:59, 1.67s/it] 41%|████ | 12154/30000 [5:39:13<8:15:58, 1.67s/it] 41%|████ | 12155/30000 [5:39:15<8:16:01, 1.67s/it] 41%|████ | 12156/30000 [5:39:16<8:16:07, 1.67s/it] 41%|████ | 12157/30000 [5:39:18<8:16:01, 1.67s/it] 41%|████ | 12158/30000 [5:39:20<8:14:44, 1.66s/it] 41%|████ | 12159/30000 [5:39:21<8:14:26, 1.66s/it] 41%|████ | 12160/30000 [5:39:23<8:14:38, 1.66s/it] {'loss': 0.0219, 'grad_norm': 0.0998668447136879, 'learning_rate': 2.078375988416095e-05, 'flow_matching_loss': 0.021944690216332673, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.54} + 41%|████ | 12160/30000 [5:39:23<8:14:38, 1.66s/it] 41%|████ | 12161/30000 [5:39:25<8:15:02, 1.67s/it] 41%|████ | 12162/30000 [5:39:26<8:14:45, 1.66s/it] 41%|████ | 12163/30000 [5:39:28<8:14:18, 1.66s/it] 41%|████ | 12164/30000 [5:39:30<8:14:21, 1.66s/it] 41%|████ | 12165/30000 [5:39:31<8:15:01, 1.67s/it] 41%|████ | 12166/30000 [5:39:33<8:15:08, 1.67s/it] 41%|████ | 12167/30000 [5:39:35<8:14:55, 1.67s/it] 41%|████ | 12168/30000 [5:39:36<8:14:51, 1.67s/it] 41%|████ | 12169/30000 [5:39:38<8:14:25, 1.66s/it] 41%|████ | 12170/30000 [5:39:40<8:15:52, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.12968476116657257, 'learning_rate': 2.076850025807404e-05, 'flow_matching_loss': 0.020626878179609776, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.54} + 41%|████ | 12170/30000 [5:39:40<8:15:52, 1.67s/it] 41%|████ | 12171/30000 [5:39:41<8:15:27, 1.67s/it] 41%|████ | 12172/30000 [5:39:43<8:15:16, 1.67s/it] 41%|████ | 12173/30000 [5:39:45<8:14:54, 1.67s/it] 41%|████ | 12174/30000 [5:39:46<8:14:26, 1.66s/it] 41%|████ | 12175/30000 [5:39:48<8:15:00, 1.67s/it] 41%|████ | 12176/30000 [5:39:50<8:15:24, 1.67s/it] 41%|████ | 12177/30000 [5:39:51<8:15:30, 1.67s/it] 41%|████ | 12178/30000 [5:39:53<8:14:11, 1.66s/it] 41%|████ | 12179/30000 [5:39:55<8:15:53, 1.67s/it] 41%|████ | 12180/30000 [5:39:56<8:16:15, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.14837205410003662, 'learning_rate': 2.0753233622715374e-05, 'flow_matching_loss': 0.022946504596620797, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.54} + 41%|████ | 12180/30000 [5:39:56<8:16:15, 1.67s/it] 41%|████ | 12181/30000 [5:39:58<8:15:36, 1.67s/it] 41%|████ | 12182/30000 [5:40:00<8:14:45, 1.67s/it] 41%|████ | 12183/30000 [5:40:01<8:14:59, 1.67s/it] 41%|████ | 12184/30000 [5:40:03<8:15:13, 1.67s/it] 41%|████ | 12185/30000 [5:40:05<8:15:11, 1.67s/it] 41%|████ | 12186/30000 [5:40:06<8:15:03, 1.67s/it] 41%|████ | 12187/30000 [5:40:08<8:14:56, 1.67s/it] 41%|████ | 12188/30000 [5:40:10<8:15:02, 1.67s/it] 41%|████ | 12189/30000 [5:40:11<8:14:00, 1.66s/it] 41%|████ | 12190/30000 [5:40:13<8:13:16, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.13356579840183258, 'learning_rate': 2.073795999663536e-05, 'flow_matching_loss': 0.019620874524116518, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.55} + 41%|████ | 12190/30000 [5:40:13<8:13:16, 1.66s/it] 41%|████ | 12191/30000 [5:40:15<8:13:27, 1.66s/it] 41%|████ | 12192/30000 [5:40:16<8:13:33, 1.66s/it] 41%|████ | 12193/30000 [5:40:18<8:13:55, 1.66s/it] 41%|████ | 12194/30000 [5:40:20<8:14:35, 1.67s/it] 41%|████ | 12195/30000 [5:40:21<8:13:47, 1.66s/it] 41%|████ | 12196/30000 [5:40:23<8:13:55, 1.66s/it] 41%|████ | 12197/30000 [5:40:25<8:13:58, 1.66s/it] 41%|████ | 12198/30000 [5:40:26<8:13:10, 1.66s/it] 41%|████ | 12199/30000 [5:40:28<8:13:32, 1.66s/it] 41%|████ | 12200/30000 [5:40:30<8:13:57, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.09194227308034897, 'learning_rate': 2.07226793983929e-05, 'flow_matching_loss': 0.022602961864322424, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.55} + 41%|████ | 12200/30000 [5:40:30<8:13:57, 1.67s/it] 41%|████ | 12201/30000 [5:40:31<8:14:20, 1.67s/it] 41%|████ | 12202/30000 [5:40:33<8:13:53, 1.66s/it] 41%|████ | 12203/30000 [5:40:35<8:13:40, 1.66s/it] 41%|████ | 12204/30000 [5:40:36<8:13:55, 1.67s/it] 41%|████ | 12205/30000 [5:40:38<8:13:34, 1.66s/it] 41%|████ | 12206/30000 [5:40:40<8:13:49, 1.67s/it] 41%|████ | 12207/30000 [5:40:41<8:14:02, 1.67s/it] 41%|████ | 12208/30000 [5:40:43<8:14:38, 1.67s/it] 41%|████ | 12209/30000 [5:40:45<8:15:00, 1.67s/it] 41%|████ | 12210/30000 [5:40:46<8:14:22, 1.67s/it] {'loss': 0.0249, 'grad_norm': 0.18284164369106293, 'learning_rate': 2.070739184655536e-05, 'flow_matching_loss': 0.024870028905570506, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.55} + 41%|████ | 12210/30000 [5:40:46<8:14:22, 1.67s/it] 41%|████ | 12211/30000 [5:40:48<8:14:24, 1.67s/it] 41%|████ | 12212/30000 [5:40:50<8:14:02, 1.67s/it] 41%|████ | 12213/30000 [5:40:51<8:13:29, 1.66s/it] 41%|████ | 12214/30000 [5:40:53<8:12:45, 1.66s/it] 41%|████ | 12215/30000 [5:40:55<8:13:06, 1.66s/it] 41%|████ | 12216/30000 [5:40:56<8:13:42, 1.67s/it] 41%|████ | 12217/30000 [5:40:58<8:13:51, 1.67s/it] 41%|████ | 12218/30000 [5:41:00<8:14:19, 1.67s/it] 41%|████ | 12219/30000 [5:41:01<8:14:33, 1.67s/it] 41%|████ | 12220/30000 [5:41:03<8:15:16, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.12109409272670746, 'learning_rate': 2.069209735969855e-05, 'flow_matching_loss': 0.019302340131253003, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.56} + 41%|████ | 12220/30000 [5:41:03<8:15:16, 1.67s/it] 41%|████ | 12221/30000 [5:41:05<8:14:58, 1.67s/it] 41%|████ | 12222/30000 [5:41:06<8:13:54, 1.67s/it] 41%|████ | 12223/30000 [5:41:08<8:14:08, 1.67s/it] 41%|████ | 12224/30000 [5:41:10<8:14:23, 1.67s/it] 41%|████ | 12225/30000 [5:41:11<8:14:01, 1.67s/it] 41%|████ | 12226/30000 [5:41:13<8:14:10, 1.67s/it] 41%|████ | 12227/30000 [5:41:15<8:13:28, 1.67s/it] 41%|████ | 12228/30000 [5:41:16<8:13:45, 1.67s/it] 41%|████ | 12229/30000 [5:41:18<8:13:56, 1.67s/it] 41%|████ | 12230/30000 [5:41:20<8:13:16, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.0905143991112709, 'learning_rate': 2.067679595640672e-05, 'flow_matching_loss': 0.021356625109910966, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.56} + 41%|████ | 12230/30000 [5:41:20<8:13:16, 1.67s/it] 41%|████ | 12231/30000 [5:41:21<8:13:33, 1.67s/it] 41%|████ | 12232/30000 [5:41:23<8:14:52, 1.67s/it] 41%|████ | 12233/30000 [5:41:25<8:14:26, 1.67s/it] 41%|████ | 12234/30000 [5:41:26<8:15:38, 1.67s/it] 41%|████ | 12235/30000 [5:41:28<8:14:05, 1.67s/it] 41%|████ | 12236/30000 [5:41:30<8:14:24, 1.67s/it] 41%|████ | 12237/30000 [5:41:31<8:14:46, 1.67s/it] 41%|████ | 12238/30000 [5:41:33<8:13:28, 1.67s/it] 41%|████ | 12239/30000 [5:41:35<8:13:43, 1.67s/it] 41%|████ | 12240/30000 [5:41:36<8:13:39, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.14946217834949493, 'learning_rate': 2.066148765527252e-05, 'flow_matching_loss': 0.020505815744400024, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.56} + 41%|████ | 12240/30000 [5:41:36<8:13:39, 1.67s/it] 41%|████ | 12241/30000 [5:41:38<8:14:25, 1.67s/it] 41%|████ | 12242/30000 [5:41:40<8:14:19, 1.67s/it] 41%|████ | 12243/30000 [5:41:41<8:14:10, 1.67s/it] 41%|████ | 12244/30000 [5:41:43<8:13:31, 1.67s/it] 41%|████ | 12245/30000 [5:41:45<8:13:28, 1.67s/it] 41%|████ | 12246/30000 [5:41:46<8:13:32, 1.67s/it] 41%|████ | 12247/30000 [5:41:48<8:13:04, 1.67s/it] 41%|████ | 12248/30000 [5:41:50<8:12:58, 1.67s/it] 41%|████ | 12249/30000 [5:41:51<8:12:41, 1.67s/it] 41%|████ | 12250/30000 [5:41:53<8:13:00, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09122513979673386, 'learning_rate': 2.0646172474896976e-05, 'flow_matching_loss': 0.01946537122130394, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.56} + 41%|████ | 12250/30000 [5:41:53<8:13:00, 1.67s/it] 41%|████ | 12251/30000 [5:41:55<8:13:32, 1.67s/it] 41%|████ | 12252/30000 [5:41:56<8:13:15, 1.67s/it] 41%|████ | 12253/30000 [5:41:58<8:13:11, 1.67s/it] 41%|████ | 12254/30000 [5:42:00<8:12:28, 1.67s/it] 41%|████ | 12255/30000 [5:42:01<8:12:54, 1.67s/it] 41%|████ | 12256/30000 [5:42:03<8:12:33, 1.67s/it] 41%|████ | 12257/30000 [5:42:05<8:12:58, 1.67s/it] 41%|████ | 12258/30000 [5:42:06<8:13:08, 1.67s/it] 41%|████ | 12259/30000 [5:42:08<8:11:57, 1.66s/it] 41%|████ | 12260/30000 [5:42:10<8:12:36, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.13826097548007965, 'learning_rate': 2.063085043388947e-05, 'flow_matching_loss': 0.02065526805818081, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.57} + 41%|████ | 12260/30000 [5:42:10<8:12:36, 1.67s/it] 41%|████ | 12261/30000 [5:42:11<8:13:04, 1.67s/it] 41%|████ | 12262/30000 [5:42:13<8:13:01, 1.67s/it] 41%|████ | 12263/30000 [5:42:15<8:12:54, 1.67s/it] 41%|████ | 12264/30000 [5:42:16<8:13:15, 1.67s/it] 41%|████ | 12265/30000 [5:42:18<8:13:24, 1.67s/it] 41%|████ | 12266/30000 [5:42:20<8:13:23, 1.67s/it] 41%|████ | 12267/30000 [5:42:21<8:13:03, 1.67s/it] 41%|████ | 12268/30000 [5:42:23<8:12:46, 1.67s/it] 41%|████ | 12269/30000 [5:42:25<8:13:01, 1.67s/it] 41%|████ | 12270/30000 [5:42:26<8:11:46, 1.66s/it] {'loss': 0.0236, 'grad_norm': 0.10755514353513718, 'learning_rate': 2.0615521550867732e-05, 'flow_matching_loss': 0.023589957505464554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.57} + 41%|████ | 12270/30000 [5:42:27<8:11:46, 1.66s/it] 41%|████ | 12271/30000 [5:42:28<8:12:31, 1.67s/it] 41%|████ | 12272/30000 [5:42:30<8:12:25, 1.67s/it] 41%|████ | 12273/30000 [5:42:31<8:12:29, 1.67s/it] 41%|████ | 12274/30000 [5:42:33<8:12:22, 1.67s/it] 41%|████ | 12275/30000 [5:42:35<8:11:24, 1.66s/it] 41%|████ | 12276/30000 [5:42:36<8:11:29, 1.66s/it] 41%|████ | 12277/30000 [5:42:38<8:12:21, 1.67s/it] 41%|████ | 12278/30000 [5:42:40<8:12:11, 1.67s/it] 41%|████ | 12279/30000 [5:42:41<8:12:13, 1.67s/it] 41%|████ | 12280/30000 [5:42:43<8:12:31, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.13562491536140442, 'learning_rate': 2.0600185844457803e-05, 'flow_matching_loss': 0.018763447646051645, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.57} + 41%|████ | 12280/30000 [5:42:43<8:12:31, 1.67s/it] 41%|████ | 12281/30000 [5:42:45<8:12:39, 1.67s/it] 41%|████ | 12282/30000 [5:42:46<8:13:20, 1.67s/it] 41%|████ | 12283/30000 [5:42:48<8:13:03, 1.67s/it] 41%|████ | 12284/30000 [5:42:50<8:12:48, 1.67s/it] 41%|████ | 12285/30000 [5:42:51<8:12:32, 1.67s/it] 41%|████ | 12286/30000 [5:42:53<8:12:20, 1.67s/it] 41%|████ | 12287/30000 [5:42:55<8:13:53, 1.67s/it] 41%|████ | 12288/30000 [5:42:56<8:12:54, 1.67s/it] 41%|████ | 12289/30000 [5:42:58<8:12:43, 1.67s/it] 41%|████ | 12290/30000 [5:43:00<8:12:25, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.1204468235373497, 'learning_rate': 2.058484333329401e-05, 'flow_matching_loss': 0.01806253185495734, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.58} + 41%|████ | 12290/30000 [5:43:00<8:12:25, 1.67s/it] 41%|████ | 12291/30000 [5:43:01<8:12:12, 1.67s/it] 41%|████ | 12292/30000 [5:43:03<8:13:01, 1.67s/it] 41%|████ | 12293/30000 [5:43:05<8:11:26, 1.67s/it] 41%|████ | 12294/30000 [5:43:06<8:11:37, 1.67s/it] 41%|████ | 12295/30000 [5:43:08<8:11:04, 1.66s/it] 41%|████ | 12296/30000 [5:43:10<8:11:35, 1.67s/it] 41%|████ | 12297/30000 [5:43:11<8:11:29, 1.67s/it] 41%|████ | 12298/30000 [5:43:13<8:11:43, 1.67s/it] 41%|████ | 12299/30000 [5:43:15<8:11:16, 1.67s/it] 41%|████ | 12300/30000 [5:43:16<8:10:58, 1.66s/it] {'loss': 0.0234, 'grad_norm': 0.11566219478845596, 'learning_rate': 2.0569494036018955e-05, 'flow_matching_loss': 0.023439965024590493, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.58} + 41%|████ | 12300/30000 [5:43:17<8:10:58, 1.66s/it] 41%|████ | 12301/30000 [5:43:18<8:12:00, 1.67s/it] 41%|████ | 12302/30000 [5:43:20<8:10:51, 1.66s/it] 41%|████ | 12303/30000 [5:43:21<8:12:12, 1.67s/it] 41%|████ | 12304/30000 [5:43:23<8:11:50, 1.67s/it] 41%|████ | 12305/30000 [5:43:25<8:11:22, 1.67s/it] 41%|████ | 12306/30000 [5:43:26<8:11:36, 1.67s/it] 41%|████ | 12307/30000 [5:43:28<8:10:26, 1.66s/it] 41%|████ | 12308/30000 [5:43:30<8:11:05, 1.67s/it] 41%|████ | 12309/30000 [5:43:31<8:11:12, 1.67s/it] 41%|████ | 12310/30000 [5:43:33<8:10:27, 1.66s/it] {'loss': 0.0235, 'grad_norm': 0.15307343006134033, 'learning_rate': 2.055413797128347e-05, 'flow_matching_loss': 0.02352699702605605, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.58} + 41%|████ | 12310/30000 [5:43:33<8:10:27, 1.66s/it] 41%|████ | 12311/30000 [5:43:35<8:10:51, 1.66s/it] 41%|████ | 12312/30000 [5:43:36<8:11:25, 1.67s/it] 41%|████ | 12313/30000 [5:43:38<8:11:06, 1.67s/it] 41%|████ | 12314/30000 [5:43:40<8:11:14, 1.67s/it] 41%|████ | 12315/30000 [5:43:41<8:09:52, 1.66s/it] 41%|████ | 12316/30000 [5:43:43<8:09:44, 1.66s/it] 41%|████ | 12317/30000 [5:43:45<8:10:03, 1.66s/it] 41%|████ | 12318/30000 [5:43:46<8:09:23, 1.66s/it] 41%|████ | 12319/30000 [5:43:48<8:09:49, 1.66s/it] 41%|████ | 12320/30000 [5:43:50<8:10:51, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.14636634290218353, 'learning_rate': 2.0538775157746634e-05, 'flow_matching_loss': 0.020415786560624836, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.58} + 41%|████ | 12320/30000 [5:43:50<8:10:51, 1.67s/it] 41%|████ | 12321/30000 [5:43:51<8:11:02, 1.67s/it] 41%|████ | 12322/30000 [5:43:53<8:10:37, 1.67s/it] 41%|████ | 12323/30000 [5:43:55<8:10:45, 1.67s/it] 41%|████ | 12324/30000 [5:43:56<8:10:32, 1.67s/it] 41%|████ | 12325/30000 [5:43:58<8:10:46, 1.67s/it] 41%|████ | 12326/30000 [5:44:00<8:11:06, 1.67s/it] 41%|████ | 12327/30000 [5:44:01<8:10:54, 1.67s/it] 41%|████ | 12328/30000 [5:44:03<8:11:11, 1.67s/it] 41%|████ | 12329/30000 [5:44:05<8:11:46, 1.67s/it] 41%|████ | 12330/30000 [5:44:06<8:11:59, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.1338425576686859, 'learning_rate': 2.0523405614075706e-05, 'flow_matching_loss': 0.019491998851299285, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.59} + 41%|████ | 12330/30000 [5:44:07<8:11:59, 1.67s/it] 41%|████ | 12331/30000 [5:44:08<8:10:42, 1.67s/it] 41%|████ | 12332/30000 [5:44:10<8:11:06, 1.67s/it] 41%|████ | 12333/30000 [5:44:11<8:11:11, 1.67s/it] 41%|████ | 12334/30000 [5:44:13<8:10:36, 1.67s/it] 41%|████ | 12335/30000 [5:44:15<8:10:24, 1.67s/it] 41%|████ | 12336/30000 [5:44:16<8:10:40, 1.67s/it] 41%|████ | 12337/30000 [5:44:18<8:10:35, 1.67s/it] 41%|████ | 12338/30000 [5:44:20<8:10:33, 1.67s/it] 41%|████ | 12339/30000 [5:44:21<8:10:37, 1.67s/it] 41%|████ | 12340/30000 [5:44:23<8:10:58, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.1321709007024765, 'learning_rate': 2.0508029358946132e-05, 'flow_matching_loss': 0.02154488805681467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.59} + 41%|████ | 12340/30000 [5:44:23<8:10:58, 1.67s/it] 41%|████ | 12341/30000 [5:44:25<8:12:29, 1.67s/it] 41%|████ | 12342/30000 [5:44:26<8:11:41, 1.67s/it] 41%|████ | 12343/30000 [5:44:28<8:11:03, 1.67s/it] 41%|████ | 12344/30000 [5:44:30<8:10:57, 1.67s/it] 41%|████ | 12345/30000 [5:44:31<8:10:06, 1.67s/it] 41%|████ | 12346/30000 [5:44:33<8:10:05, 1.67s/it] 41%|████ | 12347/30000 [5:44:35<8:09:54, 1.67s/it] 41%|████ | 12348/30000 [5:44:36<8:10:05, 1.67s/it] 41%|████ | 12349/30000 [5:44:38<8:10:20, 1.67s/it] 41%|████ | 12350/30000 [5:44:40<8:10:07, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.12905222177505493, 'learning_rate': 2.0492646411041515e-05, 'flow_matching_loss': 0.02256908006966114, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.59} + 41%|████ | 12350/30000 [5:44:40<8:10:07, 1.67s/it] 41%|████ | 12351/30000 [5:44:41<8:10:44, 1.67s/it] 41%|████ | 12352/30000 [5:44:43<8:10:34, 1.67s/it] 41%|████ | 12353/30000 [5:44:45<8:10:21, 1.67s/it] 41%|████ | 12354/30000 [5:44:46<8:10:20, 1.67s/it] 41%|████ | 12355/30000 [5:44:48<8:09:56, 1.67s/it] 41%|████ | 12356/30000 [5:44:50<8:09:23, 1.66s/it] 41%|████ | 12357/30000 [5:44:51<8:08:53, 1.66s/it] 41%|████ | 12358/30000 [5:44:53<8:08:34, 1.66s/it] 41%|████ | 12359/30000 [5:44:55<8:09:14, 1.66s/it] 41%|████ | 12360/30000 [5:44:56<8:10:12, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.12397122383117676, 'learning_rate': 2.0477256789053587e-05, 'flow_matching_loss': 0.021800875291228296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.6} + 41%|████ | 12360/30000 [5:44:57<8:10:12, 1.67s/it] 41%|████ | 12361/30000 [5:44:58<8:10:13, 1.67s/it] 41%|████ | 12362/30000 [5:45:00<8:10:01, 1.67s/it] 41%|████ | 12363/30000 [5:45:01<8:10:10, 1.67s/it] 41%|████ | 12364/30000 [5:45:03<8:10:10, 1.67s/it] 41%|████ | 12365/30000 [5:45:05<8:10:19, 1.67s/it] 41%|████ | 12366/30000 [5:45:06<8:10:08, 1.67s/it] 41%|████ | 12367/30000 [5:45:08<8:10:07, 1.67s/it] 41%|████ | 12368/30000 [5:45:10<8:09:59, 1.67s/it] 41%|████ | 12369/30000 [5:45:11<8:10:48, 1.67s/it] 41%|████ | 12370/30000 [5:45:13<8:10:21, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11377835273742676, 'learning_rate': 2.0461860511682194e-05, 'flow_matching_loss': 0.020135819911956787, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.6} + 41%|████ | 12370/30000 [5:45:13<8:10:21, 1.67s/it] 41%|████ | 12371/30000 [5:45:15<8:10:07, 1.67s/it] 41%|████ | 12372/30000 [5:45:16<8:10:19, 1.67s/it] 41%|████ | 12373/30000 [5:45:18<8:09:40, 1.67s/it] 41%|████ | 12374/30000 [5:45:20<8:08:31, 1.66s/it] 41%|████▏ | 12375/30000 [5:45:21<8:08:34, 1.66s/it] 41%|████▏ | 12376/30000 [5:45:23<8:08:58, 1.66s/it] 41%|████▏ | 12377/30000 [5:45:25<8:10:34, 1.67s/it] 41%|████▏ | 12378/30000 [5:45:26<8:09:40, 1.67s/it] 41%|████▏ | 12379/30000 [5:45:28<8:09:52, 1.67s/it] 41%|████▏ | 12380/30000 [5:45:30<8:09:47, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.09328297525644302, 'learning_rate': 2.0446457597635254e-05, 'flow_matching_loss': 0.019926603231579066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.6} + 41%|████▏ | 12380/30000 [5:45:30<8:09:47, 1.67s/it] 41%|████▏ | 12381/30000 [5:45:31<8:10:30, 1.67s/it] 41%|████▏ | 12382/30000 [5:45:33<8:10:13, 1.67s/it] 41%|████▏ | 12383/30000 [5:45:35<8:09:40, 1.67s/it] 41%|████▏ | 12384/30000 [5:45:36<8:10:15, 1.67s/it] 41%|████▏ | 12385/30000 [5:45:38<8:09:52, 1.67s/it] 41%|████▏ | 12386/30000 [5:45:40<8:10:05, 1.67s/it] 41%|████▏ | 12387/30000 [5:45:41<8:09:29, 1.67s/it] 41%|████▏ | 12388/30000 [5:45:43<8:09:23, 1.67s/it] 41%|████▏ | 12389/30000 [5:45:45<8:08:53, 1.67s/it] 41%|████▏ | 12390/30000 [5:45:46<8:07:47, 1.66s/it] {'loss': 0.0197, 'grad_norm': 0.10974331200122833, 'learning_rate': 2.0431048065628763e-05, 'flow_matching_loss': 0.019732429925352336, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.6} + 41%|████▏ | 12390/30000 [5:45:47<8:07:47, 1.66s/it] 41%|████▏ | 12391/30000 [5:45:48<8:08:30, 1.66s/it] 41%|████▏ | 12392/30000 [5:45:50<8:08:56, 1.67s/it] 41%|████▏ | 12393/30000 [5:45:51<8:08:43, 1.67s/it] 41%|████▏ | 12394/30000 [5:45:53<8:08:53, 1.67s/it] 41%|████▏ | 12395/30000 [5:45:55<8:08:33, 1.67s/it] 41%|████▏ | 12396/30000 [5:45:56<8:10:01, 1.67s/it] 41%|████▏ | 12397/30000 [5:45:58<8:08:54, 1.67s/it] 41%|████▏ | 12398/30000 [5:46:00<8:08:51, 1.67s/it] 41%|████▏ | 12399/30000 [5:46:01<8:09:07, 1.67s/it] 41%|████▏ | 12400/30000 [5:46:03<8:09:13, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12996113300323486, 'learning_rate': 2.0415631934386764e-05, 'flow_matching_loss': 0.020315002556890248, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.61} + 41%|████▏ | 12400/30000 [5:46:03<8:09:13, 1.67s/it] 41%|████▏ | 12401/30000 [5:46:05<8:09:26, 1.67s/it] 41%|████▏ | 12402/30000 [5:46:06<8:09:00, 1.67s/it] 41%|████▏ | 12403/30000 [5:46:08<8:08:16, 1.66s/it] 41%|████▏ | 12404/30000 [5:46:10<8:08:57, 1.67s/it] 41%|████▏ | 12405/30000 [5:46:11<8:09:03, 1.67s/it] 41%|████▏ | 12406/30000 [5:46:13<8:09:11, 1.67s/it] 41%|████▏ | 12407/30000 [5:46:15<8:09:16, 1.67s/it] 41%|████▏ | 12408/30000 [5:46:16<8:09:23, 1.67s/it] 41%|████▏ | 12409/30000 [5:46:18<8:09:31, 1.67s/it] 41%|████▏ | 12410/30000 [5:46:20<8:08:33, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.10693731904029846, 'learning_rate': 2.04002092226413e-05, 'flow_matching_loss': 0.018163519073277713, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.61} + 41%|████▏ | 12410/30000 [5:46:20<8:08:33, 1.67s/it] 41%|████▏ | 12411/30000 [5:46:21<8:07:51, 1.66s/it] 41%|████▏ | 12412/30000 [5:46:23<8:07:57, 1.66s/it] 41%|████▏ | 12413/30000 [5:46:25<8:08:04, 1.67s/it] 41%|████▏ | 12414/30000 [5:46:26<8:07:58, 1.66s/it] 41%|████▏ | 12415/30000 [5:46:28<8:08:36, 1.67s/it] 41%|████▏ | 12416/30000 [5:46:30<8:08:25, 1.67s/it] 41%|████▏ | 12417/30000 [5:46:31<8:08:03, 1.67s/it] 41%|████▏ | 12418/30000 [5:46:33<8:07:18, 1.66s/it] 41%|████▏ | 12419/30000 [5:46:35<8:07:37, 1.66s/it] 41%|████▏ | 12420/30000 [5:46:36<8:08:03, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.13670235872268677, 'learning_rate': 2.038477994913242e-05, 'flow_matching_loss': 0.01933762263506651, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.61} + 41%|████▏ | 12420/30000 [5:46:37<8:08:03, 1.67s/it] 41%|████▏ | 12421/30000 [5:46:38<8:08:06, 1.67s/it] 41%|████▏ | 12422/30000 [5:46:40<8:07:23, 1.66s/it] 41%|████▏ | 12423/30000 [5:46:41<8:07:52, 1.67s/it] 41%|████▏ | 12424/30000 [5:46:43<8:08:02, 1.67s/it] 41%|████▏ | 12425/30000 [5:46:45<8:07:08, 1.66s/it] 41%|████▏ | 12426/30000 [5:46:46<8:06:28, 1.66s/it] 41%|████▏ | 12427/30000 [5:46:48<8:06:42, 1.66s/it] 41%|████▏ | 12428/30000 [5:46:50<8:06:42, 1.66s/it] 41%|████▏ | 12429/30000 [5:46:51<8:07:11, 1.66s/it] 41%|████▏ | 12430/30000 [5:46:53<8:06:31, 1.66s/it] {'loss': 0.0229, 'grad_norm': 0.12608198821544647, 'learning_rate': 2.036934413260816e-05, 'flow_matching_loss': 0.02287133615463972, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.62} + 41%|████▏ | 12430/30000 [5:46:53<8:06:31, 1.66s/it] 41%|████▏ | 12431/30000 [5:46:55<8:06:53, 1.66s/it] 41%|████▏ | 12432/30000 [5:46:56<8:06:45, 1.66s/it] 41%|████▏ | 12433/30000 [5:46:58<8:06:58, 1.66s/it] 41%|████▏ | 12434/30000 [5:47:00<8:07:30, 1.67s/it] 41%|████▏ | 12435/30000 [5:47:01<8:06:57, 1.66s/it] 41%|████▏ | 12436/30000 [5:47:03<8:07:02, 1.66s/it] 41%|████▏ | 12437/30000 [5:47:05<8:06:37, 1.66s/it] 41%|████▏ | 12438/30000 [5:47:06<8:07:25, 1.67s/it] 41%|████▏ | 12439/30000 [5:47:08<8:08:01, 1.67s/it] 41%|████▏ | 12440/30000 [5:47:10<8:08:15, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.1302206963300705, 'learning_rate': 2.0353901791824473e-05, 'flow_matching_loss': 0.017782172095030545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.62} + 41%|████▏ | 12440/30000 [5:47:10<8:08:15, 1.67s/it] 41%|████▏ | 12441/30000 [5:47:11<8:08:10, 1.67s/it] 41%|████▏ | 12442/30000 [5:47:13<8:08:04, 1.67s/it] 41%|████▏ | 12443/30000 [5:47:15<8:07:59, 1.67s/it] 41%|████▏ | 12444/30000 [5:47:16<8:08:15, 1.67s/it] 41%|████▏ | 12445/30000 [5:47:18<8:08:09, 1.67s/it] 41%|████▏ | 12446/30000 [5:47:20<8:07:03, 1.66s/it] 41%|████▏ | 12447/30000 [5:47:21<8:07:11, 1.67s/it] 41%|████▏ | 12448/30000 [5:47:23<8:07:05, 1.67s/it] 41%|████▏ | 12449/30000 [5:47:25<8:09:32, 1.67s/it] 42%|████▏ | 12450/30000 [5:47:26<8:09:23, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11206705868244171, 'learning_rate': 2.0338452945545275e-05, 'flow_matching_loss': 0.020493896398693322, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.62} + 42%|████▏ | 12450/30000 [5:47:26<8:09:23, 1.67s/it] 42%|████▏ | 12451/30000 [5:47:28<8:08:12, 1.67s/it] 42%|████▏ | 12452/30000 [5:47:30<8:06:58, 1.67s/it] 42%|████▏ | 12453/30000 [5:47:31<8:06:46, 1.66s/it] 42%|████▏ | 12454/30000 [5:47:33<8:06:48, 1.66s/it] 42%|████▏ | 12455/30000 [5:47:35<8:06:32, 1.66s/it] 42%|████▏ | 12456/30000 [5:47:36<8:07:50, 1.67s/it] 42%|████▏ | 12457/30000 [5:47:38<8:07:20, 1.67s/it] 42%|████▏ | 12458/30000 [5:47:40<8:07:26, 1.67s/it] 42%|████▏ | 12459/30000 [5:47:41<8:07:08, 1.67s/it] 42%|████▏ | 12460/30000 [5:47:43<8:07:23, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.09289149940013885, 'learning_rate': 2.0322997612542366e-05, 'flow_matching_loss': 0.018307983130216598, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.63} + 42%|████▏ | 12460/30000 [5:47:43<8:07:23, 1.67s/it] 42%|████▏ | 12461/30000 [5:47:45<8:08:00, 1.67s/it] 42%|████▏ | 12462/30000 [5:47:46<8:07:04, 1.67s/it] 42%|████▏ | 12463/30000 [5:47:48<8:07:03, 1.67s/it] 42%|████▏ | 12464/30000 [5:47:50<8:06:57, 1.67s/it] 42%|████▏ | 12465/30000 [5:47:51<8:06:35, 1.66s/it] 42%|████▏ | 12466/30000 [5:47:53<8:07:13, 1.67s/it] 42%|████▏ | 12467/30000 [5:47:55<8:06:40, 1.67s/it] 42%|████▏ | 12468/30000 [5:47:56<8:07:53, 1.67s/it] 42%|████▏ | 12469/30000 [5:47:58<8:07:48, 1.67s/it] 42%|████▏ | 12470/30000 [5:48:00<8:07:36, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.11508696526288986, 'learning_rate': 2.0307535811595427e-05, 'flow_matching_loss': 0.022147059068083765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.63} + 42%|████▏ | 12470/30000 [5:48:00<8:07:36, 1.67s/it] 42%|████▏ | 12471/30000 [5:48:01<8:07:56, 1.67s/it] 42%|████▏ | 12472/30000 [5:48:03<8:07:41, 1.67s/it] 42%|████▏ | 12473/30000 [5:48:05<8:06:23, 1.67s/it] 42%|████▏ | 12474/30000 [5:48:06<8:06:43, 1.67s/it] 42%|████▏ | 12475/30000 [5:48:08<8:07:00, 1.67s/it] 42%|████▏ | 12476/30000 [5:48:10<8:07:14, 1.67s/it] 42%|████▏ | 12477/30000 [5:48:11<8:07:46, 1.67s/it] 42%|████▏ | 12478/30000 [5:48:13<8:06:24, 1.67s/it] 42%|████▏ | 12479/30000 [5:48:15<8:05:25, 1.66s/it] 42%|████▏ | 12480/30000 [5:48:16<8:05:53, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.10103738307952881, 'learning_rate': 2.0292067561492013e-05, 'flow_matching_loss': 0.019433452282100916, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.63} + 42%|████▏ | 12480/30000 [5:48:16<8:05:53, 1.66s/it] 42%|████▏ | 12481/30000 [5:48:18<8:07:10, 1.67s/it] 42%|████▏ | 12482/30000 [5:48:20<8:06:48, 1.67s/it] 42%|████▏ | 12483/30000 [5:48:21<8:06:27, 1.67s/it] 42%|████▏ | 12484/30000 [5:48:23<8:06:07, 1.67s/it] 42%|████▏ | 12485/30000 [5:48:25<8:06:39, 1.67s/it] 42%|████▏ | 12486/30000 [5:48:26<8:06:29, 1.67s/it] 42%|████▏ | 12487/30000 [5:48:28<8:06:40, 1.67s/it] 42%|████▏ | 12488/30000 [5:48:30<8:07:15, 1.67s/it] 42%|████▏ | 12489/30000 [5:48:31<8:06:55, 1.67s/it] 42%|████▏ | 12490/30000 [5:48:33<8:07:43, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.10581354796886444, 'learning_rate': 2.02765928810275e-05, 'flow_matching_loss': 0.021469323430210352, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.63} + 42%|████▏ | 12490/30000 [5:48:33<8:07:43, 1.67s/it] 42%|████▏ | 12491/30000 [5:48:35<8:06:47, 1.67s/it] 42%|████▏ | 12492/30000 [5:48:36<8:05:50, 1.66s/it] 42%|████▏ | 12493/30000 [5:48:38<8:05:52, 1.67s/it] 42%|████▏ | 12494/30000 [5:48:40<8:05:09, 1.66s/it] 42%|████▏ | 12495/30000 [5:48:41<8:05:35, 1.66s/it] 42%|████▏ | 12496/30000 [5:48:43<8:05:42, 1.66s/it] 42%|████▏ | 12497/30000 [5:48:45<8:04:51, 1.66s/it] 42%|████▏ | 12498/30000 [5:48:46<8:05:40, 1.66s/it] 42%|████▏ | 12499/30000 [5:48:48<8:05:38, 1.66s/it] 42%|████▏ | 12500/30000 [5:48:50<8:06:27, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.13621503114700317, 'learning_rate': 2.0261111789005087e-05, 'flow_matching_loss': 0.020399280451238157, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.64} + 42%|████▏ | 12500/30000 [5:48:50<8:06:27, 1.67s/it] 42%|████▏ | 12501/30000 [5:48:51<8:06:54, 1.67s/it] 42%|████▏ | 12502/30000 [5:48:53<8:05:48, 1.67s/it] 42%|████▏ | 12503/30000 [5:48:55<8:06:02, 1.67s/it] 42%|████▏ | 12504/30000 [5:48:56<8:06:13, 1.67s/it] 42%|████▏ | 12505/30000 [5:48:58<8:06:18, 1.67s/it] 42%|████▏ | 12506/30000 [5:49:00<8:06:23, 1.67s/it] 42%|████▏ | 12507/30000 [5:49:01<8:05:55, 1.67s/it] 42%|████▏ | 12508/30000 [5:49:03<8:06:31, 1.67s/it] 42%|████▏ | 12509/30000 [5:49:05<8:06:09, 1.67s/it] 42%|████▏ | 12510/30000 [5:49:06<8:05:10, 1.66s/it] {'loss': 0.0219, 'grad_norm': 0.14269506931304932, 'learning_rate': 2.024562430423576e-05, 'flow_matching_loss': 0.021869042329490183, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.64} + 42%|████▏ | 12510/30000 [5:49:06<8:05:10, 1.66s/it] 42%|████▏ | 12511/30000 [5:49:08<8:05:28, 1.67s/it] 42%|████▏ | 12512/30000 [5:49:10<8:05:20, 1.67s/it] 42%|████▏ | 12513/30000 [5:49:11<8:05:08, 1.66s/it] 42%|████▏ | 12514/30000 [5:49:13<8:05:03, 1.66s/it] 42%|████▏ | 12515/30000 [5:49:15<8:04:50, 1.66s/it] 42%|████▏ | 12516/30000 [5:49:16<8:04:41, 1.66s/it] 42%|████▏ | 12517/30000 [5:49:18<8:04:43, 1.66s/it] 42%|████▏ | 12518/30000 [5:49:20<8:04:22, 1.66s/it] 42%|████▏ | 12519/30000 [5:49:21<8:05:18, 1.67s/it] 42%|████▏ | 12520/30000 [5:49:23<8:05:14, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.11395009607076645, 'learning_rate': 2.0230130445538273e-05, 'flow_matching_loss': 0.01891011754050851, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.64} + 42%|████▏ | 12520/30000 [5:49:23<8:05:14, 1.67s/it] 42%|████▏ | 12521/30000 [5:49:25<8:05:34, 1.67s/it] 42%|████▏ | 12522/30000 [5:49:26<8:05:45, 1.67s/it] 42%|████▏ | 12523/30000 [5:49:28<8:04:35, 1.66s/it] 42%|████▏ | 12524/30000 [5:49:30<8:05:35, 1.67s/it] 42%|████▏ | 12525/30000 [5:49:31<8:05:38, 1.67s/it] 42%|████▏ | 12526/30000 [5:49:33<8:04:33, 1.66s/it] 42%|████▏ | 12527/30000 [5:49:35<8:04:41, 1.66s/it] 42%|████▏ | 12528/30000 [5:49:36<8:07:36, 1.67s/it] 42%|████▏ | 12529/30000 [5:49:38<8:06:50, 1.67s/it] 42%|████▏ | 12530/30000 [5:49:40<8:06:28, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.14883695542812347, 'learning_rate': 2.0214630231739127e-05, 'flow_matching_loss': 0.022515877336263656, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.65} + 42%|████▏ | 12530/30000 [5:49:40<8:06:28, 1.67s/it] 42%|████▏ | 12531/30000 [5:49:41<8:06:04, 1.67s/it] 42%|████▏ | 12532/30000 [5:49:43<8:06:08, 1.67s/it] 42%|████▏ | 12533/30000 [5:49:45<8:05:41, 1.67s/it] 42%|████▏ | 12534/30000 [5:49:46<8:04:41, 1.67s/it] 42%|████▏ | 12535/30000 [5:49:48<8:04:58, 1.67s/it] 42%|████▏ | 12536/30000 [5:49:50<8:04:56, 1.67s/it] 42%|████▏ | 12537/30000 [5:49:51<8:03:53, 1.66s/it] 42%|████▏ | 12538/30000 [5:49:53<8:04:34, 1.67s/it] 42%|████▏ | 12539/30000 [5:49:55<8:04:20, 1.66s/it] 42%|████▏ | 12540/30000 [5:49:56<8:04:48, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.11844418197870255, 'learning_rate': 2.0199123681672543e-05, 'flow_matching_loss': 0.018916414678096773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.65} + 42%|████▏ | 12540/30000 [5:49:56<8:04:48, 1.67s/it] 42%|████▏ | 12541/30000 [5:49:58<8:04:39, 1.67s/it] 42%|████▏ | 12542/30000 [5:50:00<8:04:24, 1.66s/it] 42%|████▏ | 12543/30000 [5:50:01<8:05:04, 1.67s/it] 42%|████▏ | 12544/30000 [5:50:03<8:05:13, 1.67s/it] 42%|████▏ | 12545/30000 [5:50:05<8:05:14, 1.67s/it] 42%|████▏ | 12546/30000 [5:50:06<8:05:25, 1.67s/it] 42%|████▏ | 12547/30000 [5:50:08<8:05:03, 1.67s/it] 42%|████▏ | 12548/30000 [5:50:10<8:05:03, 1.67s/it] 42%|████▏ | 12549/30000 [5:50:11<8:04:22, 1.67s/it] 42%|████▏ | 12550/30000 [5:50:13<8:03:49, 1.66s/it] {'loss': 0.0199, 'grad_norm': 0.12803544104099274, 'learning_rate': 2.0183610814180437e-05, 'flow_matching_loss': 0.019884829223155976, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.65} + 42%|████▏ | 12550/30000 [5:50:13<8:03:49, 1.66s/it] 42%|████▏ | 12551/30000 [5:50:15<8:04:23, 1.67s/it] 42%|████▏ | 12552/30000 [5:50:16<8:04:36, 1.67s/it] 42%|████▏ | 12553/30000 [5:50:18<8:04:34, 1.67s/it] 42%|████▏ | 12554/30000 [5:50:20<8:05:02, 1.67s/it] 42%|████▏ | 12555/30000 [5:50:21<8:04:25, 1.67s/it] 42%|████▏ | 12556/30000 [5:50:23<8:04:08, 1.67s/it] 42%|████▏ | 12557/30000 [5:50:25<8:03:53, 1.66s/it] 42%|████▏ | 12558/30000 [5:50:26<8:03:07, 1.66s/it] 42%|████▏ | 12559/30000 [5:50:28<8:03:51, 1.66s/it] 42%|████▏ | 12560/30000 [5:50:30<8:04:05, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.13609276711940765, 'learning_rate': 2.016809164811241e-05, 'flow_matching_loss': 0.022386767715215684, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.65} + 42%|████▏ | 12560/30000 [5:50:30<8:04:05, 1.67s/it] 42%|████▏ | 12561/30000 [5:50:31<8:03:56, 1.67s/it] 42%|████▏ | 12562/30000 [5:50:33<8:05:01, 1.67s/it] 42%|████▏ | 12563/30000 [5:50:35<8:04:19, 1.67s/it] 42%|████▏ | 12564/30000 [5:50:36<8:04:29, 1.67s/it] 42%|████▏ | 12565/30000 [5:50:38<8:04:43, 1.67s/it] 42%|████▏ | 12566/30000 [5:50:40<8:03:41, 1.66s/it] 42%|████▏ | 12567/30000 [5:50:41<8:03:43, 1.66s/it] 42%|████▏ | 12568/30000 [5:50:43<8:04:00, 1.67s/it] 42%|████▏ | 12569/30000 [5:50:45<8:03:47, 1.67s/it] 42%|████▏ | 12570/30000 [5:50:46<8:03:49, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.169346883893013, 'learning_rate': 2.015256620232571e-05, 'flow_matching_loss': 0.02034800136461854, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.66} + 42%|████▏ | 12570/30000 [5:50:46<8:03:49, 1.67s/it] 42%|████▏ | 12571/30000 [5:50:48<8:03:32, 1.66s/it] 42%|████▏ | 12572/30000 [5:50:50<8:03:55, 1.67s/it] 42%|████▏ | 12573/30000 [5:50:51<8:04:15, 1.67s/it] 42%|████▏ | 12574/30000 [5:50:53<8:03:12, 1.66s/it] 42%|████▏ | 12575/30000 [5:50:55<8:04:19, 1.67s/it] 42%|████▏ | 12576/30000 [5:50:56<8:04:24, 1.67s/it] 42%|████▏ | 12577/30000 [5:50:58<8:04:44, 1.67s/it] 42%|████▏ | 12578/30000 [5:51:00<8:05:24, 1.67s/it] 42%|████▏ | 12579/30000 [5:51:01<8:05:01, 1.67s/it] 42%|████▏ | 12580/30000 [5:51:03<8:04:56, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.13854897022247314, 'learning_rate': 2.0137034495685222e-05, 'flow_matching_loss': 0.02241452317684889, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.66} + 42%|████▏ | 12580/30000 [5:51:03<8:04:56, 1.67s/it] 42%|████▏ | 12581/30000 [5:51:05<8:04:45, 1.67s/it] 42%|████▏ | 12582/30000 [5:51:06<8:04:15, 1.67s/it] 42%|████▏ | 12583/30000 [5:51:08<8:04:33, 1.67s/it] 42%|████▏ | 12584/30000 [5:51:10<8:04:26, 1.67s/it] 42%|████▏ | 12585/30000 [5:51:11<8:03:52, 1.67s/it] 42%|████▏ | 12586/30000 [5:51:13<8:03:56, 1.67s/it] 42%|████▏ | 12587/30000 [5:51:15<8:03:39, 1.67s/it] 42%|████▏ | 12588/30000 [5:51:16<8:03:38, 1.67s/it] 42%|████▏ | 12589/30000 [5:51:18<8:03:31, 1.67s/it] 42%|████▏ | 12590/30000 [5:51:20<8:03:10, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09909255802631378, 'learning_rate': 2.012149654706343e-05, 'flow_matching_loss': 0.019460567086935044, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.66} + 42%|████▏ | 12590/30000 [5:51:20<8:03:10, 1.67s/it] 42%|████▏ | 12591/30000 [5:51:21<8:03:34, 1.67s/it] 42%|████▏ | 12592/30000 [5:51:23<8:04:03, 1.67s/it] 42%|████▏ | 12593/30000 [5:51:25<8:03:37, 1.67s/it] 42%|████▏ | 12594/30000 [5:51:26<8:04:08, 1.67s/it] 42%|████▏ | 12595/30000 [5:51:28<8:03:49, 1.67s/it] 42%|████▏ | 12596/30000 [5:51:30<8:04:05, 1.67s/it] 42%|████▏ | 12597/30000 [5:51:31<8:04:09, 1.67s/it] 42%|████▏ | 12598/30000 [5:51:33<8:04:07, 1.67s/it] 42%|████▏ | 12599/30000 [5:51:35<8:04:06, 1.67s/it] 42%|████▏ | 12600/30000 [5:51:36<8:03:57, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11719155311584473, 'learning_rate': 2.010595237534041e-05, 'flow_matching_loss': 0.020093686319887637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.67} + 42%|████▏ | 12600/30000 [5:51:37<8:03:57, 1.67s/it] 42%|████▏ | 12601/30000 [5:51:38<8:04:46, 1.67s/it] 42%|████▏ | 12602/30000 [5:51:40<8:04:16, 1.67s/it] 42%|████▏ | 12603/30000 [5:51:41<8:03:17, 1.67s/it] 42%|████▏ | 12604/30000 [5:51:43<8:03:29, 1.67s/it] 42%|████▏ | 12605/30000 [5:51:45<8:02:44, 1.67s/it] 42%|████▏ | 12606/30000 [5:51:46<8:02:18, 1.66s/it] 42%|████▏ | 12607/30000 [5:51:48<8:02:31, 1.66s/it] 42%|████▏ | 12608/30000 [5:51:50<8:03:02, 1.67s/it] 42%|████▏ | 12609/30000 [5:51:51<8:03:17, 1.67s/it] 42%|████▏ | 12610/30000 [5:51:53<8:02:57, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.11750034242868423, 'learning_rate': 2.0090401999403793e-05, 'flow_matching_loss': 0.017849200684577227, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.67} + 42%|████▏ | 12610/30000 [5:51:53<8:02:57, 1.67s/it] 42%|████▏ | 12611/30000 [5:51:55<8:02:40, 1.67s/it] 42%|████▏ | 12612/30000 [5:51:56<8:03:05, 1.67s/it] 42%|████▏ | 12613/30000 [5:51:58<8:03:10, 1.67s/it] 42%|████▏ | 12614/30000 [5:52:00<8:02:17, 1.66s/it] 42%|████▏ | 12615/30000 [5:52:01<8:02:19, 1.66s/it] 42%|████▏ | 12616/30000 [5:52:03<8:03:51, 1.67s/it] 42%|████▏ | 12617/30000 [5:52:05<8:03:11, 1.67s/it] 42%|████▏ | 12618/30000 [5:52:06<8:03:23, 1.67s/it] 42%|████▏ | 12619/30000 [5:52:08<8:02:57, 1.67s/it] 42%|████▏ | 12620/30000 [5:52:10<8:02:35, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.13697586953639984, 'learning_rate': 2.007484543814875e-05, 'flow_matching_loss': 0.020829439908266068, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.67} + 42%|████▏ | 12620/30000 [5:52:10<8:02:35, 1.67s/it] 42%|████▏ | 12621/30000 [5:52:11<8:02:58, 1.67s/it] 42%|████▏ | 12622/30000 [5:52:13<8:02:22, 1.67s/it] 42%|████▏ | 12623/30000 [5:52:15<8:02:34, 1.67s/it] 42%|████▏ | 12624/30000 [5:52:16<8:03:04, 1.67s/it] 42%|████▏ | 12625/30000 [5:52:18<8:02:39, 1.67s/it] 42%|████▏ | 12626/30000 [5:52:20<8:02:47, 1.67s/it] 42%|████▏ | 12627/30000 [5:52:21<8:03:27, 1.67s/it] 42%|████▏ | 12628/30000 [5:52:23<8:03:13, 1.67s/it] 42%|████▏ | 12629/30000 [5:52:25<8:02:45, 1.67s/it] 42%|████▏ | 12630/30000 [5:52:26<8:02:12, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.10533184558153152, 'learning_rate': 2.0059282710477972e-05, 'flow_matching_loss': 0.02108490513637662, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.67} + 42%|████▏ | 12630/30000 [5:52:27<8:02:12, 1.67s/it] 42%|████▏ | 12631/30000 [5:52:28<8:02:37, 1.67s/it] 42%|████▏ | 12632/30000 [5:52:30<8:02:51, 1.67s/it] 42%|████▏ | 12633/30000 [5:52:31<8:02:56, 1.67s/it] 42%|████▏ | 12634/30000 [5:52:33<8:02:12, 1.67s/it] 42%|████▏ | 12635/30000 [5:52:35<8:01:44, 1.66s/it] 42%|████▏ | 12636/30000 [5:52:36<8:01:55, 1.67s/it] 42%|████▏ | 12637/30000 [5:52:38<8:02:21, 1.67s/it] 42%|████▏ | 12638/30000 [5:52:40<8:01:56, 1.67s/it] 42%|████▏ | 12639/30000 [5:52:41<8:01:34, 1.66s/it] 42%|████▏ | 12640/30000 [5:52:43<8:01:43, 1.66s/it] {'loss': 0.0216, 'grad_norm': 0.13535887002944946, 'learning_rate': 2.0043713835301647e-05, 'flow_matching_loss': 0.021633092779666185, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.68} + 42%|████▏ | 12640/30000 [5:52:43<8:01:43, 1.66s/it] 42%|████▏ | 12641/30000 [5:52:45<8:01:56, 1.67s/it] 42%|████▏ | 12642/30000 [5:52:46<8:02:50, 1.67s/it] 42%|████▏ | 12643/30000 [5:52:48<8:01:32, 1.66s/it] 42%|████▏ | 12644/30000 [5:52:50<8:02:24, 1.67s/it] 42%|████▏ | 12645/30000 [5:52:51<8:01:49, 1.67s/it] 42%|████▏ | 12646/30000 [5:52:53<8:01:08, 1.66s/it] 42%|████▏ | 12647/30000 [5:52:55<8:01:27, 1.66s/it] 42%|████▏ | 12648/30000 [5:52:56<8:01:27, 1.66s/it] 42%|████▏ | 12649/30000 [5:52:58<8:01:37, 1.67s/it] 42%|████▏ | 12650/30000 [5:53:00<8:01:38, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.12204459309577942, 'learning_rate': 2.0028138831537417e-05, 'flow_matching_loss': 0.01835498884320259, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.68} + 42%|████▏ | 12650/30000 [5:53:00<8:01:38, 1.67s/it] 42%|████▏ | 12651/30000 [5:53:01<8:03:03, 1.67s/it] 42%|████▏ | 12652/30000 [5:53:03<8:02:21, 1.67s/it] 42%|████▏ | 12653/30000 [5:53:05<8:01:26, 1.67s/it] 42%|████▏ | 12654/30000 [5:53:06<8:01:10, 1.66s/it] 42%|████▏ | 12655/30000 [5:53:08<8:00:59, 1.66s/it] 42%|████▏ | 12656/30000 [5:53:10<8:01:44, 1.67s/it] 42%|████▏ | 12657/30000 [5:53:11<8:01:29, 1.67s/it] 42%|████▏ | 12658/30000 [5:53:13<8:01:43, 1.67s/it] 42%|████▏ | 12659/30000 [5:53:15<8:01:19, 1.67s/it] 42%|████▏ | 12660/30000 [5:53:16<8:01:30, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11331921815872192, 'learning_rate': 2.0012557718110387e-05, 'flow_matching_loss': 0.020545388013124465, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.68} + 42%|████▏ | 12660/30000 [5:53:16<8:01:30, 1.67s/it] 42%|████▏ | 12661/30000 [5:53:18<8:01:44, 1.67s/it] 42%|████▏ | 12662/30000 [5:53:20<8:00:47, 1.66s/it] 42%|████▏ | 12663/30000 [5:53:21<8:00:22, 1.66s/it] 42%|████▏ | 12664/30000 [5:53:23<8:02:08, 1.67s/it] 42%|████▏ | 12665/30000 [5:53:25<8:00:48, 1.66s/it] 42%|████▏ | 12666/30000 [5:53:26<8:01:02, 1.67s/it] 42%|████▏ | 12667/30000 [5:53:28<8:00:39, 1.66s/it] 42%|████▏ | 12668/30000 [5:53:30<8:01:14, 1.67s/it] 42%|████▏ | 12669/30000 [5:53:31<8:00:59, 1.67s/it] 42%|████▏ | 12670/30000 [5:53:33<8:00:39, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.1288510113954544, 'learning_rate': 1.9996970513953077e-05, 'flow_matching_loss': 0.021709674783051015, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.69} + 42%|████▏ | 12670/30000 [5:53:33<8:00:39, 1.66s/it] 42%|████▏ | 12671/30000 [5:53:35<8:01:25, 1.67s/it] 42%|████▏ | 12672/30000 [5:53:36<8:01:42, 1.67s/it] 42%|████▏ | 12673/30000 [5:53:38<8:01:47, 1.67s/it] 42%|████▏ | 12674/30000 [5:53:40<8:01:21, 1.67s/it] 42%|████▏ | 12675/30000 [5:53:41<8:01:13, 1.67s/it] 42%|████▏ | 12676/30000 [5:53:43<8:01:05, 1.67s/it] 42%|████▏ | 12677/30000 [5:53:45<8:01:45, 1.67s/it] 42%|████▏ | 12678/30000 [5:53:46<8:00:12, 1.66s/it] 42%|████▏ | 12679/30000 [5:53:48<8:00:53, 1.67s/it] 42%|████▏ | 12680/30000 [5:53:50<8:01:14, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.12528610229492188, 'learning_rate': 1.9981377238005405e-05, 'flow_matching_loss': 0.020166376885026694, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.69} + 42%|████▏ | 12680/30000 [5:53:50<8:01:14, 1.67s/it] 42%|████▏ | 12681/30000 [5:53:51<8:01:39, 1.67s/it] 42%|████▏ | 12682/30000 [5:53:53<8:01:06, 1.67s/it] 42%|████▏ | 12683/30000 [5:53:55<8:00:25, 1.66s/it] 42%|████▏ | 12684/30000 [5:53:56<8:01:10, 1.67s/it] 42%|████▏ | 12685/30000 [5:53:58<8:01:21, 1.67s/it] 42%|████▏ | 12686/30000 [5:54:00<8:00:12, 1.66s/it] 42%|████▏ | 12687/30000 [5:54:01<8:00:26, 1.67s/it] 42%|████▏ | 12688/30000 [5:54:03<8:00:41, 1.67s/it] 42%|████▏ | 12689/30000 [5:54:05<8:00:34, 1.67s/it] 42%|████▏ | 12690/30000 [5:54:06<8:00:30, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.139389768242836, 'learning_rate': 1.9965777909214674e-05, 'flow_matching_loss': 0.021628742665052415, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.69} + 42%|████▏ | 12690/30000 [5:54:06<8:00:30, 1.67s/it] 42%|████▏ | 12691/30000 [5:54:08<8:00:31, 1.67s/it] 42%|████▏ | 12692/30000 [5:54:10<8:01:48, 1.67s/it] 42%|████▏ | 12693/30000 [5:54:11<8:00:03, 1.66s/it] 42%|████▏ | 12694/30000 [5:54:13<8:00:07, 1.66s/it] 42%|████▏ | 12695/30000 [5:54:15<8:00:01, 1.66s/it] 42%|████▏ | 12696/30000 [5:54:16<8:00:58, 1.67s/it] 42%|████▏ | 12697/30000 [5:54:18<8:00:16, 1.67s/it] 42%|████▏ | 12698/30000 [5:54:20<8:00:07, 1.66s/it] 42%|████▏ | 12699/30000 [5:54:21<8:00:20, 1.67s/it] 42%|████▏ | 12700/30000 [5:54:23<8:00:47, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.1011376902461052, 'learning_rate': 1.9950172546535545e-05, 'flow_matching_loss': 0.018252886645495892, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.7} + 42%|████▏ | 12700/30000 [5:54:23<8:00:47, 1.67s/it] 42%|████▏ | 12701/30000 [5:54:25<8:00:41, 1.67s/it] 42%|████▏ | 12702/30000 [5:54:26<8:00:07, 1.67s/it] 42%|████▏ | 12703/30000 [5:54:28<7:59:50, 1.66s/it] 42%|████▏ | 12704/30000 [5:54:30<8:00:02, 1.67s/it] 42%|████▏ | 12705/30000 [5:54:31<8:00:28, 1.67s/it] 42%|████▏ | 12706/30000 [5:54:33<8:00:04, 1.67s/it] 42%|████▏ | 12707/30000 [5:54:35<7:59:46, 1.66s/it] 42%|████▏ | 12708/30000 [5:54:36<8:00:00, 1.67s/it] 42%|████▏ | 12709/30000 [5:54:38<8:00:27, 1.67s/it] 42%|████▏ | 12710/30000 [5:54:40<8:00:11, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.102044016122818, 'learning_rate': 1.9934561168930002e-05, 'flow_matching_loss': 0.020514242351055145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.7} + 42%|████▏ | 12710/30000 [5:54:40<8:00:11, 1.67s/it] 42%|████▏ | 12711/30000 [5:54:41<8:00:29, 1.67s/it] 42%|████▏ | 12712/30000 [5:54:43<8:00:47, 1.67s/it] 42%|████▏ | 12713/30000 [5:54:45<8:00:16, 1.67s/it] 42%|████▏ | 12714/30000 [5:54:46<8:00:21, 1.67s/it] 42%|████▏ | 12715/30000 [5:54:48<8:00:08, 1.67s/it] 42%|████▏ | 12716/30000 [5:54:50<7:59:58, 1.67s/it] 42%|████▏ | 12717/30000 [5:54:51<7:59:45, 1.67s/it] 42%|████▏ | 12718/30000 [5:54:53<7:58:25, 1.66s/it] 42%|████▏ | 12719/30000 [5:54:55<7:58:55, 1.66s/it] 42%|████▏ | 12720/30000 [5:54:56<7:59:25, 1.66s/it] {'loss': 0.0221, 'grad_norm': 0.11188992857933044, 'learning_rate': 1.991894379536734e-05, 'flow_matching_loss': 0.0221416300162673, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.7} + 42%|████▏ | 12720/30000 [5:54:56<7:59:25, 1.66s/it] 42%|████▏ | 12721/30000 [5:54:58<7:57:51, 1.66s/it] 42%|████▏ | 12722/30000 [5:55:00<7:58:25, 1.66s/it] 42%|████▏ | 12723/30000 [5:55:01<7:58:37, 1.66s/it] 42%|████▏ | 12724/30000 [5:55:03<7:59:26, 1.67s/it] 42%|████▏ | 12725/30000 [5:55:05<7:58:52, 1.66s/it] 42%|████▏ | 12726/30000 [5:55:06<7:58:57, 1.66s/it] 42%|████▏ | 12727/30000 [5:55:08<7:59:16, 1.66s/it] 42%|████▏ | 12728/30000 [5:55:10<7:59:52, 1.67s/it] 42%|████▏ | 12729/30000 [5:55:11<7:59:46, 1.67s/it] 42%|████▏ | 12730/30000 [5:55:13<7:59:36, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.10538312047719955, 'learning_rate': 1.9903320444824137e-05, 'flow_matching_loss': 0.02202565399929881, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.7} + 42%|████▏ | 12730/30000 [5:55:13<7:59:36, 1.67s/it] 42%|████▏ | 12731/30000 [5:55:15<7:59:44, 1.67s/it] 42%|████▏ | 12732/30000 [5:55:16<7:59:39, 1.67s/it] 42%|████▏ | 12733/30000 [5:55:18<8:00:47, 1.67s/it] 42%|████▏ | 12734/30000 [5:55:20<8:00:04, 1.67s/it] 42%|████▏ | 12735/30000 [5:55:21<7:59:42, 1.67s/it] 42%|████▏ | 12736/30000 [5:55:23<8:01:08, 1.67s/it] 42%|████▏ | 12737/30000 [5:55:25<7:59:40, 1.67s/it] 42%|████▏ | 12738/30000 [5:55:26<7:59:41, 1.67s/it] 42%|████▏ | 12739/30000 [5:55:28<7:58:54, 1.66s/it] 42%|████▏ | 12740/30000 [5:55:30<8:00:22, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.09320947527885437, 'learning_rate': 1.9887691136284245e-05, 'flow_matching_loss': 0.018207482434809207, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.71} + 42%|████▏ | 12740/30000 [5:55:30<8:00:22, 1.67s/it] 42%|████▏ | 12741/30000 [5:55:31<8:01:13, 1.67s/it] 42%|████▏ | 12742/30000 [5:55:33<7:59:39, 1.67s/it] 42%|████▏ | 12743/30000 [5:55:35<8:00:34, 1.67s/it] 42%|████▏ | 12744/30000 [5:55:36<8:00:26, 1.67s/it] 42%|████▏ | 12745/30000 [5:55:38<7:59:59, 1.67s/it] 42%|████▏ | 12746/30000 [5:55:40<7:58:56, 1.67s/it] 42%|████▏ | 12747/30000 [5:55:41<7:58:23, 1.66s/it] 42%|████▏ | 12748/30000 [5:55:43<7:58:33, 1.66s/it] 42%|████▏ | 12749/30000 [5:55:45<7:58:42, 1.66s/it] 42%|████▎ | 12750/30000 [5:55:46<7:58:24, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.09170430898666382, 'learning_rate': 1.9872055888738745e-05, 'flow_matching_loss': 0.0192683064378798, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.71} + 42%|████▎ | 12750/30000 [5:55:46<7:58:24, 1.66s/it] 43%|████▎ | 12751/30000 [5:55:48<7:59:10, 1.67s/it] 43%|████▎ | 12752/30000 [5:55:50<7:58:04, 1.66s/it] 43%|████▎ | 12753/30000 [5:55:51<7:58:20, 1.66s/it] 43%|████▎ | 12754/30000 [5:55:53<7:58:54, 1.67s/it] 43%|████▎ | 12755/30000 [5:55:55<7:58:33, 1.67s/it] 43%|████▎ | 12756/30000 [5:55:56<7:58:43, 1.67s/it] 43%|████▎ | 12757/30000 [5:55:58<7:59:24, 1.67s/it] 43%|████▎ | 12758/30000 [5:56:00<7:58:08, 1.66s/it] 43%|████▎ | 12759/30000 [5:56:01<7:57:59, 1.66s/it] 43%|████▎ | 12760/30000 [5:56:03<7:58:33, 1.67s/it] {'loss': 0.0221, 'grad_norm': 0.09744148701429367, 'learning_rate': 1.985641472118593e-05, 'flow_matching_loss': 0.02214306192472577, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.71} + 43%|████▎ | 12760/30000 [5:56:03<7:58:33, 1.67s/it] 43%|████▎ | 12761/30000 [5:56:05<7:58:32, 1.67s/it] 43%|████▎ | 12762/30000 [5:56:06<7:58:58, 1.67s/it] 43%|████▎ | 12763/30000 [5:56:08<7:58:53, 1.67s/it] 43%|████▎ | 12764/30000 [5:56:10<7:58:37, 1.67s/it] 43%|████▎ | 12765/30000 [5:56:11<7:59:10, 1.67s/it] 43%|████▎ | 12766/30000 [5:56:13<7:58:51, 1.67s/it] 43%|████▎ | 12767/30000 [5:56:15<7:58:33, 1.67s/it] 43%|████▎ | 12768/30000 [5:56:16<7:58:02, 1.66s/it] 43%|████▎ | 12769/30000 [5:56:18<7:57:24, 1.66s/it] 43%|████▎ | 12770/30000 [5:56:20<7:57:58, 1.66s/it] {'loss': 0.0224, 'grad_norm': 0.13977111876010895, 'learning_rate': 1.9840767652631294e-05, 'flow_matching_loss': 0.02242464628070593, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.72} + 43%|████▎ | 12770/30000 [5:56:20<7:57:58, 1.66s/it] 43%|████▎ | 12771/30000 [5:56:21<7:57:33, 1.66s/it] 43%|████▎ | 12772/30000 [5:56:23<7:57:36, 1.66s/it] 43%|████▎ | 12773/30000 [5:56:25<7:58:28, 1.67s/it] 43%|████▎ | 12774/30000 [5:56:26<7:57:40, 1.66s/it] 43%|████▎ | 12775/30000 [5:56:28<7:57:37, 1.66s/it] 43%|████▎ | 12776/30000 [5:56:30<7:58:11, 1.67s/it] 43%|████▎ | 12777/30000 [5:56:31<7:56:58, 1.66s/it] 43%|████▎ | 12778/30000 [5:56:33<7:57:46, 1.66s/it] 43%|████▎ | 12779/30000 [5:56:35<7:57:11, 1.66s/it] 43%|████▎ | 12780/30000 [5:56:36<7:58:17, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.14248350262641907, 'learning_rate': 1.9825114702087513e-05, 'flow_matching_loss': 0.02177362684160471, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.72} + 43%|████▎ | 12780/30000 [5:56:36<7:58:17, 1.67s/it] 43%|████▎ | 12781/30000 [5:56:38<7:58:38, 1.67s/it] 43%|████▎ | 12782/30000 [5:56:40<7:57:21, 1.66s/it] 43%|████▎ | 12783/30000 [5:56:41<7:57:15, 1.66s/it] 43%|████▎ | 12784/30000 [5:56:43<7:57:45, 1.67s/it] 43%|████▎ | 12785/30000 [5:56:45<7:57:44, 1.67s/it] 43%|████▎ | 12786/30000 [5:56:46<7:58:38, 1.67s/it] 43%|████▎ | 12787/30000 [5:56:48<7:58:39, 1.67s/it] 43%|████▎ | 12788/30000 [5:56:50<7:58:41, 1.67s/it] 43%|████▎ | 12789/30000 [5:56:51<7:57:33, 1.66s/it] 43%|████▎ | 12790/30000 [5:56:53<7:57:45, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.11386589705944061, 'learning_rate': 1.9809455888574388e-05, 'flow_matching_loss': 0.02307728510349989, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.72} + 43%|████▎ | 12790/30000 [5:56:53<7:57:45, 1.67s/it] 43%|████▎ | 12791/30000 [5:56:55<7:56:58, 1.66s/it] 43%|████▎ | 12792/30000 [5:56:56<7:56:46, 1.66s/it] 43%|████▎ | 12793/30000 [5:56:58<7:55:56, 1.66s/it] 43%|████▎ | 12794/30000 [5:57:00<7:57:09, 1.66s/it] 43%|████▎ | 12795/30000 [5:57:01<7:56:20, 1.66s/it] 43%|████▎ | 12796/30000 [5:57:03<7:56:28, 1.66s/it] 43%|████▎ | 12797/30000 [5:57:05<7:56:22, 1.66s/it] 43%|████▎ | 12798/30000 [5:57:06<7:57:12, 1.66s/it] 43%|████▎ | 12799/30000 [5:57:08<7:56:48, 1.66s/it] 43%|████▎ | 12800/30000 [5:57:10<7:57:32, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.11502363532781601, 'learning_rate': 1.9793791231118864e-05, 'flow_matching_loss': 0.02089758701622486, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.72} + 43%|████▎ | 12800/30000 [5:57:10<7:57:32, 1.67s/it] 43%|████▎ | 12801/30000 [5:57:11<7:57:05, 1.66s/it] 43%|████▎ | 12802/30000 [5:57:13<7:57:58, 1.67s/it] 43%|████▎ | 12803/30000 [5:57:15<7:57:57, 1.67s/it] 43%|████▎ | 12804/30000 [5:57:16<7:58:32, 1.67s/it] 43%|████▎ | 12805/30000 [5:57:18<7:58:06, 1.67s/it] 43%|████▎ | 12806/30000 [5:57:20<7:56:17, 1.66s/it] 43%|████▎ | 12807/30000 [5:57:21<7:56:22, 1.66s/it] 43%|████▎ | 12808/30000 [5:57:23<7:57:15, 1.67s/it] 43%|████▎ | 12809/30000 [5:57:25<7:57:03, 1.67s/it] 43%|████▎ | 12810/30000 [5:57:26<7:57:52, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1266147345304489, 'learning_rate': 1.9778120748754958e-05, 'flow_matching_loss': 0.018625549133867027, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.73} + 43%|████▎ | 12810/30000 [5:57:26<7:57:52, 1.67s/it] 43%|████▎ | 12811/30000 [5:57:28<7:57:35, 1.67s/it] 43%|████▎ | 12812/30000 [5:57:30<7:57:35, 1.67s/it] 43%|████▎ | 12813/30000 [5:57:31<7:57:36, 1.67s/it] 43%|████▎ | 12814/30000 [5:57:33<7:56:35, 1.66s/it] 43%|████▎ | 12815/30000 [5:57:35<7:56:39, 1.66s/it] 43%|████▎ | 12816/30000 [5:57:36<7:57:14, 1.67s/it] 43%|████▎ | 12817/30000 [5:57:38<7:56:38, 1.66s/it] 43%|████▎ | 12818/30000 [5:57:40<7:58:37, 1.67s/it] 43%|████▎ | 12819/30000 [5:57:41<7:57:41, 1.67s/it] 43%|████▎ | 12820/30000 [5:57:43<7:57:36, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.10403696447610855, 'learning_rate': 1.97624444605238e-05, 'flow_matching_loss': 0.02073476780205965, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.73} + 43%|████▎ | 12820/30000 [5:57:43<7:57:36, 1.67s/it] 43%|████▎ | 12821/30000 [5:57:45<7:57:27, 1.67s/it] 43%|████▎ | 12822/30000 [5:57:46<7:57:08, 1.67s/it] 43%|████▎ | 12823/30000 [5:57:48<7:56:51, 1.67s/it] 43%|████▎ | 12824/30000 [5:57:50<7:57:34, 1.67s/it] 43%|████▎ | 12825/30000 [5:57:51<7:57:41, 1.67s/it] 43%|████▎ | 12826/30000 [5:57:53<7:58:02, 1.67s/it] 43%|████▎ | 12827/30000 [5:57:55<7:57:21, 1.67s/it] 43%|████▎ | 12828/30000 [5:57:56<7:57:16, 1.67s/it] 43%|████▎ | 12829/30000 [5:57:58<7:57:03, 1.67s/it] 43%|████▎ | 12830/30000 [5:58:00<7:55:56, 1.66s/it] {'loss': 0.0208, 'grad_norm': 0.1106521412730217, 'learning_rate': 1.9746762385473552e-05, 'flow_matching_loss': 0.020765117742121218, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.73} + 43%|████▎ | 12830/30000 [5:58:00<7:55:56, 1.66s/it] 43%|████▎ | 12831/30000 [5:58:01<7:55:33, 1.66s/it] 43%|████▎ | 12832/30000 [5:58:03<7:56:04, 1.66s/it] 43%|████▎ | 12833/30000 [5:58:05<7:55:56, 1.66s/it] 43%|████▎ | 12834/30000 [5:58:06<7:56:26, 1.67s/it] 43%|████▎ | 12835/30000 [5:58:08<7:56:07, 1.66s/it] 43%|████▎ | 12836/30000 [5:58:10<7:56:51, 1.67s/it] 43%|████▎ | 12837/30000 [5:58:11<7:56:41, 1.67s/it] 43%|████▎ | 12838/30000 [5:58:13<7:56:34, 1.67s/it] 43%|████▎ | 12839/30000 [5:58:15<7:56:49, 1.67s/it] 43%|████▎ | 12840/30000 [5:58:16<7:57:28, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.09316810965538025, 'learning_rate': 1.9731074542659414e-05, 'flow_matching_loss': 0.02007483234629035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.74} + 43%|████▎ | 12840/30000 [5:58:16<7:57:28, 1.67s/it] 43%|████▎ | 12841/30000 [5:58:18<7:56:28, 1.67s/it] 43%|████▎ | 12842/30000 [5:58:20<7:57:10, 1.67s/it] 43%|████▎ | 12843/30000 [5:58:21<7:57:03, 1.67s/it] 43%|████▎ | 12844/30000 [5:58:23<7:57:16, 1.67s/it] 43%|████▎ | 12845/30000 [5:58:25<7:57:19, 1.67s/it] 43%|████▎ | 12846/30000 [5:58:26<7:57:02, 1.67s/it] 43%|████▎ | 12847/30000 [5:58:28<7:56:31, 1.67s/it] 43%|████▎ | 12848/30000 [5:58:30<7:57:15, 1.67s/it] 43%|████▎ | 12849/30000 [5:58:31<7:56:21, 1.67s/it] 43%|████▎ | 12850/30000 [5:58:33<7:55:44, 1.66s/it] {'loss': 0.0226, 'grad_norm': 0.16703374683856964, 'learning_rate': 1.9715380951143603e-05, 'flow_matching_loss': 0.022596888523548842, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.74} + 43%|████▎ | 12850/30000 [5:58:33<7:55:44, 1.66s/it] 43%|████▎ | 12851/30000 [5:58:35<7:55:41, 1.66s/it] 43%|████▎ | 12852/30000 [5:58:36<7:55:42, 1.66s/it] 43%|████▎ | 12853/30000 [5:58:38<7:56:07, 1.67s/it] 43%|████▎ | 12854/30000 [5:58:40<7:55:21, 1.66s/it] 43%|████▎ | 12855/30000 [5:58:41<7:55:51, 1.67s/it] 43%|████▎ | 12856/30000 [5:58:43<7:55:48, 1.67s/it] 43%|████▎ | 12857/30000 [5:58:45<7:55:30, 1.66s/it] 43%|████▎ | 12858/30000 [5:58:46<7:56:04, 1.67s/it] 43%|████▎ | 12859/30000 [5:58:48<7:55:39, 1.66s/it] 43%|████▎ | 12860/30000 [5:58:50<7:56:32, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.1409408152103424, 'learning_rate': 1.9699681629995295e-05, 'flow_matching_loss': 0.020156404189765453, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.74} + 43%|████▎ | 12860/30000 [5:58:50<7:56:32, 1.67s/it] 43%|████▎ | 12861/30000 [5:58:51<7:57:14, 1.67s/it] 43%|████▎ | 12862/30000 [5:58:53<7:56:38, 1.67s/it] 43%|████▎ | 12863/30000 [5:58:55<7:56:05, 1.67s/it] 43%|████▎ | 12864/30000 [5:58:56<7:56:08, 1.67s/it] 43%|████▎ | 12865/30000 [5:58:58<7:56:32, 1.67s/it] 43%|████▎ | 12866/30000 [5:59:00<7:56:22, 1.67s/it] 43%|████▎ | 12867/30000 [5:59:01<7:55:57, 1.67s/it] 43%|████▎ | 12868/30000 [5:59:03<7:56:04, 1.67s/it] 43%|████▎ | 12869/30000 [5:59:05<7:56:01, 1.67s/it] 43%|████▎ | 12870/30000 [5:59:06<7:56:01, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13153810799121857, 'learning_rate': 1.968397659829066e-05, 'flow_matching_loss': 0.021090028621256352, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.74} + 43%|████▎ | 12870/30000 [5:59:06<7:56:01, 1.67s/it] 43%|████▎ | 12871/30000 [5:59:08<7:55:42, 1.67s/it] 43%|████▎ | 12872/30000 [5:59:10<7:57:00, 1.67s/it] 43%|████▎ | 12873/30000 [5:59:11<7:55:46, 1.67s/it] 43%|████▎ | 12874/30000 [5:59:13<7:57:43, 1.67s/it] 43%|████▎ | 12875/30000 [5:59:15<7:55:59, 1.67s/it] 43%|████▎ | 12876/30000 [5:59:16<7:56:04, 1.67s/it] 43%|████▎ | 12877/30000 [5:59:18<7:56:00, 1.67s/it] 43%|████▎ | 12878/30000 [5:59:20<7:55:49, 1.67s/it] 43%|████▎ | 12879/30000 [5:59:21<7:55:29, 1.67s/it] 43%|████▎ | 12880/30000 [5:59:23<7:55:08, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.11649211496114731, 'learning_rate': 1.966826587511279e-05, 'flow_matching_loss': 0.019691058434545994, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.75} + 43%|████▎ | 12880/30000 [5:59:23<7:55:08, 1.67s/it] 43%|████▎ | 12881/30000 [5:59:25<7:54:35, 1.66s/it] 43%|████▎ | 12882/30000 [5:59:26<7:54:18, 1.66s/it] 43%|████▎ | 12883/30000 [5:59:28<7:53:58, 1.66s/it] 43%|████▎ | 12884/30000 [5:59:30<7:55:25, 1.67s/it] 43%|████▎ | 12885/30000 [5:59:31<7:55:39, 1.67s/it] 43%|████▎ | 12886/30000 [5:59:33<7:55:01, 1.67s/it] 43%|████▎ | 12887/30000 [5:59:35<7:55:24, 1.67s/it] 43%|████▎ | 12888/30000 [5:59:36<7:55:49, 1.67s/it] 43%|████▎ | 12889/30000 [5:59:38<7:55:24, 1.67s/it] 43%|████▎ | 12890/30000 [5:59:40<7:54:58, 1.67s/it] {'loss': 0.0229, 'grad_norm': 0.1572205275297165, 'learning_rate': 1.965254947955169e-05, 'flow_matching_loss': 0.022937375400215388, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.75} + 43%|████▎ | 12890/30000 [5:59:40<7:54:58, 1.67s/it] 43%|████▎ | 12891/30000 [5:59:41<7:55:17, 1.67s/it] 43%|████▎ | 12892/30000 [5:59:43<7:55:57, 1.67s/it] 43%|████▎ | 12893/30000 [5:59:45<7:56:59, 1.67s/it] 43%|████▎ | 12894/30000 [5:59:46<7:56:37, 1.67s/it] 43%|████▎ | 12895/30000 [5:59:48<7:56:38, 1.67s/it] 43%|████▎ | 12896/30000 [5:59:50<7:56:38, 1.67s/it] 43%|████▎ | 12897/30000 [5:59:51<7:55:29, 1.67s/it] 43%|████▎ | 12898/30000 [5:59:53<7:55:16, 1.67s/it] 43%|████▎ | 12899/30000 [5:59:55<7:54:55, 1.67s/it] 43%|████▎ | 12900/30000 [5:59:56<7:55:09, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11962185800075531, 'learning_rate': 1.963682743070427e-05, 'flow_matching_loss': 0.019193158578127624, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.75} + 43%|████▎ | 12900/30000 [5:59:56<7:55:09, 1.67s/it] 43%|████▎ | 12901/30000 [5:59:58<7:53:58, 1.66s/it] 43%|████▎ | 12902/30000 [6:00:00<7:54:33, 1.67s/it] 43%|████▎ | 12903/30000 [6:00:01<7:55:03, 1.67s/it] 43%|████▎ | 12904/30000 [6:00:03<7:55:40, 1.67s/it] 43%|████▎ | 12905/30000 [6:00:05<7:55:37, 1.67s/it] 43%|████▎ | 12906/30000 [6:00:06<7:55:13, 1.67s/it] 43%|████▎ | 12907/30000 [6:00:08<7:54:24, 1.67s/it] 43%|████▎ | 12908/30000 [6:00:10<7:55:02, 1.67s/it] 43%|████▎ | 12909/30000 [6:00:11<7:55:09, 1.67s/it] 43%|████▎ | 12910/30000 [6:00:13<7:55:01, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1191764771938324, 'learning_rate': 1.962109974767429e-05, 'flow_matching_loss': 0.01822959315031767, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.76} + 43%|████▎ | 12910/30000 [6:00:13<7:55:01, 1.67s/it] 43%|████▎ | 12911/30000 [6:00:15<7:55:28, 1.67s/it] 43%|████▎ | 12912/30000 [6:00:16<7:55:35, 1.67s/it] 43%|████▎ | 12913/30000 [6:00:18<7:54:37, 1.67s/it] 43%|████▎ | 12914/30000 [6:00:20<7:55:46, 1.67s/it] 43%|████▎ | 12915/30000 [6:00:21<7:55:27, 1.67s/it] 43%|████▎ | 12916/30000 [6:00:23<7:54:15, 1.67s/it] 43%|████▎ | 12917/30000 [6:00:25<7:54:51, 1.67s/it] 43%|████▎ | 12918/30000 [6:00:26<7:54:35, 1.67s/it] 43%|████▎ | 12919/30000 [6:00:28<7:54:22, 1.67s/it] 43%|████▎ | 12920/30000 [6:00:30<7:55:24, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.12392257899045944, 'learning_rate': 1.960536644957238e-05, 'flow_matching_loss': 0.020397904235869645, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.76} + 43%|████▎ | 12920/30000 [6:00:30<7:55:24, 1.67s/it] 43%|████▎ | 12921/30000 [6:00:31<7:54:04, 1.67s/it] 43%|████▎ | 12922/30000 [6:00:33<7:55:06, 1.67s/it] 43%|████▎ | 12923/30000 [6:00:35<7:54:19, 1.67s/it] 43%|████▎ | 12924/30000 [6:00:36<7:54:25, 1.67s/it] 43%|████▎ | 12925/30000 [6:00:38<7:54:10, 1.67s/it] 43%|████▎ | 12926/30000 [6:00:40<7:53:51, 1.67s/it] 43%|████▎ | 12927/30000 [6:00:41<7:53:33, 1.66s/it] 43%|████▎ | 12928/30000 [6:00:43<7:54:02, 1.67s/it] 43%|████▎ | 12929/30000 [6:00:45<7:53:24, 1.66s/it] 43%|████▎ | 12930/30000 [6:00:46<7:53:40, 1.66s/it] {'loss': 0.0232, 'grad_norm': 0.11259124428033829, 'learning_rate': 1.9589627555515974e-05, 'flow_matching_loss': 0.02318670004606247, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.76} + 43%|████▎ | 12930/30000 [6:00:46<7:53:40, 1.66s/it] 43%|████▎ | 12931/30000 [6:00:48<7:53:36, 1.66s/it] 43%|████▎ | 12932/30000 [6:00:50<7:53:57, 1.67s/it] 43%|████▎ | 12933/30000 [6:00:51<7:54:51, 1.67s/it] 43%|████▎ | 12934/30000 [6:00:53<7:53:54, 1.67s/it] 43%|████▎ | 12935/30000 [6:00:55<7:53:36, 1.67s/it] 43%|████▎ | 12936/30000 [6:00:56<7:54:10, 1.67s/it] 43%|████▎ | 12937/30000 [6:00:58<7:53:36, 1.67s/it] 43%|████▎ | 12938/30000 [6:01:00<7:53:16, 1.66s/it] 43%|████▎ | 12939/30000 [6:01:01<7:55:15, 1.67s/it] 43%|████▎ | 12940/30000 [6:01:03<7:53:48, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.11526665836572647, 'learning_rate': 1.9573883084629317e-05, 'flow_matching_loss': 0.019797253515571357, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.76} + 43%|████▎ | 12940/30000 [6:01:03<7:53:48, 1.67s/it] 43%|████▎ | 12941/30000 [6:01:05<7:54:12, 1.67s/it] 43%|████▎ | 12942/30000 [6:01:06<7:53:52, 1.67s/it] 43%|████▎ | 12943/30000 [6:01:08<7:53:38, 1.67s/it] 43%|████▎ | 12944/30000 [6:01:10<7:53:35, 1.67s/it] 43%|████▎ | 12945/30000 [6:01:11<7:53:05, 1.66s/it] 43%|████▎ | 12946/30000 [6:01:13<7:53:33, 1.67s/it] 43%|████▎ | 12947/30000 [6:01:15<7:53:02, 1.66s/it] 43%|████▎ | 12948/30000 [6:01:16<7:53:05, 1.66s/it] 43%|████▎ | 12949/30000 [6:01:18<7:53:19, 1.67s/it] 43%|████▎ | 12950/30000 [6:01:20<7:53:31, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.13866780698299408, 'learning_rate': 1.9558133056043422e-05, 'flow_matching_loss': 0.021769357565790414, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.77} + 43%|████▎ | 12950/30000 [6:01:20<7:53:31, 1.67s/it] 43%|████▎ | 12951/30000 [6:01:21<7:53:18, 1.67s/it] 43%|████▎ | 12952/30000 [6:01:23<7:53:50, 1.67s/it] 43%|████▎ | 12953/30000 [6:01:25<7:52:49, 1.66s/it] 43%|████▎ | 12954/30000 [6:01:26<7:53:11, 1.67s/it] 43%|████▎ | 12955/30000 [6:01:28<7:52:32, 1.66s/it] 43%|████▎ | 12956/30000 [6:01:30<7:53:25, 1.67s/it] 43%|████▎ | 12957/30000 [6:01:31<7:53:41, 1.67s/it] 43%|████▎ | 12958/30000 [6:01:33<7:53:37, 1.67s/it] 43%|████▎ | 12959/30000 [6:01:35<7:53:41, 1.67s/it] 43%|████▎ | 12960/30000 [6:01:36<7:54:14, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.1624143272638321, 'learning_rate': 1.9542377488896062e-05, 'flow_matching_loss': 0.020474290661513805, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.77} + 43%|████▎ | 12960/30000 [6:01:36<7:54:14, 1.67s/it] 43%|████▎ | 12961/30000 [6:01:38<7:53:14, 1.67s/it] 43%|████▎ | 12962/30000 [6:01:40<7:53:24, 1.67s/it] 43%|████▎ | 12963/30000 [6:01:41<7:52:54, 1.67s/it] 43%|████▎ | 12964/30000 [6:01:43<7:52:36, 1.66s/it] 43%|████▎ | 12965/30000 [6:01:45<7:51:57, 1.66s/it] 43%|████▎ | 12966/30000 [6:01:46<7:51:57, 1.66s/it] 43%|████▎ | 12967/30000 [6:01:48<7:51:56, 1.66s/it] 43%|████▎ | 12968/30000 [6:01:50<7:52:34, 1.66s/it] 43%|████▎ | 12969/30000 [6:01:51<7:52:02, 1.66s/it] 43%|████▎ | 12970/30000 [6:01:53<7:54:30, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.13743630051612854, 'learning_rate': 1.9526616402331733e-05, 'flow_matching_loss': 0.01973448321223259, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.77} + 43%|████▎ | 12970/30000 [6:01:53<7:54:30, 1.67s/it] 43%|████▎ | 12971/30000 [6:01:55<7:53:47, 1.67s/it] 43%|████▎ | 12972/30000 [6:01:56<7:53:41, 1.67s/it] 43%|████▎ | 12973/30000 [6:01:58<7:54:28, 1.67s/it] 43%|████▎ | 12974/30000 [6:02:00<7:54:08, 1.67s/it] 43%|████▎ | 12975/30000 [6:02:01<7:53:07, 1.67s/it] 43%|████▎ | 12976/30000 [6:02:03<7:53:38, 1.67s/it] 43%|████▎ | 12977/30000 [6:02:05<7:53:38, 1.67s/it] 43%|████▎ | 12978/30000 [6:02:06<7:53:33, 1.67s/it] 43%|████▎ | 12979/30000 [6:02:08<7:52:37, 1.67s/it] 43%|████▎ | 12980/30000 [6:02:10<7:52:57, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.13438522815704346, 'learning_rate': 1.9510849815501638e-05, 'flow_matching_loss': 0.019260817859321832, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.78} + 43%|████▎ | 12980/30000 [6:02:10<7:52:57, 1.67s/it] 43%|████▎ | 12981/30000 [6:02:11<7:53:51, 1.67s/it] 43%|████▎ | 12982/30000 [6:02:13<7:53:37, 1.67s/it] 43%|████▎ | 12983/30000 [6:02:15<7:52:40, 1.67s/it] 43%|████▎ | 12984/30000 [6:02:16<7:53:19, 1.67s/it] 43%|████▎ | 12985/30000 [6:02:18<7:52:41, 1.67s/it] 43%|████▎ | 12986/30000 [6:02:20<7:52:55, 1.67s/it] 43%|████▎ | 12987/30000 [6:02:21<7:52:35, 1.67s/it] 43%|████▎ | 12988/30000 [6:02:23<7:52:55, 1.67s/it] 43%|████▎ | 12989/30000 [6:02:25<7:51:32, 1.66s/it] 43%|████▎ | 12990/30000 [6:02:26<7:52:08, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.13109247386455536, 'learning_rate': 1.949507774756368e-05, 'flow_matching_loss': 0.02023005494847894, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.78} + 43%|████▎ | 12990/30000 [6:02:26<7:52:08, 1.67s/it] 43%|████▎ | 12991/30000 [6:02:28<7:51:48, 1.66s/it] 43%|████▎ | 12992/30000 [6:02:30<7:52:39, 1.67s/it] 43%|████▎ | 12993/30000 [6:02:31<7:53:22, 1.67s/it] 43%|████▎ | 12994/30000 [6:02:33<7:53:12, 1.67s/it] 43%|████▎ | 12995/30000 [6:02:35<7:52:29, 1.67s/it] 43%|████▎ | 12996/30000 [6:02:36<7:53:17, 1.67s/it] 43%|████▎ | 12997/30000 [6:02:38<7:52:42, 1.67s/it] 43%|████▎ | 12998/30000 [6:02:40<7:52:15, 1.67s/it] 43%|████▎ | 12999/30000 [6:02:41<7:52:39, 1.67s/it] 43%|████▎ | 13000/30000 [6:02:43<7:52:43, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.1690615862607956, 'learning_rate': 1.9479300217682394e-05, 'flow_matching_loss': 0.022024411614984273, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.78} + 43%|████▎ | 13000/30000 [6:02:43<7:52:43, 1.67s/it] 43%|████▎ | 13001/30000 [6:02:45<7:52:33, 1.67s/it] 43%|████▎ | 13002/30000 [6:02:46<7:52:26, 1.67s/it] 43%|████▎ | 13003/30000 [6:02:48<7:51:51, 1.67s/it] 43%|████▎ | 13004/30000 [6:02:50<7:52:19, 1.67s/it] 43%|████▎ | 13005/30000 [6:02:51<7:51:43, 1.67s/it] 43%|████▎ | 13006/30000 [6:02:53<7:51:53, 1.67s/it] 43%|████▎ | 13007/30000 [6:02:55<7:51:27, 1.66s/it] 43%|████▎ | 13008/30000 [6:02:56<7:51:58, 1.67s/it] 43%|████▎ | 13009/30000 [6:02:58<7:51:25, 1.66s/it] 43%|████▎ | 13010/30000 [6:03:00<7:51:41, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.13504821062088013, 'learning_rate': 1.946351724502898e-05, 'flow_matching_loss': 0.020626658108085394, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.79} + 43%|████▎ | 13010/30000 [6:03:00<7:51:41, 1.67s/it] 43%|████▎ | 13011/30000 [6:03:01<7:51:12, 1.66s/it] 43%|████▎ | 13012/30000 [6:03:03<7:51:37, 1.67s/it] 43%|████▎ | 13013/30000 [6:03:05<7:51:42, 1.67s/it] 43%|████▎ | 13014/30000 [6:03:06<7:52:17, 1.67s/it] 43%|████▎ | 13015/30000 [6:03:08<7:51:36, 1.67s/it] 43%|████▎ | 13016/30000 [6:03:10<7:51:57, 1.67s/it] 43%|████▎ | 13017/30000 [6:03:11<7:51:09, 1.66s/it] 43%|████▎ | 13018/30000 [6:03:13<7:51:10, 1.66s/it] 43%|████▎ | 13019/30000 [6:03:15<7:50:42, 1.66s/it] 43%|████▎ | 13020/30000 [6:03:16<7:51:08, 1.66s/it] {'loss': 0.0202, 'grad_norm': 0.09184056520462036, 'learning_rate': 1.9447728848781227e-05, 'flow_matching_loss': 0.020192584302276374, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.79} + 43%|████▎ | 13020/30000 [6:03:16<7:51:08, 1.66s/it] 43%|████▎ | 13021/30000 [6:03:18<7:51:04, 1.66s/it] 43%|████▎ | 13022/30000 [6:03:20<7:50:22, 1.66s/it] 43%|████▎ | 13023/30000 [6:03:21<7:50:18, 1.66s/it] 43%|████▎ | 13024/30000 [6:03:23<7:50:46, 1.66s/it] 43%|████▎ | 13025/30000 [6:03:25<7:50:40, 1.66s/it] 43%|████▎ | 13026/30000 [6:03:26<7:51:04, 1.67s/it] 43%|████▎ | 13027/30000 [6:03:28<7:51:39, 1.67s/it] 43%|████▎ | 13028/30000 [6:03:30<7:51:38, 1.67s/it] 43%|████▎ | 13029/30000 [6:03:31<7:51:31, 1.67s/it] 43%|████▎ | 13030/30000 [6:03:33<7:51:12, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.2067699283361435, 'learning_rate': 1.943193504812353e-05, 'flow_matching_loss': 0.020040758326649664, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.79} + 43%|████▎ | 13030/30000 [6:03:33<7:51:12, 1.67s/it] 43%|████▎ | 13031/30000 [6:03:35<7:50:58, 1.67s/it] 43%|████▎ | 13032/30000 [6:03:36<7:50:36, 1.66s/it] 43%|████▎ | 13033/30000 [6:03:38<7:50:30, 1.66s/it] 43%|████▎ | 13034/30000 [6:03:40<7:52:02, 1.67s/it] 43%|████▎ | 13035/30000 [6:03:41<7:51:29, 1.67s/it] 43%|████▎ | 13036/30000 [6:03:43<7:51:13, 1.67s/it] 43%|████▎ | 13037/30000 [6:03:45<7:51:36, 1.67s/it] 43%|████▎ | 13038/30000 [6:03:46<7:51:42, 1.67s/it] 43%|████▎ | 13039/30000 [6:03:48<7:51:37, 1.67s/it] 43%|████▎ | 13040/30000 [6:03:50<7:52:10, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09205300360918045, 'learning_rate': 1.9416135862246846e-05, 'flow_matching_loss': 0.019521926064044237, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.79} + 43%|████▎ | 13040/30000 [6:03:50<7:52:10, 1.67s/it] 43%|████▎ | 13041/30000 [6:03:51<7:51:17, 1.67s/it] 43%|████▎ | 13042/30000 [6:03:53<7:51:40, 1.67s/it] 43%|████▎ | 13043/30000 [6:03:55<7:51:18, 1.67s/it] 43%|████▎ | 13044/30000 [6:03:56<7:51:43, 1.67s/it] 43%|████▎ | 13045/30000 [6:03:58<7:52:52, 1.67s/it] 43%|████▎ | 13046/30000 [6:04:00<7:52:17, 1.67s/it] 43%|████▎ | 13047/30000 [6:04:01<7:52:02, 1.67s/it] 43%|████▎ | 13048/30000 [6:04:03<7:51:39, 1.67s/it] 43%|████▎ | 13049/30000 [6:04:05<7:50:41, 1.67s/it] 44%|████▎ | 13050/30000 [6:04:06<7:51:14, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.20054371654987335, 'learning_rate': 1.9400331310348673e-05, 'flow_matching_loss': 0.02128316732123494, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.8} + 44%|████▎ | 13050/30000 [6:04:06<7:51:14, 1.67s/it] 44%|████▎ | 13051/30000 [6:04:08<7:51:10, 1.67s/it] 44%|████▎ | 13052/30000 [6:04:10<7:51:39, 1.67s/it] 44%|████▎ | 13053/30000 [6:04:11<7:50:15, 1.66s/it] 44%|████▎ | 13054/30000 [6:04:13<7:50:38, 1.67s/it] 44%|████▎ | 13055/30000 [6:04:15<7:52:24, 1.67s/it] 44%|████▎ | 13056/30000 [6:04:16<7:52:41, 1.67s/it] 44%|████▎ | 13057/30000 [6:04:18<7:51:25, 1.67s/it] 44%|████▎ | 13058/30000 [6:04:20<7:52:24, 1.67s/it] 44%|████▎ | 13059/30000 [6:04:21<7:51:38, 1.67s/it] 44%|████▎ | 13060/30000 [6:04:23<7:51:59, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.11342193186283112, 'learning_rate': 1.9384521411633033e-05, 'flow_matching_loss': 0.02027187990024686, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.8} + 44%|████▎ | 13060/30000 [6:04:23<7:51:59, 1.67s/it] 44%|████▎ | 13061/30000 [6:04:25<7:51:32, 1.67s/it] 44%|████▎ | 13062/30000 [6:04:26<7:50:54, 1.67s/it] 44%|████▎ | 13063/30000 [6:04:28<7:50:59, 1.67s/it] 44%|████▎ | 13064/30000 [6:04:30<7:51:23, 1.67s/it] 44%|████▎ | 13065/30000 [6:04:31<7:50:26, 1.67s/it] 44%|████▎ | 13066/30000 [6:04:33<7:50:27, 1.67s/it] 44%|████▎ | 13067/30000 [6:04:35<7:50:10, 1.67s/it] 44%|████▎ | 13068/30000 [6:04:36<7:50:16, 1.67s/it] 44%|████▎ | 13069/30000 [6:04:38<7:50:08, 1.67s/it] 44%|████▎ | 13070/30000 [6:04:40<7:50:06, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.09912585467100143, 'learning_rate': 1.936870618531045e-05, 'flow_matching_loss': 0.01797649385407567, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.8} + 44%|████▎ | 13070/30000 [6:04:40<7:50:06, 1.67s/it] 44%|████▎ | 13071/30000 [6:04:41<7:50:19, 1.67s/it] 44%|████▎ | 13072/30000 [6:04:43<7:51:07, 1.67s/it] 44%|████▎ | 13073/30000 [6:04:45<7:49:53, 1.67s/it] 44%|████▎ | 13074/30000 [6:04:46<7:50:34, 1.67s/it] 44%|████▎ | 13075/30000 [6:04:48<7:49:59, 1.67s/it] 44%|████▎ | 13076/30000 [6:04:50<7:50:08, 1.67s/it] 44%|████▎ | 13077/30000 [6:04:51<7:49:45, 1.67s/it] 44%|████▎ | 13078/30000 [6:04:53<7:50:37, 1.67s/it] 44%|████▎ | 13079/30000 [6:04:55<7:49:03, 1.66s/it] 44%|████▎ | 13080/30000 [6:04:56<7:50:13, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.13483351469039917, 'learning_rate': 1.9352885650597904e-05, 'flow_matching_loss': 0.022964242100715637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.81} + 44%|████▎ | 13080/30000 [6:04:56<7:50:13, 1.67s/it] 44%|████▎ | 13081/30000 [6:04:58<7:49:25, 1.66s/it] 44%|████▎ | 13082/30000 [6:05:00<7:49:54, 1.67s/it] 44%|████▎ | 13083/30000 [6:05:01<7:49:14, 1.66s/it] 44%|████▎ | 13084/30000 [6:05:03<7:50:04, 1.67s/it] 44%|████▎ | 13085/30000 [6:05:05<7:49:07, 1.66s/it] 44%|████▎ | 13086/30000 [6:05:06<7:49:13, 1.66s/it] 44%|████▎ | 13087/30000 [6:05:08<7:49:13, 1.66s/it] 44%|████▎ | 13088/30000 [6:05:10<7:49:40, 1.67s/it] 44%|████▎ | 13089/30000 [6:05:11<7:49:06, 1.66s/it] 44%|████▎ | 13090/30000 [6:05:13<7:49:25, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.16985119879245758, 'learning_rate': 1.9337059826718847e-05, 'flow_matching_loss': 0.022352719586342572, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.81} + 44%|████▎ | 13090/30000 [6:05:13<7:49:25, 1.67s/it] 44%|████▎ | 13091/30000 [6:05:15<7:49:48, 1.67s/it] 44%|████▎ | 13092/30000 [6:05:16<7:50:19, 1.67s/it] 44%|████▎ | 13093/30000 [6:05:18<7:50:09, 1.67s/it] 44%|████▎ | 13094/30000 [6:05:20<7:49:49, 1.67s/it] 44%|████▎ | 13095/30000 [6:05:21<7:49:37, 1.67s/it] 44%|████▎ | 13096/30000 [6:05:23<7:50:06, 1.67s/it] 44%|████▎ | 13097/30000 [6:05:25<7:49:30, 1.67s/it] 44%|████▎ | 13098/30000 [6:05:26<7:49:04, 1.67s/it] 44%|████▎ | 13099/30000 [6:05:28<7:48:35, 1.66s/it] 44%|████▎ | 13100/30000 [6:05:30<7:49:47, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.1425991654396057, 'learning_rate': 1.932122873290314e-05, 'flow_matching_loss': 0.019700013846158982, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.81} + 44%|████▎ | 13100/30000 [6:05:30<7:49:47, 1.67s/it] 44%|████▎ | 13101/30000 [6:05:31<7:49:50, 1.67s/it] 44%|████▎ | 13102/30000 [6:05:33<7:49:34, 1.67s/it] 44%|████▎ | 13103/30000 [6:05:35<7:49:03, 1.67s/it] 44%|████▎ | 13104/30000 [6:05:36<7:49:39, 1.67s/it] 44%|████▎ | 13105/30000 [6:05:38<7:49:03, 1.67s/it] 44%|████▎ | 13106/30000 [6:05:40<7:49:29, 1.67s/it] 44%|████▎ | 13107/30000 [6:05:41<7:48:31, 1.66s/it] 44%|████▎ | 13108/30000 [6:05:43<7:49:36, 1.67s/it] 44%|████▎ | 13109/30000 [6:05:45<7:49:49, 1.67s/it] 44%|████▎ | 13110/30000 [6:05:46<7:49:09, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.11982397735118866, 'learning_rate': 1.9305392388387054e-05, 'flow_matching_loss': 0.02241982761770487, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.81} + 44%|████▎ | 13110/30000 [6:05:46<7:49:09, 1.67s/it] 44%|████▎ | 13111/30000 [6:05:48<7:49:13, 1.67s/it] 44%|████▎ | 13112/30000 [6:05:50<7:50:20, 1.67s/it] 44%|████▎ | 13113/30000 [6:05:51<7:48:09, 1.66s/it] 44%|████▎ | 13114/30000 [6:05:53<7:48:45, 1.67s/it] 44%|████▎ | 13115/30000 [6:05:55<7:48:29, 1.66s/it] 44%|████▎ | 13116/30000 [6:05:56<7:48:44, 1.67s/it] 44%|████▎ | 13117/30000 [6:05:58<7:49:06, 1.67s/it] 44%|████▎ | 13118/30000 [6:06:00<7:48:52, 1.67s/it] 44%|████▎ | 13119/30000 [6:06:01<7:49:27, 1.67s/it] 44%|████▎ | 13120/30000 [6:06:03<7:50:06, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11850067973136902, 'learning_rate': 1.928955081241325e-05, 'flow_matching_loss': 0.019181196950376032, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.82} + 44%|████▎ | 13120/30000 [6:06:03<7:50:06, 1.67s/it] 44%|████▎ | 13121/30000 [6:06:05<7:49:07, 1.67s/it] 44%|████▎ | 13122/30000 [6:06:06<7:50:02, 1.67s/it] 44%|████▎ | 13123/30000 [6:06:08<7:49:23, 1.67s/it] 44%|████▎ | 13124/30000 [6:06:10<7:49:50, 1.67s/it] 44%|████▍ | 13125/30000 [6:06:11<7:49:20, 1.67s/it] 44%|████▍ | 13126/30000 [6:06:13<7:48:54, 1.67s/it] 44%|████▍ | 13127/30000 [6:06:15<7:48:51, 1.67s/it] 44%|████▍ | 13128/30000 [6:06:16<7:48:52, 1.67s/it] 44%|████▍ | 13129/30000 [6:06:18<7:48:11, 1.67s/it] 44%|████▍ | 13130/30000 [6:06:20<7:48:53, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.12940698862075806, 'learning_rate': 1.9273704024230725e-05, 'flow_matching_loss': 0.021717066690325738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.82} + 44%|████▍ | 13130/30000 [6:06:20<7:48:53, 1.67s/it] 44%|████▍ | 13131/30000 [6:06:21<7:49:23, 1.67s/it] 44%|████▍ | 13132/30000 [6:06:23<7:49:07, 1.67s/it] 44%|████▍ | 13133/30000 [6:06:25<7:48:05, 1.67s/it] 44%|████▍ | 13134/30000 [6:06:26<7:48:09, 1.67s/it] 44%|████▍ | 13135/30000 [6:06:28<7:47:51, 1.66s/it] 44%|████▍ | 13136/30000 [6:06:30<7:47:48, 1.66s/it] 44%|████▍ | 13137/30000 [6:06:31<7:48:31, 1.67s/it] 44%|████▍ | 13138/30000 [6:06:33<7:49:29, 1.67s/it] 44%|████▍ | 13139/30000 [6:06:35<7:49:17, 1.67s/it] 44%|████▍ | 13140/30000 [6:06:36<7:48:47, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.10967068374156952, 'learning_rate': 1.925785204309483e-05, 'flow_matching_loss': 0.018536262307316066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.82} + 44%|████▍ | 13140/30000 [6:06:36<7:48:47, 1.67s/it] 44%|████▍ | 13141/30000 [6:06:38<7:49:27, 1.67s/it] 44%|████▍ | 13142/30000 [6:06:40<7:49:30, 1.67s/it] 44%|████▍ | 13143/30000 [6:06:41<7:48:15, 1.67s/it] 44%|████▍ | 13144/30000 [6:06:43<7:48:23, 1.67s/it] 44%|████▍ | 13145/30000 [6:06:45<7:47:33, 1.66s/it] 44%|████▍ | 13146/30000 [6:06:46<7:48:16, 1.67s/it] 44%|████▍ | 13147/30000 [6:06:48<7:47:37, 1.66s/it] 44%|████▍ | 13148/30000 [6:06:50<7:48:04, 1.67s/it] 44%|████▍ | 13149/30000 [6:06:51<7:47:40, 1.67s/it] 44%|████▍ | 13150/30000 [6:06:53<7:47:30, 1.66s/it] {'loss': 0.0211, 'grad_norm': 0.12703751027584076, 'learning_rate': 1.9241994888267212e-05, 'flow_matching_loss': 0.021105300169438124, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.83} + 44%|████▍ | 13150/30000 [6:06:53<7:47:30, 1.66s/it] 44%|████▍ | 13151/30000 [6:06:55<7:47:39, 1.67s/it] 44%|████▍ | 13152/30000 [6:06:56<7:47:59, 1.67s/it] 44%|████▍ | 13153/30000 [6:06:58<7:47:28, 1.66s/it] 44%|████▍ | 13154/30000 [6:07:00<7:48:24, 1.67s/it] 44%|████▍ | 13155/30000 [6:07:01<7:47:07, 1.66s/it] 44%|████▍ | 13156/30000 [6:07:03<7:47:02, 1.66s/it] 44%|████▍ | 13157/30000 [6:07:05<7:47:04, 1.66s/it] 44%|████▍ | 13158/30000 [6:07:06<7:47:00, 1.66s/it] 44%|████▍ | 13159/30000 [6:07:08<7:45:57, 1.66s/it] 44%|████▍ | 13160/30000 [6:07:10<7:46:27, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.108160100877285, 'learning_rate': 1.9226132579015815e-05, 'flow_matching_loss': 0.019649944640696047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.83} + 44%|████▍ | 13160/30000 [6:07:10<7:46:27, 1.66s/it] 44%|████▍ | 13161/30000 [6:07:11<7:46:48, 1.66s/it] 44%|████▍ | 13162/30000 [6:07:13<7:47:36, 1.67s/it] 44%|████▍ | 13163/30000 [6:07:15<7:47:19, 1.67s/it] 44%|████▍ | 13164/30000 [6:07:16<7:47:46, 1.67s/it] 44%|████▍ | 13165/30000 [6:07:18<7:47:37, 1.67s/it] 44%|████▍ | 13166/30000 [6:07:20<7:47:32, 1.67s/it] 44%|████▍ | 13167/30000 [6:07:21<7:47:57, 1.67s/it] 44%|████▍ | 13168/30000 [6:07:23<7:47:59, 1.67s/it] 44%|████▍ | 13169/30000 [6:07:25<7:47:11, 1.67s/it] 44%|████▍ | 13170/30000 [6:07:26<7:47:25, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.12809307873249054, 'learning_rate': 1.9210265134614832e-05, 'flow_matching_loss': 0.021269696485251188, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.83} + 44%|████▍ | 13170/30000 [6:07:26<7:47:25, 1.67s/it] 44%|████▍ | 13171/30000 [6:07:28<7:47:09, 1.67s/it] 44%|████▍ | 13172/30000 [6:07:30<7:46:46, 1.66s/it] 44%|████▍ | 13173/30000 [6:07:31<7:46:40, 1.66s/it] 44%|████▍ | 13174/30000 [6:07:33<7:45:52, 1.66s/it] 44%|████▍ | 13175/30000 [6:07:35<7:46:09, 1.66s/it] 44%|████▍ | 13176/30000 [6:07:36<7:46:53, 1.67s/it] 44%|████▍ | 13177/30000 [6:07:38<7:46:09, 1.66s/it] 44%|████▍ | 13178/30000 [6:07:40<7:46:55, 1.67s/it] 44%|████▍ | 13179/30000 [6:07:41<7:46:51, 1.67s/it] 44%|████▍ | 13180/30000 [6:07:43<7:47:07, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.09239654242992401, 'learning_rate': 1.9194392574344712e-05, 'flow_matching_loss': 0.01985672116279602, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.83} + 44%|████▍ | 13180/30000 [6:07:43<7:47:07, 1.67s/it] 44%|████▍ | 13181/30000 [6:07:45<7:49:10, 1.67s/it] 44%|████▍ | 13182/30000 [6:07:46<7:48:12, 1.67s/it] 44%|████▍ | 13183/30000 [6:07:48<7:47:58, 1.67s/it] 44%|████▍ | 13184/30000 [6:07:50<7:48:09, 1.67s/it] 44%|████▍ | 13185/30000 [6:07:51<7:48:00, 1.67s/it] 44%|████▍ | 13186/30000 [6:07:53<7:48:20, 1.67s/it] 44%|████▍ | 13187/30000 [6:07:55<7:47:22, 1.67s/it] 44%|████▍ | 13188/30000 [6:07:56<7:46:54, 1.67s/it] 44%|████▍ | 13189/30000 [6:07:58<7:46:55, 1.67s/it] 44%|████▍ | 13190/30000 [6:08:00<7:46:50, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.14638851583003998, 'learning_rate': 1.9178514917492103e-05, 'flow_matching_loss': 0.02298305556178093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.84} + 44%|████▍ | 13190/30000 [6:08:00<7:46:50, 1.67s/it] 44%|████▍ | 13191/30000 [6:08:01<7:47:02, 1.67s/it] 44%|████▍ | 13192/30000 [6:08:03<7:46:33, 1.67s/it] 44%|████▍ | 13193/30000 [6:08:05<7:45:30, 1.66s/it] 44%|████▍ | 13194/30000 [6:08:06<7:46:20, 1.66s/it] 44%|████▍ | 13195/30000 [6:08:08<7:46:52, 1.67s/it] 44%|████▍ | 13196/30000 [6:08:10<7:47:04, 1.67s/it] 44%|████▍ | 13197/30000 [6:08:11<7:47:17, 1.67s/it] 44%|████▍ | 13198/30000 [6:08:13<7:45:34, 1.66s/it] 44%|████▍ | 13199/30000 [6:08:15<7:45:11, 1.66s/it] 44%|████▍ | 13200/30000 [6:08:16<7:45:40, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.09832122176885605, 'learning_rate': 1.9162632183349866e-05, 'flow_matching_loss': 0.018827519100159406, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.84} + 44%|████▍ | 13200/30000 [6:08:16<7:45:40, 1.66s/it] 44%|████▍ | 13201/30000 [6:08:18<7:45:25, 1.66s/it] 44%|████▍ | 13202/30000 [6:08:20<7:45:56, 1.66s/it] 44%|████▍ | 13203/30000 [6:08:21<7:44:38, 1.66s/it] 44%|████▍ | 13204/30000 [6:08:23<7:45:10, 1.66s/it] 44%|████▍ | 13205/30000 [6:08:25<7:45:45, 1.66s/it] 44%|████▍ | 13206/30000 [6:08:26<7:46:08, 1.67s/it] 44%|████▍ | 13207/30000 [6:08:28<7:45:58, 1.66s/it] 44%|████▍ | 13208/30000 [6:08:30<7:46:17, 1.67s/it] 44%|████▍ | 13209/30000 [6:08:31<7:46:06, 1.67s/it] 44%|████▍ | 13210/30000 [6:08:33<7:46:39, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.12068275362253189, 'learning_rate': 1.914674439121701e-05, 'flow_matching_loss': 0.0201020535081625, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.84} + 44%|████▍ | 13210/30000 [6:08:33<7:46:39, 1.67s/it] 44%|████▍ | 13211/30000 [6:08:35<7:46:44, 1.67s/it] 44%|████▍ | 13212/30000 [6:08:36<7:45:59, 1.67s/it] 44%|████▍ | 13213/30000 [6:08:38<7:45:04, 1.66s/it] 44%|████▍ | 13214/30000 [6:08:40<7:45:13, 1.66s/it] 44%|████▍ | 13215/30000 [6:08:41<7:45:08, 1.66s/it] 44%|████▍ | 13216/30000 [6:08:43<7:45:21, 1.66s/it] 44%|████▍ | 13217/30000 [6:08:45<7:45:34, 1.66s/it] 44%|████▍ | 13218/30000 [6:08:46<7:45:53, 1.67s/it] 44%|████▍ | 13219/30000 [6:08:48<7:46:23, 1.67s/it] 44%|████▍ | 13220/30000 [6:08:50<7:46:24, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.1262420117855072, 'learning_rate': 1.9130851560398715e-05, 'flow_matching_loss': 0.021197258215397596, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.85} + 44%|████▍ | 13220/30000 [6:08:50<7:46:24, 1.67s/it] 44%|████▍ | 13221/30000 [6:08:51<7:46:00, 1.67s/it] 44%|████▍ | 13222/30000 [6:08:53<7:45:38, 1.67s/it] 44%|████▍ | 13223/30000 [6:08:55<7:45:27, 1.66s/it] 44%|████▍ | 13224/30000 [6:08:56<7:46:24, 1.67s/it] 44%|████▍ | 13225/30000 [6:08:58<7:45:31, 1.67s/it] 44%|████▍ | 13226/30000 [6:09:00<7:46:04, 1.67s/it] 44%|████▍ | 13227/30000 [6:09:01<7:45:23, 1.66s/it] 44%|████▍ | 13228/30000 [6:09:03<7:45:37, 1.67s/it] 44%|████▍ | 13229/30000 [6:09:05<7:45:00, 1.66s/it] 44%|████▍ | 13230/30000 [6:09:06<7:44:26, 1.66s/it] {'loss': 0.0206, 'grad_norm': 0.11875170469284058, 'learning_rate': 1.911495371020625e-05, 'flow_matching_loss': 0.020612179394811393, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.85} + 44%|████▍ | 13230/30000 [6:09:06<7:44:26, 1.66s/it] 44%|████▍ | 13231/30000 [6:09:08<7:44:48, 1.66s/it] 44%|████▍ | 13232/30000 [6:09:10<7:45:06, 1.66s/it] 44%|████▍ | 13233/30000 [6:09:11<7:45:03, 1.66s/it] 44%|████▍ | 13234/30000 [6:09:13<7:45:12, 1.66s/it] 44%|████▍ | 13235/30000 [6:09:15<7:44:38, 1.66s/it] 44%|████▍ | 13236/30000 [6:09:16<7:45:14, 1.67s/it] 44%|████▍ | 13237/30000 [6:09:18<7:45:21, 1.67s/it] 44%|████▍ | 13238/30000 [6:09:20<7:45:07, 1.66s/it] 44%|████▍ | 13239/30000 [6:09:21<7:44:48, 1.66s/it] 44%|████▍ | 13240/30000 [6:09:23<7:45:50, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11068114638328552, 'learning_rate': 1.909905085995702e-05, 'flow_matching_loss': 0.018276679702103137, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.85} + 44%|████▍ | 13240/30000 [6:09:23<7:45:50, 1.67s/it] 44%|████▍ | 13241/30000 [6:09:25<7:44:48, 1.66s/it] 44%|████▍ | 13242/30000 [6:09:26<7:44:57, 1.66s/it] 44%|████▍ | 13243/30000 [6:09:28<7:44:32, 1.66s/it] 44%|████▍ | 13244/30000 [6:09:30<7:45:03, 1.67s/it] 44%|████▍ | 13245/30000 [6:09:31<7:44:54, 1.66s/it] 44%|████▍ | 13246/30000 [6:09:33<7:44:51, 1.66s/it] 44%|████▍ | 13247/30000 [6:09:35<7:45:06, 1.67s/it] 44%|████▍ | 13248/30000 [6:09:36<7:45:58, 1.67s/it] 44%|████▍ | 13249/30000 [6:09:38<7:45:31, 1.67s/it] 44%|████▍ | 13250/30000 [6:09:40<7:45:03, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.08282143622636795, 'learning_rate': 1.908314302897448e-05, 'flow_matching_loss': 0.019655181933194397, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.86} + 44%|████▍ | 13250/30000 [6:09:40<7:45:03, 1.67s/it] 44%|████▍ | 13251/30000 [6:09:41<7:44:36, 1.66s/it] 44%|████▍ | 13252/30000 [6:09:43<7:44:23, 1.66s/it] 44%|████▍ | 13253/30000 [6:09:45<7:44:16, 1.66s/it] 44%|████▍ | 13254/30000 [6:09:46<7:44:33, 1.66s/it] 44%|████▍ | 13255/30000 [6:09:48<7:44:28, 1.66s/it] 44%|████▍ | 13256/30000 [6:09:50<7:45:22, 1.67s/it] 44%|████▍ | 13257/30000 [6:09:51<7:44:18, 1.66s/it] 44%|████▍ | 13258/30000 [6:09:53<7:44:46, 1.67s/it] 44%|████▍ | 13259/30000 [6:09:55<7:45:04, 1.67s/it] 44%|████▍ | 13260/30000 [6:09:56<7:45:26, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.08598814904689789, 'learning_rate': 1.9067230236588142e-05, 'flow_matching_loss': 0.021801159903407096, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.86} + 44%|████▍ | 13260/30000 [6:09:56<7:45:26, 1.67s/it] 44%|████▍ | 13261/30000 [6:09:58<7:45:26, 1.67s/it] 44%|████▍ | 13262/30000 [6:10:00<7:44:59, 1.67s/it] 44%|████▍ | 13263/30000 [6:10:01<7:44:14, 1.66s/it] 44%|████▍ | 13264/30000 [6:10:03<7:43:39, 1.66s/it] 44%|████▍ | 13265/30000 [6:10:05<7:43:35, 1.66s/it] 44%|████▍ | 13266/30000 [6:10:06<7:44:39, 1.67s/it] 44%|████▍ | 13267/30000 [6:10:08<7:43:36, 1.66s/it] 44%|████▍ | 13268/30000 [6:10:10<7:44:12, 1.66s/it] 44%|████▍ | 13269/30000 [6:10:11<7:44:41, 1.67s/it] 44%|████▍ | 13270/30000 [6:10:13<7:44:13, 1.66s/it] {'loss': 0.0198, 'grad_norm': 0.10927683860063553, 'learning_rate': 1.905131250213355e-05, 'flow_matching_loss': 0.019760633632540704, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.86} + 44%|████▍ | 13270/30000 [6:10:13<7:44:13, 1.66s/it] 44%|████▍ | 13271/30000 [6:10:15<7:44:54, 1.67s/it] 44%|████▍ | 13272/30000 [6:10:16<7:44:23, 1.67s/it] 44%|████▍ | 13273/30000 [6:10:18<7:44:36, 1.67s/it] 44%|████▍ | 13274/30000 [6:10:20<7:44:57, 1.67s/it] 44%|████▍ | 13275/30000 [6:10:21<7:44:44, 1.67s/it] 44%|████▍ | 13276/30000 [6:10:23<7:45:16, 1.67s/it] 44%|████▍ | 13277/30000 [6:10:25<7:45:21, 1.67s/it] 44%|████▍ | 13278/30000 [6:10:26<7:44:43, 1.67s/it] 44%|████▍ | 13279/30000 [6:10:28<7:44:58, 1.67s/it] 44%|████▍ | 13280/30000 [6:10:30<7:44:34, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.09280581772327423, 'learning_rate': 1.9035389844952256e-05, 'flow_matching_loss': 0.019792511221021415, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.86} + 44%|████▍ | 13280/30000 [6:10:30<7:44:34, 1.67s/it] 44%|████▍ | 13281/30000 [6:10:31<7:44:24, 1.67s/it] 44%|████▍ | 13282/30000 [6:10:33<7:44:56, 1.67s/it] 44%|████▍ | 13283/30000 [6:10:35<7:45:01, 1.67s/it] 44%|████▍ | 13284/30000 [6:10:36<7:46:10, 1.67s/it] 44%|████▍ | 13285/30000 [6:10:38<7:46:05, 1.67s/it] 44%|████▍ | 13286/30000 [6:10:40<7:44:37, 1.67s/it] 44%|████▍ | 13287/30000 [6:10:41<7:44:23, 1.67s/it] 44%|████▍ | 13288/30000 [6:10:43<7:44:06, 1.67s/it] 44%|████▍ | 13289/30000 [6:10:45<7:43:50, 1.67s/it] 44%|████▍ | 13290/30000 [6:10:46<7:44:07, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.1230645552277565, 'learning_rate': 1.901946228439179e-05, 'flow_matching_loss': 0.021147676557302476, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.87} + 44%|████▍ | 13290/30000 [6:10:46<7:44:07, 1.67s/it] 44%|████▍ | 13291/30000 [6:10:48<7:44:24, 1.67s/it] 44%|████▍ | 13292/30000 [6:10:50<7:44:22, 1.67s/it] 44%|████▍ | 13293/30000 [6:10:51<7:45:03, 1.67s/it] 44%|████▍ | 13294/30000 [6:10:53<7:44:51, 1.67s/it] 44%|████▍ | 13295/30000 [6:10:55<7:43:57, 1.67s/it] 44%|████▍ | 13296/30000 [6:10:56<7:44:33, 1.67s/it] 44%|████▍ | 13297/30000 [6:10:58<7:43:36, 1.67s/it] 44%|████▍ | 13298/30000 [6:11:00<7:43:42, 1.67s/it] 44%|████▍ | 13299/30000 [6:11:01<7:43:30, 1.67s/it] 44%|████▍ | 13300/30000 [6:11:03<7:43:52, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.15946178138256073, 'learning_rate': 1.9003529839805637e-05, 'flow_matching_loss': 0.019017470348626376, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.87} + 44%|████▍ | 13300/30000 [6:11:03<7:43:52, 1.67s/it] 44%|████▍ | 13301/30000 [6:11:05<7:43:49, 1.67s/it] 44%|████▍ | 13302/30000 [6:11:06<7:44:22, 1.67s/it] 44%|████▍ | 13303/30000 [6:11:08<7:43:30, 1.67s/it] 44%|████▍ | 13304/30000 [6:11:10<7:43:51, 1.67s/it] 44%|████▍ | 13305/30000 [6:11:11<7:43:36, 1.67s/it] 44%|████▍ | 13306/30000 [6:11:13<7:43:54, 1.67s/it] 44%|████▍ | 13307/30000 [6:11:15<7:43:18, 1.67s/it] 44%|████▍ | 13308/30000 [6:11:16<7:43:44, 1.67s/it] 44%|████▍ | 13309/30000 [6:11:18<7:42:42, 1.66s/it] 44%|████▍ | 13310/30000 [6:11:20<7:42:55, 1.66s/it] {'loss': 0.0205, 'grad_norm': 0.10259809345006943, 'learning_rate': 1.8987592530553217e-05, 'flow_matching_loss': 0.0205006486736238, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.87} + 44%|████▍ | 13310/30000 [6:11:20<7:42:55, 1.66s/it] 44%|████▍ | 13311/30000 [6:11:21<7:42:52, 1.66s/it] 44%|████▍ | 13312/30000 [6:11:23<7:43:52, 1.67s/it] 44%|████▍ | 13313/30000 [6:11:25<7:43:43, 1.67s/it] 44%|████▍ | 13314/30000 [6:11:26<7:43:22, 1.67s/it] 44%|████▍ | 13315/30000 [6:11:28<7:43:07, 1.67s/it] 44%|████▍ | 13316/30000 [6:11:30<7:43:43, 1.67s/it] 44%|████▍ | 13317/30000 [6:11:31<7:43:41, 1.67s/it] 44%|████▍ | 13318/30000 [6:11:33<7:44:04, 1.67s/it] 44%|████▍ | 13319/30000 [6:11:35<7:43:38, 1.67s/it] 44%|████▍ | 13320/30000 [6:11:36<7:43:37, 1.67s/it] {'loss': 0.0246, 'grad_norm': 0.18560399115085602, 'learning_rate': 1.897165037599987e-05, 'flow_matching_loss': 0.024553867150098087, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.88} + 44%|████▍ | 13320/30000 [6:11:36<7:43:37, 1.67s/it] 44%|████▍ | 13321/30000 [6:11:38<7:44:06, 1.67s/it] 44%|████▍ | 13322/30000 [6:11:40<7:44:53, 1.67s/it] 44%|████▍ | 13323/30000 [6:11:41<7:44:55, 1.67s/it] 44%|████▍ | 13324/30000 [6:11:43<7:43:48, 1.67s/it] 44%|████▍ | 13325/30000 [6:11:45<7:42:58, 1.67s/it] 44%|████▍ | 13326/30000 [6:11:46<7:43:02, 1.67s/it] 44%|████▍ | 13327/30000 [6:11:48<7:42:34, 1.66s/it] 44%|████▍ | 13328/30000 [6:11:50<7:42:51, 1.67s/it] 44%|████▍ | 13329/30000 [6:11:51<7:42:35, 1.66s/it] 44%|████▍ | 13330/30000 [6:11:53<7:42:48, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.0926009938120842, 'learning_rate': 1.8955703395516814e-05, 'flow_matching_loss': 0.021318674087524414, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.88} + 44%|████▍ | 13330/30000 [6:11:53<7:42:48, 1.67s/it] 44%|████▍ | 13331/30000 [6:11:55<7:42:40, 1.67s/it] 44%|████▍ | 13332/30000 [6:11:56<7:43:10, 1.67s/it] 44%|████▍ | 13333/30000 [6:11:58<7:43:07, 1.67s/it] 44%|████▍ | 13334/30000 [6:12:00<7:43:20, 1.67s/it] 44%|████▍ | 13335/30000 [6:12:01<7:42:50, 1.67s/it] 44%|████▍ | 13336/30000 [6:12:03<7:43:20, 1.67s/it] 44%|████▍ | 13337/30000 [6:12:05<7:42:44, 1.67s/it] 44%|████▍ | 13338/30000 [6:12:06<7:43:32, 1.67s/it] 44%|████▍ | 13339/30000 [6:12:08<7:42:51, 1.67s/it] 44%|████▍ | 13340/30000 [6:12:10<7:43:41, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.12562981247901917, 'learning_rate': 1.8939751608481134e-05, 'flow_matching_loss': 0.01905620377510786, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.88} + 44%|████▍ | 13340/30000 [6:12:10<7:43:41, 1.67s/it] 44%|████▍ | 13341/30000 [6:12:11<7:43:34, 1.67s/it] 44%|████▍ | 13342/30000 [6:12:13<7:43:37, 1.67s/it] 44%|████▍ | 13343/30000 [6:12:15<7:43:12, 1.67s/it] 44%|████▍ | 13344/30000 [6:12:16<7:43:32, 1.67s/it] 44%|████▍ | 13345/30000 [6:12:18<7:43:26, 1.67s/it] 44%|████▍ | 13346/30000 [6:12:20<7:43:29, 1.67s/it] 44%|████▍ | 13347/30000 [6:12:21<7:42:23, 1.67s/it] 44%|████▍ | 13348/30000 [6:12:23<7:42:44, 1.67s/it] 44%|████▍ | 13349/30000 [6:12:25<7:42:19, 1.67s/it] 44%|████▍ | 13350/30000 [6:12:26<7:42:25, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.1369353085756302, 'learning_rate': 1.892379503427575e-05, 'flow_matching_loss': 0.018958465475589038, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.88} + 44%|████▍ | 13350/30000 [6:12:26<7:42:25, 1.67s/it] 45%|████▍ | 13351/30000 [6:12:28<7:42:39, 1.67s/it] 45%|████▍ | 13352/30000 [6:12:30<7:43:55, 1.67s/it] 45%|████▍ | 13353/30000 [6:12:31<7:43:02, 1.67s/it] 45%|████▍ | 13354/30000 [6:12:33<7:43:14, 1.67s/it] 45%|████▍ | 13355/30000 [6:12:35<7:42:46, 1.67s/it] 45%|████▍ | 13356/30000 [6:12:36<7:43:06, 1.67s/it] 45%|████▍ | 13357/30000 [6:12:38<7:43:04, 1.67s/it] 45%|████▍ | 13358/30000 [6:12:40<7:42:44, 1.67s/it] 45%|████▍ | 13359/30000 [6:12:41<7:42:24, 1.67s/it] 45%|████▍ | 13360/30000 [6:12:43<7:42:29, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.12148511409759521, 'learning_rate': 1.8907833692289412e-05, 'flow_matching_loss': 0.022592124715447425, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.89} + 45%|████▍ | 13360/30000 [6:12:43<7:42:29, 1.67s/it] 45%|████▍ | 13361/30000 [6:12:45<7:41:57, 1.67s/it] 45%|████▍ | 13362/30000 [6:12:46<7:42:33, 1.67s/it] 45%|████▍ | 13363/30000 [6:12:48<7:41:44, 1.67s/it] 45%|████▍ | 13364/30000 [6:12:50<7:42:34, 1.67s/it] 45%|████▍ | 13365/30000 [6:12:51<7:42:20, 1.67s/it] 45%|████▍ | 13366/30000 [6:12:53<7:42:37, 1.67s/it] 45%|████▍ | 13367/30000 [6:12:55<7:42:07, 1.67s/it] 45%|████▍ | 13368/30000 [6:12:56<7:43:10, 1.67s/it] 45%|████▍ | 13369/30000 [6:12:58<7:42:49, 1.67s/it] 45%|████▍ | 13370/30000 [6:13:00<7:42:30, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.09210433810949326, 'learning_rate': 1.889186760191666e-05, 'flow_matching_loss': 0.01699680630117655, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.89} + 45%|████▍ | 13370/30000 [6:13:00<7:42:30, 1.67s/it] 45%|████▍ | 13371/30000 [6:13:01<7:42:39, 1.67s/it] 45%|████▍ | 13372/30000 [6:13:03<7:43:29, 1.67s/it] 45%|████▍ | 13373/30000 [6:13:05<7:42:18, 1.67s/it] 45%|████▍ | 13374/30000 [6:13:06<7:42:01, 1.67s/it] 45%|████▍ | 13375/30000 [6:13:08<7:42:09, 1.67s/it] 45%|████▍ | 13376/30000 [6:13:10<7:42:46, 1.67s/it] 45%|████▍ | 13377/30000 [6:13:11<7:42:58, 1.67s/it] 45%|████▍ | 13378/30000 [6:13:13<7:41:44, 1.67s/it] 45%|████▍ | 13379/30000 [6:13:15<7:41:19, 1.67s/it] 45%|████▍ | 13380/30000 [6:13:16<7:42:09, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.10442876070737839, 'learning_rate': 1.887589678255779e-05, 'flow_matching_loss': 0.01889247912913561, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.89} + 45%|████▍ | 13380/30000 [6:13:16<7:42:09, 1.67s/it] 45%|████▍ | 13381/30000 [6:13:18<7:42:33, 1.67s/it] 45%|████▍ | 13382/30000 [6:13:20<7:41:43, 1.67s/it] 45%|████▍ | 13383/30000 [6:13:21<7:41:35, 1.67s/it] 45%|████▍ | 13384/30000 [6:13:23<7:42:00, 1.67s/it] 45%|████▍ | 13385/30000 [6:13:25<7:41:18, 1.67s/it] 45%|████▍ | 13386/30000 [6:13:26<7:41:28, 1.67s/it] 45%|████▍ | 13387/30000 [6:13:28<7:42:00, 1.67s/it] 45%|████▍ | 13388/30000 [6:13:30<7:42:55, 1.67s/it] 45%|████▍ | 13389/30000 [6:13:31<7:42:21, 1.67s/it] 45%|████▍ | 13390/30000 [6:13:33<7:42:23, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11044976860284805, 'learning_rate': 1.8859921253618852e-05, 'flow_matching_loss': 0.019226841069757937, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.9} + 45%|████▍ | 13390/30000 [6:13:33<7:42:23, 1.67s/it] 45%|████▍ | 13391/30000 [6:13:35<7:41:41, 1.67s/it] 45%|████▍ | 13392/30000 [6:13:36<7:42:09, 1.67s/it] 45%|████▍ | 13393/30000 [6:13:38<7:41:30, 1.67s/it] 45%|████▍ | 13394/30000 [6:13:40<7:41:51, 1.67s/it] 45%|████▍ | 13395/30000 [6:13:41<7:41:24, 1.67s/it] 45%|████▍ | 13396/30000 [6:13:43<7:41:27, 1.67s/it] 45%|████▍ | 13397/30000 [6:13:45<7:41:00, 1.67s/it] 45%|████▍ | 13398/30000 [6:13:46<7:41:02, 1.67s/it] 45%|████▍ | 13399/30000 [6:13:48<7:40:49, 1.67s/it] 45%|████▍ | 13400/30000 [6:13:50<7:42:00, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.144314244389534, 'learning_rate': 1.884394103451163e-05, 'flow_matching_loss': 0.020993931964039803, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.9} + 45%|████▍ | 13400/30000 [6:13:50<7:42:00, 1.67s/it] 45%|████▍ | 13401/30000 [6:13:51<7:40:45, 1.67s/it] 45%|████▍ | 13402/30000 [6:13:53<7:40:29, 1.66s/it] 45%|████▍ | 13403/30000 [6:13:55<7:39:59, 1.66s/it] 45%|████▍ | 13404/30000 [6:13:56<7:41:17, 1.67s/it] 45%|████▍ | 13405/30000 [6:13:58<7:41:49, 1.67s/it] 45%|████▍ | 13406/30000 [6:14:00<7:41:20, 1.67s/it] 45%|████▍ | 13407/30000 [6:14:01<7:40:48, 1.67s/it] 45%|████▍ | 13408/30000 [6:14:03<7:41:56, 1.67s/it] 45%|████▍ | 13409/30000 [6:14:05<7:41:21, 1.67s/it] 45%|████▍ | 13410/30000 [6:14:06<7:41:15, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.11559783667325974, 'learning_rate': 1.8827956144653583e-05, 'flow_matching_loss': 0.020200009271502496, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.9} + 45%|████▍ | 13410/30000 [6:14:06<7:41:15, 1.67s/it] 45%|████▍ | 13411/30000 [6:14:08<7:41:20, 1.67s/it] 45%|████▍ | 13412/30000 [6:14:10<7:40:30, 1.67s/it] 45%|████▍ | 13413/30000 [6:14:11<7:40:45, 1.67s/it] 45%|████▍ | 13414/30000 [6:14:13<7:40:42, 1.67s/it] 45%|████▍ | 13415/30000 [6:14:15<7:41:27, 1.67s/it] 45%|████▍ | 13416/30000 [6:14:16<7:41:44, 1.67s/it] 45%|████▍ | 13417/30000 [6:14:18<7:40:55, 1.67s/it] 45%|████▍ | 13418/30000 [6:14:20<7:40:29, 1.67s/it] 45%|████▍ | 13419/30000 [6:14:21<7:40:01, 1.66s/it] 45%|████▍ | 13420/30000 [6:14:23<7:39:55, 1.66s/it] {'loss': 0.0223, 'grad_norm': 0.11262098699808121, 'learning_rate': 1.8811966603467874e-05, 'flow_matching_loss': 0.022293390426784753, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.9} + 45%|████▍ | 13420/30000 [6:14:23<7:39:55, 1.66s/it] 45%|████▍ | 13421/30000 [6:14:25<7:40:19, 1.67s/it] 45%|████▍ | 13422/30000 [6:14:26<7:40:06, 1.67s/it] 45%|████▍ | 13423/30000 [6:14:28<7:40:19, 1.67s/it] 45%|████▍ | 13424/30000 [6:14:30<7:40:24, 1.67s/it] 45%|████▍ | 13425/30000 [6:14:31<7:39:47, 1.66s/it] 45%|████▍ | 13426/30000 [6:14:33<7:40:00, 1.67s/it] 45%|████▍ | 13427/30000 [6:14:35<7:39:26, 1.66s/it] 45%|████▍ | 13428/30000 [6:14:36<7:39:51, 1.66s/it] 45%|████▍ | 13429/30000 [6:14:38<7:39:33, 1.66s/it] 45%|████▍ | 13430/30000 [6:14:40<7:39:35, 1.66s/it] {'loss': 0.0225, 'grad_norm': 0.21265704929828644, 'learning_rate': 1.8795972430383293e-05, 'flow_matching_loss': 0.022489003278315066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.91} + 45%|████▍ | 13430/30000 [6:14:40<7:39:35, 1.66s/it] 45%|████▍ | 13431/30000 [6:14:41<7:39:03, 1.66s/it] 45%|████▍ | 13432/30000 [6:14:43<7:39:50, 1.67s/it] 45%|████▍ | 13433/30000 [6:14:45<7:39:37, 1.66s/it] 45%|████▍ | 13434/30000 [6:14:46<7:40:04, 1.67s/it] 45%|████▍ | 13435/30000 [6:14:48<7:39:29, 1.66s/it] 45%|████▍ | 13436/30000 [6:14:50<7:39:25, 1.66s/it] 45%|████▍ | 13437/30000 [6:14:51<7:39:33, 1.66s/it] 45%|████▍ | 13438/30000 [6:14:53<7:39:42, 1.67s/it] 45%|████▍ | 13439/30000 [6:14:55<7:39:22, 1.66s/it] 45%|████▍ | 13440/30000 [6:14:56<7:39:39, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.11362749338150024, 'learning_rate': 1.8779973644834273e-05, 'flow_matching_loss': 0.021423893980681896, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.91} + 45%|████▍ | 13440/30000 [6:14:56<7:39:39, 1.67s/it] 45%|████▍ | 13441/30000 [6:14:58<7:40:04, 1.67s/it] 45%|████▍ | 13442/30000 [6:15:00<7:40:56, 1.67s/it] 45%|████▍ | 13443/30000 [6:15:01<7:40:02, 1.67s/it] 45%|████▍ | 13444/30000 [6:15:03<7:40:05, 1.67s/it] 45%|████▍ | 13445/30000 [6:15:05<7:39:41, 1.67s/it] 45%|████▍ | 13446/30000 [6:15:06<7:39:27, 1.67s/it] 45%|████▍ | 13447/30000 [6:15:08<7:39:46, 1.67s/it] 45%|████▍ | 13448/30000 [6:15:10<7:40:06, 1.67s/it] 45%|████▍ | 13449/30000 [6:15:11<7:39:40, 1.67s/it] 45%|████▍ | 13450/30000 [6:15:13<7:40:11, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.13684354722499847, 'learning_rate': 1.876397026626085e-05, 'flow_matching_loss': 0.018425071518868207, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.91} + 45%|████▍ | 13450/30000 [6:15:13<7:40:11, 1.67s/it] 45%|████▍ | 13451/30000 [6:15:15<7:39:17, 1.67s/it] 45%|████▍ | 13452/30000 [6:15:16<7:39:45, 1.67s/it] 45%|████▍ | 13453/30000 [6:15:18<7:39:21, 1.67s/it] 45%|████▍ | 13454/30000 [6:15:20<7:39:27, 1.67s/it] 45%|████▍ | 13455/30000 [6:15:21<7:39:12, 1.67s/it] 45%|████▍ | 13456/30000 [6:15:23<7:39:48, 1.67s/it] 45%|████▍ | 13457/30000 [6:15:25<7:38:44, 1.66s/it] 45%|████▍ | 13458/30000 [6:15:26<7:39:02, 1.67s/it] 45%|████▍ | 13459/30000 [6:15:28<7:37:54, 1.66s/it] 45%|████▍ | 13460/30000 [6:15:30<7:38:31, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.11004139482975006, 'learning_rate': 1.8747962314108633e-05, 'flow_matching_loss': 0.019572457764297724, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.92} + 45%|████▍ | 13460/30000 [6:15:30<7:38:31, 1.66s/it] 45%|████▍ | 13461/30000 [6:15:31<7:40:40, 1.67s/it] 45%|████▍ | 13462/30000 [6:15:33<7:39:54, 1.67s/it] 45%|████▍ | 13463/30000 [6:15:35<7:39:29, 1.67s/it] 45%|████▍ | 13464/30000 [6:15:36<7:40:47, 1.67s/it] 45%|████▍ | 13465/30000 [6:15:38<7:39:36, 1.67s/it] 45%|████▍ | 13466/30000 [6:15:40<7:39:57, 1.67s/it] 45%|████▍ | 13467/30000 [6:15:41<7:39:26, 1.67s/it] 45%|████▍ | 13468/30000 [6:15:43<7:39:34, 1.67s/it] 45%|████▍ | 13469/30000 [6:15:45<7:39:01, 1.67s/it] 45%|████▍ | 13470/30000 [6:15:46<7:38:08, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.12807992100715637, 'learning_rate': 1.873194980782879e-05, 'flow_matching_loss': 0.02134220041334629, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.92} + 45%|████▍ | 13470/30000 [6:15:46<7:38:08, 1.66s/it] 45%|████▍ | 13471/30000 [6:15:48<7:38:07, 1.66s/it] 45%|████▍ | 13472/30000 [6:15:50<7:38:39, 1.67s/it] 45%|████▍ | 13473/30000 [6:15:51<7:38:15, 1.66s/it] 45%|████▍ | 13474/30000 [6:15:53<7:39:07, 1.67s/it] 45%|████▍ | 13475/30000 [6:15:55<7:39:17, 1.67s/it] 45%|████▍ | 13476/30000 [6:15:56<7:39:39, 1.67s/it] 45%|████▍ | 13477/30000 [6:15:58<7:39:20, 1.67s/it] 45%|████▍ | 13478/30000 [6:16:00<7:39:34, 1.67s/it] 45%|████▍ | 13479/30000 [6:16:01<7:39:04, 1.67s/it] 45%|████▍ | 13480/30000 [6:16:03<7:39:07, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.10779380053281784, 'learning_rate': 1.871593276687804e-05, 'flow_matching_loss': 0.021774143539369108, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.92} + 45%|████▍ | 13480/30000 [6:16:03<7:39:07, 1.67s/it] 45%|████▍ | 13481/30000 [6:16:05<7:38:17, 1.66s/it] 45%|████▍ | 13482/30000 [6:16:06<7:38:28, 1.67s/it] 45%|████▍ | 13483/30000 [6:16:08<7:38:30, 1.67s/it] 45%|████▍ | 13484/30000 [6:16:10<7:38:17, 1.66s/it] 45%|████▍ | 13485/30000 [6:16:11<7:38:22, 1.67s/it] 45%|████▍ | 13486/30000 [6:16:13<7:38:10, 1.66s/it] 45%|████▍ | 13487/30000 [6:16:15<7:39:09, 1.67s/it] 45%|████▍ | 13488/30000 [6:16:16<7:39:13, 1.67s/it] 45%|████▍ | 13489/30000 [6:16:18<7:38:19, 1.67s/it] 45%|████▍ | 13490/30000 [6:16:20<7:39:09, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.08979447931051254, 'learning_rate': 1.869991121071858e-05, 'flow_matching_loss': 0.020416554529219866, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.92} + 45%|████▍ | 13490/30000 [6:16:20<7:39:09, 1.67s/it] 45%|████▍ | 13491/30000 [6:16:21<7:39:54, 1.67s/it] 45%|████▍ | 13492/30000 [6:16:23<7:39:40, 1.67s/it] 45%|████▍ | 13493/30000 [6:16:25<7:38:30, 1.67s/it] 45%|████▍ | 13494/30000 [6:16:26<7:38:25, 1.67s/it] 45%|████▍ | 13495/30000 [6:16:28<7:38:47, 1.67s/it] 45%|████▍ | 13496/30000 [6:16:30<7:39:07, 1.67s/it] 45%|████▍ | 13497/30000 [6:16:31<7:38:55, 1.67s/it] 45%|████▍ | 13498/30000 [6:16:33<7:39:09, 1.67s/it] 45%|████▍ | 13499/30000 [6:16:35<7:38:51, 1.67s/it] 45%|████▌ | 13500/30000 [6:16:36<7:38:42, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.13063789904117584, 'learning_rate': 1.8683885158818117e-05, 'flow_matching_loss': 0.02192208543419838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.93} + 45%|████▌ | 13500/30000 [6:16:36<7:38:42, 1.67s/it] 45%|████▌ | 13501/30000 [6:16:38<7:38:49, 1.67s/it] 45%|████▌ | 13502/30000 [6:16:40<7:38:33, 1.67s/it] 45%|████▌ | 13503/30000 [6:16:41<7:38:42, 1.67s/it] 45%|████▌ | 13504/30000 [6:16:43<7:39:21, 1.67s/it] 45%|████▌ | 13505/30000 [6:16:45<7:38:49, 1.67s/it] 45%|████▌ | 13506/30000 [6:16:46<7:38:21, 1.67s/it] 45%|████▌ | 13507/30000 [6:16:48<7:38:26, 1.67s/it] 45%|████▌ | 13508/30000 [6:16:50<7:38:20, 1.67s/it] 45%|████▌ | 13509/30000 [6:16:51<7:39:28, 1.67s/it] 45%|████▌ | 13510/30000 [6:16:53<7:39:14, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.12364142388105392, 'learning_rate': 1.8667854630649825e-05, 'flow_matching_loss': 0.02308189421892166, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.93} + 45%|████▌ | 13510/30000 [6:16:53<7:39:14, 1.67s/it] 45%|████▌ | 13511/30000 [6:16:55<7:38:52, 1.67s/it] 45%|████▌ | 13512/30000 [6:16:56<7:39:28, 1.67s/it] 45%|████▌ | 13513/30000 [6:16:58<7:38:33, 1.67s/it] 45%|████▌ | 13514/30000 [6:17:00<7:38:35, 1.67s/it] 45%|████▌ | 13515/30000 [6:17:01<7:38:57, 1.67s/it] 45%|████▌ | 13516/30000 [6:17:03<7:39:12, 1.67s/it] 45%|████▌ | 13517/30000 [6:17:05<7:38:51, 1.67s/it] 45%|████▌ | 13518/30000 [6:17:06<7:37:53, 1.67s/it] 45%|████▌ | 13519/30000 [6:17:08<7:37:52, 1.67s/it] 45%|████▌ | 13520/30000 [6:17:10<7:38:20, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.17351657152175903, 'learning_rate': 1.86518196456923e-05, 'flow_matching_loss': 0.018911124393343925, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.93} + 45%|████▌ | 13520/30000 [6:17:10<7:38:20, 1.67s/it] 45%|████▌ | 13521/30000 [6:17:11<7:38:13, 1.67s/it] 45%|████▌ | 13522/30000 [6:17:13<7:38:40, 1.67s/it] 45%|████▌ | 13523/30000 [6:17:15<7:38:55, 1.67s/it] 45%|████▌ | 13524/30000 [6:17:16<7:38:21, 1.67s/it] 45%|████▌ | 13525/30000 [6:17:18<7:38:00, 1.67s/it] 45%|████▌ | 13526/30000 [6:17:20<7:37:56, 1.67s/it] 45%|████▌ | 13527/30000 [6:17:21<7:37:15, 1.67s/it] 45%|████▌ | 13528/30000 [6:17:23<7:37:48, 1.67s/it] 45%|████▌ | 13529/30000 [6:17:25<7:38:15, 1.67s/it] 45%|████▌ | 13530/30000 [6:17:26<7:39:37, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.12700155377388, 'learning_rate': 1.8635780223429565e-05, 'flow_matching_loss': 0.019460440892726184, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.94} + 45%|████▌ | 13530/30000 [6:17:27<7:39:37, 1.67s/it] 45%|████▌ | 13531/30000 [6:17:28<7:39:37, 1.67s/it] 45%|████▌ | 13532/30000 [6:17:30<7:38:36, 1.67s/it] 45%|████▌ | 13533/30000 [6:17:31<7:38:03, 1.67s/it] 45%|████▌ | 13534/30000 [6:17:33<7:37:47, 1.67s/it] 45%|████▌ | 13535/30000 [6:17:35<7:37:49, 1.67s/it] 45%|████▌ | 13536/30000 [6:17:36<7:37:47, 1.67s/it] 45%|████▌ | 13537/30000 [6:17:38<7:37:07, 1.67s/it] 45%|████▌ | 13538/30000 [6:17:40<7:37:54, 1.67s/it] 45%|████▌ | 13539/30000 [6:17:42<7:38:51, 1.67s/it] 45%|████▌ | 13540/30000 [6:17:43<7:37:43, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.09603118151426315, 'learning_rate': 1.8619736383351017e-05, 'flow_matching_loss': 0.019852324947714807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.94} + 45%|████▌ | 13540/30000 [6:17:43<7:37:43, 1.67s/it] 45%|████▌ | 13541/30000 [6:17:45<7:37:02, 1.67s/it] 45%|████▌ | 13542/30000 [6:17:46<7:36:52, 1.67s/it] 45%|████▌ | 13543/30000 [6:17:48<7:38:02, 1.67s/it] 45%|████▌ | 13544/30000 [6:17:50<7:38:53, 1.67s/it] 45%|████▌ | 13545/30000 [6:17:52<7:38:15, 1.67s/it] 45%|████▌ | 13546/30000 [6:17:53<7:38:22, 1.67s/it] 45%|████▌ | 13547/30000 [6:17:55<7:37:30, 1.67s/it] 45%|████▌ | 13548/30000 [6:17:57<7:37:54, 1.67s/it] 45%|████▌ | 13549/30000 [6:17:58<7:37:32, 1.67s/it] 45%|████▌ | 13550/30000 [6:18:00<7:36:54, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.10743861645460129, 'learning_rate': 1.8603688144951454e-05, 'flow_matching_loss': 0.021173908747732638, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.94} + 45%|████▌ | 13550/30000 [6:18:00<7:36:54, 1.67s/it] 45%|████▌ | 13551/30000 [6:18:02<7:36:34, 1.67s/it] 45%|████▌ | 13552/30000 [6:18:03<7:36:42, 1.67s/it] 45%|████▌ | 13553/30000 [6:18:05<7:36:09, 1.66s/it] 45%|████▌ | 13554/30000 [6:18:07<7:36:38, 1.67s/it] 45%|████▌ | 13555/30000 [6:18:08<7:36:36, 1.67s/it] 45%|████▌ | 13556/30000 [6:18:10<7:37:13, 1.67s/it] 45%|████▌ | 13557/30000 [6:18:12<7:37:36, 1.67s/it] 45%|████▌ | 13558/30000 [6:18:13<7:37:13, 1.67s/it] 45%|████▌ | 13559/30000 [6:18:15<7:36:16, 1.67s/it] 45%|████▌ | 13560/30000 [6:18:17<7:36:09, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.15691109001636505, 'learning_rate': 1.8587635527730983e-05, 'flow_matching_loss': 0.021046285331249238, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.95} + 45%|████▌ | 13560/30000 [6:18:17<7:36:09, 1.66s/it] 45%|████▌ | 13561/30000 [6:18:18<7:35:53, 1.66s/it] 45%|████▌ | 13562/30000 [6:18:20<7:37:05, 1.67s/it] 45%|████▌ | 13563/30000 [6:18:22<7:36:35, 1.67s/it] 45%|████▌ | 13564/30000 [6:18:23<7:37:02, 1.67s/it] 45%|████▌ | 13565/30000 [6:18:25<7:36:42, 1.67s/it] 45%|████▌ | 13566/30000 [6:18:27<7:36:41, 1.67s/it] 45%|████▌ | 13567/30000 [6:18:28<7:36:03, 1.67s/it] 45%|████▌ | 13568/30000 [6:18:30<7:36:19, 1.67s/it] 45%|████▌ | 13569/30000 [6:18:32<7:35:47, 1.66s/it] 45%|████▌ | 13570/30000 [6:18:33<7:36:17, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.10132092237472534, 'learning_rate': 1.8571578551195056e-05, 'flow_matching_loss': 0.021809645369648932, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.95} + 45%|████▌ | 13570/30000 [6:18:33<7:36:17, 1.67s/it] 45%|████▌ | 13571/30000 [6:18:35<7:36:37, 1.67s/it] 45%|████▌ | 13572/30000 [6:18:37<7:37:01, 1.67s/it] 45%|████▌ | 13573/30000 [6:18:38<7:35:34, 1.66s/it] 45%|████▌ | 13574/30000 [6:18:40<7:35:37, 1.66s/it] 45%|████▌ | 13575/30000 [6:18:42<7:35:24, 1.66s/it] 45%|████▌ | 13576/30000 [6:18:43<7:36:13, 1.67s/it] 45%|████▌ | 13577/30000 [6:18:45<7:35:29, 1.66s/it] 45%|████▌ | 13578/30000 [6:18:47<7:35:59, 1.67s/it] 45%|████▌ | 13579/30000 [6:18:48<7:35:49, 1.67s/it] 45%|████▌ | 13580/30000 [6:18:50<7:35:44, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.10822702944278717, 'learning_rate': 1.855551723485441e-05, 'flow_matching_loss': 0.021714344806969165, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.95} + 45%|████▌ | 13580/30000 [6:18:50<7:35:44, 1.67s/it] 45%|████▌ | 13581/30000 [6:18:52<7:36:46, 1.67s/it] 45%|████▌ | 13582/30000 [6:18:53<7:36:16, 1.67s/it] 45%|████▌ | 13583/30000 [6:18:55<7:36:53, 1.67s/it] 45%|████▌ | 13584/30000 [6:18:57<7:36:01, 1.67s/it] 45%|████▌ | 13585/30000 [6:18:58<7:36:39, 1.67s/it] 45%|████▌ | 13586/30000 [6:19:00<7:36:33, 1.67s/it] 45%|████▌ | 13587/30000 [6:19:02<7:36:01, 1.67s/it] 45%|████▌ | 13588/30000 [6:19:03<7:35:56, 1.67s/it] 45%|████▌ | 13589/30000 [6:19:05<7:35:57, 1.67s/it] 45%|████▌ | 13590/30000 [6:19:07<7:36:02, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.15753957629203796, 'learning_rate': 1.8539451598225066e-05, 'flow_matching_loss': 0.02264486253261566, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.95} + 45%|████▌ | 13590/30000 [6:19:07<7:36:02, 1.67s/it] 45%|████▌ | 13591/30000 [6:19:08<7:35:50, 1.67s/it] 45%|████▌ | 13592/30000 [6:19:10<7:35:44, 1.67s/it] 45%|████▌ | 13593/30000 [6:19:12<7:35:24, 1.67s/it] 45%|████▌ | 13594/30000 [6:19:13<7:35:17, 1.67s/it] 45%|████▌ | 13595/30000 [6:19:15<7:34:43, 1.66s/it] 45%|████▌ | 13596/30000 [6:19:17<7:35:36, 1.67s/it] 45%|████▌ | 13597/30000 [6:19:18<7:35:21, 1.67s/it] 45%|████▌ | 13598/30000 [6:19:20<7:35:16, 1.67s/it] 45%|████▌ | 13599/30000 [6:19:22<7:35:42, 1.67s/it] 45%|████▌ | 13600/30000 [6:19:23<7:35:44, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.11432919651269913, 'learning_rate': 1.8523381660828276e-05, 'flow_matching_loss': 0.019632337242364885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.96} + 45%|████▌ | 13600/30000 [6:19:23<7:35:44, 1.67s/it] 45%|████▌ | 13601/30000 [6:19:25<7:35:19, 1.67s/it] 45%|████▌ | 13602/30000 [6:19:27<7:35:26, 1.67s/it] 45%|████▌ | 13603/30000 [6:19:28<7:34:43, 1.66s/it] 45%|████▌ | 13604/30000 [6:19:30<7:36:39, 1.67s/it] 45%|████▌ | 13605/30000 [6:19:32<7:35:24, 1.67s/it] 45%|████▌ | 13606/30000 [6:19:33<7:35:18, 1.67s/it] 45%|████▌ | 13607/30000 [6:19:35<7:35:32, 1.67s/it] 45%|████▌ | 13608/30000 [6:19:37<7:35:57, 1.67s/it] 45%|████▌ | 13609/30000 [6:19:38<7:35:31, 1.67s/it] 45%|████▌ | 13610/30000 [6:19:40<7:35:49, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11252821981906891, 'learning_rate': 1.850730744219054e-05, 'flow_matching_loss': 0.017744056601077317, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.96} + 45%|████▌ | 13610/30000 [6:19:40<7:35:49, 1.67s/it] 45%|████▌ | 13611/30000 [6:19:42<7:35:38, 1.67s/it] 45%|████▌ | 13612/30000 [6:19:43<7:35:40, 1.67s/it] 45%|████▌ | 13613/30000 [6:19:45<7:35:31, 1.67s/it] 45%|████▌ | 13614/30000 [6:19:47<7:34:47, 1.67s/it] 45%|████▌ | 13615/30000 [6:19:48<7:35:01, 1.67s/it] 45%|████▌ | 13616/30000 [6:19:50<7:35:38, 1.67s/it] 45%|████▌ | 13617/30000 [6:19:52<7:34:50, 1.67s/it] 45%|████▌ | 13618/30000 [6:19:53<7:35:00, 1.67s/it] 45%|████▌ | 13619/30000 [6:19:55<7:34:34, 1.67s/it] 45%|████▌ | 13620/30000 [6:19:57<7:35:23, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.17175635695457458, 'learning_rate': 1.849122896184354e-05, 'flow_matching_loss': 0.019857811369001867, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.96} + 45%|████▌ | 13620/30000 [6:19:57<7:35:23, 1.67s/it] 45%|████▌ | 13621/30000 [6:19:58<7:34:13, 1.66s/it] 45%|████▌ | 13622/30000 [6:20:00<7:33:56, 1.66s/it] 45%|████▌ | 13623/30000 [6:20:02<7:35:05, 1.67s/it] 45%|████▌ | 13624/30000 [6:20:03<7:34:40, 1.67s/it] 45%|████▌ | 13625/30000 [6:20:05<7:33:46, 1.66s/it] 45%|████▌ | 13626/30000 [6:20:07<7:34:03, 1.66s/it] 45%|████▌ | 13627/30000 [6:20:08<7:33:44, 1.66s/it] 45%|████▌ | 13628/30000 [6:20:10<7:34:31, 1.67s/it] 45%|████▌ | 13629/30000 [6:20:12<7:34:16, 1.66s/it] 45%|████▌ | 13630/30000 [6:20:13<7:34:19, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.12376420944929123, 'learning_rate': 1.8475146239324146e-05, 'flow_matching_loss': 0.018912561237812042, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.97} + 45%|████▌ | 13630/30000 [6:20:13<7:34:19, 1.67s/it] 45%|████▌ | 13631/30000 [6:20:15<7:34:28, 1.67s/it] 45%|████▌ | 13632/30000 [6:20:17<7:34:37, 1.67s/it] 45%|████▌ | 13633/30000 [6:20:18<7:33:06, 1.66s/it] 45%|████▌ | 13634/30000 [6:20:20<7:33:21, 1.66s/it] 45%|████▌ | 13635/30000 [6:20:21<7:33:34, 1.66s/it] 45%|████▌ | 13636/30000 [6:20:23<7:33:38, 1.66s/it] 45%|████▌ | 13637/30000 [6:20:25<7:33:37, 1.66s/it] 45%|████▌ | 13638/30000 [6:20:26<7:33:16, 1.66s/it] 45%|████▌ | 13639/30000 [6:20:28<7:34:41, 1.67s/it] 45%|████▌ | 13640/30000 [6:20:30<7:33:46, 1.66s/it] {'loss': 0.0195, 'grad_norm': 0.12309473752975464, 'learning_rate': 1.8459059294174396e-05, 'flow_matching_loss': 0.019497378915548324, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.97} + 45%|████▌ | 13640/30000 [6:20:30<7:33:46, 1.66s/it] 45%|████▌ | 13641/30000 [6:20:31<7:33:45, 1.66s/it] 45%|████▌ | 13642/30000 [6:20:33<7:34:35, 1.67s/it] 45%|████▌ | 13643/30000 [6:20:35<7:34:27, 1.67s/it] 45%|████▌ | 13644/30000 [6:20:36<7:34:23, 1.67s/it] 45%|████▌ | 13645/30000 [6:20:38<7:33:35, 1.66s/it] 45%|████▌ | 13646/30000 [6:20:40<7:34:28, 1.67s/it] 45%|████▌ | 13647/30000 [6:20:41<7:34:09, 1.67s/it] 45%|████▌ | 13648/30000 [6:20:43<7:33:39, 1.66s/it] 45%|████▌ | 13649/30000 [6:20:45<7:33:08, 1.66s/it] 46%|████▌ | 13650/30000 [6:20:46<7:33:35, 1.66s/it] {'loss': 0.0203, 'grad_norm': 0.14858050644397736, 'learning_rate': 1.844296814594143e-05, 'flow_matching_loss': 0.02033824287354946, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.97} + 46%|████▌ | 13650/30000 [6:20:47<7:33:35, 1.66s/it] 46%|████▌ | 13651/30000 [6:20:48<7:33:43, 1.67s/it] 46%|████▌ | 13652/30000 [6:20:50<7:34:05, 1.67s/it] 46%|████▌ | 13653/30000 [6:20:51<7:33:27, 1.66s/it] 46%|████▌ | 13654/30000 [6:20:53<7:33:39, 1.67s/it] 46%|████▌ | 13655/30000 [6:20:55<7:33:48, 1.67s/it] 46%|████▌ | 13656/30000 [6:20:56<7:33:32, 1.67s/it] 46%|████▌ | 13657/30000 [6:20:58<7:33:45, 1.67s/it] 46%|████▌ | 13658/30000 [6:21:00<7:33:39, 1.67s/it] 46%|████▌ | 13659/30000 [6:21:01<7:33:42, 1.67s/it] 46%|████▌ | 13660/30000 [6:21:03<7:33:19, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.1407434642314911, 'learning_rate': 1.8426872814177516e-05, 'flow_matching_loss': 0.018418101128190756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.97} + 46%|████▌ | 13660/30000 [6:21:03<7:33:19, 1.66s/it] 46%|████▌ | 13661/30000 [6:21:05<7:33:44, 1.67s/it] 46%|████▌ | 13662/30000 [6:21:06<7:33:31, 1.67s/it] 46%|████▌ | 13663/30000 [6:21:08<7:33:48, 1.67s/it] 46%|████▌ | 13664/30000 [6:21:10<7:34:00, 1.67s/it] 46%|████▌ | 13665/30000 [6:21:11<7:33:23, 1.67s/it] 46%|████▌ | 13666/30000 [6:21:13<7:33:31, 1.67s/it] 46%|████▌ | 13667/30000 [6:21:15<7:33:17, 1.67s/it] 46%|████▌ | 13668/30000 [6:21:16<7:32:55, 1.66s/it] 46%|████▌ | 13669/30000 [6:21:18<7:32:50, 1.66s/it] 46%|████▌ | 13670/30000 [6:21:20<7:33:09, 1.66s/it] {'loss': 0.0203, 'grad_norm': 0.11974277347326279, 'learning_rate': 1.8410773318440003e-05, 'flow_matching_loss': 0.020290208980441093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.98} + 46%|████▌ | 13670/30000 [6:21:20<7:33:09, 1.66s/it] 46%|████▌ | 13671/30000 [6:21:21<7:33:01, 1.66s/it] 46%|████▌ | 13672/30000 [6:21:23<7:33:17, 1.67s/it] 46%|████▌ | 13673/30000 [6:21:25<7:31:57, 1.66s/it] 46%|████▌ | 13674/30000 [6:21:26<7:32:52, 1.66s/it] 46%|████▌ | 13675/30000 [6:21:28<7:33:05, 1.67s/it] 46%|████▌ | 13676/30000 [6:21:30<7:32:19, 1.66s/it] 46%|████▌ | 13677/30000 [6:21:31<7:32:32, 1.66s/it] 46%|████▌ | 13678/30000 [6:21:33<7:32:55, 1.66s/it] 46%|████▌ | 13679/30000 [6:21:35<7:32:56, 1.67s/it] 46%|████▌ | 13680/30000 [6:21:36<7:33:33, 1.67s/it] {'loss': 0.0242, 'grad_norm': 0.15885022282600403, 'learning_rate': 1.839466967829129e-05, 'flow_matching_loss': 0.02418713141232729, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.98} + 46%|████▌ | 13680/30000 [6:21:36<7:33:33, 1.67s/it] 46%|████▌ | 13681/30000 [6:21:38<7:32:56, 1.67s/it] 46%|████▌ | 13682/30000 [6:21:40<7:33:12, 1.67s/it] 46%|████▌ | 13683/30000 [6:21:41<7:34:12, 1.67s/it] 46%|████▌ | 13684/30000 [6:21:43<7:33:19, 1.67s/it] 46%|████▌ | 13685/30000 [6:21:45<7:32:29, 1.66s/it] 46%|████▌ | 13686/30000 [6:21:46<7:32:48, 1.67s/it] 46%|████▌ | 13687/30000 [6:21:48<7:33:15, 1.67s/it] 46%|████▌ | 13688/30000 [6:21:50<7:33:20, 1.67s/it] 46%|████▌ | 13689/30000 [6:21:51<7:32:55, 1.67s/it] 46%|████▌ | 13690/30000 [6:21:53<7:32:29, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.1167307049036026, 'learning_rate': 1.8378561913298822e-05, 'flow_matching_loss': 0.02094824118539691, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.98} + 46%|████▌ | 13690/30000 [6:21:53<7:32:29, 1.66s/it] 46%|████▌ | 13691/30000 [6:21:55<7:32:56, 1.67s/it] 46%|████▌ | 13692/30000 [6:21:56<7:33:16, 1.67s/it] 46%|████▌ | 13693/30000 [6:21:58<7:32:33, 1.67s/it] 46%|████▌ | 13694/30000 [6:22:00<7:32:28, 1.66s/it] 46%|████▌ | 13695/30000 [6:22:01<7:32:17, 1.66s/it] 46%|████▌ | 13696/30000 [6:22:03<7:32:34, 1.67s/it] 46%|████▌ | 13697/30000 [6:22:05<7:31:57, 1.66s/it] 46%|████▌ | 13698/30000 [6:22:06<7:32:52, 1.67s/it] 46%|████▌ | 13699/30000 [6:22:08<7:32:32, 1.67s/it] 46%|████▌ | 13700/30000 [6:22:10<7:32:47, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.12164322286844254, 'learning_rate': 1.8362450043035053e-05, 'flow_matching_loss': 0.022455492243170738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.99} + 46%|████▌ | 13700/30000 [6:22:10<7:32:47, 1.67s/it] 46%|████▌ | 13701/30000 [6:22:11<7:33:24, 1.67s/it] 46%|████▌ | 13702/30000 [6:22:13<7:32:11, 1.66s/it] 46%|████▌ | 13703/30000 [6:22:15<7:32:10, 1.66s/it] 46%|████▌ | 13704/30000 [6:22:16<7:32:48, 1.67s/it] 46%|████▌ | 13705/30000 [6:22:18<7:32:54, 1.67s/it] 46%|████▌ | 13706/30000 [6:22:20<7:33:28, 1.67s/it] 46%|████▌ | 13707/30000 [6:22:21<7:33:28, 1.67s/it] 46%|████▌ | 13708/30000 [6:22:23<7:32:39, 1.67s/it] 46%|████▌ | 13709/30000 [6:22:25<7:33:16, 1.67s/it] 46%|████▌ | 13710/30000 [6:22:26<7:32:28, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.13343499600887299, 'learning_rate': 1.834633408707742e-05, 'flow_matching_loss': 0.021700178366154434, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.99} + 46%|████▌ | 13710/30000 [6:22:26<7:32:28, 1.67s/it] 46%|████▌ | 13711/30000 [6:22:28<7:32:14, 1.67s/it] 46%|████▌ | 13712/30000 [6:22:30<7:32:09, 1.67s/it] 46%|████▌ | 13713/30000 [6:22:31<7:31:58, 1.67s/it] 46%|████▌ | 13714/30000 [6:22:33<7:31:14, 1.66s/it] 46%|████▌ | 13715/30000 [6:22:35<7:31:16, 1.66s/it] 46%|████▌ | 13716/30000 [6:22:36<7:31:26, 1.66s/it] 46%|████▌ | 13717/30000 [6:22:38<7:31:20, 1.66s/it] 46%|████▌ | 13718/30000 [6:22:40<7:31:09, 1.66s/it] 46%|████▌ | 13719/30000 [6:22:41<7:32:22, 1.67s/it] 46%|████▌ | 13720/30000 [6:22:43<7:32:15, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10845072567462921, 'learning_rate': 1.8330214065008336e-05, 'flow_matching_loss': 0.018294795788824557, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.99} + 46%|████▌ | 13720/30000 [6:22:43<7:32:15, 1.67s/it] 46%|████▌ | 13721/30000 [6:22:45<7:31:46, 1.67s/it] 46%|████▌ | 13722/30000 [6:22:46<7:32:22, 1.67s/it] 46%|████▌ | 13723/30000 [6:22:48<7:31:58, 1.67s/it] 46%|████▌ | 13724/30000 [6:22:50<7:32:23, 1.67s/it] 46%|████▌ | 13725/30000 [6:22:51<7:31:57, 1.67s/it] 46%|████▌ | 13726/30000 [6:22:53<7:33:28, 1.67s/it] 46%|████▌ | 13727/30000 [6:22:55<7:33:21, 1.67s/it] 46%|████▌ | 13728/30000 [6:22:56<7:33:19, 1.67s/it] 46%|████▌ | 13729/30000 [6:22:58<7:32:32, 1.67s/it] 46%|████▌ | 13730/30000 [6:23:00<7:32:45, 1.67s/it] {'loss': 0.0224, 'grad_norm': 0.14426130056381226, 'learning_rate': 1.831408999641514e-05, 'flow_matching_loss': 0.022416745033115148, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 3.99} + 46%|████▌ | 13730/30000 [6:23:00<7:32:45, 1.67s/it] 46%|████▌ | 13731/30000 [6:23:01<7:32:59, 1.67s/it] 46%|████▌ | 13732/30000 [6:23:03<7:31:57, 1.67s/it] 46%|████▌ | 13733/30000 [6:23:05<7:30:58, 1.66s/it] 46%|████▌ | 13734/30000 [6:23:06<7:29:42, 1.66s/it] 46%|████▌ | 13735/30000 [6:23:08<7:29:25, 1.66s/it] 46%|████▌ | 13736/30000 [6:23:10<7:29:05, 1.66s/it] 46%|████▌ | 13737/30000 [6:23:11<7:28:50, 1.66s/it] 46%|████▌ | 13738/30000 [6:23:13<7:28:47, 1.66s/it] 46%|████▌ | 13739/30000 [6:23:15<7:28:48, 1.66s/it] 46%|████▌ | 13740/30000 [6:23:16<7:28:35, 1.66s/it] {'loss': 0.0197, 'grad_norm': 0.11106103658676147, 'learning_rate': 1.8297961900890107e-05, 'flow_matching_loss': 0.01970604471862316, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.0} + 46%|████▌ | 13740/30000 [6:23:16<7:28:35, 1.66s/it] 46%|████▌ | 13741/30000 [6:23:18<7:28:41, 1.66s/it] 46%|████▌ | 13742/30000 [6:23:20<7:28:39, 1.66s/it] 46%|████▌ | 13743/30000 [6:23:21<7:28:28, 1.66s/it] 46%|████▌ | 13744/30000 [6:23:23<7:28:26, 1.66s/it] 46%|████▌ | 13745/30000 [6:23:25<7:28:35, 1.66s/it] 46%|████▌ | 13746/30000 [6:23:26<7:28:06, 1.65s/it] 46%|████▌ | 13747/30000 [6:23:28<7:27:40, 1.65s/it] 46%|████▌ | 13748/30000 [6:23:30<7:25:27, 1.64s/it] 46%|████▌ | 13749/30000 [6:23:38<16:42:02, 3.70s/it] 46%|████▌ | 13750/30000 [6:23:40<13:59:42, 3.10s/it] {'loss': 0.0235, 'grad_norm': 0.1440294086933136, 'learning_rate': 1.8281829798030385e-05, 'flow_matching_loss': 0.023465176485478877, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.0} + 46%|████▌ | 13750/30000 [6:23:40<13:59:42, 3.10s/it] 46%|████▌ | 13751/30000 [6:23:41<12:04:34, 2.68s/it] 46%|████▌ | 13752/30000 [6:23:43<10:43:47, 2.38s/it] 46%|████▌ | 13753/30000 [6:23:45<9:48:14, 2.17s/it] 46%|████▌ | 13754/30000 [6:23:46<9:08:44, 2.03s/it] 46%|████▌ | 13755/30000 [6:23:48<8:40:39, 1.92s/it] 46%|████▌ | 13756/30000 [6:23:50<8:22:38, 1.86s/it] 46%|████▌ | 13757/30000 [6:23:52<8:07:04, 1.80s/it] 46%|████▌ | 13758/30000 [6:23:53<7:56:45, 1.76s/it] 46%|████▌ | 13759/30000 [6:23:55<7:48:45, 1.73s/it] 46%|████▌ | 13760/30000 [6:23:57<7:43:07, 1.71s/it] {'loss': 0.0218, 'grad_norm': 0.1310572624206543, 'learning_rate': 1.8265693707438002e-05, 'flow_matching_loss': 0.021838776487857103, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.0} + 46%|████▌ | 13760/30000 [6:23:57<7:43:07, 1.71s/it] 46%|████▌ | 13761/30000 [6:23:58<7:39:34, 1.70s/it] 46%|████▌ | 13762/30000 [6:24:00<7:36:22, 1.69s/it] 46%|████▌ | 13763/30000 [6:24:01<7:34:05, 1.68s/it] 46%|████▌ | 13764/30000 [6:24:03<7:34:16, 1.68s/it] 46%|████▌ | 13765/30000 [6:24:05<7:31:59, 1.67s/it] 46%|████▌ | 13766/30000 [6:24:06<7:31:03, 1.67s/it] 46%|████▌ | 13767/30000 [6:24:08<7:30:33, 1.67s/it] 46%|████▌ | 13768/30000 [6:24:10<7:30:29, 1.67s/it] 46%|████▌ | 13769/30000 [6:24:11<7:30:01, 1.66s/it] 46%|████▌ | 13770/30000 [6:24:13<7:29:27, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.13013404607772827, 'learning_rate': 1.824955364871982e-05, 'flow_matching_loss': 0.0170366776175797, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.01} + 46%|████▌ | 13770/30000 [6:24:13<7:29:27, 1.66s/it] 46%|████▌ | 13771/30000 [6:24:15<7:30:05, 1.66s/it] 46%|████▌ | 13772/30000 [6:24:16<7:30:16, 1.66s/it] 46%|████▌ | 13773/30000 [6:24:18<7:29:54, 1.66s/it] 46%|████▌ | 13774/30000 [6:24:20<7:29:10, 1.66s/it] 46%|████▌ | 13775/30000 [6:24:21<7:29:17, 1.66s/it] 46%|████▌ | 13776/30000 [6:24:23<7:29:18, 1.66s/it] 46%|████▌ | 13777/30000 [6:24:25<7:30:22, 1.67s/it] 46%|████▌ | 13778/30000 [6:24:26<7:29:14, 1.66s/it] 46%|████▌ | 13779/30000 [6:24:28<7:28:52, 1.66s/it] 46%|████▌ | 13780/30000 [6:24:30<7:28:51, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.08327242732048035, 'learning_rate': 1.8233409641487553e-05, 'flow_matching_loss': 0.018537693936377764, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.01} + 46%|████▌ | 13780/30000 [6:24:30<7:28:51, 1.66s/it] 46%|████▌ | 13781/30000 [6:24:31<7:29:30, 1.66s/it] 46%|████▌ | 13782/30000 [6:24:33<7:29:57, 1.66s/it] 46%|████▌ | 13783/30000 [6:24:35<7:29:58, 1.66s/it] 46%|████▌ | 13784/30000 [6:24:36<7:29:22, 1.66s/it] 46%|████▌ | 13785/30000 [6:24:38<7:29:09, 1.66s/it] 46%|████▌ | 13786/30000 [6:24:40<7:29:07, 1.66s/it] 46%|████▌ | 13787/30000 [6:24:41<7:29:26, 1.66s/it] 46%|████▌ | 13788/30000 [6:24:43<7:29:27, 1.66s/it] 46%|████▌ | 13789/30000 [6:24:45<7:29:20, 1.66s/it] 46%|████▌ | 13790/30000 [6:24:46<7:29:40, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.1094922423362732, 'learning_rate': 1.8217261705357677e-05, 'flow_matching_loss': 0.019320680387318136, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.01} + 46%|████▌ | 13790/30000 [6:24:46<7:29:40, 1.66s/it] 46%|████▌ | 13791/30000 [6:24:48<7:29:09, 1.66s/it] 46%|████▌ | 13792/30000 [6:24:50<7:28:14, 1.66s/it] 46%|████▌ | 13793/30000 [6:24:51<7:28:51, 1.66s/it] 46%|████▌ | 13794/30000 [6:24:53<7:29:19, 1.66s/it] 46%|████▌ | 13795/30000 [6:24:55<7:29:57, 1.67s/it] 46%|████▌ | 13796/30000 [6:24:56<7:29:13, 1.66s/it] 46%|████▌ | 13797/30000 [6:24:58<7:29:13, 1.66s/it] 46%|████▌ | 13798/30000 [6:25:00<7:28:49, 1.66s/it] 46%|████▌ | 13799/30000 [6:25:01<7:29:08, 1.66s/it] 46%|████▌ | 13800/30000 [6:25:03<7:29:55, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09936607629060745, 'learning_rate': 1.8201109859951462e-05, 'flow_matching_loss': 0.019264584966003896, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.02} + 46%|████▌ | 13800/30000 [6:25:03<7:29:55, 1.67s/it] 46%|████▌ | 13801/30000 [6:25:05<7:29:49, 1.67s/it] 46%|████▌ | 13802/30000 [6:25:06<7:29:31, 1.67s/it] 46%|████▌ | 13803/30000 [6:25:08<7:29:18, 1.66s/it] 46%|████▌ | 13804/30000 [6:25:10<7:29:21, 1.66s/it] 46%|████▌ | 13805/30000 [6:25:11<7:30:12, 1.67s/it] 46%|████▌ | 13806/30000 [6:25:13<7:29:46, 1.67s/it] 46%|████▌ | 13807/30000 [6:25:15<7:29:25, 1.67s/it] 46%|████▌ | 13808/30000 [6:25:16<7:30:35, 1.67s/it] 46%|████▌ | 13809/30000 [6:25:18<7:30:56, 1.67s/it] 46%|████▌ | 13810/30000 [6:25:20<7:29:59, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.1174810454249382, 'learning_rate': 1.818495412489492e-05, 'flow_matching_loss': 0.020148572884500025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.02} + 46%|████▌ | 13810/30000 [6:25:20<7:29:59, 1.67s/it] 46%|████▌ | 13811/30000 [6:25:21<7:29:41, 1.67s/it] 46%|████▌ | 13812/30000 [6:25:23<7:29:30, 1.67s/it] 46%|████▌ | 13813/30000 [6:25:25<7:29:08, 1.66s/it] 46%|████▌ | 13814/30000 [6:25:26<7:29:45, 1.67s/it] 46%|████▌ | 13815/30000 [6:25:28<7:29:45, 1.67s/it] 46%|████▌ | 13816/30000 [6:25:30<7:29:32, 1.67s/it] 46%|████▌ | 13817/30000 [6:25:31<7:29:13, 1.67s/it] 46%|████▌ | 13818/30000 [6:25:33<7:29:06, 1.67s/it] 46%|████▌ | 13819/30000 [6:25:35<7:28:51, 1.66s/it] 46%|████▌ | 13820/30000 [6:25:36<7:28:59, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.13382458686828613, 'learning_rate': 1.8168794519818802e-05, 'flow_matching_loss': 0.0210778696462512, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.02} + 46%|████▌ | 13820/30000 [6:25:36<7:28:59, 1.67s/it] 46%|████▌ | 13821/30000 [6:25:38<7:29:39, 1.67s/it] 46%|████▌ | 13822/30000 [6:25:40<7:29:40, 1.67s/it] 46%|████▌ | 13823/30000 [6:25:41<7:29:22, 1.67s/it] 46%|████▌ | 13824/30000 [6:25:43<7:28:49, 1.66s/it] 46%|████▌ | 13825/30000 [6:25:45<7:28:35, 1.66s/it] 46%|████▌ | 13826/30000 [6:25:46<7:29:01, 1.67s/it] 46%|████▌ | 13827/30000 [6:25:48<7:28:54, 1.67s/it] 46%|████▌ | 13828/30000 [6:25:50<7:29:48, 1.67s/it] 46%|████▌ | 13829/30000 [6:25:51<7:29:11, 1.67s/it] 46%|████▌ | 13830/30000 [6:25:53<7:28:23, 1.66s/it] {'loss': 0.022, 'grad_norm': 0.13426606357097626, 'learning_rate': 1.8152631064358537e-05, 'flow_matching_loss': 0.02197358012199402, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.02} + 46%|████▌ | 13830/30000 [6:25:53<7:28:23, 1.66s/it] 46%|████▌ | 13831/30000 [6:25:55<7:28:36, 1.66s/it] 46%|████▌ | 13832/30000 [6:25:56<7:28:44, 1.67s/it] 46%|████▌ | 13833/30000 [6:25:58<7:26:54, 1.66s/it] 46%|████▌ | 13834/30000 [6:26:00<7:27:08, 1.66s/it] 46%|████▌ | 13835/30000 [6:26:01<7:27:14, 1.66s/it] 46%|████▌ | 13836/30000 [6:26:03<7:27:50, 1.66s/it] 46%|████▌ | 13837/30000 [6:26:05<7:27:47, 1.66s/it] 46%|████▌ | 13838/30000 [6:26:06<7:27:34, 1.66s/it] 46%|████▌ | 13839/30000 [6:26:08<7:27:45, 1.66s/it] 46%|████▌ | 13840/30000 [6:26:10<7:27:33, 1.66s/it] {'loss': 0.0218, 'grad_norm': 0.10760343819856644, 'learning_rate': 1.8136463778154258e-05, 'flow_matching_loss': 0.021789214480668305, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.03} + 46%|████▌ | 13840/30000 [6:26:10<7:27:33, 1.66s/it] 46%|████▌ | 13841/30000 [6:26:11<7:28:38, 1.67s/it] 46%|████▌ | 13842/30000 [6:26:13<7:29:19, 1.67s/it] 46%|████▌ | 13843/30000 [6:26:15<7:29:20, 1.67s/it] 46%|████▌ | 13844/30000 [6:26:16<7:28:32, 1.67s/it] 46%|████▌ | 13845/30000 [6:26:18<7:28:23, 1.67s/it] 46%|████▌ | 13846/30000 [6:26:20<7:28:32, 1.67s/it] 46%|████▌ | 13847/30000 [6:26:21<7:27:54, 1.66s/it] 46%|████▌ | 13848/30000 [6:26:23<7:28:03, 1.66s/it] 46%|████▌ | 13849/30000 [6:26:25<7:27:53, 1.66s/it] 46%|████▌ | 13850/30000 [6:26:26<7:27:17, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.10018270462751389, 'learning_rate': 1.812029268085074e-05, 'flow_matching_loss': 0.01884627602994442, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.03} + 46%|████▌ | 13850/30000 [6:26:26<7:27:17, 1.66s/it] 46%|████▌ | 13851/30000 [6:26:28<7:28:26, 1.67s/it] 46%|████▌ | 13852/30000 [6:26:30<7:29:34, 1.67s/it] 46%|████▌ | 13853/30000 [6:26:31<7:27:49, 1.66s/it] 46%|████▌ | 13854/30000 [6:26:33<7:26:55, 1.66s/it] 46%|████▌ | 13855/30000 [6:26:35<7:27:00, 1.66s/it] 46%|████▌ | 13856/30000 [6:26:36<7:27:09, 1.66s/it] 46%|████▌ | 13857/30000 [6:26:38<7:26:57, 1.66s/it] 46%|████▌ | 13858/30000 [6:26:40<7:27:19, 1.66s/it] 46%|████▌ | 13859/30000 [6:26:41<7:27:34, 1.66s/it] 46%|████▌ | 13860/30000 [6:26:43<7:28:12, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10160646587610245, 'learning_rate': 1.8104117792097387e-05, 'flow_matching_loss': 0.017483815923333167, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.03} + 46%|████▌ | 13860/30000 [6:26:43<7:28:12, 1.67s/it] 46%|████▌ | 13861/30000 [6:26:45<7:28:13, 1.67s/it] 46%|████▌ | 13862/30000 [6:26:46<7:28:08, 1.67s/it] 46%|████▌ | 13863/30000 [6:26:48<7:28:39, 1.67s/it] 46%|████▌ | 13864/30000 [6:26:50<7:28:31, 1.67s/it] 46%|████▌ | 13865/30000 [6:26:51<7:28:32, 1.67s/it] 46%|████▌ | 13866/30000 [6:26:53<7:28:24, 1.67s/it] 46%|████▌ | 13867/30000 [6:26:55<7:27:57, 1.67s/it] 46%|████▌ | 13868/30000 [6:26:56<7:28:16, 1.67s/it] 46%|████▌ | 13869/30000 [6:26:58<7:27:16, 1.66s/it] 46%|████▌ | 13870/30000 [6:27:00<7:27:21, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.10613783448934555, 'learning_rate': 1.808793913154822e-05, 'flow_matching_loss': 0.02166136624291539, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.04} + 46%|████▌ | 13870/30000 [6:27:00<7:27:21, 1.66s/it] 46%|████▌ | 13871/30000 [6:27:01<7:27:55, 1.67s/it] 46%|████▌ | 13872/30000 [6:27:03<7:27:59, 1.67s/it] 46%|████▌ | 13873/30000 [6:27:05<7:27:01, 1.66s/it] 46%|████▌ | 13874/30000 [6:27:06<7:26:08, 1.66s/it] 46%|████▋ | 13875/30000 [6:27:08<7:26:46, 1.66s/it] 46%|████▋ | 13876/30000 [6:27:10<7:27:11, 1.66s/it] 46%|████▋ | 13877/30000 [6:27:11<7:26:03, 1.66s/it] 46%|████▋ | 13878/30000 [6:27:13<7:26:46, 1.66s/it] 46%|████▋ | 13879/30000 [6:27:15<7:26:43, 1.66s/it] 46%|████▋ | 13880/30000 [6:27:16<7:26:08, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.13212256133556366, 'learning_rate': 1.8071756718861838e-05, 'flow_matching_loss': 0.02130952402949333, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.04} + 46%|████▋ | 13880/30000 [6:27:16<7:26:08, 1.66s/it] 46%|████▋ | 13881/30000 [6:27:18<7:26:53, 1.66s/it] 46%|████▋ | 13882/30000 [6:27:20<7:26:36, 1.66s/it] 46%|████▋ | 13883/30000 [6:27:21<7:27:04, 1.66s/it] 46%|████▋ | 13884/30000 [6:27:23<7:27:17, 1.67s/it] 46%|████▋ | 13885/30000 [6:27:25<7:27:48, 1.67s/it] 46%|████▋ | 13886/30000 [6:27:26<7:27:42, 1.67s/it] 46%|████▋ | 13887/30000 [6:27:28<7:27:38, 1.67s/it] 46%|████▋ | 13888/30000 [6:27:30<7:27:19, 1.67s/it] 46%|████▋ | 13889/30000 [6:27:31<7:27:11, 1.67s/it] 46%|████▋ | 13890/30000 [6:27:33<7:27:13, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.10530181974172592, 'learning_rate': 1.805557057370139e-05, 'flow_matching_loss': 0.020670756045728923, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.04} + 46%|████▋ | 13890/30000 [6:27:33<7:27:13, 1.67s/it] 46%|████▋ | 13891/30000 [6:27:35<7:27:50, 1.67s/it] 46%|████▋ | 13892/30000 [6:27:36<7:27:23, 1.67s/it] 46%|████▋ | 13893/30000 [6:27:38<7:27:29, 1.67s/it] 46%|████▋ | 13894/30000 [6:27:40<7:27:49, 1.67s/it] 46%|████▋ | 13895/30000 [6:27:41<7:26:58, 1.67s/it] 46%|████▋ | 13896/30000 [6:27:43<7:27:55, 1.67s/it] 46%|████▋ | 13897/30000 [6:27:45<7:26:29, 1.66s/it] 46%|████▋ | 13898/30000 [6:27:46<7:26:48, 1.66s/it] 46%|████▋ | 13899/30000 [6:27:48<7:26:48, 1.66s/it] 46%|████▋ | 13900/30000 [6:27:50<7:26:30, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.09234803915023804, 'learning_rate': 1.8039380715734574e-05, 'flow_matching_loss': 0.019254338275641204, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.04} + 46%|████▋ | 13900/30000 [6:27:50<7:26:30, 1.66s/it] 46%|████▋ | 13901/30000 [6:27:51<7:26:24, 1.66s/it] 46%|████▋ | 13902/30000 [6:27:53<7:25:54, 1.66s/it] 46%|████▋ | 13903/30000 [6:27:55<7:26:25, 1.66s/it] 46%|████▋ | 13904/30000 [6:27:56<7:26:11, 1.66s/it] 46%|████▋ | 13905/30000 [6:27:58<7:26:12, 1.66s/it] 46%|████▋ | 13906/30000 [6:28:00<7:26:24, 1.66s/it] 46%|████▋ | 13907/30000 [6:28:01<7:26:16, 1.66s/it] 46%|████▋ | 13908/30000 [6:28:03<7:26:56, 1.67s/it] 46%|████▋ | 13909/30000 [6:28:05<7:26:43, 1.67s/it] 46%|████▋ | 13910/30000 [6:28:06<7:26:36, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.13193753361701965, 'learning_rate': 1.802318716463359e-05, 'flow_matching_loss': 0.020868766494095324, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.05} + 46%|████▋ | 13910/30000 [6:28:06<7:26:36, 1.67s/it] 46%|████▋ | 13911/30000 [6:28:08<7:27:02, 1.67s/it] 46%|████▋ | 13912/30000 [6:28:10<7:27:01, 1.67s/it] 46%|████▋ | 13913/30000 [6:28:11<7:26:14, 1.66s/it] 46%|████▋ | 13914/30000 [6:28:13<7:26:38, 1.67s/it] 46%|████▋ | 13915/30000 [6:28:14<7:25:36, 1.66s/it] 46%|████▋ | 13916/30000 [6:28:16<7:25:50, 1.66s/it] 46%|████▋ | 13917/30000 [6:28:18<7:25:55, 1.66s/it] 46%|████▋ | 13918/30000 [6:28:19<7:25:34, 1.66s/it] 46%|████▋ | 13919/30000 [6:28:21<7:25:53, 1.66s/it] 46%|████▋ | 13920/30000 [6:28:23<7:26:06, 1.66s/it] {'loss': 0.0183, 'grad_norm': 0.10911724716424942, 'learning_rate': 1.8006989940075138e-05, 'flow_matching_loss': 0.0183133265003562, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.05} + 46%|████▋ | 13920/30000 [6:28:23<7:26:06, 1.66s/it] 46%|████▋ | 13921/30000 [6:28:24<7:25:35, 1.66s/it] 46%|████▋ | 13922/30000 [6:28:26<7:25:41, 1.66s/it] 46%|████▋ | 13923/30000 [6:28:28<7:25:59, 1.66s/it] 46%|████▋ | 13924/30000 [6:28:29<7:26:17, 1.67s/it] 46%|████▋ | 13925/30000 [6:28:31<7:26:18, 1.67s/it] 46%|████▋ | 13926/30000 [6:28:33<7:25:51, 1.66s/it] 46%|████▋ | 13927/30000 [6:28:34<7:25:43, 1.66s/it] 46%|████▋ | 13928/30000 [6:28:36<7:25:26, 1.66s/it] 46%|████▋ | 13929/30000 [6:28:38<7:25:42, 1.66s/it] 46%|████▋ | 13930/30000 [6:28:39<7:25:40, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.09227818995714188, 'learning_rate': 1.7990789061740368e-05, 'flow_matching_loss': 0.017959640361368656, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.05} + 46%|████▋ | 13930/30000 [6:28:40<7:25:40, 1.66s/it] 46%|████▋ | 13931/30000 [6:28:41<7:25:52, 1.66s/it] 46%|████▋ | 13932/30000 [6:28:43<7:26:18, 1.67s/it] 46%|████▋ | 13933/30000 [6:28:44<7:26:14, 1.67s/it] 46%|████▋ | 13934/30000 [6:28:46<7:26:51, 1.67s/it] 46%|████▋ | 13935/30000 [6:28:48<7:26:35, 1.67s/it] 46%|████▋ | 13936/30000 [6:28:49<7:25:51, 1.67s/it] 46%|████▋ | 13937/30000 [6:28:51<7:25:35, 1.66s/it] 46%|████▋ | 13938/30000 [6:28:53<7:25:30, 1.66s/it] 46%|████▋ | 13939/30000 [6:28:54<7:25:29, 1.66s/it] 46%|████▋ | 13940/30000 [6:28:56<7:26:13, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.14184090495109558, 'learning_rate': 1.7974584549314875e-05, 'flow_matching_loss': 0.01825808100402355, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.06} + 46%|████▋ | 13940/30000 [6:28:56<7:26:13, 1.67s/it] 46%|████▋ | 13941/30000 [6:28:58<7:25:59, 1.67s/it] 46%|████▋ | 13942/30000 [6:28:59<7:26:03, 1.67s/it] 46%|████▋ | 13943/30000 [6:29:01<7:26:55, 1.67s/it] 46%|████▋ | 13944/30000 [6:29:03<7:25:47, 1.67s/it] 46%|████▋ | 13945/30000 [6:29:04<7:25:55, 1.67s/it] 46%|████▋ | 13946/30000 [6:29:06<7:25:41, 1.67s/it] 46%|████▋ | 13947/30000 [6:29:08<7:25:46, 1.67s/it] 46%|████▋ | 13948/30000 [6:29:09<7:26:08, 1.67s/it] 46%|████▋ | 13949/30000 [6:29:11<7:25:54, 1.67s/it] 46%|████▋ | 13950/30000 [6:29:13<7:25:35, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.10453875362873077, 'learning_rate': 1.7958376422488672e-05, 'flow_matching_loss': 0.020326076541095972, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.06} + 46%|████▋ | 13950/30000 [6:29:13<7:25:35, 1.67s/it] 47%|████▋ | 13951/30000 [6:29:14<7:25:32, 1.67s/it] 47%|████▋ | 13952/30000 [6:29:16<7:25:36, 1.67s/it] 47%|████▋ | 13953/30000 [6:29:18<7:27:13, 1.67s/it] 47%|████▋ | 13954/30000 [6:29:19<7:26:08, 1.67s/it] 47%|████▋ | 13955/30000 [6:29:21<7:26:10, 1.67s/it] 47%|████▋ | 13956/30000 [6:29:23<7:26:26, 1.67s/it] 47%|████▋ | 13957/30000 [6:29:24<7:26:11, 1.67s/it] 47%|████▋ | 13958/30000 [6:29:26<7:25:48, 1.67s/it] 47%|████▋ | 13959/30000 [6:29:28<7:25:11, 1.67s/it] 47%|████▋ | 13960/30000 [6:29:29<7:25:00, 1.66s/it] {'loss': 0.0212, 'grad_norm': 0.14466921985149384, 'learning_rate': 1.7942164700956156e-05, 'flow_matching_loss': 0.021228504739701747, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.06} + 47%|████▋ | 13960/30000 [6:29:30<7:25:00, 1.66s/it] 47%|████▋ | 13961/30000 [6:29:31<7:25:16, 1.67s/it] 47%|████▋ | 13962/30000 [6:29:33<7:25:12, 1.67s/it] 47%|████▋ | 13963/30000 [6:29:34<7:25:03, 1.67s/it] 47%|████▋ | 13964/30000 [6:29:36<7:25:30, 1.67s/it] 47%|████▋ | 13965/30000 [6:29:38<7:25:32, 1.67s/it] 47%|████▋ | 13966/30000 [6:29:39<7:25:08, 1.67s/it] 47%|████▋ | 13967/30000 [6:29:41<7:25:08, 1.67s/it] 47%|████▋ | 13968/30000 [6:29:43<7:24:00, 1.66s/it] 47%|████▋ | 13969/30000 [6:29:44<7:24:16, 1.66s/it] 47%|████▋ | 13970/30000 [6:29:46<7:24:11, 1.66s/it] {'loss': 0.0222, 'grad_norm': 0.14905060827732086, 'learning_rate': 1.79259494044161e-05, 'flow_matching_loss': 0.022191435657441617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.06} + 47%|████▋ | 13970/30000 [6:29:46<7:24:11, 1.66s/it] 47%|████▋ | 13971/30000 [6:29:48<7:24:31, 1.66s/it] 47%|████▋ | 13972/30000 [6:29:49<7:24:53, 1.67s/it] 47%|████▋ | 13973/30000 [6:29:51<7:25:03, 1.67s/it] 47%|████▋ | 13974/30000 [6:29:53<7:24:51, 1.67s/it] 47%|████▋ | 13975/30000 [6:29:54<7:25:24, 1.67s/it] 47%|████▋ | 13976/30000 [6:29:56<7:25:12, 1.67s/it] 47%|████▋ | 13977/30000 [6:29:58<7:24:41, 1.67s/it] 47%|████▋ | 13978/30000 [6:29:59<7:24:59, 1.67s/it] 47%|████▋ | 13979/30000 [6:30:01<7:25:14, 1.67s/it] 47%|████▋ | 13980/30000 [6:30:03<7:25:00, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.08305107802152634, 'learning_rate': 1.7909730552571617e-05, 'flow_matching_loss': 0.019023471884429453, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.07} + 47%|████▋ | 13980/30000 [6:30:03<7:25:00, 1.67s/it] 47%|████▋ | 13981/30000 [6:30:04<7:24:57, 1.67s/it] 47%|████▋ | 13982/30000 [6:30:06<7:25:26, 1.67s/it] 47%|████▋ | 13983/30000 [6:30:08<7:26:18, 1.67s/it] 47%|████▋ | 13984/30000 [6:30:09<7:25:37, 1.67s/it] 47%|████▋ | 13985/30000 [6:30:11<7:25:50, 1.67s/it] 47%|████▋ | 13986/30000 [6:30:13<7:25:41, 1.67s/it] 47%|████▋ | 13987/30000 [6:30:14<7:25:25, 1.67s/it] 47%|████▋ | 13988/30000 [6:30:16<7:24:33, 1.67s/it] 47%|████▋ | 13989/30000 [6:30:18<7:24:43, 1.67s/it] 47%|████▋ | 13990/30000 [6:30:19<7:24:49, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.1253931224346161, 'learning_rate': 1.7893508165130143e-05, 'flow_matching_loss': 0.020231195259839296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.07} + 47%|████▋ | 13990/30000 [6:30:20<7:24:49, 1.67s/it] 47%|████▋ | 13991/30000 [6:30:21<7:24:44, 1.67s/it] 47%|████▋ | 13992/30000 [6:30:23<7:24:45, 1.67s/it] 47%|████▋ | 13993/30000 [6:30:24<7:24:03, 1.66s/it] 47%|████▋ | 13994/30000 [6:30:26<7:24:06, 1.66s/it] 47%|████▋ | 13995/30000 [6:30:28<7:23:48, 1.66s/it] 47%|████▋ | 13996/30000 [6:30:29<7:23:59, 1.66s/it] 47%|████▋ | 13997/30000 [6:30:31<7:24:07, 1.67s/it] 47%|████▋ | 13998/30000 [6:30:33<7:24:06, 1.67s/it] 47%|████▋ | 13999/30000 [6:30:34<7:23:52, 1.66s/it] 47%|████▋ | 14000/30000 [6:30:36<7:24:16, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.12010859698057175, 'learning_rate': 1.787728226180341e-05, 'flow_matching_loss': 0.018611075170338155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.07} + 47%|████▋ | 14000/30000 [6:30:36<7:24:16, 1.67s/it] 47%|████▋ | 14001/30000 [6:30:38<7:23:52, 1.66s/it] 47%|████▋ | 14002/30000 [6:30:39<7:24:12, 1.67s/it] 47%|████▋ | 14003/30000 [6:30:41<7:25:21, 1.67s/it] 47%|████▋ | 14004/30000 [6:30:43<7:26:11, 1.67s/it] 47%|████▋ | 14005/30000 [6:30:44<7:24:43, 1.67s/it] 47%|████▋ | 14006/30000 [6:30:46<7:25:02, 1.67s/it] 47%|████▋ | 14007/30000 [6:30:48<7:24:44, 1.67s/it] 47%|████▋ | 14008/30000 [6:30:49<7:23:37, 1.66s/it] 47%|████▋ | 14009/30000 [6:30:51<7:23:25, 1.66s/it] 47%|████▋ | 14010/30000 [6:30:53<7:22:59, 1.66s/it] {'loss': 0.0209, 'grad_norm': 0.18930144608020782, 'learning_rate': 1.786105286230742e-05, 'flow_matching_loss': 0.020883858483284713, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.08} + 47%|████▋ | 14010/30000 [6:30:53<7:22:59, 1.66s/it] 47%|████▋ | 14011/30000 [6:30:54<7:23:45, 1.67s/it] 47%|████▋ | 14012/30000 [6:30:56<7:24:40, 1.67s/it] 47%|████▋ | 14013/30000 [6:30:58<7:25:08, 1.67s/it] 47%|████▋ | 14014/30000 [6:30:59<7:24:42, 1.67s/it] 47%|████▋ | 14015/30000 [6:31:01<7:24:33, 1.67s/it] 47%|████▋ | 14016/30000 [6:31:03<7:24:45, 1.67s/it] 47%|████▋ | 14017/30000 [6:31:04<7:25:01, 1.67s/it] 47%|████▋ | 14018/30000 [6:31:06<7:24:44, 1.67s/it] 47%|████▋ | 14019/30000 [6:31:08<7:24:18, 1.67s/it] 47%|████▋ | 14020/30000 [6:31:09<7:24:48, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.09379701316356659, 'learning_rate': 1.784481998636242e-05, 'flow_matching_loss': 0.02070547975599766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.08} + 47%|████▋ | 14020/30000 [6:31:10<7:24:48, 1.67s/it] 47%|████▋ | 14021/30000 [6:31:11<7:24:30, 1.67s/it] 47%|████▋ | 14022/30000 [6:31:13<7:24:03, 1.67s/it] 47%|████▋ | 14023/30000 [6:31:14<7:23:35, 1.67s/it] 47%|████▋ | 14024/30000 [6:31:16<7:23:17, 1.66s/it] 47%|████▋ | 14025/30000 [6:31:18<7:23:45, 1.67s/it] 47%|████▋ | 14026/30000 [6:31:19<7:24:07, 1.67s/it] 47%|████▋ | 14027/30000 [6:31:21<7:24:37, 1.67s/it] 47%|████▋ | 14028/30000 [6:31:23<7:24:34, 1.67s/it] 47%|████▋ | 14029/30000 [6:31:24<7:24:18, 1.67s/it] 47%|████▋ | 14030/30000 [6:31:26<7:24:23, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.06939641386270523, 'learning_rate': 1.782858365369289e-05, 'flow_matching_loss': 0.01864098832011223, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.08} + 47%|████▋ | 14030/30000 [6:31:26<7:24:23, 1.67s/it] 47%|████▋ | 14031/30000 [6:31:28<7:24:09, 1.67s/it] 47%|████▋ | 14032/30000 [6:31:30<7:23:42, 1.67s/it] 47%|████▋ | 14033/30000 [6:31:31<7:23:23, 1.67s/it] 47%|████▋ | 14034/30000 [6:31:33<7:23:46, 1.67s/it] 47%|████▋ | 14035/30000 [6:31:35<7:23:32, 1.67s/it] 47%|████▋ | 14036/30000 [6:31:36<7:23:39, 1.67s/it] 47%|████▋ | 14037/30000 [6:31:38<7:22:54, 1.66s/it] 47%|████▋ | 14038/30000 [6:31:39<7:23:22, 1.67s/it] 47%|████▋ | 14039/30000 [6:31:41<7:23:35, 1.67s/it] 47%|████▋ | 14040/30000 [6:31:43<7:23:07, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10558170080184937, 'learning_rate': 1.78123438840275e-05, 'flow_matching_loss': 0.01827629217877984, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.08} + 47%|████▋ | 14040/30000 [6:31:43<7:23:07, 1.67s/it] 47%|████▋ | 14041/30000 [6:31:44<7:23:19, 1.67s/it] 47%|████▋ | 14042/30000 [6:31:46<7:23:22, 1.67s/it] 47%|████▋ | 14043/30000 [6:31:48<7:23:22, 1.67s/it] 47%|████▋ | 14044/30000 [6:31:50<7:24:00, 1.67s/it] 47%|████▋ | 14045/30000 [6:31:51<7:23:38, 1.67s/it] 47%|████▋ | 14046/30000 [6:31:53<7:23:36, 1.67s/it] 47%|████▋ | 14047/30000 [6:31:55<7:23:43, 1.67s/it] 47%|████▋ | 14048/30000 [6:31:56<7:24:02, 1.67s/it] 47%|████▋ | 14049/30000 [6:31:58<7:24:00, 1.67s/it] 47%|████▋ | 14050/30000 [6:32:00<7:23:41, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.1330702155828476, 'learning_rate': 1.779610069709911e-05, 'flow_matching_loss': 0.02276688041165471, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.09} + 47%|████▋ | 14050/30000 [6:32:00<7:23:41, 1.67s/it] 47%|████▋ | 14051/30000 [6:32:01<7:23:14, 1.67s/it] 47%|████▋ | 14052/30000 [6:32:03<7:23:52, 1.67s/it] 47%|████▋ | 14053/30000 [6:32:05<7:24:10, 1.67s/it] 47%|████▋ | 14054/30000 [6:32:06<7:23:45, 1.67s/it] 47%|████▋ | 14055/30000 [6:32:08<7:23:57, 1.67s/it] 47%|████▋ | 14056/30000 [6:32:10<7:22:43, 1.67s/it] 47%|████▋ | 14057/30000 [6:32:11<7:23:25, 1.67s/it] 47%|████▋ | 14058/30000 [6:32:13<7:22:51, 1.67s/it] 47%|████▋ | 14059/30000 [6:32:15<7:23:00, 1.67s/it] 47%|████▋ | 14060/30000 [6:32:16<7:23:27, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.11693006008863449, 'learning_rate': 1.7779854112644713e-05, 'flow_matching_loss': 0.020580233819782735, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.09} + 47%|████▋ | 14060/30000 [6:32:16<7:23:27, 1.67s/it] 47%|████▋ | 14061/30000 [6:32:18<7:23:06, 1.67s/it] 47%|████▋ | 14062/30000 [6:32:20<7:24:27, 1.67s/it] 47%|████▋ | 14063/30000 [6:32:21<7:24:14, 1.67s/it] 47%|████▋ | 14064/30000 [6:32:23<7:23:25, 1.67s/it] 47%|████▋ | 14065/30000 [6:32:25<7:22:56, 1.67s/it] 47%|████▋ | 14066/30000 [6:32:26<7:22:40, 1.67s/it] 47%|████▋ | 14067/30000 [6:32:28<7:21:53, 1.66s/it] 47%|████▋ | 14068/30000 [6:32:30<7:22:06, 1.66s/it] 47%|████▋ | 14069/30000 [6:32:31<7:21:59, 1.66s/it] 47%|████▋ | 14070/30000 [6:32:33<7:22:50, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.11104723811149597, 'learning_rate': 1.7763604150405446e-05, 'flow_matching_loss': 0.017572107817977668, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.09} + 47%|████▋ | 14070/30000 [6:32:33<7:22:50, 1.67s/it] 47%|████▋ | 14071/30000 [6:32:35<7:23:14, 1.67s/it] 47%|████▋ | 14072/30000 [6:32:36<7:23:12, 1.67s/it] 47%|████▋ | 14073/30000 [6:32:38<7:23:41, 1.67s/it] 47%|████▋ | 14074/30000 [6:32:40<7:23:51, 1.67s/it] 47%|████▋ | 14075/30000 [6:32:41<7:23:47, 1.67s/it] 47%|████▋ | 14076/30000 [6:32:43<7:23:37, 1.67s/it] 47%|████▋ | 14077/30000 [6:32:45<7:24:13, 1.67s/it] 47%|████▋ | 14078/30000 [6:32:46<7:22:57, 1.67s/it] 47%|████▋ | 14079/30000 [6:32:48<7:22:32, 1.67s/it] 47%|████▋ | 14080/30000 [6:32:50<7:22:40, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.1532103419303894, 'learning_rate': 1.7747350830126548e-05, 'flow_matching_loss': 0.018490838445723058, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.1} + 47%|████▋ | 14080/30000 [6:32:50<7:22:40, 1.67s/it] 47%|████▋ | 14081/30000 [6:32:51<7:23:00, 1.67s/it] 47%|████▋ | 14082/30000 [6:32:53<7:22:23, 1.67s/it] 47%|████▋ | 14083/30000 [6:32:55<7:22:09, 1.67s/it] 47%|████▋ | 14084/30000 [6:32:56<7:21:45, 1.67s/it] 47%|████▋ | 14085/30000 [6:32:58<7:22:14, 1.67s/it] 47%|████▋ | 14086/30000 [6:33:00<7:21:24, 1.66s/it] 47%|████▋ | 14087/30000 [6:33:01<7:22:14, 1.67s/it] 47%|████▋ | 14088/30000 [6:33:03<7:22:12, 1.67s/it] 47%|████▋ | 14089/30000 [6:33:05<7:22:31, 1.67s/it] 47%|████▋ | 14090/30000 [6:33:06<7:22:35, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.11992716789245605, 'learning_rate': 1.7731094171557332e-05, 'flow_matching_loss': 0.01990735186263919, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.1} + 47%|████▋ | 14090/30000 [6:33:06<7:22:35, 1.67s/it] 47%|████▋ | 14091/30000 [6:33:08<7:22:08, 1.67s/it] 47%|████▋ | 14092/30000 [6:33:10<7:23:19, 1.67s/it] 47%|████▋ | 14093/30000 [6:33:11<7:23:06, 1.67s/it] 47%|████▋ | 14094/30000 [6:33:13<7:23:07, 1.67s/it] 47%|████▋ | 14095/30000 [6:33:15<7:22:38, 1.67s/it] 47%|████▋ | 14096/30000 [6:33:16<7:23:25, 1.67s/it] 47%|████▋ | 14097/30000 [6:33:18<7:22:41, 1.67s/it] 47%|████▋ | 14098/30000 [6:33:20<7:21:37, 1.67s/it] 47%|████▋ | 14099/30000 [6:33:21<7:21:37, 1.67s/it] 47%|████▋ | 14100/30000 [6:33:23<7:22:09, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.09759169071912766, 'learning_rate': 1.771483419445117e-05, 'flow_matching_loss': 0.019032954424619674, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.1} + 47%|████▋ | 14100/30000 [6:33:23<7:22:09, 1.67s/it] 47%|████▋ | 14101/30000 [6:33:25<7:21:49, 1.67s/it] 47%|████▋ | 14102/30000 [6:33:26<7:21:45, 1.67s/it] 47%|████▋ | 14103/30000 [6:33:28<7:21:42, 1.67s/it] 47%|████▋ | 14104/30000 [6:33:30<7:21:15, 1.67s/it] 47%|████▋ | 14105/30000 [6:33:31<7:21:43, 1.67s/it] 47%|████▋ | 14106/30000 [6:33:33<7:21:04, 1.67s/it] 47%|████▋ | 14107/30000 [6:33:35<7:21:30, 1.67s/it] 47%|████▋ | 14108/30000 [6:33:36<7:21:41, 1.67s/it] 47%|████▋ | 14109/30000 [6:33:38<7:22:24, 1.67s/it] 47%|████▋ | 14110/30000 [6:33:40<7:21:22, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.14425380527973175, 'learning_rate': 1.7698570918565474e-05, 'flow_matching_loss': 0.018888183310627936, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.11} + 47%|████▋ | 14110/30000 [6:33:40<7:21:22, 1.67s/it] 47%|████▋ | 14111/30000 [6:33:41<7:21:43, 1.67s/it] 47%|████▋ | 14112/30000 [6:33:43<7:21:31, 1.67s/it] 47%|████▋ | 14113/30000 [6:33:45<7:21:26, 1.67s/it] 47%|████▋ | 14114/30000 [6:33:46<7:21:17, 1.67s/it] 47%|████▋ | 14115/30000 [6:33:48<7:21:10, 1.67s/it] 47%|████▋ | 14116/30000 [6:33:50<7:21:40, 1.67s/it] 47%|████▋ | 14117/30000 [6:33:51<7:22:02, 1.67s/it] 47%|████▋ | 14118/30000 [6:33:53<7:21:51, 1.67s/it] 47%|████▋ | 14119/30000 [6:33:55<7:21:15, 1.67s/it] 47%|████▋ | 14120/30000 [6:33:56<7:21:10, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.12104359269142151, 'learning_rate': 1.768230436366165e-05, 'flow_matching_loss': 0.022048380132764576, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.11} + 47%|████▋ | 14120/30000 [6:33:56<7:21:10, 1.67s/it] 47%|████▋ | 14121/30000 [6:33:58<7:20:56, 1.67s/it] 47%|████▋ | 14122/30000 [6:34:00<7:20:34, 1.66s/it] 47%|████▋ | 14123/30000 [6:34:01<7:20:21, 1.66s/it] 47%|████▋ | 14124/30000 [6:34:03<7:20:33, 1.66s/it] 47%|████▋ | 14125/30000 [6:34:05<7:20:18, 1.66s/it] 47%|████▋ | 14126/30000 [6:34:06<7:19:40, 1.66s/it] 47%|████▋ | 14127/30000 [6:34:08<7:20:07, 1.66s/it] 47%|████▋ | 14128/30000 [6:34:10<7:19:57, 1.66s/it] 47%|████▋ | 14129/30000 [6:34:11<7:20:22, 1.66s/it] 47%|████▋ | 14130/30000 [6:34:13<7:20:15, 1.66s/it] {'loss': 0.0206, 'grad_norm': 0.12736189365386963, 'learning_rate': 1.7666034549505102e-05, 'flow_matching_loss': 0.020551721472293137, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.11} + 47%|████▋ | 14130/30000 [6:34:13<7:20:15, 1.66s/it] 47%|████▋ | 14131/30000 [6:34:15<7:20:21, 1.66s/it] 47%|████▋ | 14132/30000 [6:34:16<7:21:16, 1.67s/it] 47%|████▋ | 14133/30000 [6:34:18<7:21:30, 1.67s/it] 47%|████▋ | 14134/30000 [6:34:20<7:21:44, 1.67s/it] 47%|████▋ | 14135/30000 [6:34:21<7:21:44, 1.67s/it] 47%|████▋ | 14136/30000 [6:34:23<7:21:19, 1.67s/it] 47%|████▋ | 14137/30000 [6:34:25<7:22:06, 1.67s/it] 47%|████▋ | 14138/30000 [6:34:26<7:20:52, 1.67s/it] 47%|████▋ | 14139/30000 [6:34:28<7:20:46, 1.67s/it] 47%|████▋ | 14140/30000 [6:34:30<7:19:52, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.12434027343988419, 'learning_rate': 1.7649761495865185e-05, 'flow_matching_loss': 0.01841840660199523, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.11} + 47%|████▋ | 14140/30000 [6:34:30<7:19:52, 1.66s/it] 47%|████▋ | 14141/30000 [6:34:31<7:19:20, 1.66s/it] 47%|████▋ | 14142/30000 [6:34:33<7:20:04, 1.67s/it] 47%|████▋ | 14143/30000 [6:34:35<7:20:11, 1.67s/it] 47%|████▋ | 14144/30000 [6:34:36<7:20:15, 1.67s/it] 47%|████▋ | 14145/30000 [6:34:38<7:20:30, 1.67s/it] 47%|████▋ | 14146/30000 [6:34:40<7:19:50, 1.66s/it] 47%|████▋ | 14147/30000 [6:34:41<7:20:14, 1.67s/it] 47%|████▋ | 14148/30000 [6:34:43<7:21:00, 1.67s/it] 47%|████▋ | 14149/30000 [6:34:45<7:20:58, 1.67s/it] 47%|████▋ | 14150/30000 [6:34:46<7:20:35, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1643652319908142, 'learning_rate': 1.7633485222515188e-05, 'flow_matching_loss': 0.01794687518849969, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.12} + 47%|████▋ | 14150/30000 [6:34:46<7:20:35, 1.67s/it] 47%|████▋ | 14151/30000 [6:34:48<7:20:00, 1.67s/it] 47%|████▋ | 14152/30000 [6:34:50<7:20:21, 1.67s/it] 47%|████▋ | 14153/30000 [6:34:51<7:20:40, 1.67s/it] 47%|████▋ | 14154/30000 [6:34:53<7:19:38, 1.66s/it] 47%|████▋ | 14155/30000 [6:34:55<7:20:06, 1.67s/it] 47%|████▋ | 14156/30000 [6:34:56<7:21:00, 1.67s/it] 47%|████▋ | 14157/30000 [6:34:58<7:20:55, 1.67s/it] 47%|████▋ | 14158/30000 [6:35:00<7:19:57, 1.67s/it] 47%|████▋ | 14159/30000 [6:35:01<7:19:43, 1.67s/it] 47%|████▋ | 14160/30000 [6:35:03<7:19:58, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.12758640944957733, 'learning_rate': 1.761720574923233e-05, 'flow_matching_loss': 0.020203281193971634, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.12} + 47%|████▋ | 14160/30000 [6:35:03<7:19:58, 1.67s/it] 47%|████▋ | 14161/30000 [6:35:05<7:20:11, 1.67s/it] 47%|████▋ | 14162/30000 [6:35:06<7:20:17, 1.67s/it] 47%|████▋ | 14163/30000 [6:35:08<7:20:00, 1.67s/it] 47%|████▋ | 14164/30000 [6:35:10<7:20:10, 1.67s/it] 47%|████▋ | 14165/30000 [6:35:11<7:20:07, 1.67s/it] 47%|████▋ | 14166/30000 [6:35:13<7:19:34, 1.67s/it] 47%|████▋ | 14167/30000 [6:35:15<7:19:52, 1.67s/it] 47%|████▋ | 14168/30000 [6:35:16<7:19:30, 1.67s/it] 47%|████▋ | 14169/30000 [6:35:18<7:19:30, 1.67s/it] 47%|████▋ | 14170/30000 [6:35:20<7:19:10, 1.66s/it] {'loss': 0.0201, 'grad_norm': 0.1158154159784317, 'learning_rate': 1.7600923095797704e-05, 'flow_matching_loss': 0.020101754646748304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.12} + 47%|████▋ | 14170/30000 [6:35:20<7:19:10, 1.66s/it] 47%|████▋ | 14171/30000 [6:35:21<7:19:16, 1.67s/it] 47%|████▋ | 14172/30000 [6:35:23<7:20:53, 1.67s/it] 47%|████▋ | 14173/30000 [6:35:25<7:19:59, 1.67s/it] 47%|████▋ | 14174/30000 [6:35:26<7:19:57, 1.67s/it] 47%|████▋ | 14175/30000 [6:35:28<7:19:53, 1.67s/it] 47%|████▋ | 14176/30000 [6:35:30<7:19:15, 1.67s/it] 47%|████▋ | 14177/30000 [6:35:31<7:19:22, 1.67s/it] 47%|████▋ | 14178/30000 [6:35:33<7:19:53, 1.67s/it] 47%|████▋ | 14179/30000 [6:35:35<7:19:36, 1.67s/it] 47%|████▋ | 14180/30000 [6:35:36<7:20:11, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.12245282530784607, 'learning_rate': 1.758463728199626e-05, 'flow_matching_loss': 0.01985327824950218, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.13} + 47%|████▋ | 14180/30000 [6:35:36<7:20:11, 1.67s/it] 47%|████▋ | 14181/30000 [6:35:38<7:20:18, 1.67s/it] 47%|████▋ | 14182/30000 [6:35:40<7:19:55, 1.67s/it] 47%|████▋ | 14183/30000 [6:35:41<7:19:56, 1.67s/it] 47%|████▋ | 14184/30000 [6:35:43<7:19:15, 1.67s/it] 47%|████▋ | 14185/30000 [6:35:45<7:18:48, 1.66s/it] 47%|████▋ | 14186/30000 [6:35:46<7:18:12, 1.66s/it] 47%|████▋ | 14187/30000 [6:35:48<7:18:05, 1.66s/it] 47%|████▋ | 14188/30000 [6:35:50<7:18:37, 1.66s/it] 47%|████▋ | 14189/30000 [6:35:51<7:19:14, 1.67s/it] 47%|████▋ | 14190/30000 [6:35:53<7:20:01, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.13179020583629608, 'learning_rate': 1.7568348327616803e-05, 'flow_matching_loss': 0.020905517134815456, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.13} + 47%|████▋ | 14190/30000 [6:35:53<7:20:01, 1.67s/it] 47%|████▋ | 14191/30000 [6:35:55<7:19:36, 1.67s/it] 47%|████▋ | 14192/30000 [6:35:56<7:19:07, 1.67s/it] 47%|████▋ | 14193/30000 [6:35:58<7:19:36, 1.67s/it] 47%|████▋ | 14194/30000 [6:36:00<7:18:29, 1.66s/it] 47%|████▋ | 14195/30000 [6:36:01<7:18:32, 1.66s/it] 47%|████▋ | 14196/30000 [6:36:03<7:18:00, 1.66s/it] 47%|████▋ | 14197/30000 [6:36:05<7:18:42, 1.67s/it] 47%|████▋ | 14198/30000 [6:36:06<7:19:50, 1.67s/it] 47%|████▋ | 14199/30000 [6:36:08<7:19:45, 1.67s/it] 47%|████▋ | 14200/30000 [6:36:10<7:19:27, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.1240730881690979, 'learning_rate': 1.755205625245195e-05, 'flow_matching_loss': 0.02029506107792258, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.13} + 47%|████▋ | 14200/30000 [6:36:10<7:19:27, 1.67s/it] 47%|████▋ | 14201/30000 [6:36:11<7:19:36, 1.67s/it] 47%|████▋ | 14202/30000 [6:36:13<7:19:32, 1.67s/it] 47%|████▋ | 14203/30000 [6:36:15<7:19:11, 1.67s/it] 47%|████▋ | 14204/30000 [6:36:16<7:19:42, 1.67s/it] 47%|████▋ | 14205/30000 [6:36:18<7:19:24, 1.67s/it] 47%|████▋ | 14206/30000 [6:36:20<7:21:02, 1.68s/it] 47%|████▋ | 14207/30000 [6:36:21<7:20:20, 1.67s/it] 47%|████▋ | 14208/30000 [6:36:23<7:19:22, 1.67s/it] 47%|████▋ | 14209/30000 [6:36:25<7:19:19, 1.67s/it] 47%|████▋ | 14210/30000 [6:36:26<7:18:44, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.14142927527427673, 'learning_rate': 1.7535761076298104e-05, 'flow_matching_loss': 0.0208943041972816, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.13} + 47%|████▋ | 14210/30000 [6:36:26<7:18:44, 1.67s/it] 47%|████▋ | 14211/30000 [6:36:28<7:18:41, 1.67s/it] 47%|████▋ | 14212/30000 [6:36:30<7:19:20, 1.67s/it] 47%|████▋ | 14213/30000 [6:36:31<7:20:02, 1.67s/it] 47%|████▋ | 14214/30000 [6:36:33<7:20:27, 1.67s/it] 47%|████▋ | 14215/30000 [6:36:35<7:20:23, 1.67s/it] 47%|████▋ | 14216/30000 [6:36:36<7:18:23, 1.67s/it] 47%|████▋ | 14217/30000 [6:36:38<7:18:38, 1.67s/it] 47%|████▋ | 14218/30000 [6:36:40<7:17:29, 1.66s/it] 47%|████▋ | 14219/30000 [6:36:41<7:18:00, 1.67s/it] 47%|████▋ | 14220/30000 [6:36:43<7:18:53, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.10621211677789688, 'learning_rate': 1.7519462818955448e-05, 'flow_matching_loss': 0.02077333992347121, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.14} + 47%|████▋ | 14220/30000 [6:36:43<7:18:53, 1.67s/it] 47%|████▋ | 14221/30000 [6:36:45<7:19:44, 1.67s/it] 47%|████▋ | 14222/30000 [6:36:46<7:19:08, 1.67s/it] 47%|████▋ | 14223/30000 [6:36:48<7:19:02, 1.67s/it] 47%|████▋ | 14224/30000 [6:36:50<7:18:56, 1.67s/it] 47%|████▋ | 14225/30000 [6:36:51<7:18:07, 1.67s/it] 47%|████▋ | 14226/30000 [6:36:53<7:17:02, 1.66s/it] 47%|████▋ | 14227/30000 [6:36:55<7:17:30, 1.66s/it] 47%|████▋ | 14228/30000 [6:36:56<7:18:23, 1.67s/it] 47%|████▋ | 14229/30000 [6:36:58<7:17:59, 1.67s/it] 47%|████▋ | 14230/30000 [6:37:00<7:18:06, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.21362429857254028, 'learning_rate': 1.7503161500227896e-05, 'flow_matching_loss': 0.02075540302321315, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.14} + 47%|████▋ | 14230/30000 [6:37:00<7:18:06, 1.67s/it] 47%|████▋ | 14231/30000 [6:37:01<7:18:24, 1.67s/it] 47%|████▋ | 14232/30000 [6:37:03<7:18:24, 1.67s/it] 47%|████▋ | 14233/30000 [6:37:05<7:18:34, 1.67s/it] 47%|████▋ | 14234/30000 [6:37:06<7:18:59, 1.67s/it] 47%|████▋ | 14235/30000 [6:37:08<7:18:24, 1.67s/it] 47%|████▋ | 14236/30000 [6:37:10<7:18:47, 1.67s/it] 47%|████▋ | 14237/30000 [6:37:11<7:17:52, 1.67s/it] 47%|████▋ | 14238/30000 [6:37:13<7:17:50, 1.67s/it] 47%|████▋ | 14239/30000 [6:37:15<7:17:51, 1.67s/it] 47%|████▋ | 14240/30000 [6:37:16<7:17:54, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.15419210493564606, 'learning_rate': 1.7486857139923093e-05, 'flow_matching_loss': 0.019433711003512145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.14} + 47%|████▋ | 14240/30000 [6:37:16<7:17:54, 1.67s/it] 47%|████▋ | 14241/30000 [6:37:18<7:18:08, 1.67s/it] 47%|████▋ | 14242/30000 [6:37:20<7:17:42, 1.67s/it] 47%|████▋ | 14243/30000 [6:37:21<7:17:29, 1.67s/it] 47%|████▋ | 14244/30000 [6:37:23<7:17:55, 1.67s/it] 47%|████▋ | 14245/30000 [6:37:25<7:17:56, 1.67s/it] 47%|████▋ | 14246/30000 [6:37:26<7:17:53, 1.67s/it] 47%|████▋ | 14247/30000 [6:37:28<7:17:55, 1.67s/it] 47%|████▋ | 14248/30000 [6:37:30<7:17:40, 1.67s/it] 47%|████▋ | 14249/30000 [6:37:31<7:17:40, 1.67s/it] 48%|████▊ | 14250/30000 [6:37:33<7:17:22, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.13500595092773438, 'learning_rate': 1.747054975785236e-05, 'flow_matching_loss': 0.021948171220719813, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.15} + 48%|████▊ | 14250/30000 [6:37:33<7:17:22, 1.67s/it] 48%|████▊ | 14251/30000 [6:37:35<7:17:34, 1.67s/it] 48%|████▊ | 14252/30000 [6:37:36<7:17:54, 1.67s/it] 48%|████▊ | 14253/30000 [6:37:38<7:17:54, 1.67s/it] 48%|████▊ | 14254/30000 [6:37:40<7:18:09, 1.67s/it] 48%|████▊ | 14255/30000 [6:37:41<7:19:17, 1.67s/it] 48%|████▊ | 14256/30000 [6:37:43<7:17:48, 1.67s/it] 48%|████▊ | 14257/30000 [6:37:45<7:17:07, 1.67s/it] 48%|████▊ | 14258/30000 [6:37:46<7:17:22, 1.67s/it] 48%|████▊ | 14259/30000 [6:37:48<7:16:49, 1.67s/it] 48%|████▊ | 14260/30000 [6:37:50<7:16:57, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.10761480033397675, 'learning_rate': 1.745423937383072e-05, 'flow_matching_loss': 0.01973323095589876, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.15} + 48%|████▊ | 14260/30000 [6:37:50<7:16:57, 1.67s/it] 48%|████▊ | 14261/30000 [6:37:51<7:17:10, 1.67s/it] 48%|████▊ | 14262/30000 [6:37:53<7:18:09, 1.67s/it] 48%|████▊ | 14263/30000 [6:37:55<7:17:55, 1.67s/it] 48%|████▊ | 14264/30000 [6:37:56<7:17:29, 1.67s/it] 48%|████▊ | 14265/30000 [6:37:58<7:16:45, 1.67s/it] 48%|████▊ | 14266/30000 [6:38:00<7:17:20, 1.67s/it] 48%|████▊ | 14267/30000 [6:38:01<7:16:49, 1.67s/it] 48%|████▊ | 14268/30000 [6:38:03<7:17:19, 1.67s/it] 48%|████▊ | 14269/30000 [6:38:05<7:17:21, 1.67s/it] 48%|████▊ | 14270/30000 [6:38:06<7:17:14, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.12958398461341858, 'learning_rate': 1.7437926007676825e-05, 'flow_matching_loss': 0.02045565387234092, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.15} + 48%|████▊ | 14270/30000 [6:38:06<7:17:14, 1.67s/it] 48%|████▊ | 14271/30000 [6:38:08<7:18:22, 1.67s/it] 48%|████▊ | 14272/30000 [6:38:10<7:18:05, 1.67s/it] 48%|████▊ | 14273/30000 [6:38:11<7:17:41, 1.67s/it] 48%|████▊ | 14274/30000 [6:38:13<7:17:12, 1.67s/it] 48%|████▊ | 14275/30000 [6:38:15<7:16:47, 1.67s/it] 48%|████▊ | 14276/30000 [6:38:16<7:17:08, 1.67s/it] 48%|████▊ | 14277/30000 [6:38:18<7:16:18, 1.66s/it] 48%|████▊ | 14278/30000 [6:38:20<7:16:21, 1.67s/it] 48%|████▊ | 14279/30000 [6:38:21<7:16:31, 1.67s/it] 48%|████▊ | 14280/30000 [6:38:23<7:16:25, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.10412083566188812, 'learning_rate': 1.742160967921294e-05, 'flow_matching_loss': 0.01942260582000017, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.15} + 48%|████▊ | 14280/30000 [6:38:23<7:16:25, 1.67s/it] 48%|████▊ | 14281/30000 [6:38:25<7:16:36, 1.67s/it] 48%|████▊ | 14282/30000 [6:38:26<7:16:06, 1.66s/it] 48%|████▊ | 14283/30000 [6:38:28<7:16:24, 1.67s/it] 48%|████▊ | 14284/30000 [6:38:30<7:16:32, 1.67s/it] 48%|████▊ | 14285/30000 [6:38:31<7:16:46, 1.67s/it] 48%|████▊ | 14286/30000 [6:38:33<7:16:15, 1.67s/it] 48%|████▊ | 14287/30000 [6:38:35<7:16:07, 1.67s/it] 48%|████▊ | 14288/30000 [6:38:36<7:15:57, 1.66s/it] 48%|████▊ | 14289/30000 [6:38:38<7:16:28, 1.67s/it] 48%|████▊ | 14290/30000 [6:38:40<7:16:19, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.10164085775613785, 'learning_rate': 1.7405290408264954e-05, 'flow_matching_loss': 0.018809238448739052, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.16} + 48%|████▊ | 14290/30000 [6:38:40<7:16:19, 1.67s/it] 48%|████▊ | 14291/30000 [6:38:41<7:16:29, 1.67s/it] 48%|████▊ | 14292/30000 [6:38:43<7:16:24, 1.67s/it] 48%|████▊ | 14293/30000 [6:38:45<7:16:15, 1.67s/it] 48%|████▊ | 14294/30000 [6:38:46<7:16:30, 1.67s/it] 48%|████▊ | 14295/30000 [6:38:48<7:16:07, 1.67s/it] 48%|████▊ | 14296/30000 [6:38:50<7:15:55, 1.67s/it] 48%|████▊ | 14297/30000 [6:38:51<7:16:58, 1.67s/it] 48%|████▊ | 14298/30000 [6:38:53<7:16:34, 1.67s/it] 48%|████▊ | 14299/30000 [6:38:55<7:16:30, 1.67s/it] 48%|████▊ | 14300/30000 [6:38:56<7:16:50, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.11110914498567581, 'learning_rate': 1.738896821466232e-05, 'flow_matching_loss': 0.020582412648946048, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.16} + 48%|████▊ | 14300/30000 [6:38:56<7:16:50, 1.67s/it] 48%|████▊ | 14301/30000 [6:38:58<7:16:39, 1.67s/it] 48%|████▊ | 14302/30000 [6:39:00<7:16:06, 1.67s/it] 48%|████▊ | 14303/30000 [6:39:01<7:16:36, 1.67s/it] 48%|████▊ | 14304/30000 [6:39:03<7:16:05, 1.67s/it] 48%|████▊ | 14305/30000 [6:39:05<7:15:40, 1.67s/it] 48%|████▊ | 14306/30000 [6:39:06<7:16:45, 1.67s/it] 48%|████▊ | 14307/30000 [6:39:08<7:16:36, 1.67s/it] 48%|████▊ | 14308/30000 [6:39:10<7:16:42, 1.67s/it] 48%|████▊ | 14309/30000 [6:39:11<7:17:12, 1.67s/it] 48%|████▊ | 14310/30000 [6:39:13<7:15:53, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.11174759268760681, 'learning_rate': 1.737264311823804e-05, 'flow_matching_loss': 0.022221883572638036, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.16} + 48%|████▊ | 14310/30000 [6:39:13<7:15:53, 1.67s/it] 48%|████▊ | 14311/30000 [6:39:15<7:16:11, 1.67s/it] 48%|████▊ | 14312/30000 [6:39:16<7:15:47, 1.67s/it] 48%|████▊ | 14313/30000 [6:39:18<7:15:53, 1.67s/it] 48%|████▊ | 14314/30000 [6:39:20<7:15:30, 1.67s/it] 48%|████▊ | 14315/30000 [6:39:21<7:14:49, 1.66s/it] 48%|████▊ | 14316/30000 [6:39:23<7:15:37, 1.67s/it] 48%|████▊ | 14317/30000 [6:39:25<7:15:57, 1.67s/it] 48%|████▊ | 14318/30000 [6:39:26<7:15:43, 1.67s/it] 48%|████▊ | 14319/30000 [6:39:28<7:16:03, 1.67s/it] 48%|████▊ | 14320/30000 [6:39:30<7:16:02, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.15313538908958435, 'learning_rate': 1.7356315138828645e-05, 'flow_matching_loss': 0.019947171770036222, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.17} + 48%|████▊ | 14320/30000 [6:39:30<7:16:02, 1.67s/it] 48%|████▊ | 14321/30000 [6:39:31<7:15:52, 1.67s/it] 48%|████▊ | 14322/30000 [6:39:33<7:16:01, 1.67s/it] 48%|████▊ | 14323/30000 [6:39:35<7:17:00, 1.67s/it] 48%|████▊ | 14324/30000 [6:39:36<7:16:48, 1.67s/it] 48%|████▊ | 14325/30000 [6:39:38<7:16:41, 1.67s/it] 48%|████▊ | 14326/30000 [6:39:40<7:15:17, 1.67s/it] 48%|████▊ | 14327/30000 [6:39:41<7:15:36, 1.67s/it] 48%|████▊ | 14328/30000 [6:39:43<7:15:38, 1.67s/it] 48%|████▊ | 14329/30000 [6:39:45<7:14:43, 1.66s/it] 48%|████▊ | 14330/30000 [6:39:46<7:14:58, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.10556618124246597, 'learning_rate': 1.7339984296274174e-05, 'flow_matching_loss': 0.018235839437693357, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.17} + 48%|████▊ | 14330/30000 [6:39:47<7:14:58, 1.67s/it] 48%|████▊ | 14331/30000 [6:39:48<7:15:04, 1.67s/it] 48%|████▊ | 14332/30000 [6:39:50<7:15:12, 1.67s/it] 48%|████▊ | 14333/30000 [6:39:51<7:14:34, 1.66s/it] 48%|████▊ | 14334/30000 [6:39:53<7:14:17, 1.66s/it] 48%|████▊ | 14335/30000 [6:39:55<7:14:15, 1.66s/it] 48%|████▊ | 14336/30000 [6:39:56<7:14:10, 1.66s/it] 48%|████▊ | 14337/30000 [6:39:58<7:14:58, 1.67s/it] 48%|████▊ | 14338/30000 [6:40:00<7:13:50, 1.66s/it] 48%|████▊ | 14339/30000 [6:40:01<7:14:02, 1.66s/it] 48%|████▊ | 14340/30000 [6:40:03<7:14:32, 1.66s/it] {'loss': 0.0227, 'grad_norm': 0.10084523260593414, 'learning_rate': 1.7323650610418134e-05, 'flow_matching_loss': 0.022651953715831043, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.17} + 48%|████▊ | 14340/30000 [6:40:03<7:14:32, 1.66s/it] 48%|████▊ | 14341/30000 [6:40:05<7:14:45, 1.67s/it] 48%|████▊ | 14342/30000 [6:40:06<7:15:03, 1.67s/it] 48%|████▊ | 14343/30000 [6:40:08<7:15:21, 1.67s/it] 48%|████▊ | 14344/30000 [6:40:10<7:15:39, 1.67s/it] 48%|████▊ | 14345/30000 [6:40:11<7:15:34, 1.67s/it] 48%|████▊ | 14346/30000 [6:40:13<7:14:48, 1.67s/it] 48%|████▊ | 14347/30000 [6:40:15<7:14:49, 1.67s/it] 48%|████▊ | 14348/30000 [6:40:16<7:14:58, 1.67s/it] 48%|████▊ | 14349/30000 [6:40:18<7:14:53, 1.67s/it] 48%|████▊ | 14350/30000 [6:40:20<7:14:35, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.12442228943109512, 'learning_rate': 1.730731410110749e-05, 'flow_matching_loss': 0.018685258366167544, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.18} + 48%|████▊ | 14350/30000 [6:40:20<7:14:35, 1.67s/it] 48%|████▊ | 14351/30000 [6:40:21<7:16:05, 1.67s/it] 48%|████▊ | 14352/30000 [6:40:23<7:15:25, 1.67s/it] 48%|████▊ | 14353/30000 [6:40:25<7:15:31, 1.67s/it] 48%|████▊ | 14354/30000 [6:40:26<7:15:32, 1.67s/it] 48%|████▊ | 14355/30000 [6:40:28<7:14:39, 1.67s/it] 48%|████▊ | 14356/30000 [6:40:30<7:15:28, 1.67s/it] 48%|████▊ | 14357/30000 [6:40:31<7:15:16, 1.67s/it] 48%|████▊ | 14358/30000 [6:40:33<7:15:05, 1.67s/it] 48%|████▊ | 14359/30000 [6:40:35<7:15:30, 1.67s/it] 48%|████▊ | 14360/30000 [6:40:36<7:15:04, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.08769815415143967, 'learning_rate': 1.7290974788192655e-05, 'flow_matching_loss': 0.020449405815452338, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.18} + 48%|████▊ | 14360/30000 [6:40:37<7:15:04, 1.67s/it] 48%|████▊ | 14361/30000 [6:40:38<7:14:59, 1.67s/it] 48%|████▊ | 14362/30000 [6:40:40<7:14:49, 1.67s/it] 48%|████▊ | 14363/30000 [6:40:41<7:14:34, 1.67s/it] 48%|████▊ | 14364/30000 [6:40:43<7:14:57, 1.67s/it] 48%|████▊ | 14365/30000 [6:40:45<7:14:54, 1.67s/it] 48%|████▊ | 14366/30000 [6:40:47<7:14:40, 1.67s/it] 48%|████▊ | 14367/30000 [6:40:48<7:14:39, 1.67s/it] 48%|████▊ | 14368/30000 [6:40:50<7:14:57, 1.67s/it] 48%|████▊ | 14369/30000 [6:40:52<7:14:10, 1.67s/it] 48%|████▊ | 14370/30000 [6:40:53<7:14:05, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.08791452646255493, 'learning_rate': 1.727463269152743e-05, 'flow_matching_loss': 0.019407407473772766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.18} + 48%|████▊ | 14370/30000 [6:40:53<7:14:05, 1.67s/it] 48%|████▊ | 14371/30000 [6:40:55<7:14:13, 1.67s/it] 48%|████▊ | 14372/30000 [6:40:57<7:14:19, 1.67s/it] 48%|████▊ | 14373/30000 [6:40:58<7:14:34, 1.67s/it] 48%|████▊ | 14374/30000 [6:41:00<7:15:12, 1.67s/it] 48%|████▊ | 14375/30000 [6:41:02<7:15:17, 1.67s/it] 48%|████▊ | 14376/30000 [6:41:03<7:14:24, 1.67s/it] 48%|████▊ | 14377/30000 [6:41:05<7:14:29, 1.67s/it] 48%|████▊ | 14378/30000 [6:41:07<7:14:08, 1.67s/it] 48%|████▊ | 14379/30000 [6:41:08<7:14:31, 1.67s/it] 48%|████▊ | 14380/30000 [6:41:10<7:15:29, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.11459657549858093, 'learning_rate': 1.7258287830968996e-05, 'flow_matching_loss': 0.019465830363333225, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.18} + 48%|████▊ | 14380/30000 [6:41:10<7:15:29, 1.67s/it] 48%|████▊ | 14381/30000 [6:41:12<7:15:04, 1.67s/it] 48%|████▊ | 14382/30000 [6:41:13<7:14:31, 1.67s/it] 48%|████▊ | 14383/30000 [6:41:15<7:14:30, 1.67s/it] 48%|████▊ | 14384/30000 [6:41:17<7:14:01, 1.67s/it] 48%|████▊ | 14385/30000 [6:41:18<7:13:47, 1.67s/it] 48%|████▊ | 14386/30000 [6:41:20<7:13:42, 1.67s/it] 48%|████▊ | 14387/30000 [6:41:22<7:13:54, 1.67s/it] 48%|████▊ | 14388/30000 [6:41:23<7:14:05, 1.67s/it] 48%|████▊ | 14389/30000 [6:41:25<7:13:12, 1.67s/it] 48%|████▊ | 14390/30000 [6:41:27<7:13:10, 1.67s/it] {'loss': 0.0219, 'grad_norm': 0.15151448547840118, 'learning_rate': 1.7241940226377908e-05, 'flow_matching_loss': 0.021879305690526964, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.19} + 48%|████▊ | 14390/30000 [6:41:27<7:13:10, 1.67s/it] 48%|████▊ | 14391/30000 [6:41:28<7:13:50, 1.67s/it] 48%|████▊ | 14392/30000 [6:41:30<7:14:44, 1.67s/it] 48%|████▊ | 14393/30000 [6:41:32<7:14:03, 1.67s/it] 48%|████▊ | 14394/30000 [6:41:33<7:14:21, 1.67s/it] 48%|████▊ | 14395/30000 [6:41:35<7:14:51, 1.67s/it] 48%|████▊ | 14396/30000 [6:41:37<7:14:52, 1.67s/it] 48%|████▊ | 14397/30000 [6:41:38<7:14:47, 1.67s/it] 48%|████▊ | 14398/30000 [6:41:40<7:14:29, 1.67s/it] 48%|████▊ | 14399/30000 [6:41:42<7:14:48, 1.67s/it] 48%|████▊ | 14400/30000 [6:41:43<7:14:31, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.12511207163333893, 'learning_rate': 1.7225589897618043e-05, 'flow_matching_loss': 0.018779607955366373, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.19} + 48%|████▊ | 14400/30000 [6:41:43<7:14:31, 1.67s/it] 48%|████▊ | 14401/30000 [6:41:45<7:14:37, 1.67s/it] 48%|████▊ | 14402/30000 [6:41:47<7:14:05, 1.67s/it] 48%|████▊ | 14403/30000 [6:41:48<7:13:39, 1.67s/it] 48%|████▊ | 14404/30000 [6:41:50<7:13:57, 1.67s/it] 48%|████▊ | 14405/30000 [6:41:52<7:13:46, 1.67s/it] 48%|████▊ | 14406/30000 [6:41:53<7:12:51, 1.67s/it] 48%|████▊ | 14407/30000 [6:41:55<7:12:51, 1.67s/it] 48%|████▊ | 14408/30000 [6:41:57<7:12:29, 1.66s/it] 48%|████▊ | 14409/30000 [6:41:58<7:12:59, 1.67s/it] 48%|████▊ | 14410/30000 [6:42:00<7:13:03, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.10567961633205414, 'learning_rate': 1.7209236864556588e-05, 'flow_matching_loss': 0.01879072403535247, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.19} + 48%|████▊ | 14410/30000 [6:42:00<7:13:03, 1.67s/it] 48%|████▊ | 14411/30000 [6:42:02<7:13:29, 1.67s/it] 48%|████▊ | 14412/30000 [6:42:03<7:13:28, 1.67s/it] 48%|████▊ | 14413/30000 [6:42:05<7:12:50, 1.67s/it] 48%|████▊ | 14414/30000 [6:42:07<7:12:26, 1.66s/it] 48%|████▊ | 14415/30000 [6:42:08<7:12:33, 1.67s/it] 48%|████▊ | 14416/30000 [6:42:10<7:12:56, 1.67s/it] 48%|████▊ | 14417/30000 [6:42:12<7:12:27, 1.67s/it] 48%|████▊ | 14418/30000 [6:42:13<7:12:50, 1.67s/it] 48%|████▊ | 14419/30000 [6:42:15<7:12:34, 1.67s/it] 48%|████▊ | 14420/30000 [6:42:17<7:12:12, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.08689285069704056, 'learning_rate': 1.719288114706403e-05, 'flow_matching_loss': 0.017123273201286794, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.2} + 48%|████▊ | 14420/30000 [6:42:17<7:12:12, 1.66s/it] 48%|████▊ | 14421/30000 [6:42:18<7:12:32, 1.67s/it] 48%|████▊ | 14422/30000 [6:42:20<7:12:23, 1.67s/it] 48%|████▊ | 14423/30000 [6:42:22<7:12:54, 1.67s/it] 48%|████▊ | 14424/30000 [6:42:23<7:13:03, 1.67s/it] 48%|████▊ | 14425/30000 [6:42:25<7:12:43, 1.67s/it] 48%|████▊ | 14426/30000 [6:42:27<7:12:38, 1.67s/it] 48%|████▊ | 14427/30000 [6:42:28<7:12:44, 1.67s/it] 48%|████▊ | 14428/30000 [6:42:30<7:12:57, 1.67s/it] 48%|████▊ | 14429/30000 [6:42:32<7:12:36, 1.67s/it] 48%|████▊ | 14430/30000 [6:42:33<7:13:05, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.14077763259410858, 'learning_rate': 1.7176522765014104e-05, 'flow_matching_loss': 0.019865837786346673, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.2} + 48%|████▊ | 14430/30000 [6:42:33<7:13:05, 1.67s/it] 48%|████▊ | 14431/30000 [6:42:35<7:12:42, 1.67s/it] 48%|████▊ | 14432/30000 [6:42:37<7:12:15, 1.67s/it] 48%|████▊ | 14433/30000 [6:42:38<7:12:21, 1.67s/it] 48%|████▊ | 14434/30000 [6:42:40<7:12:30, 1.67s/it] 48%|████▊ | 14435/30000 [6:42:42<7:12:38, 1.67s/it] 48%|████▊ | 14436/30000 [6:42:43<7:13:14, 1.67s/it] 48%|████▊ | 14437/30000 [6:42:45<7:12:59, 1.67s/it] 48%|████▊ | 14438/30000 [6:42:47<7:12:55, 1.67s/it] 48%|████▊ | 14439/30000 [6:42:48<7:13:20, 1.67s/it] 48%|████▊ | 14440/30000 [6:42:50<7:12:51, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.12968862056732178, 'learning_rate': 1.7160161738283782e-05, 'flow_matching_loss': 0.020570583269000055, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.2} + 48%|████▊ | 14440/30000 [6:42:50<7:12:51, 1.67s/it] 48%|████▊ | 14441/30000 [6:42:52<7:12:43, 1.67s/it] 48%|████▊ | 14442/30000 [6:42:53<7:12:21, 1.67s/it] 48%|████▊ | 14443/30000 [6:42:55<7:12:32, 1.67s/it] 48%|████▊ | 14444/30000 [6:42:57<7:12:30, 1.67s/it] 48%|████▊ | 14445/30000 [6:42:58<7:12:25, 1.67s/it] 48%|████▊ | 14446/30000 [6:43:00<7:12:30, 1.67s/it] 48%|████▊ | 14447/30000 [6:43:02<7:12:36, 1.67s/it] 48%|████▊ | 14448/30000 [6:43:03<7:12:05, 1.67s/it] 48%|████▊ | 14449/30000 [6:43:05<7:11:45, 1.67s/it] 48%|████▊ | 14450/30000 [6:43:07<7:11:24, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.13469259440898895, 'learning_rate': 1.714379808675326e-05, 'flow_matching_loss': 0.01776579935103655, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.2} + 48%|████▊ | 14450/30000 [6:43:07<7:11:24, 1.66s/it] 48%|████▊ | 14451/30000 [6:43:08<7:11:33, 1.67s/it] 48%|████▊ | 14452/30000 [6:43:10<7:12:06, 1.67s/it] 48%|████▊ | 14453/30000 [6:43:12<7:12:00, 1.67s/it] 48%|████▊ | 14454/30000 [6:43:13<7:11:46, 1.67s/it] 48%|████▊ | 14455/30000 [6:43:15<7:11:43, 1.67s/it] 48%|████▊ | 14456/30000 [6:43:17<7:11:59, 1.67s/it] 48%|████▊ | 14457/30000 [6:43:18<7:11:30, 1.67s/it] 48%|████▊ | 14458/30000 [6:43:20<7:11:06, 1.66s/it] 48%|████▊ | 14459/30000 [6:43:22<7:11:32, 1.67s/it] 48%|████▊ | 14460/30000 [6:43:23<7:11:42, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.10915934294462204, 'learning_rate': 1.712743183030592e-05, 'flow_matching_loss': 0.01874446952715516, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.21} + 48%|████▊ | 14460/30000 [6:43:23<7:11:42, 1.67s/it] 48%|████▊ | 14461/30000 [6:43:25<7:12:11, 1.67s/it] 48%|████▊ | 14462/30000 [6:43:27<7:11:53, 1.67s/it] 48%|████▊ | 14463/30000 [6:43:28<7:11:42, 1.67s/it] 48%|████▊ | 14464/30000 [6:43:30<7:11:48, 1.67s/it] 48%|████▊ | 14465/30000 [6:43:32<7:12:15, 1.67s/it] 48%|████▊ | 14466/30000 [6:43:33<7:12:30, 1.67s/it] 48%|████▊ | 14467/30000 [6:43:35<7:11:38, 1.67s/it] 48%|████▊ | 14468/30000 [6:43:37<7:11:53, 1.67s/it] 48%|████▊ | 14469/30000 [6:43:38<7:11:33, 1.67s/it] 48%|████▊ | 14470/30000 [6:43:40<7:11:05, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.1308693140745163, 'learning_rate': 1.7111062988828294e-05, 'flow_matching_loss': 0.019228547252714633, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.21} + 48%|████▊ | 14470/30000 [6:43:40<7:11:05, 1.67s/it] 48%|████▊ | 14471/30000 [6:43:42<7:11:25, 1.67s/it] 48%|████▊ | 14472/30000 [6:43:43<7:11:19, 1.67s/it] 48%|████▊ | 14473/30000 [6:43:45<7:12:12, 1.67s/it] 48%|████▊ | 14474/30000 [6:43:47<7:11:12, 1.67s/it] 48%|████▊ | 14475/30000 [6:43:48<7:11:56, 1.67s/it] 48%|████▊ | 14476/30000 [6:43:50<7:11:46, 1.67s/it] 48%|████▊ | 14477/30000 [6:43:52<7:10:49, 1.67s/it] 48%|████▊ | 14478/30000 [6:43:53<7:11:54, 1.67s/it] 48%|████▊ | 14479/30000 [6:43:55<7:11:52, 1.67s/it] 48%|████▊ | 14480/30000 [6:43:57<7:11:43, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.12043960392475128, 'learning_rate': 1.709469158221008e-05, 'flow_matching_loss': 0.017895169928669928, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.21} + 48%|████▊ | 14480/30000 [6:43:57<7:11:43, 1.67s/it] 48%|████▊ | 14481/30000 [6:43:58<7:11:18, 1.67s/it] 48%|████▊ | 14482/30000 [6:44:00<7:11:16, 1.67s/it] 48%|████▊ | 14483/30000 [6:44:02<7:11:10, 1.67s/it] 48%|████▊ | 14484/30000 [6:44:03<7:11:05, 1.67s/it] 48%|████▊ | 14485/30000 [6:44:05<7:10:55, 1.67s/it] 48%|████▊ | 14486/30000 [6:44:07<7:10:49, 1.67s/it] 48%|████▊ | 14487/30000 [6:44:08<7:10:24, 1.66s/it] 48%|████▊ | 14488/30000 [6:44:10<7:09:40, 1.66s/it] 48%|████▊ | 14489/30000 [6:44:12<7:09:38, 1.66s/it] 48%|████▊ | 14490/30000 [6:44:13<7:11:11, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.12429672479629517, 'learning_rate': 1.7078317630344083e-05, 'flow_matching_loss': 0.020452144648879768, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.22} + 48%|████▊ | 14490/30000 [6:44:13<7:11:11, 1.67s/it] 48%|████▊ | 14491/30000 [6:44:15<7:11:53, 1.67s/it] 48%|████▊ | 14492/30000 [6:44:17<7:12:59, 1.68s/it] 48%|████▊ | 14493/30000 [6:44:18<7:12:01, 1.67s/it] 48%|████▊ | 14494/30000 [6:44:20<7:12:18, 1.67s/it] 48%|████▊ | 14495/30000 [6:44:22<7:11:26, 1.67s/it] 48%|████▊ | 14496/30000 [6:44:23<7:11:17, 1.67s/it] 48%|████▊ | 14497/30000 [6:44:25<7:11:31, 1.67s/it] 48%|████▊ | 14498/30000 [6:44:27<7:11:07, 1.67s/it] 48%|████▊ | 14499/30000 [6:44:28<7:11:03, 1.67s/it] 48%|████▊ | 14500/30000 [6:44:30<7:11:11, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.08837796002626419, 'learning_rate': 1.706194115312618e-05, 'flow_matching_loss': 0.018036463856697084, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.22} + 48%|████▊ | 14500/30000 [6:44:30<7:11:11, 1.67s/it] 48%|████▊ | 14501/30000 [6:44:32<7:11:08, 1.67s/it] 48%|████▊ | 14502/30000 [6:44:33<7:11:05, 1.67s/it] 48%|████▊ | 14503/30000 [6:44:35<7:11:34, 1.67s/it] 48%|████▊ | 14504/30000 [6:44:37<7:12:28, 1.67s/it] 48%|████▊ | 14505/30000 [6:44:38<7:11:35, 1.67s/it] 48%|████▊ | 14506/30000 [6:44:40<7:11:09, 1.67s/it] 48%|████▊ | 14507/30000 [6:44:42<7:10:22, 1.67s/it] 48%|████▊ | 14508/30000 [6:44:43<7:10:05, 1.67s/it] 48%|████▊ | 14509/30000 [6:44:45<7:10:28, 1.67s/it] 48%|████▊ | 14510/30000 [6:44:47<7:09:31, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.11460637301206589, 'learning_rate': 1.704556217045536e-05, 'flow_matching_loss': 0.021715997718274593, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.22} + 48%|████▊ | 14510/30000 [6:44:47<7:09:31, 1.66s/it] 48%|████▊ | 14511/30000 [6:44:48<7:11:05, 1.67s/it] 48%|████▊ | 14512/30000 [6:44:50<7:10:23, 1.67s/it] 48%|████▊ | 14513/30000 [6:44:52<7:10:26, 1.67s/it] 48%|████▊ | 14514/30000 [6:44:53<7:10:01, 1.67s/it] 48%|████▊ | 14515/30000 [6:44:55<7:10:00, 1.67s/it] 48%|████▊ | 14516/30000 [6:44:57<7:10:22, 1.67s/it] 48%|████▊ | 14517/30000 [6:44:58<7:10:15, 1.67s/it] 48%|████▊ | 14518/30000 [6:45:00<7:09:52, 1.67s/it] 48%|████▊ | 14519/30000 [6:45:02<7:10:13, 1.67s/it] 48%|████▊ | 14520/30000 [6:45:03<7:09:27, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.12180817127227783, 'learning_rate': 1.7029180702233612e-05, 'flow_matching_loss': 0.019597562588751317, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.22} + 48%|████▊ | 14520/30000 [6:45:03<7:09:27, 1.66s/it] 48%|████▊ | 14521/30000 [6:45:05<7:09:10, 1.66s/it] 48%|████▊ | 14522/30000 [6:45:07<7:09:02, 1.66s/it] 48%|████▊ | 14523/30000 [6:45:08<7:09:42, 1.67s/it] 48%|████▊ | 14524/30000 [6:45:10<7:10:13, 1.67s/it] 48%|████▊ | 14525/30000 [6:45:12<7:09:28, 1.67s/it] 48%|████▊ | 14526/30000 [6:45:13<7:09:40, 1.67s/it] 48%|████▊ | 14527/30000 [6:45:15<7:09:46, 1.67s/it] 48%|████▊ | 14528/30000 [6:45:17<7:09:27, 1.67s/it] 48%|████▊ | 14529/30000 [6:45:18<7:10:27, 1.67s/it] 48%|████▊ | 14530/30000 [6:45:20<7:10:16, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.12117078900337219, 'learning_rate': 1.7012796768365975e-05, 'flow_matching_loss': 0.01960275638848543, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.23} + 48%|████▊ | 14530/30000 [6:45:20<7:10:16, 1.67s/it] 48%|████▊ | 14531/30000 [6:45:22<7:10:12, 1.67s/it] 48%|████▊ | 14532/30000 [6:45:23<7:10:13, 1.67s/it] 48%|████▊ | 14533/30000 [6:45:25<7:09:49, 1.67s/it] 48%|████▊ | 14534/30000 [6:45:27<7:09:30, 1.67s/it] 48%|████▊ | 14535/30000 [6:45:28<7:10:29, 1.67s/it] 48%|████▊ | 14536/30000 [6:45:30<7:09:09, 1.67s/it] 48%|████▊ | 14537/30000 [6:45:32<7:09:08, 1.67s/it] 48%|████▊ | 14538/30000 [6:45:33<7:09:07, 1.67s/it] 48%|████▊ | 14539/30000 [6:45:35<7:08:58, 1.66s/it] 48%|████▊ | 14540/30000 [6:45:37<7:10:06, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.14023207128047943, 'learning_rate': 1.6996410388760465e-05, 'flow_matching_loss': 0.018099900055676698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.23} + 48%|████▊ | 14540/30000 [6:45:37<7:10:06, 1.67s/it] 48%|████▊ | 14541/30000 [6:45:38<7:10:13, 1.67s/it] 48%|████▊ | 14542/30000 [6:45:40<7:09:13, 1.67s/it] 48%|████▊ | 14543/30000 [6:45:42<7:09:28, 1.67s/it] 48%|████▊ | 14544/30000 [6:45:43<7:09:16, 1.67s/it] 48%|████▊ | 14545/30000 [6:45:45<7:09:52, 1.67s/it] 48%|████▊ | 14546/30000 [6:45:47<7:09:22, 1.67s/it] 48%|████▊ | 14547/30000 [6:45:48<7:09:18, 1.67s/it] 48%|████▊ | 14548/30000 [6:45:50<7:09:28, 1.67s/it] 48%|████▊ | 14549/30000 [6:45:52<7:09:54, 1.67s/it] 48%|████▊ | 14550/30000 [6:45:53<7:09:03, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.12651671469211578, 'learning_rate': 1.698002158332809e-05, 'flow_matching_loss': 0.02089703530073166, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.23} + 48%|████▊ | 14550/30000 [6:45:53<7:09:03, 1.67s/it] 49%|████▊ | 14551/30000 [6:45:55<7:09:20, 1.67s/it] 49%|████▊ | 14552/30000 [6:45:57<7:09:16, 1.67s/it] 49%|████▊ | 14553/30000 [6:45:58<7:09:47, 1.67s/it] 49%|████▊ | 14554/30000 [6:46:00<7:09:31, 1.67s/it] 49%|████▊ | 14555/30000 [6:46:02<7:09:25, 1.67s/it] 49%|████▊ | 14556/30000 [6:46:03<7:09:32, 1.67s/it] 49%|████▊ | 14557/30000 [6:46:05<7:09:44, 1.67s/it] 49%|████▊ | 14558/30000 [6:46:07<7:09:18, 1.67s/it] 49%|████▊ | 14559/30000 [6:46:08<7:09:17, 1.67s/it] 49%|████▊ | 14560/30000 [6:46:10<7:09:14, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.11176570504903793, 'learning_rate': 1.6963630371982783e-05, 'flow_matching_loss': 0.020487569086253644, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.24} + 49%|████▊ | 14560/30000 [6:46:10<7:09:14, 1.67s/it] 49%|████▊ | 14561/30000 [6:46:12<7:09:24, 1.67s/it] 49%|████▊ | 14562/30000 [6:46:13<7:08:49, 1.67s/it] 49%|████▊ | 14563/30000 [6:46:15<7:08:44, 1.67s/it] 49%|████▊ | 14564/30000 [6:46:17<7:08:50, 1.67s/it] 49%|████▊ | 14565/30000 [6:46:18<7:09:17, 1.67s/it] 49%|████▊ | 14566/30000 [6:46:20<7:09:04, 1.67s/it] 49%|████▊ | 14567/30000 [6:46:22<7:09:41, 1.67s/it] 49%|████▊ | 14568/30000 [6:46:23<7:09:53, 1.67s/it] 49%|████▊ | 14569/30000 [6:46:25<7:09:43, 1.67s/it] 49%|████▊ | 14570/30000 [6:46:27<7:09:10, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.09999033808708191, 'learning_rate': 1.6947236774641416e-05, 'flow_matching_loss': 0.018585540633648635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.24} + 49%|████▊ | 14570/30000 [6:46:27<7:09:10, 1.67s/it] 49%|████▊ | 14571/30000 [6:46:28<7:09:09, 1.67s/it] 49%|████▊ | 14572/30000 [6:46:30<7:09:27, 1.67s/it] 49%|████▊ | 14573/30000 [6:46:32<7:09:22, 1.67s/it] 49%|████▊ | 14574/30000 [6:46:33<7:08:28, 1.67s/it] 49%|████▊ | 14575/30000 [6:46:35<7:08:29, 1.67s/it] 49%|████▊ | 14576/30000 [6:46:37<7:08:19, 1.67s/it] 49%|████▊ | 14577/30000 [6:46:38<7:09:37, 1.67s/it] 49%|████▊ | 14578/30000 [6:46:40<7:08:28, 1.67s/it] 49%|████▊ | 14579/30000 [6:46:42<7:08:19, 1.67s/it] 49%|████▊ | 14580/30000 [6:46:43<7:08:18, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1086740791797638, 'learning_rate': 1.6930840811223755e-05, 'flow_matching_loss': 0.018618663027882575, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.24} + 49%|████▊ | 14580/30000 [6:46:43<7:08:18, 1.67s/it] 49%|████▊ | 14581/30000 [6:46:45<7:08:55, 1.67s/it] 49%|████▊ | 14582/30000 [6:46:47<7:09:03, 1.67s/it] 49%|████▊ | 14583/30000 [6:46:48<7:08:35, 1.67s/it] 49%|████▊ | 14584/30000 [6:46:50<7:08:57, 1.67s/it] 49%|████▊ | 14585/30000 [6:46:52<7:09:01, 1.67s/it] 49%|████▊ | 14586/30000 [6:46:53<7:08:45, 1.67s/it] 49%|████▊ | 14587/30000 [6:46:55<7:08:27, 1.67s/it] 49%|████▊ | 14588/30000 [6:46:57<7:08:46, 1.67s/it] 49%|████▊ | 14589/30000 [6:46:58<7:08:13, 1.67s/it] 49%|████▊ | 14590/30000 [6:47:00<7:07:38, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.1152954250574112, 'learning_rate': 1.6914442501652448e-05, 'flow_matching_loss': 0.020206672698259355, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.24} + 49%|████▊ | 14590/30000 [6:47:00<7:07:38, 1.67s/it] 49%|████▊ | 14591/30000 [6:47:02<7:08:12, 1.67s/it] 49%|████▊ | 14592/30000 [6:47:03<7:07:20, 1.66s/it] 49%|████▊ | 14593/30000 [6:47:05<7:07:37, 1.67s/it] 49%|████▊ | 14594/30000 [6:47:07<7:07:53, 1.67s/it] 49%|████▊ | 14595/30000 [6:47:08<7:08:01, 1.67s/it] 49%|████▊ | 14596/30000 [6:47:10<7:08:48, 1.67s/it] 49%|████▊ | 14597/30000 [6:47:12<7:08:22, 1.67s/it] 49%|████▊ | 14598/30000 [6:47:13<7:07:52, 1.67s/it] 49%|████▊ | 14599/30000 [6:47:15<7:08:48, 1.67s/it] 49%|████▊ | 14600/30000 [6:47:17<7:08:08, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.08582021296024323, 'learning_rate': 1.6898041865852974e-05, 'flow_matching_loss': 0.018323303759098054, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.25} + 49%|████▊ | 14600/30000 [6:47:17<7:08:08, 1.67s/it] 49%|████▊ | 14601/30000 [6:47:18<7:09:01, 1.67s/it] 49%|████▊ | 14602/30000 [6:47:20<7:08:35, 1.67s/it] 49%|████▊ | 14603/30000 [6:47:22<7:08:02, 1.67s/it] 49%|████▊ | 14604/30000 [6:47:23<7:07:59, 1.67s/it] 49%|████▊ | 14605/30000 [6:47:25<7:08:01, 1.67s/it] 49%|████▊ | 14606/30000 [6:47:27<7:07:33, 1.67s/it] 49%|████▊ | 14607/30000 [6:47:28<7:07:37, 1.67s/it] 49%|████▊ | 14608/30000 [6:47:30<7:08:05, 1.67s/it] 49%|████▊ | 14609/30000 [6:47:32<7:08:52, 1.67s/it] 49%|████▊ | 14610/30000 [6:47:33<7:07:50, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.12596526741981506, 'learning_rate': 1.6881638923753663e-05, 'flow_matching_loss': 0.020362950582057237, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.25} + 49%|████▊ | 14610/30000 [6:47:34<7:07:50, 1.67s/it] 49%|████▊ | 14611/30000 [6:47:35<7:08:01, 1.67s/it] 49%|████▊ | 14612/30000 [6:47:37<7:08:03, 1.67s/it] 49%|████▊ | 14613/30000 [6:47:38<7:07:41, 1.67s/it] 49%|████▊ | 14614/30000 [6:47:40<7:07:42, 1.67s/it] 49%|████▊ | 14615/30000 [6:47:42<7:07:37, 1.67s/it] 49%|████▊ | 14616/30000 [6:47:43<7:07:32, 1.67s/it] 49%|████▊ | 14617/30000 [6:47:45<7:07:39, 1.67s/it] 49%|████▊ | 14618/30000 [6:47:47<7:07:20, 1.67s/it] 49%|████▊ | 14619/30000 [6:47:48<7:07:43, 1.67s/it] 49%|████▊ | 14620/30000 [6:47:50<7:06:53, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.10925839841365814, 'learning_rate': 1.6865233695285632e-05, 'flow_matching_loss': 0.018684280198067428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.25} + 49%|████▊ | 14620/30000 [6:47:50<7:06:53, 1.67s/it] 49%|████▊ | 14621/30000 [6:47:52<7:07:25, 1.67s/it] 49%|████▊ | 14622/30000 [6:47:53<7:08:03, 1.67s/it] 49%|████▊ | 14623/30000 [6:47:55<7:08:23, 1.67s/it] 49%|████▊ | 14624/30000 [6:47:57<7:08:19, 1.67s/it] 49%|████▉ | 14625/30000 [6:47:59<7:08:13, 1.67s/it] 49%|████▉ | 14626/30000 [6:48:00<7:07:47, 1.67s/it] 49%|████▉ | 14627/30000 [6:48:02<7:07:18, 1.67s/it] 49%|████▉ | 14628/30000 [6:48:04<7:07:06, 1.67s/it] 49%|████▉ | 14629/30000 [6:48:05<7:07:04, 1.67s/it] 49%|████▉ | 14630/30000 [6:48:07<7:06:58, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.1323956847190857, 'learning_rate': 1.6848826200382782e-05, 'flow_matching_loss': 0.019280778430402278, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.26} + 49%|████▉ | 14630/30000 [6:48:07<7:06:58, 1.67s/it] 49%|████▉ | 14631/30000 [6:48:09<7:06:44, 1.67s/it] 49%|████▉ | 14632/30000 [6:48:10<7:07:03, 1.67s/it] 49%|████▉ | 14633/30000 [6:48:12<7:08:07, 1.67s/it] 49%|████▉ | 14634/30000 [6:48:14<7:07:14, 1.67s/it] 49%|████▉ | 14635/30000 [6:48:15<7:06:53, 1.67s/it] 49%|████▉ | 14636/30000 [6:48:17<7:06:41, 1.67s/it] 49%|████▉ | 14637/30000 [6:48:19<7:06:33, 1.67s/it] 49%|████▉ | 14638/30000 [6:48:20<7:07:34, 1.67s/it] 49%|████▉ | 14639/30000 [6:48:22<7:07:31, 1.67s/it] 49%|████▉ | 14640/30000 [6:48:24<7:08:05, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.11064683645963669, 'learning_rate': 1.6832416458981762e-05, 'flow_matching_loss': 0.01952884830534458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.26} + 49%|████▉ | 14640/30000 [6:48:24<7:08:05, 1.67s/it] 49%|████▉ | 14641/30000 [6:48:25<7:07:17, 1.67s/it] 49%|████▉ | 14642/30000 [6:48:27<7:07:00, 1.67s/it] 49%|████▉ | 14643/30000 [6:48:29<7:06:44, 1.67s/it] 49%|████▉ | 14644/30000 [6:48:30<7:06:38, 1.67s/it] 49%|████▉ | 14645/30000 [6:48:32<7:06:11, 1.67s/it] 49%|████▉ | 14646/30000 [6:48:34<7:06:12, 1.67s/it] 49%|████▉ | 14647/30000 [6:48:35<7:05:32, 1.66s/it] 49%|████▉ | 14648/30000 [6:48:37<7:05:44, 1.66s/it] 49%|████▉ | 14649/30000 [6:48:39<7:06:12, 1.67s/it] 49%|████▉ | 14650/30000 [6:48:40<7:07:06, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.12271317094564438, 'learning_rate': 1.681600449102196e-05, 'flow_matching_loss': 0.017896009236574174, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.26} + 49%|████▉ | 14650/30000 [6:48:40<7:07:06, 1.67s/it] 49%|████▉ | 14651/30000 [6:48:42<7:06:55, 1.67s/it] 49%|████▉ | 14652/30000 [6:48:44<7:07:23, 1.67s/it] 49%|████▉ | 14653/30000 [6:48:45<7:07:20, 1.67s/it] 49%|████▉ | 14654/30000 [6:48:47<7:06:57, 1.67s/it] 49%|████▉ | 14655/30000 [6:48:49<7:07:28, 1.67s/it] 49%|████▉ | 14656/30000 [6:48:50<7:07:52, 1.67s/it] 49%|████▉ | 14657/30000 [6:48:52<7:07:46, 1.67s/it] 49%|████▉ | 14658/30000 [6:48:54<7:07:27, 1.67s/it] 49%|████▉ | 14659/30000 [6:48:55<7:06:15, 1.67s/it] 49%|████▉ | 14660/30000 [6:48:57<7:05:32, 1.66s/it] {'loss': 0.0198, 'grad_norm': 0.11420971155166626, 'learning_rate': 1.6799590316445468e-05, 'flow_matching_loss': 0.019762774091213943, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.27} + 49%|████▉ | 14660/30000 [6:48:57<7:05:32, 1.66s/it] 49%|████▉ | 14661/30000 [6:48:59<7:06:03, 1.67s/it] 49%|████▉ | 14662/30000 [6:49:00<7:05:27, 1.66s/it] 49%|████▉ | 14663/30000 [6:49:02<7:05:47, 1.67s/it] 49%|████▉ | 14664/30000 [6:49:04<7:06:11, 1.67s/it] 49%|████▉ | 14665/30000 [6:49:05<7:06:09, 1.67s/it] 49%|████▉ | 14666/30000 [6:49:07<7:06:07, 1.67s/it] 49%|████▉ | 14667/30000 [6:49:09<7:06:00, 1.67s/it] 49%|████▉ | 14668/30000 [6:49:10<7:06:20, 1.67s/it] 49%|████▉ | 14669/30000 [6:49:12<7:06:36, 1.67s/it] 49%|████▉ | 14670/30000 [6:49:14<7:06:45, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.12034326791763306, 'learning_rate': 1.678317395519705e-05, 'flow_matching_loss': 0.022582262847572566, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.27} + 49%|████▉ | 14670/30000 [6:49:14<7:06:45, 1.67s/it] 49%|████▉ | 14671/30000 [6:49:15<7:07:37, 1.67s/it] 49%|████▉ | 14672/30000 [6:49:17<7:07:19, 1.67s/it] 49%|████▉ | 14673/30000 [6:49:19<7:07:10, 1.67s/it] 49%|████▉ | 14674/30000 [6:49:20<7:06:57, 1.67s/it] 49%|████▉ | 14675/30000 [6:49:22<7:06:10, 1.67s/it] 49%|████▉ | 14676/30000 [6:49:24<7:06:06, 1.67s/it] 49%|████▉ | 14677/30000 [6:49:25<7:05:12, 1.66s/it] 49%|████▉ | 14678/30000 [6:49:27<7:05:23, 1.67s/it] 49%|████▉ | 14679/30000 [6:49:29<7:06:20, 1.67s/it] 49%|████▉ | 14680/30000 [6:49:30<7:05:24, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.10650206357240677, 'learning_rate': 1.676675542722413e-05, 'flow_matching_loss': 0.02019509896636009, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.27} + 49%|████▉ | 14680/30000 [6:49:30<7:05:24, 1.67s/it] 49%|████▉ | 14681/30000 [6:49:32<7:05:42, 1.67s/it] 49%|████▉ | 14682/30000 [6:49:34<7:05:33, 1.67s/it] 49%|████▉ | 14683/30000 [6:49:35<7:05:35, 1.67s/it] 49%|████▉ | 14684/30000 [6:49:37<7:06:50, 1.67s/it] 49%|████▉ | 14685/30000 [6:49:39<7:06:18, 1.67s/it] 49%|████▉ | 14686/30000 [6:49:40<7:05:04, 1.67s/it] 49%|████▉ | 14687/30000 [6:49:42<7:05:04, 1.67s/it] 49%|████▉ | 14688/30000 [6:49:44<7:05:31, 1.67s/it] 49%|████▉ | 14689/30000 [6:49:45<7:05:14, 1.67s/it] 49%|████▉ | 14690/30000 [6:49:47<7:05:14, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.16507256031036377, 'learning_rate': 1.6750334752476776e-05, 'flow_matching_loss': 0.01838636277243495, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.27} + 49%|████▉ | 14690/30000 [6:49:47<7:05:14, 1.67s/it] 49%|████▉ | 14691/30000 [6:49:49<7:05:20, 1.67s/it] 49%|████▉ | 14692/30000 [6:49:50<7:05:18, 1.67s/it] 49%|████▉ | 14693/30000 [6:49:52<7:05:10, 1.67s/it] 49%|████▉ | 14694/30000 [6:49:54<7:05:33, 1.67s/it] 49%|████▉ | 14695/30000 [6:49:55<7:05:43, 1.67s/it] 49%|████▉ | 14696/30000 [6:49:57<7:05:26, 1.67s/it] 49%|████▉ | 14697/30000 [6:49:59<7:05:47, 1.67s/it] 49%|████▉ | 14698/30000 [6:50:00<7:06:00, 1.67s/it] 49%|████▉ | 14699/30000 [6:50:02<7:05:33, 1.67s/it] 49%|████▉ | 14700/30000 [6:50:04<7:05:16, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.10421832650899887, 'learning_rate': 1.673391195090765e-05, 'flow_matching_loss': 0.02124357121065259, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.28} + 49%|████▉ | 14700/30000 [6:50:04<7:05:16, 1.67s/it] 49%|████▉ | 14701/30000 [6:50:05<7:04:45, 1.67s/it] 49%|████▉ | 14702/30000 [6:50:07<7:05:43, 1.67s/it] 49%|████▉ | 14703/30000 [6:50:09<7:06:21, 1.67s/it] 49%|████▉ | 14704/30000 [6:50:10<7:06:30, 1.67s/it] 49%|████▉ | 14705/30000 [6:50:12<7:06:05, 1.67s/it] 49%|████▉ | 14706/30000 [6:50:14<7:05:43, 1.67s/it] 49%|████▉ | 14707/30000 [6:50:15<7:05:32, 1.67s/it] 49%|████▉ | 14708/30000 [6:50:17<7:05:57, 1.67s/it] 49%|████▉ | 14709/30000 [6:50:19<7:05:50, 1.67s/it] 49%|████▉ | 14710/30000 [6:50:20<7:05:25, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.09814345091581345, 'learning_rate': 1.6717487042472006e-05, 'flow_matching_loss': 0.018833647575229408, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.28} + 49%|████▉ | 14710/30000 [6:50:20<7:05:25, 1.67s/it] 49%|████▉ | 14711/30000 [6:50:22<7:05:51, 1.67s/it] 49%|████▉ | 14712/30000 [6:50:24<7:05:40, 1.67s/it] 49%|████▉ | 14713/30000 [6:50:25<7:06:04, 1.67s/it] 49%|████▉ | 14714/30000 [6:50:27<7:05:16, 1.67s/it] 49%|████▉ | 14715/30000 [6:50:29<7:04:59, 1.67s/it] 49%|████▉ | 14716/30000 [6:50:30<7:04:52, 1.67s/it] 49%|████▉ | 14717/30000 [6:50:32<7:04:27, 1.67s/it] 49%|████▉ | 14718/30000 [6:50:34<7:03:39, 1.66s/it] 49%|████▉ | 14719/30000 [6:50:35<7:03:21, 1.66s/it] 49%|████▉ | 14720/30000 [6:50:37<7:04:01, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.1178763136267662, 'learning_rate': 1.6701060047127655e-05, 'flow_matching_loss': 0.019682717975229025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.28} + 49%|████▉ | 14720/30000 [6:50:37<7:04:01, 1.67s/it] 49%|████▉ | 14721/30000 [6:50:39<7:04:16, 1.67s/it] 49%|████▉ | 14722/30000 [6:50:40<7:04:08, 1.67s/it] 49%|████▉ | 14723/30000 [6:50:42<7:03:58, 1.67s/it] 49%|████▉ | 14724/30000 [6:50:44<7:04:09, 1.67s/it] 49%|████▉ | 14725/30000 [6:50:45<7:04:03, 1.67s/it] 49%|████▉ | 14726/30000 [6:50:47<7:03:58, 1.67s/it] 49%|████▉ | 14727/30000 [6:50:49<7:04:06, 1.67s/it] 49%|████▉ | 14728/30000 [6:50:50<7:04:03, 1.67s/it] 49%|████▉ | 14729/30000 [6:50:52<7:04:21, 1.67s/it] 49%|████▉ | 14730/30000 [6:50:54<7:04:12, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.13578163087368011, 'learning_rate': 1.6684630984834947e-05, 'flow_matching_loss': 0.0217635752633214, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.29} + 49%|████▉ | 14730/30000 [6:50:54<7:04:12, 1.67s/it] 49%|████▉ | 14731/30000 [6:50:55<7:04:55, 1.67s/it] 49%|████▉ | 14732/30000 [6:50:57<7:04:44, 1.67s/it] 49%|████▉ | 14733/30000 [6:50:59<7:04:18, 1.67s/it] 49%|████▉ | 14734/30000 [6:51:00<7:03:40, 1.67s/it] 49%|████▉ | 14735/30000 [6:51:02<7:04:07, 1.67s/it] 49%|████▉ | 14736/30000 [6:51:04<7:03:10, 1.66s/it] 49%|████▉ | 14737/30000 [6:51:05<7:04:03, 1.67s/it] 49%|████▉ | 14738/30000 [6:51:07<7:03:56, 1.67s/it] 49%|████▉ | 14739/30000 [6:51:09<7:04:40, 1.67s/it] 49%|████▉ | 14740/30000 [6:51:10<7:04:19, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.09557656198740005, 'learning_rate': 1.666819987555675e-05, 'flow_matching_loss': 0.018739341106265784, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.29} + 49%|████▉ | 14740/30000 [6:51:10<7:04:19, 1.67s/it] 49%|████▉ | 14741/30000 [6:51:12<7:04:22, 1.67s/it] 49%|████▉ | 14742/30000 [6:51:14<7:04:26, 1.67s/it] 49%|████▉ | 14743/30000 [6:51:15<7:04:19, 1.67s/it] 49%|████▉ | 14744/30000 [6:51:17<7:03:43, 1.67s/it] 49%|████▉ | 14745/30000 [6:51:19<7:04:10, 1.67s/it] 49%|████▉ | 14746/30000 [6:51:20<7:04:11, 1.67s/it] 49%|████▉ | 14747/30000 [6:51:22<7:03:57, 1.67s/it] 49%|████▉ | 14748/30000 [6:51:24<7:03:49, 1.67s/it] 49%|████▉ | 14749/30000 [6:51:25<7:03:15, 1.67s/it] 49%|████▉ | 14750/30000 [6:51:27<7:03:01, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.11760080605745316, 'learning_rate': 1.6651766739258392e-05, 'flow_matching_loss': 0.017407598812133072, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.29} + 49%|████▉ | 14750/30000 [6:51:27<7:03:01, 1.66s/it] 49%|████▉ | 14751/30000 [6:51:29<7:03:09, 1.66s/it] 49%|████▉ | 14752/30000 [6:51:30<7:03:06, 1.66s/it] 49%|████▉ | 14753/30000 [6:51:32<7:03:39, 1.67s/it] 49%|████▉ | 14754/30000 [6:51:34<7:03:14, 1.67s/it] 49%|████▉ | 14755/30000 [6:51:35<7:03:19, 1.67s/it] 49%|████▉ | 14756/30000 [6:51:37<7:03:42, 1.67s/it] 49%|████▉ | 14757/30000 [6:51:39<7:03:52, 1.67s/it] 49%|████▉ | 14758/30000 [6:51:40<7:03:07, 1.67s/it] 49%|████▉ | 14759/30000 [6:51:42<7:03:05, 1.67s/it] 49%|████▉ | 14760/30000 [6:51:44<7:02:58, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.1344667226076126, 'learning_rate': 1.6635331595907704e-05, 'flow_matching_loss': 0.02016869345679879, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.29} + 49%|████▉ | 14760/30000 [6:51:44<7:02:58, 1.67s/it] 49%|████▉ | 14761/30000 [6:51:45<7:03:28, 1.67s/it] 49%|████▉ | 14762/30000 [6:51:47<7:03:25, 1.67s/it] 49%|████▉ | 14763/30000 [6:51:49<7:03:03, 1.67s/it] 49%|████▉ | 14764/30000 [6:51:50<7:03:11, 1.67s/it] 49%|████▉ | 14765/30000 [6:51:52<7:03:34, 1.67s/it] 49%|████▉ | 14766/30000 [6:51:54<7:03:41, 1.67s/it] 49%|████▉ | 14767/30000 [6:51:55<7:03:55, 1.67s/it] 49%|████▉ | 14768/30000 [6:51:57<7:03:46, 1.67s/it] 49%|████▉ | 14769/30000 [6:51:59<7:04:01, 1.67s/it] 49%|████▉ | 14770/30000 [6:52:00<7:04:04, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.11096187680959702, 'learning_rate': 1.6618894465474923e-05, 'flow_matching_loss': 0.0188343764282763, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.3} + 49%|████▉ | 14770/30000 [6:52:00<7:04:04, 1.67s/it] 49%|████▉ | 14771/30000 [6:52:02<7:03:35, 1.67s/it] 49%|████▉ | 14772/30000 [6:52:04<7:03:29, 1.67s/it] 49%|████▉ | 14773/30000 [6:52:05<7:03:18, 1.67s/it] 49%|████▉ | 14774/30000 [6:52:07<7:03:48, 1.67s/it] 49%|████▉ | 14775/30000 [6:52:09<7:03:59, 1.67s/it] 49%|████▉ | 14776/30000 [6:52:10<7:03:26, 1.67s/it] 49%|████▉ | 14777/30000 [6:52:12<7:03:30, 1.67s/it] 49%|████▉ | 14778/30000 [6:52:14<7:03:03, 1.67s/it] 49%|████▉ | 14779/30000 [6:52:15<7:02:16, 1.66s/it] 49%|████▉ | 14780/30000 [6:52:17<7:02:15, 1.66s/it] {'loss': 0.0191, 'grad_norm': 0.10055477917194366, 'learning_rate': 1.660245536793271e-05, 'flow_matching_loss': 0.019091371819376944, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.3} + 49%|████▉ | 14780/30000 [6:52:17<7:02:15, 1.66s/it] 49%|████▉ | 14781/30000 [6:52:19<7:02:37, 1.67s/it] 49%|████▉ | 14782/30000 [6:52:20<7:02:40, 1.67s/it] 49%|████▉ | 14783/30000 [6:52:22<7:02:45, 1.67s/it] 49%|████▉ | 14784/30000 [6:52:24<7:02:54, 1.67s/it] 49%|████▉ | 14785/30000 [6:52:25<7:02:51, 1.67s/it] 49%|████▉ | 14786/30000 [6:52:27<7:02:52, 1.67s/it] 49%|████▉ | 14787/30000 [6:52:29<7:02:43, 1.67s/it] 49%|████▉ | 14788/30000 [6:52:30<7:02:48, 1.67s/it] 49%|████▉ | 14789/30000 [6:52:32<7:02:31, 1.67s/it] 49%|████▉ | 14790/30000 [6:52:34<7:02:33, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.10904939472675323, 'learning_rate': 1.6586014323256126e-05, 'flow_matching_loss': 0.01808114815503359, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.3} + 49%|████▉ | 14790/30000 [6:52:34<7:02:33, 1.67s/it] 49%|████▉ | 14791/30000 [6:52:35<7:02:35, 1.67s/it] 49%|████▉ | 14792/30000 [6:52:37<7:02:42, 1.67s/it] 49%|████▉ | 14793/30000 [6:52:39<7:02:41, 1.67s/it] 49%|████▉ | 14794/30000 [6:52:40<7:02:01, 1.67s/it] 49%|████▉ | 14795/30000 [6:52:42<7:02:04, 1.67s/it] 49%|████▉ | 14796/30000 [6:52:44<7:02:55, 1.67s/it] 49%|████▉ | 14797/30000 [6:52:45<7:02:06, 1.67s/it] 49%|████▉ | 14798/30000 [6:52:47<7:01:40, 1.66s/it] 49%|████▉ | 14799/30000 [6:52:49<7:01:52, 1.67s/it] 49%|████▉ | 14800/30000 [6:52:50<7:01:34, 1.66s/it] {'loss': 0.0202, 'grad_norm': 0.11524093896150589, 'learning_rate': 1.656957135142259e-05, 'flow_matching_loss': 0.020174606423825025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.31} + 49%|████▉ | 14800/30000 [6:52:50<7:01:34, 1.66s/it] 49%|████▉ | 14801/30000 [6:52:52<7:01:42, 1.66s/it] 49%|████▉ | 14802/30000 [6:52:54<7:02:07, 1.67s/it] 49%|████▉ | 14803/30000 [6:52:55<7:01:46, 1.67s/it] 49%|████▉ | 14804/30000 [6:52:57<7:02:05, 1.67s/it] 49%|████▉ | 14805/30000 [6:52:59<7:01:55, 1.67s/it] 49%|████▉ | 14806/30000 [6:53:00<7:00:57, 1.66s/it] 49%|████▉ | 14807/30000 [6:53:02<7:01:14, 1.66s/it] 49%|████▉ | 14808/30000 [6:53:04<7:01:34, 1.67s/it] 49%|████▉ | 14809/30000 [6:53:05<7:02:08, 1.67s/it] 49%|████▉ | 14810/30000 [6:53:07<7:01:56, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.11710908263921738, 'learning_rate': 1.655312647241186e-05, 'flow_matching_loss': 0.020387285482138397, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.31} + 49%|████▉ | 14810/30000 [6:53:07<7:01:56, 1.67s/it] 49%|████▉ | 14811/30000 [6:53:09<7:01:56, 1.67s/it] 49%|████▉ | 14812/30000 [6:53:10<7:01:35, 1.67s/it] 49%|████▉ | 14813/30000 [6:53:12<7:01:46, 1.67s/it] 49%|████▉ | 14814/30000 [6:53:14<7:01:43, 1.67s/it] 49%|████▉ | 14815/30000 [6:53:15<7:02:04, 1.67s/it] 49%|████▉ | 14816/30000 [6:53:17<7:01:50, 1.67s/it] 49%|████▉ | 14817/30000 [6:53:19<7:02:30, 1.67s/it] 49%|████▉ | 14818/30000 [6:53:20<7:01:58, 1.67s/it] 49%|████▉ | 14819/30000 [6:53:22<7:01:35, 1.67s/it] 49%|████▉ | 14820/30000 [6:53:24<7:01:43, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.13641899824142456, 'learning_rate': 1.6536679706206015e-05, 'flow_matching_loss': 0.017406542785465717, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.31} + 49%|████▉ | 14820/30000 [6:53:24<7:01:43, 1.67s/it] 49%|████▉ | 14821/30000 [6:53:25<7:01:48, 1.67s/it] 49%|████▉ | 14822/30000 [6:53:27<7:00:46, 1.66s/it] 49%|████▉ | 14823/30000 [6:53:29<7:00:33, 1.66s/it] 49%|████▉ | 14824/30000 [6:53:30<7:00:56, 1.66s/it] 49%|████▉ | 14825/30000 [6:53:32<7:01:11, 1.67s/it] 49%|████▉ | 14826/30000 [6:53:34<7:01:04, 1.66s/it] 49%|████▉ | 14827/30000 [6:53:35<7:00:55, 1.66s/it] 49%|████▉ | 14828/30000 [6:53:37<7:02:05, 1.67s/it] 49%|████▉ | 14829/30000 [6:53:39<7:01:39, 1.67s/it] 49%|████▉ | 14830/30000 [6:53:40<7:00:58, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.10987774282693863, 'learning_rate': 1.6520231072789427e-05, 'flow_matching_loss': 0.02166099939495325, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.31} + 49%|████▉ | 14830/30000 [6:53:40<7:00:58, 1.67s/it] 49%|████▉ | 14831/30000 [6:53:42<7:00:37, 1.66s/it] 49%|████▉ | 14832/30000 [6:53:44<7:00:42, 1.66s/it] 49%|████▉ | 14833/30000 [6:53:45<7:00:56, 1.67s/it] 49%|████▉ | 14834/30000 [6:53:47<7:00:32, 1.66s/it] 49%|████▉ | 14835/30000 [6:53:49<7:00:34, 1.66s/it] 49%|████▉ | 14836/30000 [6:53:50<7:01:28, 1.67s/it] 49%|████▉ | 14837/30000 [6:53:52<7:01:11, 1.67s/it] 49%|████▉ | 14838/30000 [6:53:54<7:00:39, 1.66s/it] 49%|████▉ | 14839/30000 [6:53:55<7:00:50, 1.67s/it] 49%|████▉ | 14840/30000 [6:53:57<7:00:52, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.09752174466848373, 'learning_rate': 1.6503780592148737e-05, 'flow_matching_loss': 0.020560905616730452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.32} + 49%|████▉ | 14840/30000 [6:53:57<7:00:52, 1.67s/it] 49%|████▉ | 14841/30000 [6:53:59<7:00:50, 1.67s/it] 49%|████▉ | 14842/30000 [6:54:00<7:00:49, 1.67s/it] 49%|████▉ | 14843/30000 [6:54:02<7:00:47, 1.67s/it] 49%|████▉ | 14844/30000 [6:54:04<7:00:28, 1.66s/it] 49%|████▉ | 14845/30000 [6:54:05<6:59:58, 1.66s/it] 49%|████▉ | 14846/30000 [6:54:07<7:00:21, 1.66s/it] 49%|████▉ | 14847/30000 [6:54:09<7:01:25, 1.67s/it] 49%|████▉ | 14848/30000 [6:54:10<7:01:05, 1.67s/it] 49%|████▉ | 14849/30000 [6:54:12<7:00:51, 1.67s/it] 50%|████▉ | 14850/30000 [6:54:14<7:00:53, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.09829898178577423, 'learning_rate': 1.648732828427283e-05, 'flow_matching_loss': 0.01772297443822026, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.32} + 50%|████▉ | 14850/30000 [6:54:14<7:00:53, 1.67s/it] 50%|████▉ | 14851/30000 [6:54:15<7:00:33, 1.67s/it] 50%|████▉ | 14852/30000 [6:54:17<7:01:09, 1.67s/it] 50%|████▉ | 14853/30000 [6:54:19<7:01:07, 1.67s/it] 50%|████▉ | 14854/30000 [6:54:20<7:00:59, 1.67s/it] 50%|████▉ | 14855/30000 [6:54:22<7:00:54, 1.67s/it] 50%|████▉ | 14856/30000 [6:54:24<7:00:38, 1.67s/it] 50%|████▉ | 14857/30000 [6:54:25<7:00:21, 1.67s/it] 50%|████▉ | 14858/30000 [6:54:27<7:00:13, 1.67s/it] 50%|████▉ | 14859/30000 [6:54:29<7:00:49, 1.67s/it] 50%|████▉ | 14860/30000 [6:54:30<7:00:34, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.10405467450618744, 'learning_rate': 1.647087416915281e-05, 'flow_matching_loss': 0.01936801979318261, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.32} + 50%|████▉ | 14860/30000 [6:54:30<7:00:34, 1.67s/it] 50%|████▉ | 14861/30000 [6:54:32<7:00:45, 1.67s/it] 50%|████▉ | 14862/30000 [6:54:34<7:00:43, 1.67s/it] 50%|████▉ | 14863/30000 [6:54:35<7:00:11, 1.67s/it] 50%|████▉ | 14864/30000 [6:54:37<6:59:48, 1.66s/it] 50%|████▉ | 14865/30000 [6:54:39<7:00:10, 1.67s/it] 50%|████▉ | 14866/30000 [6:54:40<7:00:56, 1.67s/it] 50%|████▉ | 14867/30000 [6:54:42<7:01:34, 1.67s/it] 50%|████▉ | 14868/30000 [6:54:44<7:01:10, 1.67s/it] 50%|████▉ | 14869/30000 [6:54:45<7:00:52, 1.67s/it] 50%|████▉ | 14870/30000 [6:54:47<7:01:49, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11661727726459503, 'learning_rate': 1.6454418266781987e-05, 'flow_matching_loss': 0.020050567854195834, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.33} + 50%|████▉ | 14870/30000 [6:54:47<7:01:49, 1.67s/it] 50%|████▉ | 14871/30000 [6:54:49<7:01:06, 1.67s/it] 50%|████▉ | 14872/30000 [6:54:50<7:00:34, 1.67s/it] 50%|████▉ | 14873/30000 [6:54:52<7:00:55, 1.67s/it] 50%|████▉ | 14874/30000 [6:54:54<7:00:51, 1.67s/it] 50%|████▉ | 14875/30000 [6:54:55<7:00:26, 1.67s/it] 50%|████▉ | 14876/30000 [6:54:57<7:00:31, 1.67s/it] 50%|████▉ | 14877/30000 [6:54:59<7:00:34, 1.67s/it] 50%|████▉ | 14878/30000 [6:55:00<6:59:32, 1.66s/it] 50%|████▉ | 14879/30000 [6:55:02<7:00:10, 1.67s/it] 50%|████▉ | 14880/30000 [6:55:04<7:00:04, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.10327976942062378, 'learning_rate': 1.6437960597155824e-05, 'flow_matching_loss': 0.02104056803509593, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.33} + 50%|████▉ | 14880/30000 [6:55:04<7:00:04, 1.67s/it] 50%|████▉ | 14881/30000 [6:55:05<7:01:25, 1.67s/it] 50%|████▉ | 14882/30000 [6:55:07<7:00:34, 1.67s/it] 50%|████▉ | 14883/30000 [6:55:09<7:00:09, 1.67s/it] 50%|████▉ | 14884/30000 [6:55:10<6:59:54, 1.67s/it] 50%|████▉ | 14885/30000 [6:55:12<6:59:13, 1.66s/it] 50%|████▉ | 14886/30000 [6:55:14<6:58:55, 1.66s/it] 50%|████▉ | 14887/30000 [6:55:15<7:00:32, 1.67s/it] 50%|████▉ | 14888/30000 [6:55:17<6:59:47, 1.67s/it] 50%|████▉ | 14889/30000 [6:55:19<7:00:42, 1.67s/it] 50%|████▉ | 14890/30000 [6:55:20<7:00:21, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.12995265424251556, 'learning_rate': 1.642150118027194e-05, 'flow_matching_loss': 0.019107384607195854, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.33} + 50%|████▉ | 14890/30000 [6:55:20<7:00:21, 1.67s/it] 50%|████▉ | 14891/30000 [6:55:22<6:59:36, 1.67s/it] 50%|████▉ | 14892/30000 [6:55:24<7:00:05, 1.67s/it] 50%|████▉ | 14893/30000 [6:55:25<7:00:02, 1.67s/it] 50%|████▉ | 14894/30000 [6:55:27<6:59:45, 1.67s/it] 50%|████▉ | 14895/30000 [6:55:29<6:59:44, 1.67s/it] 50%|████▉ | 14896/30000 [6:55:30<6:59:02, 1.66s/it] 50%|████▉ | 14897/30000 [6:55:32<6:58:57, 1.66s/it] 50%|████▉ | 14898/30000 [6:55:34<6:58:46, 1.66s/it] 50%|████▉ | 14899/30000 [6:55:35<6:58:35, 1.66s/it] 50%|████▉ | 14900/30000 [6:55:37<6:58:44, 1.66s/it] {'loss': 0.0227, 'grad_norm': 0.12316165119409561, 'learning_rate': 1.640504003613009e-05, 'flow_matching_loss': 0.02272048220038414, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.34} + 50%|████▉ | 14900/30000 [6:55:37<6:58:44, 1.66s/it] 50%|████▉ | 14901/30000 [6:55:39<6:58:53, 1.66s/it] 50%|████▉ | 14902/30000 [6:55:40<6:59:16, 1.67s/it] 50%|████▉ | 14903/30000 [6:55:42<6:59:13, 1.67s/it] 50%|████▉ | 14904/30000 [6:55:44<6:59:20, 1.67s/it] 50%|████▉ | 14905/30000 [6:55:45<6:59:02, 1.67s/it] 50%|████▉ | 14906/30000 [6:55:47<6:59:19, 1.67s/it] 50%|████▉ | 14907/30000 [6:55:49<6:59:02, 1.67s/it] 50%|████▉ | 14908/30000 [6:55:50<6:59:26, 1.67s/it] 50%|████▉ | 14909/30000 [6:55:52<6:59:27, 1.67s/it] 50%|████▉ | 14910/30000 [6:55:54<6:59:05, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.1020275354385376, 'learning_rate': 1.6388577184732107e-05, 'flow_matching_loss': 0.020737065747380257, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.34} + 50%|████▉ | 14910/30000 [6:55:54<6:59:05, 1.67s/it] 50%|████▉ | 14911/30000 [6:55:55<6:59:10, 1.67s/it] 50%|████▉ | 14912/30000 [6:55:57<6:59:11, 1.67s/it] 50%|████▉ | 14913/30000 [6:55:59<6:59:05, 1.67s/it] 50%|████▉ | 14914/30000 [6:56:00<6:58:29, 1.66s/it] 50%|████▉ | 14915/30000 [6:56:02<6:58:17, 1.66s/it] 50%|████▉ | 14916/30000 [6:56:04<6:58:37, 1.67s/it] 50%|████▉ | 14917/30000 [6:56:05<6:59:26, 1.67s/it] 50%|████▉ | 14918/30000 [6:56:07<6:59:11, 1.67s/it] 50%|████▉ | 14919/30000 [6:56:09<6:59:15, 1.67s/it] 50%|████▉ | 14920/30000 [6:56:10<6:58:42, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.10682842880487442, 'learning_rate': 1.6372112646081907e-05, 'flow_matching_loss': 0.019788332935422658, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.34} + 50%|████▉ | 14920/30000 [6:56:10<6:58:42, 1.67s/it] 50%|████▉ | 14921/30000 [6:56:12<6:59:02, 1.67s/it] 50%|████▉ | 14922/30000 [6:56:14<6:59:12, 1.67s/it] 50%|████▉ | 14923/30000 [6:56:15<6:58:48, 1.67s/it] 50%|████▉ | 14924/30000 [6:56:17<6:59:08, 1.67s/it] 50%|████▉ | 14925/30000 [6:56:19<6:59:25, 1.67s/it] 50%|████▉ | 14926/30000 [6:56:20<6:58:50, 1.67s/it] 50%|████▉ | 14927/30000 [6:56:22<6:59:10, 1.67s/it] 50%|████▉ | 14928/30000 [6:56:24<6:59:15, 1.67s/it] 50%|████▉ | 14929/30000 [6:56:25<7:00:09, 1.67s/it] 50%|████▉ | 14930/30000 [6:56:27<6:59:24, 1.67s/it] {'loss': 0.0222, 'grad_norm': 0.1555183380842209, 'learning_rate': 1.6355646440185464e-05, 'flow_matching_loss': 0.02224413277581334, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.34} + 50%|████▉ | 14930/30000 [6:56:27<6:59:24, 1.67s/it] 50%|████▉ | 14931/30000 [6:56:29<6:58:53, 1.67s/it] 50%|████▉ | 14932/30000 [6:56:30<6:59:02, 1.67s/it] 50%|████▉ | 14933/30000 [6:56:32<6:59:12, 1.67s/it] 50%|████▉ | 14934/30000 [6:56:34<6:58:08, 1.67s/it] 50%|████▉ | 14935/30000 [6:56:35<6:58:13, 1.67s/it] 50%|████▉ | 14936/30000 [6:56:37<6:58:12, 1.67s/it] 50%|████▉ | 14937/30000 [6:56:39<6:58:16, 1.67s/it] 50%|████▉ | 14938/30000 [6:56:40<6:58:07, 1.67s/it] 50%|████▉ | 14939/30000 [6:56:42<6:58:21, 1.67s/it] 50%|████▉ | 14940/30000 [6:56:44<6:58:42, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.09784375131130219, 'learning_rate': 1.6339178587050764e-05, 'flow_matching_loss': 0.019944794196635484, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.35} + 50%|████▉ | 14940/30000 [6:56:44<6:58:42, 1.67s/it] 50%|████▉ | 14941/30000 [6:56:45<6:59:45, 1.67s/it] 50%|████▉ | 14942/30000 [6:56:47<6:59:04, 1.67s/it] 50%|████▉ | 14943/30000 [6:56:49<6:58:58, 1.67s/it] 50%|████▉ | 14944/30000 [6:56:50<6:59:31, 1.67s/it] 50%|████▉ | 14945/30000 [6:56:52<6:59:01, 1.67s/it] 50%|████▉ | 14946/30000 [6:56:54<6:58:43, 1.67s/it] 50%|████▉ | 14947/30000 [6:56:55<6:58:34, 1.67s/it] 50%|████▉ | 14948/30000 [6:56:57<6:58:13, 1.67s/it] 50%|████▉ | 14949/30000 [6:56:59<6:58:14, 1.67s/it] 50%|████▉ | 14950/30000 [6:57:00<6:57:45, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.09550520032644272, 'learning_rate': 1.632270910668781e-05, 'flow_matching_loss': 0.0184426742605865, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.35} + 50%|████▉ | 14950/30000 [6:57:00<6:57:45, 1.67s/it] 50%|████▉ | 14951/30000 [6:57:02<6:58:01, 1.67s/it] 50%|████▉ | 14952/30000 [6:57:04<6:57:56, 1.67s/it] 50%|████▉ | 14953/30000 [6:57:05<6:58:24, 1.67s/it] 50%|████▉ | 14954/30000 [6:57:07<6:57:48, 1.67s/it] 50%|████▉ | 14955/30000 [6:57:09<6:57:41, 1.67s/it] 50%|████▉ | 14956/30000 [6:57:10<6:58:08, 1.67s/it] 50%|████▉ | 14957/30000 [6:57:12<6:58:14, 1.67s/it] 50%|████▉ | 14958/30000 [6:57:14<6:57:49, 1.67s/it] 50%|████▉ | 14959/30000 [6:57:15<6:57:03, 1.66s/it] 50%|████▉ | 14960/30000 [6:57:17<6:57:07, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.100626640021801, 'learning_rate': 1.6306238019108562e-05, 'flow_matching_loss': 0.017756951041519642, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.35} + 50%|████▉ | 14960/30000 [6:57:17<6:57:07, 1.66s/it] 50%|████▉ | 14961/30000 [6:57:19<6:57:28, 1.67s/it] 50%|████▉ | 14962/30000 [6:57:20<6:57:59, 1.67s/it] 50%|████▉ | 14963/30000 [6:57:22<6:58:03, 1.67s/it] 50%|████▉ | 14964/30000 [6:57:24<6:57:28, 1.67s/it] 50%|████▉ | 14965/30000 [6:57:25<6:57:44, 1.67s/it] 50%|████▉ | 14966/30000 [6:57:27<6:56:39, 1.66s/it] 50%|████▉ | 14967/30000 [6:57:29<6:56:36, 1.66s/it] 50%|████▉ | 14968/30000 [6:57:30<6:56:34, 1.66s/it] 50%|████▉ | 14969/30000 [6:57:32<6:57:26, 1.67s/it] 50%|████▉ | 14970/30000 [6:57:34<6:58:23, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12140853703022003, 'learning_rate': 1.6289765344326952e-05, 'flow_matching_loss': 0.020303493924438955, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.36} + 50%|████▉ | 14970/30000 [6:57:34<6:58:23, 1.67s/it] 50%|████▉ | 14971/30000 [6:57:35<6:58:02, 1.67s/it] 50%|████▉ | 14972/30000 [6:57:37<6:57:58, 1.67s/it] 50%|████▉ | 14973/30000 [6:57:39<6:57:48, 1.67s/it] 50%|████▉ | 14974/30000 [6:57:40<6:57:34, 1.67s/it] 50%|████▉ | 14975/30000 [6:57:42<6:56:21, 1.66s/it] 50%|████▉ | 14976/30000 [6:57:44<6:56:26, 1.66s/it] 50%|████▉ | 14977/30000 [6:57:45<6:56:57, 1.67s/it] 50%|████▉ | 14978/30000 [6:57:47<6:57:03, 1.67s/it] 50%|████▉ | 14979/30000 [6:57:49<6:57:08, 1.67s/it] 50%|████▉ | 14980/30000 [6:57:50<6:57:39, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.10486093163490295, 'learning_rate': 1.6273291102358833e-05, 'flow_matching_loss': 0.020631582569330932, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.36} + 50%|████▉ | 14980/30000 [6:57:50<6:57:39, 1.67s/it] 50%|████▉ | 14981/30000 [6:57:52<6:57:18, 1.67s/it] 50%|████▉ | 14982/30000 [6:57:54<6:56:35, 1.66s/it] 50%|████▉ | 14983/30000 [6:57:55<6:57:05, 1.67s/it] 50%|████▉ | 14984/30000 [6:57:57<6:56:44, 1.67s/it] 50%|████▉ | 14985/30000 [6:57:59<6:58:01, 1.67s/it] 50%|████▉ | 14986/30000 [6:58:00<6:57:26, 1.67s/it] 50%|████▉ | 14987/30000 [6:58:02<6:57:15, 1.67s/it] 50%|████▉ | 14988/30000 [6:58:04<6:56:55, 1.67s/it] 50%|████▉ | 14989/30000 [6:58:05<6:56:33, 1.67s/it] 50%|████▉ | 14990/30000 [6:58:07<6:55:55, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.13657376170158386, 'learning_rate': 1.6256815313221963e-05, 'flow_matching_loss': 0.01927194744348526, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.36} + 50%|████▉ | 14990/30000 [6:58:07<6:55:55, 1.66s/it] 50%|████▉ | 14991/30000 [6:58:09<6:56:28, 1.66s/it] 50%|████▉ | 14992/30000 [6:58:10<6:56:43, 1.67s/it] 50%|████▉ | 14993/30000 [6:58:12<6:57:02, 1.67s/it] 50%|████▉ | 14994/30000 [6:58:14<6:57:02, 1.67s/it] 50%|████▉ | 14995/30000 [6:58:15<6:57:16, 1.67s/it] 50%|████▉ | 14996/30000 [6:58:17<6:57:22, 1.67s/it] 50%|████▉ | 14997/30000 [6:58:19<6:57:19, 1.67s/it] 50%|████▉ | 14998/30000 [6:58:20<6:57:10, 1.67s/it] 50%|████▉ | 14999/30000 [6:58:22<6:57:18, 1.67s/it] 50%|█████ | 15000/30000 [6:58:24<6:56:43, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.0966697633266449, 'learning_rate': 1.6240337996935972e-05, 'flow_matching_loss': 0.01839214703068137, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.36} + 50%|█████ | 15000/30000 [6:58:24<6:56:43, 1.67s/it] 50%|█████ | 15001/30000 [6:58:25<6:57:00, 1.67s/it] 50%|█████ | 15002/30000 [6:58:27<6:57:13, 1.67s/it] 50%|█████ | 15003/30000 [6:58:29<6:56:45, 1.67s/it] 50%|█████ | 15004/30000 [6:58:30<6:57:30, 1.67s/it] 50%|█████ | 15005/30000 [6:58:32<6:57:29, 1.67s/it] 50%|█████ | 15006/30000 [6:58:34<6:57:03, 1.67s/it] 50%|█████ | 15007/30000 [6:58:35<6:56:37, 1.67s/it] 50%|█████ | 15008/30000 [6:58:37<6:56:38, 1.67s/it] 50%|█████ | 15009/30000 [6:58:39<6:56:17, 1.67s/it] 50%|█████ | 15010/30000 [6:58:40<6:56:27, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12414845079183578, 'learning_rate': 1.6223859173522367e-05, 'flow_matching_loss': 0.020300904382020236, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.37} + 50%|█████ | 15010/30000 [6:58:40<6:56:27, 1.67s/it] 50%|█████ | 15011/30000 [6:58:42<6:56:23, 1.67s/it] 50%|█████ | 15012/30000 [6:58:44<6:56:25, 1.67s/it] 50%|█████ | 15013/30000 [6:58:45<6:56:27, 1.67s/it] 50%|█████ | 15014/30000 [6:58:47<6:56:24, 1.67s/it] 50%|█████ | 15015/30000 [6:58:49<6:55:44, 1.66s/it] 50%|█████ | 15016/30000 [6:58:50<6:55:41, 1.66s/it] 50%|█████ | 15017/30000 [6:58:52<6:56:24, 1.67s/it] 50%|█████ | 15018/30000 [6:58:54<6:56:01, 1.67s/it] 50%|█████ | 15019/30000 [6:58:55<6:56:09, 1.67s/it] 50%|█████ | 15020/30000 [6:58:57<6:56:30, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.10107375681400299, 'learning_rate': 1.6207378863004455e-05, 'flow_matching_loss': 0.01972402399405837, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.37} + 50%|█████ | 15020/30000 [6:58:57<6:56:30, 1.67s/it] 50%|█████ | 15021/30000 [6:58:59<6:56:29, 1.67s/it] 50%|█████ | 15022/30000 [6:59:00<6:56:51, 1.67s/it] 50%|█████ | 15023/30000 [6:59:02<6:55:48, 1.67s/it] 50%|█████ | 15024/30000 [6:59:04<6:55:27, 1.66s/it] 50%|█████ | 15025/30000 [6:59:05<6:55:52, 1.67s/it] 50%|█████ | 15026/30000 [6:59:07<6:55:44, 1.67s/it] 50%|█████ | 15027/30000 [6:59:09<6:55:51, 1.67s/it] 50%|█████ | 15028/30000 [6:59:10<6:56:20, 1.67s/it] 50%|█████ | 15029/30000 [6:59:12<6:56:03, 1.67s/it] 50%|█████ | 15030/30000 [6:59:14<6:55:24, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.12926085293293, 'learning_rate': 1.6190897085407382e-05, 'flow_matching_loss': 0.0184472830966115, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.37} + 50%|█████ | 15030/30000 [6:59:14<6:55:24, 1.66s/it] 50%|█████ | 15031/30000 [6:59:15<6:55:33, 1.67s/it] 50%|█████ | 15032/30000 [6:59:17<6:55:54, 1.67s/it] 50%|█████ | 15033/30000 [6:59:19<6:55:48, 1.67s/it] 50%|█████ | 15034/30000 [6:59:20<6:55:59, 1.67s/it] 50%|█████ | 15035/30000 [6:59:22<6:55:50, 1.67s/it] 50%|█████ | 15036/30000 [6:59:24<6:55:54, 1.67s/it] 50%|█████ | 15037/30000 [6:59:25<6:55:52, 1.67s/it] 50%|█████ | 15038/30000 [6:59:27<6:55:26, 1.67s/it] 50%|█████ | 15039/30000 [6:59:29<6:55:55, 1.67s/it] 50%|█████ | 15040/30000 [6:59:30<6:56:24, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.10266683250665665, 'learning_rate': 1.617441386075805e-05, 'flow_matching_loss': 0.018192507792264223, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.38} + 50%|█████ | 15040/30000 [6:59:30<6:56:24, 1.67s/it] 50%|█████ | 15041/30000 [6:59:32<6:56:24, 1.67s/it] 50%|█████ | 15042/30000 [6:59:34<6:55:51, 1.67s/it] 50%|█████ | 15043/30000 [6:59:35<6:56:05, 1.67s/it] 50%|█████ | 15044/30000 [6:59:37<6:56:17, 1.67s/it] 50%|█████ | 15045/30000 [6:59:39<6:57:25, 1.67s/it] 50%|█████ | 15046/30000 [6:59:40<6:56:14, 1.67s/it] 50%|█████ | 15047/30000 [6:59:42<6:56:14, 1.67s/it] 50%|█████ | 15048/30000 [6:59:44<6:56:45, 1.67s/it] 50%|█████ | 15049/30000 [6:59:45<6:55:41, 1.67s/it] 50%|█████ | 15050/30000 [6:59:47<6:55:14, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.10692231357097626, 'learning_rate': 1.6157929209085142e-05, 'flow_matching_loss': 0.019137813337147237, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.38} + 50%|█████ | 15050/30000 [6:59:47<6:55:14, 1.67s/it] 50%|█████ | 15051/30000 [6:59:49<6:55:22, 1.67s/it] 50%|█████ | 15052/30000 [6:59:50<6:55:03, 1.67s/it] 50%|█████ | 15053/30000 [6:59:52<6:54:45, 1.66s/it] 50%|█████ | 15054/30000 [6:59:54<6:55:29, 1.67s/it] 50%|█████ | 15055/30000 [6:59:55<6:55:13, 1.67s/it] 50%|█████ | 15056/30000 [6:59:57<6:55:23, 1.67s/it] 50%|█████ | 15057/30000 [6:59:59<6:55:10, 1.67s/it] 50%|█████ | 15058/30000 [7:00:00<6:55:03, 1.67s/it] 50%|█████ | 15059/30000 [7:00:02<6:54:20, 1.66s/it] 50%|█████ | 15060/30000 [7:00:04<6:54:55, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.10481129586696625, 'learning_rate': 1.614144315041906e-05, 'flow_matching_loss': 0.019221214391291142, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.38} + 50%|█████ | 15060/30000 [7:00:04<6:54:55, 1.67s/it] 50%|█████ | 15061/30000 [7:00:05<6:54:40, 1.67s/it] 50%|█████ | 15062/30000 [7:00:07<6:54:26, 1.66s/it] 50%|█████ | 15063/30000 [7:00:09<6:54:39, 1.67s/it] 50%|█████ | 15064/30000 [7:00:10<6:54:28, 1.67s/it] 50%|█████ | 15065/30000 [7:00:12<6:54:46, 1.67s/it] 50%|█████ | 15066/30000 [7:00:14<6:54:48, 1.67s/it] 50%|█████ | 15067/30000 [7:00:15<6:54:47, 1.67s/it] 50%|█████ | 15068/30000 [7:00:17<6:55:11, 1.67s/it] 50%|█████ | 15069/30000 [7:00:19<6:55:02, 1.67s/it] 50%|█████ | 15070/30000 [7:00:20<6:54:19, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.1205596849322319, 'learning_rate': 1.612495570479192e-05, 'flow_matching_loss': 0.021362520288676023, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.38} + 50%|█████ | 15070/30000 [7:00:20<6:54:19, 1.67s/it] 50%|█████ | 15071/30000 [7:00:22<6:54:36, 1.67s/it] 50%|█████ | 15072/30000 [7:00:24<6:54:25, 1.67s/it] 50%|█████ | 15073/30000 [7:00:25<6:54:39, 1.67s/it] 50%|█████ | 15074/30000 [7:00:27<6:54:20, 1.67s/it] 50%|█████ | 15075/30000 [7:00:29<6:55:00, 1.67s/it] 50%|█████ | 15076/30000 [7:00:30<6:55:12, 1.67s/it] 50%|█████ | 15077/30000 [7:00:32<6:54:44, 1.67s/it] 50%|█████ | 15078/30000 [7:00:34<6:54:12, 1.67s/it] 50%|█████ | 15079/30000 [7:00:35<6:54:14, 1.67s/it] 50%|█████ | 15080/30000 [7:00:37<6:54:28, 1.67s/it] {'loss': 0.0238, 'grad_norm': 0.13591624796390533, 'learning_rate': 1.6108466892237517e-05, 'flow_matching_loss': 0.02383689396083355, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.39} + 50%|█████ | 15080/30000 [7:00:37<6:54:28, 1.67s/it] 50%|█████ | 15081/30000 [7:00:39<6:54:31, 1.67s/it] 50%|█████ | 15082/30000 [7:00:40<6:53:58, 1.66s/it] 50%|█████ | 15083/30000 [7:00:42<6:53:50, 1.66s/it] 50%|█████ | 15084/30000 [7:00:44<6:53:46, 1.66s/it] 50%|█████ | 15085/30000 [7:00:45<6:53:57, 1.67s/it] 50%|█████ | 15086/30000 [7:00:47<6:53:06, 1.66s/it] 50%|█████ | 15087/30000 [7:00:49<6:53:36, 1.66s/it] 50%|█████ | 15088/30000 [7:00:50<6:53:20, 1.66s/it] 50%|█████ | 15089/30000 [7:00:52<6:53:33, 1.66s/it] 50%|█████ | 15090/30000 [7:00:54<6:54:08, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.1353781670331955, 'learning_rate': 1.609197673279132e-05, 'flow_matching_loss': 0.020518653374165297, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.39} + 50%|█████ | 15090/30000 [7:00:54<6:54:08, 1.67s/it] 50%|█████ | 15091/30000 [7:00:55<6:54:33, 1.67s/it] 50%|█████ | 15092/30000 [7:00:57<6:54:36, 1.67s/it] 50%|█████ | 15093/30000 [7:00:59<6:55:41, 1.67s/it] 50%|█████ | 15094/30000 [7:01:00<6:54:08, 1.67s/it] 50%|█████ | 15095/30000 [7:01:02<6:53:43, 1.67s/it] 50%|█████ | 15096/30000 [7:01:04<6:53:50, 1.67s/it] 50%|█████ | 15097/30000 [7:01:05<6:54:07, 1.67s/it] 50%|█████ | 15098/30000 [7:01:07<6:54:52, 1.67s/it] 50%|█████ | 15099/30000 [7:01:09<6:54:07, 1.67s/it] 50%|█████ | 15100/30000 [7:01:10<6:54:20, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11374318599700928, 'learning_rate': 1.6075485246490428e-05, 'flow_matching_loss': 0.020132956374436618, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.39} + 50%|█████ | 15100/30000 [7:01:10<6:54:20, 1.67s/it] 50%|█████ | 15101/30000 [7:01:12<6:54:19, 1.67s/it] 50%|█████ | 15102/30000 [7:01:14<6:53:30, 1.67s/it] 50%|█████ | 15103/30000 [7:01:15<6:53:09, 1.66s/it] 50%|█████ | 15104/30000 [7:01:17<6:53:24, 1.67s/it] 50%|█████ | 15105/30000 [7:01:19<6:53:49, 1.67s/it] 50%|█████ | 15106/30000 [7:01:20<6:53:31, 1.67s/it] 50%|█████ | 15107/30000 [7:01:22<6:53:13, 1.66s/it] 50%|█████ | 15108/30000 [7:01:24<6:53:16, 1.67s/it] 50%|█████ | 15109/30000 [7:01:25<6:53:45, 1.67s/it] 50%|█████ | 15110/30000 [7:01:27<6:53:11, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.11599714308977127, 'learning_rate': 1.605899245337355e-05, 'flow_matching_loss': 0.02112664468586445, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.4} + 50%|█████ | 15110/30000 [7:01:27<6:53:11, 1.67s/it] 50%|█████ | 15111/30000 [7:01:29<6:53:28, 1.67s/it] 50%|█████ | 15112/30000 [7:01:30<6:53:44, 1.67s/it] 50%|█████ | 15113/30000 [7:01:32<6:54:56, 1.67s/it] 50%|█████ | 15114/30000 [7:01:34<6:54:47, 1.67s/it] 50%|█████ | 15115/30000 [7:01:35<6:54:22, 1.67s/it] 50%|█████ | 15116/30000 [7:01:37<6:54:28, 1.67s/it] 50%|█████ | 15117/30000 [7:01:39<6:55:19, 1.67s/it] 50%|█████ | 15118/30000 [7:01:40<6:54:38, 1.67s/it] 50%|█████ | 15119/30000 [7:01:42<6:54:33, 1.67s/it] 50%|█████ | 15120/30000 [7:01:44<6:54:10, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.14269481599330902, 'learning_rate': 1.6042498373480983e-05, 'flow_matching_loss': 0.020414900872856377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.4} + 50%|█████ | 15120/30000 [7:01:44<6:54:10, 1.67s/it] 50%|█████ | 15121/30000 [7:01:45<6:55:25, 1.68s/it] 50%|█████ | 15122/30000 [7:01:47<6:55:36, 1.68s/it] 50%|█████ | 15123/30000 [7:01:49<6:54:47, 1.67s/it] 50%|█████ | 15124/30000 [7:01:51<6:54:39, 1.67s/it] 50%|█████ | 15125/30000 [7:01:52<6:54:18, 1.67s/it] 50%|█████ | 15126/30000 [7:01:54<6:53:44, 1.67s/it] 50%|█████ | 15127/30000 [7:01:56<6:53:28, 1.67s/it] 50%|█████ | 15128/30000 [7:01:57<6:53:04, 1.67s/it] 50%|█████ | 15129/30000 [7:01:59<6:53:14, 1.67s/it] 50%|█████ | 15130/30000 [7:02:01<6:53:32, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.07758072018623352, 'learning_rate': 1.602600302685459e-05, 'flow_matching_loss': 0.017888153530657293, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.4} + 50%|█████ | 15130/30000 [7:02:01<6:53:32, 1.67s/it] 50%|█████ | 15131/30000 [7:02:02<6:52:39, 1.67s/it] 50%|█████ | 15132/30000 [7:02:04<6:53:03, 1.67s/it] 50%|█████ | 15133/30000 [7:02:06<6:53:07, 1.67s/it] 50%|█████ | 15134/30000 [7:02:07<6:52:54, 1.67s/it] 50%|█████ | 15135/30000 [7:02:09<6:52:59, 1.67s/it] 50%|█████ | 15136/30000 [7:02:11<6:52:56, 1.67s/it] 50%|█████ | 15137/30000 [7:02:12<6:53:15, 1.67s/it] 50%|█████ | 15138/30000 [7:02:14<6:52:21, 1.66s/it] 50%|█████ | 15139/30000 [7:02:16<6:52:32, 1.67s/it] 50%|█████ | 15140/30000 [7:02:17<6:53:31, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.141999751329422, 'learning_rate': 1.6009506433537774e-05, 'flow_matching_loss': 0.020260485447943212, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.41} + 50%|█████ | 15140/30000 [7:02:17<6:53:31, 1.67s/it] 50%|█████ | 15141/30000 [7:02:19<6:52:57, 1.67s/it] 50%|█████ | 15142/30000 [7:02:21<6:52:15, 1.66s/it] 50%|█████ | 15143/30000 [7:02:22<6:51:59, 1.66s/it] 50%|█████ | 15144/30000 [7:02:24<6:51:57, 1.66s/it] 50%|█████ | 15145/30000 [7:02:26<6:52:19, 1.67s/it] 50%|█████ | 15146/30000 [7:02:27<6:52:08, 1.66s/it] 50%|█████ | 15147/30000 [7:02:29<6:52:08, 1.66s/it] 50%|█████ | 15148/30000 [7:02:31<6:53:23, 1.67s/it] 50%|█████ | 15149/30000 [7:02:32<6:52:25, 1.67s/it] 50%|█████ | 15150/30000 [7:02:34<6:51:50, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.09648089855909348, 'learning_rate': 1.599300861357545e-05, 'flow_matching_loss': 0.01760746156796813, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.41} + 50%|█████ | 15150/30000 [7:02:34<6:51:50, 1.66s/it] 51%|█████ | 15151/30000 [7:02:35<6:52:23, 1.67s/it] 51%|█████ | 15152/30000 [7:02:37<6:52:34, 1.67s/it] 51%|█████ | 15153/30000 [7:02:39<6:52:36, 1.67s/it] 51%|█████ | 15154/30000 [7:02:41<6:53:34, 1.67s/it] 51%|█████ | 15155/30000 [7:02:42<6:53:04, 1.67s/it] 51%|█████ | 15156/30000 [7:02:44<6:52:59, 1.67s/it] 51%|█████ | 15157/30000 [7:02:46<6:52:33, 1.67s/it] 51%|█████ | 15158/30000 [7:02:47<6:51:57, 1.67s/it] 51%|█████ | 15159/30000 [7:02:49<6:52:01, 1.67s/it] 51%|█████ | 15160/30000 [7:02:51<6:52:04, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.12368308752775192, 'learning_rate': 1.5976509587014032e-05, 'flow_matching_loss': 0.01795210028067231, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.41} + 51%|█████ | 15160/30000 [7:02:51<6:52:04, 1.67s/it] 51%|█████ | 15161/30000 [7:02:52<6:52:04, 1.67s/it] 51%|█████ | 15162/30000 [7:02:54<6:51:43, 1.66s/it] 51%|█████ | 15163/30000 [7:02:56<6:51:40, 1.66s/it] 51%|█████ | 15164/30000 [7:02:57<6:52:05, 1.67s/it] 51%|█████ | 15165/30000 [7:02:59<6:51:14, 1.66s/it] 51%|█████ | 15166/30000 [7:03:00<6:51:20, 1.66s/it] 51%|█████ | 15167/30000 [7:03:02<6:51:09, 1.66s/it] 51%|█████ | 15168/30000 [7:03:04<6:51:23, 1.66s/it] 51%|█████ | 15169/30000 [7:03:05<6:51:38, 1.67s/it] 51%|█████ | 15170/30000 [7:03:07<6:51:22, 1.66s/it] {'loss': 0.0208, 'grad_norm': 0.09647906571626663, 'learning_rate': 1.5960009373901384e-05, 'flow_matching_loss': 0.020845628436654808, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.41} + 51%|█████ | 15170/30000 [7:03:07<6:51:22, 1.66s/it] 51%|█████ | 15171/30000 [7:03:09<6:51:32, 1.67s/it] 51%|█████ | 15172/30000 [7:03:10<6:51:56, 1.67s/it] 51%|█████ | 15173/30000 [7:03:12<6:51:54, 1.67s/it] 51%|█████ | 15174/30000 [7:03:14<6:51:19, 1.66s/it] 51%|█████ | 15175/30000 [7:03:15<6:51:18, 1.66s/it] 51%|█████ | 15176/30000 [7:03:17<6:50:54, 1.66s/it] 51%|█████ | 15177/30000 [7:03:19<6:51:52, 1.67s/it] 51%|█████ | 15178/30000 [7:03:20<6:51:40, 1.67s/it] 51%|█████ | 15179/30000 [7:03:22<6:51:35, 1.67s/it] 51%|█████ | 15180/30000 [7:03:24<6:51:22, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.11307056248188019, 'learning_rate': 1.5943507994286823e-05, 'flow_matching_loss': 0.01984327705577016, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.42} + 51%|█████ | 15180/30000 [7:03:24<6:51:22, 1.67s/it] 51%|█████ | 15181/30000 [7:03:25<6:51:46, 1.67s/it] 51%|█████ | 15182/30000 [7:03:27<6:51:36, 1.67s/it] 51%|█████ | 15183/30000 [7:03:29<6:51:19, 1.67s/it] 51%|█████ | 15184/30000 [7:03:30<6:51:43, 1.67s/it] 51%|█████ | 15185/30000 [7:03:32<6:51:11, 1.67s/it] 51%|█████ | 15186/30000 [7:03:34<6:52:18, 1.67s/it] 51%|█████ | 15187/30000 [7:03:35<6:51:50, 1.67s/it] 51%|█████ | 15188/30000 [7:03:37<6:51:23, 1.67s/it] 51%|█████ | 15189/30000 [7:03:39<6:52:04, 1.67s/it] 51%|█████ | 15190/30000 [7:03:40<6:51:22, 1.67s/it] {'loss': 0.023, 'grad_norm': 0.10819370299577713, 'learning_rate': 1.5927005468221082e-05, 'flow_matching_loss': 0.022956788539886475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.42} + 51%|█████ | 15190/30000 [7:03:41<6:51:22, 1.67s/it] 51%|█████ | 15191/30000 [7:03:42<6:51:08, 1.67s/it] 51%|█████ | 15192/30000 [7:03:44<6:50:55, 1.67s/it] 51%|█████ | 15193/30000 [7:03:45<6:52:09, 1.67s/it] 51%|█████ | 15194/30000 [7:03:47<6:52:13, 1.67s/it] 51%|█████ | 15195/30000 [7:03:49<6:51:47, 1.67s/it] 51%|█████ | 15196/30000 [7:03:51<6:52:07, 1.67s/it] 51%|█████ | 15197/30000 [7:03:52<6:51:37, 1.67s/it] 51%|█████ | 15198/30000 [7:03:54<6:51:13, 1.67s/it] 51%|█████ | 15199/30000 [7:03:55<6:50:22, 1.66s/it] 51%|█████ | 15200/30000 [7:03:57<6:50:16, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.1115548238158226, 'learning_rate': 1.5910501815756285e-05, 'flow_matching_loss': 0.01939741540700197, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.42} + 51%|█████ | 15200/30000 [7:03:57<6:50:16, 1.66s/it] 51%|█████ | 15201/30000 [7:03:59<6:50:55, 1.67s/it] 51%|█████ | 15202/30000 [7:04:00<6:50:50, 1.67s/it] 51%|█████ | 15203/30000 [7:04:02<6:50:34, 1.66s/it] 51%|█████ | 15204/30000 [7:04:04<6:50:41, 1.67s/it] 51%|█████ | 15205/30000 [7:04:05<6:51:29, 1.67s/it] 51%|█████ | 15206/30000 [7:04:07<6:50:28, 1.66s/it] 51%|█████ | 15207/30000 [7:04:09<6:50:21, 1.66s/it] 51%|█████ | 15208/30000 [7:04:10<6:50:10, 1.66s/it] 51%|█████ | 15209/30000 [7:04:12<6:50:36, 1.67s/it] 51%|█████ | 15210/30000 [7:04:14<6:50:40, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09153740108013153, 'learning_rate': 1.589399705694593e-05, 'flow_matching_loss': 0.01948488662019372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.43} + 51%|█████ | 15210/30000 [7:04:14<6:50:40, 1.67s/it] 51%|█████ | 15211/30000 [7:04:15<6:50:59, 1.67s/it] 51%|█████ | 15212/30000 [7:04:17<6:50:19, 1.66s/it] 51%|█████ | 15213/30000 [7:04:19<6:50:25, 1.67s/it] 51%|█████ | 15214/30000 [7:04:20<6:50:22, 1.67s/it] 51%|█████ | 15215/30000 [7:04:22<6:50:37, 1.67s/it] 51%|█████ | 15216/30000 [7:04:24<6:50:40, 1.67s/it] 51%|█████ | 15217/30000 [7:04:25<6:50:33, 1.67s/it] 51%|█████ | 15218/30000 [7:04:27<6:49:56, 1.66s/it] 51%|█████ | 15219/30000 [7:04:29<6:49:55, 1.66s/it] 51%|█████ | 15220/30000 [7:04:30<6:49:44, 1.66s/it] {'loss': 0.0201, 'grad_norm': 0.10996029525995255, 'learning_rate': 1.587749121184485e-05, 'flow_matching_loss': 0.020093719102442266, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.43} + 51%|█████ | 15220/30000 [7:04:31<6:49:44, 1.66s/it] 51%|█████ | 15221/30000 [7:04:32<6:50:10, 1.67s/it] 51%|█████ | 15222/30000 [7:04:34<6:50:27, 1.67s/it] 51%|█████ | 15223/30000 [7:04:35<6:49:52, 1.66s/it] 51%|█████ | 15224/30000 [7:04:37<6:50:20, 1.67s/it] 51%|█████ | 15225/30000 [7:04:39<6:51:15, 1.67s/it] 51%|█████ | 15226/30000 [7:04:40<6:50:27, 1.67s/it] 51%|█████ | 15227/30000 [7:04:42<6:50:06, 1.67s/it] 51%|█████ | 15228/30000 [7:04:44<6:50:26, 1.67s/it] 51%|█████ | 15229/30000 [7:04:45<6:50:13, 1.67s/it] 51%|█████ | 15230/30000 [7:04:47<6:50:22, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.12104582786560059, 'learning_rate': 1.5860984300509206e-05, 'flow_matching_loss': 0.02003923589363694, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.43} + 51%|█████ | 15230/30000 [7:04:47<6:50:22, 1.67s/it] 51%|█████ | 15231/30000 [7:04:49<6:50:27, 1.67s/it] 51%|█████ | 15232/30000 [7:04:50<6:50:39, 1.67s/it] 51%|█████ | 15233/30000 [7:04:52<6:50:35, 1.67s/it] 51%|█████ | 15234/30000 [7:04:54<6:50:19, 1.67s/it] 51%|█████ | 15235/30000 [7:04:55<6:49:54, 1.67s/it] 51%|█████ | 15236/30000 [7:04:57<6:50:34, 1.67s/it] 51%|█████ | 15237/30000 [7:04:59<6:50:22, 1.67s/it] 51%|█████ | 15238/30000 [7:05:00<6:51:10, 1.67s/it] 51%|█████ | 15239/30000 [7:05:02<6:50:49, 1.67s/it] 51%|█████ | 15240/30000 [7:05:04<6:50:45, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.12341190874576569, 'learning_rate': 1.5844476342996453e-05, 'flow_matching_loss': 0.019744993187487125, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.43} + 51%|█████ | 15240/30000 [7:05:04<6:50:45, 1.67s/it] 51%|█████ | 15241/30000 [7:05:05<6:50:53, 1.67s/it] 51%|█████ | 15242/30000 [7:05:07<6:50:30, 1.67s/it] 51%|█████ | 15243/30000 [7:05:09<6:49:49, 1.67s/it] 51%|█████ | 15244/30000 [7:05:10<6:50:21, 1.67s/it] 51%|█████ | 15245/30000 [7:05:12<6:50:39, 1.67s/it] 51%|█████ | 15246/30000 [7:05:14<6:49:58, 1.67s/it] 51%|█████ | 15247/30000 [7:05:16<6:50:15, 1.67s/it] 51%|█████ | 15248/30000 [7:05:17<6:50:22, 1.67s/it] 51%|█████ | 15249/30000 [7:05:19<6:50:39, 1.67s/it] 51%|█████ | 15250/30000 [7:05:21<6:50:05, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.13089615106582642, 'learning_rate': 1.5827967359365306e-05, 'flow_matching_loss': 0.01924609262496233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.44} + 51%|█████ | 15250/30000 [7:05:21<6:50:05, 1.67s/it] 51%|█████ | 15251/30000 [7:05:22<6:49:28, 1.67s/it] 51%|█████ | 15252/30000 [7:05:24<6:49:51, 1.67s/it] 51%|█████ | 15253/30000 [7:05:26<6:49:38, 1.67s/it] 51%|█████ | 15254/30000 [7:05:27<6:48:40, 1.66s/it] 51%|█████ | 15255/30000 [7:05:29<6:48:45, 1.66s/it] 51%|█████ | 15256/30000 [7:05:30<6:48:44, 1.66s/it] 51%|█████ | 15257/30000 [7:05:32<6:49:08, 1.67s/it] 51%|█████ | 15258/30000 [7:05:34<6:49:28, 1.67s/it] 51%|█████ | 15259/30000 [7:05:35<6:49:35, 1.67s/it] 51%|█████ | 15260/30000 [7:05:37<6:49:50, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.12026921659708023, 'learning_rate': 1.5811457369675758e-05, 'flow_matching_loss': 0.018971036560833453, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.44} + 51%|█████ | 15260/30000 [7:05:37<6:49:50, 1.67s/it] 51%|█████ | 15261/30000 [7:05:39<6:49:40, 1.67s/it] 51%|█████ | 15262/30000 [7:05:40<6:48:54, 1.66s/it] 51%|█████ | 15263/30000 [7:05:42<6:48:55, 1.66s/it] 51%|█████ | 15264/30000 [7:05:44<6:48:53, 1.66s/it] 51%|█████ | 15265/30000 [7:05:45<6:48:55, 1.67s/it] 51%|█████ | 15266/30000 [7:05:47<6:48:57, 1.67s/it] 51%|█████ | 15267/30000 [7:05:49<6:49:05, 1.67s/it] 51%|█████ | 15268/30000 [7:05:50<6:49:16, 1.67s/it] 51%|█████ | 15269/30000 [7:05:52<6:49:39, 1.67s/it] 51%|█████ | 15270/30000 [7:05:54<6:48:58, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.1217770054936409, 'learning_rate': 1.5794946393988982e-05, 'flow_matching_loss': 0.023118029721081255, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.44} + 51%|█████ | 15270/30000 [7:05:54<6:48:58, 1.67s/it] 51%|█████ | 15271/30000 [7:05:55<6:49:04, 1.67s/it] 51%|█████ | 15272/30000 [7:05:57<6:49:13, 1.67s/it] 51%|█████ | 15273/30000 [7:05:59<6:49:53, 1.67s/it] 51%|█████ | 15274/30000 [7:06:01<6:49:43, 1.67s/it] 51%|█████ | 15275/30000 [7:06:02<6:49:28, 1.67s/it] 51%|█████ | 15276/30000 [7:06:04<6:49:25, 1.67s/it] 51%|█████ | 15277/30000 [7:06:06<6:49:21, 1.67s/it] 51%|█████ | 15278/30000 [7:06:07<6:48:39, 1.67s/it] 51%|█████ | 15279/30000 [7:06:09<6:48:47, 1.67s/it] 51%|█████ | 15280/30000 [7:06:10<6:48:16, 1.66s/it] {'loss': 0.0202, 'grad_norm': 0.1222940981388092, 'learning_rate': 1.5778434452367382e-05, 'flow_matching_loss': 0.020234177820384502, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.45} + 51%|█████ | 15280/30000 [7:06:11<6:48:16, 1.66s/it] 51%|█████ | 15281/30000 [7:06:12<6:48:53, 1.67s/it] 51%|█████ | 15282/30000 [7:06:14<6:49:09, 1.67s/it] 51%|█████ | 15283/30000 [7:06:15<6:48:32, 1.67s/it] 51%|█████ | 15284/30000 [7:06:17<6:48:58, 1.67s/it] 51%|█████ | 15285/30000 [7:06:19<6:49:06, 1.67s/it] 51%|█████ | 15286/30000 [7:06:20<6:48:25, 1.67s/it] 51%|█████ | 15287/30000 [7:06:22<6:49:09, 1.67s/it] 51%|█████ | 15288/30000 [7:06:24<6:49:13, 1.67s/it] 51%|█████ | 15289/30000 [7:06:26<6:49:15, 1.67s/it] 51%|█████ | 15290/30000 [7:06:27<6:48:43, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.1330445259809494, 'learning_rate': 1.576192156487452e-05, 'flow_matching_loss': 0.019125139992684125, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.45} + 51%|█████ | 15290/30000 [7:06:27<6:48:43, 1.67s/it] 51%|█████ | 15291/30000 [7:06:29<6:48:32, 1.67s/it] 51%|█████ | 15292/30000 [7:06:31<6:48:32, 1.67s/it] 51%|█████ | 15293/30000 [7:06:32<6:48:27, 1.67s/it] 51%|█████ | 15294/30000 [7:06:34<6:47:18, 1.66s/it] 51%|█████ | 15295/30000 [7:06:35<6:47:49, 1.66s/it] 51%|█████ | 15296/30000 [7:06:37<6:47:40, 1.66s/it] 51%|█████ | 15297/30000 [7:06:39<6:48:25, 1.67s/it] 51%|█████ | 15298/30000 [7:06:40<6:48:46, 1.67s/it] 51%|█████ | 15299/30000 [7:06:42<6:48:14, 1.67s/it] 51%|█████ | 15300/30000 [7:06:44<6:48:28, 1.67s/it] {'loss': 0.0215, 'grad_norm': 0.11968101561069489, 'learning_rate': 1.574540775157511e-05, 'flow_matching_loss': 0.021480167098343373, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.45} + 51%|█████ | 15300/30000 [7:06:44<6:48:28, 1.67s/it] 51%|█████ | 15301/30000 [7:06:45<6:48:31, 1.67s/it] 51%|█████ | 15302/30000 [7:06:47<6:48:44, 1.67s/it] 51%|█████ | 15303/30000 [7:06:49<6:48:51, 1.67s/it] 51%|█████ | 15304/30000 [7:06:51<6:48:36, 1.67s/it] 51%|█████ | 15305/30000 [7:06:52<6:49:15, 1.67s/it] 51%|█████ | 15306/30000 [7:06:54<6:48:32, 1.67s/it] 51%|█████ | 15307/30000 [7:06:56<6:48:03, 1.67s/it] 51%|█████ | 15308/30000 [7:06:57<6:48:17, 1.67s/it] 51%|█████ | 15309/30000 [7:06:59<6:48:35, 1.67s/it] 51%|█████ | 15310/30000 [7:07:01<6:48:14, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.12016794085502625, 'learning_rate': 1.5728893032534998e-05, 'flow_matching_loss': 0.018533813953399658, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.45} + 51%|█████ | 15310/30000 [7:07:01<6:48:14, 1.67s/it] 51%|█████ | 15311/30000 [7:07:02<6:47:55, 1.67s/it] 51%|█████ | 15312/30000 [7:07:04<6:47:53, 1.67s/it] 51%|█████ | 15313/30000 [7:07:06<6:48:06, 1.67s/it] 51%|█████ | 15314/30000 [7:07:07<6:48:06, 1.67s/it] 51%|█████ | 15315/30000 [7:07:09<6:48:03, 1.67s/it] 51%|█████ | 15316/30000 [7:07:11<6:47:37, 1.67s/it] 51%|█████ | 15317/30000 [7:07:12<6:48:10, 1.67s/it] 51%|█████ | 15318/30000 [7:07:14<6:47:18, 1.66s/it] 51%|█████ | 15319/30000 [7:07:15<6:47:05, 1.66s/it] 51%|█████ | 15320/30000 [7:07:17<6:46:54, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.09993952512741089, 'learning_rate': 1.571237742782112e-05, 'flow_matching_loss': 0.017139103263616562, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.46} + 51%|█████ | 15320/30000 [7:07:17<6:46:54, 1.66s/it] 51%|█████ | 15321/30000 [7:07:19<6:47:46, 1.67s/it] 51%|█████ | 15322/30000 [7:07:21<6:48:20, 1.67s/it] 51%|█████ | 15323/30000 [7:07:22<6:47:47, 1.67s/it] 51%|█████ | 15324/30000 [7:07:24<6:48:03, 1.67s/it] 51%|█████ | 15325/30000 [7:07:26<6:47:33, 1.67s/it] 51%|█████ | 15326/30000 [7:07:27<6:47:16, 1.67s/it] 51%|█████ | 15327/30000 [7:07:29<6:47:17, 1.67s/it] 51%|█████ | 15328/30000 [7:07:31<6:47:28, 1.67s/it] 51%|█████ | 15329/30000 [7:07:32<6:47:30, 1.67s/it] 51%|█████ | 15330/30000 [7:07:34<6:46:59, 1.66s/it] {'loss': 0.0186, 'grad_norm': 0.09976836293935776, 'learning_rate': 1.569586095750149e-05, 'flow_matching_loss': 0.018645028118044138, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.46} + 51%|█████ | 15330/30000 [7:07:34<6:46:59, 1.66s/it] 51%|█████ | 15331/30000 [7:07:35<6:47:13, 1.67s/it] 51%|█████ | 15332/30000 [7:07:37<6:47:37, 1.67s/it] 51%|█████ | 15333/30000 [7:07:39<6:47:35, 1.67s/it] 51%|█████ | 15334/30000 [7:07:40<6:46:59, 1.67s/it] 51%|█████ | 15335/30000 [7:07:42<6:47:59, 1.67s/it] 51%|█████ | 15336/30000 [7:07:44<6:47:44, 1.67s/it] 51%|█████ | 15337/30000 [7:07:46<6:47:32, 1.67s/it] 51%|█████ | 15338/30000 [7:07:47<6:47:21, 1.67s/it] 51%|█████ | 15339/30000 [7:07:49<6:47:43, 1.67s/it] 51%|█████ | 15340/30000 [7:07:51<6:47:21, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11297072470188141, 'learning_rate': 1.5679343641645193e-05, 'flow_matching_loss': 0.01819531237706542, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.46} + 51%|█████ | 15340/30000 [7:07:51<6:47:21, 1.67s/it] 51%|█████ | 15341/30000 [7:07:52<6:47:14, 1.67s/it] 51%|█████ | 15342/30000 [7:07:54<6:46:15, 1.66s/it] 51%|█████ | 15343/30000 [7:07:55<6:46:31, 1.66s/it] 51%|█████ | 15344/30000 [7:07:57<6:46:48, 1.67s/it] 51%|█████ | 15345/30000 [7:07:59<6:47:14, 1.67s/it] 51%|█████ | 15346/30000 [7:08:00<6:46:51, 1.67s/it] 51%|█████ | 15347/30000 [7:08:02<6:46:49, 1.67s/it] 51%|█████ | 15348/30000 [7:08:04<6:47:04, 1.67s/it] 51%|█████ | 15349/30000 [7:08:06<6:47:31, 1.67s/it] 51%|█████ | 15350/30000 [7:08:07<6:47:09, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.10202515870332718, 'learning_rate': 1.5662825500322304e-05, 'flow_matching_loss': 0.019684788957238197, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.47} + 51%|█████ | 15350/30000 [7:08:07<6:47:09, 1.67s/it] 51%|█████ | 15351/30000 [7:08:09<6:47:07, 1.67s/it] 51%|█████ | 15352/30000 [7:08:11<6:47:01, 1.67s/it] 51%|█████ | 15353/30000 [7:08:12<6:47:44, 1.67s/it] 51%|█████ | 15354/30000 [7:08:14<6:47:22, 1.67s/it] 51%|█████ | 15355/30000 [7:08:16<6:46:53, 1.67s/it] 51%|█████ | 15356/30000 [7:08:17<6:47:14, 1.67s/it] 51%|█████ | 15357/30000 [7:08:19<6:48:13, 1.67s/it] 51%|█████ | 15358/30000 [7:08:21<6:47:27, 1.67s/it] 51%|█████ | 15359/30000 [7:08:22<6:47:01, 1.67s/it] 51%|█████ | 15360/30000 [7:08:24<6:46:44, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.10152875632047653, 'learning_rate': 1.5646306553603932e-05, 'flow_matching_loss': 0.020694068167358637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.47} + 51%|█████ | 15360/30000 [7:08:24<6:46:44, 1.67s/it] 51%|█████ | 15361/30000 [7:08:26<6:47:08, 1.67s/it] 51%|█████ | 15362/30000 [7:08:27<6:47:03, 1.67s/it] 51%|█████ | 15363/30000 [7:08:29<6:47:20, 1.67s/it] 51%|█████ | 15364/30000 [7:08:31<6:46:47, 1.67s/it] 51%|█████ | 15365/30000 [7:08:32<6:46:45, 1.67s/it] 51%|█████ | 15366/30000 [7:08:34<6:46:21, 1.67s/it] 51%|█████ | 15367/30000 [7:08:36<6:46:22, 1.67s/it] 51%|█████ | 15368/30000 [7:08:37<6:46:45, 1.67s/it] 51%|█████ | 15369/30000 [7:08:39<6:46:35, 1.67s/it] 51%|█████ | 15370/30000 [7:08:41<6:46:27, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.12580324709415436, 'learning_rate': 1.5629786821562154e-05, 'flow_matching_loss': 0.021779459342360495, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.47} + 51%|█████ | 15370/30000 [7:08:41<6:46:27, 1.67s/it] 51%|█████ | 15371/30000 [7:08:42<6:46:30, 1.67s/it] 51%|█████ | 15372/30000 [7:08:44<6:46:45, 1.67s/it] 51%|█████ | 15373/30000 [7:08:46<6:46:11, 1.67s/it] 51%|█████ | 15374/30000 [7:08:47<6:45:28, 1.66s/it] 51%|█████▏ | 15375/30000 [7:08:49<6:45:42, 1.66s/it] 51%|█████▏ | 15376/30000 [7:08:51<6:45:32, 1.66s/it] 51%|█████▏ | 15377/30000 [7:08:52<6:46:24, 1.67s/it] 51%|█████▏ | 15378/30000 [7:08:54<6:46:01, 1.67s/it] 51%|█████▏ | 15379/30000 [7:08:56<6:45:49, 1.67s/it] 51%|█████▏ | 15380/30000 [7:08:57<6:45:55, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.11126252263784409, 'learning_rate': 1.561326632427001e-05, 'flow_matching_loss': 0.0189219587482512, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.47} + 51%|█████▏ | 15380/30000 [7:08:57<6:45:55, 1.67s/it] 51%|█████▏ | 15381/30000 [7:08:59<6:46:20, 1.67s/it] 51%|█████▏ | 15382/30000 [7:09:01<6:46:10, 1.67s/it] 51%|█████▏ | 15383/30000 [7:09:02<6:46:11, 1.67s/it] 51%|█████▏ | 15384/30000 [7:09:04<6:45:52, 1.67s/it] 51%|█████▏ | 15385/30000 [7:09:06<6:46:09, 1.67s/it] 51%|█████▏ | 15386/30000 [7:09:07<6:46:32, 1.67s/it] 51%|█████▏ | 15387/30000 [7:09:09<6:46:19, 1.67s/it] 51%|█████▏ | 15388/30000 [7:09:11<6:45:30, 1.67s/it] 51%|█████▏ | 15389/30000 [7:09:12<6:45:31, 1.67s/it] 51%|█████▏ | 15390/30000 [7:09:14<6:45:20, 1.66s/it] {'loss': 0.0207, 'grad_norm': 0.12515179812908173, 'learning_rate': 1.5596745081801447e-05, 'flow_matching_loss': 0.0207117211073637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.48} + 51%|█████▏ | 15390/30000 [7:09:14<6:45:20, 1.66s/it] 51%|█████▏ | 15391/30000 [7:09:16<6:46:36, 1.67s/it] 51%|█████▏ | 15392/30000 [7:09:17<6:46:22, 1.67s/it] 51%|█████▏ | 15393/30000 [7:09:19<6:46:40, 1.67s/it] 51%|█████▏ | 15394/30000 [7:09:21<6:46:45, 1.67s/it] 51%|█████▏ | 15395/30000 [7:09:22<6:47:31, 1.67s/it] 51%|█████▏ | 15396/30000 [7:09:24<6:46:06, 1.67s/it] 51%|█████▏ | 15397/30000 [7:09:26<6:46:10, 1.67s/it] 51%|█████▏ | 15398/30000 [7:09:27<6:45:42, 1.67s/it] 51%|█████▏ | 15399/30000 [7:09:29<6:45:57, 1.67s/it] 51%|█████▏ | 15400/30000 [7:09:31<6:45:46, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.1092601791024208, 'learning_rate': 1.5580223114231348e-05, 'flow_matching_loss': 0.0197185717523098, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.48} + 51%|█████▏ | 15400/30000 [7:09:31<6:45:46, 1.67s/it] 51%|█████▏ | 15401/30000 [7:09:32<6:46:07, 1.67s/it] 51%|█████▏ | 15402/30000 [7:09:34<6:45:54, 1.67s/it] 51%|█████▏ | 15403/30000 [7:09:36<6:45:35, 1.67s/it] 51%|█████▏ | 15404/30000 [7:09:37<6:45:58, 1.67s/it] 51%|█████▏ | 15405/30000 [7:09:39<6:45:50, 1.67s/it] 51%|█████▏ | 15406/30000 [7:09:41<6:45:08, 1.67s/it] 51%|█████▏ | 15407/30000 [7:09:42<6:45:04, 1.67s/it] 51%|█████▏ | 15408/30000 [7:09:44<6:45:19, 1.67s/it] 51%|█████▏ | 15409/30000 [7:09:46<6:45:42, 1.67s/it] 51%|█████▏ | 15410/30000 [7:09:47<6:45:40, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1281433254480362, 'learning_rate': 1.5563700441635445e-05, 'flow_matching_loss': 0.017111836560070516, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.48} + 51%|█████▏ | 15410/30000 [7:09:47<6:45:40, 1.67s/it] 51%|█████▏ | 15411/30000 [7:09:49<6:45:59, 1.67s/it] 51%|█████▏ | 15412/30000 [7:09:51<6:46:30, 1.67s/it] 51%|█████▏ | 15413/30000 [7:09:52<6:46:12, 1.67s/it] 51%|█████▏ | 15414/30000 [7:09:54<6:45:38, 1.67s/it] 51%|█████▏ | 15415/30000 [7:09:56<6:45:12, 1.67s/it] 51%|█████▏ | 15416/30000 [7:09:57<6:45:21, 1.67s/it] 51%|█████▏ | 15417/30000 [7:09:59<6:46:00, 1.67s/it] 51%|█████▏ | 15418/30000 [7:10:01<6:45:08, 1.67s/it] 51%|█████▏ | 15419/30000 [7:10:02<6:44:46, 1.67s/it] 51%|█████▏ | 15420/30000 [7:10:04<6:44:59, 1.67s/it] {'loss': 0.0228, 'grad_norm': 0.11576690524816513, 'learning_rate': 1.5547177084090358e-05, 'flow_matching_loss': 0.022772270347923042, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.49} + 51%|█████▏ | 15420/30000 [7:10:04<6:44:59, 1.67s/it] 51%|█████▏ | 15421/30000 [7:10:06<6:45:08, 1.67s/it] 51%|█████▏ | 15422/30000 [7:10:07<6:44:57, 1.67s/it] 51%|█████▏ | 15423/30000 [7:10:09<6:44:39, 1.67s/it] 51%|█████▏ | 15424/30000 [7:10:11<6:44:57, 1.67s/it] 51%|█████▏ | 15425/30000 [7:10:12<6:45:13, 1.67s/it] 51%|█████▏ | 15426/30000 [7:10:14<6:46:55, 1.68s/it] 51%|█████▏ | 15427/30000 [7:10:16<6:45:26, 1.67s/it] 51%|█████▏ | 15428/30000 [7:10:17<6:46:15, 1.67s/it] 51%|█████▏ | 15429/30000 [7:10:19<6:46:07, 1.67s/it] 51%|█████▏ | 15430/30000 [7:10:21<6:45:10, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.11354542523622513, 'learning_rate': 1.5530653061673514e-05, 'flow_matching_loss': 0.019046018924564125, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.49} + 51%|█████▏ | 15430/30000 [7:10:21<6:45:10, 1.67s/it] 51%|█████▏ | 15431/30000 [7:10:22<6:45:21, 1.67s/it] 51%|█████▏ | 15432/30000 [7:10:24<6:44:49, 1.67s/it] 51%|█████▏ | 15433/30000 [7:10:26<6:45:32, 1.67s/it] 51%|█████▏ | 15434/30000 [7:10:27<6:45:13, 1.67s/it] 51%|█████▏ | 15435/30000 [7:10:29<6:45:14, 1.67s/it] 51%|█████▏ | 15436/30000 [7:10:31<6:45:13, 1.67s/it] 51%|█████▏ | 15437/30000 [7:10:32<6:44:56, 1.67s/it] 51%|█████▏ | 15438/30000 [7:10:34<6:44:31, 1.67s/it] 51%|█████▏ | 15439/30000 [7:10:36<6:44:18, 1.67s/it] 51%|█████▏ | 15440/30000 [7:10:37<6:44:02, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.1358804553747177, 'learning_rate': 1.5514128394463167e-05, 'flow_matching_loss': 0.021275324374437334, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.49} + 51%|█████▏ | 15440/30000 [7:10:37<6:44:02, 1.67s/it] 51%|█████▏ | 15441/30000 [7:10:39<6:45:13, 1.67s/it] 51%|█████▏ | 15442/30000 [7:10:41<6:45:10, 1.67s/it] 51%|█████▏ | 15443/30000 [7:10:42<6:44:50, 1.67s/it] 51%|█████▏ | 15444/30000 [7:10:44<6:46:03, 1.67s/it] 51%|█████▏ | 15445/30000 [7:10:46<6:45:46, 1.67s/it] 51%|█████▏ | 15446/30000 [7:10:47<6:45:07, 1.67s/it] 51%|█████▏ | 15447/30000 [7:10:49<6:44:49, 1.67s/it] 51%|█████▏ | 15448/30000 [7:10:51<6:45:00, 1.67s/it] 51%|█████▏ | 15449/30000 [7:10:52<6:46:17, 1.68s/it] 52%|█████▏ | 15450/30000 [7:10:54<6:45:30, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.14679209887981415, 'learning_rate': 1.549760310253834e-05, 'flow_matching_loss': 0.019382416922599077, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.5} + 52%|█████▏ | 15450/30000 [7:10:54<6:45:30, 1.67s/it] 52%|█████▏ | 15451/30000 [7:10:56<6:44:45, 1.67s/it] 52%|█████▏ | 15452/30000 [7:10:57<6:44:50, 1.67s/it] 52%|█████▏ | 15453/30000 [7:10:59<6:44:59, 1.67s/it] 52%|█████▏ | 15454/30000 [7:11:01<6:44:24, 1.67s/it] 52%|█████▏ | 15455/30000 [7:11:02<6:44:30, 1.67s/it] 52%|█████▏ | 15456/30000 [7:11:04<6:44:12, 1.67s/it] 52%|█████▏ | 15457/30000 [7:11:06<6:43:59, 1.67s/it] 52%|█████▏ | 15458/30000 [7:11:07<6:43:49, 1.67s/it] 52%|█████▏ | 15459/30000 [7:11:09<6:43:42, 1.67s/it] 52%|█████▏ | 15460/30000 [7:11:11<6:43:16, 1.66s/it] {'loss': 0.02, 'grad_norm': 0.12625731527805328, 'learning_rate': 1.5481077205978816e-05, 'flow_matching_loss': 0.020013279281556606, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.5} + 52%|█████▏ | 15460/30000 [7:11:11<6:43:16, 1.66s/it] 52%|█████▏ | 15461/30000 [7:11:12<6:43:45, 1.67s/it] 52%|█████▏ | 15462/30000 [7:11:14<6:43:40, 1.67s/it] 52%|█████▏ | 15463/30000 [7:11:16<6:44:10, 1.67s/it] 52%|█████▏ | 15464/30000 [7:11:17<6:44:17, 1.67s/it] 52%|█████▏ | 15465/30000 [7:11:19<6:44:34, 1.67s/it] 52%|█████▏ | 15466/30000 [7:11:21<6:44:34, 1.67s/it] 52%|█████▏ | 15467/30000 [7:11:22<6:44:25, 1.67s/it] 52%|█████▏ | 15468/30000 [7:11:24<6:44:24, 1.67s/it] 52%|█████▏ | 15469/30000 [7:11:26<6:43:52, 1.67s/it] 52%|█████▏ | 15470/30000 [7:11:27<6:43:35, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.09763575345277786, 'learning_rate': 1.5464550724865135e-05, 'flow_matching_loss': 0.01677569719031453, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.5} + 52%|█████▏ | 15470/30000 [7:11:27<6:43:35, 1.67s/it] 52%|█████▏ | 15471/30000 [7:11:29<6:43:18, 1.67s/it] 52%|█████▏ | 15472/30000 [7:11:31<6:42:43, 1.66s/it] 52%|█████▏ | 15473/30000 [7:11:32<6:43:33, 1.67s/it] 52%|█████▏ | 15474/30000 [7:11:34<6:43:14, 1.67s/it] 52%|█████▏ | 15475/30000 [7:11:36<6:43:29, 1.67s/it] 52%|█████▏ | 15476/30000 [7:11:37<6:43:02, 1.67s/it] 52%|█████▏ | 15477/30000 [7:11:39<6:42:30, 1.66s/it] 52%|█████▏ | 15478/30000 [7:11:41<6:42:22, 1.66s/it] 52%|█████▏ | 15479/30000 [7:11:42<6:42:53, 1.66s/it] 52%|█████▏ | 15480/30000 [7:11:44<6:41:56, 1.66s/it] {'loss': 0.0212, 'grad_norm': 0.13289901614189148, 'learning_rate': 1.5448023679278517e-05, 'flow_matching_loss': 0.02119435342028737, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.5} + 52%|█████▏ | 15480/30000 [7:11:44<6:41:56, 1.66s/it] 52%|█████▏ | 15481/30000 [7:11:46<6:42:12, 1.66s/it] 52%|█████▏ | 15482/30000 [7:11:47<6:42:49, 1.66s/it] 52%|█████▏ | 15483/30000 [7:11:49<6:43:16, 1.67s/it] 52%|█████▏ | 15484/30000 [7:11:51<6:43:31, 1.67s/it] 52%|█████▏ | 15485/30000 [7:11:52<6:43:29, 1.67s/it] 52%|█████▏ | 15486/30000 [7:11:54<6:43:06, 1.67s/it] 52%|█████▏ | 15487/30000 [7:11:56<6:42:52, 1.67s/it] 52%|█████▏ | 15488/30000 [7:11:57<6:42:47, 1.67s/it] 52%|█████▏ | 15489/30000 [7:11:59<6:43:12, 1.67s/it] 52%|█████▏ | 15490/30000 [7:12:01<6:43:00, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.1181732788681984, 'learning_rate': 1.543149608930088e-05, 'flow_matching_loss': 0.019921636674553156, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.51} + 52%|█████▏ | 15490/30000 [7:12:01<6:43:00, 1.67s/it] 52%|█████▏ | 15491/30000 [7:12:02<6:42:35, 1.66s/it] 52%|█████▏ | 15492/30000 [7:12:04<6:42:49, 1.67s/it] 52%|█████▏ | 15493/30000 [7:12:06<6:43:23, 1.67s/it] 52%|█████▏ | 15494/30000 [7:12:07<6:43:10, 1.67s/it] 52%|█████▏ | 15495/30000 [7:12:09<6:42:53, 1.67s/it] 52%|█████▏ | 15496/30000 [7:12:11<6:42:38, 1.67s/it] 52%|█████▏ | 15497/30000 [7:12:12<6:42:57, 1.67s/it] 52%|█████▏ | 15498/30000 [7:12:14<6:43:13, 1.67s/it] 52%|█████▏ | 15499/30000 [7:12:16<6:43:09, 1.67s/it] 52%|█████▏ | 15500/30000 [7:12:17<6:43:20, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.11275547742843628, 'learning_rate': 1.5414967975014805e-05, 'flow_matching_loss': 0.021143060456961394, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.51} + 52%|█████▏ | 15500/30000 [7:12:17<6:43:20, 1.67s/it] 52%|█████▏ | 15501/30000 [7:12:19<6:42:56, 1.67s/it] 52%|█████▏ | 15502/30000 [7:12:21<6:41:33, 1.66s/it] 52%|█████▏ | 15503/30000 [7:12:22<6:41:46, 1.66s/it] 52%|█████▏ | 15504/30000 [7:12:24<6:41:36, 1.66s/it] 52%|█████▏ | 15505/30000 [7:12:26<6:42:14, 1.66s/it] 52%|█████▏ | 15506/30000 [7:12:27<6:42:21, 1.67s/it] 52%|█████▏ | 15507/30000 [7:12:29<6:42:26, 1.67s/it] 52%|█████▏ | 15508/30000 [7:12:31<6:42:57, 1.67s/it] 52%|█████▏ | 15509/30000 [7:12:32<6:42:29, 1.67s/it] 52%|█████▏ | 15510/30000 [7:12:34<6:42:09, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.1278044432401657, 'learning_rate': 1.539843935650351e-05, 'flow_matching_loss': 0.019129157811403275, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.51} + 52%|█████▏ | 15510/30000 [7:12:34<6:42:09, 1.67s/it] 52%|█████▏ | 15511/30000 [7:12:36<6:42:11, 1.67s/it] 52%|█████▏ | 15512/30000 [7:12:37<6:42:04, 1.67s/it] 52%|█████▏ | 15513/30000 [7:12:39<6:42:24, 1.67s/it] 52%|█████▏ | 15514/30000 [7:12:41<6:42:07, 1.67s/it] 52%|█████▏ | 15515/30000 [7:12:42<6:42:07, 1.67s/it] 52%|█████▏ | 15516/30000 [7:12:44<6:42:50, 1.67s/it] 52%|█████▏ | 15517/30000 [7:12:46<6:42:43, 1.67s/it] 52%|█████▏ | 15518/30000 [7:12:47<6:42:04, 1.67s/it] 52%|█████▏ | 15519/30000 [7:12:49<6:40:44, 1.66s/it] 52%|█████▏ | 15520/30000 [7:12:51<6:41:30, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.13046541810035706, 'learning_rate': 1.5381910253850834e-05, 'flow_matching_loss': 0.02128602275624871, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.52} + 52%|█████▏ | 15520/30000 [7:12:51<6:41:30, 1.66s/it] 52%|█████▏ | 15521/30000 [7:12:52<6:41:58, 1.67s/it] 52%|█████▏ | 15522/30000 [7:12:54<6:42:03, 1.67s/it] 52%|█████▏ | 15523/30000 [7:12:56<6:41:53, 1.67s/it] 52%|█████▏ | 15524/30000 [7:12:57<6:42:54, 1.67s/it] 52%|█████▏ | 15525/30000 [7:12:59<6:42:25, 1.67s/it] 52%|█████▏ | 15526/30000 [7:13:01<6:41:07, 1.66s/it] 52%|█████▏ | 15527/30000 [7:13:02<6:41:13, 1.66s/it] 52%|█████▏ | 15528/30000 [7:13:04<6:40:26, 1.66s/it] 52%|█████▏ | 15529/30000 [7:13:06<6:40:58, 1.66s/it] 52%|█████▏ | 15530/30000 [7:13:07<6:41:38, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.16889993846416473, 'learning_rate': 1.5365380687141183e-05, 'flow_matching_loss': 0.01857040235772729, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.52} + 52%|█████▏ | 15530/30000 [7:13:07<6:41:38, 1.67s/it] 52%|█████▏ | 15531/30000 [7:13:09<6:41:52, 1.67s/it] 52%|█████▏ | 15532/30000 [7:13:11<6:41:56, 1.67s/it] 52%|█████▏ | 15533/30000 [7:13:12<6:41:48, 1.67s/it] 52%|█████▏ | 15534/30000 [7:13:14<6:40:42, 1.66s/it] 52%|█████▏ | 15535/30000 [7:13:16<6:41:45, 1.67s/it] 52%|█████▏ | 15536/30000 [7:13:17<6:40:50, 1.66s/it] 52%|█████▏ | 15537/30000 [7:13:19<6:41:13, 1.66s/it] 52%|█████▏ | 15538/30000 [7:13:21<6:41:26, 1.67s/it] 52%|█████▏ | 15539/30000 [7:13:22<6:41:43, 1.67s/it] 52%|█████▏ | 15540/30000 [7:13:24<6:42:30, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.1269034445285797, 'learning_rate': 1.5348850676459544e-05, 'flow_matching_loss': 0.02007554629817605, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.52} + 52%|█████▏ | 15540/30000 [7:13:24<6:42:30, 1.67s/it] 52%|█████▏ | 15541/30000 [7:13:26<6:42:32, 1.67s/it] 52%|█████▏ | 15542/30000 [7:13:27<6:42:19, 1.67s/it] 52%|█████▏ | 15543/30000 [7:13:29<6:42:59, 1.67s/it] 52%|█████▏ | 15544/30000 [7:13:31<6:42:00, 1.67s/it] 52%|█████▏ | 15545/30000 [7:13:32<6:41:02, 1.66s/it] 52%|█████▏ | 15546/30000 [7:13:34<6:41:19, 1.67s/it] 52%|█████▏ | 15547/30000 [7:13:36<6:41:49, 1.67s/it] 52%|█████▏ | 15548/30000 [7:13:37<6:41:55, 1.67s/it] 52%|█████▏ | 15549/30000 [7:13:39<6:42:22, 1.67s/it] 52%|█████▏ | 15550/30000 [7:13:41<6:41:18, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.10142616182565689, 'learning_rate': 1.5332320241891438e-05, 'flow_matching_loss': 0.020744252111762763, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.52} + 52%|█████▏ | 15550/30000 [7:13:41<6:41:18, 1.67s/it] 52%|█████▏ | 15551/30000 [7:13:42<6:42:00, 1.67s/it] 52%|█████▏ | 15552/30000 [7:13:44<6:41:35, 1.67s/it] 52%|█████▏ | 15553/30000 [7:13:46<6:41:40, 1.67s/it] 52%|█████▏ | 15554/30000 [7:13:47<6:41:34, 1.67s/it] 52%|█████▏ | 15555/30000 [7:13:49<6:41:47, 1.67s/it] 52%|█████▏ | 15556/30000 [7:13:51<6:42:23, 1.67s/it] 52%|█████▏ | 15557/30000 [7:13:52<6:41:47, 1.67s/it] 52%|█████▏ | 15558/30000 [7:13:54<6:41:26, 1.67s/it] 52%|█████▏ | 15559/30000 [7:13:56<6:41:23, 1.67s/it] 52%|█████▏ | 15560/30000 [7:13:57<6:40:29, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.10922377556562424, 'learning_rate': 1.5315789403522908e-05, 'flow_matching_loss': 0.021262757945805788, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.53} + 52%|█████▏ | 15560/30000 [7:13:57<6:40:29, 1.66s/it] 52%|█████▏ | 15561/30000 [7:13:59<6:41:08, 1.67s/it] 52%|█████▏ | 15562/30000 [7:14:01<6:40:56, 1.67s/it] 52%|█████▏ | 15563/30000 [7:14:02<6:40:42, 1.67s/it] 52%|█████▏ | 15564/30000 [7:14:04<6:41:10, 1.67s/it] 52%|█████▏ | 15565/30000 [7:14:06<6:41:19, 1.67s/it] 52%|█████▏ | 15566/30000 [7:14:07<6:41:14, 1.67s/it] 52%|█████▏ | 15567/30000 [7:14:09<6:41:02, 1.67s/it] 52%|█████▏ | 15568/30000 [7:14:11<6:40:24, 1.66s/it] 52%|█████▏ | 15569/30000 [7:14:12<6:40:51, 1.67s/it] 52%|█████▏ | 15570/30000 [7:14:14<6:41:26, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.12341026216745377, 'learning_rate': 1.529925818144047e-05, 'flow_matching_loss': 0.02195550166070461, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.53} + 52%|█████▏ | 15570/30000 [7:14:14<6:41:26, 1.67s/it] 52%|█████▏ | 15571/30000 [7:14:16<6:41:25, 1.67s/it] 52%|█████▏ | 15572/30000 [7:14:17<6:41:29, 1.67s/it] 52%|█████▏ | 15573/30000 [7:14:19<6:40:47, 1.67s/it] 52%|█████▏ | 15574/30000 [7:14:21<6:40:48, 1.67s/it] 52%|█████▏ | 15575/30000 [7:14:22<6:41:24, 1.67s/it] 52%|█████▏ | 15576/30000 [7:14:24<6:41:19, 1.67s/it] 52%|█████▏ | 15577/30000 [7:14:26<6:41:19, 1.67s/it] 52%|█████▏ | 15578/30000 [7:14:27<6:41:21, 1.67s/it] 52%|█████▏ | 15579/30000 [7:14:29<6:41:21, 1.67s/it] 52%|█████▏ | 15580/30000 [7:14:31<6:41:25, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.09596919268369675, 'learning_rate': 1.5282726595731126e-05, 'flow_matching_loss': 0.020340858306735755, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.53} + 52%|█████▏ | 15580/30000 [7:14:31<6:41:25, 1.67s/it] 52%|█████▏ | 15581/30000 [7:14:32<6:41:01, 1.67s/it] 52%|█████▏ | 15582/30000 [7:14:34<6:40:50, 1.67s/it] 52%|█████▏ | 15583/30000 [7:14:36<6:41:07, 1.67s/it] 52%|█████▏ | 15584/30000 [7:14:37<6:41:14, 1.67s/it] 52%|█████▏ | 15585/30000 [7:14:39<6:41:19, 1.67s/it] 52%|█████▏ | 15586/30000 [7:14:41<6:41:41, 1.67s/it] 52%|█████▏ | 15587/30000 [7:14:42<6:41:17, 1.67s/it] 52%|█████▏ | 15588/30000 [7:14:44<6:41:38, 1.67s/it] 52%|█████▏ | 15589/30000 [7:14:46<6:40:33, 1.67s/it] 52%|█████▏ | 15590/30000 [7:14:47<6:40:29, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.12102996557950974, 'learning_rate': 1.5266194666482304e-05, 'flow_matching_loss': 0.018275234568864106, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.54} + 52%|█████▏ | 15590/30000 [7:14:47<6:40:29, 1.67s/it] 52%|█████▏ | 15591/30000 [7:14:49<6:41:02, 1.67s/it] 52%|█████▏ | 15592/30000 [7:14:51<6:40:43, 1.67s/it] 52%|█████▏ | 15593/30000 [7:14:52<6:41:37, 1.67s/it] 52%|█████▏ | 15594/30000 [7:14:54<6:41:21, 1.67s/it] 52%|█████▏ | 15595/30000 [7:14:56<6:40:45, 1.67s/it] 52%|█████▏ | 15596/30000 [7:14:57<6:39:55, 1.67s/it] 52%|█████▏ | 15597/30000 [7:14:59<6:39:41, 1.67s/it] 52%|█████▏ | 15598/30000 [7:15:01<6:39:39, 1.67s/it] 52%|█████▏ | 15599/30000 [7:15:02<6:40:30, 1.67s/it] 52%|█████▏ | 15600/30000 [7:15:04<6:40:32, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.11956549435853958, 'learning_rate': 1.5249662413781866e-05, 'flow_matching_loss': 0.02109185475856066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.54} + 52%|█████▏ | 15600/30000 [7:15:04<6:40:32, 1.67s/it] 52%|█████▏ | 15601/30000 [7:15:06<6:41:19, 1.67s/it] 52%|█████▏ | 15602/30000 [7:15:07<6:41:09, 1.67s/it] 52%|█████▏ | 15603/30000 [7:15:09<6:40:50, 1.67s/it] 52%|█████▏ | 15604/30000 [7:15:11<6:40:36, 1.67s/it] 52%|█████▏ | 15605/30000 [7:15:12<6:40:47, 1.67s/it] 52%|█████▏ | 15606/30000 [7:15:14<6:40:21, 1.67s/it] 52%|█████▏ | 15607/30000 [7:15:16<6:40:30, 1.67s/it] 52%|█████▏ | 15608/30000 [7:15:17<6:40:03, 1.67s/it] 52%|█████▏ | 15609/30000 [7:15:19<6:39:44, 1.67s/it] 52%|█████▏ | 15610/30000 [7:15:21<6:39:45, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.12058008462190628, 'learning_rate': 1.5233129857718054e-05, 'flow_matching_loss': 0.01942507307976484, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.54} + 52%|█████▏ | 15610/30000 [7:15:21<6:39:45, 1.67s/it] 52%|█████▏ | 15611/30000 [7:15:22<6:40:13, 1.67s/it] 52%|█████▏ | 15612/30000 [7:15:24<6:39:55, 1.67s/it] 52%|█████▏ | 15613/30000 [7:15:26<6:39:46, 1.67s/it] 52%|█████▏ | 15614/30000 [7:15:27<6:39:36, 1.67s/it] 52%|█████▏ | 15615/30000 [7:15:29<6:39:56, 1.67s/it] 52%|█████▏ | 15616/30000 [7:15:31<6:39:39, 1.67s/it] 52%|█████▏ | 15617/30000 [7:15:32<6:40:02, 1.67s/it] 52%|█████▏ | 15618/30000 [7:15:34<6:39:55, 1.67s/it] 52%|█████▏ | 15619/30000 [7:15:36<6:40:19, 1.67s/it] 52%|█████▏ | 15620/30000 [7:15:37<6:39:57, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.1504315733909607, 'learning_rate': 1.521659701837948e-05, 'flow_matching_loss': 0.019455427210777997, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.54} + 52%|█████▏ | 15620/30000 [7:15:37<6:39:57, 1.67s/it] 52%|█████▏ | 15621/30000 [7:15:39<6:39:49, 1.67s/it] 52%|█████▏ | 15622/30000 [7:15:41<6:39:34, 1.67s/it] 52%|█████▏ | 15623/30000 [7:15:42<6:39:29, 1.67s/it] 52%|█████▏ | 15624/30000 [7:15:44<6:39:06, 1.67s/it] 52%|█████▏ | 15625/30000 [7:15:46<6:39:29, 1.67s/it] 52%|█████▏ | 15626/30000 [7:15:47<6:39:09, 1.67s/it] 52%|█████▏ | 15627/30000 [7:15:49<6:39:10, 1.67s/it] 52%|█████▏ | 15628/30000 [7:15:51<6:39:26, 1.67s/it] 52%|█████▏ | 15629/30000 [7:15:52<6:38:33, 1.66s/it] 52%|█████▏ | 15630/30000 [7:15:54<6:39:08, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.12448980659246445, 'learning_rate': 1.5200063915855107e-05, 'flow_matching_loss': 0.018742914590984584, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.55} + 52%|█████▏ | 15630/30000 [7:15:54<6:39:08, 1.67s/it] 52%|█████▏ | 15631/30000 [7:15:56<6:39:18, 1.67s/it] 52%|█████▏ | 15632/30000 [7:15:57<6:39:23, 1.67s/it] 52%|█████▏ | 15633/30000 [7:15:59<6:39:37, 1.67s/it] 52%|█████▏ | 15634/30000 [7:16:01<6:39:32, 1.67s/it] 52%|█████▏ | 15635/30000 [7:16:02<6:39:19, 1.67s/it] 52%|█████▏ | 15636/30000 [7:16:04<6:39:11, 1.67s/it] 52%|█████▏ | 15637/30000 [7:16:06<6:39:08, 1.67s/it] 52%|█████▏ | 15638/30000 [7:16:07<6:39:14, 1.67s/it] 52%|█████▏ | 15639/30000 [7:16:09<6:39:18, 1.67s/it] 52%|█████▏ | 15640/30000 [7:16:11<6:38:46, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11990046501159668, 'learning_rate': 1.5183530570234212e-05, 'flow_matching_loss': 0.020058052614331245, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.55} + 52%|█████▏ | 15640/30000 [7:16:11<6:38:46, 1.67s/it] 52%|█████▏ | 15641/30000 [7:16:12<6:38:46, 1.67s/it] 52%|█████▏ | 15642/30000 [7:16:14<6:38:50, 1.67s/it] 52%|█████▏ | 15643/30000 [7:16:16<6:38:52, 1.67s/it] 52%|█████▏ | 15644/30000 [7:16:17<6:39:22, 1.67s/it] 52%|█████▏ | 15645/30000 [7:16:19<6:39:23, 1.67s/it] 52%|█████▏ | 15646/30000 [7:16:21<6:39:42, 1.67s/it] 52%|█████▏ | 15647/30000 [7:16:22<6:39:07, 1.67s/it] 52%|█████▏ | 15648/30000 [7:16:24<6:38:35, 1.67s/it] 52%|█████▏ | 15649/30000 [7:16:26<6:38:54, 1.67s/it] 52%|█████▏ | 15650/30000 [7:16:27<6:37:35, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.13242971897125244, 'learning_rate': 1.5166997001606361e-05, 'flow_matching_loss': 0.017438067682087423, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.55} + 52%|█████▏ | 15650/30000 [7:16:27<6:37:35, 1.66s/it] 52%|█████▏ | 15651/30000 [7:16:29<6:37:50, 1.66s/it] 52%|█████▏ | 15652/30000 [7:16:31<6:38:14, 1.67s/it] 52%|█████▏ | 15653/30000 [7:16:32<6:38:25, 1.67s/it] 52%|█████▏ | 15654/30000 [7:16:34<6:38:21, 1.67s/it] 52%|█████▏ | 15655/30000 [7:16:36<6:38:13, 1.67s/it] 52%|█████▏ | 15656/30000 [7:16:37<6:39:31, 1.67s/it] 52%|█████▏ | 15657/30000 [7:16:39<6:39:01, 1.67s/it] 52%|█████▏ | 15658/30000 [7:16:41<6:39:29, 1.67s/it] 52%|█████▏ | 15659/30000 [7:16:42<6:38:57, 1.67s/it] 52%|█████▏ | 15660/30000 [7:16:44<6:38:57, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.13257546722888947, 'learning_rate': 1.5150463230061417e-05, 'flow_matching_loss': 0.02021480370312929, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.56} + 52%|█████▏ | 15660/30000 [7:16:44<6:38:57, 1.67s/it] 52%|█████▏ | 15661/30000 [7:16:46<6:38:04, 1.67s/it] 52%|█████▏ | 15662/30000 [7:16:47<6:38:44, 1.67s/it] 52%|█████▏ | 15663/30000 [7:16:49<6:38:37, 1.67s/it] 52%|█████▏ | 15664/30000 [7:16:51<6:37:57, 1.67s/it] 52%|█████▏ | 15665/30000 [7:16:52<6:38:23, 1.67s/it] 52%|█████▏ | 15666/30000 [7:16:54<6:38:11, 1.67s/it] 52%|█████▏ | 15667/30000 [7:16:56<6:37:49, 1.67s/it] 52%|█████▏ | 15668/30000 [7:16:57<6:37:52, 1.67s/it] 52%|█████▏ | 15669/30000 [7:16:59<6:37:59, 1.67s/it] 52%|█████▏ | 15670/30000 [7:17:01<6:38:08, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.108476921916008, 'learning_rate': 1.5133929275689455e-05, 'flow_matching_loss': 0.018049947265535594, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.56} + 52%|█████▏ | 15670/30000 [7:17:01<6:38:08, 1.67s/it] 52%|█████▏ | 15671/30000 [7:17:02<6:38:35, 1.67s/it] 52%|█████▏ | 15672/30000 [7:17:04<6:38:37, 1.67s/it] 52%|█████▏ | 15673/30000 [7:17:06<6:38:15, 1.67s/it] 52%|█████▏ | 15674/30000 [7:17:07<6:37:48, 1.67s/it] 52%|█████▏ | 15675/30000 [7:17:09<6:37:10, 1.66s/it] 52%|█████▏ | 15676/30000 [7:17:11<6:37:23, 1.66s/it] 52%|█████▏ | 15677/30000 [7:17:12<6:37:30, 1.67s/it] 52%|█████▏ | 15678/30000 [7:17:14<6:37:58, 1.67s/it] 52%|█████▏ | 15679/30000 [7:17:16<6:38:12, 1.67s/it] 52%|█████▏ | 15680/30000 [7:17:17<6:37:45, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.09547864645719528, 'learning_rate': 1.5117395158580795e-05, 'flow_matching_loss': 0.01685592597350478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.56} + 52%|█████▏ | 15680/30000 [7:17:18<6:37:45, 1.67s/it] 52%|█████▏ | 15681/30000 [7:17:19<6:37:42, 1.67s/it] 52%|█████▏ | 15682/30000 [7:17:21<6:37:43, 1.67s/it] 52%|█████▏ | 15683/30000 [7:17:22<6:37:38, 1.67s/it] 52%|█████▏ | 15684/30000 [7:17:24<6:37:31, 1.67s/it] 52%|█████▏ | 15685/30000 [7:17:26<6:37:42, 1.67s/it] 52%|█████▏ | 15686/30000 [7:17:27<6:37:50, 1.67s/it] 52%|█████▏ | 15687/30000 [7:17:29<6:38:05, 1.67s/it] 52%|█████▏ | 15688/30000 [7:17:31<6:37:02, 1.66s/it] 52%|█████▏ | 15689/30000 [7:17:32<6:36:33, 1.66s/it] 52%|█████▏ | 15690/30000 [7:17:34<6:37:39, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.11153053492307663, 'learning_rate': 1.510086089882595e-05, 'flow_matching_loss': 0.01779257645830512, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.57} + 52%|█████▏ | 15690/30000 [7:17:34<6:37:39, 1.67s/it] 52%|█████▏ | 15691/30000 [7:17:36<6:37:30, 1.67s/it] 52%|█████▏ | 15692/30000 [7:17:37<6:38:21, 1.67s/it] 52%|█████▏ | 15693/30000 [7:17:39<6:39:20, 1.67s/it] 52%|█████▏ | 15694/30000 [7:17:41<6:38:30, 1.67s/it] 52%|█████▏ | 15695/30000 [7:17:42<6:38:06, 1.67s/it] 52%|█████▏ | 15696/30000 [7:17:44<6:37:56, 1.67s/it] 52%|█████▏ | 15697/30000 [7:17:46<6:37:53, 1.67s/it] 52%|█████▏ | 15698/30000 [7:17:48<6:37:48, 1.67s/it] 52%|█████▏ | 15699/30000 [7:17:49<6:37:48, 1.67s/it] 52%|█████▏ | 15700/30000 [7:17:51<6:37:18, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.09572939574718475, 'learning_rate': 1.5084326516515599e-05, 'flow_matching_loss': 0.01895936569198966, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.57} + 52%|█████▏ | 15700/30000 [7:17:51<6:37:18, 1.67s/it] 52%|█████▏ | 15701/30000 [7:17:53<6:37:17, 1.67s/it] 52%|█████▏ | 15702/30000 [7:17:54<6:36:32, 1.66s/it] 52%|█████▏ | 15703/30000 [7:17:56<6:36:43, 1.66s/it] 52%|█████▏ | 15704/30000 [7:17:57<6:36:29, 1.66s/it] 52%|█████▏ | 15705/30000 [7:17:59<6:36:40, 1.66s/it] 52%|█████▏ | 15706/30000 [7:18:01<6:36:36, 1.66s/it] 52%|█████▏ | 15707/30000 [7:18:02<6:36:21, 1.66s/it] 52%|█████▏ | 15708/30000 [7:18:04<6:36:45, 1.67s/it] 52%|█████▏ | 15709/30000 [7:18:06<6:37:20, 1.67s/it] 52%|█████▏ | 15710/30000 [7:18:07<6:36:55, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.10712950676679611, 'learning_rate': 1.5067792031740582e-05, 'flow_matching_loss': 0.020069093070924283, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.57} + 52%|█████▏ | 15710/30000 [7:18:08<6:36:55, 1.67s/it] 52%|█████▏ | 15711/30000 [7:18:09<6:37:12, 1.67s/it] 52%|█████▏ | 15712/30000 [7:18:11<6:36:31, 1.67s/it] 52%|█████▏ | 15713/30000 [7:18:12<6:36:29, 1.67s/it] 52%|█████▏ | 15714/30000 [7:18:14<6:37:03, 1.67s/it] 52%|█████▏ | 15715/30000 [7:18:16<6:36:34, 1.67s/it] 52%|█████▏ | 15716/30000 [7:18:17<6:36:41, 1.67s/it] 52%|█████▏ | 15717/30000 [7:18:19<6:36:55, 1.67s/it] 52%|█████▏ | 15718/30000 [7:18:21<6:36:40, 1.67s/it] 52%|█████▏ | 15719/30000 [7:18:23<6:37:50, 1.67s/it] 52%|█████▏ | 15720/30000 [7:18:24<6:37:37, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.14617633819580078, 'learning_rate': 1.505125746459185e-05, 'flow_matching_loss': 0.0176914282143116, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.57} + 52%|█████▏ | 15720/30000 [7:18:24<6:37:37, 1.67s/it] 52%|█████▏ | 15721/30000 [7:18:26<6:37:33, 1.67s/it] 52%|█████▏ | 15722/30000 [7:18:28<6:37:12, 1.67s/it] 52%|█████▏ | 15723/30000 [7:18:29<6:36:27, 1.67s/it] 52%|█████▏ | 15724/30000 [7:18:31<6:37:03, 1.67s/it] 52%|█████▏ | 15725/30000 [7:18:33<6:38:22, 1.67s/it] 52%|█████▏ | 15726/30000 [7:18:34<6:38:01, 1.67s/it] 52%|█████▏ | 15727/30000 [7:18:36<6:37:27, 1.67s/it] 52%|█████▏ | 15728/30000 [7:18:38<6:37:12, 1.67s/it] 52%|█████▏ | 15729/30000 [7:18:39<6:37:10, 1.67s/it] 52%|█████▏ | 15730/30000 [7:18:41<6:36:56, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.1187969446182251, 'learning_rate': 1.5034722835160466e-05, 'flow_matching_loss': 0.01868253843858838, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.58} + 52%|█████▏ | 15730/30000 [7:18:41<6:36:56, 1.67s/it] 52%|█████▏ | 15731/30000 [7:18:43<6:36:48, 1.67s/it] 52%|█████▏ | 15732/30000 [7:18:44<6:36:22, 1.67s/it] 52%|█████▏ | 15733/30000 [7:18:46<6:36:24, 1.67s/it] 52%|█████▏ | 15734/30000 [7:18:48<6:36:34, 1.67s/it] 52%|█████▏ | 15735/30000 [7:18:49<6:35:54, 1.67s/it] 52%|█████▏ | 15736/30000 [7:18:51<6:36:23, 1.67s/it] 52%|█████▏ | 15737/30000 [7:18:53<6:36:25, 1.67s/it] 52%|█████▏ | 15738/30000 [7:18:54<6:36:49, 1.67s/it] 52%|█████▏ | 15739/30000 [7:18:56<6:36:23, 1.67s/it] 52%|█████▏ | 15740/30000 [7:18:58<6:35:48, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.15083065629005432, 'learning_rate': 1.5018188163537566e-05, 'flow_matching_loss': 0.019032244011759757, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.58} + 52%|█████▏ | 15740/30000 [7:18:58<6:35:48, 1.67s/it] 52%|█████▏ | 15741/30000 [7:18:59<6:36:06, 1.67s/it] 52%|█████▏ | 15742/30000 [7:19:01<6:35:53, 1.67s/it] 52%|█████▏ | 15743/30000 [7:19:03<6:36:03, 1.67s/it] 52%|█████▏ | 15744/30000 [7:19:04<6:35:35, 1.66s/it] 52%|█████▏ | 15745/30000 [7:19:06<6:35:43, 1.67s/it] 52%|█████▏ | 15746/30000 [7:19:08<6:35:47, 1.67s/it] 52%|█████▏ | 15747/30000 [7:19:09<6:35:52, 1.67s/it] 52%|█████▏ | 15748/30000 [7:19:11<6:36:35, 1.67s/it] 52%|█████▏ | 15749/30000 [7:19:13<6:36:43, 1.67s/it] 52%|█████▎ | 15750/30000 [7:19:14<6:36:28, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.1272384226322174, 'learning_rate': 1.5001653469814331e-05, 'flow_matching_loss': 0.01973360599949956, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.58} + 52%|█████▎ | 15750/30000 [7:19:14<6:36:28, 1.67s/it] 53%|█████▎ | 15751/30000 [7:19:16<6:36:51, 1.67s/it] 53%|█████▎ | 15752/30000 [7:19:18<6:36:15, 1.67s/it] 53%|█████▎ | 15753/30000 [7:19:19<6:36:21, 1.67s/it] 53%|█████▎ | 15754/30000 [7:19:21<6:36:10, 1.67s/it] 53%|█████▎ | 15755/30000 [7:19:23<6:36:10, 1.67s/it] 53%|█████▎ | 15756/30000 [7:19:24<6:35:36, 1.67s/it] 53%|█████▎ | 15757/30000 [7:19:26<6:36:18, 1.67s/it] 53%|█████▎ | 15758/30000 [7:19:28<6:35:52, 1.67s/it] 53%|█████▎ | 15759/30000 [7:19:29<6:36:04, 1.67s/it] 53%|█████▎ | 15760/30000 [7:19:31<6:34:49, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.15963613986968994, 'learning_rate': 1.4985118774081978e-05, 'flow_matching_loss': 0.018489337526261806, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.59} + 53%|█████▎ | 15760/30000 [7:19:31<6:34:49, 1.66s/it] 53%|█████▎ | 15761/30000 [7:19:33<6:35:05, 1.66s/it] 53%|█████▎ | 15762/30000 [7:19:34<6:35:14, 1.67s/it] 53%|█████▎ | 15763/30000 [7:19:36<6:35:21, 1.67s/it] 53%|█████▎ | 15764/30000 [7:19:38<6:35:04, 1.67s/it] 53%|█████▎ | 15765/30000 [7:19:39<6:35:15, 1.67s/it] 53%|█████▎ | 15766/30000 [7:19:41<6:35:17, 1.67s/it] 53%|█████▎ | 15767/30000 [7:19:43<6:35:13, 1.67s/it] 53%|█████▎ | 15768/30000 [7:19:44<6:34:51, 1.66s/it] 53%|█████▎ | 15769/30000 [7:19:46<6:35:09, 1.67s/it] 53%|█████▎ | 15770/30000 [7:19:48<6:35:57, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.09309270977973938, 'learning_rate': 1.4968584096431708e-05, 'flow_matching_loss': 0.021266326401382686, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.59} + 53%|█████▎ | 15770/30000 [7:19:48<6:35:57, 1.67s/it] 53%|█████▎ | 15771/30000 [7:19:49<6:35:44, 1.67s/it] 53%|█████▎ | 15772/30000 [7:19:51<6:35:24, 1.67s/it] 53%|█████▎ | 15773/30000 [7:19:53<6:35:05, 1.67s/it] 53%|█████▎ | 15774/30000 [7:19:54<6:35:20, 1.67s/it] 53%|█████▎ | 15775/30000 [7:19:56<6:35:39, 1.67s/it] 53%|█████▎ | 15776/30000 [7:19:58<6:35:38, 1.67s/it] 53%|█████▎ | 15777/30000 [7:19:59<6:36:17, 1.67s/it] 53%|█████▎ | 15778/30000 [7:20:01<6:36:06, 1.67s/it] 53%|█████▎ | 15779/30000 [7:20:03<6:35:59, 1.67s/it] 53%|█████▎ | 15780/30000 [7:20:04<6:35:38, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.11291708797216415, 'learning_rate': 1.4952049456954731e-05, 'flow_matching_loss': 0.02000877186655998, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.59} + 53%|█████▎ | 15780/30000 [7:20:04<6:35:38, 1.67s/it] 53%|█████▎ | 15781/30000 [7:20:06<6:35:23, 1.67s/it] 53%|█████▎ | 15782/30000 [7:20:08<6:34:25, 1.66s/it] 53%|█████▎ | 15783/30000 [7:20:09<6:34:50, 1.67s/it] 53%|█████▎ | 15784/30000 [7:20:11<6:34:31, 1.67s/it] 53%|█████▎ | 15785/30000 [7:20:13<6:34:55, 1.67s/it] 53%|█████▎ | 15786/30000 [7:20:14<6:34:31, 1.67s/it] 53%|█████▎ | 15787/30000 [7:20:16<6:34:26, 1.67s/it] 53%|█████▎ | 15788/30000 [7:20:18<6:33:48, 1.66s/it] 53%|█████▎ | 15789/30000 [7:20:19<6:34:43, 1.67s/it] 53%|█████▎ | 15790/30000 [7:20:21<6:34:16, 1.66s/it] {'loss': 0.02, 'grad_norm': 0.1296607404947281, 'learning_rate': 1.4935514875742182e-05, 'flow_matching_loss': 0.020007998589426278, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.59} + 53%|█████▎ | 15790/30000 [7:20:21<6:34:16, 1.66s/it] 53%|█████▎ | 15791/30000 [7:20:23<6:35:27, 1.67s/it] 53%|█████▎ | 15792/30000 [7:20:24<6:35:01, 1.67s/it] 53%|█████▎ | 15793/30000 [7:20:26<6:34:42, 1.67s/it] 53%|█████▎ | 15794/30000 [7:20:28<6:34:38, 1.67s/it] 53%|█████▎ | 15795/30000 [7:20:29<6:35:07, 1.67s/it] 53%|█████▎ | 15796/30000 [7:20:31<6:35:24, 1.67s/it] 53%|█████▎ | 15797/30000 [7:20:33<6:34:51, 1.67s/it] 53%|█████▎ | 15798/30000 [7:20:34<6:35:52, 1.67s/it] 53%|█████▎ | 15799/30000 [7:20:36<6:36:09, 1.67s/it] 53%|█████▎ | 15800/30000 [7:20:38<6:35:21, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.15079906582832336, 'learning_rate': 1.4918980372885143e-05, 'flow_matching_loss': 0.021146902162581683, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.6} + 53%|█████▎ | 15800/30000 [7:20:38<6:35:21, 1.67s/it] 53%|█████▎ | 15801/30000 [7:20:39<6:35:29, 1.67s/it] 53%|█████▎ | 15802/30000 [7:20:41<6:35:43, 1.67s/it] 53%|█████▎ | 15803/30000 [7:20:43<6:35:24, 1.67s/it] 53%|█████▎ | 15804/30000 [7:20:44<6:35:22, 1.67s/it] 53%|█████▎ | 15805/30000 [7:20:46<6:34:58, 1.67s/it] 53%|█████▎ | 15806/30000 [7:20:48<6:34:18, 1.67s/it] 53%|█████▎ | 15807/30000 [7:20:49<6:34:18, 1.67s/it] 53%|█████▎ | 15808/30000 [7:20:51<6:34:01, 1.67s/it] 53%|█████▎ | 15809/30000 [7:20:53<6:34:11, 1.67s/it] 53%|█████▎ | 15810/30000 [7:20:54<6:34:07, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.11390406638383865, 'learning_rate': 1.4902445968474591e-05, 'flow_matching_loss': 0.019581785891205072, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.6} + 53%|█████▎ | 15810/30000 [7:20:54<6:34:07, 1.67s/it] 53%|█████▎ | 15811/30000 [7:20:56<6:34:09, 1.67s/it] 53%|█████▎ | 15812/30000 [7:20:58<6:34:29, 1.67s/it] 53%|█████▎ | 15813/30000 [7:20:59<6:34:05, 1.67s/it] 53%|█████▎ | 15814/30000 [7:21:01<6:34:32, 1.67s/it] 53%|█████▎ | 15815/30000 [7:21:03<6:34:34, 1.67s/it] 53%|█████▎ | 15816/30000 [7:21:04<6:34:36, 1.67s/it] 53%|█████▎ | 15817/30000 [7:21:06<6:33:58, 1.67s/it] 53%|█████▎ | 15818/30000 [7:21:08<6:34:33, 1.67s/it] 53%|█████▎ | 15819/30000 [7:21:09<6:34:12, 1.67s/it] 53%|█████▎ | 15820/30000 [7:21:11<6:33:52, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.14561474323272705, 'learning_rate': 1.4885911682601378e-05, 'flow_matching_loss': 0.019705476704984903, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.6} + 53%|█████▎ | 15820/30000 [7:21:11<6:33:52, 1.67s/it] 53%|█████▎ | 15821/30000 [7:21:13<6:33:54, 1.67s/it] 53%|█████▎ | 15822/30000 [7:21:14<6:33:52, 1.67s/it] 53%|█████▎ | 15823/30000 [7:21:16<6:33:59, 1.67s/it] 53%|█████▎ | 15824/30000 [7:21:18<6:34:04, 1.67s/it] 53%|█████▎ | 15825/30000 [7:21:19<6:34:30, 1.67s/it] 53%|█████▎ | 15826/30000 [7:21:21<6:35:20, 1.67s/it] 53%|█████▎ | 15827/30000 [7:21:23<6:34:47, 1.67s/it] 53%|█████▎ | 15828/30000 [7:21:24<6:35:30, 1.67s/it] 53%|█████▎ | 15829/30000 [7:21:26<6:35:23, 1.67s/it] 53%|█████▎ | 15830/30000 [7:21:28<6:35:00, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.16883625090122223, 'learning_rate': 1.4869377535356235e-05, 'flow_matching_loss': 0.017506937589496376, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.61} + 53%|█████▎ | 15830/30000 [7:21:28<6:35:00, 1.67s/it] 53%|█████▎ | 15831/30000 [7:21:29<6:34:57, 1.67s/it] 53%|█████▎ | 15832/30000 [7:21:31<6:34:40, 1.67s/it] 53%|█████▎ | 15833/30000 [7:21:33<6:34:18, 1.67s/it] 53%|█████▎ | 15834/30000 [7:21:34<6:34:23, 1.67s/it] 53%|█████▎ | 15835/30000 [7:21:36<6:33:45, 1.67s/it] 53%|█████▎ | 15836/30000 [7:21:38<6:33:37, 1.67s/it] 53%|█████▎ | 15837/30000 [7:21:39<6:33:59, 1.67s/it] 53%|█████▎ | 15838/30000 [7:21:41<6:33:03, 1.67s/it] 53%|█████▎ | 15839/30000 [7:21:43<6:33:09, 1.67s/it] 53%|█████▎ | 15840/30000 [7:21:44<6:33:01, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.1150602325797081, 'learning_rate': 1.4852843546829704e-05, 'flow_matching_loss': 0.0198044846765697, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.61} + 53%|█████▎ | 15840/30000 [7:21:44<6:33:01, 1.67s/it] 53%|█████▎ | 15841/30000 [7:21:46<6:33:06, 1.67s/it] 53%|█████▎ | 15842/30000 [7:21:48<6:33:30, 1.67s/it] 53%|█████▎ | 15843/30000 [7:21:49<6:33:35, 1.67s/it] 53%|█████▎ | 15844/30000 [7:21:51<6:33:46, 1.67s/it] 53%|█████▎ | 15845/30000 [7:21:53<6:33:30, 1.67s/it] 53%|█████▎ | 15846/30000 [7:21:54<6:33:44, 1.67s/it] 53%|█████▎ | 15847/30000 [7:21:56<6:33:28, 1.67s/it] 53%|█████▎ | 15848/30000 [7:21:58<6:33:18, 1.67s/it] 53%|█████▎ | 15849/30000 [7:21:59<6:34:10, 1.67s/it] 53%|█████▎ | 15850/30000 [7:22:01<6:33:59, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.09325189143419266, 'learning_rate': 1.483630973711214e-05, 'flow_matching_loss': 0.02054881565272808, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.61} + 53%|█████▎ | 15850/30000 [7:22:01<6:33:59, 1.67s/it] 53%|█████▎ | 15851/30000 [7:22:03<6:34:12, 1.67s/it] 53%|█████▎ | 15852/30000 [7:22:04<6:34:07, 1.67s/it] 53%|█████▎ | 15853/30000 [7:22:06<6:33:12, 1.67s/it] 53%|█████▎ | 15854/30000 [7:22:08<6:33:03, 1.67s/it] 53%|█████▎ | 15855/30000 [7:22:09<6:32:26, 1.66s/it] 53%|█████▎ | 15856/30000 [7:22:11<6:33:02, 1.67s/it] 53%|█████▎ | 15857/30000 [7:22:13<6:32:43, 1.67s/it] 53%|█████▎ | 15858/30000 [7:22:14<6:32:44, 1.67s/it] 53%|█████▎ | 15859/30000 [7:22:16<6:33:17, 1.67s/it] 53%|█████▎ | 15860/30000 [7:22:18<6:33:04, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.13058091700077057, 'learning_rate': 1.4819776126293677e-05, 'flow_matching_loss': 0.021643334813416005, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.61} + 53%|█████▎ | 15860/30000 [7:22:18<6:33:04, 1.67s/it] 53%|█████▎ | 15861/30000 [7:22:19<6:33:12, 1.67s/it] 53%|█████▎ | 15862/30000 [7:22:21<6:32:35, 1.67s/it] 53%|█████▎ | 15863/30000 [7:22:23<6:32:13, 1.66s/it] 53%|█████▎ | 15864/30000 [7:22:24<6:32:12, 1.66s/it] 53%|█████▎ | 15865/30000 [7:22:26<6:32:22, 1.67s/it] 53%|█████▎ | 15866/30000 [7:22:28<6:33:05, 1.67s/it] 53%|█████▎ | 15867/30000 [7:22:29<6:32:52, 1.67s/it] 53%|█████▎ | 15868/30000 [7:22:31<6:32:57, 1.67s/it] 53%|█████▎ | 15869/30000 [7:22:33<6:32:29, 1.67s/it] 53%|█████▎ | 15870/30000 [7:22:34<6:32:44, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.12358935922384262, 'learning_rate': 1.4803242734464214e-05, 'flow_matching_loss': 0.02009791499003768, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.62} + 53%|█████▎ | 15870/30000 [7:22:34<6:32:44, 1.67s/it] 53%|█████▎ | 15871/30000 [7:22:36<6:33:07, 1.67s/it] 53%|█████▎ | 15872/30000 [7:22:38<6:32:51, 1.67s/it] 53%|█████▎ | 15873/30000 [7:22:39<6:32:47, 1.67s/it] 53%|█████▎ | 15874/30000 [7:22:41<6:32:32, 1.67s/it] 53%|█████▎ | 15875/30000 [7:22:43<6:32:22, 1.67s/it] 53%|█████▎ | 15876/30000 [7:22:44<6:32:19, 1.67s/it] 53%|█████▎ | 15877/30000 [7:22:46<6:31:58, 1.67s/it] 53%|█████▎ | 15878/30000 [7:22:48<6:31:57, 1.67s/it] 53%|█████▎ | 15879/30000 [7:22:49<6:33:05, 1.67s/it] 53%|█████▎ | 15880/30000 [7:22:51<6:32:57, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.15905922651290894, 'learning_rate': 1.4786709581713383e-05, 'flow_matching_loss': 0.02014632634818554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.62} + 53%|█████▎ | 15880/30000 [7:22:51<6:32:57, 1.67s/it] 53%|█████▎ | 15881/30000 [7:22:53<6:33:12, 1.67s/it] 53%|█████▎ | 15882/30000 [7:22:54<6:32:35, 1.67s/it] 53%|█████▎ | 15883/30000 [7:22:56<6:32:08, 1.67s/it] 53%|█████▎ | 15884/30000 [7:22:58<6:32:08, 1.67s/it] 53%|█████▎ | 15885/30000 [7:22:59<6:32:09, 1.67s/it] 53%|█████▎ | 15886/30000 [7:23:01<6:31:35, 1.66s/it] 53%|█████▎ | 15887/30000 [7:23:03<6:31:12, 1.66s/it] 53%|█████▎ | 15888/30000 [7:23:04<6:32:15, 1.67s/it] 53%|█████▎ | 15889/30000 [7:23:06<6:32:21, 1.67s/it] 53%|█████▎ | 15890/30000 [7:23:08<6:32:14, 1.67s/it] {'loss': 0.0214, 'grad_norm': 0.1257096230983734, 'learning_rate': 1.4770176688130524e-05, 'flow_matching_loss': 0.02136333202943206, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.62} + 53%|█████▎ | 15890/30000 [7:23:08<6:32:14, 1.67s/it] 53%|█████▎ | 15891/30000 [7:23:09<6:32:10, 1.67s/it] 53%|█████▎ | 15892/30000 [7:23:11<6:32:50, 1.67s/it] 53%|█████▎ | 15893/30000 [7:23:13<6:32:29, 1.67s/it] 53%|█████▎ | 15894/30000 [7:23:14<6:32:23, 1.67s/it] 53%|█████▎ | 15895/30000 [7:23:16<6:32:13, 1.67s/it] 53%|█████▎ | 15896/30000 [7:23:18<6:32:09, 1.67s/it] 53%|█████▎ | 15897/30000 [7:23:19<6:32:13, 1.67s/it] 53%|█████▎ | 15898/30000 [7:23:21<6:32:15, 1.67s/it] 53%|█████▎ | 15899/30000 [7:23:23<6:32:03, 1.67s/it] 53%|█████▎ | 15900/30000 [7:23:24<6:32:04, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.1288602352142334, 'learning_rate': 1.475364407380466e-05, 'flow_matching_loss': 0.01884072767570615, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.63} + 53%|█████▎ | 15900/30000 [7:23:24<6:32:04, 1.67s/it] 53%|█████▎ | 15901/30000 [7:23:26<6:32:33, 1.67s/it] 53%|█████▎ | 15902/30000 [7:23:28<6:33:29, 1.67s/it] 53%|█████▎ | 15903/30000 [7:23:29<6:33:07, 1.67s/it] 53%|█████▎ | 15904/30000 [7:23:31<6:32:17, 1.67s/it] 53%|█████▎ | 15905/30000 [7:23:33<6:32:02, 1.67s/it] 53%|█████▎ | 15906/30000 [7:23:34<6:32:26, 1.67s/it] 53%|█████▎ | 15907/30000 [7:23:36<6:32:09, 1.67s/it] 53%|█████▎ | 15908/30000 [7:23:38<6:32:25, 1.67s/it] 53%|█████▎ | 15909/30000 [7:23:39<6:32:09, 1.67s/it] 53%|█████▎ | 15910/30000 [7:23:41<6:31:51, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.11869077384471893, 'learning_rate': 1.4737111758824476e-05, 'flow_matching_loss': 0.018449891079217195, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.63} + 53%|█████▎ | 15910/30000 [7:23:41<6:31:51, 1.67s/it] 53%|█████▎ | 15911/30000 [7:23:43<6:32:03, 1.67s/it] 53%|█████▎ | 15912/30000 [7:23:44<6:31:49, 1.67s/it] 53%|█████▎ | 15913/30000 [7:23:46<6:31:47, 1.67s/it] 53%|█████▎ | 15914/30000 [7:23:48<6:32:13, 1.67s/it] 53%|█████▎ | 15915/30000 [7:23:49<6:31:59, 1.67s/it] 53%|█████▎ | 15916/30000 [7:23:51<6:32:03, 1.67s/it] 53%|█████▎ | 15917/30000 [7:23:53<6:31:58, 1.67s/it] 53%|█████▎ | 15918/30000 [7:23:54<6:31:35, 1.67s/it] 53%|█████▎ | 15919/30000 [7:23:56<6:31:26, 1.67s/it] 53%|█████▎ | 15920/30000 [7:23:58<6:31:22, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.1083611249923706, 'learning_rate': 1.4720579763278289e-05, 'flow_matching_loss': 0.019274519197642802, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.63} + 53%|█████▎ | 15920/30000 [7:23:58<6:31:22, 1.67s/it] 53%|█████▎ | 15921/30000 [7:23:59<6:31:20, 1.67s/it] 53%|█████▎ | 15922/30000 [7:24:01<6:31:02, 1.67s/it] 53%|█████▎ | 15923/30000 [7:24:03<6:31:17, 1.67s/it] 53%|█████▎ | 15924/30000 [7:24:04<6:31:10, 1.67s/it] 53%|█████▎ | 15925/30000 [7:24:06<6:31:28, 1.67s/it] 53%|█████▎ | 15926/30000 [7:24:08<6:31:19, 1.67s/it] 53%|█████▎ | 15927/30000 [7:24:09<6:30:41, 1.67s/it] 53%|█████▎ | 15928/30000 [7:24:11<6:30:58, 1.67s/it] 53%|█████▎ | 15929/30000 [7:24:13<6:30:48, 1.67s/it] 53%|█████▎ | 15930/30000 [7:24:14<6:30:51, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.14094455540180206, 'learning_rate': 1.4704048107254042e-05, 'flow_matching_loss': 0.01930485824123025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.63} + 53%|█████▎ | 15930/30000 [7:24:15<6:30:51, 1.67s/it] 53%|█████▎ | 15931/30000 [7:24:16<6:30:50, 1.67s/it] 53%|█████▎ | 15932/30000 [7:24:18<6:31:05, 1.67s/it] 53%|█████▎ | 15933/30000 [7:24:19<6:31:10, 1.67s/it] 53%|█████▎ | 15934/30000 [7:24:21<6:31:08, 1.67s/it] 53%|█████▎ | 15935/30000 [7:24:23<6:30:58, 1.67s/it] 53%|█████▎ | 15936/30000 [7:24:24<6:30:39, 1.67s/it] 53%|█████▎ | 15937/30000 [7:24:26<6:30:48, 1.67s/it] 53%|█████▎ | 15938/30000 [7:24:28<6:30:26, 1.67s/it] 53%|█████▎ | 15939/30000 [7:24:29<6:30:29, 1.67s/it] 53%|█████▎ | 15940/30000 [7:24:31<6:30:40, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.11742686480283737, 'learning_rate': 1.4687516810839246e-05, 'flow_matching_loss': 0.018600328359752893, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.64} + 53%|█████▎ | 15940/30000 [7:24:31<6:30:40, 1.67s/it] 53%|█████▎ | 15941/30000 [7:24:33<6:31:14, 1.67s/it] 53%|█████▎ | 15942/30000 [7:24:35<6:31:00, 1.67s/it] 53%|█████▎ | 15943/30000 [7:24:36<6:30:46, 1.67s/it] 53%|█████▎ | 15944/30000 [7:24:38<6:30:17, 1.67s/it] 53%|█████▎ | 15945/30000 [7:24:40<6:30:33, 1.67s/it] 53%|█████▎ | 15946/30000 [7:24:41<6:30:32, 1.67s/it] 53%|█████▎ | 15947/30000 [7:24:43<6:30:13, 1.67s/it] 53%|█████▎ | 15948/30000 [7:24:45<6:30:29, 1.67s/it] 53%|█████▎ | 15949/30000 [7:24:46<6:30:48, 1.67s/it] 53%|█████▎ | 15950/30000 [7:24:48<6:30:25, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.13074886798858643, 'learning_rate': 1.4670985894120997e-05, 'flow_matching_loss': 0.019945196434855463, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.64} + 53%|█████▎ | 15950/30000 [7:24:48<6:30:25, 1.67s/it] 53%|█████▎ | 15951/30000 [7:24:50<6:30:41, 1.67s/it] 53%|█████▎ | 15952/30000 [7:24:51<6:30:41, 1.67s/it] 53%|█████▎ | 15953/30000 [7:24:53<6:30:56, 1.67s/it] 53%|█████▎ | 15954/30000 [7:24:55<6:30:33, 1.67s/it] 53%|█████▎ | 15955/30000 [7:24:56<6:29:42, 1.66s/it] 53%|█████▎ | 15956/30000 [7:24:58<6:29:49, 1.67s/it] 53%|█████▎ | 15957/30000 [7:25:00<6:29:44, 1.67s/it] 53%|█████▎ | 15958/30000 [7:25:01<6:29:43, 1.67s/it] 53%|█████▎ | 15959/30000 [7:25:03<6:29:36, 1.66s/it] 53%|█████▎ | 15960/30000 [7:25:05<6:31:15, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.0942770466208458, 'learning_rate': 1.465445537718591e-05, 'flow_matching_loss': 0.01910610543563962, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.64} + 53%|█████▎ | 15960/30000 [7:25:05<6:31:15, 1.67s/it] 53%|█████▎ | 15961/30000 [7:25:06<6:31:37, 1.67s/it] 53%|█████▎ | 15962/30000 [7:25:08<6:31:11, 1.67s/it] 53%|█████▎ | 15963/30000 [7:25:10<6:30:25, 1.67s/it] 53%|█████▎ | 15964/30000 [7:25:11<6:31:46, 1.67s/it] 53%|█████▎ | 15965/30000 [7:25:13<6:31:18, 1.67s/it] 53%|█████▎ | 15966/30000 [7:25:15<6:30:11, 1.67s/it] 53%|█████▎ | 15967/30000 [7:25:16<6:30:11, 1.67s/it] 53%|█████▎ | 15968/30000 [7:25:18<6:29:56, 1.67s/it] 53%|█████▎ | 15969/30000 [7:25:20<6:30:11, 1.67s/it] 53%|█████▎ | 15970/30000 [7:25:21<6:30:46, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.1328003853559494, 'learning_rate': 1.463792528012012e-05, 'flow_matching_loss': 0.01939401514828205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.65} + 53%|█████▎ | 15970/30000 [7:25:21<6:30:46, 1.67s/it] 53%|█████▎ | 15971/30000 [7:25:23<6:30:39, 1.67s/it] 53%|█████▎ | 15972/30000 [7:25:25<6:30:26, 1.67s/it] 53%|█████▎ | 15973/30000 [7:25:26<6:29:32, 1.67s/it] 53%|█████▎ | 15974/30000 [7:25:28<6:29:44, 1.67s/it] 53%|█████▎ | 15975/30000 [7:25:30<6:29:52, 1.67s/it] 53%|█████▎ | 15976/30000 [7:25:31<6:29:11, 1.67s/it] 53%|█████▎ | 15977/30000 [7:25:33<6:29:51, 1.67s/it] 53%|█████▎ | 15978/30000 [7:25:35<6:29:47, 1.67s/it] 53%|█████▎ | 15979/30000 [7:25:36<6:29:17, 1.67s/it] 53%|█████▎ | 15980/30000 [7:25:38<6:29:51, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.17425334453582764, 'learning_rate': 1.4621395623009252e-05, 'flow_matching_loss': 0.020849165599793197, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.65} + 53%|█████▎ | 15980/30000 [7:25:38<6:29:51, 1.67s/it] 53%|█████▎ | 15981/30000 [7:25:40<6:30:13, 1.67s/it] 53%|█████▎ | 15982/30000 [7:25:41<6:29:45, 1.67s/it] 53%|█████▎ | 15983/30000 [7:25:43<6:29:10, 1.67s/it] 53%|█████▎ | 15984/30000 [7:25:45<6:29:07, 1.67s/it] 53%|█████▎ | 15985/30000 [7:25:46<6:29:15, 1.67s/it] 53%|█████▎ | 15986/30000 [7:25:48<6:29:01, 1.67s/it] 53%|█████▎ | 15987/30000 [7:25:50<6:29:06, 1.67s/it] 53%|█████▎ | 15988/30000 [7:25:51<6:28:48, 1.66s/it] 53%|█████▎ | 15989/30000 [7:25:53<6:29:28, 1.67s/it] 53%|█████▎ | 15990/30000 [7:25:55<6:29:09, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.12493453174829483, 'learning_rate': 1.4604866425938407e-05, 'flow_matching_loss': 0.020032074861228467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.65} + 53%|█████▎ | 15990/30000 [7:25:55<6:29:09, 1.67s/it] 53%|█████▎ | 15991/30000 [7:25:56<6:30:25, 1.67s/it] 53%|█████▎ | 15992/30000 [7:25:58<6:30:20, 1.67s/it] 53%|█████▎ | 15993/30000 [7:26:00<6:30:12, 1.67s/it] 53%|█████▎ | 15994/30000 [7:26:01<6:30:14, 1.67s/it] 53%|█████▎ | 15995/30000 [7:26:03<6:29:43, 1.67s/it] 53%|█████▎ | 15996/30000 [7:26:05<6:29:49, 1.67s/it] 53%|█████▎ | 15997/30000 [7:26:06<6:29:41, 1.67s/it] 53%|█████▎ | 15998/30000 [7:26:08<6:29:08, 1.67s/it] 53%|█████▎ | 15999/30000 [7:26:10<6:29:50, 1.67s/it] 53%|█████▎ | 16000/30000 [7:26:11<6:29:41, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.10539919883012772, 'learning_rate': 1.4588337708992115e-05, 'flow_matching_loss': 0.017809900641441345, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.66} + 53%|█████▎ | 16000/30000 [7:26:11<6:29:41, 1.67s/it] 53%|█████▎ | 16001/30000 [7:26:13<6:29:45, 1.67s/it] 53%|█████▎ | 16002/30000 [7:26:15<6:29:33, 1.67s/it] 53%|█████▎ | 16003/30000 [7:26:16<6:28:40, 1.67s/it] 53%|█████▎ | 16004/30000 [7:26:18<6:28:56, 1.67s/it] 53%|█████▎ | 16005/30000 [7:26:20<6:29:12, 1.67s/it] 53%|█████▎ | 16006/30000 [7:26:21<6:29:09, 1.67s/it] 53%|█████▎ | 16007/30000 [7:26:23<6:28:30, 1.67s/it] 53%|█████▎ | 16008/30000 [7:26:25<6:28:30, 1.67s/it] 53%|█████▎ | 16009/30000 [7:26:26<6:28:37, 1.67s/it] 53%|█████▎ | 16010/30000 [7:26:28<6:28:29, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.1313314437866211, 'learning_rate': 1.4571809492254318e-05, 'flow_matching_loss': 0.017484904639422892, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.66} + 53%|█████▎ | 16010/30000 [7:26:28<6:28:29, 1.67s/it] 53%|█████▎ | 16011/30000 [7:26:30<6:28:30, 1.67s/it] 53%|█████▎ | 16012/30000 [7:26:31<6:28:54, 1.67s/it] 53%|█████▎ | 16013/30000 [7:26:33<6:28:57, 1.67s/it] 53%|█████▎ | 16014/30000 [7:26:35<6:29:17, 1.67s/it] 53%|█████▎ | 16015/30000 [7:26:36<6:29:29, 1.67s/it] 53%|█████▎ | 16016/30000 [7:26:38<6:29:17, 1.67s/it] 53%|█████▎ | 16017/30000 [7:26:40<6:29:16, 1.67s/it] 53%|█████▎ | 16018/30000 [7:26:41<6:29:17, 1.67s/it] 53%|█████▎ | 16019/30000 [7:26:43<6:29:10, 1.67s/it] 53%|█████▎ | 16020/30000 [7:26:45<6:29:06, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.12400006502866745, 'learning_rate': 1.4555281795808371e-05, 'flow_matching_loss': 0.02003437140956521, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.66} + 53%|█████▎ | 16020/30000 [7:26:45<6:29:06, 1.67s/it] 53%|█████▎ | 16021/30000 [7:26:46<6:29:04, 1.67s/it] 53%|█████▎ | 16022/30000 [7:26:48<6:28:17, 1.67s/it] 53%|█████▎ | 16023/30000 [7:26:50<6:28:20, 1.67s/it] 53%|█████▎ | 16024/30000 [7:26:51<6:28:35, 1.67s/it] 53%|█████▎ | 16025/30000 [7:26:53<6:28:21, 1.67s/it] 53%|█████▎ | 16026/30000 [7:26:55<6:28:41, 1.67s/it] 53%|█████▎ | 16027/30000 [7:26:56<6:28:53, 1.67s/it] 53%|█████▎ | 16028/30000 [7:26:58<6:28:35, 1.67s/it] 53%|█████▎ | 16029/30000 [7:27:00<6:28:10, 1.67s/it] 53%|█████▎ | 16030/30000 [7:27:01<6:28:05, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.1147284209728241, 'learning_rate': 1.4538754639736966e-05, 'flow_matching_loss': 0.01675533028319478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.66} + 53%|█████▎ | 16030/30000 [7:27:01<6:28:05, 1.67s/it] 53%|█████▎ | 16031/30000 [7:27:03<6:28:23, 1.67s/it] 53%|█████▎ | 16032/30000 [7:27:05<6:27:42, 1.67s/it] 53%|█████▎ | 16033/30000 [7:27:06<6:27:55, 1.67s/it] 53%|█████▎ | 16034/30000 [7:27:08<6:28:32, 1.67s/it] 53%|█████▎ | 16035/30000 [7:27:10<6:28:12, 1.67s/it] 53%|█████▎ | 16036/30000 [7:27:11<6:28:10, 1.67s/it] 53%|█████▎ | 16037/30000 [7:27:13<6:27:45, 1.67s/it] 53%|█████▎ | 16038/30000 [7:27:15<6:27:54, 1.67s/it] 53%|█████▎ | 16039/30000 [7:27:16<6:27:24, 1.66s/it] 53%|█████▎ | 16040/30000 [7:27:18<6:26:42, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.10614980757236481, 'learning_rate': 1.4522228044122174e-05, 'flow_matching_loss': 0.01881041321903467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.67} + 53%|█████▎ | 16040/30000 [7:27:18<6:26:42, 1.66s/it] 53%|█████▎ | 16041/30000 [7:27:20<6:27:07, 1.66s/it] 53%|█████▎ | 16042/30000 [7:27:21<6:27:23, 1.67s/it] 53%|█████▎ | 16043/30000 [7:27:23<6:29:05, 1.67s/it] 53%|█████▎ | 16044/30000 [7:27:25<6:27:12, 1.66s/it] 53%|█████▎ | 16045/30000 [7:27:26<6:27:37, 1.67s/it] 53%|█████▎ | 16046/30000 [7:27:28<6:27:50, 1.67s/it] 53%|█████▎ | 16047/30000 [7:27:30<6:27:37, 1.67s/it] 53%|█████▎ | 16048/30000 [7:27:31<6:27:33, 1.67s/it] 53%|█████▎ | 16049/30000 [7:27:33<6:27:47, 1.67s/it] 54%|█████▎ | 16050/30000 [7:27:35<6:27:49, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.11259789019823074, 'learning_rate': 1.4505702029045359e-05, 'flow_matching_loss': 0.02055547935888171, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.67} + 54%|█████▎ | 16050/30000 [7:27:35<6:27:49, 1.67s/it] 54%|█████▎ | 16051/30000 [7:27:36<6:27:47, 1.67s/it] 54%|█████▎ | 16052/30000 [7:27:38<6:27:45, 1.67s/it] 54%|█████▎ | 16053/30000 [7:27:40<6:27:39, 1.67s/it] 54%|█████▎ | 16054/30000 [7:27:41<6:26:48, 1.66s/it] 54%|█████▎ | 16055/30000 [7:27:43<6:26:51, 1.66s/it] 54%|█████▎ | 16056/30000 [7:27:45<6:27:13, 1.67s/it] 54%|█████▎ | 16057/30000 [7:27:46<6:27:19, 1.67s/it] 54%|█████▎ | 16058/30000 [7:27:48<6:28:21, 1.67s/it] 54%|█████▎ | 16059/30000 [7:27:50<6:27:42, 1.67s/it] 54%|█████▎ | 16060/30000 [7:27:51<6:27:47, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.12954026460647583, 'learning_rate': 1.4489176614587189e-05, 'flow_matching_loss': 0.020682638976722956, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.67} + 54%|█████▎ | 16060/30000 [7:27:51<6:27:47, 1.67s/it] 54%|█████▎ | 16061/30000 [7:27:53<6:27:28, 1.67s/it] 54%|█████▎ | 16062/30000 [7:27:55<6:27:10, 1.67s/it] 54%|█████▎ | 16063/30000 [7:27:56<6:27:12, 1.67s/it] 54%|█████▎ | 16064/30000 [7:27:58<6:27:16, 1.67s/it] 54%|█████▎ | 16065/30000 [7:28:00<6:27:31, 1.67s/it] 54%|█████▎ | 16066/30000 [7:28:01<6:27:10, 1.67s/it] 54%|█████▎ | 16067/30000 [7:28:03<6:26:54, 1.67s/it] 54%|█████▎ | 16068/30000 [7:28:05<6:27:17, 1.67s/it] 54%|█████▎ | 16069/30000 [7:28:06<6:28:08, 1.67s/it] 54%|█████▎ | 16070/30000 [7:28:08<6:27:43, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.10972213000059128, 'learning_rate': 1.4472651820827595e-05, 'flow_matching_loss': 0.019151892978698015, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.68} + 54%|█████▎ | 16070/30000 [7:28:08<6:27:43, 1.67s/it] 54%|█████▎ | 16071/30000 [7:28:10<6:27:23, 1.67s/it] 54%|█████▎ | 16072/30000 [7:28:11<6:27:12, 1.67s/it] 54%|█████▎ | 16073/30000 [7:28:13<6:26:52, 1.67s/it] 54%|█████▎ | 16074/30000 [7:28:15<6:27:21, 1.67s/it] 54%|█████▎ | 16075/30000 [7:28:16<6:27:16, 1.67s/it] 54%|█████▎ | 16076/30000 [7:28:18<6:27:11, 1.67s/it] 54%|█████▎ | 16077/30000 [7:28:20<6:26:59, 1.67s/it] 54%|█████▎ | 16078/30000 [7:28:21<6:26:48, 1.67s/it] 54%|█████▎ | 16079/30000 [7:28:23<6:27:47, 1.67s/it] 54%|█████▎ | 16080/30000 [7:28:25<6:26:36, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.11892611533403397, 'learning_rate': 1.4456127667845766e-05, 'flow_matching_loss': 0.01949100773781538, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.68} + 54%|█████▎ | 16080/30000 [7:28:25<6:26:36, 1.67s/it] 54%|█████▎ | 16081/30000 [7:28:26<6:27:27, 1.67s/it] 54%|█████▎ | 16082/30000 [7:28:28<6:27:10, 1.67s/it] 54%|█████▎ | 16083/30000 [7:28:30<6:27:13, 1.67s/it] 54%|█████▎ | 16084/30000 [7:28:31<6:27:40, 1.67s/it] 54%|█████▎ | 16085/30000 [7:28:33<6:27:17, 1.67s/it] 54%|█████▎ | 16086/30000 [7:28:35<6:26:53, 1.67s/it] 54%|█████▎ | 16087/30000 [7:28:36<6:26:15, 1.67s/it] 54%|█████▎ | 16088/30000 [7:28:38<6:26:25, 1.67s/it] 54%|█████▎ | 16089/30000 [7:28:40<6:26:51, 1.67s/it] 54%|█████▎ | 16090/30000 [7:28:41<6:26:51, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.140304297208786, 'learning_rate': 1.4439604175720104e-05, 'flow_matching_loss': 0.02184253241866827, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.68} + 54%|█████▎ | 16090/30000 [7:28:41<6:26:51, 1.67s/it] 54%|█████▎ | 16091/30000 [7:28:43<6:26:54, 1.67s/it] 54%|█████▎ | 16092/30000 [7:28:45<6:26:18, 1.67s/it] 54%|█████▎ | 16093/30000 [7:28:46<6:27:27, 1.67s/it] 54%|█████▎ | 16094/30000 [7:28:48<6:26:47, 1.67s/it] 54%|█████▎ | 16095/30000 [7:28:50<6:26:26, 1.67s/it] 54%|█████▎ | 16096/30000 [7:28:51<6:26:14, 1.67s/it] 54%|█████▎ | 16097/30000 [7:28:53<6:26:04, 1.67s/it] 54%|█████▎ | 16098/30000 [7:28:55<6:26:18, 1.67s/it] 54%|█████▎ | 16099/30000 [7:28:56<6:26:11, 1.67s/it] 54%|█████▎ | 16100/30000 [7:28:58<6:27:06, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.12050055712461472, 'learning_rate': 1.4423081364528212e-05, 'flow_matching_loss': 0.016599922627210616, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.68} + 54%|█████▎ | 16100/30000 [7:28:58<6:27:06, 1.67s/it] 54%|█████▎ | 16101/30000 [7:29:00<6:27:37, 1.67s/it] 54%|█████▎ | 16102/30000 [7:29:01<6:27:01, 1.67s/it] 54%|█████▎ | 16103/30000 [7:29:03<6:26:37, 1.67s/it] 54%|█████▎ | 16104/30000 [7:29:05<6:26:13, 1.67s/it] 54%|█████▎ | 16105/30000 [7:29:06<6:25:34, 1.66s/it] 54%|█████▎ | 16106/30000 [7:29:08<6:26:10, 1.67s/it] 54%|█████▎ | 16107/30000 [7:29:10<6:26:09, 1.67s/it] 54%|█████▎ | 16108/30000 [7:29:11<6:26:24, 1.67s/it] 54%|█████▎ | 16109/30000 [7:29:13<6:25:27, 1.66s/it] 54%|█████▎ | 16110/30000 [7:29:15<6:25:48, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.132102370262146, 'learning_rate': 1.4406559254346863e-05, 'flow_matching_loss': 0.01943859662860632, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.69} + 54%|█████▎ | 16110/30000 [7:29:15<6:25:48, 1.67s/it] 54%|█████▎ | 16111/30000 [7:29:16<6:25:41, 1.67s/it] 54%|█████▎ | 16112/30000 [7:29:18<6:25:34, 1.67s/it] 54%|█████▎ | 16113/30000 [7:29:20<6:26:04, 1.67s/it] 54%|█████▎ | 16114/30000 [7:29:21<6:26:09, 1.67s/it] 54%|█████▎ | 16115/30000 [7:29:23<6:25:48, 1.67s/it] 54%|█████▎ | 16116/30000 [7:29:25<6:26:03, 1.67s/it] 54%|█████▎ | 16117/30000 [7:29:26<6:26:10, 1.67s/it] 54%|█████▎ | 16118/30000 [7:29:28<6:25:45, 1.67s/it] 54%|█████▎ | 16119/30000 [7:29:30<6:25:55, 1.67s/it] 54%|█████▎ | 16120/30000 [7:29:31<6:25:12, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11103475838899612, 'learning_rate': 1.4390037865251978e-05, 'flow_matching_loss': 0.018341012578457595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.69} + 54%|█████▎ | 16120/30000 [7:29:31<6:25:12, 1.67s/it] 54%|█████▎ | 16121/30000 [7:29:33<6:25:36, 1.67s/it] 54%|█████▎ | 16122/30000 [7:29:35<6:25:53, 1.67s/it] 54%|█████▎ | 16123/30000 [7:29:36<6:25:20, 1.67s/it] 54%|█████▎ | 16124/30000 [7:29:38<6:25:44, 1.67s/it] 54%|█████▍ | 16125/30000 [7:29:40<6:25:36, 1.67s/it] 54%|█████▍ | 16126/30000 [7:29:41<6:25:27, 1.67s/it] 54%|█████▍ | 16127/30000 [7:29:43<6:25:08, 1.67s/it] 54%|█████▍ | 16128/30000 [7:29:45<6:25:00, 1.67s/it] 54%|█████▍ | 16129/30000 [7:29:46<6:24:34, 1.66s/it] 54%|█████▍ | 16130/30000 [7:29:48<6:25:45, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.1415792554616928, 'learning_rate': 1.4373517217318597e-05, 'flow_matching_loss': 0.019063828978687525, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.69} + 54%|█████▍ | 16130/30000 [7:29:48<6:25:45, 1.67s/it] 54%|█████▍ | 16131/30000 [7:29:50<6:25:34, 1.67s/it] 54%|█████▍ | 16132/30000 [7:29:51<6:25:34, 1.67s/it] 54%|█████▍ | 16133/30000 [7:29:53<6:25:33, 1.67s/it] 54%|█████▍ | 16134/30000 [7:29:55<6:25:49, 1.67s/it] 54%|█████▍ | 16135/30000 [7:29:56<6:25:31, 1.67s/it] 54%|█████▍ | 16136/30000 [7:29:58<6:25:18, 1.67s/it] 54%|█████▍ | 16137/30000 [7:30:00<6:24:45, 1.67s/it] 54%|█████▍ | 16138/30000 [7:30:01<6:25:23, 1.67s/it] 54%|█████▍ | 16139/30000 [7:30:03<6:25:32, 1.67s/it] 54%|█████▍ | 16140/30000 [7:30:05<6:26:02, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.1294870227575302, 'learning_rate': 1.4356997330620875e-05, 'flow_matching_loss': 0.020539416931569576, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.7} + 54%|█████▍ | 16140/30000 [7:30:05<6:26:02, 1.67s/it] 54%|█████▍ | 16141/30000 [7:30:06<6:25:17, 1.67s/it] 54%|█████▍ | 16142/30000 [7:30:08<6:25:03, 1.67s/it] 54%|█████▍ | 16143/30000 [7:30:10<6:24:49, 1.67s/it] 54%|█████▍ | 16144/30000 [7:30:11<6:24:19, 1.66s/it] 54%|█████▍ | 16145/30000 [7:30:13<6:24:44, 1.67s/it] 54%|█████▍ | 16146/30000 [7:30:15<6:25:20, 1.67s/it] 54%|█████▍ | 16147/30000 [7:30:16<6:25:06, 1.67s/it] 54%|█████▍ | 16148/30000 [7:30:18<6:25:27, 1.67s/it] 54%|█████▍ | 16149/30000 [7:30:20<6:24:35, 1.67s/it] 54%|█████▍ | 16150/30000 [7:30:21<6:24:29, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.12228435277938843, 'learning_rate': 1.434047822523203e-05, 'flow_matching_loss': 0.01853293292224407, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.7} + 54%|█████▍ | 16150/30000 [7:30:21<6:24:29, 1.67s/it] 54%|█████▍ | 16151/30000 [7:30:23<6:24:24, 1.67s/it] 54%|█████▍ | 16152/30000 [7:30:25<6:24:05, 1.66s/it] 54%|█████▍ | 16153/30000 [7:30:26<6:24:29, 1.67s/it] 54%|█████▍ | 16154/30000 [7:30:28<6:25:03, 1.67s/it] 54%|█████▍ | 16155/30000 [7:30:30<6:25:05, 1.67s/it] 54%|█████▍ | 16156/30000 [7:30:31<6:24:56, 1.67s/it] 54%|█████▍ | 16157/30000 [7:30:33<6:25:00, 1.67s/it] 54%|█████▍ | 16158/30000 [7:30:35<6:25:42, 1.67s/it] 54%|█████▍ | 16159/30000 [7:30:36<6:24:53, 1.67s/it] 54%|█████▍ | 16160/30000 [7:30:38<6:24:28, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.08869946002960205, 'learning_rate': 1.4323959921224322e-05, 'flow_matching_loss': 0.018852462619543077, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.7} + 54%|█████▍ | 16160/30000 [7:30:38<6:24:28, 1.67s/it] 54%|█████▍ | 16161/30000 [7:30:40<6:24:46, 1.67s/it] 54%|█████▍ | 16162/30000 [7:30:41<6:24:34, 1.67s/it] 54%|█████▍ | 16163/30000 [7:30:43<6:24:38, 1.67s/it] 54%|█████▍ | 16164/30000 [7:30:45<6:24:41, 1.67s/it] 54%|█████▍ | 16165/30000 [7:30:46<6:24:08, 1.67s/it] 54%|█████▍ | 16166/30000 [7:30:48<6:24:12, 1.67s/it] 54%|█████▍ | 16167/30000 [7:30:50<6:24:19, 1.67s/it] 54%|█████▍ | 16168/30000 [7:30:51<6:24:26, 1.67s/it] 54%|█████▍ | 16169/30000 [7:30:53<6:24:24, 1.67s/it] 54%|█████▍ | 16170/30000 [7:30:55<6:24:32, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.14775994420051575, 'learning_rate': 1.4307442438669066e-05, 'flow_matching_loss': 0.018604260869324207, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.7} + 54%|█████▍ | 16170/30000 [7:30:55<6:24:32, 1.67s/it] 54%|█████▍ | 16171/30000 [7:30:56<6:24:38, 1.67s/it] 54%|█████▍ | 16172/30000 [7:30:58<6:24:39, 1.67s/it] 54%|█████▍ | 16173/30000 [7:31:00<6:24:29, 1.67s/it] 54%|█████▍ | 16174/30000 [7:31:01<6:24:06, 1.67s/it] 54%|█████▍ | 16175/30000 [7:31:03<6:24:06, 1.67s/it] 54%|█████▍ | 16176/30000 [7:31:05<6:24:02, 1.67s/it] 54%|█████▍ | 16177/30000 [7:31:06<6:23:49, 1.67s/it] 54%|█████▍ | 16178/30000 [7:31:08<6:23:26, 1.66s/it] 54%|█████▍ | 16179/30000 [7:31:10<6:24:05, 1.67s/it] 54%|█████▍ | 16180/30000 [7:31:11<6:24:10, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.14153200387954712, 'learning_rate': 1.4290925797636546e-05, 'flow_matching_loss': 0.020538005605340005, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.71} + 54%|█████▍ | 16180/30000 [7:31:12<6:24:10, 1.67s/it] 54%|█████▍ | 16181/30000 [7:31:13<6:24:46, 1.67s/it] 54%|█████▍ | 16182/30000 [7:31:15<6:24:33, 1.67s/it] 54%|█████▍ | 16183/30000 [7:31:16<6:23:56, 1.67s/it] 54%|█████▍ | 16184/30000 [7:31:18<6:23:37, 1.67s/it] 54%|█████▍ | 16185/30000 [7:31:20<6:23:43, 1.67s/it] 54%|█████▍ | 16186/30000 [7:31:21<6:23:59, 1.67s/it] 54%|█████▍ | 16187/30000 [7:31:23<6:24:21, 1.67s/it] 54%|█████▍ | 16188/30000 [7:31:25<6:24:45, 1.67s/it] 54%|█████▍ | 16189/30000 [7:31:26<6:24:21, 1.67s/it] 54%|█████▍ | 16190/30000 [7:31:28<6:24:13, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.13950571417808533, 'learning_rate': 1.4274410018196039e-05, 'flow_matching_loss': 0.0197863582521677, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.71} + 54%|█████▍ | 16190/30000 [7:31:28<6:24:13, 1.67s/it] 54%|█████▍ | 16191/30000 [7:31:30<6:24:28, 1.67s/it] 54%|█████▍ | 16192/30000 [7:31:32<6:24:13, 1.67s/it] 54%|█████▍ | 16193/30000 [7:31:33<6:25:42, 1.68s/it] 54%|█████▍ | 16194/30000 [7:31:35<6:24:55, 1.67s/it] 54%|█████▍ | 16195/30000 [7:31:37<6:24:01, 1.67s/it] 54%|█████▍ | 16196/30000 [7:31:38<6:24:17, 1.67s/it] 54%|█████▍ | 16197/30000 [7:31:40<6:23:38, 1.67s/it] 54%|█████▍ | 16198/30000 [7:31:42<6:23:40, 1.67s/it] 54%|█████▍ | 16199/30000 [7:31:43<6:23:30, 1.67s/it] 54%|█████▍ | 16200/30000 [7:31:45<6:23:30, 1.67s/it] {'loss': 0.0218, 'grad_norm': 0.11165749281644821, 'learning_rate': 1.4257895120415783e-05, 'flow_matching_loss': 0.02178401630371809, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.71} + 54%|█████▍ | 16200/30000 [7:31:45<6:23:30, 1.67s/it] 54%|█████▍ | 16201/30000 [7:31:47<6:22:52, 1.66s/it] 54%|█████▍ | 16202/30000 [7:31:48<6:23:20, 1.67s/it] 54%|█████▍ | 16203/30000 [7:31:50<6:23:40, 1.67s/it] 54%|█████▍ | 16204/30000 [7:31:52<6:23:34, 1.67s/it] 54%|█████▍ | 16205/30000 [7:31:53<6:23:21, 1.67s/it] 54%|█████▍ | 16206/30000 [7:31:55<6:23:04, 1.67s/it] 54%|█████▍ | 16207/30000 [7:31:57<6:23:08, 1.67s/it] 54%|█████▍ | 16208/30000 [7:31:58<6:23:21, 1.67s/it] 54%|█████▍ | 16209/30000 [7:32:00<6:23:18, 1.67s/it] 54%|█████▍ | 16210/30000 [7:32:02<6:22:51, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.09853028506040573, 'learning_rate': 1.4241381124362933e-05, 'flow_matching_loss': 0.020218076929450036, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.72} + 54%|█████▍ | 16210/30000 [7:32:02<6:22:51, 1.67s/it] 54%|█████▍ | 16211/30000 [7:32:03<6:23:11, 1.67s/it] 54%|█████▍ | 16212/30000 [7:32:05<6:23:06, 1.67s/it] 54%|█████▍ | 16213/30000 [7:32:07<6:23:35, 1.67s/it] 54%|█████▍ | 16214/30000 [7:32:08<6:24:07, 1.67s/it] 54%|█████▍ | 16215/30000 [7:32:10<6:23:23, 1.67s/it] 54%|█████▍ | 16216/30000 [7:32:12<6:22:32, 1.67s/it] 54%|█████▍ | 16217/30000 [7:32:13<6:22:42, 1.67s/it] 54%|█████▍ | 16218/30000 [7:32:15<6:23:07, 1.67s/it] 54%|█████▍ | 16219/30000 [7:32:17<6:23:15, 1.67s/it] 54%|█████▍ | 16220/30000 [7:32:18<6:23:43, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.13383054733276367, 'learning_rate': 1.4224868050103546e-05, 'flow_matching_loss': 0.02100702729076147, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.72} + 54%|█████▍ | 16220/30000 [7:32:18<6:23:43, 1.67s/it] 54%|█████▍ | 16221/30000 [7:32:20<6:23:08, 1.67s/it] 54%|█████▍ | 16222/30000 [7:32:22<6:22:25, 1.67s/it] 54%|█████▍ | 16223/30000 [7:32:23<6:22:38, 1.67s/it] 54%|█████▍ | 16224/30000 [7:32:25<6:22:46, 1.67s/it] 54%|█████▍ | 16225/30000 [7:32:27<6:23:34, 1.67s/it] 54%|█████▍ | 16226/30000 [7:32:28<6:23:16, 1.67s/it] 54%|█████▍ | 16227/30000 [7:32:30<6:23:21, 1.67s/it] 54%|█████▍ | 16228/30000 [7:32:32<6:23:11, 1.67s/it] 54%|█████▍ | 16229/30000 [7:32:33<6:22:39, 1.67s/it] 54%|█████▍ | 16230/30000 [7:32:35<6:22:34, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10375675559043884, 'learning_rate': 1.4208355917702573e-05, 'flow_matching_loss': 0.01753583727404475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.72} + 54%|█████▍ | 16230/30000 [7:32:35<6:22:34, 1.67s/it] 54%|█████▍ | 16231/30000 [7:32:37<6:22:17, 1.67s/it] 54%|█████▍ | 16232/30000 [7:32:38<6:22:01, 1.66s/it] 54%|█████▍ | 16233/30000 [7:32:40<6:22:18, 1.67s/it] 54%|█████▍ | 16234/30000 [7:32:42<6:23:36, 1.67s/it] 54%|█████▍ | 16235/30000 [7:32:43<6:23:38, 1.67s/it] 54%|█████▍ | 16236/30000 [7:32:45<6:23:20, 1.67s/it] 54%|█████▍ | 16237/30000 [7:32:47<6:23:09, 1.67s/it] 54%|█████▍ | 16238/30000 [7:32:48<6:22:36, 1.67s/it] 54%|█████▍ | 16239/30000 [7:32:50<6:23:00, 1.67s/it] 54%|█████▍ | 16240/30000 [7:32:52<6:22:36, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.09816084802150726, 'learning_rate': 1.41918447472238e-05, 'flow_matching_loss': 0.016280772723257543, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.73} + 54%|█████▍ | 16240/30000 [7:32:52<6:22:36, 1.67s/it] 54%|█████▍ | 16241/30000 [7:32:53<6:22:57, 1.67s/it] 54%|█████▍ | 16242/30000 [7:32:55<6:22:42, 1.67s/it] 54%|█████▍ | 16243/30000 [7:32:57<6:22:28, 1.67s/it] 54%|█████▍ | 16244/30000 [7:32:58<6:22:09, 1.67s/it] 54%|█████▍ | 16245/30000 [7:33:00<6:21:51, 1.67s/it] 54%|█████▍ | 16246/30000 [7:33:02<6:21:32, 1.66s/it] 54%|█████▍ | 16247/30000 [7:33:03<6:21:18, 1.66s/it] 54%|█████▍ | 16248/30000 [7:33:05<6:21:14, 1.66s/it] 54%|█████▍ | 16249/30000 [7:33:07<6:22:13, 1.67s/it] 54%|█████▍ | 16250/30000 [7:33:08<6:21:47, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12727239727973938, 'learning_rate': 1.4175334558729869e-05, 'flow_matching_loss': 0.02031481163576245, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.73} + 54%|█████▍ | 16250/30000 [7:33:08<6:21:47, 1.67s/it] 54%|█████▍ | 16251/30000 [7:33:10<6:22:19, 1.67s/it] 54%|█████▍ | 16252/30000 [7:33:12<6:22:08, 1.67s/it] 54%|█████▍ | 16253/30000 [7:33:13<6:22:14, 1.67s/it] 54%|█████▍ | 16254/30000 [7:33:15<6:21:44, 1.67s/it] 54%|█████▍ | 16255/30000 [7:33:17<6:21:41, 1.67s/it] 54%|█████▍ | 16256/30000 [7:33:18<6:21:43, 1.67s/it] 54%|█████▍ | 16257/30000 [7:33:20<6:21:38, 1.67s/it] 54%|█████▍ | 16258/30000 [7:33:22<6:21:44, 1.67s/it] 54%|█████▍ | 16259/30000 [7:33:23<6:21:21, 1.67s/it] 54%|█████▍ | 16260/30000 [7:33:25<6:21:24, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.10387992858886719, 'learning_rate': 1.4158825372282211e-05, 'flow_matching_loss': 0.019590163975954054, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.73} + 54%|█████▍ | 16260/30000 [7:33:25<6:21:24, 1.67s/it] 54%|█████▍ | 16261/30000 [7:33:27<6:21:17, 1.67s/it] 54%|█████▍ | 16262/30000 [7:33:28<6:21:18, 1.67s/it] 54%|█████▍ | 16263/30000 [7:33:30<6:21:13, 1.67s/it] 54%|█████▍ | 16264/30000 [7:33:32<6:21:53, 1.67s/it] 54%|█████▍ | 16265/30000 [7:33:33<6:22:15, 1.67s/it] 54%|█████▍ | 16266/30000 [7:33:35<6:22:08, 1.67s/it] 54%|█████▍ | 16267/30000 [7:33:37<6:22:05, 1.67s/it] 54%|█████▍ | 16268/30000 [7:33:38<6:22:11, 1.67s/it] 54%|█████▍ | 16269/30000 [7:33:40<6:22:46, 1.67s/it] 54%|█████▍ | 16270/30000 [7:33:42<6:22:21, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.1478137969970703, 'learning_rate': 1.4142317207941042e-05, 'flow_matching_loss': 0.02084649112075567, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.73} + 54%|█████▍ | 16270/30000 [7:33:42<6:22:21, 1.67s/it] 54%|█████▍ | 16271/30000 [7:33:43<6:22:27, 1.67s/it] 54%|█████▍ | 16272/30000 [7:33:45<6:21:49, 1.67s/it] 54%|█████▍ | 16273/30000 [7:33:47<6:22:05, 1.67s/it] 54%|█████▍ | 16274/30000 [7:33:48<6:21:35, 1.67s/it] 54%|█████▍ | 16275/30000 [7:33:50<6:21:19, 1.67s/it] 54%|█████▍ | 16276/30000 [7:33:52<6:21:07, 1.67s/it] 54%|█████▍ | 16277/30000 [7:33:53<6:21:01, 1.67s/it] 54%|█████▍ | 16278/30000 [7:33:55<6:20:55, 1.67s/it] 54%|█████▍ | 16279/30000 [7:33:57<6:21:19, 1.67s/it] 54%|█████▍ | 16280/30000 [7:33:58<6:20:19, 1.66s/it] {'loss': 0.0195, 'grad_norm': 0.09967777878046036, 'learning_rate': 1.4125810085765339e-05, 'flow_matching_loss': 0.01948208836838603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.74} + 54%|█████▍ | 16280/30000 [7:33:58<6:20:19, 1.66s/it] 54%|█████▍ | 16281/30000 [7:34:00<6:20:44, 1.67s/it] 54%|█████▍ | 16282/30000 [7:34:02<6:20:42, 1.67s/it] 54%|█████▍ | 16283/30000 [7:34:03<6:21:19, 1.67s/it] 54%|█████▍ | 16284/30000 [7:34:05<6:21:39, 1.67s/it] 54%|█████▍ | 16285/30000 [7:34:07<6:21:20, 1.67s/it] 54%|█████▍ | 16286/30000 [7:34:08<6:21:13, 1.67s/it] 54%|█████▍ | 16287/30000 [7:34:10<6:20:55, 1.67s/it] 54%|█████▍ | 16288/30000 [7:34:12<6:20:56, 1.67s/it] 54%|█████▍ | 16289/30000 [7:34:13<6:21:10, 1.67s/it] 54%|█████▍ | 16290/30000 [7:34:15<6:21:13, 1.67s/it] {'loss': 0.0234, 'grad_norm': 0.1316835880279541, 'learning_rate': 1.410930402581281e-05, 'flow_matching_loss': 0.0234488426707685, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.74} + 54%|█████▍ | 16290/30000 [7:34:15<6:21:13, 1.67s/it] 54%|█████▍ | 16291/30000 [7:34:17<6:21:13, 1.67s/it] 54%|█████▍ | 16292/30000 [7:34:18<6:21:04, 1.67s/it] 54%|█████▍ | 16293/30000 [7:34:20<6:21:45, 1.67s/it] 54%|█████▍ | 16294/30000 [7:34:22<6:21:06, 1.67s/it] 54%|█████▍ | 16295/30000 [7:34:23<6:20:48, 1.67s/it] 54%|█████▍ | 16296/30000 [7:34:25<6:21:43, 1.67s/it] 54%|█████▍ | 16297/30000 [7:34:27<6:21:14, 1.67s/it] 54%|█████▍ | 16298/30000 [7:34:28<6:21:11, 1.67s/it] 54%|█████▍ | 16299/30000 [7:34:30<6:20:50, 1.67s/it] 54%|█████▍ | 16300/30000 [7:34:32<6:20:38, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.11304695159196854, 'learning_rate': 1.4092799048139876e-05, 'flow_matching_loss': 0.02063520420342684, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.74} + 54%|█████▍ | 16300/30000 [7:34:32<6:20:38, 1.67s/it] 54%|█████▍ | 16301/30000 [7:34:33<6:20:47, 1.67s/it] 54%|█████▍ | 16302/30000 [7:34:35<6:21:00, 1.67s/it] 54%|█████▍ | 16303/30000 [7:34:37<6:21:04, 1.67s/it] 54%|█████▍ | 16304/30000 [7:34:38<6:20:25, 1.67s/it] 54%|█████▍ | 16305/30000 [7:34:40<6:20:44, 1.67s/it] 54%|█████▍ | 16306/30000 [7:34:42<6:20:53, 1.67s/it] 54%|█████▍ | 16307/30000 [7:34:43<6:19:49, 1.66s/it] 54%|█████▍ | 16308/30000 [7:34:45<6:20:05, 1.67s/it] 54%|█████▍ | 16309/30000 [7:34:47<6:19:38, 1.66s/it] 54%|█████▍ | 16310/30000 [7:34:48<6:20:24, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.1382867395877838, 'learning_rate': 1.4076295172801647e-05, 'flow_matching_loss': 0.017760906647890807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.75} + 54%|█████▍ | 16310/30000 [7:34:48<6:20:24, 1.67s/it] 54%|█████▍ | 16311/30000 [7:34:50<6:20:30, 1.67s/it] 54%|█████▍ | 16312/30000 [7:34:52<6:20:21, 1.67s/it] 54%|█████▍ | 16313/30000 [7:34:53<6:20:12, 1.67s/it] 54%|█████▍ | 16314/30000 [7:34:55<6:19:38, 1.66s/it] 54%|█████▍ | 16315/30000 [7:34:57<6:19:49, 1.67s/it] 54%|█████▍ | 16316/30000 [7:34:58<6:19:56, 1.67s/it] 54%|█████▍ | 16317/30000 [7:35:00<6:20:27, 1.67s/it] 54%|█████▍ | 16318/30000 [7:35:02<6:20:14, 1.67s/it] 54%|█████▍ | 16319/30000 [7:35:03<6:20:01, 1.67s/it] 54%|█████▍ | 16320/30000 [7:35:05<6:20:12, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.1608230620622635, 'learning_rate': 1.4059792419851884e-05, 'flow_matching_loss': 0.019514239858835936, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.75} + 54%|█████▍ | 16320/30000 [7:35:05<6:20:12, 1.67s/it] 54%|█████▍ | 16321/30000 [7:35:07<6:21:06, 1.67s/it] 54%|█████▍ | 16322/30000 [7:35:08<6:20:57, 1.67s/it] 54%|█████▍ | 16323/30000 [7:35:10<6:20:28, 1.67s/it] 54%|█████▍ | 16324/30000 [7:35:12<6:20:25, 1.67s/it] 54%|█████▍ | 16325/30000 [7:35:13<6:19:20, 1.66s/it] 54%|█████▍ | 16326/30000 [7:35:15<6:19:17, 1.66s/it] 54%|█████▍ | 16327/30000 [7:35:17<6:19:10, 1.66s/it] 54%|█████▍ | 16328/30000 [7:35:18<6:19:15, 1.66s/it] 54%|█████▍ | 16329/30000 [7:35:20<6:19:42, 1.67s/it] 54%|█████▍ | 16330/30000 [7:35:22<6:20:03, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.11322034895420074, 'learning_rate': 1.4043290809342984e-05, 'flow_matching_loss': 0.018011376075446606, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.75} + 54%|█████▍ | 16330/30000 [7:35:22<6:20:03, 1.67s/it] 54%|█████▍ | 16331/30000 [7:35:23<6:19:42, 1.67s/it] 54%|█████▍ | 16332/30000 [7:35:25<6:20:15, 1.67s/it] 54%|█████▍ | 16333/30000 [7:35:27<6:20:00, 1.67s/it] 54%|█████▍ | 16334/30000 [7:35:28<6:19:58, 1.67s/it] 54%|█████▍ | 16335/30000 [7:35:30<6:19:43, 1.67s/it] 54%|█████▍ | 16336/30000 [7:35:32<6:19:05, 1.66s/it] 54%|█████▍ | 16337/30000 [7:35:33<6:19:24, 1.67s/it] 54%|█████▍ | 16338/30000 [7:35:35<6:19:38, 1.67s/it] 54%|█████▍ | 16339/30000 [7:35:37<6:19:32, 1.67s/it] 54%|█████▍ | 16340/30000 [7:35:38<6:20:15, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.10959246009588242, 'learning_rate': 1.4026790361325958e-05, 'flow_matching_loss': 0.021209317538887263, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.75} + 54%|█████▍ | 16340/30000 [7:35:38<6:20:15, 1.67s/it] 54%|█████▍ | 16341/30000 [7:35:40<6:20:08, 1.67s/it] 54%|█████▍ | 16342/30000 [7:35:42<6:19:56, 1.67s/it] 54%|█████▍ | 16343/30000 [7:35:43<6:18:52, 1.66s/it] 54%|█████▍ | 16344/30000 [7:35:45<6:18:40, 1.66s/it] 54%|█████▍ | 16345/30000 [7:35:47<6:18:35, 1.66s/it] 54%|█████▍ | 16346/30000 [7:35:48<6:19:18, 1.67s/it] 54%|█████▍ | 16347/30000 [7:35:50<6:19:46, 1.67s/it] 54%|█████▍ | 16348/30000 [7:35:52<6:18:44, 1.66s/it] 54%|█████▍ | 16349/30000 [7:35:53<6:18:58, 1.67s/it] 55%|█████▍ | 16350/30000 [7:35:55<6:18:18, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.13380464911460876, 'learning_rate': 1.4010291095850415e-05, 'flow_matching_loss': 0.01795592736452818, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.76} + 55%|█████▍ | 16350/30000 [7:35:55<6:18:18, 1.66s/it] 55%|█████▍ | 16351/30000 [7:35:57<6:18:39, 1.66s/it] 55%|█████▍ | 16352/30000 [7:35:58<6:18:33, 1.66s/it] 55%|█████▍ | 16353/30000 [7:36:00<6:19:09, 1.67s/it] 55%|█████▍ | 16354/30000 [7:36:02<6:18:24, 1.66s/it] 55%|█████▍ | 16355/30000 [7:36:03<6:18:33, 1.66s/it] 55%|█████▍ | 16356/30000 [7:36:05<6:19:09, 1.67s/it] 55%|█████▍ | 16357/30000 [7:36:07<6:18:56, 1.67s/it] 55%|█████▍ | 16358/30000 [7:36:08<6:18:57, 1.67s/it] 55%|█████▍ | 16359/30000 [7:36:10<6:18:33, 1.67s/it] 55%|█████▍ | 16360/30000 [7:36:12<6:18:26, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.15275385975837708, 'learning_rate': 1.3993793032964515e-05, 'flow_matching_loss': 0.021344945859164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.76} + 55%|█████▍ | 16360/30000 [7:36:12<6:18:26, 1.66s/it] 55%|█████▍ | 16361/30000 [7:36:13<6:18:57, 1.67s/it] 55%|█████▍ | 16362/30000 [7:36:15<6:18:54, 1.67s/it] 55%|█████▍ | 16363/30000 [7:36:17<6:18:49, 1.67s/it] 55%|█████▍ | 16364/30000 [7:36:18<6:18:45, 1.67s/it] 55%|█████▍ | 16365/30000 [7:36:20<6:18:47, 1.67s/it] 55%|█████▍ | 16366/30000 [7:36:22<6:19:33, 1.67s/it] 55%|█████▍ | 16367/30000 [7:36:23<6:19:01, 1.67s/it] 55%|█████▍ | 16368/30000 [7:36:25<6:18:18, 1.67s/it] 55%|█████▍ | 16369/30000 [7:36:27<6:18:12, 1.66s/it] 55%|█████▍ | 16370/30000 [7:36:28<6:18:26, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09858234971761703, 'learning_rate': 1.3977296192714956e-05, 'flow_matching_loss': 0.01719489963725209, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.76} + 55%|█████▍ | 16370/30000 [7:36:28<6:18:26, 1.67s/it] 55%|█████▍ | 16371/30000 [7:36:30<6:18:16, 1.67s/it] 55%|█████▍ | 16372/30000 [7:36:32<6:19:55, 1.67s/it] 55%|█████▍ | 16373/30000 [7:36:33<6:19:15, 1.67s/it] 55%|█████▍ | 16374/30000 [7:36:35<6:18:59, 1.67s/it] 55%|█████▍ | 16375/30000 [7:36:37<6:18:30, 1.67s/it] 55%|█████▍ | 16376/30000 [7:36:38<6:17:54, 1.66s/it] 55%|█████▍ | 16377/30000 [7:36:40<6:18:13, 1.67s/it] 55%|█████▍ | 16378/30000 [7:36:42<6:18:49, 1.67s/it] 55%|█████▍ | 16379/30000 [7:36:43<6:18:51, 1.67s/it] 55%|█████▍ | 16380/30000 [7:36:45<6:18:36, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.107518769800663, 'learning_rate': 1.396080059514696e-05, 'flow_matching_loss': 0.018908717203885317, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.77} + 55%|█████▍ | 16380/30000 [7:36:45<6:18:36, 1.67s/it] 55%|█████▍ | 16381/30000 [7:36:47<6:18:26, 1.67s/it] 55%|█████▍ | 16382/30000 [7:36:48<6:18:10, 1.67s/it] 55%|█████▍ | 16383/30000 [7:36:50<6:17:57, 1.67s/it] 55%|█████▍ | 16384/30000 [7:36:52<6:17:38, 1.66s/it] 55%|█████▍ | 16385/30000 [7:36:53<6:18:25, 1.67s/it] 55%|█████▍ | 16386/30000 [7:36:55<6:18:57, 1.67s/it] 55%|█████▍ | 16387/30000 [7:36:57<6:18:13, 1.67s/it] 55%|█████▍ | 16388/30000 [7:36:58<6:18:20, 1.67s/it] 55%|█████▍ | 16389/30000 [7:37:00<6:19:10, 1.67s/it] 55%|█████▍ | 16390/30000 [7:37:02<6:18:25, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.14201496541500092, 'learning_rate': 1.3944306260304232e-05, 'flow_matching_loss': 0.02169784940779209, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.77} + 55%|█████▍ | 16390/30000 [7:37:02<6:18:25, 1.67s/it] 55%|█████▍ | 16391/30000 [7:37:03<6:18:22, 1.67s/it] 55%|█████▍ | 16392/30000 [7:37:05<6:18:18, 1.67s/it] 55%|█████▍ | 16393/30000 [7:37:07<6:18:07, 1.67s/it] 55%|█████▍ | 16394/30000 [7:37:08<6:17:56, 1.67s/it] 55%|█████▍ | 16395/30000 [7:37:10<6:17:47, 1.67s/it] 55%|█████▍ | 16396/30000 [7:37:12<6:17:31, 1.67s/it] 55%|█████▍ | 16397/30000 [7:37:13<6:17:50, 1.67s/it] 55%|█████▍ | 16398/30000 [7:37:15<6:17:46, 1.67s/it] 55%|█████▍ | 16399/30000 [7:37:17<6:17:00, 1.66s/it] 55%|█████▍ | 16400/30000 [7:37:18<6:17:04, 1.66s/it] {'loss': 0.0179, 'grad_norm': 0.1250191181898117, 'learning_rate': 1.3927813208228936e-05, 'flow_matching_loss': 0.01792024876922369, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.77} + 55%|█████▍ | 16400/30000 [7:37:18<6:17:04, 1.66s/it] 55%|█████▍ | 16401/30000 [7:37:20<6:17:18, 1.66s/it] 55%|█████▍ | 16402/30000 [7:37:22<6:17:52, 1.67s/it] 55%|█████▍ | 16403/30000 [7:37:23<6:17:24, 1.67s/it] 55%|█████▍ | 16404/30000 [7:37:25<6:17:34, 1.67s/it] 55%|█████▍ | 16405/30000 [7:37:27<6:17:56, 1.67s/it] 55%|█████▍ | 16406/30000 [7:37:28<6:17:51, 1.67s/it] 55%|█████▍ | 16407/30000 [7:37:30<6:17:28, 1.67s/it] 55%|█████▍ | 16408/30000 [7:37:32<6:16:42, 1.66s/it] 55%|█████▍ | 16409/30000 [7:37:33<6:16:30, 1.66s/it] 55%|█████▍ | 16410/30000 [7:37:35<6:16:33, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.13549189269542694, 'learning_rate': 1.39113214589617e-05, 'flow_matching_loss': 0.018378590792417528, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.77} + 55%|█████▍ | 16410/30000 [7:37:35<6:16:33, 1.66s/it] 55%|█████▍ | 16411/30000 [7:37:37<6:15:54, 1.66s/it] 55%|█████▍ | 16412/30000 [7:37:38<6:16:43, 1.66s/it] 55%|█████▍ | 16413/30000 [7:37:40<6:17:05, 1.67s/it] 55%|█████▍ | 16414/30000 [7:37:42<6:18:01, 1.67s/it] 55%|█████▍ | 16415/30000 [7:37:43<6:17:35, 1.67s/it] 55%|█████▍ | 16416/30000 [7:37:45<6:17:16, 1.67s/it] 55%|█████▍ | 16417/30000 [7:37:47<6:17:13, 1.67s/it] 55%|█████▍ | 16418/30000 [7:37:48<6:17:37, 1.67s/it] 55%|█████▍ | 16419/30000 [7:37:50<6:17:14, 1.67s/it] 55%|█████▍ | 16420/30000 [7:37:52<6:17:38, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.10885244607925415, 'learning_rate': 1.3894831032541545e-05, 'flow_matching_loss': 0.01937877805903554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.78} + 55%|█████▍ | 16420/30000 [7:37:52<6:17:38, 1.67s/it] 55%|█████▍ | 16421/30000 [7:37:53<6:17:50, 1.67s/it] 55%|█████▍ | 16422/30000 [7:37:55<6:17:36, 1.67s/it] 55%|█████▍ | 16423/30000 [7:37:57<6:17:54, 1.67s/it] 55%|█████▍ | 16424/30000 [7:37:58<6:17:07, 1.67s/it] 55%|█████▍ | 16425/30000 [7:38:00<6:16:24, 1.66s/it] 55%|█████▍ | 16426/30000 [7:38:02<6:16:50, 1.67s/it] 55%|█████▍ | 16427/30000 [7:38:03<6:16:36, 1.66s/it] 55%|█████▍ | 16428/30000 [7:38:05<6:16:59, 1.67s/it] 55%|█████▍ | 16429/30000 [7:38:07<6:16:37, 1.67s/it] 55%|█████▍ | 16430/30000 [7:38:08<6:17:01, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.09739851951599121, 'learning_rate': 1.3878341949005895e-05, 'flow_matching_loss': 0.018655451759696007, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.78} + 55%|█████▍ | 16430/30000 [7:38:08<6:17:01, 1.67s/it] 55%|█████▍ | 16431/30000 [7:38:10<6:18:04, 1.67s/it] 55%|█████▍ | 16432/30000 [7:38:12<6:17:18, 1.67s/it] 55%|█████▍ | 16433/30000 [7:38:13<6:16:59, 1.67s/it] 55%|█████▍ | 16434/30000 [7:38:15<6:16:46, 1.67s/it] 55%|█████▍ | 16435/30000 [7:38:17<6:16:20, 1.66s/it] 55%|█████▍ | 16436/30000 [7:38:18<6:16:15, 1.66s/it] 55%|█████▍ | 16437/30000 [7:38:20<6:16:49, 1.67s/it] 55%|█████▍ | 16438/30000 [7:38:22<6:16:45, 1.67s/it] 55%|█████▍ | 16439/30000 [7:38:23<6:16:29, 1.67s/it] 55%|█████▍ | 16440/30000 [7:38:25<6:16:11, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.09987363964319229, 'learning_rate': 1.3861854228390546e-05, 'flow_matching_loss': 0.0178182709030807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.78} + 55%|█████▍ | 16440/30000 [7:38:25<6:16:11, 1.66s/it] 55%|█████▍ | 16441/30000 [7:38:27<6:16:31, 1.67s/it] 55%|█████▍ | 16442/30000 [7:38:28<6:16:34, 1.67s/it] 55%|█████▍ | 16443/30000 [7:38:30<6:16:43, 1.67s/it] 55%|█████▍ | 16444/30000 [7:38:32<6:16:10, 1.66s/it] 55%|█████▍ | 16445/30000 [7:38:33<6:16:09, 1.67s/it] 55%|█████▍ | 16446/30000 [7:38:35<6:16:45, 1.67s/it] 55%|█████▍ | 16447/30000 [7:38:37<6:16:17, 1.67s/it] 55%|█████▍ | 16448/30000 [7:38:38<6:16:13, 1.67s/it] 55%|█████▍ | 16449/30000 [7:38:40<6:16:12, 1.67s/it] 55%|█████▍ | 16450/30000 [7:38:42<6:16:26, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.09971579164266586, 'learning_rate': 1.3845367890729621e-05, 'flow_matching_loss': 0.019652885477989913, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.79} + 55%|█████▍ | 16450/30000 [7:38:42<6:16:26, 1.67s/it] 55%|█████▍ | 16451/30000 [7:38:43<6:16:32, 1.67s/it] 55%|█████▍ | 16452/30000 [7:38:45<6:16:49, 1.67s/it] 55%|█████▍ | 16453/30000 [7:38:47<6:16:46, 1.67s/it] 55%|█████▍ | 16454/30000 [7:38:48<6:16:48, 1.67s/it] 55%|█████▍ | 16455/30000 [7:38:50<6:15:49, 1.66s/it] 55%|█████▍ | 16456/30000 [7:38:52<6:15:24, 1.66s/it] 55%|█████▍ | 16457/30000 [7:38:53<6:15:52, 1.67s/it] 55%|█████▍ | 16458/30000 [7:38:55<6:15:26, 1.66s/it] 55%|█████▍ | 16459/30000 [7:38:57<6:15:29, 1.66s/it] 55%|█████▍ | 16460/30000 [7:38:58<6:15:28, 1.66s/it] {'loss': 0.0157, 'grad_norm': 0.10329686105251312, 'learning_rate': 1.3828882956055591e-05, 'flow_matching_loss': 0.015710628498345612, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.79} + 55%|█████▍ | 16460/30000 [7:38:58<6:15:28, 1.66s/it] 55%|█████▍ | 16461/30000 [7:39:00<6:15:52, 1.67s/it] 55%|█████▍ | 16462/30000 [7:39:02<6:15:58, 1.67s/it] 55%|█████▍ | 16463/30000 [7:39:03<6:15:27, 1.66s/it] 55%|█████▍ | 16464/30000 [7:39:05<6:15:30, 1.66s/it] 55%|█████▍ | 16465/30000 [7:39:07<6:15:58, 1.67s/it] 55%|█████▍ | 16466/30000 [7:39:08<6:16:01, 1.67s/it] 55%|█████▍ | 16467/30000 [7:39:10<6:15:39, 1.67s/it] 55%|█████▍ | 16468/30000 [7:39:12<6:15:40, 1.67s/it] 55%|█████▍ | 16469/30000 [7:39:13<6:15:42, 1.67s/it] 55%|█████▍ | 16470/30000 [7:39:15<6:15:33, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.10633617639541626, 'learning_rate': 1.38123994443992e-05, 'flow_matching_loss': 0.01814323402941227, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.79} + 55%|█████▍ | 16470/30000 [7:39:15<6:15:33, 1.67s/it] 55%|█████▍ | 16471/30000 [7:39:17<6:15:10, 1.66s/it] 55%|█████▍ | 16472/30000 [7:39:18<6:14:58, 1.66s/it] 55%|█████▍ | 16473/30000 [7:39:20<6:15:33, 1.67s/it] 55%|█████▍ | 16474/30000 [7:39:22<6:15:09, 1.66s/it] 55%|█████▍ | 16475/30000 [7:39:23<6:15:25, 1.67s/it] 55%|█████▍ | 16476/30000 [7:39:25<6:14:57, 1.66s/it] 55%|█████▍ | 16477/30000 [7:39:27<6:14:47, 1.66s/it] 55%|█████▍ | 16478/30000 [7:39:28<6:14:50, 1.66s/it] 55%|█████▍ | 16479/30000 [7:39:30<6:14:54, 1.66s/it] 55%|█████▍ | 16480/30000 [7:39:32<6:15:01, 1.66s/it] {'loss': 0.0215, 'grad_norm': 0.14709481596946716, 'learning_rate': 1.3795917375789465e-05, 'flow_matching_loss': 0.02149492520838976, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.79} + 55%|█████▍ | 16480/30000 [7:39:32<6:15:01, 1.66s/it] 55%|█████▍ | 16481/30000 [7:39:33<6:16:49, 1.67s/it] 55%|█████▍ | 16482/30000 [7:39:35<6:15:47, 1.67s/it] 55%|█████▍ | 16483/30000 [7:39:37<6:15:48, 1.67s/it] 55%|█████▍ | 16484/30000 [7:39:38<6:15:37, 1.67s/it] 55%|█████▍ | 16485/30000 [7:39:40<6:15:40, 1.67s/it] 55%|█████▍ | 16486/30000 [7:39:42<6:15:26, 1.67s/it] 55%|█████▍ | 16487/30000 [7:39:43<6:14:54, 1.66s/it] 55%|█████▍ | 16488/30000 [7:39:45<6:15:07, 1.67s/it] 55%|█████▍ | 16489/30000 [7:39:47<6:15:11, 1.67s/it] 55%|█████▍ | 16490/30000 [7:39:48<6:15:03, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.14671282470226288, 'learning_rate': 1.3779436770253658e-05, 'flow_matching_loss': 0.01917129009962082, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.8} + 55%|█████▍ | 16490/30000 [7:39:48<6:15:03, 1.67s/it] 55%|█████▍ | 16491/30000 [7:39:50<6:15:16, 1.67s/it] 55%|█████▍ | 16492/30000 [7:39:52<6:15:29, 1.67s/it] 55%|█████▍ | 16493/30000 [7:39:53<6:14:43, 1.66s/it] 55%|█████▍ | 16494/30000 [7:39:55<6:14:27, 1.66s/it] 55%|█████▍ | 16495/30000 [7:39:57<6:14:29, 1.66s/it] 55%|█████▍ | 16496/30000 [7:39:58<6:14:40, 1.66s/it] 55%|█████▍ | 16497/30000 [7:40:00<6:15:04, 1.67s/it] 55%|█████▍ | 16498/30000 [7:40:02<6:14:30, 1.66s/it] 55%|█████▍ | 16499/30000 [7:40:03<6:14:24, 1.66s/it] 55%|█████▌ | 16500/30000 [7:40:05<6:14:43, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.1266847401857376, 'learning_rate': 1.3762957647817258e-05, 'flow_matching_loss': 0.015694045461714268, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.8} + 55%|█████▌ | 16500/30000 [7:40:05<6:14:43, 1.67s/it] 55%|█████▌ | 16501/30000 [7:40:07<6:14:33, 1.66s/it] 55%|█████▌ | 16502/30000 [7:40:08<6:15:08, 1.67s/it] 55%|█████▌ | 16503/30000 [7:40:10<6:14:47, 1.67s/it] 55%|█████▌ | 16504/30000 [7:40:12<6:15:12, 1.67s/it] 55%|█████▌ | 16505/30000 [7:40:13<6:15:16, 1.67s/it] 55%|█████▌ | 16506/30000 [7:40:15<6:14:54, 1.67s/it] 55%|█████▌ | 16507/30000 [7:40:17<6:14:24, 1.66s/it] 55%|█████▌ | 16508/30000 [7:40:18<6:14:22, 1.66s/it] 55%|█████▌ | 16509/30000 [7:40:20<6:14:37, 1.67s/it] 55%|█████▌ | 16510/30000 [7:40:22<6:14:21, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.14165790379047394, 'learning_rate': 1.374648002850397e-05, 'flow_matching_loss': 0.01950038019567728, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.8} + 55%|█████▌ | 16510/30000 [7:40:22<6:14:21, 1.67s/it] 55%|█████▌ | 16511/30000 [7:40:23<6:14:52, 1.67s/it] 55%|█████▌ | 16512/30000 [7:40:25<6:15:12, 1.67s/it] 55%|█████▌ | 16513/30000 [7:40:27<6:14:49, 1.67s/it] 55%|█████▌ | 16514/30000 [7:40:28<6:14:09, 1.66s/it] 55%|█████▌ | 16515/30000 [7:40:30<6:13:59, 1.66s/it] 55%|█████▌ | 16516/30000 [7:40:32<6:14:15, 1.67s/it] 55%|█████▌ | 16517/30000 [7:40:33<6:14:25, 1.67s/it] 55%|█████▌ | 16518/30000 [7:40:35<6:14:31, 1.67s/it] 55%|█████▌ | 16519/30000 [7:40:37<6:14:33, 1.67s/it] 55%|█████▌ | 16520/30000 [7:40:38<6:13:51, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.1377398520708084, 'learning_rate': 1.3730003932335642e-05, 'flow_matching_loss': 0.017793707735836505, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.81} + 55%|█████▌ | 16520/30000 [7:40:38<6:13:51, 1.66s/it] 55%|█████▌ | 16521/30000 [7:40:40<6:14:01, 1.66s/it] 55%|█████▌ | 16522/30000 [7:40:42<6:14:11, 1.67s/it] 55%|█████▌ | 16523/30000 [7:40:43<6:13:59, 1.67s/it] 55%|█████▌ | 16524/30000 [7:40:45<6:13:54, 1.66s/it] 55%|█████▌ | 16525/30000 [7:40:47<6:13:54, 1.66s/it] 55%|█████▌ | 16526/30000 [7:40:48<6:14:23, 1.67s/it] 55%|█████▌ | 16527/30000 [7:40:50<6:13:42, 1.66s/it] 55%|█████▌ | 16528/30000 [7:40:52<6:13:39, 1.66s/it] 55%|█████▌ | 16529/30000 [7:40:53<6:13:51, 1.67s/it] 55%|█████▌ | 16530/30000 [7:40:55<6:13:59, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.12582696974277496, 'learning_rate': 1.3713529379332292e-05, 'flow_matching_loss': 0.019257054757326843, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.81} + 55%|█████▌ | 16530/30000 [7:40:55<6:13:59, 1.67s/it] 55%|█████▌ | 16531/30000 [7:40:57<6:14:05, 1.67s/it] 55%|█████▌ | 16532/30000 [7:40:58<6:14:14, 1.67s/it] 55%|█████▌ | 16533/30000 [7:41:00<6:14:47, 1.67s/it] 55%|█████▌ | 16534/30000 [7:41:02<6:14:10, 1.67s/it] 55%|█████▌ | 16535/30000 [7:41:03<6:13:47, 1.67s/it] 55%|█████▌ | 16536/30000 [7:41:05<6:13:13, 1.66s/it] 55%|█████▌ | 16537/30000 [7:41:07<6:14:27, 1.67s/it] 55%|█████▌ | 16538/30000 [7:41:08<6:14:28, 1.67s/it] 55%|█████▌ | 16539/30000 [7:41:10<6:14:18, 1.67s/it] 55%|█████▌ | 16540/30000 [7:41:12<6:15:07, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.11803000420331955, 'learning_rate': 1.3697056389512054e-05, 'flow_matching_loss': 0.016974310483783485, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.81} + 55%|█████▌ | 16540/30000 [7:41:12<6:15:07, 1.67s/it] 55%|█████▌ | 16541/30000 [7:41:13<6:14:49, 1.67s/it] 55%|█████▌ | 16542/30000 [7:41:15<6:14:24, 1.67s/it] 55%|█████▌ | 16543/30000 [7:41:17<6:14:00, 1.67s/it] 55%|█████▌ | 16544/30000 [7:41:18<6:14:06, 1.67s/it] 55%|█████▌ | 16545/30000 [7:41:20<6:13:54, 1.67s/it] 55%|█████▌ | 16546/30000 [7:41:22<6:13:59, 1.67s/it] 55%|█████▌ | 16547/30000 [7:41:23<6:13:13, 1.66s/it] 55%|█████▌ | 16548/30000 [7:41:25<6:13:47, 1.67s/it] 55%|█████▌ | 16549/30000 [7:41:27<6:13:42, 1.67s/it] 55%|█████▌ | 16550/30000 [7:41:28<6:13:48, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.08721832185983658, 'learning_rate': 1.3680584982891162e-05, 'flow_matching_loss': 0.018959687929600476, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.82} + 55%|█████▌ | 16550/30000 [7:41:28<6:13:48, 1.67s/it] 55%|█████▌ | 16551/30000 [7:41:30<6:14:15, 1.67s/it] 55%|█████▌ | 16552/30000 [7:41:32<6:14:24, 1.67s/it] 55%|█████▌ | 16553/30000 [7:41:33<6:14:15, 1.67s/it] 55%|█████▌ | 16554/30000 [7:41:35<6:14:17, 1.67s/it] 55%|█████▌ | 16555/30000 [7:41:37<6:13:32, 1.67s/it] 55%|█████▌ | 16556/30000 [7:41:38<6:14:00, 1.67s/it] 55%|█████▌ | 16557/30000 [7:41:40<6:13:44, 1.67s/it] 55%|█████▌ | 16558/30000 [7:41:42<6:13:45, 1.67s/it] 55%|█████▌ | 16559/30000 [7:41:43<6:13:02, 1.67s/it] 55%|█████▌ | 16560/30000 [7:41:45<6:14:07, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.0850052535533905, 'learning_rate': 1.3664115179483921e-05, 'flow_matching_loss': 0.0185888746753335, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.82} + 55%|█████▌ | 16560/30000 [7:41:45<6:14:07, 1.67s/it] 55%|█████▌ | 16561/30000 [7:41:47<6:14:22, 1.67s/it] 55%|█████▌ | 16562/30000 [7:41:48<6:13:51, 1.67s/it] 55%|█████▌ | 16563/30000 [7:41:50<6:13:29, 1.67s/it] 55%|█████▌ | 16564/30000 [7:41:52<6:14:08, 1.67s/it] 55%|█████▌ | 16565/30000 [7:41:53<6:13:54, 1.67s/it] 55%|█████▌ | 16566/30000 [7:41:55<6:14:18, 1.67s/it] 55%|█████▌ | 16567/30000 [7:41:57<6:13:43, 1.67s/it] 55%|█████▌ | 16568/30000 [7:41:58<6:13:39, 1.67s/it] 55%|█████▌ | 16569/30000 [7:42:00<6:13:50, 1.67s/it] 55%|█████▌ | 16570/30000 [7:42:02<6:13:29, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.12128306925296783, 'learning_rate': 1.364764699930271e-05, 'flow_matching_loss': 0.019685790035873653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.82} + 55%|█████▌ | 16570/30000 [7:42:02<6:13:29, 1.67s/it] 55%|█████▌ | 16571/30000 [7:42:03<6:13:20, 1.67s/it] 55%|█████▌ | 16572/30000 [7:42:05<6:13:16, 1.67s/it] 55%|█████▌ | 16573/30000 [7:42:07<6:13:08, 1.67s/it] 55%|█████▌ | 16574/30000 [7:42:08<6:13:15, 1.67s/it] 55%|█████▌ | 16575/30000 [7:42:10<6:13:34, 1.67s/it] 55%|█████▌ | 16576/30000 [7:42:12<6:13:54, 1.67s/it] 55%|█████▌ | 16577/30000 [7:42:13<6:13:46, 1.67s/it] 55%|█████▌ | 16578/30000 [7:42:15<6:14:21, 1.67s/it] 55%|█████▌ | 16579/30000 [7:42:17<6:13:17, 1.67s/it] 55%|█████▌ | 16580/30000 [7:42:18<6:13:17, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.10589282214641571, 'learning_rate': 1.363118046235791e-05, 'flow_matching_loss': 0.020698255486786367, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.82} + 55%|█████▌ | 16580/30000 [7:42:18<6:13:17, 1.67s/it] 55%|█████▌ | 16581/30000 [7:42:20<6:13:03, 1.67s/it] 55%|█████▌ | 16582/30000 [7:42:22<6:12:43, 1.67s/it] 55%|█████▌ | 16583/30000 [7:42:23<6:12:24, 1.67s/it] 55%|█████▌ | 16584/30000 [7:42:25<6:12:30, 1.67s/it] 55%|█████▌ | 16585/30000 [7:42:27<6:12:30, 1.67s/it] 55%|█████▌ | 16586/30000 [7:42:28<6:12:32, 1.67s/it] 55%|█████▌ | 16587/30000 [7:42:30<6:12:32, 1.67s/it] 55%|█████▌ | 16588/30000 [7:42:32<6:12:31, 1.67s/it] 55%|█████▌ | 16589/30000 [7:42:33<6:12:03, 1.66s/it] 55%|█████▌ | 16590/30000 [7:42:35<6:12:08, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.1320646107196808, 'learning_rate': 1.3614715588657921e-05, 'flow_matching_loss': 0.019195837806910275, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.83} + 55%|█████▌ | 16590/30000 [7:42:35<6:12:08, 1.67s/it] 55%|█████▌ | 16591/30000 [7:42:37<6:12:28, 1.67s/it] 55%|█████▌ | 16592/30000 [7:42:38<6:12:10, 1.67s/it] 55%|█████▌ | 16593/30000 [7:42:40<6:12:30, 1.67s/it] 55%|█████▌ | 16594/30000 [7:42:42<6:12:49, 1.67s/it] 55%|█████▌ | 16595/30000 [7:42:43<6:12:24, 1.67s/it] 55%|█████▌ | 16596/30000 [7:42:45<6:12:27, 1.67s/it] 55%|█████▌ | 16597/30000 [7:42:47<6:12:40, 1.67s/it] 55%|█████▌ | 16598/30000 [7:42:48<6:12:31, 1.67s/it] 55%|█████▌ | 16599/30000 [7:42:50<6:12:43, 1.67s/it] 55%|█████▌ | 16600/30000 [7:42:52<6:12:42, 1.67s/it] {'loss': 0.022, 'grad_norm': 0.10836341977119446, 'learning_rate': 1.3598252398209118e-05, 'flow_matching_loss': 0.02197401048615575, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.83} + 55%|█████▌ | 16600/30000 [7:42:52<6:12:42, 1.67s/it] 55%|█████▌ | 16601/30000 [7:42:53<6:13:10, 1.67s/it] 55%|█████▌ | 16602/30000 [7:42:55<6:13:02, 1.67s/it] 55%|█████▌ | 16603/30000 [7:42:57<6:12:26, 1.67s/it] 55%|█████▌ | 16604/30000 [7:42:58<6:12:34, 1.67s/it] 55%|█████▌ | 16605/30000 [7:43:00<6:12:55, 1.67s/it] 55%|█████▌ | 16606/30000 [7:43:02<6:12:15, 1.67s/it] 55%|█████▌ | 16607/30000 [7:43:03<6:11:47, 1.67s/it] 55%|█████▌ | 16608/30000 [7:43:05<6:11:20, 1.66s/it] 55%|█████▌ | 16609/30000 [7:43:07<6:11:26, 1.66s/it] 55%|█████▌ | 16610/30000 [7:43:08<6:12:17, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.09888070821762085, 'learning_rate': 1.358179091101582e-05, 'flow_matching_loss': 0.017979209125041962, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.83} + 55%|█████▌ | 16610/30000 [7:43:08<6:12:17, 1.67s/it] 55%|█████▌ | 16611/30000 [7:43:10<6:12:00, 1.67s/it] 55%|█████▌ | 16612/30000 [7:43:12<6:11:56, 1.67s/it] 55%|█████▌ | 16613/30000 [7:43:13<6:11:58, 1.67s/it] 55%|█████▌ | 16614/30000 [7:43:15<6:11:53, 1.67s/it] 55%|█████▌ | 16615/30000 [7:43:17<6:11:57, 1.67s/it] 55%|█████▌ | 16616/30000 [7:43:18<6:11:46, 1.67s/it] 55%|█████▌ | 16617/30000 [7:43:20<6:12:03, 1.67s/it] 55%|█████▌ | 16618/30000 [7:43:22<6:11:52, 1.67s/it] 55%|█████▌ | 16619/30000 [7:43:23<6:12:15, 1.67s/it] 55%|█████▌ | 16620/30000 [7:43:25<6:12:04, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.1193075031042099, 'learning_rate': 1.3565331147080299e-05, 'flow_matching_loss': 0.019939683377742767, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.84} + 55%|█████▌ | 16620/30000 [7:43:25<6:12:04, 1.67s/it] 55%|█████▌ | 16621/30000 [7:43:27<6:12:16, 1.67s/it] 55%|█████▌ | 16622/30000 [7:43:28<6:11:59, 1.67s/it] 55%|█████▌ | 16623/30000 [7:43:30<6:12:27, 1.67s/it] 55%|█████▌ | 16624/30000 [7:43:32<6:11:43, 1.67s/it] 55%|█████▌ | 16625/30000 [7:43:33<6:12:02, 1.67s/it] 55%|█████▌ | 16626/30000 [7:43:35<6:11:33, 1.67s/it] 55%|█████▌ | 16627/30000 [7:43:37<6:11:30, 1.67s/it] 55%|█████▌ | 16628/30000 [7:43:38<6:11:59, 1.67s/it] 55%|█████▌ | 16629/30000 [7:43:40<6:11:47, 1.67s/it] 55%|█████▌ | 16630/30000 [7:43:42<6:12:41, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.10258786380290985, 'learning_rate': 1.3548873126402716e-05, 'flow_matching_loss': 0.017991651128977538, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.84} + 55%|█████▌ | 16630/30000 [7:43:42<6:12:41, 1.67s/it] 55%|█████▌ | 16631/30000 [7:43:43<6:12:32, 1.67s/it] 55%|█████▌ | 16632/30000 [7:43:45<6:12:21, 1.67s/it] 55%|█████▌ | 16633/30000 [7:43:47<6:12:01, 1.67s/it] 55%|█████▌ | 16634/30000 [7:43:48<6:12:33, 1.67s/it] 55%|█████▌ | 16635/30000 [7:43:50<6:12:08, 1.67s/it] 55%|█████▌ | 16636/30000 [7:43:52<6:11:54, 1.67s/it] 55%|█████▌ | 16637/30000 [7:43:53<6:11:30, 1.67s/it] 55%|█████▌ | 16638/30000 [7:43:55<6:11:14, 1.67s/it] 55%|█████▌ | 16639/30000 [7:43:57<6:10:57, 1.67s/it] 55%|█████▌ | 16640/30000 [7:43:58<6:11:14, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.12220031023025513, 'learning_rate': 1.3532416868981117e-05, 'flow_matching_loss': 0.022291137650609017, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.84} + 55%|█████▌ | 16640/30000 [7:43:58<6:11:14, 1.67s/it] 55%|█████▌ | 16641/30000 [7:44:00<6:11:04, 1.67s/it] 55%|█████▌ | 16642/30000 [7:44:02<6:11:24, 1.67s/it] 55%|█████▌ | 16643/30000 [7:44:03<6:11:10, 1.67s/it] 55%|█████▌ | 16644/30000 [7:44:05<6:11:22, 1.67s/it] 55%|█████▌ | 16645/30000 [7:44:07<6:11:42, 1.67s/it] 55%|█████▌ | 16646/30000 [7:44:08<6:11:55, 1.67s/it] 55%|█████▌ | 16647/30000 [7:44:10<6:11:32, 1.67s/it] 55%|█████▌ | 16648/30000 [7:44:12<6:11:54, 1.67s/it] 55%|█████▌ | 16649/30000 [7:44:13<6:11:19, 1.67s/it] 56%|█████▌ | 16650/30000 [7:44:15<6:11:09, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.15438015758991241, 'learning_rate': 1.3515962394811401e-05, 'flow_matching_loss': 0.018862659577280283, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.84} + 56%|█████▌ | 16650/30000 [7:44:15<6:11:09, 1.67s/it] 56%|█████▌ | 16651/30000 [7:44:17<6:10:42, 1.67s/it] 56%|█████▌ | 16652/30000 [7:44:18<6:11:29, 1.67s/it] 56%|█████▌ | 16653/30000 [7:44:20<6:10:46, 1.67s/it] 56%|█████▌ | 16654/30000 [7:44:22<6:10:40, 1.67s/it] 56%|█████▌ | 16655/30000 [7:44:23<6:10:41, 1.67s/it] 56%|█████▌ | 16656/30000 [7:44:25<6:10:48, 1.67s/it] 56%|█████▌ | 16657/30000 [7:44:27<6:10:47, 1.67s/it] 56%|█████▌ | 16658/30000 [7:44:28<6:10:32, 1.67s/it] 56%|█████▌ | 16659/30000 [7:44:30<6:10:06, 1.66s/it] 56%|█████▌ | 16660/30000 [7:44:32<6:10:23, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09926898032426834, 'learning_rate': 1.3499509723887313e-05, 'flow_matching_loss': 0.01945076435804367, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.85} + 56%|█████▌ | 16660/30000 [7:44:32<6:10:23, 1.67s/it] 56%|█████▌ | 16661/30000 [7:44:33<6:10:25, 1.67s/it] 56%|█████▌ | 16662/30000 [7:44:35<6:10:12, 1.67s/it] 56%|█████▌ | 16663/30000 [7:44:37<6:10:04, 1.66s/it] 56%|█████▌ | 16664/30000 [7:44:38<6:10:08, 1.67s/it] 56%|█████▌ | 16665/30000 [7:44:40<6:10:07, 1.67s/it] 56%|█████▌ | 16666/30000 [7:44:42<6:09:52, 1.66s/it] 56%|█████▌ | 16667/30000 [7:44:43<6:10:22, 1.67s/it] 56%|█████▌ | 16668/30000 [7:44:45<6:10:23, 1.67s/it] 56%|█████▌ | 16669/30000 [7:44:47<6:10:08, 1.67s/it] 56%|█████▌ | 16670/30000 [7:44:48<6:10:23, 1.67s/it] {'loss': 0.0223, 'grad_norm': 0.12560558319091797, 'learning_rate': 1.3483058876200396e-05, 'flow_matching_loss': 0.022322057094424964, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.85} + 56%|█████▌ | 16670/30000 [7:44:48<6:10:23, 1.67s/it] 56%|█████▌ | 16671/30000 [7:44:50<6:10:45, 1.67s/it] 56%|█████▌ | 16672/30000 [7:44:52<6:10:44, 1.67s/it] 56%|█████▌ | 16673/30000 [7:44:53<6:10:52, 1.67s/it] 56%|█████▌ | 16674/30000 [7:44:55<6:10:08, 1.67s/it] 56%|█████▌ | 16675/30000 [7:44:57<6:10:14, 1.67s/it] 56%|█████▌ | 16676/30000 [7:44:58<6:09:59, 1.67s/it] 56%|█████▌ | 16677/30000 [7:45:00<6:09:49, 1.67s/it] 56%|█████▌ | 16678/30000 [7:45:02<6:10:20, 1.67s/it] 56%|█████▌ | 16679/30000 [7:45:03<6:09:58, 1.67s/it] 56%|█████▌ | 16680/30000 [7:45:05<6:10:09, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.11127540469169617, 'learning_rate': 1.3466609871739987e-05, 'flow_matching_loss': 0.01881194831803441, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.85} + 56%|█████▌ | 16680/30000 [7:45:05<6:10:09, 1.67s/it] 56%|█████▌ | 16681/30000 [7:45:07<6:10:00, 1.67s/it] 56%|█████▌ | 16682/30000 [7:45:08<6:10:05, 1.67s/it] 56%|█████▌ | 16683/30000 [7:45:10<6:09:45, 1.67s/it] 56%|█████▌ | 16684/30000 [7:45:12<6:10:12, 1.67s/it] 56%|█████▌ | 16685/30000 [7:45:13<6:10:33, 1.67s/it] 56%|█████▌ | 16686/30000 [7:45:15<6:10:35, 1.67s/it] 56%|█████▌ | 16687/30000 [7:45:17<6:09:57, 1.67s/it] 56%|█████▌ | 16688/30000 [7:45:18<6:10:10, 1.67s/it] 56%|█████▌ | 16689/30000 [7:45:20<6:09:55, 1.67s/it] 56%|█████▌ | 16690/30000 [7:45:22<6:09:36, 1.67s/it] {'loss': 0.0226, 'grad_norm': 0.15375304222106934, 'learning_rate': 1.3450162730493172e-05, 'flow_matching_loss': 0.022572989761829376, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.86} + 56%|█████▌ | 16690/30000 [7:45:22<6:09:36, 1.67s/it] 56%|█████▌ | 16691/30000 [7:45:23<6:09:31, 1.67s/it] 56%|█████▌ | 16692/30000 [7:45:25<6:09:48, 1.67s/it] 56%|█████▌ | 16693/30000 [7:45:27<6:09:59, 1.67s/it] 56%|█████▌ | 16694/30000 [7:45:28<6:10:23, 1.67s/it] 56%|█████▌ | 16695/30000 [7:45:30<6:09:37, 1.67s/it] 56%|█████▌ | 16696/30000 [7:45:32<6:09:40, 1.67s/it] 56%|█████▌ | 16697/30000 [7:45:33<6:09:32, 1.67s/it] 56%|█████▌ | 16698/30000 [7:45:35<6:09:20, 1.67s/it] 56%|█████▌ | 16699/30000 [7:45:37<6:09:03, 1.66s/it] 56%|█████▌ | 16700/30000 [7:45:38<6:09:21, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.12098156660795212, 'learning_rate': 1.3433717472444781e-05, 'flow_matching_loss': 0.018934865854680537, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.86} + 56%|█████▌ | 16700/30000 [7:45:38<6:09:21, 1.67s/it] 56%|█████▌ | 16701/30000 [7:45:40<6:10:02, 1.67s/it] 56%|█████▌ | 16702/30000 [7:45:42<6:09:33, 1.67s/it] 56%|█████▌ | 16703/30000 [7:45:43<6:09:08, 1.67s/it] 56%|█████▌ | 16704/30000 [7:45:45<6:09:08, 1.67s/it] 56%|█████▌ | 16705/30000 [7:45:47<6:09:42, 1.67s/it] 56%|█████▌ | 16706/30000 [7:45:48<6:10:02, 1.67s/it] 56%|█████▌ | 16707/30000 [7:45:50<6:09:52, 1.67s/it] 56%|█████▌ | 16708/30000 [7:45:52<6:09:41, 1.67s/it] 56%|█████▌ | 16709/30000 [7:45:53<6:09:26, 1.67s/it] 56%|█████▌ | 16710/30000 [7:45:55<6:09:07, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.12379494309425354, 'learning_rate': 1.3417274117577343e-05, 'flow_matching_loss': 0.017100780550390483, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.86} + 56%|█████▌ | 16710/30000 [7:45:55<6:09:07, 1.67s/it] 56%|█████▌ | 16711/30000 [7:45:57<6:08:45, 1.66s/it] 56%|█████▌ | 16712/30000 [7:45:58<6:08:59, 1.67s/it] 56%|█████▌ | 16713/30000 [7:46:00<6:09:07, 1.67s/it] 56%|█████▌ | 16714/30000 [7:46:02<6:08:58, 1.67s/it] 56%|█████▌ | 16715/30000 [7:46:03<6:08:23, 1.66s/it] 56%|█████▌ | 16716/30000 [7:46:05<6:08:49, 1.67s/it] 56%|█████▌ | 16717/30000 [7:46:07<6:08:31, 1.66s/it] 56%|█████▌ | 16718/30000 [7:46:08<6:10:16, 1.67s/it] 56%|█████▌ | 16719/30000 [7:46:10<6:09:28, 1.67s/it] 56%|█████▌ | 16720/30000 [7:46:12<6:10:02, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10924229025840759, 'learning_rate': 1.3400832685871102e-05, 'flow_matching_loss': 0.01832976331934333, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.86} + 56%|█████▌ | 16720/30000 [7:46:12<6:10:02, 1.67s/it] 56%|█████▌ | 16721/30000 [7:46:13<6:09:18, 1.67s/it] 56%|█████▌ | 16722/30000 [7:46:15<6:09:18, 1.67s/it] 56%|█████▌ | 16723/30000 [7:46:17<6:08:56, 1.67s/it] 56%|█████▌ | 16724/30000 [7:46:18<6:08:51, 1.67s/it] 56%|█████▌ | 16725/30000 [7:46:20<6:08:49, 1.67s/it] 56%|█████▌ | 16726/30000 [7:46:22<6:08:34, 1.67s/it] 56%|█████▌ | 16727/30000 [7:46:23<6:08:39, 1.67s/it] 56%|█████▌ | 16728/30000 [7:46:25<6:08:45, 1.67s/it] 56%|█████▌ | 16729/30000 [7:46:27<6:08:37, 1.67s/it] 56%|█████▌ | 16730/30000 [7:46:28<6:08:37, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1349925994873047, 'learning_rate': 1.3384393197303936e-05, 'flow_matching_loss': 0.018634237814694643, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.87} + 56%|█████▌ | 16730/30000 [7:46:28<6:08:37, 1.67s/it] 56%|█████▌ | 16731/30000 [7:46:30<6:08:34, 1.67s/it] 56%|█████▌ | 16732/30000 [7:46:32<6:08:40, 1.67s/it] 56%|█████▌ | 16733/30000 [7:46:33<6:08:17, 1.67s/it] 56%|█████▌ | 16734/30000 [7:46:35<6:08:02, 1.66s/it] 56%|█████▌ | 16735/30000 [7:46:37<6:07:43, 1.66s/it] 56%|█████▌ | 16736/30000 [7:46:38<6:08:13, 1.67s/it] 56%|█████▌ | 16737/30000 [7:46:40<6:07:57, 1.66s/it] 56%|█████▌ | 16738/30000 [7:46:42<6:08:31, 1.67s/it] 56%|█████▌ | 16739/30000 [7:46:43<6:08:10, 1.67s/it] 56%|█████▌ | 16740/30000 [7:46:45<6:09:09, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11651207506656647, 'learning_rate': 1.336795567185138e-05, 'flow_matching_loss': 0.016948873084038495, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.87} + 56%|█████▌ | 16740/30000 [7:46:45<6:09:09, 1.67s/it] 56%|█████▌ | 16741/30000 [7:46:47<6:09:07, 1.67s/it] 56%|█████▌ | 16742/30000 [7:46:48<6:08:39, 1.67s/it] 56%|█████▌ | 16743/30000 [7:46:50<6:08:24, 1.67s/it] 56%|█████▌ | 16744/30000 [7:46:52<6:08:03, 1.67s/it] 56%|█████▌ | 16745/30000 [7:46:53<6:08:03, 1.67s/it] 56%|█████▌ | 16746/30000 [7:46:55<6:08:05, 1.67s/it] 56%|█████▌ | 16747/30000 [7:46:57<6:07:45, 1.66s/it] 56%|█████▌ | 16748/30000 [7:46:58<6:07:37, 1.66s/it] 56%|█████▌ | 16749/30000 [7:47:00<6:07:36, 1.66s/it] 56%|█████▌ | 16750/30000 [7:47:02<6:07:57, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.1153256967663765, 'learning_rate': 1.3351520129486573e-05, 'flow_matching_loss': 0.020210570096969603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.87} + 56%|█████▌ | 16750/30000 [7:47:02<6:07:57, 1.67s/it] 56%|█████▌ | 16751/30000 [7:47:03<6:07:44, 1.67s/it] 56%|█████▌ | 16752/30000 [7:47:05<6:07:46, 1.67s/it] 56%|█████▌ | 16753/30000 [7:47:07<6:07:57, 1.67s/it] 56%|█████▌ | 16754/30000 [7:47:08<6:07:44, 1.67s/it] 56%|█████▌ | 16755/30000 [7:47:10<6:08:03, 1.67s/it] 56%|█████▌ | 16756/30000 [7:47:12<6:08:00, 1.67s/it] 56%|█████▌ | 16757/30000 [7:47:13<6:07:23, 1.66s/it] 56%|█████▌ | 16758/30000 [7:47:15<6:07:37, 1.67s/it] 56%|█████▌ | 16759/30000 [7:47:17<6:07:06, 1.66s/it] 56%|█████▌ | 16760/30000 [7:47:18<6:07:25, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.09849685430526733, 'learning_rate': 1.3335086590180252e-05, 'flow_matching_loss': 0.019046802818775178, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.88} + 56%|█████▌ | 16760/30000 [7:47:18<6:07:25, 1.67s/it] 56%|█████▌ | 16761/30000 [7:47:20<6:07:15, 1.66s/it] 56%|█████▌ | 16762/30000 [7:47:22<6:07:38, 1.67s/it] 56%|█████▌ | 16763/30000 [7:47:23<6:07:54, 1.67s/it] 56%|█████▌ | 16764/30000 [7:47:25<6:07:40, 1.67s/it] 56%|█████▌ | 16765/30000 [7:47:27<6:07:44, 1.67s/it] 56%|█████▌ | 16766/30000 [7:47:28<6:07:56, 1.67s/it] 56%|█████▌ | 16767/30000 [7:47:30<6:07:42, 1.67s/it] 56%|█████▌ | 16768/30000 [7:47:32<6:07:23, 1.67s/it] 56%|█████▌ | 16769/30000 [7:47:33<6:07:19, 1.67s/it] 56%|█████▌ | 16770/30000 [7:47:35<6:07:30, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.12981651723384857, 'learning_rate': 1.3318655073900708e-05, 'flow_matching_loss': 0.019630522932857275, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.88} + 56%|█████▌ | 16770/30000 [7:47:35<6:07:30, 1.67s/it] 56%|█████▌ | 16771/30000 [7:47:37<6:06:47, 1.66s/it] 56%|█████▌ | 16772/30000 [7:47:38<6:07:08, 1.67s/it] 56%|█████▌ | 16773/30000 [7:47:40<6:07:21, 1.67s/it] 56%|█████▌ | 16774/30000 [7:47:42<6:07:35, 1.67s/it] 56%|█████▌ | 16775/30000 [7:47:43<6:07:20, 1.67s/it] 56%|█████▌ | 16776/30000 [7:47:45<6:07:28, 1.67s/it] 56%|█████▌ | 16777/30000 [7:47:47<6:08:05, 1.67s/it] 56%|█████▌ | 16778/30000 [7:47:48<6:07:05, 1.67s/it] 56%|█████▌ | 16779/30000 [7:47:50<6:06:47, 1.66s/it] 56%|█████▌ | 16780/30000 [7:47:52<6:06:51, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.13567940890789032, 'learning_rate': 1.3302225600613796e-05, 'flow_matching_loss': 0.018073533289134504, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.88} + 56%|█████▌ | 16780/30000 [7:47:52<6:06:51, 1.67s/it] 56%|█████▌ | 16781/30000 [7:47:53<6:06:58, 1.67s/it] 56%|█████▌ | 16782/30000 [7:47:55<6:07:08, 1.67s/it] 56%|█████▌ | 16783/30000 [7:47:57<6:07:01, 1.67s/it] 56%|█████▌ | 16784/30000 [7:47:58<6:06:48, 1.67s/it] 56%|█████▌ | 16785/30000 [7:48:00<6:07:03, 1.67s/it] 56%|█████▌ | 16786/30000 [7:48:02<6:07:50, 1.67s/it] 56%|█████▌ | 16787/30000 [7:48:03<6:07:30, 1.67s/it] 56%|█████▌ | 16788/30000 [7:48:05<6:07:36, 1.67s/it] 56%|█████▌ | 16789/30000 [7:48:07<6:07:21, 1.67s/it] 56%|█████▌ | 16790/30000 [7:48:08<6:06:41, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.08296461403369904, 'learning_rate': 1.3285798190282869e-05, 'flow_matching_loss': 0.018340345378965138, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.89} + 56%|█████▌ | 16790/30000 [7:48:08<6:06:41, 1.67s/it] 56%|█████▌ | 16791/30000 [7:48:10<6:06:43, 1.67s/it] 56%|█████▌ | 16792/30000 [7:48:12<6:06:53, 1.67s/it] 56%|█████▌ | 16793/30000 [7:48:13<6:07:10, 1.67s/it] 56%|█████▌ | 16794/30000 [7:48:15<6:07:23, 1.67s/it] 56%|█████▌ | 16795/30000 [7:48:17<6:07:18, 1.67s/it] 56%|█████▌ | 16796/30000 [7:48:18<6:07:43, 1.67s/it] 56%|█████▌ | 16797/30000 [7:48:20<6:07:41, 1.67s/it] 56%|█████▌ | 16798/30000 [7:48:22<6:07:09, 1.67s/it] 56%|█████▌ | 16799/30000 [7:48:23<6:06:35, 1.67s/it] 56%|█████▌ | 16800/30000 [7:48:25<6:06:29, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.12602943181991577, 'learning_rate': 1.3269372862868776e-05, 'flow_matching_loss': 0.019403084740042688, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.89} + 56%|█████▌ | 16800/30000 [7:48:25<6:06:29, 1.67s/it] 56%|█████▌ | 16801/30000 [7:48:27<6:06:46, 1.67s/it] 56%|█████▌ | 16802/30000 [7:48:28<6:06:42, 1.67s/it] 56%|█████▌ | 16803/30000 [7:48:30<6:06:27, 1.67s/it] 56%|█████▌ | 16804/30000 [7:48:32<6:07:07, 1.67s/it] 56%|█████▌ | 16805/30000 [7:48:33<6:07:43, 1.67s/it] 56%|█████▌ | 16806/30000 [7:48:35<6:06:59, 1.67s/it] 56%|█████▌ | 16807/30000 [7:48:37<6:07:37, 1.67s/it] 56%|█████▌ | 16808/30000 [7:48:38<6:07:41, 1.67s/it] 56%|█████▌ | 16809/30000 [7:48:40<6:07:38, 1.67s/it] 56%|█████▌ | 16810/30000 [7:48:42<6:07:06, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.21988637745380402, 'learning_rate': 1.3252949638329845e-05, 'flow_matching_loss': 0.01959036961197853, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.89} + 56%|█████▌ | 16810/30000 [7:48:42<6:07:06, 1.67s/it] 56%|█████▌ | 16811/30000 [7:48:43<6:06:56, 1.67s/it] 56%|█████▌ | 16812/30000 [7:48:45<6:07:06, 1.67s/it] 56%|█████▌ | 16813/30000 [7:48:47<6:07:05, 1.67s/it] 56%|█████▌ | 16814/30000 [7:48:48<6:06:29, 1.67s/it] 56%|█████▌ | 16815/30000 [7:48:50<6:06:18, 1.67s/it] 56%|█████▌ | 16816/30000 [7:48:52<6:06:36, 1.67s/it] 56%|█████▌ | 16817/30000 [7:48:53<6:06:05, 1.67s/it] 56%|█████▌ | 16818/30000 [7:48:55<6:06:29, 1.67s/it] 56%|█████▌ | 16819/30000 [7:48:57<6:07:12, 1.67s/it] 56%|█████▌ | 16820/30000 [7:48:59<6:06:58, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.15326564013957977, 'learning_rate': 1.3236528536621834e-05, 'flow_matching_loss': 0.019777403865009546, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.89} + 56%|█████▌ | 16820/30000 [7:48:59<6:06:58, 1.67s/it] 56%|█████▌ | 16821/30000 [7:49:00<6:06:31, 1.67s/it] 56%|█████▌ | 16822/30000 [7:49:02<6:06:11, 1.67s/it] 56%|█████▌ | 16823/30000 [7:49:03<6:05:15, 1.66s/it] 56%|█████▌ | 16824/30000 [7:49:05<6:05:19, 1.66s/it] 56%|█████▌ | 16825/30000 [7:49:07<6:05:35, 1.66s/it] 56%|█████▌ | 16826/30000 [7:49:08<6:05:47, 1.67s/it] 56%|█████▌ | 16827/30000 [7:49:10<6:05:07, 1.66s/it] 56%|█████▌ | 16828/30000 [7:49:12<6:05:39, 1.67s/it] 56%|█████▌ | 16829/30000 [7:49:13<6:05:36, 1.67s/it] 56%|█████▌ | 16830/30000 [7:49:15<6:05:44, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.13501402735710144, 'learning_rate': 1.3220109577697943e-05, 'flow_matching_loss': 0.020462490059435366, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.9} + 56%|█████▌ | 16830/30000 [7:49:15<6:05:44, 1.67s/it] 56%|█████▌ | 16831/30000 [7:49:17<6:06:21, 1.67s/it] 56%|█████▌ | 16832/30000 [7:49:19<6:06:52, 1.67s/it] 56%|█████▌ | 16833/30000 [7:49:20<6:06:22, 1.67s/it] 56%|█████▌ | 16834/30000 [7:49:22<6:06:16, 1.67s/it] 56%|█████▌ | 16835/30000 [7:49:24<6:06:16, 1.67s/it] 56%|█████▌ | 16836/30000 [7:49:25<6:05:48, 1.67s/it] 56%|█████▌ | 16837/30000 [7:49:27<6:05:39, 1.67s/it] 56%|█████▌ | 16838/30000 [7:49:29<6:05:57, 1.67s/it] 56%|█████▌ | 16839/30000 [7:49:30<6:05:48, 1.67s/it] 56%|█████▌ | 16840/30000 [7:49:32<6:05:22, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.09574555605649948, 'learning_rate': 1.3203692781508745e-05, 'flow_matching_loss': 0.018224736489355565, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.9} + 56%|█████▌ | 16840/30000 [7:49:32<6:05:22, 1.67s/it] 56%|█████▌ | 16841/30000 [7:49:34<6:05:49, 1.67s/it] 56%|█████▌ | 16842/30000 [7:49:35<6:06:06, 1.67s/it] 56%|█████▌ | 16843/30000 [7:49:37<6:05:53, 1.67s/it] 56%|█████▌ | 16844/30000 [7:49:39<6:05:47, 1.67s/it] 56%|█████▌ | 16845/30000 [7:49:40<6:05:50, 1.67s/it] 56%|█████▌ | 16846/30000 [7:49:42<6:05:50, 1.67s/it] 56%|█████▌ | 16847/30000 [7:49:44<6:06:32, 1.67s/it] 56%|█████▌ | 16848/30000 [7:49:45<6:06:19, 1.67s/it] 56%|█████▌ | 16849/30000 [7:49:47<6:05:59, 1.67s/it] 56%|█████▌ | 16850/30000 [7:49:49<6:06:07, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.11594367027282715, 'learning_rate': 1.3187278168002198e-05, 'flow_matching_loss': 0.019928324315696955, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.9} + 56%|█████▌ | 16850/30000 [7:49:49<6:06:07, 1.67s/it] 56%|█████▌ | 16851/30000 [7:49:50<6:05:57, 1.67s/it] 56%|█████▌ | 16852/30000 [7:49:52<6:06:58, 1.67s/it] 56%|█████▌ | 16853/30000 [7:49:54<6:05:27, 1.67s/it] 56%|█████▌ | 16854/30000 [7:49:55<6:05:05, 1.67s/it] 56%|█████▌ | 16855/30000 [7:49:57<6:04:56, 1.67s/it] 56%|█████▌ | 16856/30000 [7:49:59<6:05:13, 1.67s/it] 56%|█████▌ | 16857/30000 [7:50:00<6:05:01, 1.67s/it] 56%|█████▌ | 16858/30000 [7:50:02<6:04:31, 1.66s/it] 56%|█████▌ | 16859/30000 [7:50:04<6:04:18, 1.66s/it] 56%|█████▌ | 16860/30000 [7:50:05<6:04:45, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.12228300422430038, 'learning_rate': 1.3170865757123606e-05, 'flow_matching_loss': 0.018506303243339062, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.91} + 56%|█████▌ | 16860/30000 [7:50:05<6:04:45, 1.67s/it] 56%|█████▌ | 16861/30000 [7:50:07<6:05:06, 1.67s/it] 56%|█████▌ | 16862/30000 [7:50:09<6:04:48, 1.67s/it] 56%|█████▌ | 16863/30000 [7:50:10<6:04:03, 1.66s/it] 56%|█████▌ | 16864/30000 [7:50:12<6:04:22, 1.66s/it] 56%|█████▌ | 16865/30000 [7:50:14<6:05:08, 1.67s/it] 56%|█████▌ | 16866/30000 [7:50:15<6:05:01, 1.67s/it] 56%|█████▌ | 16867/30000 [7:50:17<6:04:39, 1.67s/it] 56%|█████▌ | 16868/30000 [7:50:19<6:04:40, 1.67s/it] 56%|█████▌ | 16869/30000 [7:50:20<6:05:13, 1.67s/it] 56%|█████▌ | 16870/30000 [7:50:22<6:05:06, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.20268969237804413, 'learning_rate': 1.3154455568815592e-05, 'flow_matching_loss': 0.018342937901616098, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.91} + 56%|█████▌ | 16870/30000 [7:50:22<6:05:06, 1.67s/it] 56%|█████▌ | 16871/30000 [7:50:24<6:05:12, 1.67s/it] 56%|█████▌ | 16872/30000 [7:50:25<6:05:07, 1.67s/it] 56%|█████▌ | 16873/30000 [7:50:27<6:04:56, 1.67s/it] 56%|█████▌ | 16874/30000 [7:50:29<6:05:45, 1.67s/it] 56%|█████▋ | 16875/30000 [7:50:30<6:05:21, 1.67s/it] 56%|█████▋ | 16876/30000 [7:50:32<6:04:58, 1.67s/it] 56%|█████▋ | 16877/30000 [7:50:34<6:05:08, 1.67s/it] 56%|█████▋ | 16878/30000 [7:50:35<6:04:43, 1.67s/it] 56%|█████▋ | 16879/30000 [7:50:37<6:04:28, 1.67s/it] 56%|█████▋ | 16880/30000 [7:50:39<6:04:00, 1.66s/it] {'loss': 0.0179, 'grad_norm': 0.10439486801624298, 'learning_rate': 1.3138047623018087e-05, 'flow_matching_loss': 0.0179101281799376, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.91} + 56%|█████▋ | 16880/30000 [7:50:39<6:04:00, 1.66s/it] 56%|█████▋ | 16881/30000 [7:50:40<6:04:55, 1.67s/it] 56%|█████▋ | 16882/30000 [7:50:42<6:04:27, 1.67s/it] 56%|█████▋ | 16883/30000 [7:50:44<6:04:01, 1.67s/it] 56%|█████▋ | 16884/30000 [7:50:45<6:04:24, 1.67s/it] 56%|█████▋ | 16885/30000 [7:50:47<6:04:30, 1.67s/it] 56%|█████▋ | 16886/30000 [7:50:49<6:04:22, 1.67s/it] 56%|█████▋ | 16887/30000 [7:50:50<6:04:33, 1.67s/it] 56%|█████▋ | 16888/30000 [7:50:52<6:04:15, 1.67s/it] 56%|█████▋ | 16889/30000 [7:50:54<6:04:14, 1.67s/it] 56%|█████▋ | 16890/30000 [7:50:55<6:04:07, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.08861077576875687, 'learning_rate': 1.3121641939668293e-05, 'flow_matching_loss': 0.017650783900171517, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.91} + 56%|█████▋ | 16890/30000 [7:50:55<6:04:07, 1.67s/it] 56%|█████▋ | 16891/30000 [7:50:57<6:03:49, 1.67s/it] 56%|█████▋ | 16892/30000 [7:50:59<6:04:20, 1.67s/it] 56%|█████▋ | 16893/30000 [7:51:00<6:04:21, 1.67s/it] 56%|█████▋ | 16894/30000 [7:51:02<6:03:56, 1.67s/it] 56%|█████▋ | 16895/30000 [7:51:04<6:03:44, 1.67s/it] 56%|█████▋ | 16896/30000 [7:51:05<6:04:19, 1.67s/it] 56%|█████▋ | 16897/30000 [7:51:07<6:04:20, 1.67s/it] 56%|█████▋ | 16898/30000 [7:51:09<6:03:36, 1.67s/it] 56%|█████▋ | 16899/30000 [7:51:10<6:03:36, 1.67s/it] 56%|█████▋ | 16900/30000 [7:51:12<6:04:10, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.13292640447616577, 'learning_rate': 1.3105238538700659e-05, 'flow_matching_loss': 0.02005932303145528, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.92} + 56%|█████▋ | 16900/30000 [7:51:12<6:04:10, 1.67s/it] 56%|█████▋ | 16901/30000 [7:51:14<6:04:06, 1.67s/it] 56%|█████▋ | 16902/30000 [7:51:15<6:03:51, 1.67s/it] 56%|█████▋ | 16903/30000 [7:51:17<6:03:39, 1.67s/it] 56%|█████▋ | 16904/30000 [7:51:19<6:04:04, 1.67s/it] 56%|█████▋ | 16905/30000 [7:51:20<6:04:06, 1.67s/it] 56%|█████▋ | 16906/30000 [7:51:22<6:03:49, 1.67s/it] 56%|█████▋ | 16907/30000 [7:51:24<6:03:31, 1.67s/it] 56%|█████▋ | 16908/30000 [7:51:25<6:03:38, 1.67s/it] 56%|█████▋ | 16909/30000 [7:51:27<6:03:54, 1.67s/it] 56%|█████▋ | 16910/30000 [7:51:29<6:03:38, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.12440722435712814, 'learning_rate': 1.3088837440046866e-05, 'flow_matching_loss': 0.017072089295834304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.92} + 56%|█████▋ | 16910/30000 [7:51:29<6:03:38, 1.67s/it] 56%|█████▋ | 16911/30000 [7:51:30<6:03:25, 1.67s/it] 56%|█████▋ | 16912/30000 [7:51:32<6:03:49, 1.67s/it] 56%|█████▋ | 16913/30000 [7:51:34<6:03:51, 1.67s/it] 56%|█████▋ | 16914/30000 [7:51:35<6:03:20, 1.67s/it] 56%|█████▋ | 16915/30000 [7:51:37<6:03:14, 1.67s/it] 56%|█████▋ | 16916/30000 [7:51:39<6:03:26, 1.67s/it] 56%|█████▋ | 16917/30000 [7:51:40<6:03:34, 1.67s/it] 56%|█████▋ | 16918/30000 [7:51:42<6:03:40, 1.67s/it] 56%|█████▋ | 16919/30000 [7:51:44<6:02:52, 1.66s/it] 56%|█████▋ | 16920/30000 [7:51:45<6:03:05, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.119961217045784, 'learning_rate': 1.3072438663635787e-05, 'flow_matching_loss': 0.01877700136974454, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.92} + 56%|█████▋ | 16920/30000 [7:51:45<6:03:05, 1.67s/it] 56%|█████▋ | 16921/30000 [7:51:47<6:03:41, 1.67s/it] 56%|█████▋ | 16922/30000 [7:51:49<6:03:28, 1.67s/it] 56%|█████▋ | 16923/30000 [7:51:50<6:03:10, 1.67s/it] 56%|█████▋ | 16924/30000 [7:51:52<6:03:00, 1.67s/it] 56%|█████▋ | 16925/30000 [7:51:54<6:03:08, 1.67s/it] 56%|█████▋ | 16926/30000 [7:51:55<6:02:50, 1.67s/it] 56%|█████▋ | 16927/30000 [7:51:57<6:02:51, 1.67s/it] 56%|█████▋ | 16928/30000 [7:51:59<6:03:06, 1.67s/it] 56%|█████▋ | 16929/30000 [7:52:00<6:02:51, 1.67s/it] 56%|█████▋ | 16930/30000 [7:52:02<6:02:45, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.11844556778669357, 'learning_rate': 1.3056042229393497e-05, 'flow_matching_loss': 0.017884645704180004, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.93} + 56%|█████▋ | 16930/30000 [7:52:02<6:02:45, 1.67s/it] 56%|█████▋ | 16931/30000 [7:52:04<6:02:16, 1.66s/it] 56%|█████▋ | 16932/30000 [7:52:05<6:02:22, 1.66s/it] 56%|█████▋ | 16933/30000 [7:52:07<6:02:55, 1.67s/it] 56%|█████▋ | 16934/30000 [7:52:09<6:02:54, 1.67s/it] 56%|█████▋ | 16935/30000 [7:52:10<6:02:28, 1.66s/it] 56%|█████▋ | 16936/30000 [7:52:12<6:02:17, 1.66s/it] 56%|█████▋ | 16937/30000 [7:52:14<6:02:30, 1.67s/it] 56%|█████▋ | 16938/30000 [7:52:15<6:02:20, 1.66s/it] 56%|█████▋ | 16939/30000 [7:52:17<6:03:09, 1.67s/it] 56%|█████▋ | 16940/30000 [7:52:19<6:02:28, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.13556957244873047, 'learning_rate': 1.30396481572432e-05, 'flow_matching_loss': 0.01794894728809595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.93} + 56%|█████▋ | 16940/30000 [7:52:19<6:02:28, 1.67s/it] 56%|█████▋ | 16941/30000 [7:52:20<6:02:33, 1.67s/it] 56%|█████▋ | 16942/30000 [7:52:22<6:02:37, 1.67s/it] 56%|█████▋ | 16943/30000 [7:52:24<6:03:00, 1.67s/it] 56%|█████▋ | 16944/30000 [7:52:25<6:02:13, 1.66s/it] 56%|█████▋ | 16945/30000 [7:52:27<6:02:23, 1.67s/it] 56%|█████▋ | 16946/30000 [7:52:29<6:02:55, 1.67s/it] 56%|█████▋ | 16947/30000 [7:52:30<6:02:39, 1.67s/it] 56%|█████▋ | 16948/30000 [7:52:32<6:02:41, 1.67s/it] 56%|█████▋ | 16949/30000 [7:52:34<6:02:50, 1.67s/it] 56%|█████▋ | 16950/30000 [7:52:35<6:02:54, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1618330329656601, 'learning_rate': 1.3023256467105237e-05, 'flow_matching_loss': 0.018579504545778038, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.93} + 56%|█████▋ | 16950/30000 [7:52:35<6:02:54, 1.67s/it] 57%|█████▋ | 16951/30000 [7:52:37<6:02:38, 1.67s/it] 57%|█████▋ | 16952/30000 [7:52:39<6:03:00, 1.67s/it] 57%|█████▋ | 16953/30000 [7:52:40<6:02:46, 1.67s/it] 57%|█████▋ | 16954/30000 [7:52:42<6:02:44, 1.67s/it] 57%|█████▋ | 16955/30000 [7:52:44<6:03:17, 1.67s/it] 57%|█████▋ | 16956/30000 [7:52:45<6:02:55, 1.67s/it] 57%|█████▋ | 16957/30000 [7:52:47<6:02:34, 1.67s/it] 57%|█████▋ | 16958/30000 [7:52:49<6:02:00, 1.67s/it] 57%|█████▋ | 16959/30000 [7:52:50<6:01:57, 1.67s/it] 57%|█████▋ | 16960/30000 [7:52:52<6:02:01, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.11853326857089996, 'learning_rate': 1.3006867178897067e-05, 'flow_matching_loss': 0.017350400611758233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.93} + 57%|█████▋ | 16960/30000 [7:52:52<6:02:01, 1.67s/it] 57%|█████▋ | 16961/30000 [7:52:54<6:02:23, 1.67s/it] 57%|█████▋ | 16962/30000 [7:52:55<6:02:15, 1.67s/it] 57%|█████▋ | 16963/30000 [7:52:57<6:02:16, 1.67s/it] 57%|█████▋ | 16964/30000 [7:52:59<6:02:37, 1.67s/it] 57%|█████▋ | 16965/30000 [7:53:00<6:02:14, 1.67s/it] 57%|█████▋ | 16966/30000 [7:53:02<6:01:50, 1.67s/it] 57%|█████▋ | 16967/30000 [7:53:04<6:01:26, 1.66s/it] 57%|█████▋ | 16968/30000 [7:53:05<6:01:31, 1.66s/it] 57%|█████▋ | 16969/30000 [7:53:07<6:00:46, 1.66s/it] 57%|█████▋ | 16970/30000 [7:53:09<6:01:51, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12323357164859772, 'learning_rate': 1.2990480312533213e-05, 'flow_matching_loss': 0.017646985687315465, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.94} + 57%|█████▋ | 16970/30000 [7:53:09<6:01:51, 1.67s/it] 57%|█████▋ | 16971/30000 [7:53:10<6:01:12, 1.66s/it] 57%|█████▋ | 16972/30000 [7:53:12<6:01:34, 1.67s/it] 57%|█████▋ | 16973/30000 [7:53:14<6:01:19, 1.66s/it] 57%|█████▋ | 16974/30000 [7:53:15<6:01:36, 1.67s/it] 57%|█████▋ | 16975/30000 [7:53:17<6:01:31, 1.67s/it] 57%|█████▋ | 16976/30000 [7:53:19<6:00:49, 1.66s/it] 57%|█████▋ | 16977/30000 [7:53:20<6:00:38, 1.66s/it] 57%|█████▋ | 16978/30000 [7:53:22<6:00:48, 1.66s/it] 57%|█████▋ | 16979/30000 [7:53:24<6:01:09, 1.66s/it] 57%|█████▋ | 16980/30000 [7:53:25<6:01:03, 1.66s/it] {'loss': 0.0191, 'grad_norm': 0.12423823028802872, 'learning_rate': 1.2974095887925258e-05, 'flow_matching_loss': 0.019085665885359048, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.94} + 57%|█████▋ | 16980/30000 [7:53:25<6:01:03, 1.66s/it] 57%|█████▋ | 16981/30000 [7:53:27<6:00:36, 1.66s/it] 57%|█████▋ | 16982/30000 [7:53:29<6:00:48, 1.66s/it] 57%|█████▋ | 16983/30000 [7:53:30<6:00:15, 1.66s/it] 57%|█████▋ | 16984/30000 [7:53:32<6:00:43, 1.66s/it] 57%|█████▋ | 16985/30000 [7:53:34<6:01:21, 1.67s/it] 57%|█████▋ | 16986/30000 [7:53:35<6:02:01, 1.67s/it] 57%|█████▋ | 16987/30000 [7:53:37<6:01:31, 1.67s/it] 57%|█████▋ | 16988/30000 [7:53:39<6:01:24, 1.67s/it] 57%|█████▋ | 16989/30000 [7:53:40<6:01:45, 1.67s/it] 57%|█████▋ | 16990/30000 [7:53:42<6:01:10, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.11335280537605286, 'learning_rate': 1.2957713924981837e-05, 'flow_matching_loss': 0.019357252400368452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.94} + 57%|█████▋ | 16990/30000 [7:53:42<6:01:10, 1.67s/it] 57%|█████▋ | 16991/30000 [7:53:44<6:01:15, 1.67s/it] 57%|█████▋ | 16992/30000 [7:53:45<6:01:13, 1.67s/it] 57%|█████▋ | 16993/30000 [7:53:47<6:01:38, 1.67s/it] 57%|█████▋ | 16994/30000 [7:53:49<6:01:31, 1.67s/it] 57%|█████▋ | 16995/30000 [7:53:50<6:01:41, 1.67s/it] 57%|█████▋ | 16996/30000 [7:53:52<6:01:22, 1.67s/it] 57%|█████▋ | 16997/30000 [7:53:54<6:01:07, 1.67s/it] 57%|█████▋ | 16998/30000 [7:53:55<6:02:06, 1.67s/it] 57%|█████▋ | 16999/30000 [7:53:57<6:01:03, 1.67s/it] 57%|█████▋ | 17000/30000 [7:53:59<6:01:42, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.1422114223241806, 'learning_rate': 1.2941334443608572e-05, 'flow_matching_loss': 0.020856222696602346, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.95} + 57%|█████▋ | 17000/30000 [7:53:59<6:01:42, 1.67s/it] 57%|█████▋ | 17001/30000 [7:54:00<6:01:11, 1.67s/it] 57%|█████▋ | 17002/30000 [7:54:02<6:01:11, 1.67s/it] 57%|█████▋ | 17003/30000 [7:54:04<6:01:01, 1.67s/it] 57%|█████▋ | 17004/30000 [7:54:05<6:01:11, 1.67s/it] 57%|█████▋ | 17005/30000 [7:54:07<6:00:40, 1.67s/it] 57%|█████▋ | 17006/30000 [7:54:09<6:00:37, 1.67s/it] 57%|█████▋ | 17007/30000 [7:54:10<6:00:30, 1.66s/it] 57%|█████▋ | 17008/30000 [7:54:12<6:00:23, 1.66s/it] 57%|█████▋ | 17009/30000 [7:54:14<6:01:22, 1.67s/it] 57%|█████▋ | 17010/30000 [7:54:15<6:01:23, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09795375913381577, 'learning_rate': 1.2924957463708073e-05, 'flow_matching_loss': 0.01946787303313613, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.95} + 57%|█████▋ | 17010/30000 [7:54:15<6:01:23, 1.67s/it] 57%|█████▋ | 17011/30000 [7:54:17<6:00:48, 1.67s/it] 57%|█████▋ | 17012/30000 [7:54:19<6:00:55, 1.67s/it] 57%|█████▋ | 17013/30000 [7:54:20<6:01:11, 1.67s/it] 57%|█████▋ | 17014/30000 [7:54:22<6:00:38, 1.67s/it] 57%|█████▋ | 17015/30000 [7:54:24<6:01:26, 1.67s/it] 57%|█████▋ | 17016/30000 [7:54:25<6:01:00, 1.67s/it] 57%|█████▋ | 17017/30000 [7:54:27<6:01:49, 1.67s/it] 57%|█████▋ | 17018/30000 [7:54:29<6:00:57, 1.67s/it] 57%|█████▋ | 17019/30000 [7:54:30<6:00:37, 1.67s/it] 57%|█████▋ | 17020/30000 [7:54:32<6:00:26, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.14227621257305145, 'learning_rate': 1.2908583005179924e-05, 'flow_matching_loss': 0.018869716674089432, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.95} + 57%|█████▋ | 17020/30000 [7:54:32<6:00:26, 1.67s/it] 57%|█████▋ | 17021/30000 [7:54:34<6:01:20, 1.67s/it] 57%|█████▋ | 17022/30000 [7:54:35<6:00:51, 1.67s/it] 57%|█████▋ | 17023/30000 [7:54:37<6:00:13, 1.67s/it] 57%|█████▋ | 17024/30000 [7:54:39<6:00:31, 1.67s/it] 57%|█████▋ | 17025/30000 [7:54:40<6:00:20, 1.67s/it] 57%|█████▋ | 17026/30000 [7:54:42<6:00:18, 1.67s/it] 57%|█████▋ | 17027/30000 [7:54:44<6:00:11, 1.67s/it] 57%|█████▋ | 17028/30000 [7:54:45<6:00:48, 1.67s/it] 57%|█████▋ | 17029/30000 [7:54:47<6:00:36, 1.67s/it] 57%|█████▋ | 17030/30000 [7:54:49<6:00:49, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.09955841302871704, 'learning_rate': 1.2892211087920624e-05, 'flow_matching_loss': 0.01762062143534422, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.95} + 57%|█████▋ | 17030/30000 [7:54:49<6:00:49, 1.67s/it] 57%|█████▋ | 17031/30000 [7:54:50<6:00:57, 1.67s/it] 57%|█████▋ | 17032/30000 [7:54:52<6:00:40, 1.67s/it] 57%|█████▋ | 17033/30000 [7:54:54<6:00:39, 1.67s/it] 57%|█████▋ | 17034/30000 [7:54:55<6:00:44, 1.67s/it] 57%|█████▋ | 17035/30000 [7:54:57<6:00:05, 1.67s/it] 57%|█████▋ | 17036/30000 [7:54:59<6:00:04, 1.67s/it] 57%|█████▋ | 17037/30000 [7:55:00<6:00:12, 1.67s/it] 57%|█████▋ | 17038/30000 [7:55:02<6:00:18, 1.67s/it] 57%|█████▋ | 17039/30000 [7:55:04<6:00:17, 1.67s/it] 57%|█████▋ | 17040/30000 [7:55:05<5:59:49, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.14508987963199615, 'learning_rate': 1.287584173182361e-05, 'flow_matching_loss': 0.01920905839651823, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.96} + 57%|█████▋ | 17040/30000 [7:55:05<5:59:49, 1.67s/it] 57%|█████▋ | 17041/30000 [7:55:07<6:00:08, 1.67s/it] 57%|█████▋ | 17042/30000 [7:55:09<6:00:22, 1.67s/it] 57%|█████▋ | 17043/30000 [7:55:10<5:59:59, 1.67s/it] 57%|█████▋ | 17044/30000 [7:55:12<5:59:41, 1.67s/it] 57%|█████▋ | 17045/30000 [7:55:14<5:59:41, 1.67s/it] 57%|█████▋ | 17046/30000 [7:55:15<5:59:39, 1.67s/it] 57%|█████▋ | 17047/30000 [7:55:17<5:59:13, 1.66s/it] 57%|█████▋ | 17048/30000 [7:55:19<5:59:17, 1.66s/it] 57%|█████▋ | 17049/30000 [7:55:20<5:59:42, 1.67s/it] 57%|█████▋ | 17050/30000 [7:55:22<6:00:16, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.10435503721237183, 'learning_rate': 1.2859474956779188e-05, 'flow_matching_loss': 0.018026677891612053, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.96} + 57%|█████▋ | 17050/30000 [7:55:22<6:00:16, 1.67s/it] 57%|█████▋ | 17051/30000 [7:55:24<5:59:52, 1.67s/it] 57%|█████▋ | 17052/30000 [7:55:25<5:59:50, 1.67s/it] 57%|█████▋ | 17053/30000 [7:55:27<5:59:53, 1.67s/it] 57%|█████▋ | 17054/30000 [7:55:29<5:59:41, 1.67s/it] 57%|█████▋ | 17055/30000 [7:55:30<5:59:23, 1.67s/it] 57%|█████▋ | 17056/30000 [7:55:32<5:59:22, 1.67s/it] 57%|█████▋ | 17057/30000 [7:55:34<5:59:56, 1.67s/it] 57%|█████▋ | 17058/30000 [7:55:35<5:59:35, 1.67s/it] 57%|█████▋ | 17059/30000 [7:55:37<5:59:12, 1.67s/it] 57%|█████▋ | 17060/30000 [7:55:39<5:59:12, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.08280828595161438, 'learning_rate': 1.2843110782674532e-05, 'flow_matching_loss': 0.01991788800805807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.96} + 57%|█████▋ | 17060/30000 [7:55:39<5:59:12, 1.67s/it] 57%|█████▋ | 17061/30000 [7:55:40<5:59:35, 1.67s/it] 57%|█████▋ | 17062/30000 [7:55:42<5:59:23, 1.67s/it] 57%|█████▋ | 17063/30000 [7:55:44<5:59:04, 1.67s/it] 57%|█████▋ | 17064/30000 [7:55:45<5:59:31, 1.67s/it] 57%|█████▋ | 17065/30000 [7:55:47<5:59:33, 1.67s/it] 57%|█████▋ | 17066/30000 [7:55:49<5:59:47, 1.67s/it] 57%|█████▋ | 17067/30000 [7:55:50<5:59:51, 1.67s/it] 57%|█████▋ | 17068/30000 [7:55:52<6:00:01, 1.67s/it] 57%|█████▋ | 17069/30000 [7:55:54<6:00:15, 1.67s/it] 57%|█████▋ | 17070/30000 [7:55:55<5:59:32, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.127751424908638, 'learning_rate': 1.2826749229393655e-05, 'flow_matching_loss': 0.016725947707891466, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.97} + 57%|█████▋ | 17070/30000 [7:55:55<5:59:32, 1.67s/it] 57%|█████▋ | 17071/30000 [7:55:57<5:59:27, 1.67s/it] 57%|█████▋ | 17072/30000 [7:55:59<5:59:41, 1.67s/it] 57%|█████▋ | 17073/30000 [7:56:00<5:59:46, 1.67s/it] 57%|█████▋ | 17074/30000 [7:56:02<5:59:19, 1.67s/it] 57%|█████▋ | 17075/30000 [7:56:04<5:59:02, 1.67s/it] 57%|█████▋ | 17076/30000 [7:56:05<5:58:53, 1.67s/it] 57%|█████▋ | 17077/30000 [7:56:07<5:58:25, 1.66s/it] 57%|█████▋ | 17078/30000 [7:56:09<5:58:52, 1.67s/it] 57%|█████▋ | 17079/30000 [7:56:10<5:58:31, 1.66s/it] 57%|█████▋ | 17080/30000 [7:56:12<5:58:22, 1.66s/it] {'loss': 0.0198, 'grad_norm': 0.09645099937915802, 'learning_rate': 1.2810390316817381e-05, 'flow_matching_loss': 0.01981190051883459, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.97} + 57%|█████▋ | 17080/30000 [7:56:12<5:58:22, 1.66s/it] 57%|█████▋ | 17081/30000 [7:56:14<5:58:47, 1.67s/it] 57%|█████▋ | 17082/30000 [7:56:15<5:58:53, 1.67s/it] 57%|█████▋ | 17083/30000 [7:56:17<5:58:23, 1.66s/it] 57%|█████▋ | 17084/30000 [7:56:19<5:59:40, 1.67s/it] 57%|█████▋ | 17085/30000 [7:56:20<5:59:29, 1.67s/it] 57%|█████▋ | 17086/30000 [7:56:22<5:59:20, 1.67s/it] 57%|█████▋ | 17087/30000 [7:56:24<5:59:17, 1.67s/it] 57%|█████▋ | 17088/30000 [7:56:25<5:59:18, 1.67s/it] 57%|█████▋ | 17089/30000 [7:56:27<5:58:54, 1.67s/it] 57%|█████▋ | 17090/30000 [7:56:29<5:58:22, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.13057050108909607, 'learning_rate': 1.2794034064823346e-05, 'flow_matching_loss': 0.01932779923081398, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.97} + 57%|█████▋ | 17090/30000 [7:56:29<5:58:22, 1.67s/it] 57%|█████▋ | 17091/30000 [7:56:30<5:58:18, 1.67s/it] 57%|█████▋ | 17092/30000 [7:56:32<5:58:07, 1.66s/it] 57%|█████▋ | 17093/30000 [7:56:34<5:57:47, 1.66s/it] 57%|█████▋ | 17094/30000 [7:56:35<5:57:51, 1.66s/it] 57%|█████▋ | 17095/30000 [7:56:37<5:57:49, 1.66s/it] 57%|█████▋ | 17096/30000 [7:56:39<5:58:08, 1.67s/it] 57%|█████▋ | 17097/30000 [7:56:40<5:59:02, 1.67s/it] 57%|█████▋ | 17098/30000 [7:56:42<5:58:15, 1.67s/it] 57%|█████▋ | 17099/30000 [7:56:44<5:58:12, 1.67s/it] 57%|█████▋ | 17100/30000 [7:56:45<5:59:05, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09882521629333496, 'learning_rate': 1.277768049328593e-05, 'flow_matching_loss': 0.017787308432161808, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.98} + 57%|█████▋ | 17100/30000 [7:56:45<5:59:05, 1.67s/it] 57%|█████▋ | 17101/30000 [7:56:47<5:58:29, 1.67s/it] 57%|█████▋ | 17102/30000 [7:56:49<5:58:55, 1.67s/it] 57%|█████▋ | 17103/30000 [7:56:50<5:58:08, 1.67s/it] 57%|█████▋ | 17104/30000 [7:56:52<5:58:16, 1.67s/it] 57%|█████▋ | 17105/30000 [7:56:54<5:57:36, 1.66s/it] 57%|█████▋ | 17106/30000 [7:56:55<5:57:28, 1.66s/it] 57%|█████▋ | 17107/30000 [7:56:57<5:58:24, 1.67s/it] 57%|█████▋ | 17108/30000 [7:56:59<5:58:39, 1.67s/it] 57%|█████▋ | 17109/30000 [7:57:00<5:58:18, 1.67s/it] 57%|█████▋ | 17110/30000 [7:57:02<5:58:39, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.11282627284526825, 'learning_rate': 1.2761329622076269e-05, 'flow_matching_loss': 0.021726290229707956, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.98} + 57%|█████▋ | 17110/30000 [7:57:02<5:58:39, 1.67s/it] 57%|█████▋ | 17111/30000 [7:57:04<5:57:51, 1.67s/it] 57%|█████▋ | 17112/30000 [7:57:05<5:58:42, 1.67s/it] 57%|█████▋ | 17113/30000 [7:57:07<5:58:28, 1.67s/it] 57%|█████▋ | 17114/30000 [7:57:09<5:58:31, 1.67s/it] 57%|█████▋ | 17115/30000 [7:57:10<5:58:54, 1.67s/it] 57%|█████▋ | 17116/30000 [7:57:12<5:59:43, 1.68s/it] 57%|█████▋ | 17117/30000 [7:57:14<5:59:34, 1.67s/it] 57%|█████▋ | 17118/30000 [7:57:15<5:58:49, 1.67s/it] 57%|█████▋ | 17119/30000 [7:57:17<5:58:02, 1.67s/it] 57%|█████▋ | 17120/30000 [7:57:19<5:57:46, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09937163442373276, 'learning_rate': 1.274498147106221e-05, 'flow_matching_loss': 0.017234313860535623, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.98} + 57%|█████▋ | 17120/30000 [7:57:19<5:57:46, 1.67s/it] 57%|█████▋ | 17121/30000 [7:57:20<5:57:51, 1.67s/it] 57%|█████▋ | 17122/30000 [7:57:22<5:57:48, 1.67s/it] 57%|█████▋ | 17123/30000 [7:57:24<5:57:41, 1.67s/it] 57%|█████▋ | 17124/30000 [7:57:25<5:57:25, 1.67s/it] 57%|█████▋ | 17125/30000 [7:57:27<5:58:01, 1.67s/it] 57%|█████▋ | 17126/30000 [7:57:29<5:57:38, 1.67s/it] 57%|█████▋ | 17127/30000 [7:57:30<5:58:08, 1.67s/it] 57%|█████▋ | 17128/30000 [7:57:32<5:57:25, 1.67s/it] 57%|█████▋ | 17129/30000 [7:57:34<5:57:40, 1.67s/it] 57%|█████▋ | 17130/30000 [7:57:35<5:57:50, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.08874901384115219, 'learning_rate': 1.272863606010829e-05, 'flow_matching_loss': 0.01926077613607049, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.98} + 57%|█████▋ | 17130/30000 [7:57:35<5:57:50, 1.67s/it] 57%|█████▋ | 17131/30000 [7:57:37<5:57:16, 1.67s/it] 57%|█████▋ | 17132/30000 [7:57:39<5:57:16, 1.67s/it] 57%|█████▋ | 17133/30000 [7:57:40<5:57:16, 1.67s/it] 57%|█████▋ | 17134/30000 [7:57:42<5:56:56, 1.66s/it] 57%|█████▋ | 17135/30000 [7:57:44<5:57:03, 1.67s/it] 57%|█████▋ | 17136/30000 [7:57:45<5:56:58, 1.67s/it] 57%|█████▋ | 17137/30000 [7:57:47<5:57:01, 1.67s/it] 57%|█████▋ | 17138/30000 [7:57:49<5:56:58, 1.67s/it] 57%|█████▋ | 17139/30000 [7:57:50<5:57:16, 1.67s/it] 57%|█████▋ | 17140/30000 [7:57:52<5:57:24, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.11894288659095764, 'learning_rate': 1.2712293409075739e-05, 'flow_matching_loss': 0.020035610161721708, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.99} + 57%|█████▋ | 17140/30000 [7:57:52<5:57:24, 1.67s/it] 57%|█████▋ | 17141/30000 [7:57:54<5:57:45, 1.67s/it] 57%|█████▋ | 17142/30000 [7:57:55<5:57:18, 1.67s/it] 57%|█████▋ | 17143/30000 [7:57:57<5:56:42, 1.66s/it] 57%|█████▋ | 17144/30000 [7:57:59<5:56:58, 1.67s/it] 57%|█████▋ | 17145/30000 [7:58:00<5:56:56, 1.67s/it] 57%|█████▋ | 17146/30000 [7:58:02<5:56:54, 1.67s/it] 57%|█████▋ | 17147/30000 [7:58:04<5:56:57, 1.67s/it] 57%|█████▋ | 17148/30000 [7:58:05<5:57:15, 1.67s/it] 57%|█████▋ | 17149/30000 [7:58:07<5:57:08, 1.67s/it] 57%|█████▋ | 17150/30000 [7:58:09<5:55:54, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.1142774373292923, 'learning_rate': 1.2695953537822413e-05, 'flow_matching_loss': 0.01757267015054822, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.99} + 57%|█████▋ | 17150/30000 [7:58:09<5:55:54, 1.66s/it] 57%|█████▋ | 17151/30000 [7:58:10<5:56:21, 1.66s/it] 57%|█████▋ | 17152/30000 [7:58:12<5:56:41, 1.67s/it] 57%|█████▋ | 17153/30000 [7:58:14<5:56:49, 1.67s/it] 57%|█████▋ | 17154/30000 [7:58:15<5:57:18, 1.67s/it] 57%|█████▋ | 17155/30000 [7:58:17<5:57:11, 1.67s/it] 57%|█████▋ | 17156/30000 [7:58:19<5:56:17, 1.66s/it] 57%|█████▋ | 17157/30000 [7:58:20<5:56:53, 1.67s/it] 57%|█████▋ | 17158/30000 [7:58:22<5:56:04, 1.66s/it] 57%|█████▋ | 17159/30000 [7:58:24<5:56:14, 1.66s/it] 57%|█████▋ | 17160/30000 [7:58:25<5:56:03, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.10808035731315613, 'learning_rate': 1.2679616466202792e-05, 'flow_matching_loss': 0.018406455870717764, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 4.99} + 57%|█████▋ | 17160/30000 [7:58:25<5:56:03, 1.66s/it] 57%|█████▋ | 17161/30000 [7:58:27<5:56:29, 1.67s/it] 57%|█████▋ | 17162/30000 [7:58:29<5:56:36, 1.67s/it] 57%|█████▋ | 17163/30000 [7:58:30<5:56:10, 1.66s/it] 57%|█████▋ | 17164/30000 [7:58:32<5:56:40, 1.67s/it] 57%|█████▋ | 17165/30000 [7:58:34<5:56:53, 1.67s/it] 57%|█████▋ | 17166/30000 [7:58:35<5:56:44, 1.67s/it] 57%|█████▋ | 17167/30000 [7:58:37<5:56:39, 1.67s/it] 57%|█████▋ | 17168/30000 [7:58:39<5:56:36, 1.67s/it] 57%|█████▋ | 17169/30000 [7:58:40<5:56:11, 1.67s/it] 57%|█████▋ | 17170/30000 [7:58:42<5:55:42, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.1410546749830246, 'learning_rate': 1.2663282214067967e-05, 'flow_matching_loss': 0.018461293168365957, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.0} + 57%|█████▋ | 17170/30000 [7:58:42<5:55:42, 1.66s/it] 57%|█████▋ | 17171/30000 [7:58:44<5:55:40, 1.66s/it] 57%|█████▋ | 17172/30000 [7:58:45<5:55:09, 1.66s/it] 57%|█████▋ | 17173/30000 [7:58:47<5:54:30, 1.66s/it] 57%|█████▋ | 17174/30000 [7:58:49<5:53:58, 1.66s/it] 57%|█████▋ | 17175/30000 [7:58:50<5:53:36, 1.65s/it] 57%|█████▋ | 17176/30000 [7:58:52<5:53:07, 1.65s/it] 57%|█████▋ | 17177/30000 [7:58:54<5:53:29, 1.65s/it] 57%|█████▋ | 17178/30000 [7:58:55<5:53:23, 1.65s/it] 57%|█████▋ | 17179/30000 [7:58:57<5:53:17, 1.65s/it] 57%|█████▋ | 17180/30000 [7:58:58<5:53:19, 1.65s/it] {'loss': 0.0207, 'grad_norm': 0.14115063846111298, 'learning_rate': 1.264695080126559e-05, 'flow_matching_loss': 0.02073227958753705, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.0} + 57%|█████▋ | 17180/30000 [7:58:59<5:53:19, 1.65s/it] 57%|█████▋ | 17181/30000 [7:59:00<5:53:32, 1.65s/it] 57%|█████▋ | 17182/30000 [7:59:02<5:52:50, 1.65s/it] 57%|█████▋ | 17183/30000 [7:59:03<5:52:43, 1.65s/it] 57%|█████▋ | 17184/30000 [7:59:05<5:52:45, 1.65s/it] 57%|█████▋ | 17185/30000 [7:59:07<5:51:33, 1.65s/it] 57%|█████▋ | 17186/30000 [7:59:15<13:18:34, 3.74s/it] 57%|█████▋ | 17187/30000 [7:59:17<11:06:49, 3.12s/it] 57%|█████▋ | 17188/30000 [7:59:19<9:34:16, 2.69s/it] 57%|█████▋ | 17189/30000 [7:59:20<8:29:15, 2.39s/it] 57%|█████▋ | 17190/30000 [7:59:22<7:43:47, 2.17s/it] {'loss': 0.0169, 'grad_norm': 0.10273171961307526, 'learning_rate': 1.263062224763986e-05, 'flow_matching_loss': 0.016927609220147133, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.0} + 57%|█████▋ | 17190/30000 [7:59:22<7:43:47, 2.17s/it] 57%|█████▋ | 17191/30000 [7:59:24<7:13:11, 2.03s/it] 57%|█████▋ | 17192/30000 [7:59:25<6:51:16, 1.93s/it] 57%|█████▋ | 17193/30000 [7:59:27<6:36:16, 1.86s/it] 57%|█████▋ | 17194/30000 [7:59:29<6:24:15, 1.80s/it] 57%|█████▋ | 17195/30000 [7:59:30<6:15:05, 1.76s/it] 57%|█████▋ | 17196/30000 [7:59:32<6:08:46, 1.73s/it] 57%|█████▋ | 17197/30000 [7:59:34<6:03:23, 1.70s/it] 57%|█████▋ | 17198/30000 [7:59:35<6:00:36, 1.69s/it] 57%|█████▋ | 17199/30000 [7:59:37<5:58:03, 1.68s/it] 57%|█████▋ | 17200/30000 [7:59:39<5:56:35, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.09962943941354752, 'learning_rate': 1.2614296573031522e-05, 'flow_matching_loss': 0.01871301541104913, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.0} + 57%|█████▋ | 17200/30000 [7:59:39<5:56:35, 1.67s/it] 57%|█████▋ | 17201/30000 [7:59:40<5:56:21, 1.67s/it] 57%|█████▋ | 17202/30000 [7:59:42<5:55:13, 1.67s/it] 57%|█████▋ | 17203/30000 [7:59:44<5:54:48, 1.66s/it] 57%|█████▋ | 17204/30000 [7:59:45<5:54:48, 1.66s/it] 57%|█████▋ | 17205/30000 [7:59:47<5:54:07, 1.66s/it] 57%|█████▋ | 17206/30000 [7:59:49<5:54:00, 1.66s/it] 57%|█████▋ | 17207/30000 [7:59:50<5:54:10, 1.66s/it] 57%|█████▋ | 17208/30000 [7:59:52<5:53:43, 1.66s/it] 57%|█████▋ | 17209/30000 [7:59:54<5:53:46, 1.66s/it] 57%|█████▋ | 17210/30000 [7:59:55<5:54:02, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.11255931854248047, 'learning_rate': 1.259797379727781e-05, 'flow_matching_loss': 0.018227022048085927, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.01} + 57%|█████▋ | 17210/30000 [7:59:55<5:54:02, 1.66s/it] 57%|█████▋ | 17211/30000 [7:59:57<5:54:08, 1.66s/it] 57%|█████▋ | 17212/30000 [7:59:59<5:54:11, 1.66s/it] 57%|█████▋ | 17213/30000 [8:00:00<5:54:37, 1.66s/it] 57%|█████▋ | 17214/30000 [8:00:02<5:54:51, 1.67s/it] 57%|█████▋ | 17215/30000 [8:00:04<5:54:06, 1.66s/it] 57%|█████▋ | 17216/30000 [8:00:05<5:53:47, 1.66s/it] 57%|█████▋ | 17217/30000 [8:00:07<5:53:50, 1.66s/it] 57%|█████▋ | 17218/30000 [8:00:09<5:54:50, 1.67s/it] 57%|█████▋ | 17219/30000 [8:00:10<5:54:25, 1.66s/it] 57%|█████▋ | 17220/30000 [8:00:12<5:54:45, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.16259241104125977, 'learning_rate': 1.2581653940212423e-05, 'flow_matching_loss': 0.021592453494668006, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.01} + 57%|█████▋ | 17220/30000 [8:00:12<5:54:45, 1.67s/it] 57%|█████▋ | 17221/30000 [8:00:14<5:54:56, 1.67s/it] 57%|█████▋ | 17222/30000 [8:00:15<5:54:11, 1.66s/it] 57%|█████▋ | 17223/30000 [8:00:17<5:54:11, 1.66s/it] 57%|█████▋ | 17224/30000 [8:00:19<5:53:38, 1.66s/it] 57%|█████▋ | 17225/30000 [8:00:20<5:53:47, 1.66s/it] 57%|█████▋ | 17226/30000 [8:00:22<5:53:38, 1.66s/it] 57%|█████▋ | 17227/30000 [8:00:24<5:53:58, 1.66s/it] 57%|█████▋ | 17228/30000 [8:00:25<5:53:46, 1.66s/it] 57%|█████▋ | 17229/30000 [8:00:27<5:53:20, 1.66s/it] 57%|█████▋ | 17230/30000 [8:00:29<5:53:22, 1.66s/it] {'loss': 0.0208, 'grad_norm': 0.12685896456241608, 'learning_rate': 1.2565337021665537e-05, 'flow_matching_loss': 0.02078336114063859, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.01} + 57%|█████▋ | 17230/30000 [8:00:29<5:53:22, 1.66s/it] 57%|█████▋ | 17231/30000 [8:00:30<5:53:45, 1.66s/it] 57%|█████▋ | 17232/30000 [8:00:32<5:53:58, 1.66s/it] 57%|█████▋ | 17233/30000 [8:00:34<5:54:04, 1.66s/it] 57%|█████▋ | 17234/30000 [8:00:35<5:53:51, 1.66s/it] 57%|█████▋ | 17235/30000 [8:00:37<5:53:35, 1.66s/it] 57%|█████▋ | 17236/30000 [8:00:39<5:53:43, 1.66s/it] 57%|█████▋ | 17237/30000 [8:00:40<5:53:36, 1.66s/it] 57%|█████▋ | 17238/30000 [8:00:42<5:53:16, 1.66s/it] 57%|█████▋ | 17239/30000 [8:00:44<5:53:21, 1.66s/it] 57%|█████▋ | 17240/30000 [8:00:45<5:53:12, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.11827865988016129, 'learning_rate': 1.2549023061463739e-05, 'flow_matching_loss': 0.018200225848704576, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.02} + 57%|█████▋ | 17240/30000 [8:00:45<5:53:12, 1.66s/it] 57%|█████▋ | 17241/30000 [8:00:47<5:53:21, 1.66s/it] 57%|█████▋ | 17242/30000 [8:00:49<5:53:28, 1.66s/it] 57%|█████▋ | 17243/30000 [8:00:50<5:52:45, 1.66s/it] 57%|█████▋ | 17244/30000 [8:00:52<5:53:01, 1.66s/it] 57%|█████▋ | 17245/30000 [8:00:53<5:53:00, 1.66s/it] 57%|█████▋ | 17246/30000 [8:00:55<5:52:57, 1.66s/it] 57%|█████▋ | 17247/30000 [8:00:57<5:52:56, 1.66s/it] 57%|█████▋ | 17248/30000 [8:00:58<5:52:13, 1.66s/it] 57%|█████▋ | 17249/30000 [8:01:00<5:52:17, 1.66s/it] 57%|█████▊ | 17250/30000 [8:01:02<5:52:23, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.10647156834602356, 'learning_rate': 1.2532712079430038e-05, 'flow_matching_loss': 0.019598862901329995, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.02} + 57%|█████▊ | 17250/30000 [8:01:02<5:52:23, 1.66s/it] 58%|█████▊ | 17251/30000 [8:01:03<5:52:51, 1.66s/it] 58%|█████▊ | 17252/30000 [8:01:05<5:52:43, 1.66s/it] 58%|█████▊ | 17253/30000 [8:01:07<5:53:01, 1.66s/it] 58%|█████▊ | 17254/30000 [8:01:08<5:53:02, 1.66s/it] 58%|█████▊ | 17255/30000 [8:01:10<5:53:03, 1.66s/it] 58%|█████▊ | 17256/30000 [8:01:12<5:53:21, 1.66s/it] 58%|█████▊ | 17257/30000 [8:01:13<5:53:27, 1.66s/it] 58%|█████▊ | 17258/30000 [8:01:15<5:53:19, 1.66s/it] 58%|█████▊ | 17259/30000 [8:01:17<5:52:46, 1.66s/it] 58%|█████▊ | 17260/30000 [8:01:18<5:52:34, 1.66s/it] {'loss': 0.0205, 'grad_norm': 0.12192176282405853, 'learning_rate': 1.2516404095383813e-05, 'flow_matching_loss': 0.020519891940057277, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.02} + 58%|█████▊ | 17260/30000 [8:01:18<5:52:34, 1.66s/it] 58%|█████▊ | 17261/30000 [8:01:20<5:52:33, 1.66s/it] 58%|█████▊ | 17262/30000 [8:01:22<5:52:21, 1.66s/it] 58%|█████▊ | 17263/30000 [8:01:23<5:52:14, 1.66s/it] 58%|█████▊ | 17264/30000 [8:01:25<5:52:04, 1.66s/it] 58%|█████▊ | 17265/30000 [8:01:27<5:52:18, 1.66s/it] 58%|█████▊ | 17266/30000 [8:01:28<5:52:25, 1.66s/it] 58%|█████▊ | 17267/30000 [8:01:30<5:53:07, 1.66s/it] 58%|█████▊ | 17268/30000 [8:01:32<5:52:35, 1.66s/it] 58%|█████▊ | 17269/30000 [8:01:33<5:52:20, 1.66s/it] 58%|█████▊ | 17270/30000 [8:01:35<5:53:16, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.1615348607301712, 'learning_rate': 1.2500099129140796e-05, 'flow_matching_loss': 0.018141771759837867, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.02} + 58%|█████▊ | 17270/30000 [8:01:35<5:53:16, 1.67s/it] 58%|█████▊ | 17271/30000 [8:01:37<5:53:03, 1.66s/it] 58%|█████▊ | 17272/30000 [8:01:38<5:52:28, 1.66s/it] 58%|█████▊ | 17273/30000 [8:01:40<5:52:31, 1.66s/it] 58%|█████▊ | 17274/30000 [8:01:42<5:51:49, 1.66s/it] 58%|█████▊ | 17275/30000 [8:01:43<5:51:55, 1.66s/it] 58%|█████▊ | 17276/30000 [8:01:45<5:51:41, 1.66s/it] 58%|█████▊ | 17277/30000 [8:01:47<5:52:20, 1.66s/it] 58%|█████▊ | 17278/30000 [8:01:48<5:53:01, 1.66s/it] 58%|█████▊ | 17279/30000 [8:01:50<5:52:56, 1.66s/it] 58%|█████▊ | 17280/30000 [8:01:52<5:52:56, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.09620798379182816, 'learning_rate': 1.2483797200513065e-05, 'flow_matching_loss': 0.018021792359650134, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.03} + 58%|█████▊ | 17280/30000 [8:01:52<5:52:56, 1.66s/it] 58%|█████▊ | 17281/30000 [8:01:53<5:52:55, 1.66s/it] 58%|█████▊ | 17282/30000 [8:01:55<5:52:35, 1.66s/it] 58%|█████▊ | 17283/30000 [8:01:57<5:52:25, 1.66s/it] 58%|█████▊ | 17284/30000 [8:01:58<5:52:49, 1.66s/it] 58%|█████▊ | 17285/30000 [8:02:00<5:53:19, 1.67s/it] 58%|█████▊ | 17286/30000 [8:02:02<5:53:13, 1.67s/it] 58%|█████▊ | 17287/30000 [8:02:03<5:53:05, 1.67s/it] 58%|█████▊ | 17288/30000 [8:02:05<5:51:40, 1.66s/it] 58%|█████▊ | 17289/30000 [8:02:07<5:51:39, 1.66s/it] 58%|█████▊ | 17290/30000 [8:02:08<5:51:55, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.09282487630844116, 'learning_rate': 1.2467498329308992e-05, 'flow_matching_loss': 0.017991520650684833, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.03} + 58%|█████▊ | 17290/30000 [8:02:08<5:51:55, 1.66s/it] 58%|█████▊ | 17291/30000 [8:02:10<5:51:50, 1.66s/it] 58%|█████▊ | 17292/30000 [8:02:12<5:51:40, 1.66s/it] 58%|█████▊ | 17293/30000 [8:02:13<5:51:43, 1.66s/it] 58%|█████▊ | 17294/30000 [8:02:15<5:52:17, 1.66s/it] 58%|█████▊ | 17295/30000 [8:02:17<5:52:18, 1.66s/it] 58%|█████▊ | 17296/30000 [8:02:18<5:51:37, 1.66s/it] 58%|█████▊ | 17297/30000 [8:02:20<5:52:02, 1.66s/it] 58%|█████▊ | 17298/30000 [8:02:22<5:51:55, 1.66s/it] 58%|█████▊ | 17299/30000 [8:02:23<5:51:59, 1.66s/it] 58%|█████▊ | 17300/30000 [8:02:25<5:51:22, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.12213137000799179, 'learning_rate': 1.2451202535333253e-05, 'flow_matching_loss': 0.01873559784144163, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.03} + 58%|█████▊ | 17300/30000 [8:02:25<5:51:22, 1.66s/it] 58%|█████▊ | 17301/30000 [8:02:27<5:51:24, 1.66s/it] 58%|█████▊ | 17302/30000 [8:02:28<5:51:31, 1.66s/it] 58%|█████▊ | 17303/30000 [8:02:30<5:51:46, 1.66s/it] 58%|█████▊ | 17304/30000 [8:02:32<5:51:51, 1.66s/it] 58%|█████▊ | 17305/30000 [8:02:33<5:51:37, 1.66s/it] 58%|█████▊ | 17306/30000 [8:02:35<5:51:42, 1.66s/it] 58%|█████▊ | 17307/30000 [8:02:37<5:51:32, 1.66s/it] 58%|█████▊ | 17308/30000 [8:02:38<5:51:19, 1.66s/it] 58%|█████▊ | 17309/30000 [8:02:40<5:51:37, 1.66s/it] 58%|█████▊ | 17310/30000 [8:02:42<5:51:24, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.09878169745206833, 'learning_rate': 1.2434909838386768e-05, 'flow_matching_loss': 0.019361595157533884, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.04} + 58%|█████▊ | 17310/30000 [8:02:42<5:51:24, 1.66s/it] 58%|█████▊ | 17311/30000 [8:02:43<5:51:42, 1.66s/it] 58%|█████▊ | 17312/30000 [8:02:45<5:51:33, 1.66s/it] 58%|█████▊ | 17313/30000 [8:02:46<5:51:01, 1.66s/it] 58%|█████▊ | 17314/30000 [8:02:48<5:51:07, 1.66s/it] 58%|█████▊ | 17315/30000 [8:02:50<5:51:08, 1.66s/it] 58%|█████▊ | 17316/30000 [8:02:51<5:50:57, 1.66s/it] 58%|█████▊ | 17317/30000 [8:02:53<5:51:24, 1.66s/it] 58%|█████▊ | 17318/30000 [8:02:55<5:51:32, 1.66s/it] 58%|█████▊ | 17319/30000 [8:02:56<5:51:55, 1.67s/it] 58%|█████▊ | 17320/30000 [8:02:58<5:51:15, 1.66s/it] {'loss': 0.0208, 'grad_norm': 0.14062929153442383, 'learning_rate': 1.2418620258266703e-05, 'flow_matching_loss': 0.020756742171943187, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.04} + 58%|█████▊ | 17320/30000 [8:02:58<5:51:15, 1.66s/it] 58%|█████▊ | 17321/30000 [8:03:00<5:51:52, 1.67s/it] 58%|█████▊ | 17322/30000 [8:03:01<5:51:40, 1.66s/it] 58%|█████▊ | 17323/30000 [8:03:03<5:50:51, 1.66s/it] 58%|█████▊ | 17324/30000 [8:03:05<5:51:14, 1.66s/it] 58%|█████▊ | 17325/30000 [8:03:06<5:50:48, 1.66s/it] 58%|█████▊ | 17326/30000 [8:03:08<5:50:59, 1.66s/it] 58%|█████▊ | 17327/30000 [8:03:10<5:51:08, 1.66s/it] 58%|█████▊ | 17328/30000 [8:03:11<5:51:28, 1.66s/it] 58%|█████▊ | 17329/30000 [8:03:13<5:51:37, 1.67s/it] 58%|█████▊ | 17330/30000 [8:03:15<5:51:38, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.12405182421207428, 'learning_rate': 1.2402333814766432e-05, 'flow_matching_loss': 0.019776051118969917, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.04} + 58%|█████▊ | 17330/30000 [8:03:15<5:51:38, 1.67s/it] 58%|█████▊ | 17331/30000 [8:03:16<5:51:18, 1.66s/it] 58%|█████▊ | 17332/30000 [8:03:18<5:51:06, 1.66s/it] 58%|█████▊ | 17333/30000 [8:03:20<5:51:12, 1.66s/it] 58%|█████▊ | 17334/30000 [8:03:21<5:51:27, 1.66s/it] 58%|█████▊ | 17335/30000 [8:03:23<5:51:07, 1.66s/it] 58%|█████▊ | 17336/30000 [8:03:25<5:51:01, 1.66s/it] 58%|█████▊ | 17337/30000 [8:03:26<5:51:03, 1.66s/it] 58%|█████▊ | 17338/30000 [8:03:28<5:50:54, 1.66s/it] 58%|█████▊ | 17339/30000 [8:03:30<5:50:32, 1.66s/it] 58%|█████▊ | 17340/30000 [8:03:31<5:50:56, 1.66s/it] {'loss': 0.0169, 'grad_norm': 0.13712923228740692, 'learning_rate': 1.2386050527675515e-05, 'flow_matching_loss': 0.016945508308708668, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.05} + 58%|█████▊ | 17340/30000 [8:03:31<5:50:56, 1.66s/it] 58%|█████▊ | 17341/30000 [8:03:33<5:50:58, 1.66s/it] 58%|█████▊ | 17342/30000 [8:03:35<5:51:08, 1.66s/it] 58%|█████▊ | 17343/30000 [8:03:36<5:51:23, 1.67s/it] 58%|█████▊ | 17344/30000 [8:03:38<5:50:56, 1.66s/it] 58%|█████▊ | 17345/30000 [8:03:40<5:51:38, 1.67s/it] 58%|█████▊ | 17346/30000 [8:03:41<5:51:10, 1.67s/it] 58%|█████▊ | 17347/30000 [8:03:43<5:51:34, 1.67s/it] 58%|█████▊ | 17348/30000 [8:03:45<5:50:53, 1.66s/it] 58%|█████▊ | 17349/30000 [8:03:46<5:50:49, 1.66s/it] 58%|█████▊ | 17350/30000 [8:03:48<5:51:11, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.14895084500312805, 'learning_rate': 1.2369770416779693e-05, 'flow_matching_loss': 0.018031101394444703, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.05} + 58%|█████▊ | 17350/30000 [8:03:48<5:51:11, 1.67s/it] 58%|█████▊ | 17351/30000 [8:03:50<5:51:10, 1.67s/it] 58%|█████▊ | 17352/30000 [8:03:51<5:50:33, 1.66s/it] 58%|█████▊ | 17353/30000 [8:03:53<5:50:32, 1.66s/it] 58%|█████▊ | 17354/30000 [8:03:55<5:50:45, 1.66s/it] 58%|█████▊ | 17355/30000 [8:03:56<5:50:17, 1.66s/it] 58%|█████▊ | 17356/30000 [8:03:58<5:50:26, 1.66s/it] 58%|█████▊ | 17357/30000 [8:04:00<5:50:45, 1.66s/it] 58%|█████▊ | 17358/30000 [8:04:01<5:50:21, 1.66s/it] 58%|█████▊ | 17359/30000 [8:04:03<5:50:56, 1.67s/it] 58%|█████▊ | 17360/30000 [8:04:05<5:51:01, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.15409110486507416, 'learning_rate': 1.2353493501860828e-05, 'flow_matching_loss': 0.016787825897336007, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.05} + 58%|█████▊ | 17360/30000 [8:04:05<5:51:01, 1.67s/it] 58%|█████▊ | 17361/30000 [8:04:06<5:50:53, 1.67s/it] 58%|█████▊ | 17362/30000 [8:04:08<5:50:51, 1.67s/it] 58%|█████▊ | 17363/30000 [8:04:10<5:50:35, 1.66s/it] 58%|█████▊ | 17364/30000 [8:04:11<5:50:29, 1.66s/it] 58%|█████▊ | 17365/30000 [8:04:13<5:50:58, 1.67s/it] 58%|█████▊ | 17366/30000 [8:04:15<5:50:43, 1.67s/it] 58%|█████▊ | 17367/30000 [8:04:16<5:50:30, 1.66s/it] 58%|█████▊ | 17368/30000 [8:04:18<5:49:52, 1.66s/it] 58%|█████▊ | 17369/30000 [8:04:20<5:50:06, 1.66s/it] 58%|█████▊ | 17370/30000 [8:04:21<5:50:17, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.1000589057803154, 'learning_rate': 1.2337219802696905e-05, 'flow_matching_loss': 0.01963932570070028, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.05} + 58%|█████▊ | 17370/30000 [8:04:21<5:50:17, 1.66s/it] 58%|█████▊ | 17371/30000 [8:04:23<5:50:40, 1.67s/it] 58%|█████▊ | 17372/30000 [8:04:25<5:50:17, 1.66s/it] 58%|█████▊ | 17373/30000 [8:04:26<5:50:21, 1.66s/it] 58%|█████▊ | 17374/30000 [8:04:28<5:50:45, 1.67s/it] 58%|█████▊ | 17375/30000 [8:04:30<5:50:20, 1.66s/it] 58%|█████▊ | 17376/30000 [8:04:31<5:50:14, 1.66s/it] 58%|█████▊ | 17377/30000 [8:04:33<5:50:21, 1.67s/it] 58%|█████▊ | 17378/30000 [8:04:35<5:50:18, 1.67s/it] 58%|█████▊ | 17379/30000 [8:04:36<5:50:17, 1.67s/it] 58%|█████▊ | 17380/30000 [8:04:38<5:50:04, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.11513153463602066, 'learning_rate': 1.2320949339062008e-05, 'flow_matching_loss': 0.018489071168005466, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.06} + 58%|█████▊ | 17380/30000 [8:04:38<5:50:04, 1.66s/it] 58%|█████▊ | 17381/30000 [8:04:40<5:50:41, 1.67s/it] 58%|█████▊ | 17382/30000 [8:04:41<5:50:27, 1.67s/it] 58%|█████▊ | 17383/30000 [8:04:43<5:50:18, 1.67s/it] 58%|█████▊ | 17384/30000 [8:04:45<5:50:10, 1.67s/it] 58%|█████▊ | 17385/30000 [8:04:46<5:51:09, 1.67s/it] 58%|█████▊ | 17386/30000 [8:04:48<5:50:14, 1.67s/it] 58%|█████▊ | 17387/30000 [8:04:50<5:50:07, 1.67s/it] 58%|█████▊ | 17388/30000 [8:04:51<5:49:00, 1.66s/it] 58%|█████▊ | 17389/30000 [8:04:53<5:49:20, 1.66s/it] 58%|█████▊ | 17390/30000 [8:04:55<5:49:25, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.12906010448932648, 'learning_rate': 1.2304682130726281e-05, 'flow_matching_loss': 0.019265173375606535, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.06} + 58%|█████▊ | 17390/30000 [8:04:55<5:49:25, 1.66s/it] 58%|█████▊ | 17391/30000 [8:04:56<5:50:36, 1.67s/it] 58%|█████▊ | 17392/30000 [8:04:58<5:50:43, 1.67s/it] 58%|█████▊ | 17393/30000 [8:05:00<5:49:56, 1.67s/it] 58%|█████▊ | 17394/30000 [8:05:01<5:49:46, 1.66s/it] 58%|█████▊ | 17395/30000 [8:05:03<5:49:13, 1.66s/it] 58%|█████▊ | 17396/30000 [8:05:05<5:48:56, 1.66s/it] 58%|█████▊ | 17397/30000 [8:05:06<5:49:13, 1.66s/it] 58%|█████▊ | 17398/30000 [8:05:08<5:49:45, 1.67s/it] 58%|█████▊ | 17399/30000 [8:05:10<5:50:44, 1.67s/it] 58%|█████▊ | 17400/30000 [8:05:11<5:49:17, 1.66s/it] {'loss': 0.0217, 'grad_norm': 0.1137315109372139, 'learning_rate': 1.2288418197455913e-05, 'flow_matching_loss': 0.02174828201532364, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.06} + 58%|█████▊ | 17400/30000 [8:05:11<5:49:17, 1.66s/it] 58%|█████▊ | 17401/30000 [8:05:13<5:49:16, 1.66s/it] 58%|█████▊ | 17402/30000 [8:05:15<5:49:19, 1.66s/it] 58%|█████▊ | 17403/30000 [8:05:16<5:49:15, 1.66s/it] 58%|█████▊ | 17404/30000 [8:05:18<5:49:06, 1.66s/it] 58%|█████▊ | 17405/30000 [8:05:20<5:48:50, 1.66s/it] 58%|█████▊ | 17406/30000 [8:05:21<5:49:12, 1.66s/it] 58%|█████▊ | 17407/30000 [8:05:23<5:49:23, 1.66s/it] 58%|█████▊ | 17408/30000 [8:05:25<5:48:57, 1.66s/it] 58%|█████▊ | 17409/30000 [8:05:26<5:48:34, 1.66s/it] 58%|█████▊ | 17410/30000 [8:05:28<5:48:43, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.1058865413069725, 'learning_rate': 1.2272157559013126e-05, 'flow_matching_loss': 0.01713874628767371, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.07} + 58%|█████▊ | 17410/30000 [8:05:28<5:48:43, 1.66s/it] 58%|█████▊ | 17411/30000 [8:05:30<5:49:10, 1.66s/it] 58%|█████▊ | 17412/30000 [8:05:31<5:49:22, 1.67s/it] 58%|█████▊ | 17413/30000 [8:05:33<5:49:29, 1.67s/it] 58%|█████▊ | 17414/30000 [8:05:35<5:49:48, 1.67s/it] 58%|█████▊ | 17415/30000 [8:05:36<5:49:15, 1.67s/it] 58%|█████▊ | 17416/30000 [8:05:38<5:48:52, 1.66s/it] 58%|█████▊ | 17417/30000 [8:05:40<5:48:40, 1.66s/it] 58%|█████▊ | 17418/30000 [8:05:41<5:48:20, 1.66s/it] 58%|█████▊ | 17419/30000 [8:05:43<5:48:25, 1.66s/it] 58%|█████▊ | 17420/30000 [8:05:45<5:49:09, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.10738896578550339, 'learning_rate': 1.2255900235156123e-05, 'flow_matching_loss': 0.017397108767181636, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.07} + 58%|█████▊ | 17420/30000 [8:05:45<5:49:09, 1.67s/it] 58%|█████▊ | 17421/30000 [8:05:46<5:48:08, 1.66s/it] 58%|█████▊ | 17422/30000 [8:05:48<5:48:44, 1.66s/it] 58%|█████▊ | 17423/30000 [8:05:50<5:49:22, 1.67s/it] 58%|█████▊ | 17424/30000 [8:05:51<5:48:54, 1.66s/it] 58%|█████▊ | 17425/30000 [8:05:53<5:49:26, 1.67s/it] 58%|█████▊ | 17426/30000 [8:05:55<5:49:38, 1.67s/it] 58%|█████▊ | 17427/30000 [8:05:56<5:49:39, 1.67s/it] 58%|█████▊ | 17428/30000 [8:05:58<5:49:04, 1.67s/it] 58%|█████▊ | 17429/30000 [8:06:00<5:49:42, 1.67s/it] 58%|█████▊ | 17430/30000 [8:06:01<5:49:49, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.10931473225355148, 'learning_rate': 1.2239646245639087e-05, 'flow_matching_loss': 0.01809872090816498, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.07} + 58%|█████▊ | 17430/30000 [8:06:01<5:49:49, 1.67s/it] 58%|█████▊ | 17431/30000 [8:06:03<5:49:21, 1.67s/it] 58%|█████▊ | 17432/30000 [8:06:05<5:49:10, 1.67s/it] 58%|█████▊ | 17433/30000 [8:06:06<5:48:58, 1.67s/it] 58%|█████▊ | 17434/30000 [8:06:08<5:49:05, 1.67s/it] 58%|█████▊ | 17435/30000 [8:06:10<5:48:59, 1.67s/it] 58%|█████▊ | 17436/30000 [8:06:11<5:48:44, 1.67s/it] 58%|█████▊ | 17437/30000 [8:06:13<5:48:49, 1.67s/it] 58%|█████▊ | 17438/30000 [8:06:15<5:48:37, 1.67s/it] 58%|█████▊ | 17439/30000 [8:06:16<5:48:41, 1.67s/it] 58%|█████▊ | 17440/30000 [8:06:18<5:48:31, 1.66s/it] {'loss': 0.0161, 'grad_norm': 0.09667666256427765, 'learning_rate': 1.2223395610212142e-05, 'flow_matching_loss': 0.01605995623394847, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.07} + 58%|█████▊ | 17440/30000 [8:06:18<5:48:31, 1.66s/it] 58%|█████▊ | 17441/30000 [8:06:20<5:48:16, 1.66s/it] 58%|█████▊ | 17442/30000 [8:06:21<5:48:50, 1.67s/it] 58%|█████▊ | 17443/30000 [8:06:23<5:48:43, 1.67s/it] 58%|█████▊ | 17444/30000 [8:06:25<5:48:15, 1.66s/it] 58%|█████▊ | 17445/30000 [8:06:26<5:48:39, 1.67s/it] 58%|█████▊ | 17446/30000 [8:06:28<5:48:44, 1.67s/it] 58%|█████▊ | 17447/30000 [8:06:30<5:48:43, 1.67s/it] 58%|█████▊ | 17448/30000 [8:06:31<5:48:23, 1.67s/it] 58%|█████▊ | 17449/30000 [8:06:33<5:48:42, 1.67s/it] 58%|█████▊ | 17450/30000 [8:06:35<5:48:30, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.11589575558900833, 'learning_rate': 1.2207148348621348e-05, 'flow_matching_loss': 0.01736785303801298, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.08} + 58%|█████▊ | 17450/30000 [8:06:35<5:48:30, 1.67s/it] 58%|█████▊ | 17451/30000 [8:06:36<5:49:37, 1.67s/it] 58%|█████▊ | 17452/30000 [8:06:38<5:48:40, 1.67s/it] 58%|█████▊ | 17453/30000 [8:06:40<5:49:21, 1.67s/it] 58%|█████▊ | 17454/30000 [8:06:41<5:49:07, 1.67s/it] 58%|█████▊ | 17455/30000 [8:06:43<5:49:02, 1.67s/it] 58%|█████▊ | 17456/30000 [8:06:45<5:47:58, 1.66s/it] 58%|█████▊ | 17457/30000 [8:06:46<5:48:33, 1.67s/it] 58%|█████▊ | 17458/30000 [8:06:48<5:48:40, 1.67s/it] 58%|█████▊ | 17459/30000 [8:06:50<5:48:17, 1.67s/it] 58%|█████▊ | 17460/30000 [8:06:51<5:48:23, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.13277801871299744, 'learning_rate': 1.219090448060866e-05, 'flow_matching_loss': 0.020346051640808584, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.08} + 58%|█████▊ | 17460/30000 [8:06:51<5:48:23, 1.67s/it] 58%|█████▊ | 17461/30000 [8:06:53<5:48:34, 1.67s/it] 58%|█████▊ | 17462/30000 [8:06:55<5:48:49, 1.67s/it] 58%|█████▊ | 17463/30000 [8:06:56<5:48:57, 1.67s/it] 58%|█████▊ | 17464/30000 [8:06:58<5:48:12, 1.67s/it] 58%|█████▊ | 17465/30000 [8:07:00<5:49:06, 1.67s/it] 58%|█████▊ | 17466/30000 [8:07:01<5:48:27, 1.67s/it] 58%|█████▊ | 17467/30000 [8:07:03<5:48:35, 1.67s/it] 58%|█████▊ | 17468/30000 [8:07:05<5:48:00, 1.67s/it] 58%|█████▊ | 17469/30000 [8:07:06<5:48:17, 1.67s/it] 58%|█████▊ | 17470/30000 [8:07:08<5:48:14, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.13615310192108154, 'learning_rate': 1.217466402591191e-05, 'flow_matching_loss': 0.01985337510704994, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.08} + 58%|█████▊ | 17470/30000 [8:07:08<5:48:14, 1.67s/it] 58%|█████▊ | 17471/30000 [8:07:10<5:48:19, 1.67s/it] 58%|█████▊ | 17472/30000 [8:07:11<5:48:18, 1.67s/it] 58%|█████▊ | 17473/30000 [8:07:13<5:48:15, 1.67s/it] 58%|█████▊ | 17474/30000 [8:07:15<5:47:44, 1.67s/it] 58%|█████▊ | 17475/30000 [8:07:16<5:47:32, 1.66s/it] 58%|█████▊ | 17476/30000 [8:07:18<5:47:49, 1.67s/it] 58%|█████▊ | 17477/30000 [8:07:20<5:47:51, 1.67s/it] 58%|█████▊ | 17478/30000 [8:07:21<5:49:31, 1.67s/it] 58%|█████▊ | 17479/30000 [8:07:23<5:48:34, 1.67s/it] 58%|█████▊ | 17480/30000 [8:07:25<5:48:24, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.1206197440624237, 'learning_rate': 1.2158427004264785e-05, 'flow_matching_loss': 0.019102087151259182, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.09} + 58%|█████▊ | 17480/30000 [8:07:25<5:48:24, 1.67s/it] 58%|█████▊ | 17481/30000 [8:07:26<5:48:00, 1.67s/it] 58%|█████▊ | 17482/30000 [8:07:28<5:47:59, 1.67s/it] 58%|█████▊ | 17483/30000 [8:07:30<5:47:44, 1.67s/it] 58%|█████▊ | 17484/30000 [8:07:31<5:47:43, 1.67s/it] 58%|█████▊ | 17485/30000 [8:07:33<5:47:56, 1.67s/it] 58%|█████▊ | 17486/30000 [8:07:35<5:48:21, 1.67s/it] 58%|█████▊ | 17487/30000 [8:07:36<5:47:56, 1.67s/it] 58%|█████▊ | 17488/30000 [8:07:38<5:47:54, 1.67s/it] 58%|█████▊ | 17489/30000 [8:07:40<5:47:36, 1.67s/it] 58%|█████▊ | 17490/30000 [8:07:41<5:47:36, 1.67s/it] {'loss': 0.0199, 'grad_norm': 0.11218678951263428, 'learning_rate': 1.2142193435396788e-05, 'flow_matching_loss': 0.019910223223268984, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.09} + 58%|█████▊ | 17490/30000 [8:07:41<5:47:36, 1.67s/it] 58%|█████▊ | 17491/30000 [8:07:43<5:48:20, 1.67s/it] 58%|█████▊ | 17492/30000 [8:07:45<5:48:37, 1.67s/it] 58%|█████▊ | 17493/30000 [8:07:46<5:48:36, 1.67s/it] 58%|█████▊ | 17494/30000 [8:07:48<5:48:48, 1.67s/it] 58%|█████▊ | 17495/30000 [8:07:50<5:48:20, 1.67s/it] 58%|█████▊ | 17496/30000 [8:07:51<5:47:48, 1.67s/it] 58%|█████▊ | 17497/30000 [8:07:53<5:47:41, 1.67s/it] 58%|█████▊ | 17498/30000 [8:07:55<5:47:33, 1.67s/it] 58%|█████▊ | 17499/30000 [8:07:56<5:47:19, 1.67s/it] 58%|█████▊ | 17500/30000 [8:07:58<5:47:41, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.10751213133335114, 'learning_rate': 1.2125963339033234e-05, 'flow_matching_loss': 0.016741306334733964, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.09} + 58%|█████▊ | 17500/30000 [8:07:58<5:47:41, 1.67s/it] 58%|█████▊ | 17501/30000 [8:08:00<5:48:08, 1.67s/it] 58%|█████▊ | 17502/30000 [8:08:01<5:48:22, 1.67s/it] 58%|█████▊ | 17503/30000 [8:08:03<5:47:51, 1.67s/it] 58%|█████▊ | 17504/30000 [8:08:05<5:47:44, 1.67s/it] 58%|█████▊ | 17505/30000 [8:08:06<5:47:43, 1.67s/it] 58%|█████▊ | 17506/30000 [8:08:08<5:47:16, 1.67s/it] 58%|█████▊ | 17507/30000 [8:08:10<5:47:21, 1.67s/it] 58%|█████▊ | 17508/30000 [8:08:11<5:47:17, 1.67s/it] 58%|█████▊ | 17509/30000 [8:08:13<5:47:28, 1.67s/it] 58%|█████▊ | 17510/30000 [8:08:15<5:47:42, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.12824834883213043, 'learning_rate': 1.2109736734895237e-05, 'flow_matching_loss': 0.017305995523929595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.09} + 58%|█████▊ | 17510/30000 [8:08:15<5:47:42, 1.67s/it] 58%|█████▊ | 17511/30000 [8:08:16<5:47:13, 1.67s/it] 58%|█████▊ | 17512/30000 [8:08:18<5:46:51, 1.67s/it] 58%|█████▊ | 17513/30000 [8:08:20<5:47:02, 1.67s/it] 58%|█████▊ | 17514/30000 [8:08:21<5:47:09, 1.67s/it] 58%|█████▊ | 17515/30000 [8:08:23<5:46:51, 1.67s/it] 58%|█████▊ | 17516/30000 [8:08:25<5:46:59, 1.67s/it] 58%|█████▊ | 17517/30000 [8:08:26<5:47:10, 1.67s/it] 58%|█████▊ | 17518/30000 [8:08:28<5:47:00, 1.67s/it] 58%|█████▊ | 17519/30000 [8:08:30<5:46:49, 1.67s/it] 58%|█████▊ | 17520/30000 [8:08:31<5:46:26, 1.67s/it] {'loss': 0.0207, 'grad_norm': 0.12027108669281006, 'learning_rate': 1.2093513642699634e-05, 'flow_matching_loss': 0.020702511444687842, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.1} + 58%|█████▊ | 17520/30000 [8:08:31<5:46:26, 1.67s/it] 58%|█████▊ | 17521/30000 [8:08:33<5:47:10, 1.67s/it] 58%|█████▊ | 17522/30000 [8:08:35<5:46:43, 1.67s/it] 58%|█████▊ | 17523/30000 [8:08:36<5:46:20, 1.67s/it] 58%|█████▊ | 17524/30000 [8:08:38<5:46:15, 1.67s/it] 58%|█████▊ | 17525/30000 [8:08:40<5:46:12, 1.67s/it] 58%|█████▊ | 17526/30000 [8:08:41<5:46:34, 1.67s/it] 58%|█████▊ | 17527/30000 [8:08:43<5:46:21, 1.67s/it] 58%|█████▊ | 17528/30000 [8:08:45<5:46:24, 1.67s/it] 58%|█████▊ | 17529/30000 [8:08:46<5:46:28, 1.67s/it] 58%|█████▊ | 17530/30000 [8:08:48<5:45:49, 1.66s/it] {'loss': 0.0211, 'grad_norm': 0.12291239947080612, 'learning_rate': 1.2077294082159024e-05, 'flow_matching_loss': 0.021071188058704136, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.1} + 58%|█████▊ | 17530/30000 [8:08:48<5:45:49, 1.66s/it] 58%|█████▊ | 17531/30000 [8:08:50<5:47:11, 1.67s/it] 58%|█████▊ | 17532/30000 [8:08:51<5:46:49, 1.67s/it] 58%|█████▊ | 17533/30000 [8:08:53<5:46:19, 1.67s/it] 58%|█████▊ | 17534/30000 [8:08:55<5:47:13, 1.67s/it] 58%|█████▊ | 17535/30000 [8:08:56<5:46:57, 1.67s/it] 58%|█████▊ | 17536/30000 [8:08:58<5:46:10, 1.67s/it] 58%|█████▊ | 17537/30000 [8:09:00<5:46:12, 1.67s/it] 58%|█████▊ | 17538/30000 [8:09:01<5:45:48, 1.66s/it] 58%|█████▊ | 17539/30000 [8:09:03<5:45:48, 1.67s/it] 58%|█████▊ | 17540/30000 [8:09:05<5:45:23, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.11206865310668945, 'learning_rate': 1.2061078072981697e-05, 'flow_matching_loss': 0.021016540005803108, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.1} + 58%|█████▊ | 17540/30000 [8:09:05<5:45:23, 1.66s/it] 58%|█████▊ | 17541/30000 [8:09:06<5:45:39, 1.66s/it] 58%|█████▊ | 17542/30000 [8:09:08<5:46:06, 1.67s/it] 58%|█████▊ | 17543/30000 [8:09:10<5:45:25, 1.66s/it] 58%|█████▊ | 17544/30000 [8:09:11<5:45:36, 1.66s/it] 58%|█████▊ | 17545/30000 [8:09:13<5:45:44, 1.67s/it] 58%|█████▊ | 17546/30000 [8:09:15<5:45:41, 1.67s/it] 58%|█████▊ | 17547/30000 [8:09:16<5:45:21, 1.66s/it] 58%|█████▊ | 17548/30000 [8:09:18<5:45:31, 1.66s/it] 58%|█████▊ | 17549/30000 [8:09:20<5:46:13, 1.67s/it] 58%|█████▊ | 17550/30000 [8:09:21<5:45:28, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.09832832217216492, 'learning_rate': 1.2044865634871626e-05, 'flow_matching_loss': 0.018687001895159483, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.11} + 58%|█████▊ | 17550/30000 [8:09:21<5:45:28, 1.66s/it] 59%|█████▊ | 17551/30000 [8:09:23<5:45:28, 1.67s/it] 59%|█████▊ | 17552/30000 [8:09:25<5:45:34, 1.67s/it] 59%|█████▊ | 17553/30000 [8:09:26<5:46:25, 1.67s/it] 59%|█████▊ | 17554/30000 [8:09:28<5:46:10, 1.67s/it] 59%|█████▊ | 17555/30000 [8:09:30<5:45:40, 1.67s/it] 59%|█████▊ | 17556/30000 [8:09:31<5:45:13, 1.66s/it] 59%|█████▊ | 17557/30000 [8:09:33<5:46:05, 1.67s/it] 59%|█████▊ | 17558/30000 [8:09:35<5:45:32, 1.67s/it] 59%|█████▊ | 17559/30000 [8:09:36<5:45:22, 1.67s/it] 59%|█████▊ | 17560/30000 [8:09:38<5:45:21, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.09300334751605988, 'learning_rate': 1.2028656787528468e-05, 'flow_matching_loss': 0.01867863433435559, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.11} + 59%|█████▊ | 17560/30000 [8:09:38<5:45:21, 1.67s/it] 59%|█████▊ | 17561/30000 [8:09:40<5:45:32, 1.67s/it] 59%|█████▊ | 17562/30000 [8:09:41<5:45:32, 1.67s/it] 59%|█████▊ | 17563/30000 [8:09:43<5:45:33, 1.67s/it] 59%|█████▊ | 17564/30000 [8:09:45<5:45:41, 1.67s/it] 59%|█████▊ | 17565/30000 [8:09:46<5:45:24, 1.67s/it] 59%|█████▊ | 17566/30000 [8:09:48<5:46:17, 1.67s/it] 59%|█████▊ | 17567/30000 [8:09:50<5:46:15, 1.67s/it] 59%|█████▊ | 17568/30000 [8:09:51<5:46:12, 1.67s/it] 59%|█████▊ | 17569/30000 [8:09:53<5:46:05, 1.67s/it] 59%|█████▊ | 17570/30000 [8:09:55<5:45:51, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.08342007547616959, 'learning_rate': 1.2012451550647491e-05, 'flow_matching_loss': 0.019534388463944195, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.11} + 59%|█████▊ | 17570/30000 [8:09:55<5:45:51, 1.67s/it] 59%|█████▊ | 17571/30000 [8:09:56<5:45:25, 1.67s/it] 59%|█████▊ | 17572/30000 [8:09:58<5:44:49, 1.66s/it] 59%|█████▊ | 17573/30000 [8:10:00<5:44:29, 1.66s/it] 59%|█████▊ | 17574/30000 [8:10:01<5:44:47, 1.66s/it] 59%|█████▊ | 17575/30000 [8:10:03<5:44:51, 1.67s/it] 59%|█████▊ | 17576/30000 [8:10:05<5:44:27, 1.66s/it] 59%|█████▊ | 17577/30000 [8:10:06<5:44:30, 1.66s/it] 59%|█████▊ | 17578/30000 [8:10:08<5:44:24, 1.66s/it] 59%|█████▊ | 17579/30000 [8:10:10<5:44:24, 1.66s/it] 59%|█████▊ | 17580/30000 [8:10:11<5:44:14, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.126707062125206, 'learning_rate': 1.1996249943919589e-05, 'flow_matching_loss': 0.020354556664824486, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.11} + 59%|█████▊ | 17580/30000 [8:10:11<5:44:14, 1.66s/it] 59%|█████▊ | 17581/30000 [8:10:13<5:44:25, 1.66s/it] 59%|█████▊ | 17582/30000 [8:10:15<5:44:17, 1.66s/it] 59%|█████▊ | 17583/30000 [8:10:16<5:44:34, 1.67s/it] 59%|█████▊ | 17584/30000 [8:10:18<5:44:31, 1.66s/it] 59%|█████▊ | 17585/30000 [8:10:20<5:45:16, 1.67s/it] 59%|█████▊ | 17586/30000 [8:10:21<5:44:56, 1.67s/it] 59%|█████▊ | 17587/30000 [8:10:23<5:44:23, 1.66s/it] 59%|█████▊ | 17588/30000 [8:10:25<5:44:07, 1.66s/it] 59%|█████▊ | 17589/30000 [8:10:26<5:44:02, 1.66s/it] 59%|█████▊ | 17590/30000 [8:10:28<5:44:30, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.13131645321846008, 'learning_rate': 1.1980051987031237e-05, 'flow_matching_loss': 0.02052670968696475, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.12} + 59%|█████▊ | 17590/30000 [8:10:28<5:44:30, 1.67s/it] 59%|█████▊ | 17591/30000 [8:10:30<5:44:05, 1.66s/it] 59%|█████▊ | 17592/30000 [8:10:31<5:43:53, 1.66s/it] 59%|█████▊ | 17593/30000 [8:10:33<5:44:14, 1.66s/it] 59%|█████▊ | 17594/30000 [8:10:35<5:43:46, 1.66s/it] 59%|█████▊ | 17595/30000 [8:10:36<5:43:41, 1.66s/it] 59%|█████▊ | 17596/30000 [8:10:38<5:43:32, 1.66s/it] 59%|█████▊ | 17597/30000 [8:10:40<5:43:48, 1.66s/it] 59%|█████▊ | 17598/30000 [8:10:41<5:44:06, 1.66s/it] 59%|█████▊ | 17599/30000 [8:10:43<5:43:38, 1.66s/it] 59%|█████▊ | 17600/30000 [8:10:45<5:43:45, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.09922473877668381, 'learning_rate': 1.1963857699664483e-05, 'flow_matching_loss': 0.01931557785719633, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.12} + 59%|█████▊ | 17600/30000 [8:10:45<5:43:45, 1.66s/it] 59%|█████▊ | 17601/30000 [8:10:46<5:43:43, 1.66s/it] 59%|█████▊ | 17602/30000 [8:10:48<5:44:41, 1.67s/it] 59%|█████▊ | 17603/30000 [8:10:50<5:43:52, 1.66s/it] 59%|█████▊ | 17604/30000 [8:10:51<5:43:27, 1.66s/it] 59%|█████▊ | 17605/30000 [8:10:53<5:43:23, 1.66s/it] 59%|█████▊ | 17606/30000 [8:10:55<5:43:40, 1.66s/it] 59%|█████▊ | 17607/30000 [8:10:56<5:43:38, 1.66s/it] 59%|█████▊ | 17608/30000 [8:10:58<5:43:41, 1.66s/it] 59%|█████▊ | 17609/30000 [8:11:00<5:43:37, 1.66s/it] 59%|█████▊ | 17610/30000 [8:11:01<5:44:07, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.10928011685609818, 'learning_rate': 1.1947667101496911e-05, 'flow_matching_loss': 0.018032317329198123, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.12} + 59%|█████▊ | 17610/30000 [8:11:01<5:44:07, 1.67s/it] 59%|█████▊ | 17611/30000 [8:11:03<5:43:47, 1.66s/it] 59%|█████▊ | 17612/30000 [8:11:05<5:44:02, 1.67s/it] 59%|█████▊ | 17613/30000 [8:11:06<5:43:08, 1.66s/it] 59%|█████▊ | 17614/30000 [8:11:08<5:43:14, 1.66s/it] 59%|█████▊ | 17615/30000 [8:11:10<5:43:35, 1.66s/it] 59%|█████▊ | 17616/30000 [8:11:11<5:43:58, 1.67s/it] 59%|█████▊ | 17617/30000 [8:11:13<5:43:13, 1.66s/it] 59%|█████▊ | 17618/30000 [8:11:15<5:43:02, 1.66s/it] 59%|█████▊ | 17619/30000 [8:11:16<5:43:13, 1.66s/it] 59%|█████▊ | 17620/30000 [8:11:18<5:43:09, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.1195012629032135, 'learning_rate': 1.1931480212201633e-05, 'flow_matching_loss': 0.016813413240015507, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.13} + 59%|█████▊ | 17620/30000 [8:11:18<5:43:09, 1.66s/it] 59%|█████▊ | 17621/30000 [8:11:20<5:43:47, 1.67s/it] 59%|█████▊ | 17622/30000 [8:11:21<5:44:02, 1.67s/it] 59%|█████▊ | 17623/30000 [8:11:23<5:43:46, 1.67s/it] 59%|█████▊ | 17624/30000 [8:11:25<5:43:43, 1.67s/it] 59%|█████▉ | 17625/30000 [8:11:26<5:43:18, 1.66s/it] 59%|█████▉ | 17626/30000 [8:11:28<5:43:39, 1.67s/it] 59%|█████▉ | 17627/30000 [8:11:30<5:42:54, 1.66s/it] 59%|█████▉ | 17628/30000 [8:11:31<5:42:18, 1.66s/it] 59%|█████▉ | 17629/30000 [8:11:33<5:42:32, 1.66s/it] 59%|█████▉ | 17630/30000 [8:11:35<5:42:22, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.1269054263830185, 'learning_rate': 1.1915297051447237e-05, 'flow_matching_loss': 0.02103016646578908, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.13} + 59%|█████▉ | 17630/30000 [8:11:35<5:42:22, 1.66s/it] 59%|█████▉ | 17631/30000 [8:11:36<5:42:33, 1.66s/it] 59%|█████▉ | 17632/30000 [8:11:38<5:42:46, 1.66s/it] 59%|█████▉ | 17633/30000 [8:11:40<5:42:38, 1.66s/it] 59%|█████▉ | 17634/30000 [8:11:41<5:43:18, 1.67s/it] 59%|█████▉ | 17635/30000 [8:11:43<5:42:50, 1.66s/it] 59%|█████▉ | 17636/30000 [8:11:45<5:42:11, 1.66s/it] 59%|█████▉ | 17637/30000 [8:11:46<5:42:54, 1.66s/it] 59%|█████▉ | 17638/30000 [8:11:48<5:43:12, 1.67s/it] 59%|█████▉ | 17639/30000 [8:11:50<5:42:52, 1.66s/it] 59%|█████▉ | 17640/30000 [8:11:51<5:43:16, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.14585226774215698, 'learning_rate': 1.1899117638897793e-05, 'flow_matching_loss': 0.019954661093652248, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.13} + 59%|█████▉ | 17640/30000 [8:11:51<5:43:16, 1.67s/it] 59%|█████▉ | 17641/30000 [8:11:53<5:42:32, 1.66s/it] 59%|█████▉ | 17642/30000 [8:11:55<5:42:31, 1.66s/it] 59%|█████▉ | 17643/30000 [8:11:56<5:42:34, 1.66s/it] 59%|█████▉ | 17644/30000 [8:11:58<5:42:09, 1.66s/it] 59%|█████▉ | 17645/30000 [8:11:59<5:42:20, 1.66s/it] 59%|█████▉ | 17646/30000 [8:12:01<5:42:28, 1.66s/it] 59%|█████▉ | 17647/30000 [8:12:03<5:42:26, 1.66s/it] 59%|█████▉ | 17648/30000 [8:12:04<5:42:30, 1.66s/it] 59%|█████▉ | 17649/30000 [8:12:06<5:42:43, 1.66s/it] 59%|█████▉ | 17650/30000 [8:12:08<5:42:50, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10426537692546844, 'learning_rate': 1.1882941994212811e-05, 'flow_matching_loss': 0.018615532107651232, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.14} + 59%|█████▉ | 17650/30000 [8:12:08<5:42:50, 1.67s/it] 59%|█████▉ | 17651/30000 [8:12:09<5:43:12, 1.67s/it] 59%|█████▉ | 17652/30000 [8:12:11<5:42:17, 1.66s/it] 59%|█████▉ | 17653/30000 [8:12:13<5:42:16, 1.66s/it] 59%|█████▉ | 17654/30000 [8:12:14<5:41:52, 1.66s/it] 59%|█████▉ | 17655/30000 [8:12:16<5:42:03, 1.66s/it] 59%|█████▉ | 17656/30000 [8:12:18<5:42:03, 1.66s/it] 59%|█████▉ | 17657/30000 [8:12:19<5:42:21, 1.66s/it] 59%|█████▉ | 17658/30000 [8:12:21<5:42:47, 1.67s/it] 59%|█████▉ | 17659/30000 [8:12:23<5:42:13, 1.66s/it] 59%|█████▉ | 17660/30000 [8:12:24<5:42:09, 1.66s/it] {'loss': 0.0191, 'grad_norm': 0.10828579217195511, 'learning_rate': 1.1866770137047221e-05, 'flow_matching_loss': 0.019143956992775202, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.14} + 59%|█████▉ | 17660/30000 [8:12:25<5:42:09, 1.66s/it] 59%|█████▉ | 17661/30000 [8:12:26<5:42:38, 1.67s/it] 59%|█████▉ | 17662/30000 [8:12:28<5:42:32, 1.67s/it] 59%|█████▉ | 17663/30000 [8:12:29<5:42:23, 1.67s/it] 59%|█████▉ | 17664/30000 [8:12:31<5:41:53, 1.66s/it] 59%|█████▉ | 17665/30000 [8:12:33<5:42:17, 1.67s/it] 59%|█████▉ | 17666/30000 [8:12:34<5:41:55, 1.66s/it] 59%|█████▉ | 17667/30000 [8:12:36<5:41:25, 1.66s/it] 59%|█████▉ | 17668/30000 [8:12:38<5:41:28, 1.66s/it] 59%|█████▉ | 17669/30000 [8:12:39<5:41:36, 1.66s/it] 59%|█████▉ | 17670/30000 [8:12:41<5:41:46, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.10878879576921463, 'learning_rate': 1.1850602087051363e-05, 'flow_matching_loss': 0.01636449107900262, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.14} + 59%|█████▉ | 17670/30000 [8:12:41<5:41:46, 1.66s/it] 59%|█████▉ | 17671/30000 [8:12:43<5:41:49, 1.66s/it] 59%|█████▉ | 17672/30000 [8:12:44<5:41:26, 1.66s/it] 59%|█████▉ | 17673/30000 [8:12:46<5:41:38, 1.66s/it] 59%|█████▉ | 17674/30000 [8:12:48<5:41:41, 1.66s/it] 59%|█████▉ | 17675/30000 [8:12:49<5:41:40, 1.66s/it] 59%|█████▉ | 17676/30000 [8:12:51<5:41:31, 1.66s/it] 59%|█████▉ | 17677/30000 [8:12:53<5:41:33, 1.66s/it] 59%|█████▉ | 17678/30000 [8:12:54<5:41:28, 1.66s/it] 59%|█████▉ | 17679/30000 [8:12:56<5:41:30, 1.66s/it] 59%|█████▉ | 17680/30000 [8:12:58<5:41:13, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.13186046481132507, 'learning_rate': 1.183443786387094e-05, 'flow_matching_loss': 0.0187790903262794, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.14} + 59%|█████▉ | 17680/30000 [8:12:58<5:41:13, 1.66s/it] 59%|█████▉ | 17681/30000 [8:12:59<5:41:21, 1.66s/it] 59%|█████▉ | 17682/30000 [8:13:01<5:41:38, 1.66s/it] 59%|█████▉ | 17683/30000 [8:13:03<5:41:21, 1.66s/it] 59%|█████▉ | 17684/30000 [8:13:04<5:41:18, 1.66s/it] 59%|█████▉ | 17685/30000 [8:13:06<5:41:26, 1.66s/it] 59%|█████▉ | 17686/30000 [8:13:08<5:41:48, 1.67s/it] 59%|█████▉ | 17687/30000 [8:13:09<5:41:15, 1.66s/it] 59%|█████▉ | 17688/30000 [8:13:11<5:41:34, 1.66s/it] 59%|█████▉ | 17689/30000 [8:13:13<5:41:30, 1.66s/it] 59%|█████▉ | 17690/30000 [8:13:14<5:41:38, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12442588061094284, 'learning_rate': 1.1818277487147005e-05, 'flow_matching_loss': 0.020268063805997372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.15} + 59%|█████▉ | 17690/30000 [8:13:14<5:41:38, 1.67s/it] 59%|█████▉ | 17691/30000 [8:13:16<5:41:27, 1.66s/it] 59%|█████▉ | 17692/30000 [8:13:18<5:41:11, 1.66s/it] 59%|█████▉ | 17693/30000 [8:13:19<5:41:12, 1.66s/it] 59%|█████▉ | 17694/30000 [8:13:21<5:41:15, 1.66s/it] 59%|█████▉ | 17695/30000 [8:13:23<5:41:25, 1.66s/it] 59%|█████▉ | 17696/30000 [8:13:24<5:41:36, 1.67s/it] 59%|█████▉ | 17697/30000 [8:13:26<5:41:31, 1.67s/it] 59%|█████▉ | 17698/30000 [8:13:28<5:41:38, 1.67s/it] 59%|█████▉ | 17699/30000 [8:13:29<5:41:18, 1.66s/it] 59%|█████▉ | 17700/30000 [8:13:31<5:41:02, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.14695332944393158, 'learning_rate': 1.180212097651594e-05, 'flow_matching_loss': 0.01845763511955738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.15} + 59%|█████▉ | 17700/30000 [8:13:31<5:41:02, 1.66s/it] 59%|█████▉ | 17701/30000 [8:13:33<5:41:13, 1.66s/it] 59%|█████▉ | 17702/30000 [8:13:34<5:41:24, 1.67s/it] 59%|█████▉ | 17703/30000 [8:13:36<5:41:12, 1.66s/it] 59%|█████▉ | 17704/30000 [8:13:38<5:41:19, 1.67s/it] 59%|█████▉ | 17705/30000 [8:13:39<5:41:16, 1.67s/it] 59%|█████▉ | 17706/30000 [8:13:41<5:41:07, 1.66s/it] 59%|█████▉ | 17707/30000 [8:13:43<5:40:13, 1.66s/it] 59%|█████▉ | 17708/30000 [8:13:44<5:39:59, 1.66s/it] 59%|█████▉ | 17709/30000 [8:13:46<5:40:10, 1.66s/it] 59%|█████▉ | 17710/30000 [8:13:48<5:40:11, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.11379585415124893, 'learning_rate': 1.1785968351609422e-05, 'flow_matching_loss': 0.01721556168049574, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.15} + 59%|█████▉ | 17710/30000 [8:13:48<5:40:11, 1.66s/it] 59%|█████▉ | 17711/30000 [8:13:49<5:40:42, 1.66s/it] 59%|█████▉ | 17712/30000 [8:13:51<5:40:28, 1.66s/it] 59%|█████▉ | 17713/30000 [8:13:53<5:41:06, 1.67s/it] 59%|█████▉ | 17714/30000 [8:13:54<5:41:05, 1.67s/it] 59%|█████▉ | 17715/30000 [8:13:56<5:40:46, 1.66s/it] 59%|█████▉ | 17716/30000 [8:13:58<5:40:30, 1.66s/it] 59%|█████▉ | 17717/30000 [8:13:59<5:40:24, 1.66s/it] 59%|█████▉ | 17718/30000 [8:14:01<5:40:14, 1.66s/it] 59%|█████▉ | 17719/30000 [8:14:03<5:40:17, 1.66s/it] 59%|█████▉ | 17720/30000 [8:14:04<5:40:22, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.12243833392858505, 'learning_rate': 1.1769819632054427e-05, 'flow_matching_loss': 0.017290348559617995, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.16} + 59%|█████▉ | 17720/30000 [8:14:04<5:40:22, 1.66s/it] 59%|█████▉ | 17721/30000 [8:14:06<5:41:11, 1.67s/it] 59%|█████▉ | 17722/30000 [8:14:08<5:40:27, 1.66s/it] 59%|█████▉ | 17723/30000 [8:14:09<5:40:09, 1.66s/it] 59%|█████▉ | 17724/30000 [8:14:11<5:39:51, 1.66s/it] 59%|█████▉ | 17725/30000 [8:14:13<5:40:00, 1.66s/it] 59%|█████▉ | 17726/30000 [8:14:14<5:39:33, 1.66s/it] 59%|█████▉ | 17727/30000 [8:14:16<5:39:45, 1.66s/it] 59%|█████▉ | 17728/30000 [8:14:18<5:39:58, 1.66s/it] 59%|█████▉ | 17729/30000 [8:14:19<5:39:53, 1.66s/it] 59%|█████▉ | 17730/30000 [8:14:21<5:40:06, 1.66s/it] {'loss': 0.0189, 'grad_norm': 0.12322231382131577, 'learning_rate': 1.1753674837473165e-05, 'flow_matching_loss': 0.01892240745946765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.16} + 59%|█████▉ | 17730/30000 [8:14:21<5:40:06, 1.66s/it] 59%|█████▉ | 17731/30000 [8:14:23<5:40:09, 1.66s/it] 59%|█████▉ | 17732/30000 [8:14:24<5:39:36, 1.66s/it] 59%|█████▉ | 17733/30000 [8:14:26<5:39:28, 1.66s/it] 59%|█████▉ | 17734/30000 [8:14:28<5:39:45, 1.66s/it] 59%|█████▉ | 17735/30000 [8:14:29<5:39:34, 1.66s/it] 59%|█████▉ | 17736/30000 [8:14:31<5:39:29, 1.66s/it] 59%|█████▉ | 17737/30000 [8:14:33<5:39:54, 1.66s/it] 59%|█████▉ | 17738/30000 [8:14:34<5:39:46, 1.66s/it] 59%|█████▉ | 17739/30000 [8:14:36<5:39:36, 1.66s/it] 59%|█████▉ | 17740/30000 [8:14:38<5:39:40, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.14038638770580292, 'learning_rate': 1.1737533987483081e-05, 'flow_matching_loss': 0.01676713889464736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.16} + 59%|█████▉ | 17740/30000 [8:14:38<5:39:40, 1.66s/it] 59%|█████▉ | 17741/30000 [8:14:39<5:39:37, 1.66s/it] 59%|█████▉ | 17742/30000 [8:14:41<5:40:10, 1.67s/it] 59%|█████▉ | 17743/30000 [8:14:43<5:39:45, 1.66s/it] 59%|█████▉ | 17744/30000 [8:14:44<5:39:38, 1.66s/it] 59%|█████▉ | 17745/30000 [8:14:46<5:40:02, 1.66s/it] 59%|█████▉ | 17746/30000 [8:14:48<5:40:45, 1.67s/it] 59%|█████▉ | 17747/30000 [8:14:49<5:40:06, 1.67s/it] 59%|█████▉ | 17748/30000 [8:14:51<5:40:34, 1.67s/it] 59%|█████▉ | 17749/30000 [8:14:53<5:40:08, 1.67s/it] 59%|█████▉ | 17750/30000 [8:14:54<5:40:27, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.13005656003952026, 'learning_rate': 1.1721397101696835e-05, 'flow_matching_loss': 0.01850101500749588, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.16} + 59%|█████▉ | 17750/30000 [8:14:54<5:40:27, 1.67s/it] 59%|█████▉ | 17751/30000 [8:14:56<5:40:14, 1.67s/it] 59%|█████▉ | 17752/30000 [8:14:58<5:40:09, 1.67s/it] 59%|█████▉ | 17753/30000 [8:14:59<5:40:24, 1.67s/it] 59%|█████▉ | 17754/30000 [8:15:01<5:39:59, 1.67s/it] 59%|█████▉ | 17755/30000 [8:15:03<5:39:56, 1.67s/it] 59%|█████▉ | 17756/30000 [8:15:04<5:40:01, 1.67s/it] 59%|█████▉ | 17757/30000 [8:15:06<5:39:47, 1.67s/it] 59%|█████▉ | 17758/30000 [8:15:08<5:40:20, 1.67s/it] 59%|█████▉ | 17759/30000 [8:15:09<5:39:55, 1.67s/it] 59%|█████▉ | 17760/30000 [8:15:11<5:39:28, 1.66s/it] {'loss': 0.0166, 'grad_norm': 0.10675223916769028, 'learning_rate': 1.1705264199722257e-05, 'flow_matching_loss': 0.016645495686680077, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.17} + 59%|█████▉ | 17760/30000 [8:15:11<5:39:28, 1.66s/it] 59%|█████▉ | 17761/30000 [8:15:13<5:40:07, 1.67s/it] 59%|█████▉ | 17762/30000 [8:15:14<5:39:53, 1.67s/it] 59%|█████▉ | 17763/30000 [8:15:16<5:39:08, 1.66s/it] 59%|█████▉ | 17764/30000 [8:15:17<5:39:03, 1.66s/it] 59%|█████▉ | 17765/30000 [8:15:19<5:38:56, 1.66s/it] 59%|█████▉ | 17766/30000 [8:15:21<5:39:12, 1.66s/it] 59%|█████▉ | 17767/30000 [8:15:22<5:39:04, 1.66s/it] 59%|█████▉ | 17768/30000 [8:15:24<5:39:03, 1.66s/it] 59%|█████▉ | 17769/30000 [8:15:26<5:39:21, 1.66s/it] 59%|█████▉ | 17770/30000 [8:15:27<5:39:33, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.11761724203824997, 'learning_rate': 1.1689135301162356e-05, 'flow_matching_loss': 0.01786427814513445, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.17} + 59%|█████▉ | 17770/30000 [8:15:28<5:39:33, 1.67s/it] 59%|█████▉ | 17771/30000 [8:15:29<5:40:02, 1.67s/it] 59%|█████▉ | 17772/30000 [8:15:31<5:38:55, 1.66s/it] 59%|█████▉ | 17773/30000 [8:15:32<5:38:40, 1.66s/it] 59%|█████▉ | 17774/30000 [8:15:34<5:38:39, 1.66s/it] 59%|█████▉ | 17775/30000 [8:15:36<5:38:39, 1.66s/it] 59%|█████▉ | 17776/30000 [8:15:37<5:38:34, 1.66s/it] 59%|█████▉ | 17777/30000 [8:15:39<5:38:18, 1.66s/it] 59%|█████▉ | 17778/30000 [8:15:41<5:39:01, 1.66s/it] 59%|█████▉ | 17779/30000 [8:15:42<5:38:38, 1.66s/it] 59%|█████▉ | 17780/30000 [8:15:44<5:39:04, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.12431051582098007, 'learning_rate': 1.1673010425615258e-05, 'flow_matching_loss': 0.018492588959634303, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.17} + 59%|█████▉ | 17780/30000 [8:15:44<5:39:04, 1.66s/it] 59%|█████▉ | 17781/30000 [8:15:46<5:39:01, 1.66s/it] 59%|█████▉ | 17782/30000 [8:15:47<5:39:02, 1.66s/it] 59%|█████▉ | 17783/30000 [8:15:49<5:39:16, 1.67s/it] 59%|█████▉ | 17784/30000 [8:15:51<5:38:38, 1.66s/it] 59%|█████▉ | 17785/30000 [8:15:52<5:38:15, 1.66s/it] 59%|█████▉ | 17786/30000 [8:15:54<5:38:53, 1.66s/it] 59%|█████▉ | 17787/30000 [8:15:56<5:39:21, 1.67s/it] 59%|█████▉ | 17788/30000 [8:15:57<5:39:06, 1.67s/it] 59%|█████▉ | 17789/30000 [8:15:59<5:38:31, 1.66s/it] 59%|█████▉ | 17790/30000 [8:16:01<5:38:32, 1.66s/it] {'loss': 0.0195, 'grad_norm': 0.12216731160879135, 'learning_rate': 1.1656889592674208e-05, 'flow_matching_loss': 0.01946495156735182, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.18} + 59%|█████▉ | 17790/30000 [8:16:01<5:38:32, 1.66s/it] 59%|█████▉ | 17791/30000 [8:16:02<5:38:02, 1.66s/it] 59%|█████▉ | 17792/30000 [8:16:04<5:38:01, 1.66s/it] 59%|█████▉ | 17793/30000 [8:16:06<5:38:04, 1.66s/it] 59%|█████▉ | 17794/30000 [8:16:07<5:38:34, 1.66s/it] 59%|█████▉ | 17795/30000 [8:16:09<5:38:17, 1.66s/it] 59%|█████▉ | 17796/30000 [8:16:11<5:38:09, 1.66s/it] 59%|█████▉ | 17797/30000 [8:16:12<5:37:50, 1.66s/it] 59%|█████▉ | 17798/30000 [8:16:14<5:37:50, 1.66s/it] 59%|█████▉ | 17799/30000 [8:16:16<5:38:09, 1.66s/it] 59%|█████▉ | 17800/30000 [8:16:17<5:38:18, 1.66s/it] {'loss': 0.0181, 'grad_norm': 0.09419640153646469, 'learning_rate': 1.1640772821927533e-05, 'flow_matching_loss': 0.018104502093046905, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.18} + 59%|█████▉ | 17800/30000 [8:16:17<5:38:18, 1.66s/it] 59%|█████▉ | 17801/30000 [8:16:19<5:38:13, 1.66s/it] 59%|█████▉ | 17802/30000 [8:16:21<5:38:39, 1.67s/it] 59%|█████▉ | 17803/30000 [8:16:22<5:38:29, 1.67s/it] 59%|█████▉ | 17804/30000 [8:16:24<5:37:29, 1.66s/it] 59%|█████▉ | 17805/30000 [8:16:26<5:37:35, 1.66s/it] 59%|█████▉ | 17806/30000 [8:16:27<5:37:33, 1.66s/it] 59%|█████▉ | 17807/30000 [8:16:29<5:37:05, 1.66s/it] 59%|█████▉ | 17808/30000 [8:16:31<5:37:51, 1.66s/it] 59%|█████▉ | 17809/30000 [8:16:32<5:38:36, 1.67s/it] 59%|█████▉ | 17810/30000 [8:16:34<5:38:44, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.08521823585033417, 'learning_rate': 1.162466013295864e-05, 'flow_matching_loss': 0.01952859228476882, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.18} + 59%|█████▉ | 17810/30000 [8:16:34<5:38:44, 1.67s/it] 59%|█████▉ | 17811/30000 [8:16:36<5:38:13, 1.66s/it] 59%|█████▉ | 17812/30000 [8:16:37<5:38:04, 1.66s/it] 59%|█████▉ | 17813/30000 [8:16:39<5:38:10, 1.66s/it] 59%|█████▉ | 17814/30000 [8:16:41<5:37:41, 1.66s/it] 59%|█████▉ | 17815/30000 [8:16:42<5:37:50, 1.66s/it] 59%|█████▉ | 17816/30000 [8:16:44<5:38:00, 1.66s/it] 59%|█████▉ | 17817/30000 [8:16:46<5:38:23, 1.67s/it] 59%|█████▉ | 17818/30000 [8:16:47<5:38:59, 1.67s/it] 59%|█████▉ | 17819/30000 [8:16:49<5:38:36, 1.67s/it] 59%|█████▉ | 17820/30000 [8:16:51<5:38:21, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.12112215906381607, 'learning_rate': 1.160855154534595e-05, 'flow_matching_loss': 0.021082510706037283, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.18} + 59%|█████▉ | 17820/30000 [8:16:51<5:38:21, 1.67s/it] 59%|█████▉ | 17821/30000 [8:16:52<5:38:10, 1.67s/it] 59%|█████▉ | 17822/30000 [8:16:54<5:38:03, 1.67s/it] 59%|█████▉ | 17823/30000 [8:16:56<5:37:57, 1.67s/it] 59%|█████▉ | 17824/30000 [8:16:57<5:38:04, 1.67s/it] 59%|█████▉ | 17825/30000 [8:16:59<5:38:19, 1.67s/it] 59%|█████▉ | 17826/30000 [8:17:01<5:37:46, 1.66s/it] 59%|█████▉ | 17827/30000 [8:17:02<5:37:25, 1.66s/it] 59%|█████▉ | 17828/30000 [8:17:04<5:37:22, 1.66s/it] 59%|█████▉ | 17829/30000 [8:17:06<5:37:09, 1.66s/it] 59%|█████▉ | 17830/30000 [8:17:07<5:37:27, 1.66s/it] {'loss': 0.0175, 'grad_norm': 0.09294112771749496, 'learning_rate': 1.1592447078662931e-05, 'flow_matching_loss': 0.017542016692459583, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.19} + 59%|█████▉ | 17830/30000 [8:17:07<5:37:27, 1.66s/it] 59%|█████▉ | 17831/30000 [8:17:09<5:37:43, 1.67s/it] 59%|█████▉ | 17832/30000 [8:17:11<5:37:35, 1.66s/it] 59%|█████▉ | 17833/30000 [8:17:12<5:38:32, 1.67s/it] 59%|█████▉ | 17834/30000 [8:17:14<5:37:54, 1.67s/it] 59%|█████▉ | 17835/30000 [8:17:16<5:37:23, 1.66s/it] 59%|█████▉ | 17836/30000 [8:17:17<5:37:46, 1.67s/it] 59%|█████▉ | 17837/30000 [8:17:19<5:37:40, 1.67s/it] 59%|█████▉ | 17838/30000 [8:17:21<5:37:29, 1.66s/it] 59%|█████▉ | 17839/30000 [8:17:22<5:36:56, 1.66s/it] 59%|█████▉ | 17840/30000 [8:17:24<5:36:52, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.09612645953893661, 'learning_rate': 1.1576346752478025e-05, 'flow_matching_loss': 0.01960837673395872, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.19} + 59%|█████▉ | 17840/30000 [8:17:24<5:36:52, 1.66s/it] 59%|█████▉ | 17841/30000 [8:17:26<5:36:47, 1.66s/it] 59%|█████▉ | 17842/30000 [8:17:27<5:37:03, 1.66s/it] 59%|█████▉ | 17843/30000 [8:17:29<5:36:36, 1.66s/it] 59%|█████▉ | 17844/30000 [8:17:31<5:36:26, 1.66s/it] 59%|█████▉ | 17845/30000 [8:17:32<5:36:37, 1.66s/it] 59%|█████▉ | 17846/30000 [8:17:34<5:36:49, 1.66s/it] 59%|█████▉ | 17847/30000 [8:17:36<5:36:50, 1.66s/it] 59%|█████▉ | 17848/30000 [8:17:37<5:36:47, 1.66s/it] 59%|█████▉ | 17849/30000 [8:17:39<5:36:37, 1.66s/it] 60%|█████▉ | 17850/30000 [8:17:41<5:36:31, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.12852507829666138, 'learning_rate': 1.1560250586354643e-05, 'flow_matching_loss': 0.019257746636867523, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.19} + 60%|█████▉ | 17850/30000 [8:17:41<5:36:31, 1.66s/it] 60%|█████▉ | 17851/30000 [8:17:42<5:36:31, 1.66s/it] 60%|█████▉ | 17852/30000 [8:17:44<5:36:58, 1.66s/it] 60%|█████▉ | 17853/30000 [8:17:46<5:36:24, 1.66s/it] 60%|█████▉ | 17854/30000 [8:17:47<5:36:45, 1.66s/it] 60%|█████▉ | 17855/30000 [8:17:49<5:36:59, 1.66s/it] 60%|█████▉ | 17856/30000 [8:17:51<5:37:06, 1.67s/it] 60%|█████▉ | 17857/30000 [8:17:52<5:37:10, 1.67s/it] 60%|█████▉ | 17858/30000 [8:17:54<5:37:49, 1.67s/it] 60%|█████▉ | 17859/30000 [8:17:56<5:37:03, 1.67s/it] 60%|█████▉ | 17860/30000 [8:17:57<5:36:38, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.12675975263118744, 'learning_rate': 1.1544158599851146e-05, 'flow_matching_loss': 0.0176243906840682, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.2} + 60%|█████▉ | 17860/30000 [8:17:57<5:36:38, 1.66s/it] 60%|█████▉ | 17861/30000 [8:17:59<5:37:04, 1.67s/it] 60%|█████▉ | 17862/30000 [8:18:01<5:37:00, 1.67s/it] 60%|█████▉ | 17863/30000 [8:18:02<5:37:13, 1.67s/it] 60%|█████▉ | 17864/30000 [8:18:04<5:36:45, 1.66s/it] 60%|█████▉ | 17865/30000 [8:18:06<5:36:57, 1.67s/it] 60%|█████▉ | 17866/30000 [8:18:07<5:37:16, 1.67s/it] 60%|█████▉ | 17867/30000 [8:18:09<5:36:34, 1.66s/it] 60%|█████▉ | 17868/30000 [8:18:11<5:36:27, 1.66s/it] 60%|█████▉ | 17869/30000 [8:18:12<5:36:19, 1.66s/it] 60%|█████▉ | 17870/30000 [8:18:14<5:37:37, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.11219365894794464, 'learning_rate': 1.1528070812520809e-05, 'flow_matching_loss': 0.019280790723860262, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.2} + 60%|█████▉ | 17870/30000 [8:18:14<5:37:37, 1.67s/it] 60%|█████▉ | 17871/30000 [8:18:16<5:37:08, 1.67s/it] 60%|█████▉ | 17872/30000 [8:18:17<5:36:52, 1.67s/it] 60%|█████▉ | 17873/30000 [8:18:19<5:36:58, 1.67s/it] 60%|█████▉ | 17874/30000 [8:18:21<5:37:27, 1.67s/it] 60%|█████▉ | 17875/30000 [8:18:22<5:36:51, 1.67s/it] 60%|█████▉ | 17876/30000 [8:18:24<5:37:22, 1.67s/it] 60%|█████▉ | 17877/30000 [8:18:26<5:36:19, 1.66s/it] 60%|█████▉ | 17878/30000 [8:18:27<5:36:07, 1.66s/it] 60%|█████▉ | 17879/30000 [8:18:29<5:35:34, 1.66s/it] 60%|█████▉ | 17880/30000 [8:18:31<5:35:48, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.1298198401927948, 'learning_rate': 1.1511987243911821e-05, 'flow_matching_loss': 0.0179500506259501, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.2} + 60%|█████▉ | 17880/30000 [8:18:31<5:35:48, 1.66s/it] 60%|█████▉ | 17881/30000 [8:18:32<5:36:16, 1.66s/it] 60%|█████▉ | 17882/30000 [8:18:34<5:36:52, 1.67s/it] 60%|█████▉ | 17883/30000 [8:18:36<5:36:48, 1.67s/it] 60%|█████▉ | 17884/30000 [8:18:37<5:36:08, 1.66s/it] 60%|█████▉ | 17885/30000 [8:18:39<5:35:55, 1.66s/it] 60%|█████▉ | 17886/30000 [8:18:41<5:37:28, 1.67s/it] 60%|█████▉ | 17887/30000 [8:18:42<5:37:14, 1.67s/it] 60%|█████▉ | 17888/30000 [8:18:44<5:36:59, 1.67s/it] 60%|█████▉ | 17889/30000 [8:18:46<5:36:55, 1.67s/it] 60%|█████▉ | 17890/30000 [8:18:47<5:36:39, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.12469472736120224, 'learning_rate': 1.1495907913567228e-05, 'flow_matching_loss': 0.01820611171424389, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.21} + 60%|█████▉ | 17890/30000 [8:18:47<5:36:39, 1.67s/it] 60%|█████▉ | 17891/30000 [8:18:49<5:37:00, 1.67s/it] 60%|█████▉ | 17892/30000 [8:18:51<5:36:33, 1.67s/it] 60%|█████▉ | 17893/30000 [8:18:52<5:36:23, 1.67s/it] 60%|█████▉ | 17894/30000 [8:18:54<5:36:38, 1.67s/it] 60%|█████▉ | 17895/30000 [8:18:56<5:36:52, 1.67s/it] 60%|█████▉ | 17896/30000 [8:18:57<5:36:38, 1.67s/it] 60%|█████▉ | 17897/30000 [8:18:59<5:36:15, 1.67s/it] 60%|█████▉ | 17898/30000 [8:19:01<5:36:32, 1.67s/it] 60%|█████▉ | 17899/30000 [8:19:02<5:36:14, 1.67s/it] 60%|█████▉ | 17900/30000 [8:19:04<5:36:41, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.09712474793195724, 'learning_rate': 1.1479832841024936e-05, 'flow_matching_loss': 0.017340182140469552, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.21} + 60%|█████▉ | 17900/30000 [8:19:04<5:36:41, 1.67s/it] 60%|█████▉ | 17901/30000 [8:19:06<5:37:14, 1.67s/it] 60%|█████▉ | 17902/30000 [8:19:07<5:36:15, 1.67s/it] 60%|█████▉ | 17903/30000 [8:19:09<5:35:54, 1.67s/it] 60%|█████▉ | 17904/30000 [8:19:11<5:35:55, 1.67s/it] 60%|█████▉ | 17905/30000 [8:19:12<5:35:51, 1.67s/it] 60%|█████▉ | 17906/30000 [8:19:14<5:35:49, 1.67s/it] 60%|█████▉ | 17907/30000 [8:19:16<5:35:47, 1.67s/it] 60%|█████▉ | 17908/30000 [8:19:17<5:35:22, 1.66s/it] 60%|█████▉ | 17909/30000 [8:19:19<5:35:39, 1.67s/it] 60%|█████▉ | 17910/30000 [8:19:21<5:35:35, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.0782248005270958, 'learning_rate': 1.1463762045817675e-05, 'flow_matching_loss': 0.01722808852791786, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.21} + 60%|█████▉ | 17910/30000 [8:19:21<5:35:35, 1.67s/it] 60%|█████▉ | 17911/30000 [8:19:22<5:35:11, 1.66s/it] 60%|█████▉ | 17912/30000 [8:19:24<5:35:40, 1.67s/it] 60%|█████▉ | 17913/30000 [8:19:26<5:35:34, 1.67s/it] 60%|█████▉ | 17914/30000 [8:19:27<5:35:49, 1.67s/it] 60%|█████▉ | 17915/30000 [8:19:29<5:34:59, 1.66s/it] 60%|█████▉ | 17916/30000 [8:19:31<5:34:52, 1.66s/it] 60%|█████▉ | 17917/30000 [8:19:32<5:35:09, 1.66s/it] 60%|█████▉ | 17918/30000 [8:19:34<5:35:33, 1.67s/it] 60%|█████▉ | 17919/30000 [8:19:36<5:35:50, 1.67s/it] 60%|█████▉ | 17920/30000 [8:19:37<5:35:41, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.14686211943626404, 'learning_rate': 1.1447695547472964e-05, 'flow_matching_loss': 0.020361786428838968, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.21} + 60%|█████▉ | 17920/30000 [8:19:37<5:35:41, 1.67s/it] 60%|█████▉ | 17921/30000 [8:19:39<5:35:55, 1.67s/it] 60%|█████▉ | 17922/30000 [8:19:41<5:35:50, 1.67s/it] 60%|█████▉ | 17923/30000 [8:19:42<5:35:33, 1.67s/it] 60%|█████▉ | 17924/30000 [8:19:44<5:35:18, 1.67s/it] 60%|█████▉ | 17925/30000 [8:19:46<5:35:15, 1.67s/it] 60%|█████▉ | 17926/30000 [8:19:47<5:36:16, 1.67s/it] 60%|█████▉ | 17927/30000 [8:19:49<5:36:01, 1.67s/it] 60%|█████▉ | 17928/30000 [8:19:51<5:36:15, 1.67s/it] 60%|█████▉ | 17929/30000 [8:19:52<5:35:29, 1.67s/it] 60%|█████▉ | 17930/30000 [8:19:54<5:35:29, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10098880529403687, 'learning_rate': 1.1431633365513132e-05, 'flow_matching_loss': 0.017507012654095887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.22} + 60%|█████▉ | 17930/30000 [8:19:54<5:35:29, 1.67s/it] 60%|█████▉ | 17931/30000 [8:19:56<5:35:20, 1.67s/it] 60%|█████▉ | 17932/30000 [8:19:57<5:35:10, 1.67s/it] 60%|█████▉ | 17933/30000 [8:19:59<5:35:30, 1.67s/it] 60%|█████▉ | 17934/30000 [8:20:01<5:35:41, 1.67s/it] 60%|█████▉ | 17935/30000 [8:20:02<5:36:40, 1.67s/it] 60%|█████▉ | 17936/30000 [8:20:04<5:36:06, 1.67s/it] 60%|█████▉ | 17937/30000 [8:20:06<5:35:47, 1.67s/it] 60%|█████▉ | 17938/30000 [8:20:07<5:35:39, 1.67s/it] 60%|█████▉ | 17939/30000 [8:20:09<5:35:25, 1.67s/it] 60%|█████▉ | 17940/30000 [8:20:11<5:35:03, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11228856444358826, 'learning_rate': 1.1415575519455235e-05, 'flow_matching_loss': 0.01826453795656562, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.22} + 60%|█████▉ | 17940/30000 [8:20:11<5:35:03, 1.67s/it] 60%|█████▉ | 17941/30000 [8:20:12<5:35:26, 1.67s/it] 60%|█████▉ | 17942/30000 [8:20:14<5:35:38, 1.67s/it] 60%|█████▉ | 17943/30000 [8:20:16<5:35:01, 1.67s/it] 60%|█████▉ | 17944/30000 [8:20:17<5:34:58, 1.67s/it] 60%|█████▉ | 17945/30000 [8:20:19<5:34:44, 1.67s/it] 60%|█████▉ | 17946/30000 [8:20:21<5:35:01, 1.67s/it] 60%|█████▉ | 17947/30000 [8:20:22<5:34:28, 1.67s/it] 60%|█████▉ | 17948/30000 [8:20:24<5:34:45, 1.67s/it] 60%|█████▉ | 17949/30000 [8:20:26<5:34:41, 1.67s/it] 60%|█████▉ | 17950/30000 [8:20:27<5:35:10, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.10801286995410919, 'learning_rate': 1.1399522028811069e-05, 'flow_matching_loss': 0.017674777284264566, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.22} + 60%|█████▉ | 17950/30000 [8:20:27<5:35:10, 1.67s/it] 60%|█████▉ | 17951/30000 [8:20:29<5:34:56, 1.67s/it] 60%|█████▉ | 17952/30000 [8:20:31<5:34:37, 1.67s/it] 60%|█████▉ | 17953/30000 [8:20:32<5:34:56, 1.67s/it] 60%|█████▉ | 17954/30000 [8:20:34<5:35:13, 1.67s/it] 60%|█████▉ | 17955/30000 [8:20:36<5:34:33, 1.67s/it] 60%|█████▉ | 17956/30000 [8:20:37<5:34:31, 1.67s/it] 60%|█████▉ | 17957/30000 [8:20:39<5:34:24, 1.67s/it] 60%|█████▉ | 17958/30000 [8:20:41<5:35:03, 1.67s/it] 60%|█████▉ | 17959/30000 [8:20:42<5:35:11, 1.67s/it] 60%|█████▉ | 17960/30000 [8:20:44<5:34:30, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10814695060253143, 'learning_rate': 1.1383472913087143e-05, 'flow_matching_loss': 0.018274721037596465, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.23} + 60%|█████▉ | 17960/30000 [8:20:44<5:34:30, 1.67s/it] 60%|█████▉ | 17961/30000 [8:20:46<5:34:28, 1.67s/it] 60%|█████▉ | 17962/30000 [8:20:47<5:35:18, 1.67s/it] 60%|█████▉ | 17963/30000 [8:20:49<5:34:33, 1.67s/it] 60%|█████▉ | 17964/30000 [8:20:51<5:34:19, 1.67s/it] 60%|█████▉ | 17965/30000 [8:20:52<5:34:09, 1.67s/it] 60%|█████▉ | 17966/30000 [8:20:54<5:34:41, 1.67s/it] 60%|█████▉ | 17967/30000 [8:20:56<5:34:42, 1.67s/it] 60%|█████▉ | 17968/30000 [8:20:57<5:34:21, 1.67s/it] 60%|█████▉ | 17969/30000 [8:20:59<5:34:51, 1.67s/it] 60%|█████▉ | 17970/30000 [8:21:01<5:34:33, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.10809887200593948, 'learning_rate': 1.1367428191784643e-05, 'flow_matching_loss': 0.019169724266976117, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.23} + 60%|█████▉ | 17970/30000 [8:21:01<5:34:33, 1.67s/it] 60%|█████▉ | 17971/30000 [8:21:02<5:34:25, 1.67s/it] 60%|█████▉ | 17972/30000 [8:21:04<5:34:25, 1.67s/it] 60%|█████▉ | 17973/30000 [8:21:06<5:34:04, 1.67s/it] 60%|█████▉ | 17974/30000 [8:21:07<5:34:12, 1.67s/it] 60%|█████▉ | 17975/30000 [8:21:09<5:34:15, 1.67s/it] 60%|█████▉ | 17976/30000 [8:21:11<5:34:10, 1.67s/it] 60%|█████▉ | 17977/30000 [8:21:12<5:33:21, 1.66s/it] 60%|█████▉ | 17978/30000 [8:21:14<5:33:24, 1.66s/it] 60%|█████▉ | 17979/30000 [8:21:16<5:33:08, 1.66s/it] 60%|█████▉ | 17980/30000 [8:21:17<5:33:33, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.11177384853363037, 'learning_rate': 1.1351387884399413e-05, 'flow_matching_loss': 0.01612219139933586, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.23} + 60%|█████▉ | 17980/30000 [8:21:17<5:33:33, 1.67s/it] 60%|█████▉ | 17981/30000 [8:21:19<5:33:14, 1.66s/it] 60%|█████▉ | 17982/30000 [8:21:21<5:33:50, 1.67s/it] 60%|█████▉ | 17983/30000 [8:21:22<5:33:40, 1.67s/it] 60%|█████▉ | 17984/30000 [8:21:24<5:33:42, 1.67s/it] 60%|█████▉ | 17985/30000 [8:21:26<5:33:43, 1.67s/it] 60%|█████▉ | 17986/30000 [8:21:27<5:33:37, 1.67s/it] 60%|█████▉ | 17987/30000 [8:21:29<5:33:17, 1.66s/it] 60%|█████▉ | 17988/30000 [8:21:31<5:33:23, 1.67s/it] 60%|█████▉ | 17989/30000 [8:21:32<5:33:35, 1.67s/it] 60%|█████▉ | 17990/30000 [8:21:34<5:33:46, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11558043956756592, 'learning_rate': 1.1335352010421953e-05, 'flow_matching_loss': 0.017151679191738368, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.23} + 60%|█████▉ | 17990/30000 [8:21:34<5:33:46, 1.67s/it] 60%|█████▉ | 17991/30000 [8:21:36<5:33:56, 1.67s/it] 60%|█████▉ | 17992/30000 [8:21:37<5:33:34, 1.67s/it] 60%|█████▉ | 17993/30000 [8:21:39<5:34:19, 1.67s/it] 60%|█████▉ | 17994/30000 [8:21:41<5:33:24, 1.67s/it] 60%|█████▉ | 17995/30000 [8:21:42<5:33:00, 1.66s/it] 60%|█████▉ | 17996/30000 [8:21:44<5:33:10, 1.67s/it] 60%|█████▉ | 17997/30000 [8:21:46<5:34:03, 1.67s/it] 60%|█████▉ | 17998/30000 [8:21:47<5:33:43, 1.67s/it] 60%|█████▉ | 17999/30000 [8:21:49<5:33:25, 1.67s/it] 60%|██████ | 18000/30000 [8:21:51<5:33:16, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.14433957636356354, 'learning_rate': 1.1319320589337352e-05, 'flow_matching_loss': 0.018107305373996498, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.24} + 60%|██████ | 18000/30000 [8:21:51<5:33:16, 1.67s/it] 60%|██████ | 18001/30000 [8:21:52<5:33:38, 1.67s/it] 60%|██████ | 18002/30000 [8:21:54<5:33:55, 1.67s/it] 60%|██████ | 18003/30000 [8:21:56<5:33:39, 1.67s/it] 60%|██████ | 18004/30000 [8:21:57<5:33:27, 1.67s/it] 60%|██████ | 18005/30000 [8:21:59<5:33:27, 1.67s/it] 60%|██████ | 18006/30000 [8:22:01<5:33:53, 1.67s/it] 60%|██████ | 18007/30000 [8:22:02<5:33:04, 1.67s/it] 60%|██████ | 18008/30000 [8:22:04<5:32:57, 1.67s/it] 60%|██████ | 18009/30000 [8:22:06<5:32:57, 1.67s/it] 60%|██████ | 18010/30000 [8:22:07<5:33:02, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.1247875839471817, 'learning_rate': 1.1303293640625299e-05, 'flow_matching_loss': 0.01753918481990695, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.24} + 60%|██████ | 18010/30000 [8:22:07<5:33:02, 1.67s/it] 60%|██████ | 18011/30000 [8:22:09<5:33:12, 1.67s/it] 60%|██████ | 18012/30000 [8:22:11<5:33:06, 1.67s/it] 60%|██████ | 18013/30000 [8:22:12<5:33:19, 1.67s/it] 60%|██████ | 18014/30000 [8:22:14<5:33:32, 1.67s/it] 60%|██████ | 18015/30000 [8:22:16<5:33:26, 1.67s/it] 60%|██████ | 18016/30000 [8:22:17<5:33:11, 1.67s/it] 60%|██████ | 18017/30000 [8:22:19<5:33:21, 1.67s/it] 60%|██████ | 18018/30000 [8:22:21<5:33:41, 1.67s/it] 60%|██████ | 18019/30000 [8:22:22<5:33:24, 1.67s/it] 60%|██████ | 18020/30000 [8:22:24<5:33:24, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.09350299090147018, 'learning_rate': 1.1287271183760052e-05, 'flow_matching_loss': 0.018122088443487883, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.24} + 60%|██████ | 18020/30000 [8:22:24<5:33:24, 1.67s/it] 60%|██████ | 18021/30000 [8:22:26<5:33:17, 1.67s/it] 60%|██████ | 18022/30000 [8:22:27<5:33:07, 1.67s/it] 60%|██████ | 18023/30000 [8:22:29<5:33:34, 1.67s/it] 60%|██████ | 18024/30000 [8:22:31<5:33:20, 1.67s/it] 60%|██████ | 18025/30000 [8:22:32<5:33:00, 1.67s/it] 60%|██████ | 18026/30000 [8:22:34<5:33:05, 1.67s/it] 60%|██████ | 18027/30000 [8:22:36<5:32:03, 1.66s/it] 60%|██████ | 18028/30000 [8:22:37<5:31:58, 1.66s/it] 60%|██████ | 18029/30000 [8:22:39<5:32:21, 1.67s/it] 60%|██████ | 18030/30000 [8:22:41<5:32:44, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.12060106545686722, 'learning_rate': 1.1271253238210398e-05, 'flow_matching_loss': 0.018846436124294996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.25} + 60%|██████ | 18030/30000 [8:22:41<5:32:44, 1.67s/it] 60%|██████ | 18031/30000 [8:22:42<5:32:52, 1.67s/it] 60%|██████ | 18032/30000 [8:22:44<5:31:58, 1.66s/it] 60%|██████ | 18033/30000 [8:22:46<5:31:55, 1.66s/it] 60%|██████ | 18034/30000 [8:22:47<5:31:49, 1.66s/it] 60%|██████ | 18035/30000 [8:22:49<5:31:50, 1.66s/it] 60%|██████ | 18036/30000 [8:22:51<5:31:21, 1.66s/it] 60%|██████ | 18037/30000 [8:22:52<5:31:22, 1.66s/it] 60%|██████ | 18038/30000 [8:22:54<5:32:05, 1.67s/it] 60%|██████ | 18039/30000 [8:22:56<5:32:35, 1.67s/it] 60%|██████ | 18040/30000 [8:22:57<5:32:46, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.1456977277994156, 'learning_rate': 1.1255239823439663e-05, 'flow_matching_loss': 0.018314396124333145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.25} + 60%|██████ | 18040/30000 [8:22:57<5:32:46, 1.67s/it] 60%|██████ | 18041/30000 [8:22:59<5:33:05, 1.67s/it] 60%|██████ | 18042/30000 [8:23:01<5:32:57, 1.67s/it] 60%|██████ | 18043/30000 [8:23:02<5:32:33, 1.67s/it] 60%|██████ | 18044/30000 [8:23:04<5:32:30, 1.67s/it] 60%|██████ | 18045/30000 [8:23:06<5:32:13, 1.67s/it] 60%|██████ | 18046/30000 [8:23:07<5:32:05, 1.67s/it] 60%|██████ | 18047/30000 [8:23:09<5:32:08, 1.67s/it] 60%|██████ | 18048/30000 [8:23:11<5:31:52, 1.67s/it] 60%|██████ | 18049/30000 [8:23:12<5:31:50, 1.67s/it] 60%|██████ | 18050/30000 [8:23:14<5:31:45, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.10753944516181946, 'learning_rate': 1.1239230958905652e-05, 'flow_matching_loss': 0.01760531570762396, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.25} + 60%|██████ | 18050/30000 [8:23:14<5:31:45, 1.67s/it] 60%|██████ | 18051/30000 [8:23:16<5:31:44, 1.67s/it] 60%|██████ | 18052/30000 [8:23:17<5:31:26, 1.66s/it] 60%|██████ | 18053/30000 [8:23:19<5:31:18, 1.66s/it] 60%|██████ | 18054/30000 [8:23:21<5:31:32, 1.67s/it] 60%|██████ | 18055/30000 [8:23:22<5:31:30, 1.67s/it] 60%|██████ | 18056/30000 [8:23:24<5:31:18, 1.66s/it] 60%|██████ | 18057/30000 [8:23:26<5:30:57, 1.66s/it] 60%|██████ | 18058/30000 [8:23:27<5:31:08, 1.66s/it] 60%|██████ | 18059/30000 [8:23:29<5:31:11, 1.66s/it] 60%|██████ | 18060/30000 [8:23:31<5:30:48, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.1440831571817398, 'learning_rate': 1.1223226664060641e-05, 'flow_matching_loss': 0.01801650384441018, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.25} + 60%|██████ | 18060/30000 [8:23:31<5:30:48, 1.66s/it] 60%|██████ | 18061/30000 [8:23:32<5:31:14, 1.66s/it] 60%|██████ | 18062/30000 [8:23:34<5:31:26, 1.67s/it] 60%|██████ | 18063/30000 [8:23:36<5:31:40, 1.67s/it] 60%|██████ | 18064/30000 [8:23:37<5:31:30, 1.67s/it] 60%|██████ | 18065/30000 [8:23:39<5:31:36, 1.67s/it] 60%|██████ | 18066/30000 [8:23:41<5:31:28, 1.67s/it] 60%|██████ | 18067/30000 [8:23:42<5:31:33, 1.67s/it] 60%|██████ | 18068/30000 [8:23:44<5:31:16, 1.67s/it] 60%|██████ | 18069/30000 [8:23:46<5:31:28, 1.67s/it] 60%|██████ | 18070/30000 [8:23:47<5:31:41, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.13379721343517303, 'learning_rate': 1.1207226958351362e-05, 'flow_matching_loss': 0.019624662399291993, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.26} + 60%|██████ | 18070/30000 [8:23:47<5:31:41, 1.67s/it] 60%|██████ | 18071/30000 [8:23:49<5:31:41, 1.67s/it] 60%|██████ | 18072/30000 [8:23:51<5:31:28, 1.67s/it] 60%|██████ | 18073/30000 [8:23:52<5:31:23, 1.67s/it] 60%|██████ | 18074/30000 [8:23:54<5:32:25, 1.67s/it] 60%|██████ | 18075/30000 [8:23:56<5:31:48, 1.67s/it] 60%|██████ | 18076/30000 [8:23:57<5:31:03, 1.67s/it] 60%|██████ | 18077/30000 [8:23:59<5:31:09, 1.67s/it] 60%|██████ | 18078/30000 [8:24:01<5:31:17, 1.67s/it] 60%|██████ | 18079/30000 [8:24:02<5:31:36, 1.67s/it] 60%|██████ | 18080/30000 [8:24:04<5:31:17, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11908326297998428, 'learning_rate': 1.1191231861218955e-05, 'flow_matching_loss': 0.01824900060892105, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.26} + 60%|██████ | 18080/30000 [8:24:04<5:31:17, 1.67s/it] 60%|██████ | 18081/30000 [8:24:06<5:31:18, 1.67s/it] 60%|██████ | 18082/30000 [8:24:07<5:30:33, 1.66s/it] 60%|██████ | 18083/30000 [8:24:09<5:30:25, 1.66s/it] 60%|██████ | 18084/30000 [8:24:11<5:30:23, 1.66s/it] 60%|██████ | 18085/30000 [8:24:12<5:30:23, 1.66s/it] 60%|██████ | 18086/30000 [8:24:14<5:30:50, 1.67s/it] 60%|██████ | 18087/30000 [8:24:16<5:31:13, 1.67s/it] 60%|██████ | 18088/30000 [8:24:17<5:30:33, 1.67s/it] 60%|██████ | 18089/30000 [8:24:19<5:31:14, 1.67s/it] 60%|██████ | 18090/30000 [8:24:21<5:31:34, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.14355050027370453, 'learning_rate': 1.1175241392098988e-05, 'flow_matching_loss': 0.01883636610582471, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.26} + 60%|██████ | 18090/30000 [8:24:21<5:31:34, 1.67s/it] 60%|██████ | 18091/30000 [8:24:22<5:31:15, 1.67s/it] 60%|██████ | 18092/30000 [8:24:24<5:30:51, 1.67s/it] 60%|██████ | 18093/30000 [8:24:26<5:30:22, 1.66s/it] 60%|██████ | 18094/30000 [8:24:27<5:30:43, 1.67s/it] 60%|██████ | 18095/30000 [8:24:29<5:30:12, 1.66s/it] 60%|██████ | 18096/30000 [8:24:31<5:30:19, 1.66s/it] 60%|██████ | 18097/30000 [8:24:32<5:30:42, 1.67s/it] 60%|██████ | 18098/30000 [8:24:34<5:30:47, 1.67s/it] 60%|██████ | 18099/30000 [8:24:36<5:30:14, 1.66s/it] 60%|██████ | 18100/30000 [8:24:37<5:30:12, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.11029665917158127, 'learning_rate': 1.1159255570421376e-05, 'flow_matching_loss': 0.017655963264405727, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.27} + 60%|██████ | 18100/30000 [8:24:37<5:30:12, 1.66s/it] 60%|██████ | 18101/30000 [8:24:39<5:30:16, 1.67s/it] 60%|██████ | 18102/30000 [8:24:41<5:31:04, 1.67s/it] 60%|██████ | 18103/30000 [8:24:42<5:31:11, 1.67s/it] 60%|██████ | 18104/30000 [8:24:44<5:30:43, 1.67s/it] 60%|██████ | 18105/30000 [8:24:46<5:30:01, 1.66s/it] 60%|██████ | 18106/30000 [8:24:47<5:30:06, 1.67s/it] 60%|██████ | 18107/30000 [8:24:49<5:29:48, 1.66s/it] 60%|██████ | 18108/30000 [8:24:51<5:29:58, 1.66s/it] 60%|██████ | 18109/30000 [8:24:52<5:30:25, 1.67s/it] 60%|██████ | 18110/30000 [8:24:54<5:30:27, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.13497865200042725, 'learning_rate': 1.1143274415610408e-05, 'flow_matching_loss': 0.0184351971372962, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.27} + 60%|██████ | 18110/30000 [8:24:54<5:30:27, 1.67s/it] 60%|██████ | 18111/30000 [8:24:56<5:30:57, 1.67s/it] 60%|██████ | 18112/30000 [8:24:57<5:30:16, 1.67s/it] 60%|██████ | 18113/30000 [8:24:59<5:30:35, 1.67s/it] 60%|██████ | 18114/30000 [8:25:01<5:30:14, 1.67s/it] 60%|██████ | 18115/30000 [8:25:02<5:29:46, 1.66s/it] 60%|██████ | 18116/30000 [8:25:04<5:29:46, 1.66s/it] 60%|██████ | 18117/30000 [8:25:06<5:29:46, 1.67s/it] 60%|██████ | 18118/30000 [8:25:07<5:29:59, 1.67s/it] 60%|██████ | 18119/30000 [8:25:09<5:30:01, 1.67s/it] 60%|██████ | 18120/30000 [8:25:11<5:29:38, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.1163748949766159, 'learning_rate': 1.1127297947084692e-05, 'flow_matching_loss': 0.018461192771792412, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.27} + 60%|██████ | 18120/30000 [8:25:11<5:29:38, 1.66s/it] 60%|██████ | 18121/30000 [8:25:12<5:29:47, 1.67s/it] 60%|██████ | 18122/30000 [8:25:14<5:30:19, 1.67s/it] 60%|██████ | 18123/30000 [8:25:16<5:29:30, 1.66s/it] 60%|██████ | 18124/30000 [8:25:17<5:29:15, 1.66s/it] 60%|██████ | 18125/30000 [8:25:19<5:29:24, 1.66s/it] 60%|██████ | 18126/30000 [8:25:21<5:29:42, 1.67s/it] 60%|██████ | 18127/30000 [8:25:22<5:29:16, 1.66s/it] 60%|██████ | 18128/30000 [8:25:24<5:28:47, 1.66s/it] 60%|██████ | 18129/30000 [8:25:26<5:29:11, 1.66s/it] 60%|██████ | 18130/30000 [8:25:27<5:29:32, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.1465071141719818, 'learning_rate': 1.1111326184257135e-05, 'flow_matching_loss': 0.017776970006525516, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.27} + 60%|██████ | 18130/30000 [8:25:27<5:29:32, 1.67s/it] 60%|██████ | 18131/30000 [8:25:29<5:29:10, 1.66s/it] 60%|██████ | 18132/30000 [8:25:31<5:29:04, 1.66s/it] 60%|██████ | 18133/30000 [8:25:32<5:29:08, 1.66s/it] 60%|██████ | 18134/30000 [8:25:34<5:28:54, 1.66s/it] 60%|██████ | 18135/30000 [8:25:36<5:28:26, 1.66s/it] 60%|██████ | 18136/30000 [8:25:37<5:28:38, 1.66s/it] 60%|██████ | 18137/30000 [8:25:39<5:29:10, 1.66s/it] 60%|██████ | 18138/30000 [8:25:41<5:29:08, 1.66s/it] 60%|██████ | 18139/30000 [8:25:42<5:29:42, 1.67s/it] 60%|██████ | 18140/30000 [8:25:44<5:29:07, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.11785358935594559, 'learning_rate': 1.109535914653495e-05, 'flow_matching_loss': 0.021171614155173303, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.28} + 60%|██████ | 18140/30000 [8:25:44<5:29:07, 1.67s/it] 60%|██████ | 18141/30000 [8:25:46<5:29:42, 1.67s/it] 60%|██████ | 18142/30000 [8:25:47<5:29:55, 1.67s/it] 60%|██████ | 18143/30000 [8:25:49<5:29:38, 1.67s/it] 60%|██████ | 18144/30000 [8:25:51<5:29:14, 1.67s/it] 60%|██████ | 18145/30000 [8:25:52<5:29:09, 1.67s/it] 60%|██████ | 18146/30000 [8:25:54<5:29:30, 1.67s/it] 60%|██████ | 18147/30000 [8:25:56<5:29:05, 1.67s/it] 60%|██████ | 18148/30000 [8:25:57<5:28:59, 1.67s/it] 60%|██████ | 18149/30000 [8:25:59<5:29:32, 1.67s/it] 60%|██████ | 18150/30000 [8:26:01<5:29:29, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.09857120364904404, 'learning_rate': 1.1079396853319582e-05, 'flow_matching_loss': 0.01748012602329254, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.28} + 60%|██████ | 18150/30000 [8:26:01<5:29:29, 1.67s/it] 61%|██████ | 18151/30000 [8:26:02<5:29:40, 1.67s/it] 61%|██████ | 18152/30000 [8:26:04<5:29:02, 1.67s/it] 61%|██████ | 18153/30000 [8:26:06<5:29:13, 1.67s/it] 61%|██████ | 18154/30000 [8:26:07<5:29:03, 1.67s/it] 61%|██████ | 18155/30000 [8:26:09<5:28:12, 1.66s/it] 61%|██████ | 18156/30000 [8:26:11<5:28:05, 1.66s/it] 61%|██████ | 18157/30000 [8:26:12<5:28:29, 1.66s/it] 61%|██████ | 18158/30000 [8:26:14<5:28:40, 1.67s/it] 61%|██████ | 18159/30000 [8:26:16<5:28:45, 1.67s/it] 61%|██████ | 18160/30000 [8:26:17<5:28:22, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.11437767744064331, 'learning_rate': 1.1063439324006724e-05, 'flow_matching_loss': 0.01759753208607435, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.28} + 61%|██████ | 18160/30000 [8:26:17<5:28:22, 1.66s/it] 61%|██████ | 18161/30000 [8:26:19<5:28:58, 1.67s/it] 61%|██████ | 18162/30000 [8:26:21<5:28:36, 1.67s/it] 61%|██████ | 18163/30000 [8:26:22<5:28:09, 1.66s/it] 61%|██████ | 18164/30000 [8:26:24<5:28:14, 1.66s/it] 61%|██████ | 18165/30000 [8:26:26<5:28:22, 1.66s/it] 61%|██████ | 18166/30000 [8:26:27<5:28:55, 1.67s/it] 61%|██████ | 18167/30000 [8:26:29<5:28:44, 1.67s/it] 61%|██████ | 18168/30000 [8:26:31<5:28:17, 1.66s/it] 61%|██████ | 18169/30000 [8:26:32<5:28:56, 1.67s/it] 61%|██████ | 18170/30000 [8:26:34<5:28:54, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.09738460928201675, 'learning_rate': 1.1047486577986285e-05, 'flow_matching_loss': 0.020443625189363955, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.29} + 61%|██████ | 18170/30000 [8:26:34<5:28:54, 1.67s/it] 61%|██████ | 18171/30000 [8:26:36<5:28:42, 1.67s/it] 61%|██████ | 18172/30000 [8:26:37<5:28:10, 1.66s/it] 61%|██████ | 18173/30000 [8:26:39<5:28:37, 1.67s/it] 61%|██████ | 18174/30000 [8:26:41<5:28:26, 1.67s/it] 61%|██████ | 18175/30000 [8:26:42<5:29:00, 1.67s/it] 61%|██████ | 18176/30000 [8:26:44<5:28:28, 1.67s/it] 61%|██████ | 18177/30000 [8:26:46<5:28:18, 1.67s/it] 61%|██████ | 18178/30000 [8:26:47<5:28:30, 1.67s/it] 61%|██████ | 18179/30000 [8:26:49<5:28:12, 1.67s/it] 61%|██████ | 18180/30000 [8:26:51<5:27:30, 1.66s/it] {'loss': 0.0192, 'grad_norm': 0.10966794192790985, 'learning_rate': 1.1031538634642353e-05, 'flow_matching_loss': 0.019224349036812784, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.29} + 61%|██████ | 18180/30000 [8:26:51<5:27:30, 1.66s/it] 61%|██████ | 18181/30000 [8:26:52<5:27:51, 1.66s/it] 61%|██████ | 18182/30000 [8:26:54<5:27:53, 1.66s/it] 61%|██████ | 18183/30000 [8:26:56<5:27:44, 1.66s/it] 61%|██████ | 18184/30000 [8:26:57<5:28:02, 1.67s/it] 61%|██████ | 18185/30000 [8:26:59<5:28:10, 1.67s/it] 61%|██████ | 18186/30000 [8:27:01<5:27:45, 1.66s/it] 61%|██████ | 18187/30000 [8:27:02<5:28:02, 1.67s/it] 61%|██████ | 18188/30000 [8:27:04<5:28:01, 1.67s/it] 61%|██████ | 18189/30000 [8:27:06<5:28:02, 1.67s/it] 61%|██████ | 18190/30000 [8:27:07<5:28:25, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.10299552977085114, 'learning_rate': 1.1015595513353172e-05, 'flow_matching_loss': 0.01889139674603939, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.29} + 61%|██████ | 18190/30000 [8:27:07<5:28:25, 1.67s/it] 61%|██████ | 18191/30000 [8:27:09<5:28:22, 1.67s/it] 61%|██████ | 18192/30000 [8:27:11<5:28:03, 1.67s/it] 61%|██████ | 18193/30000 [8:27:12<5:27:45, 1.67s/it] 61%|██████ | 18194/30000 [8:27:14<5:27:26, 1.66s/it] 61%|██████ | 18195/30000 [8:27:16<5:27:36, 1.67s/it] 61%|██████ | 18196/30000 [8:27:17<5:27:05, 1.66s/it] 61%|██████ | 18197/30000 [8:27:19<5:26:51, 1.66s/it] 61%|██████ | 18198/30000 [8:27:21<5:27:48, 1.67s/it] 61%|██████ | 18199/30000 [8:27:22<5:27:40, 1.67s/it] 61%|██████ | 18200/30000 [8:27:24<5:26:47, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.09379231184720993, 'learning_rate': 1.0999657233491156e-05, 'flow_matching_loss': 0.01699108276516199, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.3} + 61%|██████ | 18200/30000 [8:27:24<5:26:47, 1.66s/it] 61%|██████ | 18201/30000 [8:27:26<5:27:19, 1.66s/it] 61%|██████ | 18202/30000 [8:27:27<5:27:43, 1.67s/it] 61%|██████ | 18203/30000 [8:27:29<5:27:21, 1.66s/it] 61%|██████ | 18204/30000 [8:27:31<5:27:18, 1.66s/it] 61%|██████ | 18205/30000 [8:27:32<5:27:16, 1.66s/it] 61%|██████ | 18206/30000 [8:27:34<5:27:43, 1.67s/it] 61%|██████ | 18207/30000 [8:27:36<5:27:27, 1.67s/it] 61%|██████ | 18208/30000 [8:27:37<5:27:19, 1.67s/it] 61%|██████ | 18209/30000 [8:27:39<5:27:31, 1.67s/it] 61%|██████ | 18210/30000 [8:27:41<5:27:06, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.09642253816127777, 'learning_rate': 1.0983723814422808e-05, 'flow_matching_loss': 0.018042414076626302, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.3} + 61%|██████ | 18210/30000 [8:27:41<5:27:06, 1.66s/it] 61%|██████ | 18211/30000 [8:27:42<5:26:46, 1.66s/it] 61%|██████ | 18212/30000 [8:27:44<5:26:55, 1.66s/it] 61%|██████ | 18213/30000 [8:27:46<5:27:08, 1.67s/it] 61%|██████ | 18214/30000 [8:27:47<5:27:10, 1.67s/it] 61%|██████ | 18215/30000 [8:27:49<5:27:32, 1.67s/it] 61%|██████ | 18216/30000 [8:27:51<5:27:19, 1.67s/it] 61%|██████ | 18217/30000 [8:27:52<5:27:17, 1.67s/it] 61%|██████ | 18218/30000 [8:27:54<5:28:11, 1.67s/it] 61%|██████ | 18219/30000 [8:27:56<5:27:44, 1.67s/it] 61%|██████ | 18220/30000 [8:27:57<5:27:07, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.10863147675991058, 'learning_rate': 1.0967795275508735e-05, 'flow_matching_loss': 0.0211071515455842, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.3} + 61%|██████ | 18220/30000 [8:27:57<5:27:07, 1.67s/it] 61%|██████ | 18221/30000 [8:27:59<5:27:31, 1.67s/it] 61%|██████ | 18222/30000 [8:28:01<5:27:26, 1.67s/it] 61%|██████ | 18223/30000 [8:28:02<5:27:21, 1.67s/it] 61%|██████ | 18224/30000 [8:28:04<5:27:28, 1.67s/it] 61%|██████ | 18225/30000 [8:28:06<5:26:52, 1.67s/it] 61%|██████ | 18226/30000 [8:28:07<5:27:13, 1.67s/it] 61%|██████ | 18227/30000 [8:28:09<5:27:04, 1.67s/it] 61%|██████ | 18228/30000 [8:28:11<5:26:34, 1.66s/it] 61%|██████ | 18229/30000 [8:28:12<5:27:02, 1.67s/it] 61%|██████ | 18230/30000 [8:28:14<5:26:48, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.09155207127332687, 'learning_rate': 1.095187163610361e-05, 'flow_matching_loss': 0.01772001702338457, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.3} + 61%|██████ | 18230/30000 [8:28:14<5:26:48, 1.67s/it] 61%|██████ | 18231/30000 [8:28:16<5:26:59, 1.67s/it] 61%|██████ | 18232/30000 [8:28:17<5:26:34, 1.67s/it] 61%|██████ | 18233/30000 [8:28:19<5:26:47, 1.67s/it] 61%|██████ | 18234/30000 [8:28:21<5:26:30, 1.67s/it] 61%|██████ | 18235/30000 [8:28:22<5:26:23, 1.66s/it] 61%|██████ | 18236/30000 [8:28:24<5:26:56, 1.67s/it] 61%|██████ | 18237/30000 [8:28:26<5:27:01, 1.67s/it] 61%|██████ | 18238/30000 [8:28:27<5:27:16, 1.67s/it] 61%|██████ | 18239/30000 [8:28:29<5:28:10, 1.67s/it] 61%|██████ | 18240/30000 [8:28:31<5:27:21, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.1315893977880478, 'learning_rate': 1.0935952915556163e-05, 'flow_matching_loss': 0.01867029434069991, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.31} + 61%|██████ | 18240/30000 [8:28:31<5:27:21, 1.67s/it] 61%|██████ | 18241/30000 [8:28:32<5:27:19, 1.67s/it] 61%|██████ | 18242/30000 [8:28:34<5:26:59, 1.67s/it] 61%|██████ | 18243/30000 [8:28:36<5:25:59, 1.66s/it] 61%|██████ | 18244/30000 [8:28:37<5:25:20, 1.66s/it] 61%|██████ | 18245/30000 [8:28:39<5:25:39, 1.66s/it] 61%|██████ | 18246/30000 [8:28:41<5:26:12, 1.67s/it] 61%|██████ | 18247/30000 [8:28:42<5:26:12, 1.67s/it] 61%|██████ | 18248/30000 [8:28:44<5:25:58, 1.66s/it] 61%|██████ | 18249/30000 [8:28:46<5:26:05, 1.67s/it] 61%|██████ | 18250/30000 [8:28:47<5:26:03, 1.66s/it] {'loss': 0.0186, 'grad_norm': 0.10929688066244125, 'learning_rate': 1.0920039133209137e-05, 'flow_matching_loss': 0.018561618123203515, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.31} + 61%|██████ | 18250/30000 [8:28:47<5:26:03, 1.66s/it] 61%|██████ | 18251/30000 [8:28:49<5:26:12, 1.67s/it] 61%|██████ | 18252/30000 [8:28:51<5:25:45, 1.66s/it] 61%|██████ | 18253/30000 [8:28:52<5:25:25, 1.66s/it] 61%|██████ | 18254/30000 [8:28:54<5:25:59, 1.67s/it] 61%|██████ | 18255/30000 [8:28:56<5:26:07, 1.67s/it] 61%|██████ | 18256/30000 [8:28:57<5:25:33, 1.66s/it] 61%|██████ | 18257/30000 [8:28:59<5:25:28, 1.66s/it] 61%|██████ | 18258/30000 [8:29:01<5:25:42, 1.66s/it] 61%|██████ | 18259/30000 [8:29:02<5:25:43, 1.66s/it] 61%|██████ | 18260/30000 [8:29:04<5:25:39, 1.66s/it] {'loss': 0.0189, 'grad_norm': 0.09750499576330185, 'learning_rate': 1.0904130308399283e-05, 'flow_matching_loss': 0.018947440851479768, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.31} + 61%|██████ | 18260/30000 [8:29:04<5:25:39, 1.66s/it] 61%|██████ | 18261/30000 [8:29:06<5:25:48, 1.67s/it] 61%|██████ | 18262/30000 [8:29:07<5:26:33, 1.67s/it] 61%|██████ | 18263/30000 [8:29:09<5:26:34, 1.67s/it] 61%|██████ | 18264/30000 [8:29:11<5:26:18, 1.67s/it] 61%|██████ | 18265/30000 [8:29:12<5:26:02, 1.67s/it] 61%|██████ | 18266/30000 [8:29:14<5:25:59, 1.67s/it] 61%|██████ | 18267/30000 [8:29:16<5:25:24, 1.66s/it] 61%|██████ | 18268/30000 [8:29:17<5:25:11, 1.66s/it] 61%|██████ | 18269/30000 [8:29:19<5:25:13, 1.66s/it] 61%|██████ | 18270/30000 [8:29:21<5:25:45, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.11736331135034561, 'learning_rate': 1.0888226460457318e-05, 'flow_matching_loss': 0.019683844409883022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.32} + 61%|██████ | 18270/30000 [8:29:21<5:25:45, 1.67s/it] 61%|██████ | 18271/30000 [8:29:22<5:25:33, 1.67s/it] 61%|██████ | 18272/30000 [8:29:24<5:25:25, 1.66s/it] 61%|██████ | 18273/30000 [8:29:26<5:25:51, 1.67s/it] 61%|██████ | 18274/30000 [8:29:27<5:25:48, 1.67s/it] 61%|██████ | 18275/30000 [8:29:29<5:25:32, 1.67s/it] 61%|██████ | 18276/30000 [8:29:31<5:25:07, 1.66s/it] 61%|██████ | 18277/30000 [8:29:32<5:25:28, 1.67s/it] 61%|██████ | 18278/30000 [8:29:34<5:25:43, 1.67s/it] 61%|██████ | 18279/30000 [8:29:36<5:25:54, 1.67s/it] 61%|██████ | 18280/30000 [8:29:37<5:25:53, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.09908916056156158, 'learning_rate': 1.087232760870792e-05, 'flow_matching_loss': 0.01809936761856079, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.32} + 61%|██████ | 18280/30000 [8:29:37<5:25:53, 1.67s/it] 61%|██████ | 18281/30000 [8:29:39<5:25:19, 1.67s/it] 61%|██████ | 18282/30000 [8:29:41<5:26:09, 1.67s/it] 61%|██████ | 18283/30000 [8:29:42<5:26:11, 1.67s/it] 61%|██████ | 18284/30000 [8:29:44<5:26:11, 1.67s/it] 61%|██████ | 18285/30000 [8:29:46<5:25:49, 1.67s/it] 61%|██████ | 18286/30000 [8:29:47<5:26:02, 1.67s/it] 61%|██████ | 18287/30000 [8:29:49<5:26:10, 1.67s/it] 61%|██████ | 18288/30000 [8:29:51<5:26:08, 1.67s/it] 61%|██████ | 18289/30000 [8:29:52<5:26:04, 1.67s/it] 61%|██████ | 18290/30000 [8:29:54<5:25:53, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.13913112878799438, 'learning_rate': 1.0856433772469686e-05, 'flow_matching_loss': 0.01962616005912423, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.32} + 61%|██████ | 18290/30000 [8:29:54<5:25:53, 1.67s/it] 61%|██████ | 18291/30000 [8:29:56<5:25:36, 1.67s/it] 61%|██████ | 18292/30000 [8:29:57<5:25:32, 1.67s/it] 61%|██████ | 18293/30000 [8:29:59<5:25:28, 1.67s/it] 61%|██████ | 18294/30000 [8:30:01<5:25:26, 1.67s/it] 61%|██████ | 18295/30000 [8:30:02<5:25:00, 1.67s/it] 61%|██████ | 18296/30000 [8:30:04<5:25:11, 1.67s/it] 61%|██████ | 18297/30000 [8:30:06<5:25:19, 1.67s/it] 61%|██████ | 18298/30000 [8:30:07<5:25:07, 1.67s/it] 61%|██████ | 18299/30000 [8:30:09<5:24:47, 1.67s/it] 61%|██████ | 18300/30000 [8:30:11<5:24:51, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1054602563381195, 'learning_rate': 1.0840544971055135e-05, 'flow_matching_loss': 0.01732350131496787, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.32} + 61%|██████ | 18300/30000 [8:30:11<5:24:51, 1.67s/it] 61%|██████ | 18301/30000 [8:30:12<5:24:50, 1.67s/it] 61%|██████ | 18302/30000 [8:30:14<5:24:53, 1.67s/it] 61%|██████ | 18303/30000 [8:30:16<5:24:57, 1.67s/it] 61%|██████ | 18304/30000 [8:30:17<5:25:10, 1.67s/it] 61%|██████ | 18305/30000 [8:30:19<5:25:21, 1.67s/it] 61%|██████ | 18306/30000 [8:30:21<5:25:16, 1.67s/it] 61%|██████ | 18307/30000 [8:30:22<5:24:56, 1.67s/it] 61%|██████ | 18308/30000 [8:30:24<5:25:50, 1.67s/it] 61%|██████ | 18309/30000 [8:30:26<5:25:34, 1.67s/it] 61%|██████ | 18310/30000 [8:30:27<5:25:31, 1.67s/it] {'loss': 0.0204, 'grad_norm': 0.1059737578034401, 'learning_rate': 1.0824661223770655e-05, 'flow_matching_loss': 0.020383771508932114, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.33} + 61%|██████ | 18310/30000 [8:30:27<5:25:31, 1.67s/it] 61%|██████ | 18311/30000 [8:30:29<5:26:15, 1.67s/it] 61%|██████ | 18312/30000 [8:30:31<5:25:53, 1.67s/it] 61%|██████ | 18313/30000 [8:30:32<5:25:38, 1.67s/it] 61%|██████ | 18314/30000 [8:30:34<5:25:11, 1.67s/it] 61%|██████ | 18315/30000 [8:30:36<5:24:49, 1.67s/it] 61%|██████ | 18316/30000 [8:30:37<5:24:27, 1.67s/it] 61%|██████ | 18317/30000 [8:30:39<5:23:59, 1.66s/it] 61%|██████ | 18318/30000 [8:30:41<5:24:34, 1.67s/it] 61%|██████ | 18319/30000 [8:30:42<5:24:25, 1.67s/it] 61%|██████ | 18320/30000 [8:30:44<5:24:17, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09597581624984741, 'learning_rate': 1.0808782549916498e-05, 'flow_matching_loss': 0.017806428670883178, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.33} + 61%|██████ | 18320/30000 [8:30:44<5:24:17, 1.67s/it] 61%|██████ | 18321/30000 [8:30:46<5:24:17, 1.67s/it] 61%|██████ | 18322/30000 [8:30:47<5:24:06, 1.67s/it] 61%|██████ | 18323/30000 [8:30:49<5:24:02, 1.67s/it] 61%|██████ | 18324/30000 [8:30:51<5:24:03, 1.67s/it] 61%|██████ | 18325/30000 [8:30:52<5:23:52, 1.66s/it] 61%|██████ | 18326/30000 [8:30:54<5:24:41, 1.67s/it] 61%|██████ | 18327/30000 [8:30:56<5:24:48, 1.67s/it] 61%|██████ | 18328/30000 [8:30:57<5:24:22, 1.67s/it] 61%|██████ | 18329/30000 [8:30:59<5:24:23, 1.67s/it] 61%|██████ | 18330/30000 [8:31:01<5:24:39, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.14474716782569885, 'learning_rate': 1.079290896878675e-05, 'flow_matching_loss': 0.021674768440425395, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.33} + 61%|██████ | 18330/30000 [8:31:01<5:24:39, 1.67s/it] 61%|██████ | 18331/30000 [8:31:02<5:24:13, 1.67s/it] 61%|██████ | 18332/30000 [8:31:04<5:24:01, 1.67s/it] 61%|██████ | 18333/30000 [8:31:06<5:24:02, 1.67s/it] 61%|██████ | 18334/30000 [8:31:07<5:24:00, 1.67s/it] 61%|██████ | 18335/30000 [8:31:09<5:23:47, 1.67s/it] 61%|██████ | 18336/30000 [8:31:11<5:23:53, 1.67s/it] 61%|██████ | 18337/30000 [8:31:12<5:24:25, 1.67s/it] 61%|██████ | 18338/30000 [8:31:14<5:24:08, 1.67s/it] 61%|██████ | 18339/30000 [8:31:16<5:23:33, 1.66s/it] 61%|██████ | 18340/30000 [8:31:17<5:23:37, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.1408810168504715, 'learning_rate': 1.07770404996693e-05, 'flow_matching_loss': 0.01912418007850647, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.34} + 61%|██████ | 18340/30000 [8:31:17<5:23:37, 1.67s/it] 61%|██████ | 18341/30000 [8:31:19<5:24:05, 1.67s/it] 61%|██████ | 18342/30000 [8:31:21<5:24:11, 1.67s/it] 61%|██████ | 18343/30000 [8:31:22<5:25:12, 1.67s/it] 61%|██████ | 18344/30000 [8:31:24<5:24:59, 1.67s/it] 61%|██████ | 18345/30000 [8:31:26<5:24:21, 1.67s/it] 61%|██████ | 18346/30000 [8:31:27<5:23:49, 1.67s/it] 61%|██████ | 18347/30000 [8:31:29<5:23:31, 1.67s/it] 61%|██████ | 18348/30000 [8:31:31<5:24:01, 1.67s/it] 61%|██████ | 18349/30000 [8:31:32<5:24:37, 1.67s/it] 61%|██████ | 18350/30000 [8:31:34<5:24:23, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.12621453404426575, 'learning_rate': 1.0761177161845848e-05, 'flow_matching_loss': 0.017386844847351313, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.34} + 61%|██████ | 18350/30000 [8:31:34<5:24:23, 1.67s/it] 61%|██████ | 18351/30000 [8:31:36<5:23:48, 1.67s/it] 61%|██████ | 18352/30000 [8:31:37<5:23:57, 1.67s/it] 61%|██████ | 18353/30000 [8:31:39<5:23:39, 1.67s/it] 61%|██████ | 18354/30000 [8:31:41<5:23:38, 1.67s/it] 61%|██████ | 18355/30000 [8:31:42<5:23:40, 1.67s/it] 61%|██████ | 18356/30000 [8:31:44<5:23:32, 1.67s/it] 61%|██████ | 18357/30000 [8:31:46<5:23:11, 1.67s/it] 61%|██████ | 18358/30000 [8:31:47<5:23:15, 1.67s/it] 61%|██████ | 18359/30000 [8:31:49<5:23:15, 1.67s/it] 61%|██████ | 18360/30000 [8:31:51<5:23:17, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.09533390402793884, 'learning_rate': 1.0745318974591841e-05, 'flow_matching_loss': 0.01879254197701812, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.34} + 61%|██████ | 18360/30000 [8:31:51<5:23:17, 1.67s/it] 61%|██████ | 18361/30000 [8:31:52<5:23:27, 1.67s/it] 61%|██████ | 18362/30000 [8:31:54<5:23:26, 1.67s/it] 61%|██████ | 18363/30000 [8:31:56<5:22:54, 1.66s/it] 61%|██████ | 18364/30000 [8:31:57<5:22:57, 1.67s/it] 61%|██████ | 18365/30000 [8:31:59<5:23:19, 1.67s/it] 61%|██████ | 18366/30000 [8:32:01<5:23:26, 1.67s/it] 61%|██████ | 18367/30000 [8:32:02<5:24:30, 1.67s/it] 61%|██████ | 18368/30000 [8:32:04<5:24:07, 1.67s/it] 61%|██████ | 18369/30000 [8:32:06<5:23:28, 1.67s/it] 61%|██████ | 18370/30000 [8:32:07<5:23:38, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.09705664962530136, 'learning_rate': 1.0729465957176469e-05, 'flow_matching_loss': 0.01979212639853358, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.34} + 61%|██████ | 18370/30000 [8:32:07<5:23:38, 1.67s/it] 61%|██████ | 18371/30000 [8:32:09<5:23:32, 1.67s/it] 61%|██████ | 18372/30000 [8:32:11<5:24:03, 1.67s/it] 61%|██████ | 18373/30000 [8:32:12<5:23:30, 1.67s/it] 61%|██████ | 18374/30000 [8:32:14<5:23:00, 1.67s/it] 61%|██████▏ | 18375/30000 [8:32:16<5:23:21, 1.67s/it] 61%|██████▏ | 18376/30000 [8:32:17<5:23:09, 1.67s/it] 61%|██████▏ | 18377/30000 [8:32:19<5:23:07, 1.67s/it] 61%|██████▏ | 18378/30000 [8:32:21<5:22:59, 1.67s/it] 61%|██████▏ | 18379/30000 [8:32:22<5:22:37, 1.67s/it] 61%|██████▏ | 18380/30000 [8:32:24<5:22:51, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.10170061886310577, 'learning_rate': 1.0713618128862642e-05, 'flow_matching_loss': 0.020977422036230563, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.35} + 61%|██████▏ | 18380/30000 [8:32:24<5:22:51, 1.67s/it] 61%|██████▏ | 18381/30000 [8:32:26<5:23:36, 1.67s/it] 61%|██████▏ | 18382/30000 [8:32:27<5:23:11, 1.67s/it] 61%|██████▏ | 18383/30000 [8:32:29<5:23:07, 1.67s/it] 61%|██████▏ | 18384/30000 [8:32:31<5:22:52, 1.67s/it] 61%|██████▏ | 18385/30000 [8:32:32<5:22:47, 1.67s/it] 61%|██████▏ | 18386/30000 [8:32:34<5:22:37, 1.67s/it] 61%|██████▏ | 18387/30000 [8:32:36<5:22:16, 1.67s/it] 61%|██████▏ | 18388/30000 [8:32:37<5:22:57, 1.67s/it] 61%|██████▏ | 18389/30000 [8:32:39<5:23:08, 1.67s/it] 61%|██████▏ | 18390/30000 [8:32:41<5:23:10, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.11801979690790176, 'learning_rate': 1.0697775508906969e-05, 'flow_matching_loss': 0.01756245978176594, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.35} + 61%|██████▏ | 18390/30000 [8:32:41<5:23:10, 1.67s/it] 61%|██████▏ | 18391/30000 [8:32:42<5:23:09, 1.67s/it] 61%|██████▏ | 18392/30000 [8:32:44<5:22:12, 1.67s/it] 61%|██████▏ | 18393/30000 [8:32:46<5:22:26, 1.67s/it] 61%|██████▏ | 18394/30000 [8:32:47<5:22:14, 1.67s/it] 61%|██████▏ | 18395/30000 [8:32:49<5:22:01, 1.66s/it] 61%|██████▏ | 18396/30000 [8:32:51<5:22:03, 1.67s/it] 61%|██████▏ | 18397/30000 [8:32:52<5:22:15, 1.67s/it] 61%|██████▏ | 18398/30000 [8:32:54<5:22:27, 1.67s/it] 61%|██████▏ | 18399/30000 [8:32:56<5:22:30, 1.67s/it] 61%|██████▏ | 18400/30000 [8:32:57<5:22:00, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.10973411053419113, 'learning_rate': 1.068193811655972e-05, 'flow_matching_loss': 0.018661346379667522, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.35} + 61%|██████▏ | 18400/30000 [8:32:57<5:22:00, 1.67s/it] 61%|██████▏ | 18401/30000 [8:32:59<5:22:16, 1.67s/it] 61%|██████▏ | 18402/30000 [8:33:01<5:22:21, 1.67s/it] 61%|██████▏ | 18403/30000 [8:33:02<5:22:17, 1.67s/it] 61%|██████▏ | 18404/30000 [8:33:04<5:22:17, 1.67s/it] 61%|██████▏ | 18405/30000 [8:33:06<5:22:18, 1.67s/it] 61%|██████▏ | 18406/30000 [8:33:07<5:22:37, 1.67s/it] 61%|██████▏ | 18407/30000 [8:33:09<5:23:25, 1.67s/it] 61%|██████▏ | 18408/30000 [8:33:11<5:21:57, 1.67s/it] 61%|██████▏ | 18409/30000 [8:33:12<5:21:49, 1.67s/it] 61%|██████▏ | 18410/30000 [8:33:14<5:21:49, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.12307040393352509, 'learning_rate': 1.0666105971064835e-05, 'flow_matching_loss': 0.020002182107418776, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.36} + 61%|██████▏ | 18410/30000 [8:33:14<5:21:49, 1.67s/it] 61%|██████▏ | 18411/30000 [8:33:16<5:21:40, 1.67s/it] 61%|██████▏ | 18412/30000 [8:33:17<5:21:28, 1.66s/it] 61%|██████▏ | 18413/30000 [8:33:19<5:21:33, 1.67s/it] 61%|██████▏ | 18414/30000 [8:33:21<5:21:49, 1.67s/it] 61%|██████▏ | 18415/30000 [8:33:22<5:21:52, 1.67s/it] 61%|██████▏ | 18416/30000 [8:33:24<5:21:33, 1.67s/it] 61%|██████▏ | 18417/30000 [8:33:26<5:21:28, 1.67s/it] 61%|██████▏ | 18418/30000 [8:33:27<5:21:26, 1.67s/it] 61%|██████▏ | 18419/30000 [8:33:29<5:21:17, 1.66s/it] 61%|██████▏ | 18420/30000 [8:33:31<5:21:15, 1.66s/it] {'loss': 0.0161, 'grad_norm': 0.12415607273578644, 'learning_rate': 1.0650279091659852e-05, 'flow_matching_loss': 0.01606525117531419, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.36} + 61%|██████▏ | 18420/30000 [8:33:31<5:21:15, 1.66s/it] 61%|██████▏ | 18421/30000 [8:33:32<5:21:28, 1.67s/it] 61%|██████▏ | 18422/30000 [8:33:34<5:21:33, 1.67s/it] 61%|██████▏ | 18423/30000 [8:33:36<5:21:37, 1.67s/it] 61%|██████▏ | 18424/30000 [8:33:37<5:21:37, 1.67s/it] 61%|██████▏ | 18425/30000 [8:33:39<5:21:33, 1.67s/it] 61%|██████▏ | 18426/30000 [8:33:41<5:21:24, 1.67s/it] 61%|██████▏ | 18427/30000 [8:33:42<5:21:06, 1.66s/it] 61%|██████▏ | 18428/30000 [8:33:44<5:20:56, 1.66s/it] 61%|██████▏ | 18429/30000 [8:33:46<5:20:45, 1.66s/it] 61%|██████▏ | 18430/30000 [8:33:47<5:21:21, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.13323064148426056, 'learning_rate': 1.0634457497575926e-05, 'flow_matching_loss': 0.0193913696333766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.36} + 61%|██████▏ | 18430/30000 [8:33:47<5:21:21, 1.67s/it] 61%|██████▏ | 18431/30000 [8:33:49<5:22:08, 1.67s/it] 61%|██████▏ | 18432/30000 [8:33:51<5:21:38, 1.67s/it] 61%|██████▏ | 18433/30000 [8:33:52<5:20:52, 1.66s/it] 61%|██████▏ | 18434/30000 [8:33:54<5:20:35, 1.66s/it] 61%|██████▏ | 18435/30000 [8:33:56<5:20:33, 1.66s/it] 61%|██████▏ | 18436/30000 [8:33:57<5:20:39, 1.66s/it] 61%|██████▏ | 18437/30000 [8:33:59<5:20:43, 1.66s/it] 61%|██████▏ | 18438/30000 [8:34:01<5:20:33, 1.66s/it] 61%|██████▏ | 18439/30000 [8:34:02<5:20:53, 1.67s/it] 61%|██████▏ | 18440/30000 [8:34:04<5:20:39, 1.66s/it] {'loss': 0.0169, 'grad_norm': 0.09807107597589493, 'learning_rate': 1.061864120803778e-05, 'flow_matching_loss': 0.01688710190355778, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.37} + 61%|██████▏ | 18440/30000 [8:34:04<5:20:39, 1.66s/it] 61%|██████▏ | 18441/30000 [8:34:06<5:20:57, 1.67s/it] 61%|██████▏ | 18442/30000 [8:34:07<5:20:54, 1.67s/it] 61%|██████▏ | 18443/30000 [8:34:09<5:20:45, 1.67s/it] 61%|██████▏ | 18444/30000 [8:34:11<5:20:39, 1.66s/it] 61%|██████▏ | 18445/30000 [8:34:12<5:20:20, 1.66s/it] 61%|██████▏ | 18446/30000 [8:34:14<5:20:36, 1.66s/it] 61%|██████▏ | 18447/30000 [8:34:16<5:20:15, 1.66s/it] 61%|██████▏ | 18448/30000 [8:34:17<5:19:54, 1.66s/it] 61%|██████▏ | 18449/30000 [8:34:19<5:20:23, 1.66s/it] 62%|██████▏ | 18450/30000 [8:34:21<5:20:53, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.14952592551708221, 'learning_rate': 1.0602830242263701e-05, 'flow_matching_loss': 0.018763567414134742, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.37} + 62%|██████▏ | 18450/30000 [8:34:21<5:20:53, 1.67s/it] 62%|██████▏ | 18451/30000 [8:34:22<5:20:33, 1.67s/it] 62%|██████▏ | 18452/30000 [8:34:24<5:20:00, 1.66s/it] 62%|██████▏ | 18453/30000 [8:34:26<5:19:25, 1.66s/it] 62%|██████▏ | 18454/30000 [8:34:27<5:19:30, 1.66s/it] 62%|██████▏ | 18455/30000 [8:34:29<5:19:59, 1.66s/it] 62%|██████▏ | 18456/30000 [8:34:31<5:19:46, 1.66s/it] 62%|██████▏ | 18457/30000 [8:34:32<5:19:50, 1.66s/it] 62%|██████▏ | 18458/30000 [8:34:34<5:20:21, 1.67s/it] 62%|██████▏ | 18459/30000 [8:34:36<5:19:39, 1.66s/it] 62%|██████▏ | 18460/30000 [8:34:37<5:19:45, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.0854465588927269, 'learning_rate': 1.0587024619465506e-05, 'flow_matching_loss': 0.019294168148189784, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.37} + 62%|██████▏ | 18460/30000 [8:34:37<5:19:45, 1.66s/it] 62%|██████▏ | 18461/30000 [8:34:39<5:20:26, 1.67s/it] 62%|██████▏ | 18462/30000 [8:34:41<5:21:07, 1.67s/it] 62%|██████▏ | 18463/30000 [8:34:42<5:21:02, 1.67s/it] 62%|██████▏ | 18464/30000 [8:34:44<5:19:52, 1.66s/it] 62%|██████▏ | 18465/30000 [8:34:46<5:20:00, 1.66s/it] 62%|██████▏ | 18466/30000 [8:34:47<5:19:52, 1.66s/it] 62%|██████▏ | 18467/30000 [8:34:49<5:37:01, 1.75s/it] 62%|██████▏ | 18468/30000 [8:34:51<5:31:40, 1.73s/it] 62%|██████▏ | 18469/30000 [8:34:53<5:28:08, 1.71s/it] 62%|██████▏ | 18470/30000 [8:34:54<5:25:53, 1.70s/it] {'loss': 0.0176, 'grad_norm': 0.07096143066883087, 'learning_rate': 1.0571224358848517e-05, 'flow_matching_loss': 0.017632916569709778, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.37} + 62%|██████▏ | 18470/30000 [8:34:54<5:25:53, 1.70s/it] 62%|██████▏ | 18471/30000 [8:34:56<5:24:19, 1.69s/it] 62%|██████▏ | 18472/30000 [8:34:58<5:22:56, 1.68s/it] 62%|██████▏ | 18473/30000 [8:34:59<5:21:56, 1.68s/it] 62%|██████▏ | 18474/30000 [8:35:01<5:21:26, 1.67s/it] 62%|██████▏ | 18475/30000 [8:35:03<5:20:31, 1.67s/it] 62%|██████▏ | 18476/30000 [8:35:04<5:20:10, 1.67s/it] 62%|██████▏ | 18477/30000 [8:35:06<5:19:54, 1.67s/it] 62%|██████▏ | 18478/30000 [8:35:08<5:19:57, 1.67s/it] 62%|██████▏ | 18479/30000 [8:35:09<5:19:48, 1.67s/it] 62%|██████▏ | 18480/30000 [8:35:11<5:19:38, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.12335168570280075, 'learning_rate': 1.0555429479611537e-05, 'flow_matching_loss': 0.01836219308897853, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.38} + 62%|██████▏ | 18480/30000 [8:35:11<5:19:38, 1.66s/it] 62%|██████▏ | 18481/30000 [8:35:13<5:19:32, 1.66s/it] 62%|██████▏ | 18482/30000 [8:35:14<5:20:03, 1.67s/it] 62%|██████▏ | 18483/30000 [8:35:16<5:19:25, 1.66s/it] 62%|██████▏ | 18484/30000 [8:35:18<5:19:09, 1.66s/it] 62%|██████▏ | 18485/30000 [8:35:19<5:19:15, 1.66s/it] 62%|██████▏ | 18486/30000 [8:35:21<5:19:36, 1.67s/it] 62%|██████▏ | 18487/30000 [8:35:23<5:19:57, 1.67s/it] 62%|██████▏ | 18488/30000 [8:35:24<5:18:55, 1.66s/it] 62%|██████▏ | 18489/30000 [8:35:26<5:18:57, 1.66s/it] 62%|██████▏ | 18490/30000 [8:35:28<5:19:00, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.10395310819149017, 'learning_rate': 1.0539640000946835e-05, 'flow_matching_loss': 0.01932138204574585, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.38} + 62%|██████▏ | 18490/30000 [8:35:28<5:19:00, 1.66s/it] 62%|██████▏ | 18491/30000 [8:35:29<5:19:04, 1.66s/it] 62%|██████▏ | 18492/30000 [8:35:31<5:19:15, 1.66s/it] 62%|██████▏ | 18493/30000 [8:35:33<5:20:37, 1.67s/it] 62%|██████▏ | 18494/30000 [8:35:34<5:20:20, 1.67s/it] 62%|██████▏ | 18495/30000 [8:35:36<5:19:55, 1.67s/it] 62%|██████▏ | 18496/30000 [8:35:38<5:19:46, 1.67s/it] 62%|██████▏ | 18497/30000 [8:35:39<5:19:44, 1.67s/it] 62%|██████▏ | 18498/30000 [8:35:41<5:19:44, 1.67s/it] 62%|██████▏ | 18499/30000 [8:35:43<5:19:33, 1.67s/it] 62%|██████▏ | 18500/30000 [8:35:44<5:18:59, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.10884425789117813, 'learning_rate': 1.0523855942040111e-05, 'flow_matching_loss': 0.01868318784981966, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.38} + 62%|██████▏ | 18500/30000 [8:35:44<5:18:59, 1.66s/it] 62%|██████▏ | 18501/30000 [8:35:46<5:19:19, 1.67s/it] 62%|██████▏ | 18502/30000 [8:35:48<5:19:39, 1.67s/it] 62%|██████▏ | 18503/30000 [8:35:49<5:20:00, 1.67s/it] 62%|██████▏ | 18504/30000 [8:35:51<5:19:29, 1.67s/it] 62%|██████▏ | 18505/30000 [8:35:53<5:19:12, 1.67s/it] 62%|██████▏ | 18506/30000 [8:35:54<5:19:17, 1.67s/it] 62%|██████▏ | 18507/30000 [8:35:56<5:18:51, 1.66s/it] 62%|██████▏ | 18508/30000 [8:35:58<5:18:39, 1.66s/it] 62%|██████▏ | 18509/30000 [8:35:59<5:18:27, 1.66s/it] 62%|██████▏ | 18510/30000 [8:36:01<5:18:41, 1.66s/it] {'loss': 0.0197, 'grad_norm': 0.1020904928445816, 'learning_rate': 1.0508077322070496e-05, 'flow_matching_loss': 0.019670640025287865, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.39} + 62%|██████▏ | 18510/30000 [8:36:01<5:18:41, 1.66s/it] 62%|██████▏ | 18511/30000 [8:36:03<5:18:49, 1.67s/it] 62%|██████▏ | 18512/30000 [8:36:04<5:18:59, 1.67s/it] 62%|██████▏ | 18513/30000 [8:36:06<5:18:59, 1.67s/it] 62%|██████▏ | 18514/30000 [8:36:07<5:18:03, 1.66s/it] 62%|██████▏ | 18515/30000 [8:36:09<5:17:58, 1.66s/it] 62%|██████▏ | 18516/30000 [8:36:11<5:18:11, 1.66s/it] 62%|██████▏ | 18517/30000 [8:36:12<5:18:11, 1.66s/it] 62%|██████▏ | 18518/30000 [8:36:14<5:18:28, 1.66s/it] 62%|██████▏ | 18519/30000 [8:36:16<5:18:37, 1.67s/it] 62%|██████▏ | 18520/30000 [8:36:17<5:18:45, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.11865215003490448, 'learning_rate': 1.0492304160210495e-05, 'flow_matching_loss': 0.01947286743670702, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.39} + 62%|██████▏ | 18520/30000 [8:36:18<5:18:45, 1.67s/it] 62%|██████▏ | 18521/30000 [8:36:19<5:19:03, 1.67s/it] 62%|██████▏ | 18522/30000 [8:36:21<5:19:13, 1.67s/it] 62%|██████▏ | 18523/30000 [8:36:22<5:18:40, 1.67s/it] 62%|██████▏ | 18524/30000 [8:36:24<5:18:00, 1.66s/it] 62%|██████▏ | 18525/30000 [8:36:26<5:18:04, 1.66s/it] 62%|██████▏ | 18526/30000 [8:36:27<5:17:53, 1.66s/it] 62%|██████▏ | 18527/30000 [8:36:29<5:18:22, 1.66s/it] 62%|██████▏ | 18528/30000 [8:36:31<5:17:18, 1.66s/it] 62%|██████▏ | 18529/30000 [8:36:32<5:17:43, 1.66s/it] 62%|██████▏ | 18530/30000 [8:36:34<5:17:55, 1.66s/it] {'loss': 0.0167, 'grad_norm': 0.10542584955692291, 'learning_rate': 1.0476536475625985e-05, 'flow_matching_loss': 0.01674964791163802, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.39} + 62%|██████▏ | 18530/30000 [8:36:34<5:17:55, 1.66s/it] 62%|██████▏ | 18531/30000 [8:36:36<5:17:44, 1.66s/it] 62%|██████▏ | 18532/30000 [8:36:37<5:18:00, 1.66s/it] 62%|██████▏ | 18533/30000 [8:36:39<5:18:28, 1.67s/it] 62%|██████▏ | 18534/30000 [8:36:41<5:18:35, 1.67s/it] 62%|██████▏ | 18535/30000 [8:36:42<5:18:41, 1.67s/it] 62%|██████▏ | 18536/30000 [8:36:44<5:17:57, 1.66s/it] 62%|██████▏ | 18537/30000 [8:36:46<5:17:56, 1.66s/it] 62%|██████▏ | 18538/30000 [8:36:47<5:18:26, 1.67s/it] 62%|██████▏ | 18539/30000 [8:36:49<5:17:55, 1.66s/it] 62%|██████▏ | 18540/30000 [8:36:51<5:17:18, 1.66s/it] {'loss': 0.0193, 'grad_norm': 0.1430034190416336, 'learning_rate': 1.0460774287476195e-05, 'flow_matching_loss': 0.019288205821067095, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.39} + 62%|██████▏ | 18540/30000 [8:36:51<5:17:18, 1.66s/it] 62%|██████▏ | 18541/30000 [8:36:52<5:17:30, 1.66s/it] 62%|██████▏ | 18542/30000 [8:36:54<5:18:13, 1.67s/it] 62%|██████▏ | 18543/30000 [8:36:56<5:17:33, 1.66s/it] 62%|██████▏ | 18544/30000 [8:36:57<5:17:44, 1.66s/it] 62%|██████▏ | 18545/30000 [8:36:59<5:17:37, 1.66s/it] 62%|██████▏ | 18546/30000 [8:37:01<5:17:44, 1.66s/it] 62%|██████▏ | 18547/30000 [8:37:02<5:17:17, 1.66s/it] 62%|██████▏ | 18548/30000 [8:37:04<5:17:22, 1.66s/it] 62%|██████▏ | 18549/30000 [8:37:06<5:17:35, 1.66s/it] 62%|██████▏ | 18550/30000 [8:37:07<5:18:43, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11051329225301743, 'learning_rate': 1.044501761491366e-05, 'flow_matching_loss': 0.018207581713795662, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.4} + 62%|██████▏ | 18550/30000 [8:37:07<5:18:43, 1.67s/it] 62%|██████▏ | 18551/30000 [8:37:09<5:18:35, 1.67s/it] 62%|██████▏ | 18552/30000 [8:37:11<5:18:30, 1.67s/it] 62%|██████▏ | 18553/30000 [8:37:12<5:18:23, 1.67s/it] 62%|██████▏ | 18554/30000 [8:37:14<5:17:59, 1.67s/it] 62%|██████▏ | 18555/30000 [8:37:16<5:17:23, 1.66s/it] 62%|██████▏ | 18556/30000 [8:37:17<5:17:00, 1.66s/it] 62%|██████▏ | 18557/30000 [8:37:19<5:17:09, 1.66s/it] 62%|██████▏ | 18558/30000 [8:37:21<5:17:06, 1.66s/it] 62%|██████▏ | 18559/30000 [8:37:22<5:17:01, 1.66s/it] 62%|██████▏ | 18560/30000 [8:37:24<5:16:59, 1.66s/it] {'loss': 0.0189, 'grad_norm': 0.13548198342323303, 'learning_rate': 1.0429266477084235e-05, 'flow_matching_loss': 0.018940707854926585, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.4} + 62%|██████▏ | 18560/30000 [8:37:24<5:16:59, 1.66s/it] 62%|██████▏ | 18561/30000 [8:37:26<5:17:26, 1.67s/it] 62%|██████▏ | 18562/30000 [8:37:27<5:18:09, 1.67s/it] 62%|██████▏ | 18563/30000 [8:37:29<5:17:23, 1.67s/it] 62%|██████▏ | 18564/30000 [8:37:31<5:17:01, 1.66s/it] 62%|██████▏ | 18565/30000 [8:37:32<5:17:08, 1.66s/it] 62%|██████▏ | 18566/30000 [8:37:34<5:17:26, 1.67s/it] 62%|██████▏ | 18567/30000 [8:37:36<5:17:20, 1.67s/it] 62%|██████▏ | 18568/30000 [8:37:37<5:17:02, 1.66s/it] 62%|██████▏ | 18569/30000 [8:37:39<5:17:05, 1.66s/it] 62%|██████▏ | 18570/30000 [8:37:41<5:16:32, 1.66s/it] {'loss': 0.0199, 'grad_norm': 0.14123110473155975, 'learning_rate': 1.0413520893127034e-05, 'flow_matching_loss': 0.019866415392607452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.4} + 62%|██████▏ | 18570/30000 [8:37:41<5:16:32, 1.66s/it] 62%|██████▏ | 18571/30000 [8:37:42<5:16:53, 1.66s/it] 62%|██████▏ | 18572/30000 [8:37:44<5:16:41, 1.66s/it] 62%|██████▏ | 18573/30000 [8:37:46<5:16:15, 1.66s/it] 62%|██████▏ | 18574/30000 [8:37:47<5:16:33, 1.66s/it] 62%|██████▏ | 18575/30000 [8:37:49<5:16:26, 1.66s/it] 62%|██████▏ | 18576/30000 [8:37:51<5:16:40, 1.66s/it] 62%|██████▏ | 18577/30000 [8:37:52<5:16:03, 1.66s/it] 62%|██████▏ | 18578/30000 [8:37:54<5:16:37, 1.66s/it] 62%|██████▏ | 18579/30000 [8:37:56<5:16:22, 1.66s/it] 62%|██████▏ | 18580/30000 [8:37:57<5:16:19, 1.66s/it] {'loss': 0.0166, 'grad_norm': 0.09525825083255768, 'learning_rate': 1.0397780882174424e-05, 'flow_matching_loss': 0.016550236381590366, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.41} + 62%|██████▏ | 18580/30000 [8:37:57<5:16:19, 1.66s/it] 62%|██████▏ | 18581/30000 [8:37:59<5:16:22, 1.66s/it] 62%|██████▏ | 18582/30000 [8:38:01<5:17:30, 1.67s/it] 62%|██████▏ | 18583/30000 [8:38:02<5:17:30, 1.67s/it] 62%|██████▏ | 18584/30000 [8:38:04<5:17:11, 1.67s/it] 62%|██████▏ | 18585/30000 [8:38:06<5:17:20, 1.67s/it] 62%|██████▏ | 18586/30000 [8:38:07<5:17:25, 1.67s/it] 62%|██████▏ | 18587/30000 [8:38:09<5:16:37, 1.66s/it] 62%|██████▏ | 18588/30000 [8:38:11<5:16:23, 1.66s/it] 62%|██████▏ | 18589/30000 [8:38:12<5:16:52, 1.67s/it] 62%|██████▏ | 18590/30000 [8:38:14<5:17:23, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.11508744210004807, 'learning_rate': 1.0382046463351998e-05, 'flow_matching_loss': 0.01958635412156582, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.41} + 62%|██████▏ | 18590/30000 [8:38:14<5:17:23, 1.67s/it] 62%|██████▏ | 18591/30000 [8:38:16<5:17:52, 1.67s/it] 62%|██████▏ | 18592/30000 [8:38:17<5:17:06, 1.67s/it] 62%|██████▏ | 18593/30000 [8:38:19<5:16:40, 1.67s/it] 62%|██████▏ | 18594/30000 [8:38:21<5:16:53, 1.67s/it] 62%|██████▏ | 18595/30000 [8:38:22<5:16:51, 1.67s/it] 62%|██████▏ | 18596/30000 [8:38:24<5:16:15, 1.66s/it] 62%|██████▏ | 18597/30000 [8:38:26<5:16:09, 1.66s/it] 62%|██████▏ | 18598/30000 [8:38:27<5:16:34, 1.67s/it] 62%|██████▏ | 18599/30000 [8:38:29<5:16:52, 1.67s/it] 62%|██████▏ | 18600/30000 [8:38:31<5:17:06, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1437946856021881, 'learning_rate': 1.0366317655778568e-05, 'flow_matching_loss': 0.018585344217717646, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.41} + 62%|██████▏ | 18600/30000 [8:38:31<5:17:06, 1.67s/it] 62%|██████▏ | 18601/30000 [8:38:32<5:17:00, 1.67s/it] 62%|██████▏ | 18602/30000 [8:38:34<5:16:30, 1.67s/it] 62%|██████▏ | 18603/30000 [8:38:36<5:16:13, 1.66s/it] 62%|██████▏ | 18604/30000 [8:38:37<5:15:41, 1.66s/it] 62%|██████▏ | 18605/30000 [8:38:39<5:16:04, 1.66s/it] 62%|██████▏ | 18606/30000 [8:38:41<5:16:12, 1.67s/it] 62%|██████▏ | 18607/30000 [8:38:42<5:16:20, 1.67s/it] 62%|██████▏ | 18608/30000 [8:38:44<5:16:15, 1.67s/it] 62%|██████▏ | 18609/30000 [8:38:46<5:16:26, 1.67s/it] 62%|██████▏ | 18610/30000 [8:38:47<5:16:25, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.10192413628101349, 'learning_rate': 1.035059447856611e-05, 'flow_matching_loss': 0.01922312267124653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.41} + 62%|██████▏ | 18610/30000 [8:38:47<5:16:25, 1.67s/it] 62%|██████▏ | 18611/30000 [8:38:49<5:16:09, 1.67s/it] 62%|██████▏ | 18612/30000 [8:38:51<5:15:26, 1.66s/it] 62%|██████▏ | 18613/30000 [8:38:52<5:16:02, 1.67s/it] 62%|██████▏ | 18614/30000 [8:38:54<5:16:10, 1.67s/it] 62%|██████▏ | 18615/30000 [8:38:56<5:15:40, 1.66s/it] 62%|██████▏ | 18616/30000 [8:38:57<5:15:30, 1.66s/it] 62%|██████▏ | 18617/30000 [8:38:59<5:15:29, 1.66s/it] 62%|██████▏ | 18618/30000 [8:39:01<5:15:53, 1.67s/it] 62%|██████▏ | 18619/30000 [8:39:02<5:15:51, 1.67s/it] 62%|██████▏ | 18620/30000 [8:39:04<5:15:30, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.1099260151386261, 'learning_rate': 1.0334876950819777e-05, 'flow_matching_loss': 0.01823233123868704, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.42} + 62%|██████▏ | 18620/30000 [8:39:04<5:15:30, 1.66s/it] 62%|██████▏ | 18621/30000 [8:39:06<5:15:46, 1.67s/it] 62%|██████▏ | 18622/30000 [8:39:07<5:15:28, 1.66s/it] 62%|██████▏ | 18623/30000 [8:39:09<5:16:16, 1.67s/it] 62%|██████▏ | 18624/30000 [8:39:11<5:15:36, 1.66s/it] 62%|██████▏ | 18625/30000 [8:39:12<5:15:33, 1.66s/it] 62%|██████▏ | 18626/30000 [8:39:14<5:15:42, 1.67s/it] 62%|██████▏ | 18627/30000 [8:39:16<5:16:17, 1.67s/it] 62%|██████▏ | 18628/30000 [8:39:17<5:16:10, 1.67s/it] 62%|██████▏ | 18629/30000 [8:39:19<5:16:12, 1.67s/it] 62%|██████▏ | 18630/30000 [8:39:21<5:15:32, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11430183053016663, 'learning_rate': 1.0319165091637837e-05, 'flow_matching_loss': 0.017295586224645377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.42} + 62%|██████▏ | 18630/30000 [8:39:21<5:15:32, 1.67s/it] 62%|██████▏ | 18631/30000 [8:39:22<5:16:47, 1.67s/it] 62%|██████▏ | 18632/30000 [8:39:24<5:16:21, 1.67s/it] 62%|██████▏ | 18633/30000 [8:39:26<5:16:19, 1.67s/it] 62%|██████▏ | 18634/30000 [8:39:27<5:16:10, 1.67s/it] 62%|██████▏ | 18635/30000 [8:39:29<5:15:35, 1.67s/it] 62%|██████▏ | 18636/30000 [8:39:31<5:15:24, 1.67s/it] 62%|██████▏ | 18637/30000 [8:39:32<5:15:02, 1.66s/it] 62%|██████▏ | 18638/30000 [8:39:34<5:15:00, 1.66s/it] 62%|██████▏ | 18639/30000 [8:39:36<5:15:13, 1.66s/it] 62%|██████▏ | 18640/30000 [8:39:37<5:15:53, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.09200863540172577, 'learning_rate': 1.0303458920111686e-05, 'flow_matching_loss': 0.018518576864153147, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.42} + 62%|██████▏ | 18640/30000 [8:39:37<5:15:53, 1.67s/it] 62%|██████▏ | 18641/30000 [8:39:39<5:16:30, 1.67s/it] 62%|██████▏ | 18642/30000 [8:39:41<5:16:02, 1.67s/it] 62%|██████▏ | 18643/30000 [8:39:42<5:15:27, 1.67s/it] 62%|██████▏ | 18644/30000 [8:39:44<5:14:41, 1.66s/it] 62%|██████▏ | 18645/30000 [8:39:46<5:15:39, 1.67s/it] 62%|██████▏ | 18646/30000 [8:39:47<5:15:01, 1.66s/it] 62%|██████▏ | 18647/30000 [8:39:49<5:14:58, 1.66s/it] 62%|██████▏ | 18648/30000 [8:39:51<5:14:45, 1.66s/it] 62%|██████▏ | 18649/30000 [8:39:52<5:15:15, 1.67s/it] 62%|██████▏ | 18650/30000 [8:39:54<5:15:04, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.12172975391149521, 'learning_rate': 1.0287758455325803e-05, 'flow_matching_loss': 0.01668002549558878, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.43} + 62%|██████▏ | 18650/30000 [8:39:54<5:15:04, 1.67s/it] 62%|██████▏ | 18651/30000 [8:39:56<5:15:05, 1.67s/it] 62%|██████▏ | 18652/30000 [8:39:57<5:14:54, 1.67s/it] 62%|██████▏ | 18653/30000 [8:39:59<5:14:36, 1.66s/it] 62%|██████▏ | 18654/30000 [8:40:01<5:14:20, 1.66s/it] 62%|██████▏ | 18655/30000 [8:40:02<5:14:53, 1.67s/it] 62%|██████▏ | 18656/30000 [8:40:04<5:14:50, 1.67s/it] 62%|██████▏ | 18657/30000 [8:40:06<5:14:42, 1.66s/it] 62%|██████▏ | 18658/30000 [8:40:07<5:15:09, 1.67s/it] 62%|██████▏ | 18659/30000 [8:40:09<5:14:24, 1.66s/it] 62%|██████▏ | 18660/30000 [8:40:11<5:14:27, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.10911429673433304, 'learning_rate': 1.0272063716357729e-05, 'flow_matching_loss': 0.017263093311339617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.43} + 62%|██████▏ | 18660/30000 [8:40:11<5:14:27, 1.66s/it] 62%|██████▏ | 18661/30000 [8:40:12<5:15:04, 1.67s/it] 62%|██████▏ | 18662/30000 [8:40:14<5:14:23, 1.66s/it] 62%|██████▏ | 18663/30000 [8:40:16<5:14:41, 1.67s/it] 62%|██████▏ | 18664/30000 [8:40:17<5:14:25, 1.66s/it] 62%|██████▏ | 18665/30000 [8:40:19<5:15:33, 1.67s/it] 62%|██████▏ | 18666/30000 [8:40:21<5:15:20, 1.67s/it] 62%|██████▏ | 18667/30000 [8:40:22<5:14:28, 1.66s/it] 62%|██████▏ | 18668/30000 [8:40:24<5:14:34, 1.67s/it] 62%|██████▏ | 18669/30000 [8:40:26<5:14:30, 1.67s/it] 62%|██████▏ | 18670/30000 [8:40:27<5:13:59, 1.66s/it] {'loss': 0.0157, 'grad_norm': 0.13671080768108368, 'learning_rate': 1.0256374722278057e-05, 'flow_matching_loss': 0.01571578048169613, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.43} + 62%|██████▏ | 18670/30000 [8:40:27<5:13:59, 1.66s/it] 62%|██████▏ | 18671/30000 [8:40:29<5:14:38, 1.67s/it] 62%|██████▏ | 18672/30000 [8:40:31<5:14:32, 1.67s/it] 62%|██████▏ | 18673/30000 [8:40:32<5:14:31, 1.67s/it] 62%|██████▏ | 18674/30000 [8:40:34<5:14:56, 1.67s/it] 62%|██████▏ | 18675/30000 [8:40:36<5:14:59, 1.67s/it] 62%|██████▏ | 18676/30000 [8:40:37<5:14:48, 1.67s/it] 62%|██████▏ | 18677/30000 [8:40:39<5:14:36, 1.67s/it] 62%|██████▏ | 18678/30000 [8:40:41<5:14:03, 1.66s/it] 62%|██████▏ | 18679/30000 [8:40:42<5:14:21, 1.67s/it] 62%|██████▏ | 18680/30000 [8:40:44<5:14:13, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.11600562930107117, 'learning_rate': 1.0240691492150388e-05, 'flow_matching_loss': 0.01937252711504698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.43} + 62%|██████▏ | 18680/30000 [8:40:44<5:14:13, 1.67s/it] 62%|██████▏ | 18681/30000 [8:40:46<5:14:20, 1.67s/it] 62%|██████▏ | 18682/30000 [8:40:47<5:14:14, 1.67s/it] 62%|██████▏ | 18683/30000 [8:40:49<5:13:31, 1.66s/it] 62%|██████▏ | 18684/30000 [8:40:51<5:13:19, 1.66s/it] 62%|██████▏ | 18685/30000 [8:40:52<5:13:35, 1.66s/it] 62%|██████▏ | 18686/30000 [8:40:54<5:13:17, 1.66s/it] 62%|██████▏ | 18687/30000 [8:40:56<5:13:44, 1.66s/it] 62%|██████▏ | 18688/30000 [8:40:57<5:13:50, 1.66s/it] 62%|██████▏ | 18689/30000 [8:40:59<5:14:09, 1.67s/it] 62%|██████▏ | 18690/30000 [8:41:01<5:13:48, 1.66s/it] {'loss': 0.019, 'grad_norm': 0.09651155769824982, 'learning_rate': 1.0225014045031334e-05, 'flow_matching_loss': 0.018987805861979724, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.44} + 62%|██████▏ | 18690/30000 [8:41:01<5:13:48, 1.66s/it] 62%|██████▏ | 18691/30000 [8:41:02<5:14:09, 1.67s/it] 62%|██████▏ | 18692/30000 [8:41:04<5:14:13, 1.67s/it] 62%|██████▏ | 18693/30000 [8:41:06<5:13:52, 1.67s/it] 62%|██████▏ | 18694/30000 [8:41:07<5:13:41, 1.66s/it] 62%|██████▏ | 18695/30000 [8:41:09<5:14:00, 1.67s/it] 62%|██████▏ | 18696/30000 [8:41:11<5:13:41, 1.66s/it] 62%|██████▏ | 18697/30000 [8:41:12<5:14:13, 1.67s/it] 62%|██████▏ | 18698/30000 [8:41:14<5:14:09, 1.67s/it] 62%|██████▏ | 18699/30000 [8:41:16<5:13:55, 1.67s/it] 62%|██████▏ | 18700/30000 [8:41:17<5:13:40, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.10048647224903107, 'learning_rate': 1.0209342399970468e-05, 'flow_matching_loss': 0.019501693639904262, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.44} + 62%|██████▏ | 18700/30000 [8:41:17<5:13:40, 1.67s/it] 62%|██████▏ | 18701/30000 [8:41:19<5:14:01, 1.67s/it] 62%|██████▏ | 18702/30000 [8:41:21<5:13:39, 1.67s/it] 62%|██████▏ | 18703/30000 [8:41:22<5:13:37, 1.67s/it] 62%|██████▏ | 18704/30000 [8:41:24<5:13:24, 1.66s/it] 62%|██████▏ | 18705/30000 [8:41:26<5:13:51, 1.67s/it] 62%|██████▏ | 18706/30000 [8:41:27<5:13:12, 1.66s/it] 62%|██████▏ | 18707/30000 [8:41:29<5:13:10, 1.66s/it] 62%|██████▏ | 18708/30000 [8:41:31<5:13:17, 1.66s/it] 62%|██████▏ | 18709/30000 [8:41:32<5:13:23, 1.67s/it] 62%|██████▏ | 18710/30000 [8:41:34<5:13:32, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1272883415222168, 'learning_rate': 1.019367657601031e-05, 'flow_matching_loss': 0.018247301410883664, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.44} + 62%|██████▏ | 18710/30000 [8:41:34<5:13:32, 1.67s/it] 62%|██████▏ | 18711/30000 [8:41:36<5:13:35, 1.67s/it] 62%|██████▏ | 18712/30000 [8:41:37<5:13:15, 1.67s/it] 62%|██████▏ | 18713/30000 [8:41:39<5:13:18, 1.67s/it] 62%|██████▏ | 18714/30000 [8:41:41<5:13:14, 1.67s/it] 62%|██████▏ | 18715/30000 [8:41:42<5:12:50, 1.66s/it] 62%|██████▏ | 18716/30000 [8:41:44<5:12:41, 1.66s/it] 62%|██████▏ | 18717/30000 [8:41:46<5:12:34, 1.66s/it] 62%|██████▏ | 18718/30000 [8:41:47<5:11:45, 1.66s/it] 62%|██████▏ | 18719/30000 [8:41:49<5:12:43, 1.66s/it] 62%|██████▏ | 18720/30000 [8:41:51<5:12:41, 1.66s/it] {'loss': 0.0195, 'grad_norm': 0.11955448240041733, 'learning_rate': 1.0178016592186323e-05, 'flow_matching_loss': 0.019518815353512763, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.45} + 62%|██████▏ | 18720/30000 [8:41:51<5:12:41, 1.66s/it] 62%|██████▏ | 18721/30000 [8:41:52<5:13:04, 1.67s/it] 62%|██████▏ | 18722/30000 [8:41:54<5:13:48, 1.67s/it] 62%|██████▏ | 18723/30000 [8:41:56<5:13:23, 1.67s/it] 62%|██████▏ | 18724/30000 [8:41:57<5:13:26, 1.67s/it] 62%|██████▏ | 18725/30000 [8:41:59<5:13:08, 1.67s/it] 62%|██████▏ | 18726/30000 [8:42:01<5:12:39, 1.66s/it] 62%|██████▏ | 18727/30000 [8:42:02<5:12:55, 1.67s/it] 62%|██████▏ | 18728/30000 [8:42:04<5:12:56, 1.67s/it] 62%|██████▏ | 18729/30000 [8:42:06<5:12:54, 1.67s/it] 62%|██████▏ | 18730/30000 [8:42:07<5:13:07, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.12383384257555008, 'learning_rate': 1.0162362467526861e-05, 'flow_matching_loss': 0.017806249018758536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.45} + 62%|██████▏ | 18730/30000 [8:42:07<5:13:07, 1.67s/it] 62%|██████▏ | 18731/30000 [8:42:09<5:13:39, 1.67s/it] 62%|██████▏ | 18732/30000 [8:42:11<5:13:30, 1.67s/it] 62%|██████▏ | 18733/30000 [8:42:12<5:13:26, 1.67s/it] 62%|██████▏ | 18734/30000 [8:42:14<5:13:30, 1.67s/it] 62%|██████▏ | 18735/30000 [8:42:16<5:13:25, 1.67s/it] 62%|██████▏ | 18736/30000 [8:42:17<5:13:01, 1.67s/it] 62%|██████▏ | 18737/30000 [8:42:19<5:12:51, 1.67s/it] 62%|██████▏ | 18738/30000 [8:42:21<5:13:01, 1.67s/it] 62%|██████▏ | 18739/30000 [8:42:22<5:12:54, 1.67s/it] 62%|██████▏ | 18740/30000 [8:42:24<5:12:36, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.106328584253788, 'learning_rate': 1.0146714221053159e-05, 'flow_matching_loss': 0.021008410863578318, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.45} + 62%|██████▏ | 18740/30000 [8:42:24<5:12:36, 1.67s/it] 62%|██████▏ | 18741/30000 [8:42:26<5:12:51, 1.67s/it] 62%|██████▏ | 18742/30000 [8:42:27<5:12:26, 1.67s/it] 62%|██████▏ | 18743/30000 [8:42:29<5:12:56, 1.67s/it] 62%|██████▏ | 18744/30000 [8:42:31<5:12:39, 1.67s/it] 62%|██████▏ | 18745/30000 [8:42:32<5:12:40, 1.67s/it] 62%|██████▏ | 18746/30000 [8:42:34<5:13:21, 1.67s/it] 62%|██████▏ | 18747/30000 [8:42:36<5:12:42, 1.67s/it] 62%|██████▏ | 18748/30000 [8:42:37<5:12:43, 1.67s/it] 62%|██████▏ | 18749/30000 [8:42:39<5:13:02, 1.67s/it] 62%|██████▎ | 18750/30000 [8:42:41<5:12:15, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.1327686905860901, 'learning_rate': 1.0131071871779314e-05, 'flow_matching_loss': 0.0183987301774323, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.46} + 62%|██████▎ | 18750/30000 [8:42:41<5:12:15, 1.67s/it] 63%|██████▎ | 18751/30000 [8:42:42<5:13:03, 1.67s/it] 63%|██████▎ | 18752/30000 [8:42:44<5:12:50, 1.67s/it] 63%|██████▎ | 18753/30000 [8:42:46<5:13:11, 1.67s/it] 63%|██████▎ | 18754/30000 [8:42:47<5:13:00, 1.67s/it] 63%|██████▎ | 18755/30000 [8:42:49<5:12:36, 1.67s/it] 63%|██████▎ | 18756/30000 [8:42:51<5:12:30, 1.67s/it] 63%|██████▎ | 18757/30000 [8:42:52<5:12:31, 1.67s/it] 63%|██████▎ | 18758/30000 [8:42:54<5:12:11, 1.67s/it] 63%|██████▎ | 18759/30000 [8:42:56<5:12:27, 1.67s/it] 63%|██████▎ | 18760/30000 [8:42:57<5:12:14, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.116078682243824, 'learning_rate': 1.0115435438712249e-05, 'flow_matching_loss': 0.018100299686193467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.46} + 63%|██████▎ | 18760/30000 [8:42:57<5:12:14, 1.67s/it] 63%|██████▎ | 18761/30000 [8:42:59<5:11:52, 1.66s/it] 63%|██████▎ | 18762/30000 [8:43:01<5:11:41, 1.66s/it] 63%|██████▎ | 18763/30000 [8:43:02<5:11:23, 1.66s/it] 63%|██████▎ | 18764/30000 [8:43:04<5:11:27, 1.66s/it] 63%|██████▎ | 18765/30000 [8:43:06<5:11:33, 1.66s/it] 63%|██████▎ | 18766/30000 [8:43:07<5:11:38, 1.66s/it] 63%|██████▎ | 18767/30000 [8:43:09<5:12:02, 1.67s/it] 63%|██████▎ | 18768/30000 [8:43:11<5:12:05, 1.67s/it] 63%|██████▎ | 18769/30000 [8:43:12<5:12:17, 1.67s/it] 63%|██████▎ | 18770/30000 [8:43:14<5:12:18, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.10335596650838852, 'learning_rate': 1.0099804940851716e-05, 'flow_matching_loss': 0.018662921246141197, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.46} + 63%|██████▎ | 18770/30000 [8:43:14<5:12:18, 1.67s/it] 63%|██████▎ | 18771/30000 [8:43:16<5:12:37, 1.67s/it] 63%|██████▎ | 18772/30000 [8:43:17<5:11:35, 1.67s/it] 63%|██████▎ | 18773/30000 [8:43:19<5:12:47, 1.67s/it] 63%|██████▎ | 18774/30000 [8:43:21<5:12:25, 1.67s/it] 63%|██████▎ | 18775/30000 [8:43:22<5:12:31, 1.67s/it] 63%|██████▎ | 18776/30000 [8:43:24<5:12:23, 1.67s/it] 63%|██████▎ | 18777/30000 [8:43:26<5:11:58, 1.67s/it] 63%|██████▎ | 18778/30000 [8:43:27<5:11:44, 1.67s/it] 63%|██████▎ | 18779/30000 [8:43:29<5:11:43, 1.67s/it] 63%|██████▎ | 18780/30000 [8:43:31<5:11:36, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11155541241168976, 'learning_rate': 1.0084180397190238e-05, 'flow_matching_loss': 0.017684410139918328, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.46} + 63%|██████▎ | 18780/30000 [8:43:31<5:11:36, 1.67s/it] 63%|██████▎ | 18781/30000 [8:43:32<5:11:21, 1.67s/it] 63%|██████▎ | 18782/30000 [8:43:34<5:11:08, 1.66s/it] 63%|██████▎ | 18783/30000 [8:43:36<5:11:20, 1.67s/it] 63%|██████▎ | 18784/30000 [8:43:37<5:11:03, 1.66s/it] 63%|██████▎ | 18785/30000 [8:43:39<5:10:57, 1.66s/it] 63%|██████▎ | 18786/30000 [8:43:41<5:11:15, 1.67s/it] 63%|██████▎ | 18787/30000 [8:43:42<5:11:03, 1.66s/it] 63%|██████▎ | 18788/30000 [8:43:44<5:10:57, 1.66s/it] 63%|██████▎ | 18789/30000 [8:43:46<5:11:09, 1.67s/it] 63%|██████▎ | 18790/30000 [8:43:47<5:11:08, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11472411453723907, 'learning_rate': 1.006856182671311e-05, 'flow_matching_loss': 0.01691480278968811, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.47} + 63%|██████▎ | 18790/30000 [8:43:47<5:11:08, 1.67s/it] 63%|██████▎ | 18791/30000 [8:43:49<5:11:15, 1.67s/it] 63%|██████▎ | 18792/30000 [8:43:51<5:11:24, 1.67s/it] 63%|██████▎ | 18793/30000 [8:43:52<5:11:41, 1.67s/it] 63%|██████▎ | 18794/30000 [8:43:54<5:10:49, 1.66s/it] 63%|██████▎ | 18795/30000 [8:43:56<5:10:46, 1.66s/it] 63%|██████▎ | 18796/30000 [8:43:57<5:10:59, 1.67s/it] 63%|██████▎ | 18797/30000 [8:43:59<5:11:24, 1.67s/it] 63%|██████▎ | 18798/30000 [8:44:01<5:11:06, 1.67s/it] 63%|██████▎ | 18799/30000 [8:44:02<5:11:03, 1.67s/it] 63%|██████▎ | 18800/30000 [8:44:04<5:11:14, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.1251518577337265, 'learning_rate': 1.0052949248398367e-05, 'flow_matching_loss': 0.020062326081097127, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.47} + 63%|██████▎ | 18800/30000 [8:44:04<5:11:14, 1.67s/it] 63%|██████▎ | 18801/30000 [8:44:06<5:11:23, 1.67s/it] 63%|██████▎ | 18802/30000 [8:44:07<5:11:40, 1.67s/it] 63%|██████▎ | 18803/30000 [8:44:09<5:11:08, 1.67s/it] 63%|██████▎ | 18804/30000 [8:44:11<5:10:34, 1.66s/it] 63%|██████▎ | 18805/30000 [8:44:12<5:10:49, 1.67s/it] 63%|██████▎ | 18806/30000 [8:44:14<5:10:28, 1.66s/it] 63%|██████▎ | 18807/30000 [8:44:16<5:11:20, 1.67s/it] 63%|██████▎ | 18808/30000 [8:44:17<5:10:33, 1.66s/it] 63%|██████▎ | 18809/30000 [8:44:19<5:11:10, 1.67s/it] 63%|██████▎ | 18810/30000 [8:44:21<5:11:18, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.1296793669462204, 'learning_rate': 1.003734268121676e-05, 'flow_matching_loss': 0.017194561101496218, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.47} + 63%|██████▎ | 18810/30000 [8:44:21<5:11:18, 1.67s/it] 63%|██████▎ | 18811/30000 [8:44:22<5:11:16, 1.67s/it] 63%|██████▎ | 18812/30000 [8:44:24<5:10:53, 1.67s/it] 63%|██████▎ | 18813/30000 [8:44:26<5:10:55, 1.67s/it] 63%|██████▎ | 18814/30000 [8:44:27<5:10:37, 1.67s/it] 63%|██████▎ | 18815/30000 [8:44:29<5:10:51, 1.67s/it] 63%|██████▎ | 18816/30000 [8:44:31<5:10:44, 1.67s/it] 63%|██████▎ | 18817/30000 [8:44:32<5:10:36, 1.67s/it] 63%|██████▎ | 18818/30000 [8:44:34<5:10:36, 1.67s/it] 63%|██████▎ | 18819/30000 [8:44:36<5:10:27, 1.67s/it] 63%|██████▎ | 18820/30000 [8:44:37<5:10:21, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11867190897464752, 'learning_rate': 1.0021742144131744e-05, 'flow_matching_loss': 0.01923928502947092, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.48} + 63%|██████▎ | 18820/30000 [8:44:37<5:10:21, 1.67s/it] 63%|██████▎ | 18821/30000 [8:44:39<5:10:41, 1.67s/it] 63%|██████▎ | 18822/30000 [8:44:41<5:10:20, 1.67s/it] 63%|██████▎ | 18823/30000 [8:44:42<5:10:32, 1.67s/it] 63%|██████▎ | 18824/30000 [8:44:44<5:10:26, 1.67s/it] 63%|██████▎ | 18825/30000 [8:44:46<5:10:15, 1.67s/it] 63%|██████▎ | 18826/30000 [8:44:47<5:10:11, 1.67s/it] 63%|██████▎ | 18827/30000 [8:44:49<5:10:44, 1.67s/it] 63%|██████▎ | 18828/30000 [8:44:51<5:10:39, 1.67s/it] 63%|██████▎ | 18829/30000 [8:44:52<5:10:36, 1.67s/it] 63%|██████▎ | 18830/30000 [8:44:54<5:10:20, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.13635176420211792, 'learning_rate': 1.000614765609944e-05, 'flow_matching_loss': 0.01827420396730304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.48} + 63%|██████▎ | 18830/30000 [8:44:54<5:10:20, 1.67s/it] 63%|██████▎ | 18831/30000 [8:44:56<5:10:39, 1.67s/it] 63%|██████▎ | 18832/30000 [8:44:57<5:10:00, 1.67s/it] 63%|██████▎ | 18833/30000 [8:44:59<5:10:06, 1.67s/it] 63%|██████▎ | 18834/30000 [8:45:01<5:09:49, 1.66s/it] 63%|██████▎ | 18835/30000 [8:45:02<5:09:44, 1.66s/it] 63%|██████▎ | 18836/30000 [8:45:04<5:09:23, 1.66s/it] 63%|██████▎ | 18837/30000 [8:45:06<5:09:29, 1.66s/it] 63%|██████▎ | 18838/30000 [8:45:07<5:09:19, 1.66s/it] 63%|██████▎ | 18839/30000 [8:45:09<5:09:41, 1.66s/it] 63%|██████▎ | 18840/30000 [8:45:11<5:09:43, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.11052890121936798, 'learning_rate': 9.990559236068628e-06, 'flow_matching_loss': 0.0179285304620862, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.48} + 63%|██████▎ | 18840/30000 [8:45:11<5:09:43, 1.67s/it] 63%|██████▎ | 18841/30000 [8:45:12<5:09:22, 1.66s/it] 63%|██████▎ | 18842/30000 [8:45:14<5:09:38, 1.67s/it] 63%|██████▎ | 18843/30000 [8:45:16<5:09:25, 1.66s/it] 63%|██████▎ | 18844/30000 [8:45:17<5:09:26, 1.66s/it] 63%|██████▎ | 18845/30000 [8:45:19<5:09:56, 1.67s/it] 63%|██████▎ | 18846/30000 [8:45:21<5:09:55, 1.67s/it] 63%|██████▎ | 18847/30000 [8:45:22<5:09:55, 1.67s/it] 63%|██████▎ | 18848/30000 [8:45:24<5:09:37, 1.67s/it] 63%|██████▎ | 18849/30000 [8:45:26<5:09:46, 1.67s/it] 63%|██████▎ | 18850/30000 [8:45:27<5:09:51, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.12109103798866272, 'learning_rate': 9.974976902980703e-06, 'flow_matching_loss': 0.019454232417047024, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.48} + 63%|██████▎ | 18850/30000 [8:45:27<5:09:51, 1.67s/it] 63%|██████▎ | 18851/30000 [8:45:29<5:09:52, 1.67s/it] 63%|██████▎ | 18852/30000 [8:45:31<5:09:38, 1.67s/it] 63%|██████▎ | 18853/30000 [8:45:32<5:09:16, 1.66s/it] 63%|██████▎ | 18854/30000 [8:45:34<5:08:57, 1.66s/it] 63%|██████▎ | 18855/30000 [8:45:36<5:09:15, 1.66s/it] 63%|██████▎ | 18856/30000 [8:45:37<5:09:08, 1.66s/it] 63%|██████▎ | 18857/30000 [8:45:39<5:08:55, 1.66s/it] 63%|██████▎ | 18858/30000 [8:45:41<5:10:11, 1.67s/it] 63%|██████▎ | 18859/30000 [8:45:42<5:09:31, 1.67s/it] 63%|██████▎ | 18860/30000 [8:45:44<5:09:10, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.10322652012109756, 'learning_rate': 9.959400675769668e-06, 'flow_matching_loss': 0.016893887147307395, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.49} + 63%|██████▎ | 18860/30000 [8:45:44<5:09:10, 1.67s/it] 63%|██████▎ | 18861/30000 [8:45:46<5:08:59, 1.66s/it] 63%|██████▎ | 18862/30000 [8:45:47<5:08:40, 1.66s/it] 63%|██████▎ | 18863/30000 [8:45:49<5:08:55, 1.66s/it] 63%|██████▎ | 18864/30000 [8:45:51<5:08:56, 1.66s/it] 63%|██████▎ | 18865/30000 [8:45:52<5:09:31, 1.67s/it] 63%|██████▎ | 18866/30000 [8:45:54<5:09:06, 1.67s/it] 63%|██████▎ | 18867/30000 [8:45:56<5:08:38, 1.66s/it] 63%|██████▎ | 18868/30000 [8:45:57<5:08:41, 1.66s/it] 63%|██████▎ | 18869/30000 [8:45:59<5:08:52, 1.66s/it] 63%|██████▎ | 18870/30000 [8:46:01<5:09:04, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.11741591989994049, 'learning_rate': 9.943830573362106e-06, 'flow_matching_loss': 0.018394294939935208, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.49} + 63%|██████▎ | 18870/30000 [8:46:01<5:09:04, 1.67s/it] 63%|██████▎ | 18871/30000 [8:46:02<5:09:40, 1.67s/it] 63%|██████▎ | 18872/30000 [8:46:04<5:09:17, 1.67s/it] 63%|██████▎ | 18873/30000 [8:46:06<5:09:27, 1.67s/it] 63%|██████▎ | 18874/30000 [8:46:07<5:09:19, 1.67s/it] 63%|██████▎ | 18875/30000 [8:46:09<5:09:09, 1.67s/it] 63%|██████▎ | 18876/30000 [8:46:11<5:08:50, 1.67s/it] 63%|██████▎ | 18877/30000 [8:46:12<5:09:03, 1.67s/it] 63%|██████▎ | 18878/30000 [8:46:14<5:09:08, 1.67s/it] 63%|██████▎ | 18879/30000 [8:46:16<5:09:07, 1.67s/it] 63%|██████▎ | 18880/30000 [8:46:17<5:08:39, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12458182126283646, 'learning_rate': 9.928266614677168e-06, 'flow_matching_loss': 0.0169313027523458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.49} + 63%|██████▎ | 18880/30000 [8:46:17<5:08:39, 1.67s/it] 63%|██████▎ | 18881/30000 [8:46:19<5:08:36, 1.67s/it] 63%|██████▎ | 18882/30000 [8:46:21<5:08:42, 1.67s/it] 63%|██████▎ | 18883/30000 [8:46:22<5:08:36, 1.67s/it] 63%|██████▎ | 18884/30000 [8:46:24<5:08:12, 1.66s/it] 63%|██████▎ | 18885/30000 [8:46:26<5:08:26, 1.67s/it] 63%|██████▎ | 18886/30000 [8:46:27<5:08:02, 1.66s/it] 63%|██████▎ | 18887/30000 [8:46:29<5:08:02, 1.66s/it] 63%|██████▎ | 18888/30000 [8:46:31<5:08:06, 1.66s/it] 63%|██████▎ | 18889/30000 [8:46:32<5:08:23, 1.67s/it] 63%|██████▎ | 18890/30000 [8:46:34<5:08:28, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1017889529466629, 'learning_rate': 9.912708818626524e-06, 'flow_matching_loss': 0.01817349689081311, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.5} + 63%|██████▎ | 18890/30000 [8:46:34<5:08:28, 1.67s/it] 63%|██████▎ | 18891/30000 [8:46:36<5:08:25, 1.67s/it] 63%|██████▎ | 18892/30000 [8:46:37<5:08:12, 1.66s/it] 63%|██████▎ | 18893/30000 [8:46:39<5:08:45, 1.67s/it] 63%|██████▎ | 18894/30000 [8:46:41<5:08:23, 1.67s/it] 63%|██████▎ | 18895/30000 [8:46:42<5:08:34, 1.67s/it] 63%|██████▎ | 18896/30000 [8:46:44<5:08:22, 1.67s/it] 63%|██████▎ | 18897/30000 [8:46:46<5:08:43, 1.67s/it] 63%|██████▎ | 18898/30000 [8:46:47<5:08:35, 1.67s/it] 63%|██████▎ | 18899/30000 [8:46:49<5:08:35, 1.67s/it] 63%|██████▎ | 18900/30000 [8:46:51<5:08:24, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10177814215421677, 'learning_rate': 9.897157204114369e-06, 'flow_matching_loss': 0.016305177100002767, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.5} + 63%|██████▎ | 18900/30000 [8:46:51<5:08:24, 1.67s/it] 63%|██████▎ | 18901/30000 [8:46:52<5:08:12, 1.67s/it] 63%|██████▎ | 18902/30000 [8:46:54<5:07:41, 1.66s/it] 63%|██████▎ | 18903/30000 [8:46:56<5:08:30, 1.67s/it] 63%|██████▎ | 18904/30000 [8:46:57<5:08:13, 1.67s/it] 63%|██████▎ | 18905/30000 [8:46:59<5:08:22, 1.67s/it] 63%|██████▎ | 18906/30000 [8:47:01<5:08:09, 1.67s/it] 63%|██████▎ | 18907/30000 [8:47:02<5:07:52, 1.67s/it] 63%|██████▎ | 18908/30000 [8:47:04<5:07:10, 1.66s/it] 63%|██████▎ | 18909/30000 [8:47:05<5:07:30, 1.66s/it] 63%|██████▎ | 18910/30000 [8:47:07<5:07:23, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.09907092154026031, 'learning_rate': 9.881611790037375e-06, 'flow_matching_loss': 0.017655039299279453, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.5} + 63%|██████▎ | 18910/30000 [8:47:07<5:07:23, 1.66s/it] 63%|██████▎ | 18911/30000 [8:47:09<5:07:44, 1.67s/it] 63%|██████▎ | 18912/30000 [8:47:10<5:07:42, 1.67s/it] 63%|██████▎ | 18913/30000 [8:47:12<5:07:34, 1.66s/it] 63%|██████▎ | 18914/30000 [8:47:14<5:07:42, 1.67s/it] 63%|██████▎ | 18915/30000 [8:47:15<5:07:17, 1.66s/it] 63%|██████▎ | 18916/30000 [8:47:17<5:07:16, 1.66s/it] 63%|██████▎ | 18917/30000 [8:47:19<5:07:24, 1.66s/it] 63%|██████▎ | 18918/30000 [8:47:20<5:07:21, 1.66s/it] 63%|██████▎ | 18919/30000 [8:47:22<5:07:45, 1.67s/it] 63%|██████▎ | 18920/30000 [8:47:24<5:07:39, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.12769119441509247, 'learning_rate': 9.866072595284684e-06, 'flow_matching_loss': 0.01848355894908309, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.5} + 63%|██████▎ | 18920/30000 [8:47:24<5:07:39, 1.67s/it] 63%|██████▎ | 18921/30000 [8:47:25<5:07:43, 1.67s/it] 63%|██████▎ | 18922/30000 [8:47:27<5:07:40, 1.67s/it] 63%|██████▎ | 18923/30000 [8:47:29<5:07:15, 1.66s/it] 63%|██████▎ | 18924/30000 [8:47:30<5:07:01, 1.66s/it] 63%|██████▎ | 18925/30000 [8:47:32<5:07:27, 1.67s/it] 63%|██████▎ | 18926/30000 [8:47:34<5:07:30, 1.67s/it] 63%|██████▎ | 18927/30000 [8:47:35<5:07:33, 1.67s/it] 63%|██████▎ | 18928/30000 [8:47:37<5:07:38, 1.67s/it] 63%|██████▎ | 18929/30000 [8:47:39<5:07:32, 1.67s/it] 63%|██████▎ | 18930/30000 [8:47:40<5:08:29, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10889927297830582, 'learning_rate': 9.850539638737894e-06, 'flow_matching_loss': 0.01834001000970602, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.51} + 63%|██████▎ | 18930/30000 [8:47:41<5:08:29, 1.67s/it] 63%|██████▎ | 18931/30000 [8:47:42<5:09:10, 1.68s/it] 63%|██████▎ | 18932/30000 [8:47:44<5:08:24, 1.67s/it] 63%|██████▎ | 18933/30000 [8:47:46<5:07:58, 1.67s/it] 63%|██████▎ | 18934/30000 [8:47:47<5:07:36, 1.67s/it] 63%|██████▎ | 18935/30000 [8:47:49<5:08:23, 1.67s/it] 63%|██████▎ | 18936/30000 [8:47:51<5:07:53, 1.67s/it] 63%|██████▎ | 18937/30000 [8:47:52<5:07:31, 1.67s/it] 63%|██████▎ | 18938/30000 [8:47:54<5:07:25, 1.67s/it] 63%|██████▎ | 18939/30000 [8:47:56<5:07:16, 1.67s/it] 63%|██████▎ | 18940/30000 [8:47:57<5:07:02, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.11111082136631012, 'learning_rate': 9.835012939271006e-06, 'flow_matching_loss': 0.016125283762812616, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.51} + 63%|██████▎ | 18940/30000 [8:47:57<5:07:02, 1.67s/it] 63%|██████▎ | 18941/30000 [8:47:59<5:07:00, 1.67s/it] 63%|██████▎ | 18942/30000 [8:48:01<5:07:30, 1.67s/it] 63%|██████▎ | 18943/30000 [8:48:02<5:08:10, 1.67s/it] 63%|██████▎ | 18944/30000 [8:48:04<5:08:00, 1.67s/it] 63%|██████▎ | 18945/30000 [8:48:06<5:07:05, 1.67s/it] 63%|██████▎ | 18946/30000 [8:48:07<5:07:12, 1.67s/it] 63%|██████▎ | 18947/30000 [8:48:09<5:07:04, 1.67s/it] 63%|██████▎ | 18948/30000 [8:48:11<5:06:40, 1.66s/it] 63%|██████▎ | 18949/30000 [8:48:12<5:06:37, 1.66s/it] 63%|██████▎ | 18950/30000 [8:48:14<5:06:18, 1.66s/it] {'loss': 0.0181, 'grad_norm': 0.10839236527681351, 'learning_rate': 9.819492515750418e-06, 'flow_matching_loss': 0.01807233989238739, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.51} + 63%|██████▎ | 18950/30000 [8:48:14<5:06:18, 1.66s/it] 63%|██████▎ | 18951/30000 [8:48:16<5:06:57, 1.67s/it] 63%|██████▎ | 18952/30000 [8:48:17<5:06:54, 1.67s/it] 63%|██████▎ | 18953/30000 [8:48:19<5:06:58, 1.67s/it] 63%|██████▎ | 18954/30000 [8:48:20<5:06:12, 1.66s/it] 63%|██████▎ | 18955/30000 [8:48:22<5:07:05, 1.67s/it] 63%|██████▎ | 18956/30000 [8:48:24<5:06:44, 1.67s/it] 63%|██████▎ | 18957/30000 [8:48:26<5:06:49, 1.67s/it] 63%|██████▎ | 18958/30000 [8:48:27<5:07:17, 1.67s/it] 63%|██████▎ | 18959/30000 [8:48:29<5:07:28, 1.67s/it] 63%|██████▎ | 18960/30000 [8:48:31<5:06:38, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.0958537682890892, 'learning_rate': 9.803978387034918e-06, 'flow_matching_loss': 0.017716866079717876, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.52} + 63%|██████▎ | 18960/30000 [8:48:31<5:06:38, 1.67s/it] 63%|██████▎ | 18961/30000 [8:48:32<5:06:40, 1.67s/it] 63%|██████▎ | 18962/30000 [8:48:34<5:06:23, 1.67s/it] 63%|██████▎ | 18963/30000 [8:48:36<5:06:06, 1.66s/it] 63%|██████▎ | 18964/30000 [8:48:37<5:06:23, 1.67s/it] 63%|██████▎ | 18965/30000 [8:48:39<5:06:21, 1.67s/it] 63%|██████▎ | 18966/30000 [8:48:41<5:06:49, 1.67s/it] 63%|██████▎ | 18967/30000 [8:48:42<5:06:52, 1.67s/it] 63%|██████▎ | 18968/30000 [8:48:44<5:06:12, 1.67s/it] 63%|██████▎ | 18969/30000 [8:48:46<5:06:03, 1.66s/it] 63%|██████▎ | 18970/30000 [8:48:47<5:06:11, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.08768431097269058, 'learning_rate': 9.788470571975624e-06, 'flow_matching_loss': 0.019319348223507404, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.52} + 63%|██████▎ | 18970/30000 [8:48:47<5:06:11, 1.67s/it] 63%|██████▎ | 18971/30000 [8:48:49<5:06:18, 1.67s/it] 63%|██████▎ | 18972/30000 [8:48:51<5:06:05, 1.67s/it] 63%|██████▎ | 18973/30000 [8:48:52<5:06:06, 1.67s/it] 63%|██████▎ | 18974/30000 [8:48:54<5:05:46, 1.66s/it] 63%|██████▎ | 18975/30000 [8:48:55<5:05:53, 1.66s/it] 63%|██████▎ | 18976/30000 [8:48:57<5:05:46, 1.66s/it] 63%|██████▎ | 18977/30000 [8:48:59<5:06:02, 1.67s/it] 63%|██████▎ | 18978/30000 [8:49:00<5:06:03, 1.67s/it] 63%|██████▎ | 18979/30000 [8:49:02<5:05:35, 1.66s/it] 63%|██████▎ | 18980/30000 [8:49:04<5:05:12, 1.66s/it] {'loss': 0.0204, 'grad_norm': 0.1282084733247757, 'learning_rate': 9.772969089416008e-06, 'flow_matching_loss': 0.02035780670121312, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.52} + 63%|██████▎ | 18980/30000 [8:49:04<5:05:12, 1.66s/it] 63%|██████▎ | 18981/30000 [8:49:05<5:05:28, 1.66s/it] 63%|██████▎ | 18982/30000 [8:49:07<5:05:15, 1.66s/it] 63%|██████▎ | 18983/30000 [8:49:09<5:05:39, 1.66s/it] 63%|██████▎ | 18984/30000 [8:49:10<5:06:00, 1.67s/it] 63%|██████▎ | 18985/30000 [8:49:12<5:05:46, 1.67s/it] 63%|██████▎ | 18986/30000 [8:49:14<5:05:50, 1.67s/it] 63%|██████▎ | 18987/30000 [8:49:15<5:05:33, 1.66s/it] 63%|██████▎ | 18988/30000 [8:49:17<5:05:19, 1.66s/it] 63%|██████▎ | 18989/30000 [8:49:19<5:05:27, 1.66s/it] 63%|██████▎ | 18990/30000 [8:49:20<5:05:23, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.15080048143863678, 'learning_rate': 9.757473958191822e-06, 'flow_matching_loss': 0.018382502160966395, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.53} + 63%|██████▎ | 18990/30000 [8:49:21<5:05:23, 1.66s/it] 63%|██████▎ | 18991/30000 [8:49:22<5:05:52, 1.67s/it] 63%|██████▎ | 18992/30000 [8:49:24<5:05:51, 1.67s/it] 63%|██████▎ | 18993/30000 [8:49:25<5:06:06, 1.67s/it] 63%|██████▎ | 18994/30000 [8:49:27<5:05:52, 1.67s/it] 63%|██████▎ | 18995/30000 [8:49:29<5:05:25, 1.67s/it] 63%|██████▎ | 18996/30000 [8:49:30<5:05:17, 1.66s/it] 63%|██████▎ | 18997/30000 [8:49:32<5:05:23, 1.67s/it] 63%|██████▎ | 18998/30000 [8:49:34<5:05:17, 1.66s/it] 63%|██████▎ | 18999/30000 [8:49:35<5:05:31, 1.67s/it] 63%|██████▎ | 19000/30000 [8:49:37<5:05:37, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10300574451684952, 'learning_rate': 9.741985197131118e-06, 'flow_matching_loss': 0.01752695143222809, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.53} + 63%|██████▎ | 19000/30000 [8:49:37<5:05:37, 1.67s/it] 63%|██████▎ | 19001/30000 [8:49:39<5:05:38, 1.67s/it] 63%|██████▎ | 19002/30000 [8:49:40<5:05:44, 1.67s/it] 63%|██████▎ | 19003/30000 [8:49:42<5:05:21, 1.67s/it] 63%|██████▎ | 19004/30000 [8:49:44<5:05:01, 1.66s/it] 63%|██████▎ | 19005/30000 [8:49:45<5:05:05, 1.66s/it] 63%|██████▎ | 19006/30000 [8:49:47<5:04:45, 1.66s/it] 63%|██████▎ | 19007/30000 [8:49:49<5:04:45, 1.66s/it] 63%|██████▎ | 19008/30000 [8:49:50<5:04:20, 1.66s/it] 63%|██████▎ | 19009/30000 [8:49:52<5:04:15, 1.66s/it] 63%|██████▎ | 19010/30000 [8:49:54<5:04:29, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.10475291311740875, 'learning_rate': 9.726502825054195e-06, 'flow_matching_loss': 0.01771414475515485, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.53} + 63%|██████▎ | 19010/30000 [8:49:54<5:04:29, 1.66s/it] 63%|██████▎ | 19011/30000 [8:49:55<5:05:02, 1.67s/it] 63%|██████▎ | 19012/30000 [8:49:57<5:05:01, 1.67s/it] 63%|██████▎ | 19013/30000 [8:49:59<5:05:00, 1.67s/it] 63%|██████▎ | 19014/30000 [8:50:00<5:04:33, 1.66s/it] 63%|██████▎ | 19015/30000 [8:50:02<5:04:44, 1.66s/it] 63%|██████▎ | 19016/30000 [8:50:04<5:04:29, 1.66s/it] 63%|██████▎ | 19017/30000 [8:50:05<5:04:13, 1.66s/it] 63%|██████▎ | 19018/30000 [8:50:07<5:04:25, 1.66s/it] 63%|██████▎ | 19019/30000 [8:50:09<5:04:25, 1.66s/it] 63%|██████▎ | 19020/30000 [8:50:10<5:04:06, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.10977334529161453, 'learning_rate': 9.711026860773595e-06, 'flow_matching_loss': 0.017074431478977203, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.53} + 63%|██████▎ | 19020/30000 [8:50:10<5:04:06, 1.66s/it] 63%|██████▎ | 19021/30000 [8:50:12<5:04:29, 1.66s/it] 63%|██████▎ | 19022/30000 [8:50:14<5:04:07, 1.66s/it] 63%|██████▎ | 19023/30000 [8:50:15<5:04:15, 1.66s/it] 63%|██████▎ | 19024/30000 [8:50:17<5:04:23, 1.66s/it] 63%|██████▎ | 19025/30000 [8:50:19<5:04:14, 1.66s/it] 63%|██████▎ | 19026/30000 [8:50:20<5:04:33, 1.67s/it] 63%|██████▎ | 19027/30000 [8:50:22<5:04:25, 1.66s/it] 63%|██████▎ | 19028/30000 [8:50:24<5:04:30, 1.67s/it] 63%|██████▎ | 19029/30000 [8:50:25<5:04:30, 1.67s/it] 63%|██████▎ | 19030/30000 [8:50:27<5:04:01, 1.66s/it] {'loss': 0.0199, 'grad_norm': 0.10403621941804886, 'learning_rate': 9.69555732309408e-06, 'flow_matching_loss': 0.019922139775007962, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.54} + 63%|██████▎ | 19030/30000 [8:50:27<5:04:01, 1.66s/it] 63%|██████▎ | 19031/30000 [8:50:29<5:04:01, 1.66s/it] 63%|██████▎ | 19032/30000 [8:50:30<5:03:45, 1.66s/it] 63%|██████▎ | 19033/30000 [8:50:32<5:04:01, 1.66s/it] 63%|██████▎ | 19034/30000 [8:50:34<5:04:53, 1.67s/it] 63%|██████▎ | 19035/30000 [8:50:35<5:04:51, 1.67s/it] 63%|██████▎ | 19036/30000 [8:50:37<5:04:09, 1.66s/it] 63%|██████▎ | 19037/30000 [8:50:39<5:04:04, 1.66s/it] 63%|██████▎ | 19038/30000 [8:50:40<5:04:02, 1.66s/it] 63%|██████▎ | 19039/30000 [8:50:42<5:04:28, 1.67s/it] 63%|██████▎ | 19040/30000 [8:50:44<5:04:17, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.12484503537416458, 'learning_rate': 9.68009423081259e-06, 'flow_matching_loss': 0.021144051104784012, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.54} + 63%|██████▎ | 19040/30000 [8:50:44<5:04:17, 1.67s/it] 63%|██████▎ | 19041/30000 [8:50:45<5:04:19, 1.67s/it] 63%|██████▎ | 19042/30000 [8:50:47<5:04:24, 1.67s/it] 63%|██████▎ | 19043/30000 [8:50:49<5:04:34, 1.67s/it] 63%|██████▎ | 19044/30000 [8:50:50<5:04:21, 1.67s/it] 63%|██████▎ | 19045/30000 [8:50:52<5:04:29, 1.67s/it] 63%|██████▎ | 19046/30000 [8:50:54<5:03:49, 1.66s/it] 63%|██████▎ | 19047/30000 [8:50:55<5:04:03, 1.67s/it] 63%|██████▎ | 19048/30000 [8:50:57<5:04:05, 1.67s/it] 63%|██████▎ | 19049/30000 [8:50:59<5:03:36, 1.66s/it] 64%|██████▎ | 19050/30000 [8:51:00<5:03:18, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.1178353875875473, 'learning_rate': 9.664637602718249e-06, 'flow_matching_loss': 0.01866129469126463, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.54} + 64%|██████▎ | 19050/30000 [8:51:00<5:03:18, 1.66s/it] 64%|██████▎ | 19051/30000 [8:51:02<5:03:42, 1.66s/it] 64%|██████▎ | 19052/30000 [8:51:04<5:03:22, 1.66s/it] 64%|██████▎ | 19053/30000 [8:51:05<5:03:27, 1.66s/it] 64%|██████▎ | 19054/30000 [8:51:07<5:03:06, 1.66s/it] 64%|██████▎ | 19055/30000 [8:51:09<5:04:12, 1.67s/it] 64%|██████▎ | 19056/30000 [8:51:10<5:03:50, 1.67s/it] 64%|██████▎ | 19057/30000 [8:51:12<5:04:02, 1.67s/it] 64%|██████▎ | 19058/30000 [8:51:14<5:03:43, 1.67s/it] 64%|██████▎ | 19059/30000 [8:51:15<5:04:17, 1.67s/it] 64%|██████▎ | 19060/30000 [8:51:17<5:03:11, 1.66s/it] {'loss': 0.021, 'grad_norm': 0.14949558675289154, 'learning_rate': 9.649187457592313e-06, 'flow_matching_loss': 0.021042852476239205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.55} + 64%|██████▎ | 19060/30000 [8:51:17<5:03:11, 1.66s/it] 64%|██████▎ | 19061/30000 [8:51:19<5:03:41, 1.67s/it] 64%|██████▎ | 19062/30000 [8:51:20<5:03:54, 1.67s/it] 64%|██████▎ | 19063/30000 [8:51:22<5:03:41, 1.67s/it] 64%|██████▎ | 19064/30000 [8:51:24<5:03:42, 1.67s/it] 64%|██████▎ | 19065/30000 [8:51:25<5:03:40, 1.67s/it] 64%|██████▎ | 19066/30000 [8:51:27<5:03:35, 1.67s/it] 64%|██████▎ | 19067/30000 [8:51:29<5:03:19, 1.66s/it] 64%|██████▎ | 19068/30000 [8:51:30<5:03:37, 1.67s/it] 64%|██████▎ | 19069/30000 [8:51:32<5:03:44, 1.67s/it] 64%|██████▎ | 19070/30000 [8:51:34<5:03:32, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.14447075128555298, 'learning_rate': 9.63374381420816e-06, 'flow_matching_loss': 0.01886871885508299, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.55} + 64%|██████▎ | 19070/30000 [8:51:34<5:03:32, 1.67s/it] 64%|██████▎ | 19071/30000 [8:51:35<5:03:46, 1.67s/it] 64%|██████▎ | 19072/30000 [8:51:37<5:03:48, 1.67s/it] 64%|██████▎ | 19073/30000 [8:51:39<5:03:43, 1.67s/it] 64%|██████▎ | 19074/30000 [8:51:40<5:03:21, 1.67s/it] 64%|██████▎ | 19075/30000 [8:51:42<5:03:06, 1.66s/it] 64%|██████▎ | 19076/30000 [8:51:44<5:02:40, 1.66s/it] 64%|██████▎ | 19077/30000 [8:51:45<5:03:01, 1.66s/it] 64%|██████▎ | 19078/30000 [8:51:47<5:02:49, 1.66s/it] 64%|██████▎ | 19079/30000 [8:51:49<5:02:54, 1.66s/it] 64%|██████▎ | 19080/30000 [8:51:50<5:03:20, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.10176192224025726, 'learning_rate': 9.618306691331279e-06, 'flow_matching_loss': 0.018935919366776945, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.55} + 64%|██████▎ | 19080/30000 [8:51:50<5:03:20, 1.67s/it] 64%|██████▎ | 19081/30000 [8:51:52<5:03:15, 1.67s/it] 64%|██████▎ | 19082/30000 [8:51:54<5:03:19, 1.67s/it] 64%|██████▎ | 19083/30000 [8:51:55<5:02:55, 1.66s/it] 64%|██████▎ | 19084/30000 [8:51:57<5:03:03, 1.67s/it] 64%|██████▎ | 19085/30000 [8:51:59<5:02:56, 1.67s/it] 64%|██████▎ | 19086/30000 [8:52:00<5:03:14, 1.67s/it] 64%|██████▎ | 19087/30000 [8:52:02<5:04:02, 1.67s/it] 64%|██████▎ | 19088/30000 [8:52:04<5:02:46, 1.66s/it] 64%|██████▎ | 19089/30000 [8:52:05<5:02:58, 1.67s/it] 64%|██████▎ | 19090/30000 [8:52:07<5:03:03, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.2025754153728485, 'learning_rate': 9.602876107719228e-06, 'flow_matching_loss': 0.01800505295395851, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.55} + 64%|██████▎ | 19090/30000 [8:52:07<5:03:03, 1.67s/it] 64%|██████▎ | 19091/30000 [8:52:09<5:02:50, 1.67s/it] 64%|██████▎ | 19092/30000 [8:52:10<5:02:54, 1.67s/it] 64%|██████▎ | 19093/30000 [8:52:12<5:03:08, 1.67s/it] 64%|██████▎ | 19094/30000 [8:52:14<5:02:42, 1.67s/it] 64%|██████▎ | 19095/30000 [8:52:15<5:03:14, 1.67s/it] 64%|██████▎ | 19096/30000 [8:52:17<5:02:55, 1.67s/it] 64%|██████▎ | 19097/30000 [8:52:19<5:02:54, 1.67s/it] 64%|██████▎ | 19098/30000 [8:52:20<5:02:19, 1.66s/it] 64%|██████▎ | 19099/30000 [8:52:22<5:02:16, 1.66s/it] 64%|██████▎ | 19100/30000 [8:52:24<5:02:15, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.1081930473446846, 'learning_rate': 9.587452082121621e-06, 'flow_matching_loss': 0.018808890040963887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.56} + 64%|██████▎ | 19100/30000 [8:52:24<5:02:15, 1.66s/it] 64%|██████▎ | 19101/30000 [8:52:25<5:03:05, 1.67s/it] 64%|██████▎ | 19102/30000 [8:52:27<5:02:33, 1.67s/it] 64%|██████▎ | 19103/30000 [8:52:29<5:02:57, 1.67s/it] 64%|██████▎ | 19104/30000 [8:52:30<5:02:43, 1.67s/it] 64%|██████▎ | 19105/30000 [8:52:32<5:02:40, 1.67s/it] 64%|██████▎ | 19106/30000 [8:52:34<5:03:07, 1.67s/it] 64%|██████▎ | 19107/30000 [8:52:35<5:02:52, 1.67s/it] 64%|██████▎ | 19108/30000 [8:52:37<5:03:18, 1.67s/it] 64%|██████▎ | 19109/30000 [8:52:39<5:03:05, 1.67s/it] 64%|██████▎ | 19110/30000 [8:52:40<5:02:49, 1.67s/it] {'loss': 0.0213, 'grad_norm': 0.10022231191396713, 'learning_rate': 9.57203463328011e-06, 'flow_matching_loss': 0.02130957329645753, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.56} + 64%|██████▎ | 19110/30000 [8:52:40<5:02:49, 1.67s/it] 64%|██████▎ | 19111/30000 [8:52:42<5:03:17, 1.67s/it] 64%|██████▎ | 19112/30000 [8:52:44<5:03:04, 1.67s/it] 64%|██████▎ | 19113/30000 [8:52:45<5:02:55, 1.67s/it] 64%|██████▎ | 19114/30000 [8:52:47<5:03:36, 1.67s/it] 64%|██████▎ | 19115/30000 [8:52:49<5:03:36, 1.67s/it] 64%|██████▎ | 19116/30000 [8:52:50<5:02:51, 1.67s/it] 64%|██████▎ | 19117/30000 [8:52:52<5:02:00, 1.67s/it] 64%|██████▎ | 19118/30000 [8:52:54<5:01:57, 1.66s/it] 64%|██████▎ | 19119/30000 [8:52:55<5:01:46, 1.66s/it] 64%|██████▎ | 19120/30000 [8:52:57<5:02:13, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.12775549292564392, 'learning_rate': 9.556623779928341e-06, 'flow_matching_loss': 0.019302107207477093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.56} + 64%|██████▎ | 19120/30000 [8:52:57<5:02:13, 1.67s/it] 64%|██████▎ | 19121/30000 [8:52:59<5:02:35, 1.67s/it] 64%|██████▎ | 19122/30000 [8:53:00<5:02:45, 1.67s/it] 64%|██████▎ | 19123/30000 [8:53:02<5:03:10, 1.67s/it] 64%|██████▎ | 19124/30000 [8:53:04<5:02:15, 1.67s/it] 64%|██████▍ | 19125/30000 [8:53:05<5:02:56, 1.67s/it] 64%|██████▍ | 19126/30000 [8:53:07<5:02:37, 1.67s/it] 64%|██████▍ | 19127/30000 [8:53:09<5:02:22, 1.67s/it] 64%|██████▍ | 19128/30000 [8:53:10<5:02:07, 1.67s/it] 64%|██████▍ | 19129/30000 [8:53:12<5:02:12, 1.67s/it] 64%|██████▍ | 19130/30000 [8:53:14<5:02:21, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.1274813860654831, 'learning_rate': 9.541219540791949e-06, 'flow_matching_loss': 0.019612749107182026, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.57} + 64%|██████▍ | 19130/30000 [8:53:14<5:02:21, 1.67s/it] 64%|██████▍ | 19131/30000 [8:53:15<5:02:18, 1.67s/it] 64%|██████▍ | 19132/30000 [8:53:17<5:02:13, 1.67s/it] 64%|██████▍ | 19133/30000 [8:53:19<5:02:01, 1.67s/it] 64%|██████▍ | 19134/30000 [8:53:20<5:02:17, 1.67s/it] 64%|██████▍ | 19135/30000 [8:53:22<5:02:15, 1.67s/it] 64%|██████▍ | 19136/30000 [8:53:24<5:01:47, 1.67s/it] 64%|██████▍ | 19137/30000 [8:53:25<5:01:52, 1.67s/it] 64%|██████▍ | 19138/30000 [8:53:27<5:01:54, 1.67s/it] 64%|██████▍ | 19139/30000 [8:53:29<5:01:46, 1.67s/it] 64%|██████▍ | 19140/30000 [8:53:30<5:01:27, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.14926809072494507, 'learning_rate': 9.525821934588551e-06, 'flow_matching_loss': 0.01871837507933378, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.57} + 64%|██████▍ | 19140/30000 [8:53:30<5:01:27, 1.67s/it] 64%|██████▍ | 19141/30000 [8:53:32<5:01:46, 1.67s/it] 64%|██████▍ | 19142/30000 [8:53:34<5:01:30, 1.67s/it] 64%|██████▍ | 19143/30000 [8:53:35<5:01:33, 1.67s/it] 64%|██████▍ | 19144/30000 [8:53:37<5:01:26, 1.67s/it] 64%|██████▍ | 19145/30000 [8:53:39<5:02:24, 1.67s/it] 64%|██████▍ | 19146/30000 [8:53:40<5:02:04, 1.67s/it] 64%|██████▍ | 19147/30000 [8:53:42<5:01:54, 1.67s/it] 64%|██████▍ | 19148/30000 [8:53:44<5:01:28, 1.67s/it] 64%|██████▍ | 19149/30000 [8:53:45<5:01:33, 1.67s/it] 64%|██████▍ | 19150/30000 [8:53:47<5:01:01, 1.66s/it] {'loss': 0.0189, 'grad_norm': 0.14132040739059448, 'learning_rate': 9.510430980027684e-06, 'flow_matching_loss': 0.018874313961714507, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.57} + 64%|██████▍ | 19150/30000 [8:53:47<5:01:01, 1.66s/it] 64%|██████▍ | 19151/30000 [8:53:49<5:01:04, 1.67s/it] 64%|██████▍ | 19152/30000 [8:53:50<5:01:16, 1.67s/it] 64%|██████▍ | 19153/30000 [8:53:52<5:01:07, 1.67s/it] 64%|██████▍ | 19154/30000 [8:53:54<5:01:14, 1.67s/it] 64%|██████▍ | 19155/30000 [8:53:55<5:00:43, 1.66s/it] 64%|██████▍ | 19156/30000 [8:53:57<5:01:00, 1.67s/it] 64%|██████▍ | 19157/30000 [8:53:59<5:01:02, 1.67s/it] 64%|██████▍ | 19158/30000 [8:54:00<5:01:03, 1.67s/it] 64%|██████▍ | 19159/30000 [8:54:02<5:01:28, 1.67s/it] 64%|██████▍ | 19160/30000 [8:54:04<5:00:54, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.13762977719306946, 'learning_rate': 9.495046695810809e-06, 'flow_matching_loss': 0.02053571632131934, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.57} + 64%|██████▍ | 19160/30000 [8:54:04<5:00:54, 1.67s/it] 64%|██████▍ | 19161/30000 [8:54:05<5:01:14, 1.67s/it] 64%|██████▍ | 19162/30000 [8:54:07<5:01:07, 1.67s/it] 64%|██████▍ | 19163/30000 [8:54:09<5:00:50, 1.67s/it] 64%|██████▍ | 19164/30000 [8:54:10<5:00:42, 1.67s/it] 64%|██████▍ | 19165/30000 [8:54:12<5:01:11, 1.67s/it] 64%|██████▍ | 19166/30000 [8:54:14<5:00:52, 1.67s/it] 64%|██████▍ | 19167/30000 [8:54:15<5:01:15, 1.67s/it] 64%|██████▍ | 19168/30000 [8:54:17<5:01:11, 1.67s/it] 64%|██████▍ | 19169/30000 [8:54:19<5:01:52, 1.67s/it] 64%|██████▍ | 19170/30000 [8:54:20<5:01:39, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11847151815891266, 'learning_rate': 9.47966910063128e-06, 'flow_matching_loss': 0.01583217177540064, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.58} + 64%|██████▍ | 19170/30000 [8:54:20<5:01:39, 1.67s/it] 64%|██████▍ | 19171/30000 [8:54:22<5:01:43, 1.67s/it] 64%|██████▍ | 19172/30000 [8:54:24<5:01:01, 1.67s/it] 64%|██████▍ | 19173/30000 [8:54:25<5:00:30, 1.67s/it] 64%|██████▍ | 19174/30000 [8:54:27<5:00:19, 1.66s/it] 64%|██████▍ | 19175/30000 [8:54:29<5:00:43, 1.67s/it] 64%|██████▍ | 19176/30000 [8:54:30<5:00:42, 1.67s/it] 64%|██████▍ | 19177/30000 [8:54:32<5:00:56, 1.67s/it] 64%|██████▍ | 19178/30000 [8:54:34<5:00:38, 1.67s/it] 64%|██████▍ | 19179/30000 [8:54:35<5:00:20, 1.67s/it] 64%|██████▍ | 19180/30000 [8:54:37<5:00:22, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.0892588272690773, 'learning_rate': 9.464298213174325e-06, 'flow_matching_loss': 0.01856242623180151, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.58} + 64%|██████▍ | 19180/30000 [8:54:37<5:00:22, 1.67s/it] 64%|██████▍ | 19181/30000 [8:54:39<5:00:34, 1.67s/it] 64%|██████▍ | 19182/30000 [8:54:40<5:00:16, 1.67s/it] 64%|██████▍ | 19183/30000 [8:54:42<5:00:44, 1.67s/it] 64%|██████▍ | 19184/30000 [8:54:44<5:00:25, 1.67s/it] 64%|██████▍ | 19185/30000 [8:54:45<5:00:27, 1.67s/it] 64%|██████▍ | 19186/30000 [8:54:47<5:00:22, 1.67s/it] 64%|██████▍ | 19187/30000 [8:54:49<5:00:11, 1.67s/it] 64%|██████▍ | 19188/30000 [8:54:50<4:59:58, 1.66s/it] 64%|██████▍ | 19189/30000 [8:54:52<4:59:59, 1.66s/it] 64%|██████▍ | 19190/30000 [8:54:54<4:59:49, 1.66s/it] {'loss': 0.0195, 'grad_norm': 0.14749811589717865, 'learning_rate': 9.448934052117024e-06, 'flow_matching_loss': 0.019484141655266286, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.58} + 64%|██████▍ | 19190/30000 [8:54:54<4:59:49, 1.66s/it] 64%|██████▍ | 19191/30000 [8:54:55<5:00:14, 1.67s/it] 64%|██████▍ | 19192/30000 [8:54:57<5:00:29, 1.67s/it] 64%|██████▍ | 19193/30000 [8:54:59<5:00:59, 1.67s/it] 64%|██████▍ | 19194/30000 [8:55:00<5:00:49, 1.67s/it] 64%|██████▍ | 19195/30000 [8:55:02<5:00:25, 1.67s/it] 64%|██████▍ | 19196/30000 [8:55:04<5:00:25, 1.67s/it] 64%|██████▍ | 19197/30000 [8:55:05<5:00:25, 1.67s/it] 64%|██████▍ | 19198/30000 [8:55:07<5:00:05, 1.67s/it] 64%|██████▍ | 19199/30000 [8:55:09<5:00:08, 1.67s/it] 64%|██████▍ | 19200/30000 [8:55:10<4:59:10, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.11694437265396118, 'learning_rate': 9.433576636128284e-06, 'flow_matching_loss': 0.019435427617281675, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.59} + 64%|██████▍ | 19200/30000 [8:55:10<4:59:10, 1.66s/it] 64%|██████▍ | 19201/30000 [8:55:12<4:59:45, 1.67s/it] 64%|██████▍ | 19202/30000 [8:55:14<5:00:20, 1.67s/it] 64%|██████▍ | 19203/30000 [8:55:15<4:59:51, 1.67s/it] 64%|██████▍ | 19204/30000 [8:55:17<4:59:43, 1.67s/it] 64%|██████▍ | 19205/30000 [8:55:19<4:59:28, 1.66s/it] 64%|██████▍ | 19206/30000 [8:55:20<4:58:47, 1.66s/it] 64%|██████▍ | 19207/30000 [8:55:22<4:58:41, 1.66s/it] 64%|██████▍ | 19208/30000 [8:55:24<4:59:00, 1.66s/it] 64%|██████▍ | 19209/30000 [8:55:25<4:58:52, 1.66s/it] 64%|██████▍ | 19210/30000 [8:55:27<4:59:06, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.114799365401268, 'learning_rate': 9.41822598386881e-06, 'flow_matching_loss': 0.017019775789231063, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.59} + 64%|██████▍ | 19210/30000 [8:55:27<4:59:06, 1.66s/it] 64%|██████▍ | 19211/30000 [8:55:29<4:59:13, 1.66s/it] 64%|██████▍ | 19212/30000 [8:55:30<4:59:49, 1.67s/it] 64%|██████▍ | 19213/30000 [8:55:32<4:59:28, 1.67s/it] 64%|██████▍ | 19214/30000 [8:55:34<4:59:22, 1.67s/it] 64%|██████▍ | 19215/30000 [8:55:35<4:59:39, 1.67s/it] 64%|██████▍ | 19216/30000 [8:55:37<4:59:36, 1.67s/it] 64%|██████▍ | 19217/30000 [8:55:39<5:00:30, 1.67s/it] 64%|██████▍ | 19218/30000 [8:55:40<5:00:40, 1.67s/it] 64%|██████▍ | 19219/30000 [8:55:42<5:00:09, 1.67s/it] 64%|██████▍ | 19220/30000 [8:55:44<4:59:25, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.12298855185508728, 'learning_rate': 9.402882113991094e-06, 'flow_matching_loss': 0.01900353953242302, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.59} + 64%|██████▍ | 19220/30000 [8:55:44<4:59:25, 1.67s/it] 64%|██████▍ | 19221/30000 [8:55:45<4:59:06, 1.66s/it] 64%|██████▍ | 19222/30000 [8:55:47<4:58:54, 1.66s/it] 64%|██████▍ | 19223/30000 [8:55:49<4:59:27, 1.67s/it] 64%|██████▍ | 19224/30000 [8:55:50<4:58:51, 1.66s/it] 64%|██████▍ | 19225/30000 [8:55:52<4:58:52, 1.66s/it] 64%|██████▍ | 19226/30000 [8:55:54<4:59:00, 1.67s/it] 64%|██████▍ | 19227/30000 [8:55:55<4:58:56, 1.66s/it] 64%|██████▍ | 19228/30000 [8:55:57<4:58:26, 1.66s/it] 64%|██████▍ | 19229/30000 [8:55:59<4:59:36, 1.67s/it] 64%|██████▍ | 19230/30000 [8:56:00<4:59:19, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.11982268840074539, 'learning_rate': 9.387545045139381e-06, 'flow_matching_loss': 0.019261476770043372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.59} + 64%|██████▍ | 19230/30000 [8:56:00<4:59:19, 1.67s/it] 64%|██████▍ | 19231/30000 [8:56:02<4:59:35, 1.67s/it] 64%|██████▍ | 19232/30000 [8:56:04<4:59:20, 1.67s/it] 64%|██████▍ | 19233/30000 [8:56:05<4:59:27, 1.67s/it] 64%|██████▍ | 19234/30000 [8:56:07<4:59:07, 1.67s/it] 64%|██████▍ | 19235/30000 [8:56:09<4:58:49, 1.67s/it] 64%|██████▍ | 19236/30000 [8:56:10<4:58:46, 1.67s/it] 64%|██████▍ | 19237/30000 [8:56:12<4:59:17, 1.67s/it] 64%|██████▍ | 19238/30000 [8:56:14<4:58:37, 1.66s/it] 64%|██████▍ | 19239/30000 [8:56:15<4:59:17, 1.67s/it] 64%|██████▍ | 19240/30000 [8:56:17<4:58:40, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10742893069982529, 'learning_rate': 9.372214795949655e-06, 'flow_matching_loss': 0.018615310825407506, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.6} + 64%|██████▍ | 19240/30000 [8:56:17<4:58:40, 1.67s/it] 64%|██████▍ | 19241/30000 [8:56:19<4:58:25, 1.66s/it] 64%|██████▍ | 19242/30000 [8:56:20<4:58:33, 1.67s/it] 64%|██████▍ | 19243/30000 [8:56:22<4:58:23, 1.66s/it] 64%|██████▍ | 19244/30000 [8:56:24<4:57:59, 1.66s/it] 64%|██████▍ | 19245/30000 [8:56:25<4:57:52, 1.66s/it] 64%|██████▍ | 19246/30000 [8:56:27<4:58:09, 1.66s/it] 64%|██████▍ | 19247/30000 [8:56:29<4:58:13, 1.66s/it] 64%|██████▍ | 19248/30000 [8:56:30<4:57:57, 1.66s/it] 64%|██████▍ | 19249/30000 [8:56:32<4:58:42, 1.67s/it] 64%|██████▍ | 19250/30000 [8:56:34<4:58:45, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.1008368507027626, 'learning_rate': 9.356891385049618e-06, 'flow_matching_loss': 0.019845620915293693, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.6} + 64%|██████▍ | 19250/30000 [8:56:34<4:58:45, 1.67s/it] 64%|██████▍ | 19251/30000 [8:56:35<4:58:31, 1.67s/it] 64%|██████▍ | 19252/30000 [8:56:37<4:58:34, 1.67s/it] 64%|██████▍ | 19253/30000 [8:56:39<4:58:13, 1.66s/it] 64%|██████▍ | 19254/30000 [8:56:40<4:57:43, 1.66s/it] 64%|██████▍ | 19255/30000 [8:56:42<4:58:00, 1.66s/it] 64%|██████▍ | 19256/30000 [8:56:44<4:57:52, 1.66s/it] 64%|██████▍ | 19257/30000 [8:56:45<4:58:07, 1.67s/it] 64%|██████▍ | 19258/30000 [8:56:47<4:58:03, 1.66s/it] 64%|██████▍ | 19259/30000 [8:56:49<4:57:40, 1.66s/it] 64%|██████▍ | 19260/30000 [8:56:50<4:57:35, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.11591773480176926, 'learning_rate': 9.341574831058664e-06, 'flow_matching_loss': 0.018722860794514417, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.6} + 64%|██████▍ | 19260/30000 [8:56:50<4:57:35, 1.66s/it] 64%|██████▍ | 19261/30000 [8:56:52<4:57:41, 1.66s/it] 64%|██████▍ | 19262/30000 [8:56:54<4:57:23, 1.66s/it] 64%|██████▍ | 19263/30000 [8:56:55<4:58:19, 1.67s/it] 64%|██████▍ | 19264/30000 [8:56:57<4:57:41, 1.66s/it] 64%|██████▍ | 19265/30000 [8:56:59<4:58:25, 1.67s/it] 64%|██████▍ | 19266/30000 [8:57:00<4:57:57, 1.67s/it] 64%|██████▍ | 19267/30000 [8:57:02<4:57:41, 1.66s/it] 64%|██████▍ | 19268/30000 [8:57:04<4:57:33, 1.66s/it] 64%|██████▍ | 19269/30000 [8:57:05<4:57:39, 1.66s/it] 64%|██████▍ | 19270/30000 [8:57:07<4:57:12, 1.66s/it] {'loss': 0.015, 'grad_norm': 0.12201916426420212, 'learning_rate': 9.326265152587844e-06, 'flow_matching_loss': 0.014956412464380264, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.61} + 64%|██████▍ | 19270/30000 [8:57:07<4:57:12, 1.66s/it] 64%|██████▍ | 19271/30000 [8:57:09<4:58:30, 1.67s/it] 64%|██████▍ | 19272/30000 [8:57:10<4:58:22, 1.67s/it] 64%|██████▍ | 19273/30000 [8:57:12<4:57:34, 1.66s/it] 64%|██████▍ | 19274/30000 [8:57:14<4:57:45, 1.67s/it] 64%|██████▍ | 19275/30000 [8:57:15<4:56:59, 1.66s/it] 64%|██████▍ | 19276/30000 [8:57:17<4:57:15, 1.66s/it] 64%|██████▍ | 19277/30000 [8:57:19<4:57:45, 1.67s/it] 64%|██████▍ | 19278/30000 [8:57:20<4:57:11, 1.66s/it] 64%|██████▍ | 19279/30000 [8:57:22<4:57:33, 1.67s/it] 64%|██████▍ | 19280/30000 [8:57:24<4:57:21, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.13628718256950378, 'learning_rate': 9.310962368239861e-06, 'flow_matching_loss': 0.02131477538496256, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.61} + 64%|██████▍ | 19280/30000 [8:57:24<4:57:21, 1.66s/it] 64%|██████▍ | 19281/30000 [8:57:25<4:57:42, 1.67s/it] 64%|██████▍ | 19282/30000 [8:57:27<4:57:45, 1.67s/it] 64%|██████▍ | 19283/30000 [8:57:29<4:57:06, 1.66s/it] 64%|██████▍ | 19284/30000 [8:57:30<4:56:47, 1.66s/it] 64%|██████▍ | 19285/30000 [8:57:32<4:56:46, 1.66s/it] 64%|██████▍ | 19286/30000 [8:57:34<4:56:59, 1.66s/it] 64%|██████▍ | 19287/30000 [8:57:35<4:57:02, 1.66s/it] 64%|██████▍ | 19288/30000 [8:57:37<4:57:32, 1.67s/it] 64%|██████▍ | 19289/30000 [8:57:39<4:57:31, 1.67s/it] 64%|██████▍ | 19290/30000 [8:57:40<4:57:24, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10389823466539383, 'learning_rate': 9.295666496609036e-06, 'flow_matching_loss': 0.017478516884148122, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.61} + 64%|██████▍ | 19290/30000 [8:57:40<4:57:24, 1.67s/it] 64%|██████▍ | 19291/30000 [8:57:42<4:57:11, 1.67s/it] 64%|██████▍ | 19292/30000 [8:57:44<4:56:53, 1.66s/it] 64%|██████▍ | 19293/30000 [8:57:45<4:57:12, 1.67s/it] 64%|██████▍ | 19294/30000 [8:57:47<4:57:26, 1.67s/it] 64%|██████▍ | 19295/30000 [8:57:49<4:57:27, 1.67s/it] 64%|██████▍ | 19296/30000 [8:57:50<4:57:23, 1.67s/it] 64%|██████▍ | 19297/30000 [8:57:52<4:57:56, 1.67s/it] 64%|██████▍ | 19298/30000 [8:57:54<4:57:41, 1.67s/it] 64%|██████▍ | 19299/30000 [8:57:55<4:57:05, 1.67s/it] 64%|██████▍ | 19300/30000 [8:57:57<4:57:12, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.12020125985145569, 'learning_rate': 9.280377556281306e-06, 'flow_matching_loss': 0.020627759955823423, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.62} + 64%|██████▍ | 19300/30000 [8:57:57<4:57:12, 1.67s/it] 64%|██████▍ | 19301/30000 [8:57:59<4:56:52, 1.66s/it] 64%|██████▍ | 19302/30000 [8:58:00<4:56:15, 1.66s/it] 64%|██████▍ | 19303/30000 [8:58:02<4:56:43, 1.66s/it] 64%|██████▍ | 19304/30000 [8:58:04<4:56:37, 1.66s/it] 64%|██████▍ | 19305/30000 [8:58:05<4:56:51, 1.67s/it] 64%|██████▍ | 19306/30000 [8:58:07<4:56:42, 1.66s/it] 64%|██████▍ | 19307/30000 [8:58:09<4:56:45, 1.67s/it] 64%|██████▍ | 19308/30000 [8:58:10<4:56:38, 1.66s/it] 64%|██████▍ | 19309/30000 [8:58:12<4:56:14, 1.66s/it] 64%|██████▍ | 19310/30000 [8:58:14<4:56:20, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.10039559006690979, 'learning_rate': 9.265095565834172e-06, 'flow_matching_loss': 0.018487440422177315, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.62} + 64%|██████▍ | 19310/30000 [8:58:14<4:56:20, 1.66s/it] 64%|██████▍ | 19311/30000 [8:58:15<4:56:31, 1.66s/it] 64%|██████▍ | 19312/30000 [8:58:17<4:56:24, 1.66s/it] 64%|██████▍ | 19313/30000 [8:58:19<4:56:33, 1.66s/it] 64%|██████▍ | 19314/30000 [8:58:20<4:56:36, 1.67s/it] 64%|██████▍ | 19315/30000 [8:58:22<4:56:15, 1.66s/it] 64%|██████▍ | 19316/30000 [8:58:24<4:57:04, 1.67s/it] 64%|██████▍ | 19317/30000 [8:58:25<4:56:59, 1.67s/it] 64%|██████▍ | 19318/30000 [8:58:27<4:56:25, 1.67s/it] 64%|██████▍ | 19319/30000 [8:58:29<4:56:21, 1.66s/it] 64%|██████▍ | 19320/30000 [8:58:30<4:56:01, 1.66s/it] {'loss': 0.0197, 'grad_norm': 0.11802852898836136, 'learning_rate': 9.249820543836688e-06, 'flow_matching_loss': 0.019682161789387465, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.62} + 64%|██████▍ | 19320/30000 [8:58:30<4:56:01, 1.66s/it] 64%|██████▍ | 19321/30000 [8:58:32<4:56:19, 1.66s/it] 64%|██████▍ | 19322/30000 [8:58:34<4:56:25, 1.67s/it] 64%|██████▍ | 19323/30000 [8:58:35<4:56:13, 1.66s/it] 64%|██████▍ | 19324/30000 [8:58:37<4:55:53, 1.66s/it] 64%|██████▍ | 19325/30000 [8:58:39<4:55:46, 1.66s/it] 64%|██████▍ | 19326/30000 [8:58:40<4:55:32, 1.66s/it] 64%|██████▍ | 19327/30000 [8:58:42<4:55:48, 1.66s/it] 64%|██████▍ | 19328/30000 [8:58:44<4:56:26, 1.67s/it] 64%|██████▍ | 19329/30000 [8:58:45<4:55:51, 1.66s/it] 64%|██████▍ | 19330/30000 [8:58:47<4:56:27, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.08937034755945206, 'learning_rate': 9.234552508849454e-06, 'flow_matching_loss': 0.017308564763516186, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.62} + 64%|██████▍ | 19330/30000 [8:58:47<4:56:27, 1.67s/it] 64%|██████▍ | 19331/30000 [8:58:49<4:56:11, 1.67s/it] 64%|██████▍ | 19332/30000 [8:58:50<4:55:53, 1.66s/it] 64%|██████▍ | 19333/30000 [8:58:52<4:55:46, 1.66s/it] 64%|██████▍ | 19334/30000 [8:58:54<4:55:40, 1.66s/it] 64%|██████▍ | 19335/30000 [8:58:55<4:56:15, 1.67s/it] 64%|██████▍ | 19336/30000 [8:58:57<4:56:14, 1.67s/it] 64%|██████▍ | 19337/30000 [8:58:59<4:56:28, 1.67s/it] 64%|██████▍ | 19338/30000 [8:59:00<4:56:03, 1.67s/it] 64%|██████▍ | 19339/30000 [8:59:02<4:55:42, 1.66s/it] 64%|██████▍ | 19340/30000 [8:59:04<4:55:29, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.13842961192131042, 'learning_rate': 9.21929147942456e-06, 'flow_matching_loss': 0.018248696438968183, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.63} + 64%|██████▍ | 19340/30000 [8:59:04<4:55:29, 1.66s/it] 64%|██████▍ | 19341/30000 [8:59:05<4:55:31, 1.66s/it] 64%|██████▍ | 19342/30000 [8:59:07<4:55:18, 1.66s/it] 64%|██████▍ | 19343/30000 [8:59:09<4:55:56, 1.67s/it] 64%|██████▍ | 19344/30000 [8:59:10<4:55:59, 1.67s/it] 64%|██████▍ | 19345/30000 [8:59:12<4:56:16, 1.67s/it] 64%|██████▍ | 19346/30000 [8:59:14<4:56:06, 1.67s/it] 64%|██████▍ | 19347/30000 [8:59:15<4:55:46, 1.67s/it] 64%|██████▍ | 19348/30000 [8:59:17<4:55:26, 1.66s/it] 64%|██████▍ | 19349/30000 [8:59:19<4:55:33, 1.67s/it] 64%|██████▍ | 19350/30000 [8:59:20<4:55:13, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.08607830852270126, 'learning_rate': 9.204037474105611e-06, 'flow_matching_loss': 0.01638423427939415, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.63} + 64%|██████▍ | 19350/30000 [8:59:20<4:55:13, 1.66s/it] 65%|██████▍ | 19351/30000 [8:59:22<4:55:17, 1.66s/it] 65%|██████▍ | 19352/30000 [8:59:24<4:55:17, 1.66s/it] 65%|██████▍ | 19353/30000 [8:59:25<4:55:23, 1.66s/it] 65%|██████▍ | 19354/30000 [8:59:27<4:55:28, 1.67s/it] 65%|██████▍ | 19355/30000 [8:59:29<4:55:37, 1.67s/it] 65%|██████▍ | 19356/30000 [8:59:30<4:55:25, 1.67s/it] 65%|██████▍ | 19357/30000 [8:59:32<4:55:04, 1.66s/it] 65%|██████▍ | 19358/30000 [8:59:34<4:55:03, 1.66s/it] 65%|██████▍ | 19359/30000 [8:59:35<4:55:23, 1.67s/it] 65%|██████▍ | 19360/30000 [8:59:37<4:54:57, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.08751888573169708, 'learning_rate': 9.188790511427653e-06, 'flow_matching_loss': 0.017123131919652222, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.63} + 65%|██████▍ | 19360/30000 [8:59:37<4:54:57, 1.66s/it] 65%|██████▍ | 19361/30000 [8:59:39<4:55:21, 1.67s/it] 65%|██████▍ | 19362/30000 [8:59:40<4:55:48, 1.67s/it] 65%|██████▍ | 19363/30000 [8:59:42<4:55:36, 1.67s/it] 65%|██████▍ | 19364/30000 [8:59:44<4:55:22, 1.67s/it] 65%|██████▍ | 19365/30000 [8:59:45<4:55:21, 1.67s/it] 65%|██████▍ | 19366/30000 [8:59:47<4:55:18, 1.67s/it] 65%|██████▍ | 19367/30000 [8:59:48<4:55:09, 1.67s/it] 65%|██████▍ | 19368/30000 [8:59:50<4:55:10, 1.67s/it] 65%|██████▍ | 19369/30000 [8:59:52<4:55:51, 1.67s/it] 65%|██████▍ | 19370/30000 [8:59:54<4:55:42, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.16497762501239777, 'learning_rate': 9.173550609917186e-06, 'flow_matching_loss': 0.019594291225075722, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.64} + 65%|██████▍ | 19370/30000 [8:59:54<4:55:42, 1.67s/it] 65%|██████▍ | 19371/30000 [8:59:55<4:55:32, 1.67s/it] 65%|██████▍ | 19372/30000 [8:59:57<4:55:30, 1.67s/it] 65%|██████▍ | 19373/30000 [8:59:59<4:54:52, 1.66s/it] 65%|██████▍ | 19374/30000 [9:00:00<4:54:02, 1.66s/it] 65%|██████▍ | 19375/30000 [9:00:02<4:54:18, 1.66s/it] 65%|██████▍ | 19376/30000 [9:00:03<4:54:24, 1.66s/it] 65%|██████▍ | 19377/30000 [9:00:05<4:54:26, 1.66s/it] 65%|██████▍ | 19378/30000 [9:00:07<4:54:27, 1.66s/it] 65%|██████▍ | 19379/30000 [9:00:08<4:54:20, 1.66s/it] 65%|██████▍ | 19380/30000 [9:00:10<4:54:35, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.12687097489833832, 'learning_rate': 9.158317788092124e-06, 'flow_matching_loss': 0.0171513918787241, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.64} + 65%|██████▍ | 19380/30000 [9:00:10<4:54:35, 1.66s/it] 65%|██████▍ | 19381/30000 [9:00:12<4:54:59, 1.67s/it] 65%|██████▍ | 19382/30000 [9:00:13<4:54:43, 1.67s/it] 65%|██████▍ | 19383/30000 [9:00:15<4:54:59, 1.67s/it] 65%|██████▍ | 19384/30000 [9:00:17<4:54:57, 1.67s/it] 65%|██████▍ | 19385/30000 [9:00:18<4:54:41, 1.67s/it] 65%|██████▍ | 19386/30000 [9:00:20<4:55:06, 1.67s/it] 65%|██████▍ | 19387/30000 [9:00:22<4:54:56, 1.67s/it] 65%|██████▍ | 19388/30000 [9:00:23<4:54:32, 1.67s/it] 65%|██████▍ | 19389/30000 [9:00:25<4:54:13, 1.66s/it] 65%|██████▍ | 19390/30000 [9:00:27<4:53:57, 1.66s/it] {'loss': 0.019, 'grad_norm': 0.21447470784187317, 'learning_rate': 9.143092064461783e-06, 'flow_matching_loss': 0.018970248848199846, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.64} + 65%|██████▍ | 19390/30000 [9:00:27<4:53:57, 1.66s/it] 65%|██████▍ | 19391/30000 [9:00:28<4:54:46, 1.67s/it] 65%|██████▍ | 19392/30000 [9:00:30<4:54:33, 1.67s/it] 65%|██████▍ | 19393/30000 [9:00:32<4:54:25, 1.67s/it] 65%|██████▍ | 19394/30000 [9:00:33<4:54:23, 1.67s/it] 65%|██████▍ | 19395/30000 [9:00:35<4:54:03, 1.66s/it] 65%|██████▍ | 19396/30000 [9:00:37<4:54:07, 1.66s/it] 65%|██████▍ | 19397/30000 [9:00:38<4:54:03, 1.66s/it] 65%|██████▍ | 19398/30000 [9:00:40<4:53:46, 1.66s/it] 65%|██████▍ | 19399/30000 [9:00:42<4:54:07, 1.66s/it] 65%|██████▍ | 19400/30000 [9:00:43<4:54:25, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.10678767412900925, 'learning_rate': 9.127873457526855e-06, 'flow_matching_loss': 0.020549131091684103, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.64} + 65%|██████▍ | 19400/30000 [9:00:43<4:54:25, 1.67s/it] 65%|██████▍ | 19401/30000 [9:00:45<4:54:09, 1.67s/it] 65%|██████▍ | 19402/30000 [9:00:47<4:53:46, 1.66s/it] 65%|██████▍ | 19403/30000 [9:00:48<4:53:49, 1.66s/it] 65%|██████▍ | 19404/30000 [9:00:50<4:53:30, 1.66s/it] 65%|██████▍ | 19405/30000 [9:00:52<4:54:22, 1.67s/it] 65%|██████▍ | 19406/30000 [9:00:53<4:53:30, 1.66s/it] 65%|██████▍ | 19407/30000 [9:00:55<4:53:47, 1.66s/it] 65%|██████▍ | 19408/30000 [9:00:57<4:53:53, 1.66s/it] 65%|██████▍ | 19409/30000 [9:00:58<4:53:47, 1.66s/it] 65%|██████▍ | 19410/30000 [9:01:00<4:53:51, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.10117728263139725, 'learning_rate': 9.112661985779382e-06, 'flow_matching_loss': 0.017690827138721943, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.65} + 65%|██████▍ | 19410/30000 [9:01:00<4:53:51, 1.66s/it] 65%|██████▍ | 19411/30000 [9:01:02<4:54:29, 1.67s/it] 65%|██████▍ | 19412/30000 [9:01:03<4:53:57, 1.67s/it] 65%|██████▍ | 19413/30000 [9:01:05<4:53:58, 1.67s/it] 65%|██████▍ | 19414/30000 [9:01:07<4:53:48, 1.67s/it] 65%|██████▍ | 19415/30000 [9:01:08<4:54:14, 1.67s/it] 65%|██████▍ | 19416/30000 [9:01:10<4:53:58, 1.67s/it] 65%|██████▍ | 19417/30000 [9:01:12<4:53:53, 1.67s/it] 65%|██████▍ | 19418/30000 [9:01:13<4:53:41, 1.67s/it] 65%|██████▍ | 19419/30000 [9:01:15<4:53:25, 1.66s/it] 65%|██████▍ | 19420/30000 [9:01:17<4:53:10, 1.66s/it] {'loss': 0.0181, 'grad_norm': 0.11746580898761749, 'learning_rate': 9.09745766770274e-06, 'flow_matching_loss': 0.018131465837359428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.65} + 65%|██████▍ | 19420/30000 [9:01:17<4:53:10, 1.66s/it] 65%|██████▍ | 19421/30000 [9:01:18<4:53:26, 1.66s/it] 65%|██████▍ | 19422/30000 [9:01:20<4:53:59, 1.67s/it] 65%|██████▍ | 19423/30000 [9:01:22<4:54:11, 1.67s/it] 65%|██████▍ | 19424/30000 [9:01:23<4:53:43, 1.67s/it] 65%|██████▍ | 19425/30000 [9:01:25<4:54:07, 1.67s/it] 65%|██████▍ | 19426/30000 [9:01:27<4:53:42, 1.67s/it] 65%|██████▍ | 19427/30000 [9:01:28<4:53:28, 1.67s/it] 65%|██████▍ | 19428/30000 [9:01:30<4:53:08, 1.66s/it] 65%|██████▍ | 19429/30000 [9:01:32<4:53:19, 1.66s/it] 65%|██████▍ | 19430/30000 [9:01:33<4:53:10, 1.66s/it] {'loss': 0.0161, 'grad_norm': 0.11770685017108917, 'learning_rate': 9.082260521771601e-06, 'flow_matching_loss': 0.016121394746005536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.65} + 65%|██████▍ | 19430/30000 [9:01:33<4:53:10, 1.66s/it] 65%|██████▍ | 19431/30000 [9:01:35<4:53:29, 1.67s/it] 65%|██████▍ | 19432/30000 [9:01:37<4:53:27, 1.67s/it] 65%|██████▍ | 19433/30000 [9:01:38<4:53:23, 1.67s/it] 65%|██████▍ | 19434/30000 [9:01:40<4:53:32, 1.67s/it] 65%|██████▍ | 19435/30000 [9:01:42<4:53:20, 1.67s/it] 65%|██████▍ | 19436/30000 [9:01:43<4:53:09, 1.67s/it] 65%|██████▍ | 19437/30000 [9:01:45<4:53:15, 1.67s/it] 65%|██████▍ | 19438/30000 [9:01:47<4:53:25, 1.67s/it] 65%|██████▍ | 19439/30000 [9:01:48<4:53:23, 1.67s/it] 65%|██████▍ | 19440/30000 [9:01:50<4:53:14, 1.67s/it] {'loss': 0.0225, 'grad_norm': 0.1620967984199524, 'learning_rate': 9.067070566451936e-06, 'flow_matching_loss': 0.022512801364064215, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.66} + 65%|██████▍ | 19440/30000 [9:01:50<4:53:14, 1.67s/it] 65%|██████▍ | 19441/30000 [9:01:52<4:52:59, 1.66s/it] 65%|██████▍ | 19442/30000 [9:01:53<4:53:05, 1.67s/it] 65%|██████▍ | 19443/30000 [9:01:55<4:53:01, 1.67s/it] 65%|██████▍ | 19444/30000 [9:01:57<4:53:03, 1.67s/it] 65%|██████▍ | 19445/30000 [9:01:58<4:52:51, 1.66s/it] 65%|██████▍ | 19446/30000 [9:02:00<4:52:32, 1.66s/it] 65%|██████▍ | 19447/30000 [9:02:02<4:52:37, 1.66s/it] 65%|██████▍ | 19448/30000 [9:02:03<4:52:38, 1.66s/it] 65%|██████▍ | 19449/30000 [9:02:05<4:52:42, 1.66s/it] 65%|██████▍ | 19450/30000 [9:02:07<4:53:13, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.0984761118888855, 'learning_rate': 9.051887820200966e-06, 'flow_matching_loss': 0.01508770901709795, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.66} + 65%|██████▍ | 19450/30000 [9:02:07<4:53:13, 1.67s/it] 65%|██████▍ | 19451/30000 [9:02:08<4:52:48, 1.67s/it] 65%|██████▍ | 19452/30000 [9:02:10<4:52:45, 1.67s/it] 65%|██████▍ | 19453/30000 [9:02:12<4:53:22, 1.67s/it] 65%|██████▍ | 19454/30000 [9:02:13<4:52:17, 1.66s/it] 65%|██████▍ | 19455/30000 [9:02:15<4:52:52, 1.67s/it] 65%|██████▍ | 19456/30000 [9:02:17<4:52:46, 1.67s/it] 65%|██████▍ | 19457/30000 [9:02:18<4:52:44, 1.67s/it] 65%|██████▍ | 19458/30000 [9:02:20<4:53:00, 1.67s/it] 65%|██████▍ | 19459/30000 [9:02:22<4:53:29, 1.67s/it] 65%|██████▍ | 19460/30000 [9:02:23<4:52:55, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.1157536506652832, 'learning_rate': 9.03671230146717e-06, 'flow_matching_loss': 0.018262984044849873, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.66} + 65%|██████▍ | 19460/30000 [9:02:23<4:52:55, 1.67s/it] 65%|██████▍ | 19461/30000 [9:02:25<4:52:52, 1.67s/it] 65%|██████▍ | 19462/30000 [9:02:27<4:52:37, 1.67s/it] 65%|██████▍ | 19463/30000 [9:02:28<4:52:56, 1.67s/it] 65%|██████▍ | 19464/30000 [9:02:30<4:52:50, 1.67s/it] 65%|██████▍ | 19465/30000 [9:02:32<4:52:20, 1.66s/it] 65%|██████▍ | 19466/30000 [9:02:33<4:52:27, 1.67s/it] 65%|██████▍ | 19467/30000 [9:02:35<4:52:09, 1.66s/it] 65%|██████▍ | 19468/30000 [9:02:37<4:52:14, 1.66s/it] 65%|██████▍ | 19469/30000 [9:02:38<4:52:17, 1.67s/it] 65%|██████▍ | 19470/30000 [9:02:40<4:52:20, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.14499260485172272, 'learning_rate': 9.021544028690228e-06, 'flow_matching_loss': 0.017961465939879417, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.66} + 65%|██████▍ | 19470/30000 [9:02:40<4:52:20, 1.67s/it] 65%|██████▍ | 19471/30000 [9:02:42<4:52:13, 1.67s/it] 65%|██████▍ | 19472/30000 [9:02:43<4:53:12, 1.67s/it] 65%|██████▍ | 19473/30000 [9:02:45<4:53:24, 1.67s/it] 65%|██████▍ | 19474/30000 [9:02:47<4:54:30, 1.68s/it] 65%|██████▍ | 19475/30000 [9:02:48<4:53:28, 1.67s/it] 65%|██████▍ | 19476/30000 [9:02:50<4:53:15, 1.67s/it] 65%|██████▍ | 19477/30000 [9:02:52<4:52:46, 1.67s/it] 65%|██████▍ | 19478/30000 [9:02:53<4:52:37, 1.67s/it] 65%|██████▍ | 19479/30000 [9:02:55<4:52:36, 1.67s/it] 65%|██████▍ | 19480/30000 [9:02:57<4:52:58, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11258640885353088, 'learning_rate': 9.006383020301024e-06, 'flow_matching_loss': 0.017207972705364227, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.67} + 65%|██████▍ | 19480/30000 [9:02:57<4:52:58, 1.67s/it] 65%|██████▍ | 19481/30000 [9:02:58<4:53:59, 1.68s/it] 65%|██████▍ | 19482/30000 [9:03:00<4:53:18, 1.67s/it] 65%|██████▍ | 19483/30000 [9:03:02<4:52:56, 1.67s/it] 65%|██████▍ | 19484/30000 [9:03:03<4:52:34, 1.67s/it] 65%|██████▍ | 19485/30000 [9:03:05<4:52:36, 1.67s/it] 65%|██████▍ | 19486/30000 [9:03:07<4:53:02, 1.67s/it] 65%|██████▍ | 19487/30000 [9:03:08<4:52:58, 1.67s/it] 65%|██████▍ | 19488/30000 [9:03:10<4:53:11, 1.67s/it] 65%|██████▍ | 19489/30000 [9:03:12<4:53:38, 1.68s/it] 65%|██████▍ | 19490/30000 [9:03:13<4:52:32, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.10214219987392426, 'learning_rate': 8.991229294721613e-06, 'flow_matching_loss': 0.017231610789895057, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.67} + 65%|██████▍ | 19490/30000 [9:03:14<4:52:32, 1.67s/it] 65%|██████▍ | 19491/30000 [9:03:15<4:52:01, 1.67s/it] 65%|██████▍ | 19492/30000 [9:03:17<4:51:47, 1.67s/it] 65%|██████▍ | 19493/30000 [9:03:18<4:52:01, 1.67s/it] 65%|██████▍ | 19494/30000 [9:03:20<4:51:58, 1.67s/it] 65%|██████▍ | 19495/30000 [9:03:22<4:51:44, 1.67s/it] 65%|██████▍ | 19496/30000 [9:03:23<4:51:27, 1.66s/it] 65%|██████▍ | 19497/30000 [9:03:25<4:51:38, 1.67s/it] 65%|██████▍ | 19498/30000 [9:03:27<4:51:57, 1.67s/it] 65%|██████▍ | 19499/30000 [9:03:28<4:52:02, 1.67s/it] 65%|██████▌ | 19500/30000 [9:03:30<4:52:10, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.09083012491464615, 'learning_rate': 8.976082870365191e-06, 'flow_matching_loss': 0.017711193300783634, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.67} + 65%|██████▌ | 19500/30000 [9:03:30<4:52:10, 1.67s/it] 65%|██████▌ | 19501/30000 [9:03:32<4:51:58, 1.67s/it] 65%|██████▌ | 19502/30000 [9:03:33<4:51:42, 1.67s/it] 65%|██████▌ | 19503/30000 [9:03:35<4:52:17, 1.67s/it] 65%|██████▌ | 19504/30000 [9:03:37<4:51:56, 1.67s/it] 65%|██████▌ | 19505/30000 [9:03:39<4:51:49, 1.67s/it] 65%|██████▌ | 19506/30000 [9:03:40<4:52:11, 1.67s/it] 65%|██████▌ | 19507/30000 [9:03:42<4:51:56, 1.67s/it] 65%|██████▌ | 19508/30000 [9:03:44<4:51:42, 1.67s/it] 65%|██████▌ | 19509/30000 [9:03:45<4:51:42, 1.67s/it] 65%|██████▌ | 19510/30000 [9:03:47<4:51:27, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.11680667847394943, 'learning_rate': 8.960943765636105e-06, 'flow_matching_loss': 0.021164858154952525, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.68} + 65%|██████▌ | 19510/30000 [9:03:47<4:51:27, 1.67s/it] 65%|██████▌ | 19511/30000 [9:03:49<4:51:34, 1.67s/it] 65%|██████▌ | 19512/30000 [9:03:50<4:51:25, 1.67s/it] 65%|██████▌ | 19513/30000 [9:03:52<4:51:46, 1.67s/it] 65%|██████▌ | 19514/30000 [9:03:54<4:52:11, 1.67s/it] 65%|██████▌ | 19515/30000 [9:03:55<4:51:51, 1.67s/it] 65%|██████▌ | 19516/30000 [9:03:57<4:50:51, 1.66s/it] 65%|██████▌ | 19517/30000 [9:03:59<4:51:24, 1.67s/it] 65%|██████▌ | 19518/30000 [9:04:00<4:50:59, 1.67s/it] 65%|██████▌ | 19519/30000 [9:04:02<4:51:11, 1.67s/it] 65%|██████▌ | 19520/30000 [9:04:04<4:50:41, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.15206240117549896, 'learning_rate': 8.945811998929792e-06, 'flow_matching_loss': 0.01847721580415964, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.68} + 65%|██████▌ | 19520/30000 [9:04:04<4:50:41, 1.66s/it] 65%|██████▌ | 19521/30000 [9:04:05<4:51:11, 1.67s/it] 65%|██████▌ | 19522/30000 [9:04:07<4:51:24, 1.67s/it] 65%|██████▌ | 19523/30000 [9:04:09<4:51:02, 1.67s/it] 65%|██████▌ | 19524/30000 [9:04:10<4:51:19, 1.67s/it] 65%|██████▌ | 19525/30000 [9:04:12<4:50:49, 1.67s/it] 65%|██████▌ | 19526/30000 [9:04:14<4:50:40, 1.67s/it] 65%|██████▌ | 19527/30000 [9:04:15<4:50:33, 1.66s/it] 65%|██████▌ | 19528/30000 [9:04:17<4:51:05, 1.67s/it] 65%|██████▌ | 19529/30000 [9:04:19<4:50:58, 1.67s/it] 65%|██████▌ | 19530/30000 [9:04:20<4:51:14, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.12548911571502686, 'learning_rate': 8.93068758863277e-06, 'flow_matching_loss': 0.02030154298990965, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.68} + 65%|██████▌ | 19530/30000 [9:04:20<4:51:14, 1.67s/it] 65%|██████▌ | 19531/30000 [9:04:22<4:50:56, 1.67s/it] 65%|██████▌ | 19532/30000 [9:04:24<4:50:51, 1.67s/it] 65%|██████▌ | 19533/30000 [9:04:25<4:50:56, 1.67s/it] 65%|██████▌ | 19534/30000 [9:04:27<4:50:37, 1.67s/it] 65%|██████▌ | 19535/30000 [9:04:29<4:50:43, 1.67s/it] 65%|██████▌ | 19536/30000 [9:04:30<4:50:21, 1.66s/it] 65%|██████▌ | 19537/30000 [9:04:32<4:50:22, 1.67s/it] 65%|██████▌ | 19538/30000 [9:04:34<4:50:45, 1.67s/it] 65%|██████▌ | 19539/30000 [9:04:35<4:50:18, 1.67s/it] 65%|██████▌ | 19540/30000 [9:04:37<4:50:05, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.09016086906194687, 'learning_rate': 8.915570553122628e-06, 'flow_matching_loss': 0.017780942004173995, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.69} + 65%|██████▌ | 19540/30000 [9:04:37<4:50:05, 1.66s/it] 65%|██████▌ | 19541/30000 [9:04:39<4:50:28, 1.67s/it] 65%|██████▌ | 19542/30000 [9:04:40<4:49:37, 1.66s/it] 65%|██████▌ | 19543/30000 [9:04:42<4:49:58, 1.66s/it] 65%|██████▌ | 19544/30000 [9:04:44<4:49:57, 1.66s/it] 65%|██████▌ | 19545/30000 [9:04:45<4:50:07, 1.67s/it] 65%|██████▌ | 19546/30000 [9:04:47<4:50:15, 1.67s/it] 65%|██████▌ | 19547/30000 [9:04:49<4:50:05, 1.67s/it] 65%|██████▌ | 19548/30000 [9:04:50<4:50:10, 1.67s/it] 65%|██████▌ | 19549/30000 [9:04:52<4:50:13, 1.67s/it] 65%|██████▌ | 19550/30000 [9:04:53<4:49:43, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.1370871663093567, 'learning_rate': 8.900460910767982e-06, 'flow_matching_loss': 0.01957022361457348, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.69} + 65%|██████▌ | 19550/30000 [9:04:54<4:49:43, 1.66s/it] 65%|██████▌ | 19551/30000 [9:04:55<4:50:02, 1.67s/it] 65%|██████▌ | 19552/30000 [9:04:57<4:49:58, 1.67s/it] 65%|██████▌ | 19553/30000 [9:04:59<4:50:18, 1.67s/it] 65%|██████▌ | 19554/30000 [9:05:00<4:50:08, 1.67s/it] 65%|██████▌ | 19555/30000 [9:05:02<4:49:54, 1.67s/it] 65%|██████▌ | 19556/30000 [9:05:03<4:49:50, 1.67s/it] 65%|██████▌ | 19557/30000 [9:05:05<4:49:48, 1.67s/it] 65%|██████▌ | 19558/30000 [9:05:07<4:49:45, 1.66s/it] 65%|██████▌ | 19559/30000 [9:05:08<4:49:56, 1.67s/it] 65%|██████▌ | 19560/30000 [9:05:10<4:49:37, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.10304991900920868, 'learning_rate': 8.885358679928486e-06, 'flow_matching_loss': 0.0183996113948524, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.69} + 65%|██████▌ | 19560/30000 [9:05:10<4:49:37, 1.66s/it] 65%|██████▌ | 19561/30000 [9:05:12<4:49:50, 1.67s/it] 65%|██████▌ | 19562/30000 [9:05:13<4:50:11, 1.67s/it] 65%|██████▌ | 19563/30000 [9:05:15<4:49:58, 1.67s/it] 65%|██████▌ | 19564/30000 [9:05:17<4:50:09, 1.67s/it] 65%|██████▌ | 19565/30000 [9:05:18<4:49:54, 1.67s/it] 65%|██████▌ | 19566/30000 [9:05:20<4:49:58, 1.67s/it] 65%|██████▌ | 19567/30000 [9:05:22<4:50:09, 1.67s/it] 65%|██████▌ | 19568/30000 [9:05:24<4:50:06, 1.67s/it] 65%|██████▌ | 19569/30000 [9:05:25<4:49:42, 1.67s/it] 65%|██████▌ | 19570/30000 [9:05:27<4:49:52, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.10565043240785599, 'learning_rate': 8.870263878954767e-06, 'flow_matching_loss': 0.019221912045031785, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.69} + 65%|██████▌ | 19570/30000 [9:05:27<4:49:52, 1.67s/it] 65%|██████▌ | 19571/30000 [9:05:29<4:50:17, 1.67s/it] 65%|██████▌ | 19572/30000 [9:05:30<4:49:56, 1.67s/it] 65%|██████▌ | 19573/30000 [9:05:32<4:49:46, 1.67s/it] 65%|██████▌ | 19574/30000 [9:05:34<4:49:25, 1.67s/it] 65%|██████▌ | 19575/30000 [9:05:35<4:49:40, 1.67s/it] 65%|██████▌ | 19576/30000 [9:05:37<4:49:06, 1.66s/it] 65%|██████▌ | 19577/30000 [9:05:38<4:49:14, 1.66s/it] 65%|██████▌ | 19578/30000 [9:05:40<4:49:28, 1.67s/it] 65%|██████▌ | 19579/30000 [9:05:42<4:48:56, 1.66s/it] 65%|██████▌ | 19580/30000 [9:05:43<4:49:08, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.12397760897874832, 'learning_rate': 8.855176526188428e-06, 'flow_matching_loss': 0.018372148368507625, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.7} + 65%|██████▌ | 19580/30000 [9:05:44<4:49:08, 1.66s/it] 65%|██████▌ | 19581/30000 [9:05:45<4:49:33, 1.67s/it] 65%|██████▌ | 19582/30000 [9:05:47<4:49:04, 1.66s/it] 65%|██████▌ | 19583/30000 [9:05:48<4:49:02, 1.66s/it] 65%|██████▌ | 19584/30000 [9:05:50<4:48:47, 1.66s/it] 65%|██████▌ | 19585/30000 [9:05:52<4:49:01, 1.67s/it] 65%|██████▌ | 19586/30000 [9:05:53<4:49:17, 1.67s/it] 65%|██████▌ | 19587/30000 [9:05:55<4:49:04, 1.67s/it] 65%|██████▌ | 19588/30000 [9:05:57<4:49:41, 1.67s/it] 65%|██████▌ | 19589/30000 [9:05:58<4:49:33, 1.67s/it] 65%|██████▌ | 19590/30000 [9:06:00<4:49:13, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.09175554662942886, 'learning_rate': 8.840096639962033e-06, 'flow_matching_loss': 0.015513412468135358, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.7} + 65%|██████▌ | 19590/30000 [9:06:00<4:49:13, 1.67s/it] 65%|██████▌ | 19591/30000 [9:06:02<4:49:28, 1.67s/it] 65%|██████▌ | 19592/30000 [9:06:03<4:48:52, 1.67s/it] 65%|██████▌ | 19593/30000 [9:06:05<4:48:20, 1.66s/it] 65%|██████▌ | 19594/30000 [9:06:07<4:48:34, 1.66s/it] 65%|██████▌ | 19595/30000 [9:06:08<4:48:41, 1.66s/it] 65%|██████▌ | 19596/30000 [9:06:10<4:48:36, 1.66s/it] 65%|██████▌ | 19597/30000 [9:06:12<4:48:33, 1.66s/it] 65%|██████▌ | 19598/30000 [9:06:13<4:48:19, 1.66s/it] 65%|██████▌ | 19599/30000 [9:06:15<4:49:00, 1.67s/it] 65%|██████▌ | 19600/30000 [9:06:17<4:49:08, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.1476019322872162, 'learning_rate': 8.825024238599056e-06, 'flow_matching_loss': 0.017802857141941787, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.7} + 65%|██████▌ | 19600/30000 [9:06:17<4:49:08, 1.67s/it] 65%|██████▌ | 19601/30000 [9:06:18<4:49:36, 1.67s/it] 65%|██████▌ | 19602/30000 [9:06:20<4:49:42, 1.67s/it] 65%|██████▌ | 19603/30000 [9:06:22<4:49:18, 1.67s/it] 65%|██████▌ | 19604/30000 [9:06:24<4:49:32, 1.67s/it] 65%|██████▌ | 19605/30000 [9:06:25<4:49:12, 1.67s/it] 65%|██████▌ | 19606/30000 [9:06:27<4:48:20, 1.66s/it] 65%|██████▌ | 19607/30000 [9:06:28<4:48:36, 1.67s/it] 65%|██████▌ | 19608/30000 [9:06:30<4:48:39, 1.67s/it] 65%|██████▌ | 19609/30000 [9:06:32<4:48:58, 1.67s/it] 65%|██████▌ | 19610/30000 [9:06:34<4:48:46, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10380713641643524, 'learning_rate': 8.809959340413891e-06, 'flow_matching_loss': 0.017943630646914243, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.71} + 65%|██████▌ | 19610/30000 [9:06:34<4:48:46, 1.67s/it] 65%|██████▌ | 19611/30000 [9:06:35<4:48:44, 1.67s/it] 65%|██████▌ | 19612/30000 [9:06:37<4:48:12, 1.66s/it] 65%|██████▌ | 19613/30000 [9:06:38<4:47:55, 1.66s/it] 65%|██████▌ | 19614/30000 [9:06:40<4:47:35, 1.66s/it] 65%|██████▌ | 19615/30000 [9:06:42<4:47:55, 1.66s/it] 65%|██████▌ | 19616/30000 [9:06:43<4:47:26, 1.66s/it] 65%|██████▌ | 19617/30000 [9:06:45<4:47:50, 1.66s/it] 65%|██████▌ | 19618/30000 [9:06:47<4:48:07, 1.67s/it] 65%|██████▌ | 19619/30000 [9:06:48<4:48:08, 1.67s/it] 65%|██████▌ | 19620/30000 [9:06:50<4:47:50, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.08056531101465225, 'learning_rate': 8.79490196371181e-06, 'flow_matching_loss': 0.01738892663270235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.71} + 65%|██████▌ | 19620/30000 [9:06:50<4:47:50, 1.66s/it] 65%|██████▌ | 19621/30000 [9:06:52<4:48:21, 1.67s/it] 65%|██████▌ | 19622/30000 [9:06:53<4:47:47, 1.66s/it] 65%|██████▌ | 19623/30000 [9:06:55<4:48:08, 1.67s/it] 65%|██████▌ | 19624/30000 [9:06:57<4:48:06, 1.67s/it] 65%|██████▌ | 19625/30000 [9:06:58<4:48:10, 1.67s/it] 65%|██████▌ | 19626/30000 [9:07:00<4:47:44, 1.66s/it] 65%|██████▌ | 19627/30000 [9:07:02<4:47:56, 1.67s/it] 65%|██████▌ | 19628/30000 [9:07:03<4:48:15, 1.67s/it] 65%|██████▌ | 19629/30000 [9:07:05<4:48:12, 1.67s/it] 65%|██████▌ | 19630/30000 [9:07:07<4:47:57, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.12229321897029877, 'learning_rate': 8.779852126788949e-06, 'flow_matching_loss': 0.01926228990778327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.71} + 65%|██████▌ | 19630/30000 [9:07:07<4:47:57, 1.67s/it] 65%|██████▌ | 19631/30000 [9:07:08<4:48:04, 1.67s/it] 65%|██████▌ | 19632/30000 [9:07:10<4:47:56, 1.67s/it] 65%|██████▌ | 19633/30000 [9:07:12<4:47:51, 1.67s/it] 65%|██████▌ | 19634/30000 [9:07:13<4:48:26, 1.67s/it] 65%|██████▌ | 19635/30000 [9:07:15<4:49:17, 1.67s/it] 65%|██████▌ | 19636/30000 [9:07:17<4:48:29, 1.67s/it] 65%|██████▌ | 19637/30000 [9:07:18<4:48:09, 1.67s/it] 65%|██████▌ | 19638/30000 [9:07:20<4:47:51, 1.67s/it] 65%|██████▌ | 19639/30000 [9:07:22<4:48:09, 1.67s/it] 65%|██████▌ | 19640/30000 [9:07:23<4:48:10, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1324603408575058, 'learning_rate': 8.764809847932277e-06, 'flow_matching_loss': 0.017258789110928773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.71} + 65%|██████▌ | 19640/30000 [9:07:24<4:48:10, 1.67s/it] 65%|██████▌ | 19641/30000 [9:07:25<4:48:01, 1.67s/it] 65%|██████▌ | 19642/30000 [9:07:27<4:48:06, 1.67s/it] 65%|██████▌ | 19643/30000 [9:07:28<4:48:09, 1.67s/it] 65%|██████▌ | 19644/30000 [9:07:30<4:48:01, 1.67s/it] 65%|██████▌ | 19645/30000 [9:07:32<4:47:25, 1.67s/it] 65%|██████▌ | 19646/30000 [9:07:33<4:47:13, 1.66s/it] 65%|██████▌ | 19647/30000 [9:07:35<4:47:22, 1.67s/it] 65%|██████▌ | 19648/30000 [9:07:37<4:47:18, 1.67s/it] 65%|██████▌ | 19649/30000 [9:07:38<4:47:17, 1.67s/it] 66%|██████▌ | 19650/30000 [9:07:40<4:47:19, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.10860180109739304, 'learning_rate': 8.749775145419577e-06, 'flow_matching_loss': 0.017653651349246503, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.72} + 66%|██████▌ | 19650/30000 [9:07:40<4:47:19, 1.67s/it] 66%|██████▌ | 19651/30000 [9:07:42<4:47:33, 1.67s/it] 66%|██████▌ | 19652/30000 [9:07:43<4:47:24, 1.67s/it] 66%|██████▌ | 19653/30000 [9:07:45<4:48:12, 1.67s/it] 66%|██████▌ | 19654/30000 [9:07:47<4:47:03, 1.66s/it] 66%|██████▌ | 19655/30000 [9:07:49<4:48:54, 1.68s/it] 66%|██████▌ | 19656/30000 [9:07:50<4:47:13, 1.67s/it] 66%|██████▌ | 19657/30000 [9:07:52<4:47:43, 1.67s/it] 66%|██████▌ | 19658/30000 [9:07:54<4:47:47, 1.67s/it] 66%|██████▌ | 19659/30000 [9:07:55<4:47:37, 1.67s/it] 66%|██████▌ | 19660/30000 [9:07:57<4:47:24, 1.67s/it] {'loss': 0.0205, 'grad_norm': 0.1055828258395195, 'learning_rate': 8.734748037519427e-06, 'flow_matching_loss': 0.020520140510052444, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.72} + 66%|██████▌ | 19660/30000 [9:07:57<4:47:24, 1.67s/it] 66%|██████▌ | 19661/30000 [9:07:59<4:47:06, 1.67s/it] 66%|██████▌ | 19662/30000 [9:08:00<4:46:39, 1.66s/it] 66%|██████▌ | 19663/30000 [9:08:02<4:46:48, 1.66s/it] 66%|██████▌ | 19664/30000 [9:08:03<4:47:05, 1.67s/it] 66%|██████▌ | 19665/30000 [9:08:05<4:46:59, 1.67s/it] 66%|██████▌ | 19666/30000 [9:08:07<4:47:08, 1.67s/it] 66%|██████▌ | 19667/30000 [9:08:09<4:47:13, 1.67s/it] 66%|██████▌ | 19668/30000 [9:08:10<4:47:10, 1.67s/it] 66%|██████▌ | 19669/30000 [9:08:12<4:47:11, 1.67s/it] 66%|██████▌ | 19670/30000 [9:08:14<4:46:56, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.13353124260902405, 'learning_rate': 8.719728542491195e-06, 'flow_matching_loss': 0.02060289094224572, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.72} + 66%|██████▌ | 19670/30000 [9:08:14<4:46:56, 1.67s/it] 66%|██████▌ | 19671/30000 [9:08:15<4:47:12, 1.67s/it] 66%|██████▌ | 19672/30000 [9:08:17<4:47:07, 1.67s/it] 66%|██████▌ | 19673/30000 [9:08:18<4:46:25, 1.66s/it] 66%|██████▌ | 19674/30000 [9:08:20<4:46:44, 1.67s/it] 66%|██████▌ | 19675/30000 [9:08:22<4:47:04, 1.67s/it] 66%|██████▌ | 19676/30000 [9:08:24<4:46:34, 1.67s/it] 66%|██████▌ | 19677/30000 [9:08:25<4:47:00, 1.67s/it] 66%|██████▌ | 19678/30000 [9:08:27<4:46:33, 1.67s/it] 66%|██████▌ | 19679/30000 [9:08:29<4:46:59, 1.67s/it] 66%|██████▌ | 19680/30000 [9:08:30<4:47:10, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.10389763116836548, 'learning_rate': 8.704716678584976e-06, 'flow_matching_loss': 0.01782926619052887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.73} + 66%|██████▌ | 19680/30000 [9:08:30<4:47:10, 1.67s/it] 66%|██████▌ | 19681/30000 [9:08:32<4:47:08, 1.67s/it] 66%|██████▌ | 19682/30000 [9:08:34<4:46:46, 1.67s/it] 66%|██████▌ | 19683/30000 [9:08:35<4:46:32, 1.67s/it] 66%|██████▌ | 19684/30000 [9:08:37<4:46:14, 1.66s/it] 66%|██████▌ | 19685/30000 [9:08:39<4:46:40, 1.67s/it] 66%|██████▌ | 19686/30000 [9:08:40<4:46:14, 1.67s/it] 66%|██████▌ | 19687/30000 [9:08:42<4:46:34, 1.67s/it] 66%|██████▌ | 19688/30000 [9:08:44<4:46:21, 1.67s/it] 66%|██████▌ | 19689/30000 [9:08:45<4:45:52, 1.66s/it] 66%|██████▌ | 19690/30000 [9:08:47<4:46:04, 1.66s/it] {'loss': 0.0179, 'grad_norm': 0.10270217806100845, 'learning_rate': 8.689712464041596e-06, 'flow_matching_loss': 0.017932280153036117, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.73} + 66%|██████▌ | 19690/30000 [9:08:47<4:46:04, 1.66s/it] 66%|██████▌ | 19691/30000 [9:08:49<4:46:09, 1.67s/it] 66%|██████▌ | 19692/30000 [9:08:50<4:46:03, 1.67s/it] 66%|██████▌ | 19693/30000 [9:08:52<4:45:52, 1.66s/it] 66%|██████▌ | 19694/30000 [9:08:53<4:45:45, 1.66s/it] 66%|██████▌ | 19695/30000 [9:08:55<4:45:39, 1.66s/it] 66%|██████▌ | 19696/30000 [9:08:57<4:45:38, 1.66s/it] 66%|██████▌ | 19697/30000 [9:08:58<4:45:37, 1.66s/it] 66%|██████▌ | 19698/30000 [9:09:00<4:46:14, 1.67s/it] 66%|██████▌ | 19699/30000 [9:09:02<4:45:51, 1.67s/it] 66%|██████▌ | 19700/30000 [9:09:03<4:45:44, 1.66s/it] {'loss': 0.0169, 'grad_norm': 0.10971375554800034, 'learning_rate': 8.674715917092592e-06, 'flow_matching_loss': 0.016894564032554626, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.73} + 66%|██████▌ | 19700/30000 [9:09:04<4:45:44, 1.66s/it] 66%|██████▌ | 19701/30000 [9:09:05<4:45:34, 1.66s/it] 66%|██████▌ | 19702/30000 [9:09:07<4:44:51, 1.66s/it] 66%|██████▌ | 19703/30000 [9:09:08<4:45:15, 1.66s/it] 66%|██████▌ | 19704/30000 [9:09:10<4:44:55, 1.66s/it] 66%|██████▌ | 19705/30000 [9:09:12<4:45:12, 1.66s/it] 66%|██████▌ | 19706/30000 [9:09:13<4:44:47, 1.66s/it] 66%|██████▌ | 19707/30000 [9:09:15<4:44:26, 1.66s/it] 66%|██████▌ | 19708/30000 [9:09:17<4:44:19, 1.66s/it] 66%|██████▌ | 19709/30000 [9:09:18<4:45:18, 1.66s/it] 66%|██████▌ | 19710/30000 [9:09:20<4:45:14, 1.66s/it] {'loss': 0.0158, 'grad_norm': 0.09347610175609589, 'learning_rate': 8.65972705596018e-06, 'flow_matching_loss': 0.015796522703021766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.73} + 66%|██████▌ | 19710/30000 [9:09:20<4:45:14, 1.66s/it] 66%|██████▌ | 19711/30000 [9:09:22<4:45:49, 1.67s/it] 66%|██████▌ | 19712/30000 [9:09:23<4:45:53, 1.67s/it] 66%|██████▌ | 19713/30000 [9:09:25<4:46:16, 1.67s/it] 66%|██████▌ | 19714/30000 [9:09:27<4:46:28, 1.67s/it] 66%|██████▌ | 19715/30000 [9:09:28<4:46:04, 1.67s/it] 66%|██████▌ | 19716/30000 [9:09:30<4:46:07, 1.67s/it] 66%|██████▌ | 19717/30000 [9:09:32<4:45:57, 1.67s/it] 66%|██████▌ | 19718/30000 [9:09:33<4:45:42, 1.67s/it] 66%|██████▌ | 19719/30000 [9:09:35<4:46:04, 1.67s/it] 66%|██████▌ | 19720/30000 [9:09:37<4:45:20, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11767327040433884, 'learning_rate': 8.64474589885725e-06, 'flow_matching_loss': 0.017739660013467072, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.74} + 66%|██████▌ | 19720/30000 [9:09:37<4:45:20, 1.67s/it] 66%|██████▌ | 19721/30000 [9:09:38<4:45:16, 1.67s/it] 66%|██████▌ | 19722/30000 [9:09:40<4:45:45, 1.67s/it] 66%|██████▌ | 19723/30000 [9:09:42<4:45:29, 1.67s/it] 66%|██████▌ | 19724/30000 [9:09:43<4:45:42, 1.67s/it] 66%|██████▌ | 19725/30000 [9:09:45<4:45:31, 1.67s/it] 66%|██████▌ | 19726/30000 [9:09:47<4:45:11, 1.67s/it] 66%|██████▌ | 19727/30000 [9:09:48<4:45:52, 1.67s/it] 66%|██████▌ | 19728/30000 [9:09:50<4:45:29, 1.67s/it] 66%|██████▌ | 19729/30000 [9:09:52<4:45:29, 1.67s/it] 66%|██████▌ | 19730/30000 [9:09:53<4:45:35, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10070588439702988, 'learning_rate': 8.629772463987315e-06, 'flow_matching_loss': 0.016989615466445684, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.74} + 66%|██████▌ | 19730/30000 [9:09:54<4:45:35, 1.67s/it] 66%|██████▌ | 19731/30000 [9:09:55<4:45:09, 1.67s/it] 66%|██████▌ | 19732/30000 [9:09:57<4:44:46, 1.66s/it] 66%|██████▌ | 19733/30000 [9:09:58<4:44:47, 1.66s/it] 66%|██████▌ | 19734/30000 [9:10:00<4:44:18, 1.66s/it] 66%|██████▌ | 19735/30000 [9:10:02<4:44:45, 1.66s/it] 66%|██████▌ | 19736/30000 [9:10:03<4:44:37, 1.66s/it] 66%|██████▌ | 19737/30000 [9:10:05<4:44:52, 1.67s/it] 66%|██████▌ | 19738/30000 [9:10:07<4:45:12, 1.67s/it] 66%|██████▌ | 19739/30000 [9:10:08<4:44:54, 1.67s/it] 66%|██████▌ | 19740/30000 [9:10:10<4:45:19, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.11075987666845322, 'learning_rate': 8.614806769544507e-06, 'flow_matching_loss': 0.017537133116275073, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.74} + 66%|██████▌ | 19740/30000 [9:10:10<4:45:19, 1.67s/it] 66%|██████▌ | 19741/30000 [9:10:12<4:44:55, 1.67s/it] 66%|██████▌ | 19742/30000 [9:10:13<4:45:09, 1.67s/it] 66%|██████▌ | 19743/30000 [9:10:15<4:45:13, 1.67s/it] 66%|██████▌ | 19744/30000 [9:10:17<4:45:02, 1.67s/it] 66%|██████▌ | 19745/30000 [9:10:18<4:45:07, 1.67s/it] 66%|██████▌ | 19746/30000 [9:10:20<4:45:03, 1.67s/it] 66%|██████▌ | 19747/30000 [9:10:22<4:45:17, 1.67s/it] 66%|██████▌ | 19748/30000 [9:10:23<4:45:33, 1.67s/it] 66%|██████▌ | 19749/30000 [9:10:25<4:45:13, 1.67s/it] 66%|██████▌ | 19750/30000 [9:10:27<4:44:59, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.07270560413599014, 'learning_rate': 8.59984883371356e-06, 'flow_matching_loss': 0.01719457870349288, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.75} + 66%|██████▌ | 19750/30000 [9:10:27<4:44:59, 1.67s/it] 66%|██████▌ | 19751/30000 [9:10:28<4:45:06, 1.67s/it] 66%|██████▌ | 19752/30000 [9:10:30<4:45:14, 1.67s/it] 66%|██████▌ | 19753/30000 [9:10:32<4:45:18, 1.67s/it] 66%|██████▌ | 19754/30000 [9:10:33<4:45:48, 1.67s/it] 66%|██████▌ | 19755/30000 [9:10:35<4:45:22, 1.67s/it] 66%|██████▌ | 19756/30000 [9:10:37<4:44:58, 1.67s/it] 66%|██████▌ | 19757/30000 [9:10:38<4:44:31, 1.67s/it] 66%|██████▌ | 19758/30000 [9:10:40<4:44:05, 1.66s/it] 66%|██████▌ | 19759/30000 [9:10:42<4:43:49, 1.66s/it] 66%|██████▌ | 19760/30000 [9:10:43<4:43:44, 1.66s/it] {'loss': 0.0197, 'grad_norm': 0.11920048296451569, 'learning_rate': 8.584898674669772e-06, 'flow_matching_loss': 0.019682081323117016, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.75} + 66%|██████▌ | 19760/30000 [9:10:44<4:43:44, 1.66s/it] 66%|██████▌ | 19761/30000 [9:10:45<4:43:47, 1.66s/it] 66%|██████▌ | 19762/30000 [9:10:47<4:44:09, 1.67s/it] 66%|██████▌ | 19763/30000 [9:10:48<4:44:07, 1.67s/it] 66%|██████▌ | 19764/30000 [9:10:50<4:45:01, 1.67s/it] 66%|██████▌ | 19765/30000 [9:10:52<4:44:46, 1.67s/it] 66%|██████▌ | 19766/30000 [9:10:53<4:44:30, 1.67s/it] 66%|██████▌ | 19767/30000 [9:10:55<4:44:45, 1.67s/it] 66%|██████▌ | 19768/30000 [9:10:57<4:44:28, 1.67s/it] 66%|██████▌ | 19769/30000 [9:10:58<4:44:38, 1.67s/it] 66%|██████▌ | 19770/30000 [9:11:00<4:44:51, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.11913114786148071, 'learning_rate': 8.569956310579001e-06, 'flow_matching_loss': 0.016542258393019437, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.75} + 66%|██████▌ | 19770/30000 [9:11:00<4:44:51, 1.67s/it] 66%|██████▌ | 19771/30000 [9:11:02<4:45:22, 1.67s/it] 66%|██████▌ | 19772/30000 [9:11:04<4:44:55, 1.67s/it] 66%|██████▌ | 19773/30000 [9:11:05<4:43:58, 1.67s/it] 66%|██████▌ | 19774/30000 [9:11:07<4:43:37, 1.66s/it] 66%|██████▌ | 19775/30000 [9:11:08<4:44:01, 1.67s/it] 66%|██████▌ | 19776/30000 [9:11:10<4:43:28, 1.66s/it] 66%|██████▌ | 19777/30000 [9:11:12<4:43:28, 1.66s/it] 66%|██████▌ | 19778/30000 [9:11:13<4:44:32, 1.67s/it] 66%|██████▌ | 19779/30000 [9:11:15<4:43:45, 1.67s/it] 66%|██████▌ | 19780/30000 [9:11:17<4:43:38, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.1302243024110794, 'learning_rate': 8.555021759597627e-06, 'flow_matching_loss': 0.01670645223930478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.76} + 66%|██████▌ | 19780/30000 [9:11:17<4:43:38, 1.67s/it] 66%|██████▌ | 19781/30000 [9:11:18<4:43:43, 1.67s/it] 66%|██████▌ | 19782/30000 [9:11:20<4:43:56, 1.67s/it] 66%|██████▌ | 19783/30000 [9:11:22<4:43:54, 1.67s/it] 66%|██████▌ | 19784/30000 [9:11:23<4:43:32, 1.67s/it] 66%|██████▌ | 19785/30000 [9:11:25<4:43:36, 1.67s/it] 66%|██████▌ | 19786/30000 [9:11:27<4:43:44, 1.67s/it] 66%|██████▌ | 19787/30000 [9:11:28<4:43:44, 1.67s/it] 66%|██████▌ | 19788/30000 [9:11:30<4:43:50, 1.67s/it] 66%|██████▌ | 19789/30000 [9:11:32<4:43:47, 1.67s/it] 66%|██████▌ | 19790/30000 [9:11:33<4:43:20, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.09914128482341766, 'learning_rate': 8.54009503987253e-06, 'flow_matching_loss': 0.01894425731152296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.76} + 66%|██████▌ | 19790/30000 [9:11:34<4:43:20, 1.67s/it] 66%|██████▌ | 19791/30000 [9:11:35<4:43:40, 1.67s/it] 66%|██████▌ | 19792/30000 [9:11:37<4:43:41, 1.67s/it] 66%|██████▌ | 19793/30000 [9:11:38<4:43:38, 1.67s/it] 66%|██████▌ | 19794/30000 [9:11:40<4:43:22, 1.67s/it] 66%|██████▌ | 19795/30000 [9:11:42<4:43:19, 1.67s/it] 66%|██████▌ | 19796/30000 [9:11:43<4:43:11, 1.67s/it] 66%|██████▌ | 19797/30000 [9:11:45<4:43:11, 1.67s/it] 66%|██████▌ | 19798/30000 [9:11:47<4:42:58, 1.66s/it] 66%|██████▌ | 19799/30000 [9:11:48<4:43:16, 1.67s/it] 66%|██████▌ | 19800/30000 [9:11:50<4:42:40, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.0852954164147377, 'learning_rate': 8.525176169541095e-06, 'flow_matching_loss': 0.018668667785823344, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.76} + 66%|██████▌ | 19800/30000 [9:11:50<4:42:40, 1.66s/it] 66%|██████▌ | 19801/30000 [9:11:52<4:42:53, 1.66s/it] 66%|██████▌ | 19802/30000 [9:11:53<4:43:10, 1.67s/it] 66%|██████▌ | 19803/30000 [9:11:55<4:43:07, 1.67s/it] 66%|██████▌ | 19804/30000 [9:11:57<4:43:05, 1.67s/it] 66%|██████▌ | 19805/30000 [9:11:58<4:43:09, 1.67s/it] 66%|██████▌ | 19806/30000 [9:12:00<4:42:37, 1.66s/it] 66%|██████▌ | 19807/30000 [9:12:02<4:42:45, 1.66s/it] 66%|██████▌ | 19808/30000 [9:12:03<4:42:34, 1.66s/it] 66%|██████▌ | 19809/30000 [9:12:05<4:42:55, 1.67s/it] 66%|██████▌ | 19810/30000 [9:12:07<4:42:51, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10081984102725983, 'learning_rate': 8.510265166731151e-06, 'flow_matching_loss': 0.01786184888333082, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.76} + 66%|██████▌ | 19810/30000 [9:12:07<4:42:51, 1.67s/it] 66%|██████▌ | 19811/30000 [9:12:08<4:43:04, 1.67s/it] 66%|██████▌ | 19812/30000 [9:12:10<4:43:20, 1.67s/it] 66%|██████▌ | 19813/30000 [9:12:12<4:42:54, 1.67s/it] 66%|██████▌ | 19814/30000 [9:12:13<4:42:32, 1.66s/it] 66%|██████▌ | 19815/30000 [9:12:15<4:42:47, 1.67s/it] 66%|██████▌ | 19816/30000 [9:12:17<4:42:24, 1.66s/it] 66%|██████▌ | 19817/30000 [9:12:18<4:42:37, 1.67s/it] 66%|██████▌ | 19818/30000 [9:12:20<4:42:45, 1.67s/it] 66%|██████▌ | 19819/30000 [9:12:22<4:42:50, 1.67s/it] 66%|██████▌ | 19820/30000 [9:12:23<4:42:52, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.10933666676282883, 'learning_rate': 8.495362049560964e-06, 'flow_matching_loss': 0.016906861308962108, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.77} + 66%|██████▌ | 19820/30000 [9:12:24<4:42:52, 1.67s/it] 66%|██████▌ | 19821/30000 [9:12:25<4:44:20, 1.68s/it] 66%|██████▌ | 19822/30000 [9:12:27<4:42:49, 1.67s/it] 66%|██████▌ | 19823/30000 [9:12:28<4:43:15, 1.67s/it] 66%|██████▌ | 19824/30000 [9:12:30<4:42:44, 1.67s/it] 66%|██████▌ | 19825/30000 [9:12:32<4:42:32, 1.67s/it] 66%|██████▌ | 19826/30000 [9:12:33<4:42:40, 1.67s/it] 66%|██████▌ | 19827/30000 [9:12:35<4:42:33, 1.67s/it] 66%|██████▌ | 19828/30000 [9:12:37<4:42:36, 1.67s/it] 66%|██████▌ | 19829/30000 [9:12:38<4:42:38, 1.67s/it] 66%|██████▌ | 19830/30000 [9:12:40<4:42:02, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.0942678451538086, 'learning_rate': 8.480466836139241e-06, 'flow_matching_loss': 0.01935861436650157, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.77} + 66%|██████▌ | 19830/30000 [9:12:40<4:42:02, 1.66s/it] 66%|██████▌ | 19831/30000 [9:12:42<4:42:32, 1.67s/it] 66%|██████▌ | 19832/30000 [9:12:43<4:42:14, 1.67s/it] 66%|██████▌ | 19833/30000 [9:12:45<4:42:15, 1.67s/it] 66%|██████▌ | 19834/30000 [9:12:47<4:42:21, 1.67s/it] 66%|██████▌ | 19835/30000 [9:12:48<4:42:08, 1.67s/it] 66%|██████▌ | 19836/30000 [9:12:50<4:41:42, 1.66s/it] 66%|██████▌ | 19837/30000 [9:12:52<4:41:49, 1.66s/it] 66%|██████▌ | 19838/30000 [9:12:53<4:41:29, 1.66s/it] 66%|██████▌ | 19839/30000 [9:12:55<4:41:43, 1.66s/it] 66%|██████▌ | 19840/30000 [9:12:57<4:42:03, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.09710104763507843, 'learning_rate': 8.465579544565066e-06, 'flow_matching_loss': 0.0186699359677732, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.77} + 66%|██████▌ | 19840/30000 [9:12:57<4:42:03, 1.67s/it] 66%|██████▌ | 19841/30000 [9:12:58<4:42:08, 1.67s/it] 66%|██████▌ | 19842/30000 [9:13:00<4:42:08, 1.67s/it] 66%|██████▌ | 19843/30000 [9:13:02<4:42:03, 1.67s/it] 66%|██████▌ | 19844/30000 [9:13:03<4:41:37, 1.66s/it] 66%|██████▌ | 19845/30000 [9:13:05<4:41:28, 1.66s/it] 66%|██████▌ | 19846/30000 [9:13:07<4:40:58, 1.66s/it] 66%|██████▌ | 19847/30000 [9:13:08<4:41:19, 1.66s/it] 66%|██████▌ | 19848/30000 [9:13:10<4:41:05, 1.66s/it] 66%|██████▌ | 19849/30000 [9:13:12<4:41:03, 1.66s/it] 66%|██████▌ | 19850/30000 [9:13:13<4:41:23, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.10642147809267044, 'learning_rate': 8.450700192927897e-06, 'flow_matching_loss': 0.018538514152169228, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.78} + 66%|██████▌ | 19850/30000 [9:13:13<4:41:23, 1.66s/it] 66%|██████▌ | 19851/30000 [9:13:15<4:41:32, 1.66s/it] 66%|██████▌ | 19852/30000 [9:13:17<4:41:40, 1.67s/it] 66%|██████▌ | 19853/30000 [9:13:18<4:41:39, 1.67s/it] 66%|██████▌ | 19854/30000 [9:13:20<4:41:01, 1.66s/it] 66%|██████▌ | 19855/30000 [9:13:22<4:41:29, 1.66s/it] 66%|██████▌ | 19856/30000 [9:13:23<4:41:25, 1.66s/it] 66%|██████▌ | 19857/30000 [9:13:25<4:41:33, 1.67s/it] 66%|██████▌ | 19858/30000 [9:13:27<4:41:53, 1.67s/it] 66%|██████▌ | 19859/30000 [9:13:28<4:41:41, 1.67s/it] 66%|██████▌ | 19860/30000 [9:13:30<4:41:31, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.131693035364151, 'learning_rate': 8.435828799307551e-06, 'flow_matching_loss': 0.018158132303506137, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.78} + 66%|██████▌ | 19860/30000 [9:13:30<4:41:31, 1.67s/it] 66%|██████▌ | 19861/30000 [9:13:32<4:41:19, 1.66s/it] 66%|██████▌ | 19862/30000 [9:13:33<4:41:21, 1.67s/it] 66%|██████▌ | 19863/30000 [9:13:35<4:41:13, 1.66s/it] 66%|██████▌ | 19864/30000 [9:13:37<4:40:58, 1.66s/it] 66%|██████▌ | 19865/30000 [9:13:38<4:40:44, 1.66s/it] 66%|██████▌ | 19866/30000 [9:13:40<4:41:40, 1.67s/it] 66%|██████▌ | 19867/30000 [9:13:42<4:41:29, 1.67s/it] 66%|██████▌ | 19868/30000 [9:13:43<4:40:55, 1.66s/it] 66%|██████▌ | 19869/30000 [9:13:45<4:40:35, 1.66s/it] 66%|██████▌ | 19870/30000 [9:13:47<4:40:25, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.10096561908721924, 'learning_rate': 8.420965381774172e-06, 'flow_matching_loss': 0.017808017320930958, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.78} + 66%|██████▌ | 19870/30000 [9:13:47<4:40:25, 1.66s/it] 66%|██████▌ | 19871/30000 [9:13:48<4:40:54, 1.66s/it] 66%|██████▌ | 19872/30000 [9:13:50<4:41:02, 1.66s/it] 66%|██████▌ | 19873/30000 [9:13:52<4:41:31, 1.67s/it] 66%|██████▌ | 19874/30000 [9:13:53<4:41:37, 1.67s/it] 66%|██████▋ | 19875/30000 [9:13:55<4:41:44, 1.67s/it] 66%|██████▋ | 19876/30000 [9:13:57<4:41:33, 1.67s/it] 66%|██████▋ | 19877/30000 [9:13:58<4:41:29, 1.67s/it] 66%|██████▋ | 19878/30000 [9:14:00<4:40:28, 1.66s/it] 66%|██████▋ | 19879/30000 [9:14:02<4:40:30, 1.66s/it] 66%|██████▋ | 19880/30000 [9:14:03<4:40:19, 1.66s/it] {'loss': 0.0191, 'grad_norm': 0.12250707298517227, 'learning_rate': 8.406109958388222e-06, 'flow_matching_loss': 0.01909577678889036, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.78} + 66%|██████▋ | 19880/30000 [9:14:03<4:40:19, 1.66s/it] 66%|██████▋ | 19881/30000 [9:14:05<4:40:13, 1.66s/it] 66%|██████▋ | 19882/30000 [9:14:07<4:40:27, 1.66s/it] 66%|██████▋ | 19883/30000 [9:14:08<4:40:50, 1.67s/it] 66%|██████▋ | 19884/30000 [9:14:10<4:40:32, 1.66s/it] 66%|██████▋ | 19885/30000 [9:14:12<4:40:32, 1.66s/it] 66%|██████▋ | 19886/30000 [9:14:13<4:40:26, 1.66s/it] 66%|██████▋ | 19887/30000 [9:14:15<4:40:48, 1.67s/it] 66%|██████▋ | 19888/30000 [9:14:17<4:40:40, 1.67s/it] 66%|██████▋ | 19889/30000 [9:14:18<4:41:06, 1.67s/it] 66%|██████▋ | 19890/30000 [9:14:20<4:41:52, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.10128152370452881, 'learning_rate': 8.391262547200434e-06, 'flow_matching_loss': 0.017643565125763417, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.79} + 66%|██████▋ | 19890/30000 [9:14:20<4:41:52, 1.67s/it] 66%|██████▋ | 19891/30000 [9:14:22<4:41:43, 1.67s/it] 66%|██████▋ | 19892/30000 [9:14:23<4:41:00, 1.67s/it] 66%|██████▋ | 19893/30000 [9:14:25<4:40:43, 1.67s/it] 66%|██████▋ | 19894/30000 [9:14:27<4:40:40, 1.67s/it] 66%|██████▋ | 19895/30000 [9:14:28<4:39:57, 1.66s/it] 66%|██████▋ | 19896/30000 [9:14:30<4:39:56, 1.66s/it] 66%|██████▋ | 19897/30000 [9:14:32<4:39:47, 1.66s/it] 66%|██████▋ | 19898/30000 [9:14:33<4:40:20, 1.67s/it] 66%|██████▋ | 19899/30000 [9:14:35<4:40:18, 1.67s/it] 66%|██████▋ | 19900/30000 [9:14:37<4:40:20, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.09167743474245071, 'learning_rate': 8.376423166251816e-06, 'flow_matching_loss': 0.016467069648206233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.79} + 66%|██████▋ | 19900/30000 [9:14:37<4:40:20, 1.67s/it] 66%|██████▋ | 19901/30000 [9:14:38<4:40:17, 1.67s/it] 66%|██████▋ | 19902/30000 [9:14:40<4:40:24, 1.67s/it] 66%|██████▋ | 19903/30000 [9:14:42<4:40:30, 1.67s/it] 66%|██████▋ | 19904/30000 [9:14:43<4:40:53, 1.67s/it] 66%|██████▋ | 19905/30000 [9:14:45<4:40:24, 1.67s/it] 66%|██████▋ | 19906/30000 [9:14:47<4:39:59, 1.66s/it] 66%|██████▋ | 19907/30000 [9:14:48<4:39:48, 1.66s/it] 66%|██████▋ | 19908/30000 [9:14:50<4:40:11, 1.67s/it] 66%|██████▋ | 19909/30000 [9:14:52<4:40:15, 1.67s/it] 66%|██████▋ | 19910/30000 [9:14:53<4:40:02, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.10532675683498383, 'learning_rate': 8.361591833573612e-06, 'flow_matching_loss': 0.020893355831503868, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.79} + 66%|██████▋ | 19910/30000 [9:14:53<4:40:02, 1.67s/it] 66%|██████▋ | 19911/30000 [9:14:55<4:40:14, 1.67s/it] 66%|██████▋ | 19912/30000 [9:14:57<4:40:13, 1.67s/it] 66%|██████▋ | 19913/30000 [9:14:58<4:40:01, 1.67s/it] 66%|██████▋ | 19914/30000 [9:15:00<4:39:55, 1.67s/it] 66%|██████▋ | 19915/30000 [9:15:02<4:40:06, 1.67s/it] 66%|██████▋ | 19916/30000 [9:15:03<4:40:00, 1.67s/it] 66%|██████▋ | 19917/30000 [9:15:05<4:39:42, 1.66s/it] 66%|██████▋ | 19918/30000 [9:15:07<4:39:42, 1.66s/it] 66%|██████▋ | 19919/30000 [9:15:08<4:40:19, 1.67s/it] 66%|██████▋ | 19920/30000 [9:15:10<4:39:42, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.13606248795986176, 'learning_rate': 8.346768567187287e-06, 'flow_matching_loss': 0.018383897375315428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.8} + 66%|██████▋ | 19920/30000 [9:15:10<4:39:42, 1.66s/it] 66%|██████▋ | 19921/30000 [9:15:12<4:39:38, 1.66s/it] 66%|██████▋ | 19922/30000 [9:15:13<4:39:43, 1.67s/it] 66%|██████▋ | 19923/30000 [9:15:15<4:39:41, 1.67s/it] 66%|██████▋ | 19924/30000 [9:15:17<4:40:19, 1.67s/it] 66%|██████▋ | 19925/30000 [9:15:18<4:39:52, 1.67s/it] 66%|██████▋ | 19926/30000 [9:15:20<4:39:44, 1.67s/it] 66%|██████▋ | 19927/30000 [9:15:22<4:40:18, 1.67s/it] 66%|██████▋ | 19928/30000 [9:15:23<4:40:03, 1.67s/it] 66%|██████▋ | 19929/30000 [9:15:25<4:39:42, 1.67s/it] 66%|██████▋ | 19930/30000 [9:15:27<4:40:39, 1.67s/it] {'loss': 0.0231, 'grad_norm': 0.15862181782722473, 'learning_rate': 8.331953385104516e-06, 'flow_matching_loss': 0.023060477152466775, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.8} + 66%|██████▋ | 19930/30000 [9:15:27<4:40:39, 1.67s/it] 66%|██████▋ | 19931/30000 [9:15:28<4:40:42, 1.67s/it] 66%|██████▋ | 19932/30000 [9:15:30<4:39:40, 1.67s/it] 66%|██████▋ | 19933/30000 [9:15:32<4:39:22, 1.67s/it] 66%|██████▋ | 19934/30000 [9:15:33<4:39:24, 1.67s/it] 66%|██████▋ | 19935/30000 [9:15:35<4:39:58, 1.67s/it] 66%|██████▋ | 19936/30000 [9:15:37<4:39:43, 1.67s/it] 66%|██████▋ | 19937/30000 [9:15:38<4:40:23, 1.67s/it] 66%|██████▋ | 19938/30000 [9:15:40<4:40:18, 1.67s/it] 66%|██████▋ | 19939/30000 [9:15:42<4:40:01, 1.67s/it] 66%|██████▋ | 19940/30000 [9:15:43<4:39:56, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.1282004863023758, 'learning_rate': 8.317146305327134e-06, 'flow_matching_loss': 0.01770895505324006, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.8} + 66%|██████▋ | 19940/30000 [9:15:43<4:39:56, 1.67s/it] 66%|██████▋ | 19941/30000 [9:15:45<4:39:44, 1.67s/it] 66%|██████▋ | 19942/30000 [9:15:47<4:39:16, 1.67s/it] 66%|██████▋ | 19943/30000 [9:15:48<4:39:42, 1.67s/it] 66%|██████▋ | 19944/30000 [9:15:50<4:39:37, 1.67s/it] 66%|██████▋ | 19945/30000 [9:15:52<4:39:35, 1.67s/it] 66%|██████▋ | 19946/30000 [9:15:53<4:39:22, 1.67s/it] 66%|██████▋ | 19947/30000 [9:15:55<4:39:21, 1.67s/it] 66%|██████▋ | 19948/30000 [9:15:57<4:39:04, 1.67s/it] 66%|██████▋ | 19949/30000 [9:15:58<4:38:41, 1.66s/it] 66%|██████▋ | 19950/30000 [9:16:00<4:38:52, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.12683367729187012, 'learning_rate': 8.302347345847146e-06, 'flow_matching_loss': 0.01820293115451932, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.8} + 66%|██████▋ | 19950/30000 [9:16:00<4:38:52, 1.66s/it] 67%|██████▋ | 19951/30000 [9:16:02<4:39:48, 1.67s/it] 67%|██████▋ | 19952/30000 [9:16:03<4:40:07, 1.67s/it] 67%|██████▋ | 19953/30000 [9:16:05<4:39:51, 1.67s/it] 67%|██████▋ | 19954/30000 [9:16:07<4:40:20, 1.67s/it] 67%|██████▋ | 19955/30000 [9:16:08<4:39:43, 1.67s/it] 67%|██████▋ | 19956/30000 [9:16:10<4:39:06, 1.67s/it] 67%|██████▋ | 19957/30000 [9:16:12<4:38:41, 1.67s/it] 67%|██████▋ | 19958/30000 [9:16:13<4:38:15, 1.66s/it] 67%|██████▋ | 19959/30000 [9:16:15<4:38:59, 1.67s/it] 67%|██████▋ | 19960/30000 [9:16:17<4:38:51, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.16933220624923706, 'learning_rate': 8.287556524646683e-06, 'flow_matching_loss': 0.021634214092046022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.81} + 67%|██████▋ | 19960/30000 [9:16:17<4:38:51, 1.67s/it] 67%|██████▋ | 19961/30000 [9:16:18<4:38:42, 1.67s/it] 67%|██████▋ | 19962/30000 [9:16:20<4:38:58, 1.67s/it] 67%|██████▋ | 19963/30000 [9:16:22<4:38:50, 1.67s/it] 67%|██████▋ | 19964/30000 [9:16:23<4:38:47, 1.67s/it] 67%|██████▋ | 19965/30000 [9:16:25<4:38:28, 1.67s/it] 67%|██████▋ | 19966/30000 [9:16:27<4:38:01, 1.66s/it] 67%|██████▋ | 19967/30000 [9:16:28<4:38:19, 1.66s/it] 67%|██████▋ | 19968/30000 [9:16:30<4:38:27, 1.67s/it] 67%|██████▋ | 19969/30000 [9:16:32<4:38:10, 1.66s/it] 67%|██████▋ | 19970/30000 [9:16:33<4:38:20, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.12835928797721863, 'learning_rate': 8.272773859697978e-06, 'flow_matching_loss': 0.016799374017864466, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.81} + 67%|██████▋ | 19970/30000 [9:16:33<4:38:20, 1.67s/it] 67%|██████▋ | 19971/30000 [9:16:35<4:38:38, 1.67s/it] 67%|██████▋ | 19972/30000 [9:16:37<4:38:31, 1.67s/it] 67%|██████▋ | 19973/30000 [9:16:38<4:37:54, 1.66s/it] 67%|██████▋ | 19974/30000 [9:16:40<4:37:44, 1.66s/it] 67%|██████▋ | 19975/30000 [9:16:42<4:38:23, 1.67s/it] 67%|██████▋ | 19976/30000 [9:16:43<4:38:45, 1.67s/it] 67%|██████▋ | 19977/30000 [9:16:45<4:38:44, 1.67s/it] 67%|██████▋ | 19978/30000 [9:16:47<4:38:45, 1.67s/it] 67%|██████▋ | 19979/30000 [9:16:48<4:38:37, 1.67s/it] 67%|██████▋ | 19980/30000 [9:16:50<4:37:44, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.12230454385280609, 'learning_rate': 8.257999368963374e-06, 'flow_matching_loss': 0.01847525257617235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.81} + 67%|██████▋ | 19980/30000 [9:16:50<4:37:44, 1.66s/it] 67%|██████▋ | 19981/30000 [9:16:52<4:38:21, 1.67s/it] 67%|██████▋ | 19982/30000 [9:16:53<4:38:02, 1.67s/it] 67%|██████▋ | 19983/30000 [9:16:55<4:38:08, 1.67s/it] 67%|██████▋ | 19984/30000 [9:16:57<4:37:58, 1.67s/it] 67%|██████▋ | 19985/30000 [9:16:58<4:37:58, 1.67s/it] 67%|██████▋ | 19986/30000 [9:17:00<4:38:10, 1.67s/it] 67%|██████▋ | 19987/30000 [9:17:02<4:37:36, 1.66s/it] 67%|██████▋ | 19988/30000 [9:17:03<4:37:06, 1.66s/it] 67%|██████▋ | 19989/30000 [9:17:05<4:37:12, 1.66s/it] 67%|██████▋ | 19990/30000 [9:17:07<4:37:22, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.10008314251899719, 'learning_rate': 8.243233070395266e-06, 'flow_matching_loss': 0.016418069787323474, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.82} + 67%|██████▋ | 19990/30000 [9:17:07<4:37:22, 1.66s/it] 67%|██████▋ | 19991/30000 [9:17:08<4:37:45, 1.67s/it] 67%|██████▋ | 19992/30000 [9:17:10<4:38:00, 1.67s/it] 67%|██████▋ | 19993/30000 [9:17:12<4:37:44, 1.67s/it] 67%|██████▋ | 19994/30000 [9:17:13<4:37:26, 1.66s/it] 67%|██████▋ | 19995/30000 [9:17:15<4:37:30, 1.66s/it] 67%|██████▋ | 19996/30000 [9:17:17<4:37:16, 1.66s/it] 67%|██████▋ | 19997/30000 [9:17:18<4:37:15, 1.66s/it] 67%|██████▋ | 19998/30000 [9:17:20<4:36:51, 1.66s/it] 67%|██████▋ | 19999/30000 [9:17:22<4:37:01, 1.66s/it] 67%|██████▋ | 20000/30000 [9:17:23<4:37:43, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.09922225028276443, 'learning_rate': 8.2284749819361e-06, 'flow_matching_loss': 0.01771969422698021, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.82} + 67%|██████▋ | 20000/30000 [9:17:23<4:37:43, 1.67s/it] 67%|██████▋ | 20001/30000 [9:17:25<4:37:39, 1.67s/it] 67%|██████▋ | 20002/30000 [9:17:27<4:37:47, 1.67s/it] 67%|██████▋ | 20003/30000 [9:17:28<4:37:09, 1.66s/it] 67%|██████▋ | 20004/30000 [9:17:30<4:37:06, 1.66s/it] 67%|██████▋ | 20005/30000 [9:17:32<4:37:15, 1.66s/it] 67%|██████▋ | 20006/30000 [9:17:33<4:37:11, 1.66s/it] 67%|██████▋ | 20007/30000 [9:17:35<4:37:20, 1.67s/it] 67%|██████▋ | 20008/30000 [9:17:37<4:37:06, 1.66s/it] 67%|██████▋ | 20009/30000 [9:17:38<4:36:54, 1.66s/it] 67%|██████▋ | 20010/30000 [9:17:40<4:37:10, 1.66s/it] {'loss': 0.0152, 'grad_norm': 0.08483658730983734, 'learning_rate': 8.213725121518346e-06, 'flow_matching_loss': 0.015234170947223902, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.82} + 67%|██████▋ | 20010/30000 [9:17:40<4:37:10, 1.66s/it] 67%|██████▋ | 20011/30000 [9:17:42<4:37:13, 1.67s/it] 67%|██████▋ | 20012/30000 [9:17:43<4:36:59, 1.66s/it] 67%|██████▋ | 20013/30000 [9:17:45<4:36:52, 1.66s/it] 67%|██████▋ | 20014/30000 [9:17:47<4:37:16, 1.67s/it] 67%|██████▋ | 20015/30000 [9:17:48<4:38:33, 1.67s/it] 67%|██████▋ | 20016/30000 [9:17:50<4:38:00, 1.67s/it] 67%|██████▋ | 20017/30000 [9:17:52<4:37:44, 1.67s/it] 67%|██████▋ | 20018/30000 [9:17:53<4:38:08, 1.67s/it] 67%|██████▋ | 20019/30000 [9:17:55<4:37:46, 1.67s/it] 67%|██████▋ | 20020/30000 [9:17:57<4:37:05, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.14518281817436218, 'learning_rate': 8.198983507064469e-06, 'flow_matching_loss': 0.017955210618674756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.82} + 67%|██████▋ | 20020/30000 [9:17:57<4:37:05, 1.67s/it] 67%|██████▋ | 20021/30000 [9:17:58<4:37:26, 1.67s/it] 67%|██████▋ | 20022/30000 [9:18:00<4:37:06, 1.67s/it] 67%|██████▋ | 20023/30000 [9:18:02<4:37:31, 1.67s/it] 67%|██████▋ | 20024/30000 [9:18:03<4:37:16, 1.67s/it] 67%|██████▋ | 20025/30000 [9:18:05<4:37:08, 1.67s/it] 67%|██████▋ | 20026/30000 [9:18:07<4:37:57, 1.67s/it] 67%|██████▋ | 20027/30000 [9:18:08<4:37:07, 1.67s/it] 67%|██████▋ | 20028/30000 [9:18:10<4:37:07, 1.67s/it] 67%|██████▋ | 20029/30000 [9:18:12<4:36:52, 1.67s/it] 67%|██████▋ | 20030/30000 [9:18:13<4:36:44, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.12298090010881424, 'learning_rate': 8.18425015648692e-06, 'flow_matching_loss': 0.018660837784409523, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.83} + 67%|██████▋ | 20030/30000 [9:18:13<4:36:44, 1.67s/it] 67%|██████▋ | 20031/30000 [9:18:15<4:37:01, 1.67s/it] 67%|██████▋ | 20032/30000 [9:18:17<4:37:00, 1.67s/it] 67%|██████▋ | 20033/30000 [9:18:18<4:36:33, 1.66s/it] 67%|██████▋ | 20034/30000 [9:18:20<4:36:32, 1.66s/it] 67%|██████▋ | 20035/30000 [9:18:22<4:36:06, 1.66s/it] 67%|██████▋ | 20036/30000 [9:18:23<4:36:16, 1.66s/it] 67%|██████▋ | 20037/30000 [9:18:25<4:36:12, 1.66s/it] 67%|██████▋ | 20038/30000 [9:18:27<4:35:26, 1.66s/it] 67%|██████▋ | 20039/30000 [9:18:28<4:35:46, 1.66s/it] 67%|██████▋ | 20040/30000 [9:18:30<4:36:18, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.10216125100851059, 'learning_rate': 8.169525087688122e-06, 'flow_matching_loss': 0.01817816821858287, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.83} + 67%|██████▋ | 20040/30000 [9:18:30<4:36:18, 1.66s/it] 67%|██████▋ | 20041/30000 [9:18:32<4:36:24, 1.67s/it] 67%|██████▋ | 20042/30000 [9:18:33<4:36:42, 1.67s/it] 67%|██████▋ | 20043/30000 [9:18:35<4:36:39, 1.67s/it] 67%|██████▋ | 20044/30000 [9:18:37<4:36:38, 1.67s/it] 67%|██████▋ | 20045/30000 [9:18:38<4:36:27, 1.67s/it] 67%|██████▋ | 20046/30000 [9:18:40<4:36:11, 1.66s/it] 67%|██████▋ | 20047/30000 [9:18:42<4:36:23, 1.67s/it] 67%|██████▋ | 20048/30000 [9:18:43<4:36:06, 1.66s/it] 67%|██████▋ | 20049/30000 [9:18:45<4:35:58, 1.66s/it] 67%|██████▋ | 20050/30000 [9:18:47<4:36:06, 1.66s/it] {'loss': 0.0152, 'grad_norm': 0.09439314901828766, 'learning_rate': 8.154808318560413e-06, 'flow_matching_loss': 0.01521957917138934, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.83} + 67%|██████▋ | 20050/30000 [9:18:47<4:36:06, 1.66s/it] 67%|██████▋ | 20051/30000 [9:18:48<4:36:19, 1.67s/it] 67%|██████▋ | 20052/30000 [9:18:50<4:36:21, 1.67s/it] 67%|██████▋ | 20053/30000 [9:18:52<4:36:11, 1.67s/it] 67%|██████▋ | 20054/30000 [9:18:53<4:35:51, 1.66s/it] 67%|██████▋ | 20055/30000 [9:18:55<4:36:14, 1.67s/it] 67%|██████▋ | 20056/30000 [9:18:57<4:36:12, 1.67s/it] 67%|██████▋ | 20057/30000 [9:18:58<4:36:10, 1.67s/it] 67%|██████▋ | 20058/30000 [9:19:00<4:36:17, 1.67s/it] 67%|██████▋ | 20059/30000 [9:19:02<4:35:42, 1.66s/it] 67%|██████▋ | 20060/30000 [9:19:03<4:35:34, 1.66s/it] {'loss': 0.0161, 'grad_norm': 0.10297490656375885, 'learning_rate': 8.140099866986058e-06, 'flow_matching_loss': 0.016096027474850415, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.84} + 67%|██████▋ | 20060/30000 [9:19:03<4:35:34, 1.66s/it] 67%|██████▋ | 20061/30000 [9:19:05<4:35:30, 1.66s/it] 67%|██████▋ | 20062/30000 [9:19:07<4:35:37, 1.66s/it] 67%|██████▋ | 20063/30000 [9:19:08<4:35:12, 1.66s/it] 67%|██████▋ | 20064/30000 [9:19:10<4:36:06, 1.67s/it] 67%|██████▋ | 20065/30000 [9:19:12<4:35:44, 1.67s/it] 67%|██████▋ | 20066/30000 [9:19:13<4:35:44, 1.67s/it] 67%|██████▋ | 20067/30000 [9:19:15<4:35:16, 1.66s/it] 67%|██████▋ | 20068/30000 [9:19:17<4:35:20, 1.66s/it] 67%|██████▋ | 20069/30000 [9:19:18<4:34:58, 1.66s/it] 67%|██████▋ | 20070/30000 [9:19:20<4:35:20, 1.66s/it] {'loss': 0.0183, 'grad_norm': 0.12232647091150284, 'learning_rate': 8.125399750837202e-06, 'flow_matching_loss': 0.018289150111377238, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.84} + 67%|██████▋ | 20070/30000 [9:19:20<4:35:20, 1.66s/it] 67%|██████▋ | 20071/30000 [9:19:22<4:35:46, 1.67s/it] 67%|██████▋ | 20072/30000 [9:19:23<4:35:47, 1.67s/it] 67%|██████▋ | 20073/30000 [9:19:25<4:35:53, 1.67s/it] 67%|██████▋ | 20074/30000 [9:19:27<4:35:54, 1.67s/it] 67%|██████▋ | 20075/30000 [9:19:28<4:35:55, 1.67s/it] 67%|██████▋ | 20076/30000 [9:19:30<4:35:28, 1.67s/it] 67%|██████▋ | 20077/30000 [9:19:32<4:35:02, 1.66s/it] 67%|██████▋ | 20078/30000 [9:19:33<4:34:33, 1.66s/it] 67%|██████▋ | 20079/30000 [9:19:35<4:35:07, 1.66s/it] 67%|██████▋ | 20080/30000 [9:19:37<4:35:02, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.12603048980236053, 'learning_rate': 8.110707987975888e-06, 'flow_matching_loss': 0.017683905083686113, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.84} + 67%|██████▋ | 20080/30000 [9:19:37<4:35:02, 1.66s/it] 67%|██████▋ | 20081/30000 [9:19:38<4:35:07, 1.66s/it] 67%|██████▋ | 20082/30000 [9:19:40<4:35:24, 1.67s/it] 67%|██████▋ | 20083/30000 [9:19:42<4:35:34, 1.67s/it] 67%|██████▋ | 20084/30000 [9:19:43<4:35:25, 1.67s/it] 67%|██████▋ | 20085/30000 [9:19:45<4:35:12, 1.67s/it] 67%|██████▋ | 20086/30000 [9:19:47<4:35:06, 1.66s/it] 67%|██████▋ | 20087/30000 [9:19:48<4:35:18, 1.67s/it] 67%|██████▋ | 20088/30000 [9:19:50<4:35:12, 1.67s/it] 67%|██████▋ | 20089/30000 [9:19:52<4:35:14, 1.67s/it] 67%|██████▋ | 20090/30000 [9:19:53<4:35:16, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.08905593305826187, 'learning_rate': 8.096024596253982e-06, 'flow_matching_loss': 0.017145003098994492, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.85} + 67%|██████▋ | 20090/30000 [9:19:53<4:35:16, 1.67s/it] 67%|██████▋ | 20091/30000 [9:19:55<4:35:25, 1.67s/it] 67%|██████▋ | 20092/30000 [9:19:57<4:35:05, 1.67s/it] 67%|██████▋ | 20093/30000 [9:19:58<4:35:03, 1.67s/it] 67%|██████▋ | 20094/30000 [9:20:00<4:34:45, 1.66s/it] 67%|██████▋ | 20095/30000 [9:20:02<4:34:48, 1.66s/it] 67%|██████▋ | 20096/30000 [9:20:03<4:36:05, 1.67s/it] 67%|██████▋ | 20097/30000 [9:20:05<4:36:22, 1.67s/it] 67%|██████▋ | 20098/30000 [9:20:07<4:35:59, 1.67s/it] 67%|██████▋ | 20099/30000 [9:20:08<4:36:08, 1.67s/it] 67%|██████▋ | 20100/30000 [9:20:10<4:35:53, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.11148138344287872, 'learning_rate': 8.081349593513197e-06, 'flow_matching_loss': 0.016489149443805216, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.85} + 67%|██████▋ | 20100/30000 [9:20:10<4:35:53, 1.67s/it] 67%|██████▋ | 20101/30000 [9:20:12<4:35:30, 1.67s/it] 67%|██████▋ | 20102/30000 [9:20:13<4:34:44, 1.67s/it] 67%|██████▋ | 20103/30000 [9:20:15<4:34:54, 1.67s/it] 67%|██████▋ | 20104/30000 [9:20:17<4:34:45, 1.67s/it] 67%|██████▋ | 20105/30000 [9:20:18<4:34:36, 1.67s/it] 67%|██████▋ | 20106/30000 [9:20:20<4:34:49, 1.67s/it] 67%|██████▋ | 20107/30000 [9:20:22<4:35:17, 1.67s/it] 67%|██████▋ | 20108/30000 [9:20:23<4:34:40, 1.67s/it] 67%|██████▋ | 20109/30000 [9:20:25<4:34:39, 1.67s/it] 67%|██████▋ | 20110/30000 [9:20:27<4:34:36, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.13221140205860138, 'learning_rate': 8.066682997585045e-06, 'flow_matching_loss': 0.018328494764864443, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.85} + 67%|██████▋ | 20110/30000 [9:20:27<4:34:36, 1.67s/it] 67%|██████▋ | 20111/30000 [9:20:28<4:34:56, 1.67s/it] 67%|██████▋ | 20112/30000 [9:20:30<4:34:48, 1.67s/it] 67%|██████▋ | 20113/30000 [9:20:32<4:34:37, 1.67s/it] 67%|██████▋ | 20114/30000 [9:20:33<4:34:28, 1.67s/it] 67%|██████▋ | 20115/30000 [9:20:35<4:34:01, 1.66s/it] 67%|██████▋ | 20116/30000 [9:20:37<4:34:20, 1.67s/it] 67%|██████▋ | 20117/30000 [9:20:38<4:34:35, 1.67s/it] 67%|██████▋ | 20118/30000 [9:20:40<4:34:44, 1.67s/it] 67%|██████▋ | 20119/30000 [9:20:42<4:35:20, 1.67s/it] 67%|██████▋ | 20120/30000 [9:20:43<4:35:09, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.096876360476017, 'learning_rate': 8.052024826290819e-06, 'flow_matching_loss': 0.017194966599345208, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.85} + 67%|██████▋ | 20120/30000 [9:20:43<4:35:09, 1.67s/it] 67%|██████▋ | 20121/30000 [9:20:45<4:35:15, 1.67s/it] 67%|██████▋ | 20122/30000 [9:20:47<4:35:00, 1.67s/it] 67%|██████▋ | 20123/30000 [9:20:48<4:34:42, 1.67s/it] 67%|██████▋ | 20124/30000 [9:20:50<4:34:32, 1.67s/it] 67%|██████▋ | 20125/30000 [9:20:52<4:34:06, 1.67s/it] 67%|██████▋ | 20126/30000 [9:20:53<4:33:52, 1.66s/it] 67%|██████▋ | 20127/30000 [9:20:55<4:34:37, 1.67s/it] 67%|██████▋ | 20128/30000 [9:20:57<4:34:23, 1.67s/it] 67%|██████▋ | 20129/30000 [9:20:58<4:34:00, 1.67s/it] 67%|██████▋ | 20130/30000 [9:21:00<4:34:48, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.11117473244667053, 'learning_rate': 8.037375097441574e-06, 'flow_matching_loss': 0.017925082053989173, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.86} + 67%|██████▋ | 20130/30000 [9:21:00<4:34:48, 1.67s/it] 67%|██████▋ | 20131/30000 [9:21:02<4:34:21, 1.67s/it] 67%|██████▋ | 20132/30000 [9:21:03<4:34:41, 1.67s/it] 67%|██████▋ | 20133/30000 [9:21:05<4:34:06, 1.67s/it] 67%|██████▋ | 20134/30000 [9:21:07<4:34:37, 1.67s/it] 67%|██████▋ | 20135/30000 [9:21:08<4:34:47, 1.67s/it] 67%|██████▋ | 20136/30000 [9:21:10<4:34:01, 1.67s/it] 67%|██████▋ | 20137/30000 [9:21:12<4:33:58, 1.67s/it] 67%|██████▋ | 20138/30000 [9:21:13<4:34:02, 1.67s/it] 67%|██████▋ | 20139/30000 [9:21:15<4:34:04, 1.67s/it] 67%|██████▋ | 20140/30000 [9:21:17<4:34:07, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.11852561682462692, 'learning_rate': 8.022733828838124e-06, 'flow_matching_loss': 0.01753163244575262, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.86} + 67%|██████▋ | 20140/30000 [9:21:17<4:34:07, 1.67s/it] 67%|██████▋ | 20141/30000 [9:21:18<4:33:52, 1.67s/it] 67%|██████▋ | 20142/30000 [9:21:20<4:33:31, 1.66s/it] 67%|██████▋ | 20143/30000 [9:21:22<4:33:46, 1.67s/it] 67%|██████▋ | 20144/30000 [9:21:23<4:32:53, 1.66s/it] 67%|██████▋ | 20145/30000 [9:21:25<4:33:04, 1.66s/it] 67%|██████▋ | 20146/30000 [9:21:27<4:33:28, 1.67s/it] 67%|██████▋ | 20147/30000 [9:21:28<4:33:36, 1.67s/it] 67%|██████▋ | 20148/30000 [9:21:30<4:33:18, 1.66s/it] 67%|██████▋ | 20149/30000 [9:21:32<4:33:23, 1.67s/it] 67%|██████▋ | 20150/30000 [9:21:33<4:33:03, 1.66s/it] {'loss': 0.0166, 'grad_norm': 0.11132822185754776, 'learning_rate': 8.008101038270988e-06, 'flow_matching_loss': 0.0165712745860219, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.86} + 67%|██████▋ | 20150/30000 [9:21:33<4:33:03, 1.66s/it] 67%|██████▋ | 20151/30000 [9:21:35<4:33:29, 1.67s/it] 67%|██████▋ | 20152/30000 [9:21:37<4:33:19, 1.67s/it] 67%|██████▋ | 20153/30000 [9:21:38<4:33:01, 1.66s/it] 67%|██████▋ | 20154/30000 [9:21:40<4:33:04, 1.66s/it] 67%|██████▋ | 20155/30000 [9:21:42<4:33:07, 1.66s/it] 67%|██████▋ | 20156/30000 [9:21:43<4:32:51, 1.66s/it] 67%|██████▋ | 20157/30000 [9:21:45<4:32:50, 1.66s/it] 67%|██████▋ | 20158/30000 [9:21:47<4:32:28, 1.66s/it] 67%|██████▋ | 20159/30000 [9:21:48<4:32:57, 1.66s/it] 67%|██████▋ | 20160/30000 [9:21:50<4:32:39, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.10802092403173447, 'learning_rate': 7.99347674352038e-06, 'flow_matching_loss': 0.01868519578129053, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.87} + 67%|██████▋ | 20160/30000 [9:21:50<4:32:39, 1.66s/it] 67%|██████▋ | 20161/30000 [9:21:52<4:33:03, 1.67s/it] 67%|██████▋ | 20162/30000 [9:21:53<4:33:26, 1.67s/it] 67%|██████▋ | 20163/30000 [9:21:55<4:33:50, 1.67s/it] 67%|██████▋ | 20164/30000 [9:21:57<4:33:27, 1.67s/it] 67%|██████▋ | 20165/30000 [9:21:58<4:33:17, 1.67s/it] 67%|██████▋ | 20166/30000 [9:22:00<4:33:10, 1.67s/it] 67%|██████▋ | 20167/30000 [9:22:02<4:32:59, 1.67s/it] 67%|██████▋ | 20168/30000 [9:22:03<4:32:52, 1.67s/it] 67%|██████▋ | 20169/30000 [9:22:05<4:32:44, 1.66s/it] 67%|██████▋ | 20170/30000 [9:22:07<4:32:48, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.09032031148672104, 'learning_rate': 7.978860962356202e-06, 'flow_matching_loss': 0.017852024547755717, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.87} + 67%|██████▋ | 20170/30000 [9:22:07<4:32:48, 1.67s/it] 67%|██████▋ | 20171/30000 [9:22:08<4:32:52, 1.67s/it] 67%|██████▋ | 20172/30000 [9:22:10<4:32:39, 1.66s/it] 67%|██████▋ | 20173/30000 [9:22:12<4:32:39, 1.66s/it] 67%|██████▋ | 20174/30000 [9:22:13<4:32:32, 1.66s/it] 67%|██████▋ | 20175/30000 [9:22:15<4:32:52, 1.67s/it] 67%|██████▋ | 20176/30000 [9:22:17<4:32:41, 1.67s/it] 67%|██████▋ | 20177/30000 [9:22:18<4:32:22, 1.66s/it] 67%|██████▋ | 20178/30000 [9:22:20<4:32:28, 1.66s/it] 67%|██████▋ | 20179/30000 [9:22:22<4:32:41, 1.67s/it] 67%|██████▋ | 20180/30000 [9:22:23<4:32:53, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.12085727602243423, 'learning_rate': 7.964253712537997e-06, 'flow_matching_loss': 0.017125305905938148, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.87} + 67%|██████▋ | 20180/30000 [9:22:23<4:32:53, 1.67s/it] 67%|██████▋ | 20181/30000 [9:22:25<4:32:54, 1.67s/it] 67%|██████▋ | 20182/30000 [9:22:27<4:32:30, 1.67s/it] 67%|██████▋ | 20183/30000 [9:22:28<4:32:53, 1.67s/it] 67%|██████▋ | 20184/30000 [9:22:30<4:32:32, 1.67s/it] 67%|██████▋ | 20185/30000 [9:22:32<4:32:26, 1.67s/it] 67%|██████▋ | 20186/30000 [9:22:33<4:32:26, 1.67s/it] 67%|██████▋ | 20187/30000 [9:22:35<4:33:07, 1.67s/it] 67%|██████▋ | 20188/30000 [9:22:37<4:32:40, 1.67s/it] 67%|██████▋ | 20189/30000 [9:22:38<4:32:45, 1.67s/it] 67%|██████▋ | 20190/30000 [9:22:40<4:32:20, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10491905361413956, 'learning_rate': 7.949655011814968e-06, 'flow_matching_loss': 0.017908367235213517, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.87} + 67%|██████▋ | 20190/30000 [9:22:40<4:32:20, 1.67s/it] 67%|██████▋ | 20191/30000 [9:22:42<4:32:48, 1.67s/it] 67%|██████▋ | 20192/30000 [9:22:43<4:32:52, 1.67s/it] 67%|██████▋ | 20193/30000 [9:22:45<4:32:27, 1.67s/it] 67%|██████▋ | 20194/30000 [9:22:47<4:33:27, 1.67s/it] 67%|██████▋ | 20195/30000 [9:22:48<4:33:24, 1.67s/it] 67%|██████▋ | 20196/30000 [9:22:50<4:33:14, 1.67s/it] 67%|██████▋ | 20197/30000 [9:22:52<4:32:58, 1.67s/it] 67%|██████▋ | 20198/30000 [9:22:53<4:32:22, 1.67s/it] 67%|██████▋ | 20199/30000 [9:22:55<4:32:15, 1.67s/it] 67%|██████▋ | 20200/30000 [9:22:57<4:32:00, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11042165011167526, 'learning_rate': 7.9350648779259e-06, 'flow_matching_loss': 0.01639215452596545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.88} + 67%|██████▋ | 20200/30000 [9:22:57<4:32:00, 1.67s/it] 67%|██████▋ | 20201/30000 [9:22:58<4:31:53, 1.66s/it] 67%|██████▋ | 20202/30000 [9:23:00<4:31:50, 1.66s/it] 67%|██████▋ | 20203/30000 [9:23:02<4:32:38, 1.67s/it] 67%|██████▋ | 20204/30000 [9:23:03<4:32:17, 1.67s/it] 67%|██████▋ | 20205/30000 [9:23:05<4:32:37, 1.67s/it] 67%|██████▋ | 20206/30000 [9:23:07<4:32:40, 1.67s/it] 67%|██████▋ | 20207/30000 [9:23:08<4:33:06, 1.67s/it] 67%|██████▋ | 20208/30000 [9:23:10<4:32:55, 1.67s/it] 67%|██████▋ | 20209/30000 [9:23:12<4:32:29, 1.67s/it] 67%|██████▋ | 20210/30000 [9:23:13<4:32:18, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.11302710324525833, 'learning_rate': 7.92048332859919e-06, 'flow_matching_loss': 0.021004068665206432, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.88} + 67%|██████▋ | 20210/30000 [9:23:13<4:32:18, 1.67s/it] 67%|██████▋ | 20211/30000 [9:23:15<4:32:37, 1.67s/it] 67%|██████▋ | 20212/30000 [9:23:17<4:32:47, 1.67s/it] 67%|██████▋ | 20213/30000 [9:23:18<4:32:18, 1.67s/it] 67%|██████▋ | 20214/30000 [9:23:20<4:31:35, 1.67s/it] 67%|██████▋ | 20215/30000 [9:23:22<4:31:52, 1.67s/it] 67%|██████▋ | 20216/30000 [9:23:23<4:32:04, 1.67s/it] 67%|██████▋ | 20217/30000 [9:23:25<4:31:52, 1.67s/it] 67%|██████▋ | 20218/30000 [9:23:27<4:31:47, 1.67s/it] 67%|██████▋ | 20219/30000 [9:23:28<4:32:14, 1.67s/it] 67%|██████▋ | 20220/30000 [9:23:30<4:31:44, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.12755684554576874, 'learning_rate': 7.90591038155278e-06, 'flow_matching_loss': 0.01956470049917698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.88} + 67%|██████▋ | 20220/30000 [9:23:30<4:31:44, 1.67s/it] 67%|██████▋ | 20221/30000 [9:23:32<4:31:44, 1.67s/it] 67%|██████▋ | 20222/30000 [9:23:33<4:31:22, 1.67s/it] 67%|██████▋ | 20223/30000 [9:23:35<4:31:35, 1.67s/it] 67%|██████▋ | 20224/30000 [9:23:37<4:31:19, 1.67s/it] 67%|██████▋ | 20225/30000 [9:23:38<4:31:19, 1.67s/it] 67%|██████▋ | 20226/30000 [9:23:40<4:31:47, 1.67s/it] 67%|██████▋ | 20227/30000 [9:23:42<4:31:58, 1.67s/it] 67%|██████▋ | 20228/30000 [9:23:43<4:31:46, 1.67s/it] 67%|██████▋ | 20229/30000 [9:23:45<4:31:21, 1.67s/it] 67%|██████▋ | 20230/30000 [9:23:47<4:31:08, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.1253884732723236, 'learning_rate': 7.891346054494194e-06, 'flow_matching_loss': 0.019518837705254553, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.89} + 67%|██████▋ | 20230/30000 [9:23:47<4:31:08, 1.67s/it] 67%|██████▋ | 20231/30000 [9:23:48<4:31:24, 1.67s/it] 67%|██████▋ | 20232/30000 [9:23:50<4:31:18, 1.67s/it] 67%|██████▋ | 20233/30000 [9:23:52<4:31:12, 1.67s/it] 67%|██████▋ | 20234/30000 [9:23:53<4:30:52, 1.66s/it] 67%|██████▋ | 20235/30000 [9:23:55<4:30:51, 1.66s/it] 67%|██████▋ | 20236/30000 [9:23:57<4:30:52, 1.66s/it] 67%|██████▋ | 20237/30000 [9:23:58<4:30:38, 1.66s/it] 67%|██████▋ | 20238/30000 [9:24:00<4:29:50, 1.66s/it] 67%|██████▋ | 20239/30000 [9:24:02<4:30:13, 1.66s/it] 67%|██████▋ | 20240/30000 [9:24:03<4:30:12, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.125984787940979, 'learning_rate': 7.876790365120447e-06, 'flow_matching_loss': 0.018218551110476256, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.89} + 67%|██████▋ | 20240/30000 [9:24:03<4:30:12, 1.66s/it] 67%|██████▋ | 20241/30000 [9:24:05<4:30:26, 1.66s/it] 67%|██████▋ | 20242/30000 [9:24:07<4:30:44, 1.66s/it] 67%|██████▋ | 20243/30000 [9:24:08<4:30:47, 1.67s/it] 67%|██████▋ | 20244/30000 [9:24:10<4:31:01, 1.67s/it] 67%|██████▋ | 20245/30000 [9:24:12<4:31:26, 1.67s/it] 67%|██████▋ | 20246/30000 [9:24:13<4:30:53, 1.67s/it] 67%|██████▋ | 20247/30000 [9:24:15<4:31:10, 1.67s/it] 67%|██████▋ | 20248/30000 [9:24:17<4:30:49, 1.67s/it] 67%|██████▋ | 20249/30000 [9:24:18<4:30:25, 1.66s/it] 68%|██████▊ | 20250/30000 [9:24:20<4:30:29, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.10299261659383774, 'learning_rate': 7.862243331118088e-06, 'flow_matching_loss': 0.0169594818726182, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.89} + 68%|██████▊ | 20250/30000 [9:24:20<4:30:29, 1.66s/it] 68%|██████▊ | 20251/30000 [9:24:22<4:30:46, 1.67s/it] 68%|██████▊ | 20252/30000 [9:24:23<4:30:35, 1.67s/it] 68%|██████▊ | 20253/30000 [9:24:25<4:30:14, 1.66s/it] 68%|██████▊ | 20254/30000 [9:24:27<4:29:58, 1.66s/it] 68%|██████▊ | 20255/30000 [9:24:28<4:30:26, 1.67s/it] 68%|██████▊ | 20256/30000 [9:24:30<4:30:20, 1.66s/it] 68%|██████▊ | 20257/30000 [9:24:32<4:30:14, 1.66s/it] 68%|██████▊ | 20258/30000 [9:24:33<4:30:18, 1.66s/it] 68%|██████▊ | 20259/30000 [9:24:35<4:30:31, 1.67s/it] 68%|██████▊ | 20260/30000 [9:24:37<4:30:39, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.1263306736946106, 'learning_rate': 7.847704970163127e-06, 'flow_matching_loss': 0.01884233606979251, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.89} + 68%|██████▊ | 20260/30000 [9:24:37<4:30:39, 1.67s/it] 68%|██████▊ | 20261/30000 [9:24:38<4:30:20, 1.67s/it] 68%|██████▊ | 20262/30000 [9:24:40<4:30:02, 1.66s/it] 68%|██████▊ | 20263/30000 [9:24:42<4:30:28, 1.67s/it] 68%|██████▊ | 20264/30000 [9:24:43<4:30:18, 1.67s/it] 68%|██████▊ | 20265/30000 [9:24:45<4:29:52, 1.66s/it] 68%|██████▊ | 20266/30000 [9:24:47<4:29:44, 1.66s/it] 68%|██████▊ | 20267/30000 [9:24:48<4:30:03, 1.66s/it] 68%|██████▊ | 20268/30000 [9:24:50<4:29:36, 1.66s/it] 68%|██████▊ | 20269/30000 [9:24:52<4:29:36, 1.66s/it] 68%|██████▊ | 20270/30000 [9:24:53<4:29:30, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.10076270252466202, 'learning_rate': 7.833175299921046e-06, 'flow_matching_loss': 0.017609260417521, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.9} + 68%|██████▊ | 20270/30000 [9:24:53<4:29:30, 1.66s/it] 68%|██████▊ | 20271/30000 [9:24:55<4:29:56, 1.66s/it] 68%|██████▊ | 20272/30000 [9:24:57<4:30:06, 1.67s/it] 68%|██████▊ | 20273/30000 [9:24:58<4:30:29, 1.67s/it] 68%|██████▊ | 20274/30000 [9:25:00<4:30:01, 1.67s/it] 68%|██████▊ | 20275/30000 [9:25:02<4:30:03, 1.67s/it] 68%|██████▊ | 20276/30000 [9:25:03<4:30:17, 1.67s/it] 68%|██████▊ | 20277/30000 [9:25:05<4:29:50, 1.67s/it] 68%|██████▊ | 20278/30000 [9:25:07<4:30:23, 1.67s/it] 68%|██████▊ | 20279/30000 [9:25:08<4:29:55, 1.67s/it] 68%|██████▊ | 20280/30000 [9:25:10<4:29:34, 1.66s/it] {'loss': 0.0167, 'grad_norm': 0.10073172301054001, 'learning_rate': 7.81865433804676e-06, 'flow_matching_loss': 0.016727667953819036, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.9} + 68%|██████▊ | 20280/30000 [9:25:10<4:29:34, 1.66s/it] 68%|██████▊ | 20281/30000 [9:25:12<4:29:36, 1.66s/it] 68%|██████▊ | 20282/30000 [9:25:13<4:30:02, 1.67s/it] 68%|██████▊ | 20283/30000 [9:25:15<4:30:04, 1.67s/it] 68%|██████▊ | 20284/30000 [9:25:17<4:30:09, 1.67s/it] 68%|██████▊ | 20285/30000 [9:25:18<4:30:03, 1.67s/it] 68%|██████▊ | 20286/30000 [9:25:20<4:29:46, 1.67s/it] 68%|██████▊ | 20287/30000 [9:25:22<4:30:08, 1.67s/it] 68%|██████▊ | 20288/30000 [9:25:23<4:29:50, 1.67s/it] 68%|██████▊ | 20289/30000 [9:25:25<4:29:47, 1.67s/it] 68%|██████▊ | 20290/30000 [9:25:27<4:29:54, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.08410082757472992, 'learning_rate': 7.80414210218461e-06, 'flow_matching_loss': 0.018414478097110987, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.9} + 68%|██████▊ | 20290/30000 [9:25:27<4:29:54, 1.67s/it] 68%|██████▊ | 20291/30000 [9:25:28<4:30:33, 1.67s/it] 68%|██████▊ | 20292/30000 [9:25:30<4:30:17, 1.67s/it] 68%|██████▊ | 20293/30000 [9:25:32<4:30:00, 1.67s/it] 68%|██████▊ | 20294/30000 [9:25:33<4:29:32, 1.67s/it] 68%|██████▊ | 20295/30000 [9:25:35<4:30:01, 1.67s/it] 68%|██████▊ | 20296/30000 [9:25:37<4:29:27, 1.67s/it] 68%|██████▊ | 20297/30000 [9:25:38<4:29:31, 1.67s/it] 68%|██████▊ | 20298/30000 [9:25:40<4:29:37, 1.67s/it] 68%|██████▊ | 20299/30000 [9:25:42<4:29:25, 1.67s/it] 68%|██████▊ | 20300/30000 [9:25:43<4:29:40, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09061021357774734, 'learning_rate': 7.789638609968332e-06, 'flow_matching_loss': 0.019304153602570297, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.91} + 68%|██████▊ | 20300/30000 [9:25:43<4:29:40, 1.67s/it] 68%|██████▊ | 20301/30000 [9:25:45<4:29:41, 1.67s/it] 68%|██████▊ | 20302/30000 [9:25:47<4:29:30, 1.67s/it] 68%|██████▊ | 20303/30000 [9:25:48<4:29:47, 1.67s/it] 68%|██████▊ | 20304/30000 [9:25:50<4:29:29, 1.67s/it] 68%|██████▊ | 20305/30000 [9:25:52<4:30:03, 1.67s/it] 68%|██████▊ | 20306/30000 [9:25:53<4:29:59, 1.67s/it] 68%|██████▊ | 20307/30000 [9:25:55<4:29:49, 1.67s/it] 68%|██████▊ | 20308/30000 [9:25:57<4:29:37, 1.67s/it] 68%|██████▊ | 20309/30000 [9:25:58<4:29:10, 1.67s/it] 68%|██████▊ | 20310/30000 [9:26:00<4:28:49, 1.66s/it] {'loss': 0.0183, 'grad_norm': 0.1280210316181183, 'learning_rate': 7.775143879021037e-06, 'flow_matching_loss': 0.018250840064138175, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.91} + 68%|██████▊ | 20310/30000 [9:26:00<4:28:49, 1.66s/it] 68%|██████▊ | 20311/30000 [9:26:02<4:29:24, 1.67s/it] 68%|██████▊ | 20312/30000 [9:26:03<4:29:17, 1.67s/it] 68%|██████▊ | 20313/30000 [9:26:05<4:29:00, 1.67s/it] 68%|██████▊ | 20314/30000 [9:26:07<4:29:19, 1.67s/it] 68%|██████▊ | 20315/30000 [9:26:08<4:29:26, 1.67s/it] 68%|██████▊ | 20316/30000 [9:26:10<4:29:52, 1.67s/it] 68%|██████▊ | 20317/30000 [9:26:12<4:28:45, 1.67s/it] 68%|██████▊ | 20318/30000 [9:26:13<4:28:45, 1.67s/it] 68%|██████▊ | 20319/30000 [9:26:15<4:29:09, 1.67s/it] 68%|██████▊ | 20320/30000 [9:26:17<4:28:45, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.10165981948375702, 'learning_rate': 7.760657926955187e-06, 'flow_matching_loss': 0.015979595482349396, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.91} + 68%|██████▊ | 20320/30000 [9:26:17<4:28:45, 1.67s/it] 68%|██████▊ | 20321/30000 [9:26:18<4:28:42, 1.67s/it] 68%|██████▊ | 20322/30000 [9:26:20<4:28:34, 1.67s/it] 68%|██████▊ | 20323/30000 [9:26:22<4:28:25, 1.66s/it] 68%|██████▊ | 20324/30000 [9:26:23<4:28:35, 1.67s/it] 68%|██████▊ | 20325/30000 [9:26:25<4:28:19, 1.66s/it] 68%|██████▊ | 20326/30000 [9:26:27<4:28:18, 1.66s/it] 68%|██████▊ | 20327/30000 [9:26:28<4:28:47, 1.67s/it] 68%|██████▊ | 20328/30000 [9:26:30<4:28:39, 1.67s/it] 68%|██████▊ | 20329/30000 [9:26:32<4:28:17, 1.66s/it] 68%|██████▊ | 20330/30000 [9:26:33<4:28:26, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.09411462396383286, 'learning_rate': 7.746180771372584e-06, 'flow_matching_loss': 0.01750874286517501, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.92} + 68%|██████▊ | 20330/30000 [9:26:33<4:28:26, 1.67s/it] 68%|██████▊ | 20331/30000 [9:26:35<4:28:35, 1.67s/it] 68%|██████▊ | 20332/30000 [9:26:37<4:29:21, 1.67s/it] 68%|██████▊ | 20333/30000 [9:26:38<4:29:06, 1.67s/it] 68%|██████▊ | 20334/30000 [9:26:40<4:28:55, 1.67s/it] 68%|██████▊ | 20335/30000 [9:26:42<4:29:03, 1.67s/it] 68%|██████▊ | 20336/30000 [9:26:43<4:28:35, 1.67s/it] 68%|██████▊ | 20337/30000 [9:26:45<4:28:27, 1.67s/it] 68%|██████▊ | 20338/30000 [9:26:47<4:28:54, 1.67s/it] 68%|██████▊ | 20339/30000 [9:26:48<4:29:00, 1.67s/it] 68%|██████▊ | 20340/30000 [9:26:50<4:28:45, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09384679794311523, 'learning_rate': 7.731712429864325e-06, 'flow_matching_loss': 0.017752875667065383, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.92} + 68%|██████▊ | 20340/30000 [9:26:50<4:28:45, 1.67s/it] 68%|██████▊ | 20341/30000 [9:26:52<4:28:36, 1.67s/it] 68%|██████▊ | 20342/30000 [9:26:53<4:28:22, 1.67s/it] 68%|██████▊ | 20343/30000 [9:26:55<4:28:41, 1.67s/it] 68%|██████▊ | 20344/30000 [9:26:57<4:28:30, 1.67s/it] 68%|██████▊ | 20345/30000 [9:26:58<4:28:06, 1.67s/it] 68%|██████▊ | 20346/30000 [9:27:00<4:28:15, 1.67s/it] 68%|██████▊ | 20347/30000 [9:27:02<4:28:09, 1.67s/it] 68%|██████▊ | 20348/30000 [9:27:03<4:27:56, 1.67s/it] 68%|██████▊ | 20349/30000 [9:27:05<4:27:20, 1.66s/it] 68%|██████▊ | 20350/30000 [9:27:07<4:27:38, 1.66s/it] {'loss': 0.0179, 'grad_norm': 0.09306559711694717, 'learning_rate': 7.717252920010828e-06, 'flow_matching_loss': 0.017877947166562082, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.92} + 68%|██████▊ | 20350/30000 [9:27:07<4:27:38, 1.66s/it] 68%|██████▊ | 20351/30000 [9:27:08<4:27:42, 1.66s/it] 68%|██████▊ | 20352/30000 [9:27:10<4:27:24, 1.66s/it] 68%|██████▊ | 20353/30000 [9:27:12<4:27:37, 1.66s/it] 68%|██████▊ | 20354/30000 [9:27:13<4:28:01, 1.67s/it] 68%|██████▊ | 20355/30000 [9:27:15<4:28:29, 1.67s/it] 68%|██████▊ | 20356/30000 [9:27:17<4:27:52, 1.67s/it] 68%|██████▊ | 20357/30000 [9:27:18<4:27:43, 1.67s/it] 68%|██████▊ | 20358/30000 [9:27:20<4:27:46, 1.67s/it] 68%|██████▊ | 20359/30000 [9:27:22<4:28:11, 1.67s/it] 68%|██████▊ | 20360/30000 [9:27:23<4:27:59, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10871831327676773, 'learning_rate': 7.702802259381742e-06, 'flow_matching_loss': 0.017894634138792755, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.92} + 68%|██████▊ | 20360/30000 [9:27:23<4:27:59, 1.67s/it] 68%|██████▊ | 20361/30000 [9:27:25<4:27:42, 1.67s/it] 68%|██████▊ | 20362/30000 [9:27:27<4:27:25, 1.66s/it] 68%|██████▊ | 20363/30000 [9:27:28<4:27:14, 1.66s/it] 68%|██████▊ | 20364/30000 [9:27:30<4:27:18, 1.66s/it] 68%|██████▊ | 20365/30000 [9:27:32<4:27:20, 1.66s/it] 68%|██████▊ | 20366/30000 [9:27:33<4:27:34, 1.67s/it] 68%|██████▊ | 20367/30000 [9:27:35<4:27:37, 1.67s/it] 68%|██████▊ | 20368/30000 [9:27:37<4:27:32, 1.67s/it] 68%|██████▊ | 20369/30000 [9:27:38<4:27:04, 1.66s/it] 68%|██████▊ | 20370/30000 [9:27:40<4:27:20, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.11645738035440445, 'learning_rate': 7.688360465535999e-06, 'flow_matching_loss': 0.018509113974869252, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.93} + 68%|██████▊ | 20370/30000 [9:27:40<4:27:20, 1.67s/it] 68%|██████▊ | 20371/30000 [9:27:42<4:27:26, 1.67s/it] 68%|██████▊ | 20372/30000 [9:27:43<4:27:20, 1.67s/it] 68%|██████▊ | 20373/30000 [9:27:45<4:27:32, 1.67s/it] 68%|██████▊ | 20374/30000 [9:27:47<4:27:15, 1.67s/it] 68%|██████▊ | 20375/30000 [9:27:48<4:27:22, 1.67s/it] 68%|██████▊ | 20376/30000 [9:27:50<4:27:25, 1.67s/it] 68%|██████▊ | 20377/30000 [9:27:52<4:27:14, 1.67s/it] 68%|██████▊ | 20378/30000 [9:27:53<4:27:02, 1.67s/it] 68%|██████▊ | 20379/30000 [9:27:55<4:27:18, 1.67s/it] 68%|██████▊ | 20380/30000 [9:27:57<4:27:05, 1.67s/it] {'loss': 0.0212, 'grad_norm': 0.11290442198514938, 'learning_rate': 7.673927556021734e-06, 'flow_matching_loss': 0.02120012603700161, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.93} + 68%|██████▊ | 20380/30000 [9:27:57<4:27:05, 1.67s/it] 68%|██████▊ | 20381/30000 [9:27:58<4:26:43, 1.66s/it] 68%|██████▊ | 20382/30000 [9:28:00<4:26:33, 1.66s/it] 68%|██████▊ | 20383/30000 [9:28:02<4:27:02, 1.67s/it] 68%|██████▊ | 20384/30000 [9:28:03<4:27:01, 1.67s/it] 68%|██████▊ | 20385/30000 [9:28:05<4:27:56, 1.67s/it] 68%|██████▊ | 20386/30000 [9:28:07<4:27:39, 1.67s/it] 68%|██████▊ | 20387/30000 [9:28:08<4:27:17, 1.67s/it] 68%|██████▊ | 20388/30000 [9:28:10<4:27:16, 1.67s/it] 68%|██████▊ | 20389/30000 [9:28:12<4:27:09, 1.67s/it] 68%|██████▊ | 20390/30000 [9:28:13<4:26:38, 1.66s/it] {'loss': 0.0161, 'grad_norm': 0.0936746820807457, 'learning_rate': 7.659503548376284e-06, 'flow_matching_loss': 0.016124061308801174, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.93} + 68%|██████▊ | 20390/30000 [9:28:13<4:26:38, 1.66s/it] 68%|██████▊ | 20391/30000 [9:28:15<4:26:54, 1.67s/it] 68%|██████▊ | 20392/30000 [9:28:17<4:26:57, 1.67s/it] 68%|██████▊ | 20393/30000 [9:28:18<4:27:23, 1.67s/it] 68%|██████▊ | 20394/30000 [9:28:20<4:26:57, 1.67s/it] 68%|██████▊ | 20395/30000 [9:28:22<4:27:08, 1.67s/it] 68%|██████▊ | 20396/30000 [9:28:23<4:26:53, 1.67s/it] 68%|██████▊ | 20397/30000 [9:28:25<4:27:34, 1.67s/it] 68%|██████▊ | 20398/30000 [9:28:27<4:26:57, 1.67s/it] 68%|██████▊ | 20399/30000 [9:28:28<4:27:10, 1.67s/it] 68%|██████▊ | 20400/30000 [9:28:30<4:27:07, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.1272667646408081, 'learning_rate': 7.645088460126193e-06, 'flow_matching_loss': 0.018327598460018635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.94} + 68%|██████▊ | 20400/30000 [9:28:30<4:27:07, 1.67s/it] 68%|██████▊ | 20401/30000 [9:28:32<4:26:51, 1.67s/it] 68%|██████▊ | 20402/30000 [9:28:33<4:26:58, 1.67s/it] 68%|██████▊ | 20403/30000 [9:28:35<4:26:49, 1.67s/it] 68%|██████▊ | 20404/30000 [9:28:37<4:26:40, 1.67s/it] 68%|██████▊ | 20405/30000 [9:28:38<4:26:39, 1.67s/it] 68%|██████▊ | 20406/30000 [9:28:40<4:26:39, 1.67s/it] 68%|██████▊ | 20407/30000 [9:28:42<4:26:24, 1.67s/it] 68%|██████▊ | 20408/30000 [9:28:43<4:26:41, 1.67s/it] 68%|██████▊ | 20409/30000 [9:28:45<4:26:21, 1.67s/it] 68%|██████▊ | 20410/30000 [9:28:47<4:26:44, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10153695195913315, 'learning_rate': 7.630682308787145e-06, 'flow_matching_loss': 0.015401891246438027, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.94} + 68%|██████▊ | 20410/30000 [9:28:47<4:26:44, 1.67s/it] 68%|██████▊ | 20411/30000 [9:28:48<4:26:37, 1.67s/it] 68%|██████▊ | 20412/30000 [9:28:50<4:26:34, 1.67s/it] 68%|██████▊ | 20413/30000 [9:28:52<4:26:22, 1.67s/it] 68%|██████▊ | 20414/30000 [9:28:53<4:26:16, 1.67s/it] 68%|██████▊ | 20415/30000 [9:28:55<4:26:03, 1.67s/it] 68%|██████▊ | 20416/30000 [9:28:57<4:26:03, 1.67s/it] 68%|██████▊ | 20417/30000 [9:28:58<4:26:02, 1.67s/it] 68%|██████▊ | 20418/30000 [9:29:00<4:26:33, 1.67s/it] 68%|██████▊ | 20419/30000 [9:29:02<4:26:38, 1.67s/it] 68%|██████▊ | 20420/30000 [9:29:03<4:26:48, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10902952402830124, 'learning_rate': 7.6162851118639754e-06, 'flow_matching_loss': 0.01660286234691739, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.94} + 68%|██████▊ | 20420/30000 [9:29:03<4:26:48, 1.67s/it] 68%|██████▊ | 20421/30000 [9:29:05<4:25:57, 1.67s/it] 68%|██████▊ | 20422/30000 [9:29:07<4:25:31, 1.66s/it] 68%|██████▊ | 20423/30000 [9:29:08<4:25:53, 1.67s/it] 68%|██████▊ | 20424/30000 [9:29:10<4:25:33, 1.66s/it] 68%|██████▊ | 20425/30000 [9:29:12<4:25:38, 1.66s/it] 68%|██████▊ | 20426/30000 [9:29:13<4:25:40, 1.66s/it] 68%|██████▊ | 20427/30000 [9:29:15<4:25:51, 1.67s/it] 68%|██████▊ | 20428/30000 [9:29:17<4:25:43, 1.67s/it] 68%|██████▊ | 20429/30000 [9:29:18<4:26:29, 1.67s/it] 68%|██████▊ | 20430/30000 [9:29:20<4:25:33, 1.66s/it] {'loss': 0.0157, 'grad_norm': 0.10870421677827835, 'learning_rate': 7.601896886850632e-06, 'flow_matching_loss': 0.015699989441782237, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.94} + 68%|██████▊ | 20430/30000 [9:29:20<4:25:33, 1.66s/it] 68%|██████▊ | 20431/30000 [9:29:22<4:25:44, 1.67s/it] 68%|██████▊ | 20432/30000 [9:29:23<4:25:24, 1.66s/it] 68%|██████▊ | 20433/30000 [9:29:25<4:25:44, 1.67s/it] 68%|██████▊ | 20434/30000 [9:29:27<4:25:37, 1.67s/it] 68%|██████▊ | 20435/30000 [9:29:28<4:25:16, 1.66s/it] 68%|██████▊ | 20436/30000 [9:29:30<4:25:23, 1.66s/it] 68%|██████▊ | 20437/30000 [9:29:32<4:25:20, 1.66s/it] 68%|██████▊ | 20438/30000 [9:29:33<4:24:58, 1.66s/it] 68%|██████▊ | 20439/30000 [9:29:35<4:25:18, 1.66s/it] 68%|██████▊ | 20440/30000 [9:29:37<4:25:13, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.11466153711080551, 'learning_rate': 7.587517651230168e-06, 'flow_matching_loss': 0.018242575973272324, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.95} + 68%|██████▊ | 20440/30000 [9:29:37<4:25:13, 1.66s/it] 68%|██████▊ | 20441/30000 [9:29:38<4:25:29, 1.67s/it] 68%|██████▊ | 20442/30000 [9:29:40<4:26:23, 1.67s/it] 68%|██████▊ | 20443/30000 [9:29:42<4:26:10, 1.67s/it] 68%|██████▊ | 20444/30000 [9:29:43<4:26:04, 1.67s/it] 68%|██████▊ | 20445/30000 [9:29:45<4:25:40, 1.67s/it] 68%|██████▊ | 20446/30000 [9:29:47<4:25:19, 1.67s/it] 68%|██████▊ | 20447/30000 [9:29:48<4:25:27, 1.67s/it] 68%|██████▊ | 20448/30000 [9:29:50<4:25:15, 1.67s/it] 68%|██████▊ | 20449/30000 [9:29:52<4:25:05, 1.67s/it] 68%|██████▊ | 20450/30000 [9:29:53<4:25:24, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12025964260101318, 'learning_rate': 7.573147422474702e-06, 'flow_matching_loss': 0.016850619111210108, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.95} + 68%|██████▊ | 20450/30000 [9:29:53<4:25:24, 1.67s/it] 68%|██████▊ | 20451/30000 [9:29:55<4:25:28, 1.67s/it] 68%|██████▊ | 20452/30000 [9:29:57<4:25:58, 1.67s/it] 68%|██████▊ | 20453/30000 [9:29:58<4:26:02, 1.67s/it] 68%|██████▊ | 20454/30000 [9:30:00<4:25:15, 1.67s/it] 68%|██████▊ | 20455/30000 [9:30:02<4:25:09, 1.67s/it] 68%|██████▊ | 20456/30000 [9:30:03<4:25:19, 1.67s/it] 68%|██████▊ | 20457/30000 [9:30:05<4:24:54, 1.67s/it] 68%|██████▊ | 20458/30000 [9:30:07<4:25:06, 1.67s/it] 68%|██████▊ | 20459/30000 [9:30:08<4:25:01, 1.67s/it] 68%|██████▊ | 20460/30000 [9:30:10<4:25:02, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.10234423726797104, 'learning_rate': 7.55878621804543e-06, 'flow_matching_loss': 0.016414160002022983, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.95} + 68%|██████▊ | 20460/30000 [9:30:10<4:25:02, 1.67s/it] 68%|██████▊ | 20461/30000 [9:30:12<4:24:44, 1.67s/it] 68%|██████▊ | 20462/30000 [9:30:13<4:24:38, 1.66s/it] 68%|██████▊ | 20463/30000 [9:30:15<4:25:03, 1.67s/it] 68%|██████▊ | 20464/30000 [9:30:17<4:25:07, 1.67s/it] 68%|██████▊ | 20465/30000 [9:30:18<4:25:08, 1.67s/it] 68%|██████▊ | 20466/30000 [9:30:20<4:24:55, 1.67s/it] 68%|██████▊ | 20467/30000 [9:30:22<4:24:47, 1.67s/it] 68%|██████▊ | 20468/30000 [9:30:23<4:25:02, 1.67s/it] 68%|██████▊ | 20469/30000 [9:30:25<4:24:29, 1.67s/it] 68%|██████▊ | 20470/30000 [9:30:27<4:24:20, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.11655408889055252, 'learning_rate': 7.544434055392564e-06, 'flow_matching_loss': 0.016836133878678085, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.96} + 68%|██████▊ | 20470/30000 [9:30:27<4:24:20, 1.66s/it] 68%|██████▊ | 20471/30000 [9:30:28<4:24:28, 1.67s/it] 68%|██████▊ | 20472/30000 [9:30:30<4:24:30, 1.67s/it] 68%|██████▊ | 20473/30000 [9:30:32<4:24:11, 1.66s/it] 68%|██████▊ | 20474/30000 [9:30:33<4:24:15, 1.66s/it] 68%|██████▊ | 20475/30000 [9:30:35<4:24:28, 1.67s/it] 68%|██████▊ | 20476/30000 [9:30:37<4:24:26, 1.67s/it] 68%|██████▊ | 20477/30000 [9:30:38<4:24:21, 1.67s/it] 68%|██████▊ | 20478/30000 [9:30:40<4:24:12, 1.66s/it] 68%|██████▊ | 20479/30000 [9:30:42<4:24:27, 1.67s/it] 68%|██████▊ | 20480/30000 [9:30:43<4:24:38, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.12257011979818344, 'learning_rate': 7.530090951955334e-06, 'flow_matching_loss': 0.021002724301069975, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.96} + 68%|██████▊ | 20480/30000 [9:30:43<4:24:38, 1.67s/it] 68%|██████▊ | 20481/30000 [9:30:45<4:24:55, 1.67s/it] 68%|██████▊ | 20482/30000 [9:30:47<4:24:52, 1.67s/it] 68%|██████▊ | 20483/30000 [9:30:48<4:24:34, 1.67s/it] 68%|██████▊ | 20484/30000 [9:30:50<4:24:30, 1.67s/it] 68%|██████▊ | 20485/30000 [9:30:52<4:24:21, 1.67s/it] 68%|██████▊ | 20486/30000 [9:30:53<4:23:57, 1.66s/it] 68%|██████▊ | 20487/30000 [9:30:55<4:24:08, 1.67s/it] 68%|██████▊ | 20488/30000 [9:30:57<4:25:01, 1.67s/it] 68%|██████▊ | 20489/30000 [9:30:58<4:24:52, 1.67s/it] 68%|██████▊ | 20490/30000 [9:31:00<4:24:41, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1350661963224411, 'learning_rate': 7.515756925161959e-06, 'flow_matching_loss': 0.017912717908620833, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.96} + 68%|██████▊ | 20490/30000 [9:31:00<4:24:41, 1.67s/it] 68%|██████▊ | 20491/30000 [9:31:02<4:24:56, 1.67s/it] 68%|██████▊ | 20492/30000 [9:31:03<4:24:25, 1.67s/it] 68%|██████▊ | 20493/30000 [9:31:05<4:24:17, 1.67s/it] 68%|██████▊ | 20494/30000 [9:31:07<4:23:47, 1.67s/it] 68%|██████▊ | 20495/30000 [9:31:08<4:24:35, 1.67s/it] 68%|██████▊ | 20496/30000 [9:31:10<4:24:53, 1.67s/it] 68%|██████▊ | 20497/30000 [9:31:12<4:24:29, 1.67s/it] 68%|██████▊ | 20498/30000 [9:31:13<4:25:35, 1.68s/it] 68%|██████▊ | 20499/30000 [9:31:15<4:24:44, 1.67s/it] 68%|██████▊ | 20500/30000 [9:31:17<4:24:33, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11549930274486542, 'learning_rate': 7.501431992429643e-06, 'flow_matching_loss': 0.015816073305904864, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.96} + 68%|██████▊ | 20500/30000 [9:31:17<4:24:33, 1.67s/it] 68%|██████▊ | 20501/30000 [9:31:18<4:24:24, 1.67s/it] 68%|██████▊ | 20502/30000 [9:31:20<4:24:07, 1.67s/it] 68%|██████▊ | 20503/30000 [9:31:22<4:23:49, 1.67s/it] 68%|██████▊ | 20504/30000 [9:31:23<4:24:10, 1.67s/it] 68%|██████▊ | 20505/30000 [9:31:25<4:24:06, 1.67s/it] 68%|██████▊ | 20506/30000 [9:31:27<4:23:39, 1.67s/it] 68%|██████▊ | 20507/30000 [9:31:28<4:23:32, 1.67s/it] 68%|██████▊ | 20508/30000 [9:31:30<4:23:06, 1.66s/it] 68%|██████▊ | 20509/30000 [9:31:32<4:23:17, 1.66s/it] 68%|██████▊ | 20510/30000 [9:31:33<4:23:08, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.18150511384010315, 'learning_rate': 7.487116171164519e-06, 'flow_matching_loss': 0.018199014198035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.97} + 68%|██████▊ | 20510/30000 [9:31:33<4:23:08, 1.66s/it] 68%|██████▊ | 20511/30000 [9:31:35<4:23:35, 1.67s/it] 68%|██████▊ | 20512/30000 [9:31:37<4:23:05, 1.66s/it] 68%|██████▊ | 20513/30000 [9:31:38<4:23:28, 1.67s/it] 68%|██████▊ | 20514/30000 [9:31:40<4:23:41, 1.67s/it] 68%|██████▊ | 20515/30000 [9:31:42<4:23:06, 1.66s/it] 68%|██████▊ | 20516/30000 [9:31:43<4:23:14, 1.67s/it] 68%|██████▊ | 20517/30000 [9:31:45<4:23:15, 1.67s/it] 68%|██████▊ | 20518/30000 [9:31:47<4:22:52, 1.66s/it] 68%|██████▊ | 20519/30000 [9:31:48<4:23:14, 1.67s/it] 68%|██████▊ | 20520/30000 [9:31:50<4:23:20, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.11421533674001694, 'learning_rate': 7.472809478761672e-06, 'flow_matching_loss': 0.015574931818991899, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.97} + 68%|██████▊ | 20520/30000 [9:31:50<4:23:20, 1.67s/it] 68%|██████▊ | 20521/30000 [9:31:52<4:23:32, 1.67s/it] 68%|██████▊ | 20522/30000 [9:31:53<4:23:19, 1.67s/it] 68%|██████▊ | 20523/30000 [9:31:55<4:23:17, 1.67s/it] 68%|██████▊ | 20524/30000 [9:31:57<4:23:02, 1.67s/it] 68%|██████▊ | 20525/30000 [9:31:58<4:22:57, 1.67s/it] 68%|██████▊ | 20526/30000 [9:32:00<4:22:43, 1.66s/it] 68%|██████▊ | 20527/30000 [9:32:02<4:23:10, 1.67s/it] 68%|██████▊ | 20528/30000 [9:32:03<4:23:16, 1.67s/it] 68%|██████▊ | 20529/30000 [9:32:05<4:23:38, 1.67s/it] 68%|██████▊ | 20530/30000 [9:32:07<4:23:31, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.08193840086460114, 'learning_rate': 7.4585119326050775e-06, 'flow_matching_loss': 0.017592324409633875, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.97} + 68%|██████▊ | 20530/30000 [9:32:07<4:23:31, 1.67s/it] 68%|██████▊ | 20531/30000 [9:32:08<4:23:25, 1.67s/it] 68%|██████▊ | 20532/30000 [9:32:10<4:23:05, 1.67s/it] 68%|██████▊ | 20533/30000 [9:32:12<4:22:39, 1.66s/it] 68%|██████▊ | 20534/30000 [9:32:13<4:22:36, 1.66s/it] 68%|██████▊ | 20535/30000 [9:32:15<4:22:52, 1.67s/it] 68%|██████▊ | 20536/30000 [9:32:17<4:23:09, 1.67s/it] 68%|██████▊ | 20537/30000 [9:32:18<4:22:51, 1.67s/it] 68%|██████▊ | 20538/30000 [9:32:20<4:23:09, 1.67s/it] 68%|██████▊ | 20539/30000 [9:32:22<4:23:07, 1.67s/it] 68%|██████▊ | 20540/30000 [9:32:23<4:23:03, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.11877556145191193, 'learning_rate': 7.444223550067599e-06, 'flow_matching_loss': 0.018858496751636266, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.98} + 68%|██████▊ | 20540/30000 [9:32:23<4:23:03, 1.67s/it] 68%|██████▊ | 20541/30000 [9:32:25<4:23:13, 1.67s/it] 68%|██████▊ | 20542/30000 [9:32:27<4:22:42, 1.67s/it] 68%|██████▊ | 20543/30000 [9:32:28<4:22:50, 1.67s/it] 68%|██████▊ | 20544/30000 [9:32:30<4:22:52, 1.67s/it] 68%|██████▊ | 20545/30000 [9:32:32<4:22:45, 1.67s/it] 68%|██████▊ | 20546/30000 [9:32:33<4:22:34, 1.67s/it] 68%|██████▊ | 20547/30000 [9:32:35<4:22:22, 1.67s/it] 68%|██████▊ | 20548/30000 [9:32:37<4:22:17, 1.67s/it] 68%|██████▊ | 20549/30000 [9:32:38<4:22:36, 1.67s/it] 68%|██████▊ | 20550/30000 [9:32:40<4:23:09, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.09506890177726746, 'learning_rate': 7.429944348510964e-06, 'flow_matching_loss': 0.01683253115043044, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.98} + 68%|██████▊ | 20550/30000 [9:32:40<4:23:09, 1.67s/it] 69%|██████▊ | 20551/30000 [9:32:42<4:23:00, 1.67s/it] 69%|██████▊ | 20552/30000 [9:32:43<4:22:59, 1.67s/it] 69%|██████▊ | 20553/30000 [9:32:45<4:23:38, 1.67s/it] 69%|██████▊ | 20554/30000 [9:32:47<4:22:59, 1.67s/it] 69%|██████▊ | 20555/30000 [9:32:48<4:22:41, 1.67s/it] 69%|██████▊ | 20556/30000 [9:32:50<4:22:21, 1.67s/it] 69%|██████▊ | 20557/30000 [9:32:52<4:22:21, 1.67s/it] 69%|██████▊ | 20558/30000 [9:32:53<4:22:15, 1.67s/it] 69%|██████▊ | 20559/30000 [9:32:55<4:22:21, 1.67s/it] 69%|██████▊ | 20560/30000 [9:32:57<4:22:49, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11519467085599899, 'learning_rate': 7.415674345285763e-06, 'flow_matching_loss': 0.016442270763218404, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.98} + 69%|██████▊ | 20560/30000 [9:32:57<4:22:49, 1.67s/it] 69%|██████▊ | 20561/30000 [9:32:58<4:22:14, 1.67s/it] 69%|██████▊ | 20562/30000 [9:33:00<4:22:20, 1.67s/it] 69%|██████▊ | 20563/30000 [9:33:02<4:22:23, 1.67s/it] 69%|██████▊ | 20564/30000 [9:33:03<4:22:29, 1.67s/it] 69%|██████▊ | 20565/30000 [9:33:05<4:22:25, 1.67s/it] 69%|██████▊ | 20566/30000 [9:33:07<4:21:47, 1.67s/it] 69%|██████▊ | 20567/30000 [9:33:08<4:21:55, 1.67s/it] 69%|██████▊ | 20568/30000 [9:33:10<4:21:57, 1.67s/it] 69%|██████▊ | 20569/30000 [9:33:12<4:22:14, 1.67s/it] 69%|██████▊ | 20570/30000 [9:33:13<4:22:02, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.13163432478904724, 'learning_rate': 7.401413557731387e-06, 'flow_matching_loss': 0.01829933887347579, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.98} + 69%|██████▊ | 20570/30000 [9:33:13<4:22:02, 1.67s/it] 69%|██████▊ | 20571/30000 [9:33:15<4:22:07, 1.67s/it] 69%|██████▊ | 20572/30000 [9:33:17<4:21:52, 1.67s/it] 69%|██████▊ | 20573/30000 [9:33:18<4:21:26, 1.66s/it] 69%|██████▊ | 20574/30000 [9:33:20<4:21:56, 1.67s/it] 69%|██████▊ | 20575/30000 [9:33:22<4:21:43, 1.67s/it] 69%|██████▊ | 20576/30000 [9:33:23<4:21:39, 1.67s/it] 69%|██████▊ | 20577/30000 [9:33:25<4:22:01, 1.67s/it] 69%|██████▊ | 20578/30000 [9:33:27<4:22:23, 1.67s/it] 69%|██████▊ | 20579/30000 [9:33:28<4:21:47, 1.67s/it] 69%|██████▊ | 20580/30000 [9:33:30<4:22:01, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.12441796064376831, 'learning_rate': 7.387162003176037e-06, 'flow_matching_loss': 0.018983536679297686, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.99} + 69%|██████▊ | 20580/30000 [9:33:30<4:22:01, 1.67s/it] 69%|██████▊ | 20581/30000 [9:33:32<4:21:57, 1.67s/it] 69%|██████▊ | 20582/30000 [9:33:33<4:21:12, 1.66s/it] 69%|██████▊ | 20583/30000 [9:33:35<4:21:02, 1.66s/it] 69%|██████▊ | 20584/30000 [9:33:37<4:21:04, 1.66s/it] 69%|██████▊ | 20585/30000 [9:33:38<4:21:13, 1.66s/it] 69%|██████▊ | 20586/30000 [9:33:40<4:20:52, 1.66s/it] 69%|██████▊ | 20587/30000 [9:33:42<4:21:16, 1.67s/it] 69%|██████▊ | 20588/30000 [9:33:43<4:22:04, 1.67s/it] 69%|██████▊ | 20589/30000 [9:33:45<4:21:46, 1.67s/it] 69%|██████▊ | 20590/30000 [9:33:47<4:21:54, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.10022556781768799, 'learning_rate': 7.372919698936697e-06, 'flow_matching_loss': 0.017144319135695696, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.99} + 69%|██████▊ | 20590/30000 [9:33:47<4:21:54, 1.67s/it] 69%|██████▊ | 20591/30000 [9:33:48<4:21:41, 1.67s/it] 69%|██████▊ | 20592/30000 [9:33:50<4:21:54, 1.67s/it] 69%|██████▊ | 20593/30000 [9:33:52<4:22:13, 1.67s/it] 69%|██████▊ | 20594/30000 [9:33:53<4:21:46, 1.67s/it] 69%|██████▊ | 20595/30000 [9:33:55<4:21:37, 1.67s/it] 69%|██████▊ | 20596/30000 [9:33:57<4:21:25, 1.67s/it] 69%|██████▊ | 20597/30000 [9:33:58<4:21:20, 1.67s/it] 69%|██████▊ | 20598/30000 [9:34:00<4:20:57, 1.67s/it] 69%|██████▊ | 20599/30000 [9:34:02<4:21:17, 1.67s/it] 69%|██████▊ | 20600/30000 [9:34:03<4:21:25, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.0986870750784874, 'learning_rate': 7.358686662319104e-06, 'flow_matching_loss': 0.017791310511529445, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 5.99} + 69%|██████▊ | 20600/30000 [9:34:03<4:21:25, 1.67s/it] 69%|██████▊ | 20601/30000 [9:34:05<4:21:53, 1.67s/it] 69%|██████▊ | 20602/30000 [9:34:07<4:21:31, 1.67s/it] 69%|██████▊ | 20603/30000 [9:34:08<4:21:17, 1.67s/it] 69%|██████▊ | 20604/30000 [9:34:10<4:21:11, 1.67s/it] 69%|██████▊ | 20605/30000 [9:34:12<4:21:15, 1.67s/it] 69%|██████▊ | 20606/30000 [9:34:13<4:21:09, 1.67s/it] 69%|██████▊ | 20607/30000 [9:34:15<4:20:15, 1.66s/it] 69%|██████▊ | 20608/30000 [9:34:17<4:19:58, 1.66s/it] 69%|██████▊ | 20609/30000 [9:34:18<4:19:59, 1.66s/it] 69%|██████▊ | 20610/30000 [9:34:20<4:19:55, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.1096315085887909, 'learning_rate': 7.344462910617752e-06, 'flow_matching_loss': 0.017741943430155515, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.0} + 69%|██████▊ | 20610/30000 [9:34:20<4:19:55, 1.66s/it] 69%|██████▊ | 20611/30000 [9:34:22<4:19:39, 1.66s/it] 69%|██████▊ | 20612/30000 [9:34:23<4:19:29, 1.66s/it] 69%|██████▊ | 20613/30000 [9:34:25<4:19:26, 1.66s/it] 69%|██████▊ | 20614/30000 [9:34:27<4:19:10, 1.66s/it] 69%|██████▊ | 20615/30000 [9:34:28<4:19:06, 1.66s/it] 69%|██████▊ | 20616/30000 [9:34:30<4:18:53, 1.66s/it] 69%|██████▊ | 20617/30000 [9:34:32<4:18:56, 1.66s/it] 69%|██████▊ | 20618/30000 [9:34:33<4:19:05, 1.66s/it] 69%|██████▊ | 20619/30000 [9:34:35<4:19:16, 1.66s/it] 69%|██████▊ | 20620/30000 [9:34:37<4:18:58, 1.66s/it] {'loss': 0.0162, 'grad_norm': 0.10492779314517975, 'learning_rate': 7.330248461115832e-06, 'flow_matching_loss': 0.01618968266993761, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.0} + 69%|██████▊ | 20620/30000 [9:34:37<4:18:58, 1.66s/it] 69%|██████▊ | 20621/30000 [9:34:38<4:19:02, 1.66s/it] 69%|██████▊ | 20622/30000 [9:34:40<4:17:52, 1.65s/it] 69%|██████▊ | 20623/30000 [9:34:48<9:41:32, 3.72s/it] 69%|██████▊ | 20624/30000 [9:34:50<8:06:10, 3.11s/it] 69%|██████▉ | 20625/30000 [9:34:52<7:00:54, 2.69s/it] 69%|██████▉ | 20626/30000 [9:34:54<6:14:02, 2.39s/it] 69%|██████▉ | 20627/30000 [9:34:55<5:40:37, 2.18s/it] 69%|██████▉ | 20628/30000 [9:34:57<5:17:10, 2.03s/it] 69%|██████▉ | 20629/30000 [9:34:59<5:01:18, 1.93s/it] 69%|██████▉ | 20630/30000 [9:35:00<4:50:49, 1.86s/it] {'loss': 0.0188, 'grad_norm': 0.14124096930027008, 'learning_rate': 7.316043331085242e-06, 'flow_matching_loss': 0.018838434386998414, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.0} + 69%|██████▉ | 20630/30000 [9:35:00<4:50:49, 1.86s/it] 69%|██████▉ | 20631/30000 [9:35:02<4:42:27, 1.81s/it] 69%|██████▉ | 20632/30000 [9:35:04<4:35:27, 1.76s/it] 69%|██████▉ | 20633/30000 [9:35:05<4:31:17, 1.74s/it] 69%|██████▉ | 20634/30000 [9:35:07<4:27:29, 1.71s/it] 69%|██████▉ | 20635/30000 [9:35:09<4:24:56, 1.70s/it] 69%|██████▉ | 20636/30000 [9:35:10<4:23:32, 1.69s/it] 69%|██████▉ | 20637/30000 [9:35:12<4:22:34, 1.68s/it] 69%|██████▉ | 20638/30000 [9:35:14<4:22:01, 1.68s/it] 69%|██████▉ | 20639/30000 [9:35:15<4:21:45, 1.68s/it] 69%|██████▉ | 20640/30000 [9:35:17<4:20:46, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.09966974705457687, 'learning_rate': 7.30184753778655e-06, 'flow_matching_loss': 0.018158813007175922, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.01} + 69%|██████▉ | 20640/30000 [9:35:17<4:20:46, 1.67s/it] 69%|██████▉ | 20641/30000 [9:35:19<4:20:50, 1.67s/it] 69%|██████▉ | 20642/30000 [9:35:20<4:20:02, 1.67s/it] 69%|██████▉ | 20643/30000 [9:35:22<4:19:31, 1.66s/it] 69%|██████▉ | 20644/30000 [9:35:24<4:19:27, 1.66s/it] 69%|██████▉ | 20645/30000 [9:35:25<4:18:55, 1.66s/it] 69%|██████▉ | 20646/30000 [9:35:27<4:19:34, 1.66s/it] 69%|██████▉ | 20647/30000 [9:35:29<4:19:28, 1.66s/it] 69%|██████▉ | 20648/30000 [9:35:30<4:19:32, 1.67s/it] 69%|██████▉ | 20649/30000 [9:35:32<4:19:07, 1.66s/it] 69%|██████▉ | 20650/30000 [9:35:34<4:18:57, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.10366553068161011, 'learning_rate': 7.2876610984689935e-06, 'flow_matching_loss': 0.01640750775113702, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.01} + 69%|██████▉ | 20650/30000 [9:35:34<4:18:57, 1.66s/it] 69%|██████▉ | 20651/30000 [9:35:35<4:18:41, 1.66s/it] 69%|██████▉ | 20652/30000 [9:35:37<4:18:57, 1.66s/it] 69%|██████▉ | 20653/30000 [9:35:39<4:19:03, 1.66s/it] 69%|██████▉ | 20654/30000 [9:35:40<4:19:09, 1.66s/it] 69%|██████▉ | 20655/30000 [9:35:42<4:19:53, 1.67s/it] 69%|██████▉ | 20656/30000 [9:35:44<4:19:49, 1.67s/it] 69%|██████▉ | 20657/30000 [9:35:45<4:19:01, 1.66s/it] 69%|██████▉ | 20658/30000 [9:35:47<4:18:33, 1.66s/it] 69%|██████▉ | 20659/30000 [9:35:49<4:18:15, 1.66s/it] 69%|██████▉ | 20660/30000 [9:35:50<4:18:28, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.1517934948205948, 'learning_rate': 7.273484030370423e-06, 'flow_matching_loss': 0.018539599422365428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.01} + 69%|██████▉ | 20660/30000 [9:35:50<4:18:28, 1.66s/it] 69%|██████▉ | 20661/30000 [9:35:52<4:18:47, 1.66s/it] 69%|██████▉ | 20662/30000 [9:35:54<4:18:53, 1.66s/it] 69%|██████▉ | 20663/30000 [9:35:55<4:18:58, 1.66s/it] 69%|██████▉ | 20664/30000 [9:35:57<4:18:51, 1.66s/it] 69%|██████▉ | 20665/30000 [9:35:59<4:18:42, 1.66s/it] 69%|██████▉ | 20666/30000 [9:36:00<4:18:38, 1.66s/it] 69%|██████▉ | 20667/30000 [9:36:02<4:18:15, 1.66s/it] 69%|██████▉ | 20668/30000 [9:36:04<4:18:24, 1.66s/it] 69%|██████▉ | 20669/30000 [9:36:05<4:18:32, 1.66s/it] 69%|██████▉ | 20670/30000 [9:36:07<4:18:56, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.09531396627426147, 'learning_rate': 7.259316350717324e-06, 'flow_matching_loss': 0.014925020188093186, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.01} + 69%|██████▉ | 20670/30000 [9:36:07<4:18:56, 1.67s/it] 69%|██████▉ | 20671/30000 [9:36:09<4:19:06, 1.67s/it] 69%|██████▉ | 20672/30000 [9:36:10<4:19:03, 1.67s/it] 69%|██████▉ | 20673/30000 [9:36:12<4:18:12, 1.66s/it] 69%|██████▉ | 20674/30000 [9:36:14<4:17:56, 1.66s/it] 69%|██████▉ | 20675/30000 [9:36:15<4:17:37, 1.66s/it] 69%|██████▉ | 20676/30000 [9:36:17<4:17:49, 1.66s/it] 69%|██████▉ | 20677/30000 [9:36:19<4:18:32, 1.66s/it] 69%|██████▉ | 20678/30000 [9:36:20<4:18:18, 1.66s/it] 69%|██████▉ | 20679/30000 [9:36:22<4:18:04, 1.66s/it] 69%|██████▉ | 20680/30000 [9:36:24<4:18:23, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.1089448481798172, 'learning_rate': 7.245158076724757e-06, 'flow_matching_loss': 0.01842372342944145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.02} + 69%|██████▉ | 20680/30000 [9:36:24<4:18:23, 1.66s/it] 69%|██████▉ | 20681/30000 [9:36:25<4:18:28, 1.66s/it] 69%|██████▉ | 20682/30000 [9:36:27<4:18:35, 1.67s/it] 69%|██████▉ | 20683/30000 [9:36:29<4:18:17, 1.66s/it] 69%|██████▉ | 20684/30000 [9:36:30<4:18:24, 1.66s/it] 69%|██████▉ | 20685/30000 [9:36:32<4:18:19, 1.66s/it] 69%|██████▉ | 20686/30000 [9:36:34<4:18:34, 1.67s/it] 69%|██████▉ | 20687/30000 [9:36:35<4:18:28, 1.67s/it] 69%|██████▉ | 20688/30000 [9:36:37<4:18:29, 1.67s/it] 69%|██████▉ | 20689/30000 [9:36:38<4:18:00, 1.66s/it] 69%|██████▉ | 20690/30000 [9:36:40<4:17:58, 1.66s/it] {'loss': 0.0183, 'grad_norm': 0.10929197072982788, 'learning_rate': 7.23100922559636e-06, 'flow_matching_loss': 0.018296471517533063, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.02} + 69%|██████▉ | 20690/30000 [9:36:40<4:17:58, 1.66s/it] 69%|██████▉ | 20691/30000 [9:36:42<4:17:42, 1.66s/it] 69%|██████▉ | 20692/30000 [9:36:43<4:17:48, 1.66s/it] 69%|██████▉ | 20693/30000 [9:36:45<4:18:37, 1.67s/it] 69%|██████▉ | 20694/30000 [9:36:47<4:18:17, 1.67s/it] 69%|██████▉ | 20695/30000 [9:36:48<4:18:09, 1.66s/it] 69%|██████▉ | 20696/30000 [9:36:50<4:17:54, 1.66s/it] 69%|██████▉ | 20697/30000 [9:36:52<4:17:59, 1.66s/it] 69%|██████▉ | 20698/30000 [9:36:53<4:17:54, 1.66s/it] 69%|██████▉ | 20699/30000 [9:36:55<4:17:28, 1.66s/it] 69%|██████▉ | 20700/30000 [9:36:57<4:17:58, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.13242629170417786, 'learning_rate': 7.216869814524323e-06, 'flow_matching_loss': 0.01848608311265707, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.02} + 69%|██████▉ | 20700/30000 [9:36:57<4:17:58, 1.66s/it] 69%|██████▉ | 20701/30000 [9:36:58<4:18:08, 1.67s/it] 69%|██████▉ | 20702/30000 [9:37:00<4:18:29, 1.67s/it] 69%|██████▉ | 20703/30000 [9:37:02<4:18:20, 1.67s/it] 69%|██████▉ | 20704/30000 [9:37:03<4:18:12, 1.67s/it] 69%|██████▉ | 20705/30000 [9:37:05<4:18:06, 1.67s/it] 69%|██████▉ | 20706/30000 [9:37:07<4:17:39, 1.66s/it] 69%|██████▉ | 20707/30000 [9:37:08<4:17:24, 1.66s/it] 69%|██████▉ | 20708/30000 [9:37:10<4:17:31, 1.66s/it] 69%|██████▉ | 20709/30000 [9:37:12<4:17:33, 1.66s/it] 69%|██████▉ | 20710/30000 [9:37:13<4:18:02, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.11958948522806168, 'learning_rate': 7.202739860689357e-06, 'flow_matching_loss': 0.016343528870493174, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.03} + 69%|██████▉ | 20710/30000 [9:37:14<4:18:02, 1.67s/it] 69%|██████▉ | 20711/30000 [9:37:15<4:17:59, 1.67s/it] 69%|██████▉ | 20712/30000 [9:37:17<4:17:46, 1.67s/it] 69%|██████▉ | 20713/30000 [9:37:18<4:17:31, 1.66s/it] 69%|██████▉ | 20714/30000 [9:37:20<4:16:58, 1.66s/it] 69%|██████▉ | 20715/30000 [9:37:22<4:17:01, 1.66s/it] 69%|██████▉ | 20716/30000 [9:37:23<4:17:34, 1.66s/it] 69%|██████▉ | 20717/30000 [9:37:25<4:17:34, 1.66s/it] 69%|██████▉ | 20718/30000 [9:37:27<4:17:50, 1.67s/it] 69%|██████▉ | 20719/30000 [9:37:28<4:18:24, 1.67s/it] 69%|██████▉ | 20720/30000 [9:37:30<4:18:03, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.12323600053787231, 'learning_rate': 7.188619381260698e-06, 'flow_matching_loss': 0.019841819629073144, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.03} + 69%|██████▉ | 20720/30000 [9:37:30<4:18:03, 1.67s/it] 69%|██████▉ | 20721/30000 [9:37:32<4:17:32, 1.67s/it] 69%|██████▉ | 20722/30000 [9:37:33<4:17:10, 1.66s/it] 69%|██████▉ | 20723/30000 [9:37:35<4:17:08, 1.66s/it] 69%|██████▉ | 20724/30000 [9:37:37<4:17:04, 1.66s/it] 69%|██████▉ | 20725/30000 [9:37:38<4:17:02, 1.66s/it] 69%|██████▉ | 20726/30000 [9:37:40<4:17:04, 1.66s/it] 69%|██████▉ | 20727/30000 [9:37:42<4:17:01, 1.66s/it] 69%|██████▉ | 20728/30000 [9:37:43<4:17:13, 1.66s/it] 69%|██████▉ | 20729/30000 [9:37:45<4:17:40, 1.67s/it] 69%|██████▉ | 20730/30000 [9:37:47<4:17:25, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.09365813434123993, 'learning_rate': 7.174508393396057e-06, 'flow_matching_loss': 0.0184407664462924, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.03} + 69%|██████▉ | 20730/30000 [9:37:47<4:17:25, 1.67s/it] 69%|██████▉ | 20731/30000 [9:37:48<4:17:00, 1.66s/it] 69%|██████▉ | 20732/30000 [9:37:50<4:16:59, 1.66s/it] 69%|██████▉ | 20733/30000 [9:37:52<4:17:02, 1.66s/it] 69%|██████▉ | 20734/30000 [9:37:53<4:17:54, 1.67s/it] 69%|██████▉ | 20735/30000 [9:37:55<4:18:02, 1.67s/it] 69%|██████▉ | 20736/30000 [9:37:57<4:17:46, 1.67s/it] 69%|██████▉ | 20737/30000 [9:37:58<4:17:31, 1.67s/it] 69%|██████▉ | 20738/30000 [9:38:00<4:16:31, 1.66s/it] 69%|██████▉ | 20739/30000 [9:38:02<4:16:26, 1.66s/it] 69%|██████▉ | 20740/30000 [9:38:03<4:16:32, 1.66s/it] {'loss': 0.0156, 'grad_norm': 0.084693543612957, 'learning_rate': 7.160406914241615e-06, 'flow_matching_loss': 0.015647499822080135, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.03} + 69%|██████▉ | 20740/30000 [9:38:03<4:16:32, 1.66s/it] 69%|██████▉ | 20741/30000 [9:38:05<4:16:57, 1.67s/it] 69%|██████▉ | 20742/30000 [9:38:07<4:17:21, 1.67s/it] 69%|██████▉ | 20743/30000 [9:38:08<4:17:15, 1.67s/it] 69%|██████▉ | 20744/30000 [9:38:10<4:16:52, 1.67s/it] 69%|██████▉ | 20745/30000 [9:38:12<4:16:43, 1.66s/it] 69%|██████▉ | 20746/30000 [9:38:13<4:16:36, 1.66s/it] 69%|██████▉ | 20747/30000 [9:38:15<4:16:24, 1.66s/it] 69%|██████▉ | 20748/30000 [9:38:17<4:16:21, 1.66s/it] 69%|██████▉ | 20749/30000 [9:38:18<4:16:26, 1.66s/it] 69%|██████▉ | 20750/30000 [9:38:20<4:16:34, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.10666287690401077, 'learning_rate': 7.146314960931996e-06, 'flow_matching_loss': 0.016526143159717323, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.04} + 69%|██████▉ | 20750/30000 [9:38:20<4:16:34, 1.66s/it] 69%|██████▉ | 20751/30000 [9:38:22<4:16:42, 1.67s/it] 69%|██████▉ | 20752/30000 [9:38:23<4:16:30, 1.66s/it] 69%|██████▉ | 20753/30000 [9:38:25<4:16:20, 1.66s/it] 69%|██████▉ | 20754/30000 [9:38:27<4:16:28, 1.66s/it] 69%|██████▉ | 20755/30000 [9:38:28<4:15:48, 1.66s/it] 69%|██████▉ | 20756/30000 [9:38:30<4:15:51, 1.66s/it] 69%|██████▉ | 20757/30000 [9:38:32<4:16:05, 1.66s/it] 69%|██████▉ | 20758/30000 [9:38:33<4:16:24, 1.66s/it] 69%|██████▉ | 20759/30000 [9:38:35<4:16:06, 1.66s/it] 69%|██████▉ | 20760/30000 [9:38:37<4:16:20, 1.66s/it] {'loss': 0.0154, 'grad_norm': 0.12858344614505768, 'learning_rate': 7.132232550590247e-06, 'flow_matching_loss': 0.015354775451123714, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.04} + 69%|██████▉ | 20760/30000 [9:38:37<4:16:20, 1.66s/it] 69%|██████▉ | 20761/30000 [9:38:38<4:17:08, 1.67s/it] 69%|██████▉ | 20762/30000 [9:38:40<4:16:55, 1.67s/it] 69%|██████▉ | 20763/30000 [9:38:42<4:17:10, 1.67s/it] 69%|██████▉ | 20764/30000 [9:38:43<4:17:29, 1.67s/it] 69%|██████▉ | 20765/30000 [9:38:45<4:17:30, 1.67s/it] 69%|██████▉ | 20766/30000 [9:38:47<4:17:13, 1.67s/it] 69%|██████▉ | 20767/30000 [9:38:48<4:17:04, 1.67s/it] 69%|██████▉ | 20768/30000 [9:38:50<4:16:53, 1.67s/it] 69%|██████▉ | 20769/30000 [9:38:52<4:16:47, 1.67s/it] 69%|██████▉ | 20770/30000 [9:38:53<4:16:40, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11458791047334671, 'learning_rate': 7.118159700327839e-06, 'flow_matching_loss': 0.01733492184430361, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.04} + 69%|██████▉ | 20770/30000 [9:38:53<4:16:40, 1.67s/it] 69%|██████▉ | 20771/30000 [9:38:55<4:16:28, 1.67s/it] 69%|██████▉ | 20772/30000 [9:38:57<4:16:16, 1.67s/it] 69%|██████▉ | 20773/30000 [9:38:58<4:16:39, 1.67s/it] 69%|██████▉ | 20774/30000 [9:39:00<4:16:54, 1.67s/it] 69%|██████▉ | 20775/30000 [9:39:02<4:16:51, 1.67s/it] 69%|██████▉ | 20776/30000 [9:39:03<4:16:42, 1.67s/it] 69%|██████▉ | 20777/30000 [9:39:05<4:17:11, 1.67s/it] 69%|██████▉ | 20778/30000 [9:39:07<4:16:33, 1.67s/it] 69%|██████▉ | 20779/30000 [9:39:08<4:15:23, 1.66s/it] 69%|██████▉ | 20780/30000 [9:39:10<4:15:43, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.11340094357728958, 'learning_rate': 7.104096427244603e-06, 'flow_matching_loss': 0.0176330647431314, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.05} + 69%|██████▉ | 20780/30000 [9:39:10<4:15:43, 1.66s/it] 69%|██████▉ | 20781/30000 [9:39:12<4:16:12, 1.67s/it] 69%|██████▉ | 20782/30000 [9:39:13<4:16:13, 1.67s/it] 69%|██████▉ | 20783/30000 [9:39:15<4:16:16, 1.67s/it] 69%|██████▉ | 20784/30000 [9:39:17<4:15:57, 1.67s/it] 69%|██████▉ | 20785/30000 [9:39:18<4:16:00, 1.67s/it] 69%|██████▉ | 20786/30000 [9:39:20<4:16:01, 1.67s/it] 69%|██████▉ | 20787/30000 [9:39:22<4:15:57, 1.67s/it] 69%|██████▉ | 20788/30000 [9:39:23<4:15:45, 1.67s/it] 69%|██████▉ | 20789/30000 [9:39:25<4:15:37, 1.67s/it] 69%|██████▉ | 20790/30000 [9:39:27<4:15:26, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.08234140276908875, 'learning_rate': 7.090042748428737e-06, 'flow_matching_loss': 0.01696468023583293, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.05} + 69%|██████▉ | 20790/30000 [9:39:27<4:15:26, 1.66s/it] 69%|██████▉ | 20791/30000 [9:39:28<4:15:23, 1.66s/it] 69%|██████▉ | 20792/30000 [9:39:30<4:15:27, 1.66s/it] 69%|██████▉ | 20793/30000 [9:39:32<4:15:31, 1.67s/it] 69%|██████▉ | 20794/30000 [9:39:33<4:15:29, 1.67s/it] 69%|██████▉ | 20795/30000 [9:39:35<4:15:18, 1.66s/it] 69%|██████▉ | 20796/30000 [9:39:37<4:15:19, 1.66s/it] 69%|██████▉ | 20797/30000 [9:39:38<4:15:33, 1.67s/it] 69%|██████▉ | 20798/30000 [9:39:40<4:15:28, 1.67s/it] 69%|██████▉ | 20799/30000 [9:39:42<4:15:19, 1.67s/it] 69%|██████▉ | 20800/30000 [9:39:43<4:14:52, 1.66s/it] {'loss': 0.0151, 'grad_norm': 0.10172860324382782, 'learning_rate': 7.075998680956797e-06, 'flow_matching_loss': 0.015070411562919616, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.05} + 69%|██████▉ | 20800/30000 [9:39:43<4:14:52, 1.66s/it] 69%|██████▉ | 20801/30000 [9:39:45<4:15:57, 1.67s/it] 69%|██████▉ | 20802/30000 [9:39:47<4:15:58, 1.67s/it] 69%|██████▉ | 20803/30000 [9:39:48<4:15:41, 1.67s/it] 69%|██████▉ | 20804/30000 [9:39:50<4:15:54, 1.67s/it] 69%|██████▉ | 20805/30000 [9:39:52<4:15:47, 1.67s/it] 69%|██████▉ | 20806/30000 [9:39:53<4:15:23, 1.67s/it] 69%|██████▉ | 20807/30000 [9:39:55<4:15:26, 1.67s/it] 69%|██████▉ | 20808/30000 [9:39:57<4:15:45, 1.67s/it] 69%|██████▉ | 20809/30000 [9:39:58<4:16:08, 1.67s/it] 69%|██████▉ | 20810/30000 [9:40:00<4:15:51, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.143283411860466, 'learning_rate': 7.061964241893639e-06, 'flow_matching_loss': 0.019132624194025994, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.05} + 69%|██████▉ | 20810/30000 [9:40:00<4:15:51, 1.67s/it] 69%|██████▉ | 20811/30000 [9:40:02<4:15:28, 1.67s/it] 69%|██████▉ | 20812/30000 [9:40:03<4:15:26, 1.67s/it] 69%|██████▉ | 20813/30000 [9:40:05<4:15:23, 1.67s/it] 69%|██████▉ | 20814/30000 [9:40:07<4:15:20, 1.67s/it] 69%|██████▉ | 20815/30000 [9:40:08<4:15:16, 1.67s/it] 69%|██████▉ | 20816/30000 [9:40:10<4:15:03, 1.67s/it] 69%|██████▉ | 20817/30000 [9:40:12<4:15:21, 1.67s/it] 69%|██████▉ | 20818/30000 [9:40:13<4:14:53, 1.67s/it] 69%|██████▉ | 20819/30000 [9:40:15<4:15:01, 1.67s/it] 69%|██████▉ | 20820/30000 [9:40:17<4:15:08, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.09452562779188156, 'learning_rate': 7.047939448292442e-06, 'flow_matching_loss': 0.01677698567509651, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.06} + 69%|██████▉ | 20820/30000 [9:40:17<4:15:08, 1.67s/it] 69%|██████▉ | 20821/30000 [9:40:18<4:15:15, 1.67s/it] 69%|██████▉ | 20822/30000 [9:40:20<4:15:19, 1.67s/it] 69%|██████▉ | 20823/30000 [9:40:22<4:15:11, 1.67s/it] 69%|██████▉ | 20824/30000 [9:40:23<4:15:13, 1.67s/it] 69%|██████▉ | 20825/30000 [9:40:25<4:15:02, 1.67s/it] 69%|██████▉ | 20826/30000 [9:40:27<4:14:41, 1.67s/it] 69%|██████▉ | 20827/30000 [9:40:28<4:14:30, 1.66s/it] 69%|██████▉ | 20828/30000 [9:40:30<4:14:41, 1.67s/it] 69%|██████▉ | 20829/30000 [9:40:32<4:14:18, 1.66s/it] 69%|██████▉ | 20830/30000 [9:40:33<4:14:57, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.13109466433525085, 'learning_rate': 7.033924317194644e-06, 'flow_matching_loss': 0.018725030496716498, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.06} + 69%|██████▉ | 20830/30000 [9:40:33<4:14:57, 1.67s/it] 69%|██████▉ | 20831/30000 [9:40:35<4:14:20, 1.66s/it] 69%|██████▉ | 20832/30000 [9:40:37<4:14:33, 1.67s/it] 69%|██████▉ | 20833/30000 [9:40:38<4:14:54, 1.67s/it] 69%|██████▉ | 20834/30000 [9:40:40<4:14:40, 1.67s/it] 69%|██████▉ | 20835/30000 [9:40:42<4:14:59, 1.67s/it] 69%|██████▉ | 20836/30000 [9:40:43<4:14:28, 1.67s/it] 69%|██████▉ | 20837/30000 [9:40:45<4:14:17, 1.67s/it] 69%|██████▉ | 20838/30000 [9:40:47<4:14:31, 1.67s/it] 69%|██████▉ | 20839/30000 [9:40:48<4:14:07, 1.66s/it] 69%|██████▉ | 20840/30000 [9:40:50<4:14:41, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.09898187965154648, 'learning_rate': 7.0199188656299524e-06, 'flow_matching_loss': 0.015666400920599698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.06} + 69%|██████▉ | 20840/30000 [9:40:50<4:14:41, 1.67s/it] 69%|██████▉ | 20841/30000 [9:40:52<4:14:18, 1.67s/it] 69%|██████▉ | 20842/30000 [9:40:53<4:14:09, 1.67s/it] 69%|██████▉ | 20843/30000 [9:40:55<4:13:53, 1.66s/it] 69%|██████▉ | 20844/30000 [9:40:57<4:13:59, 1.66s/it] 69%|██████▉ | 20845/30000 [9:40:58<4:14:11, 1.67s/it] 69%|██████▉ | 20846/30000 [9:41:00<4:14:40, 1.67s/it] 69%|██████▉ | 20847/30000 [9:41:02<4:14:24, 1.67s/it] 69%|██████▉ | 20848/30000 [9:41:03<4:14:28, 1.67s/it] 69%|██████▉ | 20849/30000 [9:41:05<4:14:28, 1.67s/it] 70%|██████▉ | 20850/30000 [9:41:07<4:13:48, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.1056249588727951, 'learning_rate': 7.005923110616313e-06, 'flow_matching_loss': 0.017137663159519433, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.07} + 70%|██████▉ | 20850/30000 [9:41:07<4:13:48, 1.66s/it] 70%|██████▉ | 20851/30000 [9:41:08<4:13:49, 1.66s/it] 70%|██████▉ | 20852/30000 [9:41:10<4:14:15, 1.67s/it] 70%|██████▉ | 20853/30000 [9:41:12<4:14:03, 1.67s/it] 70%|██████▉ | 20854/30000 [9:41:13<4:14:56, 1.67s/it] 70%|██████▉ | 20855/30000 [9:41:15<4:14:27, 1.67s/it] 70%|██████▉ | 20856/30000 [9:41:17<4:14:30, 1.67s/it] 70%|██████▉ | 20857/30000 [9:41:18<4:14:19, 1.67s/it] 70%|██████▉ | 20858/30000 [9:41:20<4:14:07, 1.67s/it] 70%|██████▉ | 20859/30000 [9:41:22<4:14:01, 1.67s/it] 70%|██████▉ | 20860/30000 [9:41:23<4:13:47, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.11554180085659027, 'learning_rate': 6.9919370691598855e-06, 'flow_matching_loss': 0.017779604997485876, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.07} + 70%|██████▉ | 20860/30000 [9:41:23<4:13:47, 1.67s/it] 70%|██████▉ | 20861/30000 [9:41:25<4:14:46, 1.67s/it] 70%|██████▉ | 20862/30000 [9:41:27<4:14:12, 1.67s/it] 70%|██████▉ | 20863/30000 [9:41:28<4:13:58, 1.67s/it] 70%|██████▉ | 20864/30000 [9:41:30<4:14:03, 1.67s/it] 70%|██████▉ | 20865/30000 [9:41:32<4:14:17, 1.67s/it] 70%|██████▉ | 20866/30000 [9:41:33<4:14:39, 1.67s/it] 70%|██████▉ | 20867/30000 [9:41:35<4:14:23, 1.67s/it] 70%|██████▉ | 20868/30000 [9:41:37<4:14:23, 1.67s/it] 70%|██████▉ | 20869/30000 [9:41:38<4:14:16, 1.67s/it] 70%|██████▉ | 20870/30000 [9:41:40<4:13:41, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.0780487060546875, 'learning_rate': 6.977960758255024e-06, 'flow_matching_loss': 0.018349487148225308, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.07} + 70%|██████▉ | 20870/30000 [9:41:40<4:13:41, 1.67s/it] 70%|██████▉ | 20871/30000 [9:41:42<4:13:40, 1.67s/it] 70%|██████▉ | 20872/30000 [9:41:43<4:13:47, 1.67s/it] 70%|██████▉ | 20873/30000 [9:41:45<4:14:15, 1.67s/it] 70%|██████▉ | 20874/30000 [9:41:47<4:14:04, 1.67s/it] 70%|██████▉ | 20875/30000 [9:41:48<4:13:35, 1.67s/it] 70%|██████▉ | 20876/30000 [9:41:50<4:12:38, 1.66s/it] 70%|██████▉ | 20877/30000 [9:41:52<4:13:00, 1.66s/it] 70%|██████▉ | 20878/30000 [9:41:53<4:13:00, 1.66s/it] 70%|██████▉ | 20879/30000 [9:41:55<4:12:56, 1.66s/it] 70%|██████▉ | 20880/30000 [9:41:57<4:13:19, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.10978099703788757, 'learning_rate': 6.963994194884276e-06, 'flow_matching_loss': 0.015829682536423206, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.08} + 70%|██████▉ | 20880/30000 [9:41:57<4:13:19, 1.67s/it] 70%|██████▉ | 20881/30000 [9:41:58<4:13:44, 1.67s/it] 70%|██████▉ | 20882/30000 [9:42:00<4:13:31, 1.67s/it] 70%|██████▉ | 20883/30000 [9:42:02<4:13:24, 1.67s/it] 70%|██████▉ | 20884/30000 [9:42:03<4:13:06, 1.67s/it] 70%|██████▉ | 20885/30000 [9:42:05<4:13:09, 1.67s/it] 70%|██████▉ | 20886/30000 [9:42:07<4:13:06, 1.67s/it] 70%|██████▉ | 20887/30000 [9:42:08<4:12:57, 1.67s/it] 70%|██████▉ | 20888/30000 [9:42:10<4:13:04, 1.67s/it] 70%|██████▉ | 20889/30000 [9:42:12<4:13:20, 1.67s/it] 70%|██████▉ | 20890/30000 [9:42:13<4:13:13, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10759203881025314, 'learning_rate': 6.950037396018328e-06, 'flow_matching_loss': 0.01856617024168372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.08} + 70%|██████▉ | 20890/30000 [9:42:14<4:13:13, 1.67s/it] 70%|██████▉ | 20891/30000 [9:42:15<4:13:08, 1.67s/it] 70%|██████▉ | 20892/30000 [9:42:17<4:13:07, 1.67s/it] 70%|██████▉ | 20893/30000 [9:42:18<4:12:35, 1.66s/it] 70%|██████▉ | 20894/30000 [9:42:20<4:12:47, 1.67s/it] 70%|██████▉ | 20895/30000 [9:42:22<4:12:40, 1.67s/it] 70%|██████▉ | 20896/30000 [9:42:23<4:12:57, 1.67s/it] 70%|██████▉ | 20897/30000 [9:42:25<4:13:00, 1.67s/it] 70%|██████▉ | 20898/30000 [9:42:27<4:12:16, 1.66s/it] 70%|██████▉ | 20899/30000 [9:42:28<4:12:21, 1.66s/it] 70%|██████▉ | 20900/30000 [9:42:30<4:11:54, 1.66s/it] {'loss': 0.0191, 'grad_norm': 0.11047791689634323, 'learning_rate': 6.9360903786160056e-06, 'flow_matching_loss': 0.01908969981595874, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.08} + 70%|██████▉ | 20900/30000 [9:42:30<4:11:54, 1.66s/it] 70%|██████▉ | 20901/30000 [9:42:32<4:12:33, 1.67s/it] 70%|██████▉ | 20902/30000 [9:42:33<4:11:55, 1.66s/it] 70%|██████▉ | 20903/30000 [9:42:35<4:12:15, 1.66s/it] 70%|██████▉ | 20904/30000 [9:42:37<4:12:32, 1.67s/it] 70%|██████▉ | 20905/30000 [9:42:38<4:12:37, 1.67s/it] 70%|██████▉ | 20906/30000 [9:42:40<4:12:00, 1.66s/it] 70%|██████▉ | 20907/30000 [9:42:42<4:12:08, 1.66s/it] 70%|██████▉ | 20908/30000 [9:42:43<4:12:19, 1.67s/it] 70%|██████▉ | 20909/30000 [9:42:45<4:12:17, 1.67s/it] 70%|██████▉ | 20910/30000 [9:42:47<4:12:13, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.10834898799657822, 'learning_rate': 6.9221531596242485e-06, 'flow_matching_loss': 0.01851847255602479, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.08} + 70%|██████▉ | 20910/30000 [9:42:47<4:12:13, 1.66s/it] 70%|██████▉ | 20911/30000 [9:42:48<4:12:26, 1.67s/it] 70%|██████▉ | 20912/30000 [9:42:50<4:12:35, 1.67s/it] 70%|██████▉ | 20913/30000 [9:42:52<4:12:31, 1.67s/it] 70%|██████▉ | 20914/30000 [9:42:53<4:12:39, 1.67s/it] 70%|██████▉ | 20915/30000 [9:42:55<4:12:22, 1.67s/it] 70%|██████▉ | 20916/30000 [9:42:57<4:12:36, 1.67s/it] 70%|██████▉ | 20917/30000 [9:42:58<4:12:32, 1.67s/it] 70%|██████▉ | 20918/30000 [9:43:00<4:13:00, 1.67s/it] 70%|██████▉ | 20919/30000 [9:43:02<4:11:41, 1.66s/it] 70%|██████▉ | 20920/30000 [9:43:03<4:11:46, 1.66s/it] {'loss': 0.0189, 'grad_norm': 0.09526679664850235, 'learning_rate': 6.908225755978089e-06, 'flow_matching_loss': 0.01891275905072689, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.09} + 70%|██████▉ | 20920/30000 [9:43:03<4:11:46, 1.66s/it] 70%|██████▉ | 20921/30000 [9:43:05<4:12:21, 1.67s/it] 70%|██████▉ | 20922/30000 [9:43:07<4:12:10, 1.67s/it] 70%|██████▉ | 20923/30000 [9:43:08<4:12:06, 1.67s/it] 70%|██████▉ | 20924/30000 [9:43:10<4:12:00, 1.67s/it] 70%|██████▉ | 20925/30000 [9:43:12<4:11:51, 1.67s/it] 70%|██████▉ | 20926/30000 [9:43:13<4:11:44, 1.66s/it] 70%|██████▉ | 20927/30000 [9:43:15<4:11:28, 1.66s/it] 70%|██████▉ | 20928/30000 [9:43:17<4:11:27, 1.66s/it] 70%|██████▉ | 20929/30000 [9:43:18<4:11:16, 1.66s/it] 70%|██████▉ | 20930/30000 [9:43:20<4:11:29, 1.66s/it] {'loss': 0.0162, 'grad_norm': 0.12079890817403793, 'learning_rate': 6.8943081846006466e-06, 'flow_matching_loss': 0.01620185747742653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.09} + 70%|██████▉ | 20930/30000 [9:43:20<4:11:29, 1.66s/it] 70%|██████▉ | 20931/30000 [9:43:22<4:11:21, 1.66s/it] 70%|██████▉ | 20932/30000 [9:43:23<4:11:40, 1.67s/it] 70%|██████▉ | 20933/30000 [9:43:25<4:11:57, 1.67s/it] 70%|██████▉ | 20934/30000 [9:43:27<4:11:50, 1.67s/it] 70%|██████▉ | 20935/30000 [9:43:28<4:11:31, 1.66s/it] 70%|██████▉ | 20936/30000 [9:43:30<4:10:58, 1.66s/it] 70%|██████▉ | 20937/30000 [9:43:32<4:10:59, 1.66s/it] 70%|██████▉ | 20938/30000 [9:43:33<4:11:11, 1.66s/it] 70%|██████▉ | 20939/30000 [9:43:35<4:11:04, 1.66s/it] 70%|██████▉ | 20940/30000 [9:43:37<4:11:03, 1.66s/it] {'loss': 0.0181, 'grad_norm': 0.13874046504497528, 'learning_rate': 6.88040046240307e-06, 'flow_matching_loss': 0.018090395722538233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.09} + 70%|██████▉ | 20940/30000 [9:43:37<4:11:03, 1.66s/it] 70%|██████▉ | 20941/30000 [9:43:38<4:11:31, 1.67s/it] 70%|██████▉ | 20942/30000 [9:43:40<4:11:54, 1.67s/it] 70%|██████▉ | 20943/30000 [9:43:42<4:11:42, 1.67s/it] 70%|██████▉ | 20944/30000 [9:43:43<4:11:32, 1.67s/it] 70%|██████▉ | 20945/30000 [9:43:45<4:11:48, 1.67s/it] 70%|██████▉ | 20946/30000 [9:43:47<4:12:02, 1.67s/it] 70%|██████▉ | 20947/30000 [9:43:48<4:11:39, 1.67s/it] 70%|██████▉ | 20948/30000 [9:43:50<4:11:09, 1.66s/it] 70%|██████▉ | 20949/30000 [9:43:52<4:11:15, 1.67s/it] 70%|██████▉ | 20950/30000 [9:43:53<4:11:33, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.10392727702856064, 'learning_rate': 6.866502606284566e-06, 'flow_matching_loss': 0.018362015672028064, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.1} + 70%|██████▉ | 20950/30000 [9:43:53<4:11:33, 1.67s/it] 70%|██████▉ | 20951/30000 [9:43:55<4:12:11, 1.67s/it] 70%|██████▉ | 20952/30000 [9:43:57<4:12:00, 1.67s/it] 70%|██████▉ | 20953/30000 [9:43:58<4:11:57, 1.67s/it] 70%|██████▉ | 20954/30000 [9:44:00<4:11:02, 1.67s/it] 70%|██████▉ | 20955/30000 [9:44:02<4:11:12, 1.67s/it] 70%|██████▉ | 20956/30000 [9:44:03<4:11:50, 1.67s/it] 70%|██████▉ | 20957/30000 [9:44:05<4:11:58, 1.67s/it] 70%|██████▉ | 20958/30000 [9:44:07<4:11:38, 1.67s/it] 70%|██████▉ | 20959/30000 [9:44:08<4:11:32, 1.67s/it] 70%|██████▉ | 20960/30000 [9:44:10<4:11:44, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.12214367836713791, 'learning_rate': 6.852614633132335e-06, 'flow_matching_loss': 0.01874287249520421, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.1} + 70%|██████▉ | 20960/30000 [9:44:10<4:11:44, 1.67s/it] 70%|██████▉ | 20961/30000 [9:44:12<4:12:20, 1.68s/it] 70%|██████▉ | 20962/30000 [9:44:13<4:12:04, 1.67s/it] 70%|██████▉ | 20963/30000 [9:44:15<4:11:30, 1.67s/it] 70%|██████▉ | 20964/30000 [9:44:17<4:11:05, 1.67s/it] 70%|██████▉ | 20965/30000 [9:44:18<4:11:00, 1.67s/it] 70%|██████▉ | 20966/30000 [9:44:20<4:11:03, 1.67s/it] 70%|██████▉ | 20967/30000 [9:44:22<4:10:48, 1.67s/it] 70%|██████▉ | 20968/30000 [9:44:23<4:10:47, 1.67s/it] 70%|██████▉ | 20969/30000 [9:44:25<4:10:48, 1.67s/it] 70%|██████▉ | 20970/30000 [9:44:27<4:10:45, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.11323434859514236, 'learning_rate': 6.8387365598215665e-06, 'flow_matching_loss': 0.01848304271697998, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.1} + 70%|██████▉ | 20970/30000 [9:44:27<4:10:45, 1.67s/it] 70%|██████▉ | 20971/30000 [9:44:28<4:10:55, 1.67s/it] 70%|██████▉ | 20972/30000 [9:44:30<4:11:05, 1.67s/it] 70%|██████▉ | 20973/30000 [9:44:32<4:11:13, 1.67s/it] 70%|██████▉ | 20974/30000 [9:44:33<4:11:22, 1.67s/it] 70%|██████▉ | 20975/30000 [9:44:35<4:10:57, 1.67s/it] 70%|██████▉ | 20976/30000 [9:44:37<4:10:33, 1.67s/it] 70%|██████▉ | 20977/30000 [9:44:38<4:10:46, 1.67s/it] 70%|██████▉ | 20978/30000 [9:44:40<4:10:56, 1.67s/it] 70%|██████▉ | 20979/30000 [9:44:42<4:10:30, 1.67s/it] 70%|██████▉ | 20980/30000 [9:44:43<4:10:24, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11313966661691666, 'learning_rate': 6.82486840321544e-06, 'flow_matching_loss': 0.018285420816391708, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.1} + 70%|██████▉ | 20980/30000 [9:44:44<4:10:24, 1.67s/it] 70%|██████▉ | 20981/30000 [9:44:45<4:11:23, 1.67s/it] 70%|██████▉ | 20982/30000 [9:44:47<4:11:26, 1.67s/it] 70%|██████▉ | 20983/30000 [9:44:48<4:10:48, 1.67s/it] 70%|██████▉ | 20984/30000 [9:44:50<4:10:17, 1.67s/it] 70%|██████▉ | 20985/30000 [9:44:52<4:10:01, 1.66s/it] 70%|██████▉ | 20986/30000 [9:44:53<4:09:59, 1.66s/it] 70%|██████▉ | 20987/30000 [9:44:55<4:10:00, 1.66s/it] 70%|██████▉ | 20988/30000 [9:44:57<4:09:55, 1.66s/it] 70%|██████▉ | 20989/30000 [9:44:58<4:10:11, 1.67s/it] 70%|██████▉ | 20990/30000 [9:45:00<4:10:21, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1473722904920578, 'learning_rate': 6.811010180165069e-06, 'flow_matching_loss': 0.017117030546069147, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.11} + 70%|██████▉ | 20990/30000 [9:45:00<4:10:21, 1.67s/it] 70%|██████▉ | 20991/30000 [9:45:02<4:09:51, 1.66s/it] 70%|██████▉ | 20992/30000 [9:45:03<4:09:56, 1.66s/it] 70%|██████▉ | 20993/30000 [9:45:05<4:10:10, 1.67s/it] 70%|██████▉ | 20994/30000 [9:45:07<4:10:00, 1.67s/it] 70%|██████▉ | 20995/30000 [9:45:08<4:09:37, 1.66s/it] 70%|██████▉ | 20996/30000 [9:45:10<4:09:45, 1.66s/it] 70%|██████▉ | 20997/30000 [9:45:12<4:09:57, 1.67s/it] 70%|██████▉ | 20998/30000 [9:45:13<4:10:01, 1.67s/it] 70%|██████▉ | 20999/30000 [9:45:15<4:09:50, 1.67s/it] 70%|███████ | 21000/30000 [9:45:17<4:09:16, 1.66s/it] {'loss': 0.0159, 'grad_norm': 0.09562129527330399, 'learning_rate': 6.797161907509499e-06, 'flow_matching_loss': 0.015852794889360665, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.11} + 70%|███████ | 21000/30000 [9:45:17<4:09:16, 1.66s/it] 70%|███████ | 21001/30000 [9:45:18<4:09:21, 1.66s/it] 70%|███████ | 21002/30000 [9:45:20<4:09:20, 1.66s/it] 70%|███████ | 21003/30000 [9:45:22<4:09:02, 1.66s/it] 70%|███████ | 21004/30000 [9:45:23<4:09:30, 1.66s/it] 70%|███████ | 21005/30000 [9:45:25<4:10:01, 1.67s/it] 70%|███████ | 21006/30000 [9:45:27<4:10:05, 1.67s/it] 70%|███████ | 21007/30000 [9:45:28<4:09:57, 1.67s/it] 70%|███████ | 21008/30000 [9:45:30<4:10:02, 1.67s/it] 70%|███████ | 21009/30000 [9:45:32<4:09:57, 1.67s/it] 70%|███████ | 21010/30000 [9:45:33<4:10:06, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.11442068964242935, 'learning_rate': 6.783323602075688e-06, 'flow_matching_loss': 0.019662041496485472, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.11} + 70%|███████ | 21010/30000 [9:45:33<4:10:06, 1.67s/it] 70%|███████ | 21011/30000 [9:45:35<4:10:02, 1.67s/it] 70%|███████ | 21012/30000 [9:45:37<4:09:51, 1.67s/it] 70%|███████ | 21013/30000 [9:45:38<4:10:48, 1.67s/it] 70%|███████ | 21014/30000 [9:45:40<4:10:17, 1.67s/it] 70%|███████ | 21015/30000 [9:45:42<4:09:14, 1.66s/it] 70%|███████ | 21016/30000 [9:45:43<4:09:04, 1.66s/it] 70%|███████ | 21017/30000 [9:45:45<4:09:42, 1.67s/it] 70%|███████ | 21018/30000 [9:45:47<4:09:43, 1.67s/it] 70%|███████ | 21019/30000 [9:45:48<4:10:02, 1.67s/it] 70%|███████ | 21020/30000 [9:45:50<4:09:55, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.11452796310186386, 'learning_rate': 6.7694952806784784e-06, 'flow_matching_loss': 0.019179847836494446, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.12} + 70%|███████ | 21020/30000 [9:45:50<4:09:55, 1.67s/it] 70%|███████ | 21021/30000 [9:45:52<4:10:21, 1.67s/it] 70%|███████ | 21022/30000 [9:45:53<4:10:33, 1.67s/it] 70%|███████ | 21023/30000 [9:45:55<4:09:53, 1.67s/it] 70%|███████ | 21024/30000 [9:45:57<4:09:25, 1.67s/it] 70%|███████ | 21025/30000 [9:45:58<4:09:23, 1.67s/it] 70%|███████ | 21026/30000 [9:46:00<4:08:57, 1.66s/it] 70%|███████ | 21027/30000 [9:46:02<4:08:46, 1.66s/it] 70%|███████ | 21028/30000 [9:46:03<4:08:58, 1.66s/it] 70%|███████ | 21029/30000 [9:46:05<4:09:05, 1.67s/it] 70%|███████ | 21030/30000 [9:46:07<4:09:05, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.09461188316345215, 'learning_rate': 6.7556769601205944e-06, 'flow_matching_loss': 0.016831831727176904, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.12} + 70%|███████ | 21030/30000 [9:46:07<4:09:05, 1.67s/it] 70%|███████ | 21031/30000 [9:46:08<4:09:17, 1.67s/it] 70%|███████ | 21032/30000 [9:46:10<4:09:03, 1.67s/it] 70%|███████ | 21033/30000 [9:46:12<4:08:52, 1.67s/it] 70%|███████ | 21034/30000 [9:46:13<4:08:47, 1.66s/it] 70%|███████ | 21035/30000 [9:46:15<4:08:36, 1.66s/it] 70%|███████ | 21036/30000 [9:46:17<4:08:40, 1.66s/it] 70%|███████ | 21037/30000 [9:46:18<4:08:52, 1.67s/it] 70%|███████ | 21038/30000 [9:46:20<4:09:17, 1.67s/it] 70%|███████ | 21039/30000 [9:46:22<4:09:02, 1.67s/it] 70%|███████ | 21040/30000 [9:46:23<4:08:36, 1.66s/it] {'loss': 0.0192, 'grad_norm': 0.16898001730442047, 'learning_rate': 6.741868657192594e-06, 'flow_matching_loss': 0.019186676014214754, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.12} + 70%|███████ | 21040/30000 [9:46:24<4:08:36, 1.66s/it] 70%|███████ | 21041/30000 [9:46:25<4:08:41, 1.67s/it] 70%|███████ | 21042/30000 [9:46:27<4:08:26, 1.66s/it] 70%|███████ | 21043/30000 [9:46:28<4:08:21, 1.66s/it] 70%|███████ | 21044/30000 [9:46:30<4:08:31, 1.66s/it] 70%|███████ | 21045/30000 [9:46:32<4:09:04, 1.67s/it] 70%|███████ | 21046/30000 [9:46:33<4:09:15, 1.67s/it] 70%|███████ | 21047/30000 [9:46:35<4:08:40, 1.67s/it] 70%|███████ | 21048/30000 [9:46:37<4:08:27, 1.67s/it] 70%|███████ | 21049/30000 [9:46:38<4:08:32, 1.67s/it] 70%|███████ | 21050/30000 [9:46:40<4:08:33, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.13686753809452057, 'learning_rate': 6.728070388672864e-06, 'flow_matching_loss': 0.01796262226998806, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.12} + 70%|███████ | 21050/30000 [9:46:40<4:08:33, 1.67s/it] 70%|███████ | 21051/30000 [9:46:42<4:08:00, 1.66s/it] 70%|███████ | 21052/30000 [9:46:43<4:08:39, 1.67s/it] 70%|███████ | 21053/30000 [9:46:45<4:08:25, 1.67s/it] 70%|███████ | 21054/30000 [9:46:47<4:08:48, 1.67s/it] 70%|███████ | 21055/30000 [9:46:48<4:08:44, 1.67s/it] 70%|███████ | 21056/30000 [9:46:50<4:08:28, 1.67s/it] 70%|███████ | 21057/30000 [9:46:52<4:08:45, 1.67s/it] 70%|███████ | 21058/30000 [9:46:53<4:08:29, 1.67s/it] 70%|███████ | 21059/30000 [9:46:55<4:08:25, 1.67s/it] 70%|███████ | 21060/30000 [9:46:57<4:09:08, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11147896200418472, 'learning_rate': 6.714282171327604e-06, 'flow_matching_loss': 0.017058580275624992, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.13} + 70%|███████ | 21060/30000 [9:46:57<4:09:08, 1.67s/it] 70%|███████ | 21061/30000 [9:46:58<4:09:09, 1.67s/it] 70%|███████ | 21062/30000 [9:47:00<4:08:49, 1.67s/it] 70%|███████ | 21063/30000 [9:47:02<4:08:39, 1.67s/it] 70%|███████ | 21064/30000 [9:47:03<4:08:16, 1.67s/it] 70%|███████ | 21065/30000 [9:47:05<4:07:55, 1.66s/it] 70%|███████ | 21066/30000 [9:47:07<4:07:30, 1.66s/it] 70%|███████ | 21067/30000 [9:47:08<4:07:30, 1.66s/it] 70%|███████ | 21068/30000 [9:47:10<4:07:39, 1.66s/it] 70%|███████ | 21069/30000 [9:47:12<4:07:52, 1.67s/it] 70%|███████ | 21070/30000 [9:47:13<4:07:54, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.08179096132516861, 'learning_rate': 6.700504021910791e-06, 'flow_matching_loss': 0.015589782409369946, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.13} + 70%|███████ | 21070/30000 [9:47:14<4:07:54, 1.67s/it] 70%|███████ | 21071/30000 [9:47:15<4:07:41, 1.66s/it] 70%|███████ | 21072/30000 [9:47:17<4:07:24, 1.66s/it] 70%|███████ | 21073/30000 [9:47:18<4:08:11, 1.67s/it] 70%|███████ | 21074/30000 [9:47:20<4:07:41, 1.66s/it] 70%|███████ | 21075/30000 [9:47:22<4:07:24, 1.66s/it] 70%|███████ | 21076/30000 [9:47:23<4:07:35, 1.66s/it] 70%|███████ | 21077/30000 [9:47:25<4:08:34, 1.67s/it] 70%|███████ | 21078/30000 [9:47:27<4:07:52, 1.67s/it] 70%|███████ | 21079/30000 [9:47:28<4:07:44, 1.67s/it] 70%|███████ | 21080/30000 [9:47:30<4:07:31, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.10171570628881454, 'learning_rate': 6.68673595716419e-06, 'flow_matching_loss': 0.01875529047101736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.13} + 70%|███████ | 21080/30000 [9:47:30<4:07:31, 1.66s/it] 70%|███████ | 21081/30000 [9:47:32<4:07:19, 1.66s/it] 70%|███████ | 21082/30000 [9:47:33<4:07:21, 1.66s/it] 70%|███████ | 21083/30000 [9:47:35<4:07:06, 1.66s/it] 70%|███████ | 21084/30000 [9:47:37<4:07:09, 1.66s/it] 70%|███████ | 21085/30000 [9:47:38<4:07:32, 1.67s/it] 70%|███████ | 21086/30000 [9:47:40<4:07:53, 1.67s/it] 70%|███████ | 21087/30000 [9:47:42<4:07:24, 1.67s/it] 70%|███████ | 21088/30000 [9:47:43<4:07:18, 1.67s/it] 70%|███████ | 21089/30000 [9:47:45<4:07:40, 1.67s/it] 70%|███████ | 21090/30000 [9:47:47<4:07:32, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.14961057901382446, 'learning_rate': 6.6729779938172856e-06, 'flow_matching_loss': 0.01711935708299279, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.14} + 70%|███████ | 21090/30000 [9:47:47<4:07:32, 1.67s/it] 70%|███████ | 21091/30000 [9:47:48<4:06:51, 1.66s/it] 70%|███████ | 21092/30000 [9:47:50<4:07:04, 1.66s/it] 70%|███████ | 21093/30000 [9:47:52<4:07:43, 1.67s/it] 70%|███████ | 21094/30000 [9:47:53<4:07:54, 1.67s/it] 70%|███████ | 21095/30000 [9:47:55<4:07:15, 1.67s/it] 70%|███████ | 21096/30000 [9:47:57<4:07:05, 1.67s/it] 70%|███████ | 21097/30000 [9:47:58<4:07:57, 1.67s/it] 70%|███████ | 21098/30000 [9:48:00<4:07:29, 1.67s/it] 70%|███████ | 21099/30000 [9:48:02<4:07:12, 1.67s/it] 70%|███████ | 21100/30000 [9:48:03<4:06:57, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.1441638469696045, 'learning_rate': 6.659230148587311e-06, 'flow_matching_loss': 0.0171121496707201, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.14} + 70%|███████ | 21100/30000 [9:48:03<4:06:57, 1.66s/it] 70%|███████ | 21101/30000 [9:48:05<4:07:20, 1.67s/it] 70%|███████ | 21102/30000 [9:48:07<4:07:18, 1.67s/it] 70%|███████ | 21103/30000 [9:48:08<4:07:10, 1.67s/it] 70%|███████ | 21104/30000 [9:48:10<4:07:15, 1.67s/it] 70%|███████ | 21105/30000 [9:48:12<4:07:38, 1.67s/it] 70%|███████ | 21106/30000 [9:48:13<4:07:10, 1.67s/it] 70%|███████ | 21107/30000 [9:48:15<4:06:38, 1.66s/it] 70%|███████ | 21108/30000 [9:48:17<4:07:24, 1.67s/it] 70%|███████ | 21109/30000 [9:48:18<4:06:55, 1.67s/it] 70%|███████ | 21110/30000 [9:48:20<4:06:51, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.10420038551092148, 'learning_rate': 6.645492438179188e-06, 'flow_matching_loss': 0.01643264638260007, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.14} + 70%|███████ | 21110/30000 [9:48:20<4:06:51, 1.67s/it] 70%|███████ | 21111/30000 [9:48:22<4:06:43, 1.67s/it] 70%|███████ | 21112/30000 [9:48:23<4:06:43, 1.67s/it] 70%|███████ | 21113/30000 [9:48:25<4:06:51, 1.67s/it] 70%|███████ | 21114/30000 [9:48:27<4:06:26, 1.66s/it] 70%|███████ | 21115/30000 [9:48:28<4:06:21, 1.66s/it] 70%|███████ | 21116/30000 [9:48:30<4:06:34, 1.67s/it] 70%|███████ | 21117/30000 [9:48:32<4:06:57, 1.67s/it] 70%|███████ | 21118/30000 [9:48:33<4:06:47, 1.67s/it] 70%|███████ | 21119/30000 [9:48:35<4:06:30, 1.67s/it] 70%|███████ | 21120/30000 [9:48:37<4:06:37, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10417850315570831, 'learning_rate': 6.631764879285531e-06, 'flow_matching_loss': 0.017013156786561012, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.14} + 70%|███████ | 21120/30000 [9:48:37<4:06:37, 1.67s/it] 70%|███████ | 21121/30000 [9:48:38<4:06:52, 1.67s/it] 70%|███████ | 21122/30000 [9:48:40<4:07:05, 1.67s/it] 70%|███████ | 21123/30000 [9:48:42<4:06:30, 1.67s/it] 70%|███████ | 21124/30000 [9:48:43<4:07:11, 1.67s/it] 70%|███████ | 21125/30000 [9:48:45<4:07:08, 1.67s/it] 70%|███████ | 21126/30000 [9:48:47<4:06:45, 1.67s/it] 70%|███████ | 21127/30000 [9:48:48<4:06:29, 1.67s/it] 70%|███████ | 21128/30000 [9:48:50<4:06:26, 1.67s/it] 70%|███████ | 21129/30000 [9:48:52<4:06:23, 1.67s/it] 70%|███████ | 21130/30000 [9:48:53<4:06:35, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.1293034553527832, 'learning_rate': 6.618047488586614e-06, 'flow_matching_loss': 0.018906802125275134, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.15} + 70%|███████ | 21130/30000 [9:48:54<4:06:35, 1.67s/it] 70%|███████ | 21131/30000 [9:48:55<4:06:32, 1.67s/it] 70%|███████ | 21132/30000 [9:48:57<4:06:34, 1.67s/it] 70%|███████ | 21133/30000 [9:48:58<4:07:20, 1.67s/it] 70%|███████ | 21134/30000 [9:49:00<4:06:41, 1.67s/it] 70%|███████ | 21135/30000 [9:49:02<4:06:22, 1.67s/it] 70%|███████ | 21136/30000 [9:49:03<4:06:09, 1.67s/it] 70%|███████ | 21137/30000 [9:49:05<4:06:32, 1.67s/it] 70%|███████ | 21138/30000 [9:49:07<4:05:59, 1.67s/it] 70%|███████ | 21139/30000 [9:49:08<4:05:33, 1.66s/it] 70%|███████ | 21140/30000 [9:49:10<4:05:14, 1.66s/it] {'loss': 0.0167, 'grad_norm': 0.1246178075671196, 'learning_rate': 6.604340282750371e-06, 'flow_matching_loss': 0.016666272096335887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.15} + 70%|███████ | 21140/30000 [9:49:10<4:05:14, 1.66s/it] 70%|███████ | 21141/30000 [9:49:12<4:05:46, 1.66s/it] 70%|███████ | 21142/30000 [9:49:13<4:05:55, 1.67s/it] 70%|███████ | 21143/30000 [9:49:15<4:06:14, 1.67s/it] 70%|███████ | 21144/30000 [9:49:17<4:05:48, 1.67s/it] 70%|███████ | 21145/30000 [9:49:18<4:05:26, 1.66s/it] 70%|███████ | 21146/30000 [9:49:20<4:05:34, 1.66s/it] 70%|███████ | 21147/30000 [9:49:22<4:05:31, 1.66s/it] 70%|███████ | 21148/30000 [9:49:23<4:05:32, 1.66s/it] 70%|███████ | 21149/30000 [9:49:25<4:05:49, 1.67s/it] 70%|███████ | 21150/30000 [9:49:27<4:06:28, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.11371580511331558, 'learning_rate': 6.590643278432342e-06, 'flow_matching_loss': 0.016721078474074603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.15} + 70%|███████ | 21150/30000 [9:49:27<4:06:28, 1.67s/it] 71%|███████ | 21151/30000 [9:49:28<4:06:18, 1.67s/it] 71%|███████ | 21152/30000 [9:49:30<4:06:03, 1.67s/it] 71%|███████ | 21153/30000 [9:49:32<4:05:50, 1.67s/it] 71%|███████ | 21154/30000 [9:49:33<4:05:36, 1.67s/it] 71%|███████ | 21155/30000 [9:49:35<4:05:12, 1.66s/it] 71%|███████ | 21156/30000 [9:49:37<4:05:25, 1.66s/it] 71%|███████ | 21157/30000 [9:49:38<4:05:39, 1.67s/it] 71%|███████ | 21158/30000 [9:49:40<4:05:47, 1.67s/it] 71%|███████ | 21159/30000 [9:49:42<4:05:42, 1.67s/it] 71%|███████ | 21160/30000 [9:49:43<4:05:24, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.09132681041955948, 'learning_rate': 6.576956492275682e-06, 'flow_matching_loss': 0.015600380953401327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.16} + 71%|███████ | 21160/30000 [9:49:43<4:05:24, 1.67s/it] 71%|███████ | 21161/30000 [9:49:45<4:05:25, 1.67s/it] 71%|███████ | 21162/30000 [9:49:47<4:05:31, 1.67s/it] 71%|███████ | 21163/30000 [9:49:48<4:04:58, 1.66s/it] 71%|███████ | 21164/30000 [9:49:50<4:04:58, 1.66s/it] 71%|███████ | 21165/30000 [9:49:52<4:05:10, 1.67s/it] 71%|███████ | 21166/30000 [9:49:53<4:05:47, 1.67s/it] 71%|███████ | 21167/30000 [9:49:55<4:05:00, 1.66s/it] 71%|███████ | 21168/30000 [9:49:57<4:05:02, 1.66s/it] 71%|███████ | 21169/30000 [9:49:58<4:04:57, 1.66s/it] 71%|███████ | 21170/30000 [9:50:00<4:05:28, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09230311959981918, 'learning_rate': 6.563279940911124e-06, 'flow_matching_loss': 0.01716424198821187, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.16} + 71%|███████ | 21170/30000 [9:50:00<4:05:28, 1.67s/it] 71%|███████ | 21171/30000 [9:50:02<4:05:26, 1.67s/it] 71%|███████ | 21172/30000 [9:50:03<4:05:13, 1.67s/it] 71%|███████ | 21173/30000 [9:50:05<4:05:06, 1.67s/it] 71%|███████ | 21174/30000 [9:50:07<4:05:29, 1.67s/it] 71%|███████ | 21175/30000 [9:50:08<4:04:55, 1.67s/it] 71%|███████ | 21176/30000 [9:50:10<4:04:35, 1.66s/it] 71%|███████ | 21177/30000 [9:50:12<4:04:29, 1.66s/it] 71%|███████ | 21178/30000 [9:50:13<4:04:46, 1.66s/it] 71%|███████ | 21179/30000 [9:50:15<4:04:22, 1.66s/it] 71%|███████ | 21180/30000 [9:50:17<4:04:39, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.1162109524011612, 'learning_rate': 6.549613640956963e-06, 'flow_matching_loss': 0.01769153019413352, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.16} + 71%|███████ | 21180/30000 [9:50:17<4:04:39, 1.66s/it] 71%|███████ | 21181/30000 [9:50:18<4:04:58, 1.67s/it] 71%|███████ | 21182/30000 [9:50:20<4:05:03, 1.67s/it] 71%|███████ | 21183/30000 [9:50:22<4:04:29, 1.66s/it] 71%|███████ | 21184/30000 [9:50:23<4:04:22, 1.66s/it] 71%|███████ | 21185/30000 [9:50:25<4:03:53, 1.66s/it] 71%|███████ | 21186/30000 [9:50:27<4:04:16, 1.66s/it] 71%|███████ | 21187/30000 [9:50:28<4:03:59, 1.66s/it] 71%|███████ | 21188/30000 [9:50:30<4:04:02, 1.66s/it] 71%|███████ | 21189/30000 [9:50:32<4:04:32, 1.67s/it] 71%|███████ | 21190/30000 [9:50:33<4:05:11, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.10746744275093079, 'learning_rate': 6.535957609019053e-06, 'flow_matching_loss': 0.019288177601993084, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.17} + 71%|███████ | 21190/30000 [9:50:33<4:05:11, 1.67s/it] 71%|███████ | 21191/30000 [9:50:35<4:04:39, 1.67s/it] 71%|███████ | 21192/30000 [9:50:37<4:04:32, 1.67s/it] 71%|███████ | 21193/30000 [9:50:38<4:04:33, 1.67s/it] 71%|███████ | 21194/30000 [9:50:40<4:04:58, 1.67s/it] 71%|███████ | 21195/30000 [9:50:42<4:04:57, 1.67s/it] 71%|███████ | 21196/30000 [9:50:43<4:04:51, 1.67s/it] 71%|███████ | 21197/30000 [9:50:45<4:05:27, 1.67s/it] 71%|███████ | 21198/30000 [9:50:47<4:05:45, 1.68s/it] 71%|███████ | 21199/30000 [9:50:48<4:04:55, 1.67s/it] 71%|███████ | 21200/30000 [9:50:50<4:04:32, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.10172327607870102, 'learning_rate': 6.5223118616907545e-06, 'flow_matching_loss': 0.015880781784653665, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.17} + 71%|███████ | 21200/30000 [9:50:50<4:04:32, 1.67s/it] 71%|███████ | 21201/30000 [9:50:52<4:04:09, 1.66s/it] 71%|███████ | 21202/30000 [9:50:53<4:04:26, 1.67s/it] 71%|███████ | 21203/30000 [9:50:55<4:03:58, 1.66s/it] 71%|███████ | 21204/30000 [9:50:57<4:04:11, 1.67s/it] 71%|███████ | 21205/30000 [9:50:58<4:04:10, 1.67s/it] 71%|███████ | 21206/30000 [9:51:00<4:04:21, 1.67s/it] 71%|███████ | 21207/30000 [9:51:02<4:04:18, 1.67s/it] 71%|███████ | 21208/30000 [9:51:03<4:03:54, 1.66s/it] 71%|███████ | 21209/30000 [9:51:05<4:03:56, 1.66s/it] 71%|███████ | 21210/30000 [9:51:07<4:03:58, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.107172392308712, 'learning_rate': 6.508676415552939e-06, 'flow_matching_loss': 0.01831547999754548, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.17} + 71%|███████ | 21210/30000 [9:51:07<4:03:58, 1.67s/it] 71%|███████ | 21211/30000 [9:51:08<4:04:08, 1.67s/it] 71%|███████ | 21212/30000 [9:51:10<4:04:29, 1.67s/it] 71%|███████ | 21213/30000 [9:51:12<4:04:37, 1.67s/it] 71%|███████ | 21214/30000 [9:51:13<4:04:03, 1.67s/it] 71%|███████ | 21215/30000 [9:51:15<4:04:16, 1.67s/it] 71%|███████ | 21216/30000 [9:51:17<4:04:25, 1.67s/it] 71%|███████ | 21217/30000 [9:51:18<4:04:11, 1.67s/it] 71%|███████ | 21218/30000 [9:51:20<4:04:06, 1.67s/it] 71%|███████ | 21219/30000 [9:51:22<4:03:48, 1.67s/it] 71%|███████ | 21220/30000 [9:51:23<4:04:01, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.1264549344778061, 'learning_rate': 6.495051287173952e-06, 'flow_matching_loss': 0.016211078595370056, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.17} + 71%|███████ | 21220/30000 [9:51:23<4:04:01, 1.67s/it] 71%|███████ | 21221/30000 [9:51:25<4:04:16, 1.67s/it] 71%|███████ | 21222/30000 [9:51:27<4:04:38, 1.67s/it] 71%|███████ | 21223/30000 [9:51:28<4:04:08, 1.67s/it] 71%|███████ | 21224/30000 [9:51:30<4:03:39, 1.67s/it] 71%|███████ | 21225/30000 [9:51:32<4:03:44, 1.67s/it] 71%|███████ | 21226/30000 [9:51:33<4:03:31, 1.67s/it] 71%|███████ | 21227/30000 [9:51:35<4:03:15, 1.66s/it] 71%|███████ | 21228/30000 [9:51:37<4:03:55, 1.67s/it] 71%|███████ | 21229/30000 [9:51:38<4:03:29, 1.67s/it] 71%|███████ | 21230/30000 [9:51:40<4:03:25, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.10947174578905106, 'learning_rate': 6.481436493109621e-06, 'flow_matching_loss': 0.01836181469261646, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.18} + 71%|███████ | 21230/30000 [9:51:40<4:03:25, 1.67s/it] 71%|███████ | 21231/30000 [9:51:42<4:03:40, 1.67s/it] 71%|███████ | 21232/30000 [9:51:43<4:03:27, 1.67s/it] 71%|███████ | 21233/30000 [9:51:45<4:03:32, 1.67s/it] 71%|███████ | 21234/30000 [9:51:47<4:03:23, 1.67s/it] 71%|███████ | 21235/30000 [9:51:48<4:03:14, 1.67s/it] 71%|███████ | 21236/30000 [9:51:50<4:03:21, 1.67s/it] 71%|███████ | 21237/30000 [9:51:52<4:03:57, 1.67s/it] 71%|███████ | 21238/30000 [9:51:53<4:03:49, 1.67s/it] 71%|███████ | 21239/30000 [9:51:55<4:03:21, 1.67s/it] 71%|███████ | 21240/30000 [9:51:57<4:03:06, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.11312815546989441, 'learning_rate': 6.467832049903194e-06, 'flow_matching_loss': 0.017823615483939646, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.18} + 71%|███████ | 21240/30000 [9:51:57<4:03:06, 1.67s/it] 71%|███████ | 21241/30000 [9:51:58<4:03:11, 1.67s/it] 71%|███████ | 21242/30000 [9:52:00<4:02:59, 1.66s/it] 71%|███████ | 21243/30000 [9:52:02<4:02:55, 1.66s/it] 71%|███████ | 21244/30000 [9:52:03<4:02:50, 1.66s/it] 71%|███████ | 21245/30000 [9:52:05<4:03:12, 1.67s/it] 71%|███████ | 21246/30000 [9:52:07<4:03:11, 1.67s/it] 71%|███████ | 21247/30000 [9:52:08<4:03:12, 1.67s/it] 71%|███████ | 21248/30000 [9:52:10<4:02:53, 1.67s/it] 71%|███████ | 21249/30000 [9:52:12<4:03:05, 1.67s/it] 71%|███████ | 21250/30000 [9:52:13<4:02:57, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.11507449299097061, 'learning_rate': 6.454237974085361e-06, 'flow_matching_loss': 0.014853191282600164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.18} + 71%|███████ | 21250/30000 [9:52:13<4:02:57, 1.67s/it] 71%|███████ | 21251/30000 [9:52:15<4:03:05, 1.67s/it] 71%|███████ | 21252/30000 [9:52:17<4:02:53, 1.67s/it] 71%|███████ | 21253/30000 [9:52:18<4:02:50, 1.67s/it] 71%|███████ | 21254/30000 [9:52:20<4:02:54, 1.67s/it] 71%|███████ | 21255/30000 [9:52:22<4:02:46, 1.67s/it] 71%|███████ | 21256/30000 [9:52:23<4:02:36, 1.66s/it] 71%|███████ | 21257/30000 [9:52:25<4:02:24, 1.66s/it] 71%|███████ | 21258/30000 [9:52:27<4:02:21, 1.66s/it] 71%|███████ | 21259/30000 [9:52:28<4:02:36, 1.67s/it] 71%|███████ | 21260/30000 [9:52:30<4:02:13, 1.66s/it] {'loss': 0.0157, 'grad_norm': 0.1163468286395073, 'learning_rate': 6.440654282174203e-06, 'flow_matching_loss': 0.01571971718221903, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.19} + 71%|███████ | 21260/30000 [9:52:30<4:02:13, 1.66s/it] 71%|███████ | 21261/30000 [9:52:32<4:02:28, 1.66s/it] 71%|███████ | 21262/30000 [9:52:33<4:02:50, 1.67s/it] 71%|███████ | 21263/30000 [9:52:35<4:02:41, 1.67s/it] 71%|███████ | 21264/30000 [9:52:37<4:02:03, 1.66s/it] 71%|███████ | 21265/30000 [9:52:38<4:02:13, 1.66s/it] 71%|███████ | 21266/30000 [9:52:40<4:01:59, 1.66s/it] 71%|███████ | 21267/30000 [9:52:42<4:01:52, 1.66s/it] 71%|███████ | 21268/30000 [9:52:43<4:02:53, 1.67s/it] 71%|███████ | 21269/30000 [9:52:45<4:02:51, 1.67s/it] 71%|███████ | 21270/30000 [9:52:47<4:03:35, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.1097588986158371, 'learning_rate': 6.427080990675187e-06, 'flow_matching_loss': 0.01683912267908454, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.19} + 71%|███████ | 21270/30000 [9:52:47<4:03:35, 1.67s/it] 71%|███████ | 21271/30000 [9:52:48<4:03:06, 1.67s/it] 71%|███████ | 21272/30000 [9:52:50<4:02:44, 1.67s/it] 71%|███████ | 21273/30000 [9:52:52<4:02:37, 1.67s/it] 71%|███████ | 21274/30000 [9:52:53<4:02:41, 1.67s/it] 71%|███████ | 21275/30000 [9:52:55<4:03:33, 1.67s/it] 71%|███████ | 21276/30000 [9:52:57<4:02:30, 1.67s/it] 71%|███████ | 21277/30000 [9:52:58<4:02:45, 1.67s/it] 71%|███████ | 21278/30000 [9:53:00<4:02:42, 1.67s/it] 71%|███████ | 21279/30000 [9:53:02<4:03:17, 1.67s/it] 71%|███████ | 21280/30000 [9:53:03<4:02:50, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.0962933823466301, 'learning_rate': 6.41351811608114e-06, 'flow_matching_loss': 0.016109531931579112, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.19} + 71%|███████ | 21280/30000 [9:53:03<4:02:50, 1.67s/it] 71%|███████ | 21281/30000 [9:53:05<4:02:48, 1.67s/it] 71%|███████ | 21282/30000 [9:53:07<4:02:16, 1.67s/it] 71%|███████ | 21283/30000 [9:53:08<4:01:47, 1.66s/it] 71%|███████ | 21284/30000 [9:53:10<4:02:04, 1.67s/it] 71%|███████ | 21285/30000 [9:53:12<4:02:56, 1.67s/it] 71%|███████ | 21286/30000 [9:53:13<4:02:05, 1.67s/it] 71%|███████ | 21287/30000 [9:53:15<4:01:58, 1.67s/it] 71%|███████ | 21288/30000 [9:53:17<4:01:52, 1.67s/it] 71%|███████ | 21289/30000 [9:53:18<4:01:53, 1.67s/it] 71%|███████ | 21290/30000 [9:53:20<4:01:18, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.08030188828706741, 'learning_rate': 6.399965674872228e-06, 'flow_matching_loss': 0.01759482519701123, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.19} + 71%|███████ | 21290/30000 [9:53:20<4:01:18, 1.66s/it] 71%|███████ | 21291/30000 [9:53:22<4:01:35, 1.66s/it] 71%|███████ | 21292/30000 [9:53:23<4:01:49, 1.67s/it] 71%|███████ | 21293/30000 [9:53:25<4:01:37, 1.67s/it] 71%|███████ | 21294/30000 [9:53:27<4:01:41, 1.67s/it] 71%|███████ | 21295/30000 [9:53:28<4:01:14, 1.66s/it] 71%|███████ | 21296/30000 [9:53:30<4:01:23, 1.66s/it] 71%|███████ | 21297/30000 [9:53:32<4:01:48, 1.67s/it] 71%|███████ | 21298/30000 [9:53:33<4:02:25, 1.67s/it] 71%|███████ | 21299/30000 [9:53:35<4:01:49, 1.67s/it] 71%|███████ | 21300/30000 [9:53:37<4:01:26, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10770145058631897, 'learning_rate': 6.386423683515957e-06, 'flow_matching_loss': 0.017921233363449574, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.2} + 71%|███████ | 21300/30000 [9:53:37<4:01:26, 1.67s/it] 71%|███████ | 21301/30000 [9:53:38<4:02:19, 1.67s/it] 71%|███████ | 21302/30000 [9:53:40<4:01:25, 1.67s/it] 71%|███████ | 21303/30000 [9:53:42<4:01:30, 1.67s/it] 71%|███████ | 21304/30000 [9:53:43<4:01:45, 1.67s/it] 71%|███████ | 21305/30000 [9:53:45<4:01:40, 1.67s/it] 71%|███████ | 21306/30000 [9:53:47<4:01:41, 1.67s/it] 71%|███████ | 21307/30000 [9:53:48<4:01:31, 1.67s/it] 71%|███████ | 21308/30000 [9:53:50<4:01:13, 1.67s/it] 71%|███████ | 21309/30000 [9:53:52<4:01:22, 1.67s/it] 71%|███████ | 21310/30000 [9:53:53<4:01:30, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09200546890497208, 'learning_rate': 6.372892158467119e-06, 'flow_matching_loss': 0.019269587006419897, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.2} + 71%|███████ | 21310/30000 [9:53:53<4:01:30, 1.67s/it] 71%|███████ | 21311/30000 [9:53:55<4:01:27, 1.67s/it] 71%|███████ | 21312/30000 [9:53:57<4:01:24, 1.67s/it] 71%|███████ | 21313/30000 [9:53:58<4:01:35, 1.67s/it] 71%|███████ | 21314/30000 [9:54:00<4:01:22, 1.67s/it] 71%|███████ | 21315/30000 [9:54:02<4:01:06, 1.67s/it] 71%|███████ | 21316/30000 [9:54:03<4:01:09, 1.67s/it] 71%|███████ | 21317/30000 [9:54:05<4:01:34, 1.67s/it] 71%|███████ | 21318/30000 [9:54:07<4:01:24, 1.67s/it] 71%|███████ | 21319/30000 [9:54:08<4:01:06, 1.67s/it] 71%|███████ | 21320/30000 [9:54:10<4:01:00, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11201636493206024, 'learning_rate': 6.359371116167791e-06, 'flow_matching_loss': 0.0166042466647923, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.2} + 71%|███████ | 21320/30000 [9:54:10<4:01:00, 1.67s/it] 71%|███████ | 21321/30000 [9:54:12<4:00:54, 1.67s/it] 71%|███████ | 21322/30000 [9:54:13<4:00:48, 1.66s/it] 71%|███████ | 21323/30000 [9:54:15<4:00:30, 1.66s/it] 71%|███████ | 21324/30000 [9:54:17<4:01:23, 1.67s/it] 71%|███████ | 21325/30000 [9:54:18<4:01:21, 1.67s/it] 71%|███████ | 21326/30000 [9:54:20<4:01:05, 1.67s/it] 71%|███████ | 21327/30000 [9:54:22<4:00:55, 1.67s/it] 71%|███████ | 21328/30000 [9:54:23<4:00:43, 1.67s/it] 71%|███████ | 21329/30000 [9:54:25<4:00:35, 1.66s/it] 71%|███████ | 21330/30000 [9:54:27<4:00:26, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.10469495505094528, 'learning_rate': 6.345860573047314e-06, 'flow_matching_loss': 0.01638684906065464, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.21} + 71%|███████ | 21330/30000 [9:54:27<4:00:26, 1.66s/it] 71%|███████ | 21331/30000 [9:54:28<4:00:34, 1.67s/it] 71%|███████ | 21332/30000 [9:54:30<4:00:43, 1.67s/it] 71%|███████ | 21333/30000 [9:54:32<4:00:11, 1.66s/it] 71%|███████ | 21334/30000 [9:54:33<4:00:28, 1.66s/it] 71%|███████ | 21335/30000 [9:54:35<4:00:16, 1.66s/it] 71%|███████ | 21336/30000 [9:54:37<4:00:20, 1.66s/it] 71%|███████ | 21337/30000 [9:54:38<4:00:23, 1.66s/it] 71%|███████ | 21338/30000 [9:54:40<3:59:35, 1.66s/it] 71%|███████ | 21339/30000 [9:54:42<3:59:41, 1.66s/it] 71%|███████ | 21340/30000 [9:54:43<4:00:42, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.11767090857028961, 'learning_rate': 6.332360545522268e-06, 'flow_matching_loss': 0.017841102741658687, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.21} + 71%|███████ | 21340/30000 [9:54:43<4:00:42, 1.67s/it] 71%|███████ | 21341/30000 [9:54:45<4:01:02, 1.67s/it] 71%|███████ | 21342/30000 [9:54:47<4:01:09, 1.67s/it] 71%|███████ | 21343/30000 [9:54:48<4:00:55, 1.67s/it] 71%|███████ | 21344/30000 [9:54:50<4:00:41, 1.67s/it] 71%|███████ | 21345/30000 [9:54:52<4:00:17, 1.67s/it] 71%|███████ | 21346/30000 [9:54:53<4:00:09, 1.67s/it] 71%|███████ | 21347/30000 [9:54:55<4:00:22, 1.67s/it] 71%|███████ | 21348/30000 [9:54:57<4:00:58, 1.67s/it] 71%|███████ | 21349/30000 [9:54:58<4:00:18, 1.67s/it] 71%|███████ | 21350/30000 [9:55:00<4:00:33, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.13335873186588287, 'learning_rate': 6.31887104999647e-06, 'flow_matching_loss': 0.019781953748315574, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.21} + 71%|███████ | 21350/30000 [9:55:00<4:00:33, 1.67s/it] 71%|███████ | 21351/30000 [9:55:02<4:00:51, 1.67s/it] 71%|███████ | 21352/30000 [9:55:03<4:00:26, 1.67s/it] 71%|███████ | 21353/30000 [9:55:05<4:00:25, 1.67s/it] 71%|███████ | 21354/30000 [9:55:07<4:00:06, 1.67s/it] 71%|███████ | 21355/30000 [9:55:08<4:00:07, 1.67s/it] 71%|███████ | 21356/30000 [9:55:10<4:00:11, 1.67s/it] 71%|███████ | 21357/30000 [9:55:12<3:59:52, 1.67s/it] 71%|███████ | 21358/30000 [9:55:13<4:00:02, 1.67s/it] 71%|███████ | 21359/30000 [9:55:15<4:00:14, 1.67s/it] 71%|███████ | 21360/30000 [9:55:17<3:59:58, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.1426946073770523, 'learning_rate': 6.305392102860924e-06, 'flow_matching_loss': 0.017646502144634722, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.21} + 71%|███████ | 21360/30000 [9:55:17<3:59:58, 1.67s/it] 71%|███████ | 21361/30000 [9:55:18<3:59:49, 1.67s/it] 71%|███████ | 21362/30000 [9:55:20<3:59:35, 1.66s/it] 71%|███████ | 21363/30000 [9:55:22<3:59:51, 1.67s/it] 71%|███████ | 21364/30000 [9:55:23<4:00:35, 1.67s/it] 71%|███████ | 21365/30000 [9:55:25<4:00:34, 1.67s/it] 71%|███████ | 21366/30000 [9:55:27<4:00:18, 1.67s/it] 71%|███████ | 21367/30000 [9:55:28<3:59:40, 1.67s/it] 71%|███████ | 21368/30000 [9:55:30<3:59:38, 1.67s/it] 71%|███████ | 21369/30000 [9:55:32<3:59:35, 1.67s/it] 71%|███████ | 21370/30000 [9:55:33<3:59:12, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.10329005867242813, 'learning_rate': 6.291923720493814e-06, 'flow_matching_loss': 0.0164627218618989, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.22} + 71%|███████ | 21370/30000 [9:55:33<3:59:12, 1.66s/it] 71%|███████ | 21371/30000 [9:55:35<3:59:27, 1.67s/it] 71%|███████ | 21372/30000 [9:55:37<3:59:36, 1.67s/it] 71%|███████ | 21373/30000 [9:55:38<3:59:38, 1.67s/it] 71%|███████ | 21374/30000 [9:55:40<3:59:39, 1.67s/it] 71%|███████▏ | 21375/30000 [9:55:42<3:59:31, 1.67s/it] 71%|███████▏ | 21376/30000 [9:55:43<3:59:15, 1.66s/it] 71%|███████▏ | 21377/30000 [9:55:45<3:59:12, 1.66s/it] 71%|███████▏ | 21378/30000 [9:55:47<3:59:01, 1.66s/it] 71%|███████▏ | 21379/30000 [9:55:48<3:58:54, 1.66s/it] 71%|███████▏ | 21380/30000 [9:55:50<3:58:59, 1.66s/it] {'loss': 0.0162, 'grad_norm': 0.10565567016601562, 'learning_rate': 6.278465919260507e-06, 'flow_matching_loss': 0.016169088985770942, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.22} + 71%|███████▏ | 21380/30000 [9:55:50<3:58:59, 1.66s/it] 71%|███████▏ | 21381/30000 [9:55:52<3:59:06, 1.66s/it] 71%|███████▏ | 21382/30000 [9:55:53<3:59:23, 1.67s/it] 71%|███████▏ | 21383/30000 [9:55:55<3:59:11, 1.67s/it] 71%|███████▏ | 21384/30000 [9:55:57<3:59:32, 1.67s/it] 71%|███████▏ | 21385/30000 [9:55:58<3:59:04, 1.67s/it] 71%|███████▏ | 21386/30000 [9:56:00<3:59:02, 1.67s/it] 71%|███████▏ | 21387/30000 [9:56:02<3:58:55, 1.66s/it] 71%|███████▏ | 21388/30000 [9:56:03<3:59:12, 1.67s/it] 71%|███████▏ | 21389/30000 [9:56:05<3:58:53, 1.66s/it] 71%|███████▏ | 21390/30000 [9:56:07<3:59:00, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11575412005186081, 'learning_rate': 6.26501871551349e-06, 'flow_matching_loss': 0.01583794178441167, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.22} + 71%|███████▏ | 21390/30000 [9:56:07<3:59:00, 1.67s/it] 71%|███████▏ | 21391/30000 [9:56:08<3:58:46, 1.66s/it] 71%|███████▏ | 21392/30000 [9:56:10<3:58:42, 1.66s/it] 71%|███████▏ | 21393/30000 [9:56:12<3:58:43, 1.66s/it] 71%|███████▏ | 21394/30000 [9:56:13<3:58:46, 1.66s/it] 71%|███████▏ | 21395/30000 [9:56:15<3:58:44, 1.66s/it] 71%|███████▏ | 21396/30000 [9:56:17<3:58:42, 1.66s/it] 71%|███████▏ | 21397/30000 [9:56:18<3:58:43, 1.66s/it] 71%|███████▏ | 21398/30000 [9:56:20<3:58:49, 1.67s/it] 71%|███████▏ | 21399/30000 [9:56:22<3:58:42, 1.67s/it] 71%|███████▏ | 21400/30000 [9:56:23<3:58:40, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.10721439868211746, 'learning_rate': 6.251582125592394e-06, 'flow_matching_loss': 0.018123111128807066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.23} + 71%|███████▏ | 21400/30000 [9:56:23<3:58:40, 1.67s/it] 71%|███████▏ | 21401/30000 [9:56:25<3:58:41, 1.67s/it] 71%|███████▏ | 21402/30000 [9:56:27<3:58:49, 1.67s/it] 71%|███████▏ | 21403/30000 [9:56:28<3:58:42, 1.67s/it] 71%|███████▏ | 21404/30000 [9:56:30<3:58:49, 1.67s/it] 71%|███████▏ | 21405/30000 [9:56:32<3:58:43, 1.67s/it] 71%|███████▏ | 21406/30000 [9:56:33<3:58:49, 1.67s/it] 71%|███████▏ | 21407/30000 [9:56:35<3:58:21, 1.66s/it] 71%|███████▏ | 21408/30000 [9:56:37<3:58:18, 1.66s/it] 71%|███████▏ | 21409/30000 [9:56:38<3:58:33, 1.67s/it] 71%|███████▏ | 21410/30000 [9:56:40<3:58:34, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.11733190715312958, 'learning_rate': 6.2381561658239386e-06, 'flow_matching_loss': 0.0174295655451715, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.23} + 71%|███████▏ | 21410/30000 [9:56:40<3:58:34, 1.67s/it] 71%|███████▏ | 21411/30000 [9:56:42<3:58:20, 1.66s/it] 71%|███████▏ | 21412/30000 [9:56:43<3:58:03, 1.66s/it] 71%|███████▏ | 21413/30000 [9:56:45<3:58:19, 1.67s/it] 71%|███████▏ | 21414/30000 [9:56:47<3:58:18, 1.67s/it] 71%|███████▏ | 21415/30000 [9:56:48<3:58:11, 1.66s/it] 71%|███████▏ | 21416/30000 [9:56:50<3:57:59, 1.66s/it] 71%|███████▏ | 21417/30000 [9:56:52<3:58:23, 1.67s/it] 71%|███████▏ | 21418/30000 [9:56:53<3:58:02, 1.66s/it] 71%|███████▏ | 21419/30000 [9:56:55<3:57:51, 1.66s/it] 71%|███████▏ | 21420/30000 [9:56:57<3:58:31, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.1024153083562851, 'learning_rate': 6.2247408525219276e-06, 'flow_matching_loss': 0.01771505977958441, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.23} + 71%|███████▏ | 21420/30000 [9:56:57<3:58:31, 1.67s/it] 71%|███████▏ | 21421/30000 [9:56:58<3:58:14, 1.67s/it] 71%|███████▏ | 21422/30000 [9:57:00<3:58:18, 1.67s/it] 71%|███████▏ | 21423/30000 [9:57:02<3:58:11, 1.67s/it] 71%|███████▏ | 21424/30000 [9:57:03<3:58:09, 1.67s/it] 71%|███████▏ | 21425/30000 [9:57:05<3:58:40, 1.67s/it] 71%|███████▏ | 21426/30000 [9:57:07<3:58:21, 1.67s/it] 71%|███████▏ | 21427/30000 [9:57:08<3:58:03, 1.67s/it] 71%|███████▏ | 21428/30000 [9:57:10<3:57:55, 1.67s/it] 71%|███████▏ | 21429/30000 [9:57:12<3:58:32, 1.67s/it] 71%|███████▏ | 21430/30000 [9:57:13<3:58:21, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.1315157264471054, 'learning_rate': 6.2113362019872335e-06, 'flow_matching_loss': 0.016647764667868614, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.24} + 71%|███████▏ | 21430/30000 [9:57:13<3:58:21, 1.67s/it] 71%|███████▏ | 21431/30000 [9:57:15<3:58:02, 1.67s/it] 71%|███████▏ | 21432/30000 [9:57:17<3:57:55, 1.67s/it] 71%|███████▏ | 21433/30000 [9:57:18<3:57:59, 1.67s/it] 71%|███████▏ | 21434/30000 [9:57:20<3:57:45, 1.67s/it] 71%|███████▏ | 21435/30000 [9:57:22<3:57:31, 1.66s/it] 71%|███████▏ | 21436/30000 [9:57:23<3:57:36, 1.66s/it] 71%|███████▏ | 21437/30000 [9:57:25<3:57:50, 1.67s/it] 71%|███████▏ | 21438/30000 [9:57:27<3:57:56, 1.67s/it] 71%|███████▏ | 21439/30000 [9:57:28<3:57:51, 1.67s/it] 71%|███████▏ | 21440/30000 [9:57:30<3:57:33, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.11850415915250778, 'learning_rate': 6.197942230507772e-06, 'flow_matching_loss': 0.017514527775347233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.24} + 71%|███████▏ | 21440/30000 [9:57:30<3:57:33, 1.67s/it] 71%|███████▏ | 21441/30000 [9:57:32<3:57:40, 1.67s/it] 71%|███████▏ | 21442/30000 [9:57:33<3:57:47, 1.67s/it] 71%|███████▏ | 21443/30000 [9:57:35<3:57:39, 1.67s/it] 71%|███████▏ | 21444/30000 [9:57:37<3:57:42, 1.67s/it] 71%|███████▏ | 21445/30000 [9:57:38<3:57:39, 1.67s/it] 71%|███████▏ | 21446/30000 [9:57:40<3:57:52, 1.67s/it] 71%|███████▏ | 21447/30000 [9:57:42<3:58:10, 1.67s/it] 71%|███████▏ | 21448/30000 [9:57:43<3:58:01, 1.67s/it] 71%|███████▏ | 21449/30000 [9:57:45<3:57:55, 1.67s/it] 72%|███████▏ | 21450/30000 [9:57:47<3:57:37, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.12299337238073349, 'learning_rate': 6.184558954358475e-06, 'flow_matching_loss': 0.01621999414637685, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.24} + 72%|███████▏ | 21450/30000 [9:57:47<3:57:37, 1.67s/it] 72%|███████▏ | 21451/30000 [9:57:48<3:57:28, 1.67s/it] 72%|███████▏ | 21452/30000 [9:57:50<3:57:43, 1.67s/it] 72%|███████▏ | 21453/30000 [9:57:52<3:57:10, 1.66s/it] 72%|███████▏ | 21454/30000 [9:57:53<3:57:19, 1.67s/it] 72%|███████▏ | 21455/30000 [9:57:55<3:57:06, 1.66s/it] 72%|███████▏ | 21456/30000 [9:57:57<3:57:05, 1.66s/it] 72%|███████▏ | 21457/30000 [9:57:58<3:57:04, 1.67s/it] 72%|███████▏ | 21458/30000 [9:58:00<3:56:53, 1.66s/it] 72%|███████▏ | 21459/30000 [9:58:02<3:56:46, 1.66s/it] 72%|███████▏ | 21460/30000 [9:58:03<3:57:07, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10795552283525467, 'learning_rate': 6.1711863898012965e-06, 'flow_matching_loss': 0.01664142096415162, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.24} + 72%|███████▏ | 21460/30000 [9:58:03<3:57:07, 1.67s/it] 72%|███████▏ | 21461/30000 [9:58:05<3:57:39, 1.67s/it] 72%|███████▏ | 21462/30000 [9:58:07<3:57:43, 1.67s/it] 72%|███████▏ | 21463/30000 [9:58:08<3:57:26, 1.67s/it] 72%|███████▏ | 21464/30000 [9:58:10<3:57:13, 1.67s/it] 72%|███████▏ | 21465/30000 [9:58:12<3:57:12, 1.67s/it] 72%|███████▏ | 21466/30000 [9:58:13<3:57:09, 1.67s/it] 72%|███████▏ | 21467/30000 [9:58:15<3:56:39, 1.66s/it] 72%|███████▏ | 21468/30000 [9:58:17<3:56:51, 1.67s/it] 72%|███████▏ | 21469/30000 [9:58:18<3:56:48, 1.67s/it] 72%|███████▏ | 21470/30000 [9:58:20<3:56:43, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.1062491312623024, 'learning_rate': 6.157824553085155e-06, 'flow_matching_loss': 0.019050464499741793, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.25} + 72%|███████▏ | 21470/30000 [9:58:20<3:56:43, 1.67s/it] 72%|███████▏ | 21471/30000 [9:58:22<3:56:30, 1.66s/it] 72%|███████▏ | 21472/30000 [9:58:23<3:56:15, 1.66s/it] 72%|███████▏ | 21473/30000 [9:58:25<3:56:36, 1.66s/it] 72%|███████▏ | 21474/30000 [9:58:27<3:56:35, 1.66s/it] 72%|███████▏ | 21475/30000 [9:58:28<3:56:27, 1.66s/it] 72%|███████▏ | 21476/30000 [9:58:30<3:57:12, 1.67s/it] 72%|███████▏ | 21477/30000 [9:58:32<3:57:11, 1.67s/it] 72%|███████▏ | 21478/30000 [9:58:33<3:57:06, 1.67s/it] 72%|███████▏ | 21479/30000 [9:58:35<3:56:25, 1.66s/it] 72%|███████▏ | 21480/30000 [9:58:37<3:56:28, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10539472103118896, 'learning_rate': 6.144473460445945e-06, 'flow_matching_loss': 0.017499533668160438, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.25} + 72%|███████▏ | 21480/30000 [9:58:37<3:56:28, 1.67s/it] 72%|███████▏ | 21481/30000 [9:58:38<3:56:47, 1.67s/it] 72%|███████▏ | 21482/30000 [9:58:40<3:56:43, 1.67s/it] 72%|███████▏ | 21483/30000 [9:58:42<3:56:12, 1.66s/it] 72%|███████▏ | 21484/30000 [9:58:43<3:56:07, 1.66s/it] 72%|███████▏ | 21485/30000 [9:58:45<3:55:57, 1.66s/it] 72%|███████▏ | 21486/30000 [9:58:47<3:56:07, 1.66s/it] 72%|███████▏ | 21487/30000 [9:58:48<3:56:04, 1.66s/it] 72%|███████▏ | 21488/30000 [9:58:50<3:56:03, 1.66s/it] 72%|███████▏ | 21489/30000 [9:58:52<3:56:19, 1.67s/it] 72%|███████▏ | 21490/30000 [9:58:53<3:56:22, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.11802531778812408, 'learning_rate': 6.131133128106503e-06, 'flow_matching_loss': 0.017585891392081977, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.25} + 72%|███████▏ | 21490/30000 [9:58:53<3:56:22, 1.67s/it] 72%|███████▏ | 21491/30000 [9:58:55<3:56:14, 1.67s/it] 72%|███████▏ | 21492/30000 [9:58:57<3:56:06, 1.67s/it] 72%|███████▏ | 21493/30000 [9:58:58<3:56:29, 1.67s/it] 72%|███████▏ | 21494/30000 [9:59:00<3:56:05, 1.67s/it] 72%|███████▏ | 21495/30000 [9:59:02<3:56:06, 1.67s/it] 72%|███████▏ | 21496/30000 [9:59:03<3:56:02, 1.67s/it] 72%|███████▏ | 21497/30000 [9:59:05<3:56:04, 1.67s/it] 72%|███████▏ | 21498/30000 [9:59:07<3:56:18, 1.67s/it] 72%|███████▏ | 21499/30000 [9:59:08<3:55:59, 1.67s/it] 72%|███████▏ | 21500/30000 [9:59:10<3:56:10, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.09441842138767242, 'learning_rate': 6.117803572276584e-06, 'flow_matching_loss': 0.016163543332368135, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.26} + 72%|███████▏ | 21500/30000 [9:59:10<3:56:10, 1.67s/it] 72%|███████▏ | 21501/30000 [9:59:12<3:56:05, 1.67s/it] 72%|███████▏ | 21502/30000 [9:59:13<3:56:22, 1.67s/it] 72%|███████▏ | 21503/30000 [9:59:15<3:56:03, 1.67s/it] 72%|███████▏ | 21504/30000 [9:59:17<3:55:33, 1.66s/it] 72%|███████▏ | 21505/30000 [9:59:18<3:55:33, 1.66s/it] 72%|███████▏ | 21506/30000 [9:59:20<3:55:33, 1.66s/it] 72%|███████▏ | 21507/30000 [9:59:22<3:55:43, 1.67s/it] 72%|███████▏ | 21508/30000 [9:59:23<3:55:49, 1.67s/it] 72%|███████▏ | 21509/30000 [9:59:25<3:55:38, 1.67s/it] 72%|███████▏ | 21510/30000 [9:59:27<3:55:46, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.1427008956670761, 'learning_rate': 6.104484809152866e-06, 'flow_matching_loss': 0.018817237019538878, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.26} + 72%|███████▏ | 21510/30000 [9:59:27<3:55:46, 1.67s/it] 72%|███████▏ | 21511/30000 [9:59:28<3:55:35, 1.67s/it] 72%|███████▏ | 21512/30000 [9:59:30<3:55:38, 1.67s/it] 72%|███████▏ | 21513/30000 [9:59:32<3:55:35, 1.67s/it] 72%|███████▏ | 21514/30000 [9:59:33<3:55:42, 1.67s/it] 72%|███████▏ | 21515/30000 [9:59:35<3:55:55, 1.67s/it] 72%|███████▏ | 21516/30000 [9:59:37<3:55:49, 1.67s/it] 72%|███████▏ | 21517/30000 [9:59:38<3:55:19, 1.66s/it] 72%|███████▏ | 21518/30000 [9:59:40<3:55:38, 1.67s/it] 72%|███████▏ | 21519/30000 [9:59:42<3:55:23, 1.67s/it] 72%|███████▏ | 21520/30000 [9:59:43<3:55:19, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.14656487107276917, 'learning_rate': 6.091176854918892e-06, 'flow_matching_loss': 0.01874081278219819, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.26} + 72%|███████▏ | 21520/30000 [9:59:43<3:55:19, 1.67s/it] 72%|███████▏ | 21521/30000 [9:59:45<3:55:33, 1.67s/it] 72%|███████▏ | 21522/30000 [9:59:47<3:55:31, 1.67s/it] 72%|███████▏ | 21523/30000 [9:59:48<3:55:20, 1.67s/it] 72%|███████▏ | 21524/30000 [9:59:50<3:55:22, 1.67s/it] 72%|███████▏ | 21525/30000 [9:59:52<3:55:02, 1.66s/it] 72%|███████▏ | 21526/30000 [9:59:53<3:55:09, 1.67s/it] 72%|███████▏ | 21527/30000 [9:59:55<3:54:58, 1.66s/it] 72%|███████▏ | 21528/30000 [9:59:57<3:55:15, 1.67s/it] 72%|███████▏ | 21529/30000 [9:59:58<3:55:24, 1.67s/it] 72%|███████▏ | 21530/30000 [10:00:00<3:55:29, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.14129595458507538, 'learning_rate': 6.077879725745092e-06, 'flow_matching_loss': 0.016269498318433762, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.26} + 72%|███████▏ | 21530/30000 [10:00:00<3:55:29, 1.67s/it] 72%|███████▏ | 21531/30000 [10:00:02<3:55:13, 1.67s/it] 72%|███████▏ | 21532/30000 [10:00:03<3:54:53, 1.66s/it] 72%|███████▏ | 21533/30000 [10:00:05<3:54:58, 1.67s/it] 72%|███████▏ | 21534/30000 [10:00:07<3:54:51, 1.66s/it] 72%|███████▏ | 21535/30000 [10:00:08<3:54:38, 1.66s/it] 72%|███████▏ | 21536/30000 [10:00:10<3:54:45, 1.66s/it] 72%|███████▏ | 21537/30000 [10:00:12<3:54:25, 1.66s/it] 72%|███████▏ | 21538/30000 [10:00:13<3:54:51, 1.67s/it] 72%|███████▏ | 21539/30000 [10:00:15<3:54:31, 1.66s/it] 72%|███████▏ | 21540/30000 [10:00:17<3:54:38, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.11357136070728302, 'learning_rate': 6.064593437788727e-06, 'flow_matching_loss': 0.01718991119414568, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.27} + 72%|███████▏ | 21540/30000 [10:00:17<3:54:38, 1.66s/it] 72%|███████▏ | 21541/30000 [10:00:18<3:54:22, 1.66s/it] 72%|███████▏ | 21542/30000 [10:00:20<3:54:42, 1.66s/it] 72%|███████▏ | 21543/30000 [10:00:22<3:54:50, 1.67s/it] 72%|███████▏ | 21544/30000 [10:00:23<3:54:24, 1.66s/it] 72%|███████▏ | 21545/30000 [10:00:25<3:54:23, 1.66s/it] 72%|███████▏ | 21546/30000 [10:00:27<3:55:06, 1.67s/it] 72%|███████▏ | 21547/30000 [10:00:28<3:55:04, 1.67s/it] 72%|███████▏ | 21548/30000 [10:00:30<3:54:41, 1.67s/it] 72%|███████▏ | 21549/30000 [10:00:32<3:54:32, 1.67s/it] 72%|███████▏ | 21550/30000 [10:00:33<3:54:52, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.11376062780618668, 'learning_rate': 6.051318007193881e-06, 'flow_matching_loss': 0.018147336225956677, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.27} + 72%|███████▏ | 21550/30000 [10:00:33<3:54:52, 1.67s/it] 72%|███████▏ | 21551/30000 [10:00:35<3:55:04, 1.67s/it] 72%|███████▏ | 21552/30000 [10:00:37<3:54:53, 1.67s/it] 72%|███████▏ | 21553/30000 [10:00:38<3:54:48, 1.67s/it] 72%|███████▏ | 21554/30000 [10:00:40<3:55:07, 1.67s/it] 72%|███████▏ | 21555/30000 [10:00:42<3:54:25, 1.67s/it] 72%|███████▏ | 21556/30000 [10:00:43<3:54:12, 1.66s/it] 72%|███████▏ | 21557/30000 [10:00:45<3:54:12, 1.66s/it] 72%|███████▏ | 21558/30000 [10:00:47<3:54:22, 1.67s/it] 72%|███████▏ | 21559/30000 [10:00:48<3:54:17, 1.67s/it] 72%|███████▏ | 21560/30000 [10:00:50<3:54:20, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.11575540155172348, 'learning_rate': 6.038053450091469e-06, 'flow_matching_loss': 0.01750618200749159, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.27} + 72%|███████▏ | 21560/30000 [10:00:50<3:54:20, 1.67s/it] 72%|███████▏ | 21561/30000 [10:00:52<3:54:33, 1.67s/it] 72%|███████▏ | 21562/30000 [10:00:53<3:54:19, 1.67s/it] 72%|███████▏ | 21563/30000 [10:00:55<3:54:01, 1.66s/it] 72%|███████▏ | 21564/30000 [10:00:57<3:54:02, 1.66s/it] 72%|███████▏ | 21565/30000 [10:00:58<3:54:11, 1.67s/it] 72%|███████▏ | 21566/30000 [10:01:00<3:54:05, 1.67s/it] 72%|███████▏ | 21567/30000 [10:01:02<3:53:29, 1.66s/it] 72%|███████▏ | 21568/30000 [10:01:03<3:53:19, 1.66s/it] 72%|███████▏ | 21569/30000 [10:01:05<3:53:46, 1.66s/it] 72%|███████▏ | 21570/30000 [10:01:07<3:53:34, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.10592309385538101, 'learning_rate': 6.0247997825991705e-06, 'flow_matching_loss': 0.017041354812681674, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.28} + 72%|███████▏ | 21570/30000 [10:01:07<3:53:34, 1.66s/it] 72%|███████▏ | 21571/30000 [10:01:08<3:53:52, 1.66s/it] 72%|███████▏ | 21572/30000 [10:01:10<3:53:39, 1.66s/it] 72%|███████▏ | 21573/30000 [10:01:12<3:53:40, 1.66s/it] 72%|███████▏ | 21574/30000 [10:01:13<3:53:51, 1.67s/it] 72%|███████▏ | 21575/30000 [10:01:15<3:53:46, 1.66s/it] 72%|███████▏ | 21576/30000 [10:01:17<3:53:31, 1.66s/it] 72%|███████▏ | 21577/30000 [10:01:18<3:53:52, 1.67s/it] 72%|███████▏ | 21578/30000 [10:01:20<3:53:40, 1.66s/it] 72%|███████▏ | 21579/30000 [10:01:22<3:53:08, 1.66s/it] 72%|███████▏ | 21580/30000 [10:01:23<3:53:27, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.10435381531715393, 'learning_rate': 6.011557020821444e-06, 'flow_matching_loss': 0.017133976705372332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.28} + 72%|███████▏ | 21580/30000 [10:01:23<3:53:27, 1.66s/it] 72%|███████▏ | 21581/30000 [10:01:25<3:53:01, 1.66s/it] 72%|███████▏ | 21582/30000 [10:01:27<3:53:10, 1.66s/it] 72%|███████▏ | 21583/30000 [10:01:28<3:53:14, 1.66s/it] 72%|███████▏ | 21584/30000 [10:01:30<3:53:36, 1.67s/it] 72%|███████▏ | 21585/30000 [10:01:32<3:53:39, 1.67s/it] 72%|███████▏ | 21586/30000 [10:01:33<3:53:45, 1.67s/it] 72%|███████▏ | 21587/30000 [10:01:35<3:53:21, 1.66s/it] 72%|███████▏ | 21588/30000 [10:01:37<3:53:29, 1.67s/it] 72%|███████▏ | 21589/30000 [10:01:38<3:53:22, 1.66s/it] 72%|███████▏ | 21590/30000 [10:01:40<3:53:08, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.09436040371656418, 'learning_rate': 5.99832518084949e-06, 'flow_matching_loss': 0.01701167644932866, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.28} + 72%|███████▏ | 21590/30000 [10:01:40<3:53:08, 1.66s/it] 72%|███████▏ | 21591/30000 [10:01:42<3:52:50, 1.66s/it] 72%|███████▏ | 21592/30000 [10:01:43<3:52:56, 1.66s/it] 72%|███████▏ | 21593/30000 [10:01:45<3:53:23, 1.67s/it] 72%|███████▏ | 21594/30000 [10:01:47<3:53:24, 1.67s/it] 72%|███████▏ | 21595/30000 [10:01:48<3:53:27, 1.67s/it] 72%|███████▏ | 21596/30000 [10:01:50<3:53:23, 1.67s/it] 72%|███████▏ | 21597/30000 [10:01:52<3:53:09, 1.66s/it] 72%|███████▏ | 21598/30000 [10:01:53<3:53:33, 1.67s/it] 72%|███████▏ | 21599/30000 [10:01:55<3:53:05, 1.66s/it] 72%|███████▏ | 21600/30000 [10:01:57<3:53:28, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.1112050861120224, 'learning_rate': 5.98510427876124e-06, 'flow_matching_loss': 0.016798048838973047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.28} + 72%|███████▏ | 21600/30000 [10:01:57<3:53:28, 1.67s/it] 72%|███████▏ | 21601/30000 [10:01:58<3:53:27, 1.67s/it] 72%|███████▏ | 21602/30000 [10:02:00<3:53:38, 1.67s/it] 72%|███████▏ | 21603/30000 [10:02:02<3:53:26, 1.67s/it] 72%|███████▏ | 21604/30000 [10:02:03<3:53:26, 1.67s/it] 72%|███████▏ | 21605/30000 [10:02:05<3:53:00, 1.67s/it] 72%|███████▏ | 21606/30000 [10:02:07<3:53:14, 1.67s/it] 72%|███████▏ | 21607/30000 [10:02:08<3:52:57, 1.67s/it] 72%|███████▏ | 21608/30000 [10:02:10<3:53:33, 1.67s/it] 72%|███████▏ | 21609/30000 [10:02:12<3:53:17, 1.67s/it] 72%|███████▏ | 21610/30000 [10:02:13<3:53:19, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.11777950823307037, 'learning_rate': 5.971894330621344e-06, 'flow_matching_loss': 0.01810315940529108, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.29} + 72%|███████▏ | 21610/30000 [10:02:13<3:53:19, 1.67s/it] 72%|███████▏ | 21611/30000 [10:02:15<3:52:55, 1.67s/it] 72%|███████▏ | 21612/30000 [10:02:17<3:52:57, 1.67s/it] 72%|███████▏ | 21613/30000 [10:02:18<3:53:00, 1.67s/it] 72%|███████▏ | 21614/30000 [10:02:20<3:53:00, 1.67s/it] 72%|███████▏ | 21615/30000 [10:02:22<3:52:59, 1.67s/it] 72%|███████▏ | 21616/30000 [10:02:23<3:52:52, 1.67s/it] 72%|███████▏ | 21617/30000 [10:02:25<3:52:47, 1.67s/it] 72%|███████▏ | 21618/30000 [10:02:27<3:52:40, 1.67s/it] 72%|███████▏ | 21619/30000 [10:02:28<3:53:00, 1.67s/it] 72%|███████▏ | 21620/30000 [10:02:30<3:52:24, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.11513414233922958, 'learning_rate': 5.958695352481134e-06, 'flow_matching_loss': 0.016831972636282444, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.29} + 72%|███████▏ | 21620/30000 [10:02:30<3:52:24, 1.66s/it] 72%|███████▏ | 21621/30000 [10:02:32<3:52:02, 1.66s/it] 72%|███████▏ | 21622/30000 [10:02:33<3:52:35, 1.67s/it] 72%|███████▏ | 21623/30000 [10:02:35<3:52:23, 1.66s/it] 72%|███████▏ | 21624/30000 [10:02:37<3:52:18, 1.66s/it] 72%|███████▏ | 21625/30000 [10:02:38<3:52:24, 1.67s/it] 72%|███████▏ | 21626/30000 [10:02:40<3:53:01, 1.67s/it] 72%|███████▏ | 21627/30000 [10:02:42<3:53:08, 1.67s/it] 72%|███████▏ | 21628/30000 [10:02:43<3:52:58, 1.67s/it] 72%|███████▏ | 21629/30000 [10:02:45<3:52:29, 1.67s/it] 72%|███████▏ | 21630/30000 [10:02:47<3:52:47, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.11058861762285233, 'learning_rate': 5.945507360378608e-06, 'flow_matching_loss': 0.016498476546257735, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.29} + 72%|███████▏ | 21630/30000 [10:02:47<3:52:47, 1.67s/it] 72%|███████▏ | 21631/30000 [10:02:48<3:52:51, 1.67s/it] 72%|███████▏ | 21632/30000 [10:02:50<3:52:39, 1.67s/it] 72%|███████▏ | 21633/30000 [10:02:52<3:52:36, 1.67s/it] 72%|███████▏ | 21634/30000 [10:02:53<3:52:33, 1.67s/it] 72%|███████▏ | 21635/30000 [10:02:55<3:52:18, 1.67s/it] 72%|███████▏ | 21636/30000 [10:02:57<3:52:18, 1.67s/it] 72%|███████▏ | 21637/30000 [10:02:58<3:51:41, 1.66s/it] 72%|███████▏ | 21638/30000 [10:03:00<3:51:59, 1.66s/it] 72%|███████▏ | 21639/30000 [10:03:02<3:51:54, 1.66s/it] 72%|███████▏ | 21640/30000 [10:03:03<3:51:45, 1.66s/it] {'loss': 0.0163, 'grad_norm': 0.1037202998995781, 'learning_rate': 5.9323303703384225e-06, 'flow_matching_loss': 0.016340640373528004, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.3} + 72%|███████▏ | 21640/30000 [10:03:03<3:51:45, 1.66s/it] 72%|███████▏ | 21641/30000 [10:03:05<3:52:42, 1.67s/it] 72%|███████▏ | 21642/30000 [10:03:07<3:52:46, 1.67s/it] 72%|███████▏ | 21643/30000 [10:03:08<3:52:47, 1.67s/it] 72%|███████▏ | 21644/30000 [10:03:10<3:51:52, 1.67s/it] 72%|███████▏ | 21645/30000 [10:03:12<3:51:53, 1.67s/it] 72%|███████▏ | 21646/30000 [10:03:13<3:52:10, 1.67s/it] 72%|███████▏ | 21647/30000 [10:03:15<3:52:01, 1.67s/it] 72%|███████▏ | 21648/30000 [10:03:17<3:51:55, 1.67s/it] 72%|███████▏ | 21649/30000 [10:03:18<3:52:05, 1.67s/it] 72%|███████▏ | 21650/30000 [10:03:20<3:52:08, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09292639046907425, 'learning_rate': 5.919164398371857e-06, 'flow_matching_loss': 0.01777584832161665, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.3} + 72%|███████▏ | 21650/30000 [10:03:20<3:52:08, 1.67s/it] 72%|███████▏ | 21651/30000 [10:03:22<3:52:09, 1.67s/it] 72%|███████▏ | 21652/30000 [10:03:23<3:52:08, 1.67s/it] 72%|███████▏ | 21653/30000 [10:03:25<3:52:01, 1.67s/it] 72%|███████▏ | 21654/30000 [10:03:27<3:52:09, 1.67s/it] 72%|███████▏ | 21655/30000 [10:03:28<3:51:48, 1.67s/it] 72%|███████▏ | 21656/30000 [10:03:30<3:51:25, 1.66s/it] 72%|███████▏ | 21657/30000 [10:03:32<3:51:31, 1.67s/it] 72%|███████▏ | 21658/30000 [10:03:33<3:51:28, 1.66s/it] 72%|███████▏ | 21659/30000 [10:03:35<3:51:13, 1.66s/it] 72%|███████▏ | 21660/30000 [10:03:37<3:51:29, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.11080289632081985, 'learning_rate': 5.906009460476818e-06, 'flow_matching_loss': 0.01571796219795942, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.3} + 72%|███████▏ | 21660/30000 [10:03:37<3:51:29, 1.67s/it] 72%|███████▏ | 21661/30000 [10:03:38<3:51:19, 1.66s/it] 72%|███████▏ | 21662/30000 [10:03:40<3:51:48, 1.67s/it] 72%|███████▏ | 21663/30000 [10:03:42<3:51:31, 1.67s/it] 72%|███████▏ | 21664/30000 [10:03:43<3:51:06, 1.66s/it] 72%|███████▏ | 21665/30000 [10:03:45<3:51:11, 1.66s/it] 72%|███████▏ | 21666/30000 [10:03:47<3:51:31, 1.67s/it] 72%|███████▏ | 21667/30000 [10:03:48<3:51:21, 1.67s/it] 72%|███████▏ | 21668/30000 [10:03:50<3:50:57, 1.66s/it] 72%|███████▏ | 21669/30000 [10:03:52<3:50:53, 1.66s/it] 72%|███████▏ | 21670/30000 [10:03:53<3:51:27, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.13103708624839783, 'learning_rate': 5.892865572637789e-06, 'flow_matching_loss': 0.018186518270522357, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.3} + 72%|███████▏ | 21670/30000 [10:03:53<3:51:27, 1.67s/it] 72%|███████▏ | 21671/30000 [10:03:55<3:51:21, 1.67s/it] 72%|███████▏ | 21672/30000 [10:03:57<3:51:02, 1.66s/it] 72%|███████▏ | 21673/30000 [10:03:58<3:51:06, 1.67s/it] 72%|███████▏ | 21674/30000 [10:04:00<3:51:38, 1.67s/it] 72%|███████▏ | 21675/30000 [10:04:02<3:51:26, 1.67s/it] 72%|███████▏ | 21676/30000 [10:04:03<3:51:24, 1.67s/it] 72%|███████▏ | 21677/30000 [10:04:05<3:51:20, 1.67s/it] 72%|███████▏ | 21678/30000 [10:04:07<3:51:03, 1.67s/it] 72%|███████▏ | 21679/30000 [10:04:08<3:50:57, 1.67s/it] 72%|███████▏ | 21680/30000 [10:04:10<3:50:59, 1.67s/it] {'loss': 0.0196, 'grad_norm': 0.12330345809459686, 'learning_rate': 5.8797327508258396e-06, 'flow_matching_loss': 0.019610643852502108, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.31} + 72%|███████▏ | 21680/30000 [10:04:10<3:50:59, 1.67s/it] 72%|███████▏ | 21681/30000 [10:04:12<3:51:04, 1.67s/it] 72%|███████▏ | 21682/30000 [10:04:13<3:51:09, 1.67s/it] 72%|███████▏ | 21683/30000 [10:04:15<3:50:51, 1.67s/it] 72%|███████▏ | 21684/30000 [10:04:17<3:50:39, 1.66s/it] 72%|███████▏ | 21685/30000 [10:04:18<3:50:42, 1.66s/it] 72%|███████▏ | 21686/30000 [10:04:20<3:51:14, 1.67s/it] 72%|███████▏ | 21687/30000 [10:04:22<3:50:57, 1.67s/it] 72%|███████▏ | 21688/30000 [10:04:23<3:51:06, 1.67s/it] 72%|███████▏ | 21689/30000 [10:04:25<3:51:08, 1.67s/it] 72%|███████▏ | 21690/30000 [10:04:27<3:51:01, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.13093748688697815, 'learning_rate': 5.866611010998584e-06, 'flow_matching_loss': 0.015051853191107512, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.31} + 72%|███████▏ | 21690/30000 [10:04:27<3:51:01, 1.67s/it] 72%|███████▏ | 21691/30000 [10:04:28<3:51:04, 1.67s/it] 72%|███████▏ | 21692/30000 [10:04:30<3:50:34, 1.67s/it] 72%|███████▏ | 21693/30000 [10:04:32<3:50:07, 1.66s/it] 72%|███████▏ | 21694/30000 [10:04:33<3:50:32, 1.67s/it] 72%|███████▏ | 21695/30000 [10:04:35<3:50:37, 1.67s/it] 72%|███████▏ | 21696/30000 [10:04:37<3:50:22, 1.66s/it] 72%|███████▏ | 21697/30000 [10:04:38<3:50:21, 1.66s/it] 72%|███████▏ | 21698/30000 [10:04:40<3:50:19, 1.66s/it] 72%|███████▏ | 21699/30000 [10:04:42<3:50:14, 1.66s/it] 72%|███████▏ | 21700/30000 [10:04:43<3:50:17, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.09480875730514526, 'learning_rate': 5.853500369100172e-06, 'flow_matching_loss': 0.018666858319193125, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.31} + 72%|███████▏ | 21700/30000 [10:04:43<3:50:17, 1.66s/it] 72%|███████▏ | 21701/30000 [10:04:45<3:50:20, 1.67s/it] 72%|███████▏ | 21702/30000 [10:04:47<3:50:37, 1.67s/it] 72%|███████▏ | 21703/30000 [10:04:48<3:50:17, 1.67s/it] 72%|███████▏ | 21704/30000 [10:04:50<3:50:15, 1.67s/it] 72%|███████▏ | 21705/30000 [10:04:52<3:50:16, 1.67s/it] 72%|███████▏ | 21706/30000 [10:04:53<3:50:28, 1.67s/it] 72%|███████▏ | 21707/30000 [10:04:55<3:50:09, 1.67s/it] 72%|███████▏ | 21708/30000 [10:04:57<3:50:05, 1.66s/it] 72%|███████▏ | 21709/30000 [10:04:58<3:50:30, 1.67s/it] 72%|███████▏ | 21710/30000 [10:05:00<3:50:28, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11794634163379669, 'learning_rate': 5.840400841061265e-06, 'flow_matching_loss': 0.01724144909530878, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.32} + 72%|███████▏ | 21710/30000 [10:05:00<3:50:28, 1.67s/it] 72%|███████▏ | 21711/30000 [10:05:02<3:50:17, 1.67s/it] 72%|███████▏ | 21712/30000 [10:05:03<3:50:14, 1.67s/it] 72%|███████▏ | 21713/30000 [10:05:05<3:50:18, 1.67s/it] 72%|███████▏ | 21714/30000 [10:05:07<3:50:15, 1.67s/it] 72%|███████▏ | 21715/30000 [10:05:08<3:50:02, 1.67s/it] 72%|███████▏ | 21716/30000 [10:05:10<3:49:47, 1.66s/it] 72%|███████▏ | 21717/30000 [10:05:12<3:49:33, 1.66s/it] 72%|███████▏ | 21718/30000 [10:05:13<3:49:46, 1.66s/it] 72%|███████▏ | 21719/30000 [10:05:15<3:49:50, 1.67s/it] 72%|███████▏ | 21720/30000 [10:05:16<3:49:39, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.10348616540431976, 'learning_rate': 5.827312442799034e-06, 'flow_matching_loss': 0.01716922828927636, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.32} + 72%|███████▏ | 21720/30000 [10:05:17<3:49:39, 1.66s/it] 72%|███████▏ | 21721/30000 [10:05:18<3:49:26, 1.66s/it] 72%|███████▏ | 21722/30000 [10:05:20<3:49:24, 1.66s/it] 72%|███████▏ | 21723/30000 [10:05:21<3:49:27, 1.66s/it] 72%|███████▏ | 21724/30000 [10:05:23<3:49:36, 1.66s/it] 72%|███████▏ | 21725/30000 [10:05:25<3:49:28, 1.66s/it] 72%|███████▏ | 21726/30000 [10:05:26<3:49:49, 1.67s/it] 72%|███████▏ | 21727/30000 [10:05:28<3:49:43, 1.67s/it] 72%|███████▏ | 21728/30000 [10:05:30<3:49:38, 1.67s/it] 72%|███████▏ | 21729/30000 [10:05:31<3:49:39, 1.67s/it] 72%|███████▏ | 21730/30000 [10:05:33<3:49:50, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.15286847949028015, 'learning_rate': 5.814235190217114e-06, 'flow_matching_loss': 0.01728416243568063, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.32} + 72%|███████▏ | 21730/30000 [10:05:33<3:49:50, 1.67s/it] 72%|███████▏ | 21731/30000 [10:05:35<3:49:36, 1.67s/it] 72%|███████▏ | 21732/30000 [10:05:36<3:49:34, 1.67s/it] 72%|███████▏ | 21733/30000 [10:05:38<3:49:07, 1.66s/it] 72%|███████▏ | 21734/30000 [10:05:40<3:49:37, 1.67s/it] 72%|███████▏ | 21735/30000 [10:05:41<3:49:11, 1.66s/it] 72%|███████▏ | 21736/30000 [10:05:43<3:49:04, 1.66s/it] 72%|███████▏ | 21737/30000 [10:05:45<3:49:08, 1.66s/it] 72%|███████▏ | 21738/30000 [10:05:46<3:49:12, 1.66s/it] 72%|███████▏ | 21739/30000 [10:05:48<3:48:54, 1.66s/it] 72%|███████▏ | 21740/30000 [10:05:50<3:49:04, 1.66s/it] {'loss': 0.0158, 'grad_norm': 0.09322068840265274, 'learning_rate': 5.801169099205599e-06, 'flow_matching_loss': 0.015843321476131676, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.33} + 72%|███████▏ | 21740/30000 [10:05:50<3:49:04, 1.66s/it] 72%|███████▏ | 21741/30000 [10:05:51<3:48:48, 1.66s/it] 72%|███████▏ | 21742/30000 [10:05:53<3:48:54, 1.66s/it] 72%|███████▏ | 21743/30000 [10:05:55<3:48:45, 1.66s/it] 72%|███████▏ | 21744/30000 [10:05:56<3:48:33, 1.66s/it] 72%|███████▏ | 21745/30000 [10:05:58<3:48:49, 1.66s/it] 72%|███████▏ | 21746/30000 [10:06:00<3:48:42, 1.66s/it] 72%|███████▏ | 21747/30000 [10:06:01<3:48:32, 1.66s/it] 72%|███████▏ | 21748/30000 [10:06:03<3:48:45, 1.66s/it] 72%|███████▏ | 21749/30000 [10:06:05<3:48:59, 1.67s/it] 72%|███████▎ | 21750/30000 [10:06:06<3:48:57, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.14578159153461456, 'learning_rate': 5.788114185641022e-06, 'flow_matching_loss': 0.0184039450250566, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.33} + 72%|███████▎ | 21750/30000 [10:06:06<3:48:57, 1.67s/it] 73%|███████▎ | 21751/30000 [10:06:08<3:48:51, 1.66s/it] 73%|███████▎ | 21752/30000 [10:06:10<3:48:46, 1.66s/it] 73%|███████▎ | 21753/30000 [10:06:11<3:48:48, 1.66s/it] 73%|███████▎ | 21754/30000 [10:06:13<3:48:52, 1.67s/it] 73%|███████▎ | 21755/30000 [10:06:15<3:48:28, 1.66s/it] 73%|███████▎ | 21756/30000 [10:06:16<3:48:41, 1.66s/it] 73%|███████▎ | 21757/30000 [10:06:18<3:48:37, 1.66s/it] 73%|███████▎ | 21758/30000 [10:06:20<3:48:40, 1.66s/it] 73%|███████▎ | 21759/30000 [10:06:21<3:48:49, 1.67s/it] 73%|███████▎ | 21760/30000 [10:06:23<3:48:57, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.08876248449087143, 'learning_rate': 5.775070465386328e-06, 'flow_matching_loss': 0.01697230916470289, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.33} + 73%|███████▎ | 21760/30000 [10:06:23<3:48:57, 1.67s/it] 73%|███████▎ | 21761/30000 [10:06:25<3:49:33, 1.67s/it] 73%|███████▎ | 21762/30000 [10:06:26<3:48:58, 1.67s/it] 73%|███████▎ | 21763/30000 [10:06:28<3:48:47, 1.67s/it] 73%|███████▎ | 21764/30000 [10:06:30<3:48:33, 1.67s/it] 73%|███████▎ | 21765/30000 [10:06:31<3:48:34, 1.67s/it] 73%|███████▎ | 21766/30000 [10:06:33<3:48:52, 1.67s/it] 73%|███████▎ | 21767/30000 [10:06:35<3:48:27, 1.66s/it] 73%|███████▎ | 21768/30000 [10:06:36<3:48:17, 1.66s/it] 73%|███████▎ | 21769/30000 [10:06:38<3:48:18, 1.66s/it] 73%|███████▎ | 21770/30000 [10:06:40<3:48:31, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.09898710995912552, 'learning_rate': 5.7620379542908765e-06, 'flow_matching_loss': 0.017638169042766095, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.33} + 73%|███████▎ | 21770/30000 [10:06:40<3:48:31, 1.67s/it] 73%|███████▎ | 21771/30000 [10:06:41<3:48:28, 1.67s/it] 73%|███████▎ | 21772/30000 [10:06:43<3:48:25, 1.67s/it] 73%|███████▎ | 21773/30000 [10:06:45<3:48:17, 1.66s/it] 73%|███████▎ | 21774/30000 [10:06:46<3:48:32, 1.67s/it] 73%|███████▎ | 21775/30000 [10:06:48<3:48:29, 1.67s/it] 73%|███████▎ | 21776/30000 [10:06:50<3:48:37, 1.67s/it] 73%|███████▎ | 21777/30000 [10:06:51<3:48:25, 1.67s/it] 73%|███████▎ | 21778/30000 [10:06:53<3:48:26, 1.67s/it] 73%|███████▎ | 21779/30000 [10:06:55<3:48:21, 1.67s/it] 73%|███████▎ | 21780/30000 [10:06:56<3:48:08, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.11537139862775803, 'learning_rate': 5.749016668190395e-06, 'flow_matching_loss': 0.018082712311297655, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.34} + 73%|███████▎ | 21780/30000 [10:06:56<3:48:08, 1.67s/it] 73%|███████▎ | 21781/30000 [10:06:58<3:48:07, 1.67s/it] 73%|███████▎ | 21782/30000 [10:07:00<3:48:24, 1.67s/it] 73%|███████▎ | 21783/30000 [10:07:01<3:48:13, 1.67s/it] 73%|███████▎ | 21784/30000 [10:07:03<3:47:55, 1.66s/it] 73%|███████▎ | 21785/30000 [10:07:05<3:48:00, 1.67s/it] 73%|███████▎ | 21786/30000 [10:07:06<3:47:56, 1.67s/it] 73%|███████▎ | 21787/30000 [10:07:08<3:48:01, 1.67s/it] 73%|███████▎ | 21788/30000 [10:07:10<3:47:45, 1.66s/it] 73%|███████▎ | 21789/30000 [10:07:11<3:47:43, 1.66s/it] 73%|███████▎ | 21790/30000 [10:07:13<3:48:12, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.08537249267101288, 'learning_rate': 5.736006622906973e-06, 'flow_matching_loss': 0.0146883855573833, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.34} + 73%|███████▎ | 21790/30000 [10:07:13<3:48:12, 1.67s/it] 73%|███████▎ | 21791/30000 [10:07:15<3:48:05, 1.67s/it] 73%|███████▎ | 21792/30000 [10:07:16<3:47:58, 1.67s/it] 73%|███████▎ | 21793/30000 [10:07:18<3:48:31, 1.67s/it] 73%|███████▎ | 21794/30000 [10:07:20<3:48:16, 1.67s/it] 73%|███████▎ | 21795/30000 [10:07:21<3:47:53, 1.67s/it] 73%|███████▎ | 21796/30000 [10:07:23<3:48:01, 1.67s/it] 73%|███████▎ | 21797/30000 [10:07:25<3:47:57, 1.67s/it] 73%|███████▎ | 21798/30000 [10:07:26<3:48:03, 1.67s/it] 73%|███████▎ | 21799/30000 [10:07:28<3:47:33, 1.66s/it] 73%|███████▎ | 21800/30000 [10:07:30<3:47:28, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.09281815588474274, 'learning_rate': 5.723007834249034e-06, 'flow_matching_loss': 0.01798522621393204, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.34} + 73%|███████▎ | 21800/30000 [10:07:30<3:47:28, 1.66s/it] 73%|███████▎ | 21801/30000 [10:07:31<3:47:51, 1.67s/it] 73%|███████▎ | 21802/30000 [10:07:33<3:47:45, 1.67s/it] 73%|███████▎ | 21803/30000 [10:07:35<3:47:34, 1.67s/it] 73%|███████▎ | 21804/30000 [10:07:36<3:47:47, 1.67s/it] 73%|███████▎ | 21805/30000 [10:07:38<3:47:50, 1.67s/it] 73%|███████▎ | 21806/30000 [10:07:40<3:48:02, 1.67s/it] 73%|███████▎ | 21807/30000 [10:07:41<3:47:39, 1.67s/it] 73%|███████▎ | 21808/30000 [10:07:43<3:47:27, 1.67s/it] 73%|███████▎ | 21809/30000 [10:07:45<3:47:41, 1.67s/it] 73%|███████▎ | 21810/30000 [10:07:46<3:47:43, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.14401917159557343, 'learning_rate': 5.710020318011346e-06, 'flow_matching_loss': 0.017822473775595427, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.35} + 73%|███████▎ | 21810/30000 [10:07:46<3:47:43, 1.67s/it] 73%|███████▎ | 21811/30000 [10:07:48<3:47:34, 1.67s/it] 73%|███████▎ | 21812/30000 [10:07:50<3:47:25, 1.67s/it] 73%|███████▎ | 21813/30000 [10:07:51<3:47:25, 1.67s/it] 73%|███████▎ | 21814/30000 [10:07:53<3:47:32, 1.67s/it] 73%|███████▎ | 21815/30000 [10:07:55<3:47:02, 1.66s/it] 73%|███████▎ | 21816/30000 [10:07:56<3:47:08, 1.67s/it] 73%|███████▎ | 21817/30000 [10:07:58<3:47:07, 1.67s/it] 73%|███████▎ | 21818/30000 [10:08:00<3:47:08, 1.67s/it] 73%|███████▎ | 21819/30000 [10:08:01<3:46:25, 1.66s/it] 73%|███████▎ | 21820/30000 [10:08:03<3:47:05, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.10350087285041809, 'learning_rate': 5.697044089974955e-06, 'flow_matching_loss': 0.01723284022882581, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.35} + 73%|███████▎ | 21820/30000 [10:08:03<3:47:05, 1.67s/it] 73%|███████▎ | 21821/30000 [10:08:05<3:46:56, 1.66s/it] 73%|███████▎ | 21822/30000 [10:08:06<3:47:02, 1.67s/it] 73%|███████▎ | 21823/30000 [10:08:08<3:47:00, 1.67s/it] 73%|███████▎ | 21824/30000 [10:08:10<3:46:44, 1.66s/it] 73%|███████▎ | 21825/30000 [10:08:11<3:46:47, 1.66s/it] 73%|███████▎ | 21826/30000 [10:08:13<3:46:51, 1.67s/it] 73%|███████▎ | 21827/30000 [10:08:15<3:47:11, 1.67s/it] 73%|███████▎ | 21828/30000 [10:08:16<3:47:19, 1.67s/it] 73%|███████▎ | 21829/30000 [10:08:18<3:46:46, 1.67s/it] 73%|███████▎ | 21830/30000 [10:08:20<3:46:53, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.12473946809768677, 'learning_rate': 5.68407916590721e-06, 'flow_matching_loss': 0.018173039983958007, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.35} + 73%|███████▎ | 21830/30000 [10:08:20<3:46:53, 1.67s/it] 73%|███████▎ | 21831/30000 [10:08:21<3:46:47, 1.67s/it] 73%|███████▎ | 21832/30000 [10:08:23<3:46:26, 1.66s/it] 73%|███████▎ | 21833/30000 [10:08:25<3:46:39, 1.67s/it] 73%|███████▎ | 21834/30000 [10:08:26<3:46:35, 1.66s/it] 73%|███████▎ | 21835/30000 [10:08:28<3:46:41, 1.67s/it] 73%|███████▎ | 21836/30000 [10:08:30<3:46:55, 1.67s/it] 73%|███████▎ | 21837/30000 [10:08:31<3:46:48, 1.67s/it] 73%|███████▎ | 21838/30000 [10:08:33<3:47:00, 1.67s/it] 73%|███████▎ | 21839/30000 [10:08:35<3:46:28, 1.67s/it] 73%|███████▎ | 21840/30000 [10:08:36<3:46:07, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.13225574791431427, 'learning_rate': 5.671125561561713e-06, 'flow_matching_loss': 0.01680539520457387, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.35} + 73%|███████▎ | 21840/30000 [10:08:36<3:46:07, 1.66s/it] 73%|███████▎ | 21841/30000 [10:08:38<3:46:09, 1.66s/it] 73%|███████▎ | 21842/30000 [10:08:40<3:46:19, 1.66s/it] 73%|███████▎ | 21843/30000 [10:08:41<3:46:16, 1.66s/it] 73%|███████▎ | 21844/30000 [10:08:43<3:46:30, 1.67s/it] 73%|███████▎ | 21845/30000 [10:08:45<3:46:14, 1.66s/it] 73%|███████▎ | 21846/30000 [10:08:46<3:46:34, 1.67s/it] 73%|███████▎ | 21847/30000 [10:08:48<3:45:58, 1.66s/it] 73%|███████▎ | 21848/30000 [10:08:50<3:45:54, 1.66s/it] 73%|███████▎ | 21849/30000 [10:08:51<3:45:47, 1.66s/it] 73%|███████▎ | 21850/30000 [10:08:53<3:45:46, 1.66s/it] {'loss': 0.0183, 'grad_norm': 0.12182492762804031, 'learning_rate': 5.658183292678315e-06, 'flow_matching_loss': 0.01834195675328374, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.36} + 73%|███████▎ | 21850/30000 [10:08:53<3:45:46, 1.66s/it] 73%|███████▎ | 21851/30000 [10:08:55<3:45:47, 1.66s/it] 73%|███████▎ | 21852/30000 [10:08:56<3:46:04, 1.66s/it] 73%|███████▎ | 21853/30000 [10:08:58<3:45:58, 1.66s/it] 73%|███████▎ | 21854/30000 [10:09:00<3:46:21, 1.67s/it] 73%|███████▎ | 21855/30000 [10:09:01<3:45:58, 1.66s/it] 73%|███████▎ | 21856/30000 [10:09:03<3:45:56, 1.66s/it] 73%|███████▎ | 21857/30000 [10:09:05<3:46:10, 1.67s/it] 73%|███████▎ | 21858/30000 [10:09:06<3:46:05, 1.67s/it] 73%|███████▎ | 21859/30000 [10:09:08<3:45:49, 1.66s/it] 73%|███████▎ | 21860/30000 [10:09:10<3:45:46, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.11881508678197861, 'learning_rate': 5.645252374983091e-06, 'flow_matching_loss': 0.018491243943572044, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.36} + 73%|███████▎ | 21860/30000 [10:09:10<3:45:46, 1.66s/it] 73%|███████▎ | 21861/30000 [10:09:11<3:45:35, 1.66s/it] 73%|███████▎ | 21862/30000 [10:09:13<3:45:49, 1.66s/it] 73%|███████▎ | 21863/30000 [10:09:15<3:45:45, 1.66s/it] 73%|███████▎ | 21864/30000 [10:09:16<3:45:49, 1.67s/it] 73%|███████▎ | 21865/30000 [10:09:18<3:46:07, 1.67s/it] 73%|███████▎ | 21866/30000 [10:09:20<3:45:55, 1.67s/it] 73%|███████▎ | 21867/30000 [10:09:21<3:45:48, 1.67s/it] 73%|███████▎ | 21868/30000 [10:09:23<3:45:44, 1.67s/it] 73%|███████▎ | 21869/30000 [10:09:25<3:45:36, 1.66s/it] 73%|███████▎ | 21870/30000 [10:09:26<3:46:01, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1149083748459816, 'learning_rate': 5.6323328241883224e-06, 'flow_matching_loss': 0.01823607049882412, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.36} + 73%|███████▎ | 21870/30000 [10:09:26<3:46:01, 1.67s/it] 73%|███████▎ | 21871/30000 [10:09:28<3:45:50, 1.67s/it] 73%|███████▎ | 21872/30000 [10:09:30<3:45:41, 1.67s/it] 73%|███████▎ | 21873/30000 [10:09:31<3:45:47, 1.67s/it] 73%|███████▎ | 21874/30000 [10:09:33<3:45:27, 1.66s/it] 73%|███████▎ | 21875/30000 [10:09:35<3:45:10, 1.66s/it] 73%|███████▎ | 21876/30000 [10:09:36<3:45:31, 1.67s/it] 73%|███████▎ | 21877/30000 [10:09:38<3:44:57, 1.66s/it] 73%|███████▎ | 21878/30000 [10:09:40<3:45:17, 1.66s/it] 73%|███████▎ | 21879/30000 [10:09:41<3:44:57, 1.66s/it] 73%|███████▎ | 21880/30000 [10:09:43<3:44:49, 1.66s/it] {'loss': 0.0175, 'grad_norm': 0.12313774973154068, 'learning_rate': 5.61942465599249e-06, 'flow_matching_loss': 0.017456747777760028, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.37} + 73%|███████▎ | 21880/30000 [10:09:43<3:44:49, 1.66s/it] 73%|███████▎ | 21881/30000 [10:09:45<3:45:10, 1.66s/it] 73%|███████▎ | 21882/30000 [10:09:46<3:45:21, 1.67s/it] 73%|███████▎ | 21883/30000 [10:09:48<3:45:09, 1.66s/it] 73%|███████▎ | 21884/30000 [10:09:50<3:45:10, 1.66s/it] 73%|███████▎ | 21885/30000 [10:09:51<3:44:54, 1.66s/it] 73%|███████▎ | 21886/30000 [10:09:53<3:45:33, 1.67s/it] 73%|███████▎ | 21887/30000 [10:09:55<3:45:18, 1.67s/it] 73%|███████▎ | 21888/30000 [10:09:56<3:45:05, 1.66s/it] 73%|███████▎ | 21889/30000 [10:09:58<3:45:21, 1.67s/it] 73%|███████▎ | 21890/30000 [10:10:00<3:45:29, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.14871393144130707, 'learning_rate': 5.60652788608023e-06, 'flow_matching_loss': 0.018609353713691233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.37} + 73%|███████▎ | 21890/30000 [10:10:00<3:45:29, 1.67s/it] 73%|███████▎ | 21891/30000 [10:10:01<3:45:21, 1.67s/it] 73%|███████▎ | 21892/30000 [10:10:03<3:45:21, 1.67s/it] 73%|███████▎ | 21893/30000 [10:10:05<3:45:04, 1.67s/it] 73%|███████▎ | 21894/30000 [10:10:06<3:45:28, 1.67s/it] 73%|███████▎ | 21895/30000 [10:10:08<3:45:17, 1.67s/it] 73%|███████▎ | 21896/30000 [10:10:10<3:45:14, 1.67s/it] 73%|███████▎ | 21897/30000 [10:10:11<3:45:24, 1.67s/it] 73%|███████▎ | 21898/30000 [10:10:13<3:45:27, 1.67s/it] 73%|███████▎ | 21899/30000 [10:10:15<3:45:14, 1.67s/it] 73%|███████▎ | 21900/30000 [10:10:16<3:45:00, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.08397737145423889, 'learning_rate': 5.593642530122336e-06, 'flow_matching_loss': 0.01749063115566969, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.37} + 73%|███████▎ | 21900/30000 [10:10:16<3:45:00, 1.67s/it] 73%|███████▎ | 21901/30000 [10:10:18<3:44:54, 1.67s/it] 73%|███████▎ | 21902/30000 [10:10:20<3:44:35, 1.66s/it] 73%|███████▎ | 21903/30000 [10:10:21<3:44:25, 1.66s/it] 73%|███████▎ | 21904/30000 [10:10:23<3:44:29, 1.66s/it] 73%|███████▎ | 21905/30000 [10:10:25<3:44:38, 1.67s/it] 73%|███████▎ | 21906/30000 [10:10:26<3:44:49, 1.67s/it] 73%|███████▎ | 21907/30000 [10:10:28<3:44:49, 1.67s/it] 73%|███████▎ | 21908/30000 [10:10:30<3:44:46, 1.67s/it] 73%|███████▎ | 21909/30000 [10:10:31<3:44:32, 1.67s/it] 73%|███████▎ | 21910/30000 [10:10:33<3:44:47, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.20324787497520447, 'learning_rate': 5.58076860377573e-06, 'flow_matching_loss': 0.017046114522963764, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.37} + 73%|███████▎ | 21910/30000 [10:10:33<3:44:47, 1.67s/it] 73%|███████▎ | 21911/30000 [10:10:35<3:44:11, 1.66s/it] 73%|███████▎ | 21912/30000 [10:10:36<3:44:13, 1.66s/it] 73%|███████▎ | 21913/30000 [10:10:38<3:44:23, 1.66s/it] 73%|███████▎ | 21914/30000 [10:10:40<3:44:05, 1.66s/it] 73%|███████▎ | 21915/30000 [10:10:41<3:44:23, 1.67s/it] 73%|███████▎ | 21916/30000 [10:10:43<3:44:15, 1.66s/it] 73%|███████▎ | 21917/30000 [10:10:45<3:44:20, 1.67s/it] 73%|███████▎ | 21918/30000 [10:10:46<3:44:47, 1.67s/it] 73%|███████▎ | 21919/30000 [10:10:48<3:44:24, 1.67s/it] 73%|███████▎ | 21920/30000 [10:10:50<3:44:09, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.13876351714134216, 'learning_rate': 5.567906122683439e-06, 'flow_matching_loss': 0.016517798136919736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.38} + 73%|███████▎ | 21920/30000 [10:10:50<3:44:09, 1.66s/it] 73%|███████▎ | 21921/30000 [10:10:51<3:44:23, 1.67s/it] 73%|███████▎ | 21922/30000 [10:10:53<3:44:36, 1.67s/it] 73%|███████▎ | 21923/30000 [10:10:55<3:44:17, 1.67s/it] 73%|███████▎ | 21924/30000 [10:10:56<3:44:22, 1.67s/it] 73%|███████▎ | 21925/30000 [10:10:58<3:44:07, 1.67s/it] 73%|███████▎ | 21926/30000 [10:11:00<3:44:18, 1.67s/it] 73%|███████▎ | 21927/30000 [10:11:01<3:43:53, 1.66s/it] 73%|███████▎ | 21928/30000 [10:11:03<3:44:04, 1.67s/it] 73%|███████▎ | 21929/30000 [10:11:05<3:44:03, 1.67s/it] 73%|███████▎ | 21930/30000 [10:11:06<3:44:44, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.12380975484848022, 'learning_rate': 5.555055102474604e-06, 'flow_matching_loss': 0.020188263058662413, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.38} + 73%|███████▎ | 21930/30000 [10:11:06<3:44:44, 1.67s/it] 73%|███████▎ | 21931/30000 [10:11:08<3:44:12, 1.67s/it] 73%|███████▎ | 21932/30000 [10:11:10<3:44:16, 1.67s/it] 73%|███████▎ | 21933/30000 [10:11:11<3:44:11, 1.67s/it] 73%|███████▎ | 21934/30000 [10:11:13<3:43:58, 1.67s/it] 73%|███████▎ | 21935/30000 [10:11:15<3:43:53, 1.67s/it] 73%|███████▎ | 21936/30000 [10:11:16<3:44:08, 1.67s/it] 73%|███████▎ | 21937/30000 [10:11:18<3:43:47, 1.67s/it] 73%|███████▎ | 21938/30000 [10:11:20<3:43:51, 1.67s/it] 73%|███████▎ | 21939/30000 [10:11:21<3:43:40, 1.66s/it] 73%|███████▎ | 21940/30000 [10:11:23<3:43:49, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09408445656299591, 'learning_rate': 5.542215558764421e-06, 'flow_matching_loss': 0.017796080466359852, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.38} + 73%|███████▎ | 21940/30000 [10:11:23<3:43:49, 1.67s/it] 73%|███████▎ | 21941/30000 [10:11:25<3:43:51, 1.67s/it] 73%|███████▎ | 21942/30000 [10:11:26<3:44:07, 1.67s/it] 73%|███████▎ | 21943/30000 [10:11:28<3:43:44, 1.67s/it] 73%|███████▎ | 21944/30000 [10:11:30<3:43:24, 1.66s/it] 73%|███████▎ | 21945/30000 [10:11:31<3:43:43, 1.67s/it] 73%|███████▎ | 21946/30000 [10:11:33<3:43:34, 1.67s/it] 73%|███████▎ | 21947/30000 [10:11:35<3:43:36, 1.67s/it] 73%|███████▎ | 21948/30000 [10:11:36<3:43:44, 1.67s/it] 73%|███████▎ | 21949/30000 [10:11:38<3:43:14, 1.66s/it] 73%|███████▎ | 21950/30000 [10:11:40<3:43:30, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.14966614544391632, 'learning_rate': 5.529387507154138e-06, 'flow_matching_loss': 0.017491147108376025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.39} + 73%|███████▎ | 21950/30000 [10:11:40<3:43:30, 1.67s/it] 73%|███████▎ | 21951/30000 [10:11:41<3:43:33, 1.67s/it] 73%|███████▎ | 21952/30000 [10:11:43<3:43:32, 1.67s/it] 73%|███████▎ | 21953/30000 [10:11:45<3:43:33, 1.67s/it] 73%|███████▎ | 21954/30000 [10:11:46<3:43:57, 1.67s/it] 73%|███████▎ | 21955/30000 [10:11:48<3:43:29, 1.67s/it] 73%|███████▎ | 21956/30000 [10:11:50<3:43:23, 1.67s/it] 73%|███████▎ | 21957/30000 [10:11:51<3:43:17, 1.67s/it] 73%|███████▎ | 21958/30000 [10:11:53<3:43:31, 1.67s/it] 73%|███████▎ | 21959/30000 [10:11:55<3:43:03, 1.66s/it] 73%|███████▎ | 21960/30000 [10:11:56<3:43:02, 1.66s/it] {'loss': 0.0159, 'grad_norm': 0.11642405390739441, 'learning_rate': 5.516570963231058e-06, 'flow_matching_loss': 0.0158884858712554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.39} + 73%|███████▎ | 21960/30000 [10:11:56<3:43:02, 1.66s/it] 73%|███████▎ | 21961/30000 [10:11:58<3:43:05, 1.67s/it] 73%|███████▎ | 21962/30000 [10:12:00<3:42:47, 1.66s/it] 73%|███████▎ | 21963/30000 [10:12:01<3:42:51, 1.66s/it] 73%|███████▎ | 21964/30000 [10:12:03<3:42:45, 1.66s/it] 73%|███████▎ | 21965/30000 [10:12:05<3:42:39, 1.66s/it] 73%|███████▎ | 21966/30000 [10:12:06<3:43:06, 1.67s/it] 73%|███████▎ | 21967/30000 [10:12:08<3:42:44, 1.66s/it] 73%|███████▎ | 21968/30000 [10:12:10<3:42:52, 1.66s/it] 73%|███████▎ | 21969/30000 [10:12:11<3:42:51, 1.66s/it] 73%|███████▎ | 21970/30000 [10:12:13<3:43:02, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.12437217682600021, 'learning_rate': 5.503765942568484e-06, 'flow_matching_loss': 0.017115353792905807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.39} + 73%|███████▎ | 21970/30000 [10:12:13<3:43:02, 1.67s/it] 73%|███████▎ | 21971/30000 [10:12:15<3:43:03, 1.67s/it] 73%|███████▎ | 21972/30000 [10:12:16<3:42:53, 1.67s/it] 73%|███████▎ | 21973/30000 [10:12:18<3:42:39, 1.66s/it] 73%|███████▎ | 21974/30000 [10:12:20<3:43:02, 1.67s/it] 73%|███████▎ | 21975/30000 [10:12:21<3:43:04, 1.67s/it] 73%|███████▎ | 21976/30000 [10:12:23<3:42:47, 1.67s/it] 73%|███████▎ | 21977/30000 [10:12:25<3:43:06, 1.67s/it] 73%|███████▎ | 21978/30000 [10:12:26<3:42:48, 1.67s/it] 73%|███████▎ | 21979/30000 [10:12:28<3:42:37, 1.67s/it] 73%|███████▎ | 21980/30000 [10:12:30<3:42:44, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.09689875692129135, 'learning_rate': 5.49097246072573e-06, 'flow_matching_loss': 0.0185916512273252, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.4} + 73%|███████▎ | 21980/30000 [10:12:30<3:42:44, 1.67s/it] 73%|███████▎ | 21981/30000 [10:12:31<3:42:17, 1.66s/it] 73%|███████▎ | 21982/30000 [10:12:33<3:42:49, 1.67s/it] 73%|███████▎ | 21983/30000 [10:12:35<3:42:38, 1.67s/it] 73%|███████▎ | 21984/30000 [10:12:36<3:42:22, 1.66s/it] 73%|███████▎ | 21985/30000 [10:12:38<3:42:28, 1.67s/it] 73%|███████▎ | 21986/30000 [10:12:40<3:42:13, 1.66s/it] 73%|███████▎ | 21987/30000 [10:12:41<3:41:53, 1.66s/it] 73%|███████▎ | 21988/30000 [10:12:43<3:41:58, 1.66s/it] 73%|███████▎ | 21989/30000 [10:12:45<3:42:07, 1.66s/it] 73%|███████▎ | 21990/30000 [10:12:46<3:42:15, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.11683925241231918, 'learning_rate': 5.4781905332480805e-06, 'flow_matching_loss': 0.016840870212763547, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.4} + 73%|███████▎ | 21990/30000 [10:12:46<3:42:15, 1.66s/it] 73%|███████▎ | 21991/30000 [10:12:48<3:42:23, 1.67s/it] 73%|███████▎ | 21992/30000 [10:12:50<3:42:14, 1.67s/it] 73%|███████▎ | 21993/30000 [10:12:51<3:42:17, 1.67s/it] 73%|███████▎ | 21994/30000 [10:12:53<3:42:21, 1.67s/it] 73%|███████▎ | 21995/30000 [10:12:55<3:42:13, 1.67s/it] 73%|███████▎ | 21996/30000 [10:12:56<3:42:20, 1.67s/it] 73%|███████▎ | 21997/30000 [10:12:58<3:42:05, 1.67s/it] 73%|███████▎ | 21998/30000 [10:13:00<3:42:19, 1.67s/it] 73%|███████▎ | 21999/30000 [10:13:01<3:41:51, 1.66s/it] 73%|███████▎ | 22000/30000 [10:13:03<3:41:55, 1.66s/it] {'loss': 0.0179, 'grad_norm': 0.12455412745475769, 'learning_rate': 5.4654201756667795e-06, 'flow_matching_loss': 0.01785725522786379, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.4} + 73%|███████▎ | 22000/30000 [10:13:03<3:41:55, 1.66s/it] 73%|███████▎ | 22001/30000 [10:13:05<3:42:07, 1.67s/it] 73%|███████▎ | 22002/30000 [10:13:06<3:41:43, 1.66s/it] 73%|███████▎ | 22003/30000 [10:13:08<3:41:15, 1.66s/it] 73%|███████▎ | 22004/30000 [10:13:10<3:41:24, 1.66s/it] 73%|███████▎ | 22005/30000 [10:13:11<3:41:18, 1.66s/it] 73%|███████▎ | 22006/30000 [10:13:13<3:41:48, 1.66s/it] 73%|███████▎ | 22007/30000 [10:13:15<3:41:57, 1.67s/it] 73%|███████▎ | 22008/30000 [10:13:16<3:41:48, 1.67s/it] 73%|███████▎ | 22009/30000 [10:13:18<3:41:50, 1.67s/it] 73%|███████▎ | 22010/30000 [10:13:19<3:41:36, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.15450596809387207, 'learning_rate': 5.452661403499017e-06, 'flow_matching_loss': 0.017147444561123847, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.4} + 73%|███████▎ | 22010/30000 [10:13:20<3:41:36, 1.66s/it] 73%|███████▎ | 22011/30000 [10:13:21<3:41:53, 1.67s/it] 73%|███████▎ | 22012/30000 [10:13:23<3:41:52, 1.67s/it] 73%|███████▎ | 22013/30000 [10:13:24<3:41:35, 1.66s/it] 73%|███████▎ | 22014/30000 [10:13:26<3:41:39, 1.67s/it] 73%|███████▎ | 22015/30000 [10:13:28<3:41:40, 1.67s/it] 73%|███████▎ | 22016/30000 [10:13:29<3:41:39, 1.67s/it] 73%|███████▎ | 22017/30000 [10:13:31<3:41:50, 1.67s/it] 73%|███████▎ | 22018/30000 [10:13:33<3:41:34, 1.67s/it] 73%|███████▎ | 22019/30000 [10:13:34<3:41:26, 1.66s/it] 73%|███████▎ | 22020/30000 [10:13:36<3:41:45, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.14762037992477417, 'learning_rate': 5.4399142322479005e-06, 'flow_matching_loss': 0.017515430226922035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.41} + 73%|███████▎ | 22020/30000 [10:13:36<3:41:45, 1.67s/it] 73%|███████▎ | 22021/30000 [10:13:38<3:41:02, 1.66s/it] 73%|███████▎ | 22022/30000 [10:13:39<3:41:27, 1.67s/it] 73%|███████▎ | 22023/30000 [10:13:41<3:41:16, 1.66s/it] 73%|███████▎ | 22024/30000 [10:13:43<3:41:18, 1.66s/it] 73%|███████▎ | 22025/30000 [10:13:44<3:41:47, 1.67s/it] 73%|███████▎ | 22026/30000 [10:13:46<3:41:41, 1.67s/it] 73%|███████▎ | 22027/30000 [10:13:48<3:41:26, 1.67s/it] 73%|███████▎ | 22028/30000 [10:13:49<3:41:35, 1.67s/it] 73%|███████▎ | 22029/30000 [10:13:51<3:40:46, 1.66s/it] 73%|███████▎ | 22030/30000 [10:13:53<3:41:26, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.12407168000936508, 'learning_rate': 5.427178677402452e-06, 'flow_matching_loss': 0.016568538174033164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.41} + 73%|███████▎ | 22030/30000 [10:13:53<3:41:26, 1.67s/it] 73%|███████▎ | 22031/30000 [10:13:54<3:41:12, 1.67s/it] 73%|███████▎ | 22032/30000 [10:13:56<3:41:10, 1.67s/it] 73%|███████▎ | 22033/30000 [10:13:58<3:41:13, 1.67s/it] 73%|███████▎ | 22034/30000 [10:13:59<3:41:28, 1.67s/it] 73%|███████▎ | 22035/30000 [10:14:01<3:41:28, 1.67s/it] 73%|███████▎ | 22036/30000 [10:14:03<3:41:18, 1.67s/it] 73%|███████▎ | 22037/30000 [10:14:04<3:40:53, 1.66s/it] 73%|███████▎ | 22038/30000 [10:14:06<3:41:09, 1.67s/it] 73%|███████▎ | 22039/30000 [10:14:08<3:40:46, 1.66s/it] 73%|███████▎ | 22040/30000 [10:14:09<3:40:20, 1.66s/it] {'loss': 0.0163, 'grad_norm': 0.13903076946735382, 'learning_rate': 5.41445475443757e-06, 'flow_matching_loss': 0.01628746688365936, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.41} + 73%|███████▎ | 22040/30000 [10:14:10<3:40:20, 1.66s/it] 73%|███████▎ | 22041/30000 [10:14:11<3:40:47, 1.66s/it] 73%|███████▎ | 22042/30000 [10:14:13<3:41:26, 1.67s/it] 73%|███████▎ | 22043/30000 [10:14:14<3:41:11, 1.67s/it] 73%|███████▎ | 22044/30000 [10:14:16<3:40:41, 1.66s/it] 73%|███████▎ | 22045/30000 [10:14:18<3:40:30, 1.66s/it] 73%|███████▎ | 22046/30000 [10:14:19<3:40:57, 1.67s/it] 73%|███████▎ | 22047/30000 [10:14:21<3:40:52, 1.67s/it] 73%|███████▎ | 22048/30000 [10:14:23<3:40:56, 1.67s/it] 73%|███████▎ | 22049/30000 [10:14:24<3:40:41, 1.67s/it] 74%|███████▎ | 22050/30000 [10:14:26<3:40:43, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11141381412744522, 'learning_rate': 5.4017424788140194e-06, 'flow_matching_loss': 0.01825212864205241, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.42} + 74%|███████▎ | 22050/30000 [10:14:26<3:40:43, 1.67s/it] 74%|███████▎ | 22051/30000 [10:14:28<3:40:38, 1.67s/it] 74%|███████▎ | 22052/30000 [10:14:29<3:40:21, 1.66s/it] 74%|███████▎ | 22053/30000 [10:14:31<3:40:17, 1.66s/it] 74%|███████▎ | 22054/30000 [10:14:33<3:40:39, 1.67s/it] 74%|███████▎ | 22055/30000 [10:14:34<3:40:33, 1.67s/it] 74%|███████▎ | 22056/30000 [10:14:36<3:40:12, 1.66s/it] 74%|███████▎ | 22057/30000 [10:14:38<3:40:20, 1.66s/it] 74%|███████▎ | 22058/30000 [10:14:39<3:40:27, 1.67s/it] 74%|███████▎ | 22059/30000 [10:14:41<3:40:17, 1.66s/it] 74%|███████▎ | 22060/30000 [10:14:43<3:40:02, 1.66s/it] {'loss': 0.0143, 'grad_norm': 0.10417735576629639, 'learning_rate': 5.389041865978414e-06, 'flow_matching_loss': 0.014314328879117965, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.42} + 74%|███████▎ | 22060/30000 [10:14:43<3:40:02, 1.66s/it] 74%|███████▎ | 22061/30000 [10:14:44<3:40:05, 1.66s/it] 74%|███████▎ | 22062/30000 [10:14:46<3:40:17, 1.67s/it] 74%|███████▎ | 22063/30000 [10:14:48<3:40:14, 1.66s/it] 74%|███████▎ | 22064/30000 [10:14:49<3:40:11, 1.66s/it] 74%|███████▎ | 22065/30000 [10:14:51<3:40:32, 1.67s/it] 74%|███████▎ | 22066/30000 [10:14:53<3:40:16, 1.67s/it] 74%|███████▎ | 22067/30000 [10:14:54<3:40:17, 1.67s/it] 74%|███████▎ | 22068/30000 [10:14:56<3:40:19, 1.67s/it] 74%|███████▎ | 22069/30000 [10:14:58<3:40:16, 1.67s/it] 74%|███████▎ | 22070/30000 [10:14:59<3:40:23, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.1002662256360054, 'learning_rate': 5.37635293136319e-06, 'flow_matching_loss': 0.01663681836798787, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.42} + 74%|███████▎ | 22070/30000 [10:14:59<3:40:23, 1.67s/it] 74%|███████▎ | 22071/30000 [10:15:01<3:40:23, 1.67s/it] 74%|███████▎ | 22072/30000 [10:15:03<3:40:05, 1.67s/it] 74%|███████▎ | 22073/30000 [10:15:04<3:39:51, 1.66s/it] 74%|███████▎ | 22074/30000 [10:15:06<3:39:43, 1.66s/it] 74%|███████▎ | 22075/30000 [10:15:08<3:39:34, 1.66s/it] 74%|███████▎ | 22076/30000 [10:15:09<3:39:45, 1.66s/it] 74%|███████▎ | 22077/30000 [10:15:11<3:40:10, 1.67s/it] 74%|███████▎ | 22078/30000 [10:15:13<3:40:17, 1.67s/it] 74%|███████▎ | 22079/30000 [10:15:14<3:40:09, 1.67s/it] 74%|███████▎ | 22080/30000 [10:15:16<3:39:44, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.08922193944454193, 'learning_rate': 5.363675690386609e-06, 'flow_matching_loss': 0.016376211401075126, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.42} + 74%|███████▎ | 22080/30000 [10:15:16<3:39:44, 1.66s/it] 74%|███████▎ | 22081/30000 [10:15:18<3:39:41, 1.66s/it] 74%|███████▎ | 22082/30000 [10:15:19<3:40:10, 1.67s/it] 74%|███████▎ | 22083/30000 [10:15:21<3:39:50, 1.67s/it] 74%|███████▎ | 22084/30000 [10:15:23<3:39:54, 1.67s/it] 74%|███████▎ | 22085/30000 [10:15:24<3:39:52, 1.67s/it] 74%|███████▎ | 22086/30000 [10:15:26<3:40:01, 1.67s/it] 74%|███████▎ | 22087/30000 [10:15:28<3:39:42, 1.67s/it] 74%|███████▎ | 22088/30000 [10:15:29<3:39:28, 1.66s/it] 74%|███████▎ | 22089/30000 [10:15:31<3:39:41, 1.67s/it] 74%|███████▎ | 22090/30000 [10:15:33<3:39:47, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.14731650054454803, 'learning_rate': 5.351010158452708e-06, 'flow_matching_loss': 0.01661726888269186, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.43} + 74%|███████▎ | 22090/30000 [10:15:33<3:39:47, 1.67s/it] 74%|███████▎ | 22091/30000 [10:15:34<3:39:47, 1.67s/it] 74%|███████▎ | 22092/30000 [10:15:36<3:39:40, 1.67s/it] 74%|███████▎ | 22093/30000 [10:15:38<3:39:36, 1.67s/it] 74%|███████▎ | 22094/30000 [10:15:39<3:40:06, 1.67s/it] 74%|███████▎ | 22095/30000 [10:15:41<3:39:34, 1.67s/it] 74%|███████▎ | 22096/30000 [10:15:43<3:39:22, 1.67s/it] 74%|███████▎ | 22097/30000 [10:15:44<3:39:17, 1.66s/it] 74%|███████▎ | 22098/30000 [10:15:46<3:39:20, 1.67s/it] 74%|███████▎ | 22099/30000 [10:15:48<3:39:11, 1.66s/it] 74%|███████▎ | 22100/30000 [10:15:49<3:39:48, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.09273581206798553, 'learning_rate': 5.338356350951308e-06, 'flow_matching_loss': 0.016548200324177743, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.43} + 74%|███████▎ | 22100/30000 [10:15:49<3:39:48, 1.67s/it] 74%|███████▎ | 22101/30000 [10:15:51<3:39:32, 1.67s/it] 74%|███████▎ | 22102/30000 [10:15:53<3:39:46, 1.67s/it] 74%|███████▎ | 22103/30000 [10:15:54<3:39:25, 1.67s/it] 74%|███████▎ | 22104/30000 [10:15:56<3:39:08, 1.67s/it] 74%|███████▎ | 22105/30000 [10:15:58<3:39:20, 1.67s/it] 74%|███████▎ | 22106/30000 [10:15:59<3:39:09, 1.67s/it] 74%|███████▎ | 22107/30000 [10:16:01<3:39:03, 1.67s/it] 74%|███████▎ | 22108/30000 [10:16:03<3:39:13, 1.67s/it] 74%|███████▎ | 22109/30000 [10:16:04<3:39:00, 1.67s/it] 74%|███████▎ | 22110/30000 [10:16:06<3:39:15, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.1429579108953476, 'learning_rate': 5.325714283257974e-06, 'flow_matching_loss': 0.018302856478840113, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.43} + 74%|███████▎ | 22110/30000 [10:16:06<3:39:15, 1.67s/it] 74%|███████▎ | 22111/30000 [10:16:08<3:39:13, 1.67s/it] 74%|███████▎ | 22112/30000 [10:16:09<3:39:07, 1.67s/it] 74%|███████▎ | 22113/30000 [10:16:11<3:38:59, 1.67s/it] 74%|███████▎ | 22114/30000 [10:16:13<3:39:03, 1.67s/it] 74%|███████▎ | 22115/30000 [10:16:14<3:38:43, 1.66s/it] 74%|███████▎ | 22116/30000 [10:16:16<3:38:59, 1.67s/it] 74%|███████▎ | 22117/30000 [10:16:18<3:38:51, 1.67s/it] 74%|███████▎ | 22118/30000 [10:16:19<3:38:50, 1.67s/it] 74%|███████▎ | 22119/30000 [10:16:21<3:39:18, 1.67s/it] 74%|███████▎ | 22120/30000 [10:16:23<3:39:10, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.1092858612537384, 'learning_rate': 5.313083970734013e-06, 'flow_matching_loss': 0.015551186632364988, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.44} + 74%|███████▎ | 22120/30000 [10:16:23<3:39:10, 1.67s/it] 74%|███████▎ | 22121/30000 [10:16:24<3:39:31, 1.67s/it] 74%|███████▎ | 22122/30000 [10:16:26<3:39:02, 1.67s/it] 74%|███████▎ | 22123/30000 [10:16:28<3:38:55, 1.67s/it] 74%|███████▎ | 22124/30000 [10:16:29<3:39:11, 1.67s/it] 74%|███████▍ | 22125/30000 [10:16:31<3:38:57, 1.67s/it] 74%|███████▍ | 22126/30000 [10:16:33<3:39:13, 1.67s/it] 74%|███████▍ | 22127/30000 [10:16:34<3:39:19, 1.67s/it] 74%|███████▍ | 22128/30000 [10:16:36<3:39:15, 1.67s/it] 74%|███████▍ | 22129/30000 [10:16:38<3:39:02, 1.67s/it] 74%|███████▍ | 22130/30000 [10:16:39<3:38:48, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.0845264196395874, 'learning_rate': 5.300465428726439e-06, 'flow_matching_loss': 0.018542095459997653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.44} + 74%|███████▍ | 22130/30000 [10:16:40<3:38:48, 1.67s/it] 74%|███████▍ | 22131/30000 [10:16:41<3:38:49, 1.67s/it] 74%|███████▍ | 22132/30000 [10:16:43<3:38:31, 1.67s/it] 74%|███████▍ | 22133/30000 [10:16:44<3:38:29, 1.67s/it] 74%|███████▍ | 22134/30000 [10:16:46<3:38:51, 1.67s/it] 74%|███████▍ | 22135/30000 [10:16:48<3:38:41, 1.67s/it] 74%|███████▍ | 22136/30000 [10:16:49<3:38:27, 1.67s/it] 74%|███████▍ | 22137/30000 [10:16:51<3:38:23, 1.67s/it] 74%|███████▍ | 22138/30000 [10:16:53<3:37:56, 1.66s/it] 74%|███████▍ | 22139/30000 [10:16:54<3:37:35, 1.66s/it] 74%|███████▍ | 22140/30000 [10:16:56<3:37:39, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.1432303637266159, 'learning_rate': 5.287858672567979e-06, 'flow_matching_loss': 0.0167946339584887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.44} + 74%|███████▍ | 22140/30000 [10:16:56<3:37:39, 1.66s/it] 74%|███████▍ | 22141/30000 [10:16:58<3:37:53, 1.66s/it] 74%|███████▍ | 22142/30000 [10:16:59<3:38:06, 1.67s/it] 74%|███████▍ | 22143/30000 [10:17:01<3:38:07, 1.67s/it] 74%|███████▍ | 22144/30000 [10:17:03<3:37:46, 1.66s/it] 74%|███████▍ | 22145/30000 [10:17:04<3:37:54, 1.66s/it] 74%|███████▍ | 22146/30000 [10:17:06<3:38:00, 1.67s/it] 74%|███████▍ | 22147/30000 [10:17:08<3:37:48, 1.66s/it] 74%|███████▍ | 22148/30000 [10:17:09<3:37:49, 1.66s/it] 74%|███████▍ | 22149/30000 [10:17:11<3:37:49, 1.66s/it] 74%|███████▍ | 22150/30000 [10:17:13<3:37:48, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.11317867785692215, 'learning_rate': 5.275263717577028e-06, 'flow_matching_loss': 0.017378763109445573, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.44} + 74%|███████▍ | 22150/30000 [10:17:13<3:37:48, 1.66s/it] 74%|███████▍ | 22151/30000 [10:17:14<3:37:21, 1.66s/it] 74%|███████▍ | 22152/30000 [10:17:16<3:37:24, 1.66s/it] 74%|███████▍ | 22153/30000 [10:17:18<3:37:34, 1.66s/it] 74%|███████▍ | 22154/30000 [10:17:19<3:37:44, 1.67s/it] 74%|███████▍ | 22155/30000 [10:17:21<3:37:45, 1.67s/it] 74%|███████▍ | 22156/30000 [10:17:23<3:37:47, 1.67s/it] 74%|███████▍ | 22157/30000 [10:17:24<3:37:47, 1.67s/it] 74%|███████▍ | 22158/30000 [10:17:26<3:38:05, 1.67s/it] 74%|███████▍ | 22159/30000 [10:17:28<3:37:50, 1.67s/it] 74%|███████▍ | 22160/30000 [10:17:29<3:37:40, 1.67s/it] {'loss': 0.0202, 'grad_norm': 0.11148504167795181, 'learning_rate': 5.2626805790576435e-06, 'flow_matching_loss': 0.020171019621193408, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.45} + 74%|███████▍ | 22160/30000 [10:17:29<3:37:40, 1.67s/it] 74%|███████▍ | 22161/30000 [10:17:31<3:38:06, 1.67s/it] 74%|███████▍ | 22162/30000 [10:17:33<3:38:11, 1.67s/it] 74%|███████▍ | 22163/30000 [10:17:34<3:37:56, 1.67s/it] 74%|███████▍ | 22164/30000 [10:17:36<3:37:58, 1.67s/it] 74%|███████▍ | 22165/30000 [10:17:38<3:37:41, 1.67s/it] 74%|███████▍ | 22166/30000 [10:17:39<3:37:44, 1.67s/it] 74%|███████▍ | 22167/30000 [10:17:41<3:37:36, 1.67s/it] 74%|███████▍ | 22168/30000 [10:17:43<3:37:23, 1.67s/it] 74%|███████▍ | 22169/30000 [10:17:44<3:37:54, 1.67s/it] 74%|███████▍ | 22170/30000 [10:17:46<3:37:36, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.1521773487329483, 'learning_rate': 5.250109272299523e-06, 'flow_matching_loss': 0.01704118000343442, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.45} + 74%|███████▍ | 22170/30000 [10:17:46<3:37:36, 1.67s/it] 74%|███████▍ | 22171/30000 [10:17:48<3:37:58, 1.67s/it] 74%|███████▍ | 22172/30000 [10:17:49<3:37:44, 1.67s/it] 74%|███████▍ | 22173/30000 [10:17:51<3:37:47, 1.67s/it] 74%|███████▍ | 22174/30000 [10:17:53<3:37:34, 1.67s/it] 74%|███████▍ | 22175/30000 [10:17:54<3:37:22, 1.67s/it] 74%|███████▍ | 22176/30000 [10:17:56<3:37:27, 1.67s/it] 74%|███████▍ | 22177/30000 [10:17:58<3:37:37, 1.67s/it] 74%|███████▍ | 22178/30000 [10:17:59<3:37:36, 1.67s/it] 74%|███████▍ | 22179/30000 [10:18:01<3:37:12, 1.67s/it] 74%|███████▍ | 22180/30000 [10:18:03<3:37:11, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.13160210847854614, 'learning_rate': 5.237549812577987e-06, 'flow_matching_loss': 0.017226539831608535, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.45} + 74%|███████▍ | 22180/30000 [10:18:03<3:37:11, 1.67s/it] 74%|███████▍ | 22181/30000 [10:18:04<3:37:10, 1.67s/it] 74%|███████▍ | 22182/30000 [10:18:06<3:37:21, 1.67s/it] 74%|███████▍ | 22183/30000 [10:18:08<3:37:16, 1.67s/it] 74%|███████▍ | 22184/30000 [10:18:09<3:37:03, 1.67s/it] 74%|███████▍ | 22185/30000 [10:18:11<3:37:11, 1.67s/it] 74%|███████▍ | 22186/30000 [10:18:13<3:37:04, 1.67s/it] 74%|███████▍ | 22187/30000 [10:18:14<3:37:05, 1.67s/it] 74%|███████▍ | 22188/30000 [10:18:16<3:36:57, 1.67s/it] 74%|███████▍ | 22189/30000 [10:18:18<3:36:52, 1.67s/it] 74%|███████▍ | 22190/30000 [10:18:19<3:37:34, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.1016245037317276, 'learning_rate': 5.225002215153973e-06, 'flow_matching_loss': 0.015440078917890787, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.46} + 74%|███████▍ | 22190/30000 [10:18:20<3:37:34, 1.67s/it] 74%|███████▍ | 22191/30000 [10:18:21<3:37:33, 1.67s/it] 74%|███████▍ | 22192/30000 [10:18:23<3:37:30, 1.67s/it] 74%|███████▍ | 22193/30000 [10:18:24<3:37:08, 1.67s/it] 74%|███████▍ | 22194/30000 [10:18:26<3:37:06, 1.67s/it] 74%|███████▍ | 22195/30000 [10:18:28<3:37:23, 1.67s/it] 74%|███████▍ | 22196/30000 [10:18:29<3:37:28, 1.67s/it] 74%|███████▍ | 22197/30000 [10:18:31<3:36:58, 1.67s/it] 74%|███████▍ | 22198/30000 [10:18:33<3:37:25, 1.67s/it] 74%|███████▍ | 22199/30000 [10:18:34<3:36:56, 1.67s/it] 74%|███████▍ | 22200/30000 [10:18:36<3:36:57, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.12150394916534424, 'learning_rate': 5.21246649527399e-06, 'flow_matching_loss': 0.01662498712539673, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.46} + 74%|███████▍ | 22200/30000 [10:18:36<3:36:57, 1.67s/it] 74%|███████▍ | 22201/30000 [10:18:38<3:37:06, 1.67s/it] 74%|███████▍ | 22202/30000 [10:18:39<3:36:48, 1.67s/it] 74%|███████▍ | 22203/30000 [10:18:41<3:36:33, 1.67s/it] 74%|███████▍ | 22204/30000 [10:18:43<3:37:03, 1.67s/it] 74%|███████▍ | 22205/30000 [10:18:44<3:36:33, 1.67s/it] 74%|███████▍ | 22206/30000 [10:18:46<3:36:59, 1.67s/it] 74%|███████▍ | 22207/30000 [10:18:48<3:36:37, 1.67s/it] 74%|███████▍ | 22208/30000 [10:18:50<3:36:39, 1.67s/it] 74%|███████▍ | 22209/30000 [10:18:51<3:37:01, 1.67s/it] 74%|███████▍ | 22210/30000 [10:18:53<3:36:58, 1.67s/it] {'loss': 0.0209, 'grad_norm': 0.11998379230499268, 'learning_rate': 5.199942668170118e-06, 'flow_matching_loss': 0.020915919076651336, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.46} + 74%|███████▍ | 22210/30000 [10:18:53<3:36:58, 1.67s/it] 74%|███████▍ | 22211/30000 [10:18:55<3:37:06, 1.67s/it] 74%|███████▍ | 22212/30000 [10:18:56<3:37:07, 1.67s/it] 74%|███████▍ | 22213/30000 [10:18:58<3:36:36, 1.67s/it] 74%|███████▍ | 22214/30000 [10:19:00<3:36:42, 1.67s/it] 74%|███████▍ | 22215/30000 [10:19:01<3:36:31, 1.67s/it] 74%|███████▍ | 22216/30000 [10:19:03<3:36:52, 1.67s/it] 74%|███████▍ | 22217/30000 [10:19:05<3:36:34, 1.67s/it] 74%|███████▍ | 22218/30000 [10:19:06<3:36:25, 1.67s/it] 74%|███████▍ | 22219/30000 [10:19:08<3:36:27, 1.67s/it] 74%|███████▍ | 22220/30000 [10:19:10<3:36:14, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.1159418374300003, 'learning_rate': 5.187430749059986e-06, 'flow_matching_loss': 0.015440152026712894, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.46} + 74%|███████▍ | 22220/30000 [10:19:10<3:36:14, 1.67s/it] 74%|███████▍ | 22221/30000 [10:19:11<3:36:00, 1.67s/it] 74%|███████▍ | 22222/30000 [10:19:13<3:36:24, 1.67s/it] 74%|███████▍ | 22223/30000 [10:19:15<3:36:02, 1.67s/it] 74%|███████▍ | 22224/30000 [10:19:16<3:36:02, 1.67s/it] 74%|███████▍ | 22225/30000 [10:19:18<3:35:58, 1.67s/it] 74%|███████▍ | 22226/30000 [10:19:20<3:35:54, 1.67s/it] 74%|███████▍ | 22227/30000 [10:19:21<3:36:01, 1.67s/it] 74%|███████▍ | 22228/30000 [10:19:23<3:36:13, 1.67s/it] 74%|███████▍ | 22229/30000 [10:19:25<3:35:47, 1.67s/it] 74%|███████▍ | 22230/30000 [10:19:26<3:36:11, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.09867638349533081, 'learning_rate': 5.174930753146763e-06, 'flow_matching_loss': 0.015845724567770957, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.47} + 74%|███████▍ | 22230/30000 [10:19:26<3:36:11, 1.67s/it] 74%|███████▍ | 22231/30000 [10:19:28<3:36:06, 1.67s/it] 74%|███████▍ | 22232/30000 [10:19:30<3:36:37, 1.67s/it] 74%|███████▍ | 22233/30000 [10:19:31<3:36:04, 1.67s/it] 74%|███████▍ | 22234/30000 [10:19:33<3:36:16, 1.67s/it] 74%|███████▍ | 22235/30000 [10:19:35<3:35:56, 1.67s/it] 74%|███████▍ | 22236/30000 [10:19:36<3:35:47, 1.67s/it] 74%|███████▍ | 22237/30000 [10:19:38<3:35:47, 1.67s/it] 74%|███████▍ | 22238/30000 [10:19:40<3:35:42, 1.67s/it] 74%|███████▍ | 22239/30000 [10:19:41<3:35:41, 1.67s/it] 74%|███████▍ | 22240/30000 [10:19:43<3:35:41, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.08298078179359436, 'learning_rate': 5.162442695619114e-06, 'flow_matching_loss': 0.015570863988250494, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.47} + 74%|███████▍ | 22240/30000 [10:19:43<3:35:41, 1.67s/it] 74%|███████▍ | 22241/30000 [10:19:45<3:35:44, 1.67s/it] 74%|███████▍ | 22242/30000 [10:19:46<3:35:35, 1.67s/it] 74%|███████▍ | 22243/30000 [10:19:48<3:35:46, 1.67s/it] 74%|███████▍ | 22244/30000 [10:19:50<3:35:47, 1.67s/it] 74%|███████▍ | 22245/30000 [10:19:51<3:35:38, 1.67s/it] 74%|███████▍ | 22246/30000 [10:19:53<3:35:52, 1.67s/it] 74%|███████▍ | 22247/30000 [10:19:55<3:36:05, 1.67s/it] 74%|███████▍ | 22248/30000 [10:19:56<3:35:20, 1.67s/it] 74%|███████▍ | 22249/30000 [10:19:58<3:35:22, 1.67s/it] 74%|███████▍ | 22250/30000 [10:20:00<3:35:16, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.11036951839923859, 'learning_rate': 5.149966591651215e-06, 'flow_matching_loss': 0.016310897935181857, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.47} + 74%|███████▍ | 22250/30000 [10:20:00<3:35:16, 1.67s/it] 74%|███████▍ | 22251/30000 [10:20:01<3:35:52, 1.67s/it] 74%|███████▍ | 22252/30000 [10:20:03<3:35:58, 1.67s/it] 74%|███████▍ | 22253/30000 [10:20:05<3:36:01, 1.67s/it] 74%|███████▍ | 22254/30000 [10:20:06<3:35:57, 1.67s/it] 74%|███████▍ | 22255/30000 [10:20:08<3:35:32, 1.67s/it] 74%|███████▍ | 22256/30000 [10:20:10<3:35:04, 1.67s/it] 74%|███████▍ | 22257/30000 [10:20:11<3:35:07, 1.67s/it] 74%|███████▍ | 22258/30000 [10:20:13<3:35:02, 1.67s/it] 74%|███████▍ | 22259/30000 [10:20:15<3:35:13, 1.67s/it] 74%|███████▍ | 22260/30000 [10:20:16<3:35:39, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10541115701198578, 'learning_rate': 5.137502456402705e-06, 'flow_matching_loss': 0.016450110543519258, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.48} + 74%|███████▍ | 22260/30000 [10:20:16<3:35:39, 1.67s/it] 74%|███████▍ | 22261/30000 [10:20:18<3:35:16, 1.67s/it] 74%|███████▍ | 22262/30000 [10:20:20<3:35:27, 1.67s/it] 74%|███████▍ | 22263/30000 [10:20:21<3:35:13, 1.67s/it] 74%|███████▍ | 22264/30000 [10:20:23<3:35:42, 1.67s/it] 74%|███████▍ | 22265/30000 [10:20:25<3:35:23, 1.67s/it] 74%|███████▍ | 22266/30000 [10:20:26<3:35:11, 1.67s/it] 74%|███████▍ | 22267/30000 [10:20:28<3:35:00, 1.67s/it] 74%|███████▍ | 22268/30000 [10:20:30<3:34:41, 1.67s/it] 74%|███████▍ | 22269/30000 [10:20:31<3:35:00, 1.67s/it] 74%|███████▍ | 22270/30000 [10:20:33<3:35:06, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.10693030059337616, 'learning_rate': 5.125050305018683e-06, 'flow_matching_loss': 0.017101770825684072, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.48} + 74%|███████▍ | 22270/30000 [10:20:33<3:35:06, 1.67s/it] 74%|███████▍ | 22271/30000 [10:20:35<3:34:59, 1.67s/it] 74%|███████▍ | 22272/30000 [10:20:36<3:35:16, 1.67s/it] 74%|███████▍ | 22273/30000 [10:20:38<3:35:05, 1.67s/it] 74%|███████▍ | 22274/30000 [10:20:40<3:35:16, 1.67s/it] 74%|███████▍ | 22275/30000 [10:20:41<3:35:00, 1.67s/it] 74%|███████▍ | 22276/30000 [10:20:43<3:34:41, 1.67s/it] 74%|███████▍ | 22277/30000 [10:20:45<3:34:23, 1.67s/it] 74%|███████▍ | 22278/30000 [10:20:46<3:34:32, 1.67s/it] 74%|███████▍ | 22279/30000 [10:20:48<3:34:25, 1.67s/it] 74%|███████▍ | 22280/30000 [10:20:50<3:34:25, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10634263604879379, 'learning_rate': 5.112610152629687e-06, 'flow_matching_loss': 0.018613381404429676, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.48} + 74%|███████▍ | 22280/30000 [10:20:50<3:34:25, 1.67s/it] 74%|███████▍ | 22281/30000 [10:20:51<3:34:45, 1.67s/it] 74%|███████▍ | 22282/30000 [10:20:53<3:34:34, 1.67s/it] 74%|███████▍ | 22283/30000 [10:20:55<3:34:36, 1.67s/it] 74%|███████▍ | 22284/30000 [10:20:56<3:34:30, 1.67s/it] 74%|███████▍ | 22285/30000 [10:20:58<3:34:11, 1.67s/it] 74%|███████▍ | 22286/30000 [10:21:00<3:34:47, 1.67s/it] 74%|███████▍ | 22287/30000 [10:21:01<3:34:44, 1.67s/it] 74%|███████▍ | 22288/30000 [10:21:03<3:34:25, 1.67s/it] 74%|███████▍ | 22289/30000 [10:21:05<3:34:08, 1.67s/it] 74%|███████▍ | 22290/30000 [10:21:06<3:34:19, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.1131984144449234, 'learning_rate': 5.10018201435167e-06, 'flow_matching_loss': 0.016372062638401984, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.49} + 74%|███████▍ | 22290/30000 [10:21:06<3:34:19, 1.67s/it] 74%|███████▍ | 22291/30000 [10:21:08<3:34:06, 1.67s/it] 74%|███████▍ | 22292/30000 [10:21:10<3:34:01, 1.67s/it] 74%|███████▍ | 22293/30000 [10:21:11<3:34:05, 1.67s/it] 74%|███████▍ | 22294/30000 [10:21:13<3:34:01, 1.67s/it] 74%|███████▍ | 22295/30000 [10:21:15<3:33:50, 1.67s/it] 74%|███████▍ | 22296/30000 [10:21:16<3:33:57, 1.67s/it] 74%|███████▍ | 22297/30000 [10:21:18<3:33:59, 1.67s/it] 74%|███████▍ | 22298/30000 [10:21:20<3:33:50, 1.67s/it] 74%|███████▍ | 22299/30000 [10:21:21<3:33:54, 1.67s/it] 74%|███████▍ | 22300/30000 [10:21:23<3:33:44, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.12477114051580429, 'learning_rate': 5.087765905286004e-06, 'flow_matching_loss': 0.018326256703585387, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.49} + 74%|███████▍ | 22300/30000 [10:21:23<3:33:44, 1.67s/it] 74%|███████▍ | 22301/30000 [10:21:25<3:33:45, 1.67s/it] 74%|███████▍ | 22302/30000 [10:21:26<3:33:55, 1.67s/it] 74%|███████▍ | 22303/30000 [10:21:28<3:33:41, 1.67s/it] 74%|███████▍ | 22304/30000 [10:21:30<3:34:26, 1.67s/it] 74%|███████▍ | 22305/30000 [10:21:31<3:33:54, 1.67s/it] 74%|███████▍ | 22306/30000 [10:21:33<3:34:05, 1.67s/it] 74%|███████▍ | 22307/30000 [10:21:35<3:34:30, 1.67s/it] 74%|███████▍ | 22308/30000 [10:21:36<3:33:42, 1.67s/it] 74%|███████▍ | 22309/30000 [10:21:38<3:33:23, 1.66s/it] 74%|███████▍ | 22310/30000 [10:21:40<3:33:39, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.09936578571796417, 'learning_rate': 5.0753618405194245e-06, 'flow_matching_loss': 0.01657702960073948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.49} + 74%|███████▍ | 22310/30000 [10:21:40<3:33:39, 1.67s/it] 74%|███████▍ | 22311/30000 [10:21:41<3:34:09, 1.67s/it] 74%|███████▍ | 22312/30000 [10:21:43<3:34:01, 1.67s/it] 74%|███████▍ | 22313/30000 [10:21:45<3:33:40, 1.67s/it] 74%|███████▍ | 22314/30000 [10:21:46<3:33:37, 1.67s/it] 74%|███████▍ | 22315/30000 [10:21:48<3:33:36, 1.67s/it] 74%|███████▍ | 22316/30000 [10:21:50<3:33:41, 1.67s/it] 74%|███████▍ | 22317/30000 [10:21:51<3:33:32, 1.67s/it] 74%|███████▍ | 22318/30000 [10:21:53<3:33:38, 1.67s/it] 74%|███████▍ | 22319/30000 [10:21:55<3:33:37, 1.67s/it] 74%|███████▍ | 22320/30000 [10:21:56<3:33:21, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11069956421852112, 'learning_rate': 5.062969835124042e-06, 'flow_matching_loss': 0.01639348706230521, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.49} + 74%|███████▍ | 22320/30000 [10:21:56<3:33:21, 1.67s/it] 74%|███████▍ | 22321/30000 [10:21:58<3:33:27, 1.67s/it] 74%|███████▍ | 22322/30000 [10:22:00<3:33:15, 1.67s/it] 74%|███████▍ | 22323/30000 [10:22:01<3:33:53, 1.67s/it] 74%|███████▍ | 22324/30000 [10:22:03<3:33:41, 1.67s/it] 74%|███████▍ | 22325/30000 [10:22:05<3:33:14, 1.67s/it] 74%|███████▍ | 22326/30000 [10:22:06<3:33:39, 1.67s/it] 74%|███████▍ | 22327/30000 [10:22:08<3:33:27, 1.67s/it] 74%|███████▍ | 22328/30000 [10:22:10<3:33:11, 1.67s/it] 74%|███████▍ | 22329/30000 [10:22:11<3:33:29, 1.67s/it] 74%|███████▍ | 22330/30000 [10:22:13<3:33:17, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.09627960622310638, 'learning_rate': 5.05058990415731e-06, 'flow_matching_loss': 0.01939091943204403, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.5} + 74%|███████▍ | 22330/30000 [10:22:13<3:33:17, 1.67s/it] 74%|███████▍ | 22331/30000 [10:22:15<3:33:02, 1.67s/it] 74%|███████▍ | 22332/30000 [10:22:16<3:32:42, 1.66s/it] 74%|███████▍ | 22333/30000 [10:22:18<3:32:39, 1.66s/it] 74%|███████▍ | 22334/30000 [10:22:20<3:32:59, 1.67s/it] 74%|███████▍ | 22335/30000 [10:22:21<3:32:40, 1.66s/it] 74%|███████▍ | 22336/30000 [10:22:23<3:32:31, 1.66s/it] 74%|███████▍ | 22337/30000 [10:22:25<3:32:44, 1.67s/it] 74%|███████▍ | 22338/30000 [10:22:26<3:32:26, 1.66s/it] 74%|███████▍ | 22339/30000 [10:22:28<3:32:34, 1.66s/it] 74%|███████▍ | 22340/30000 [10:22:30<3:32:21, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.0950293093919754, 'learning_rate': 5.038222062662007e-06, 'flow_matching_loss': 0.017813019827008246, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.5} + 74%|███████▍ | 22340/30000 [10:22:30<3:32:21, 1.66s/it] 74%|███████▍ | 22341/30000 [10:22:31<3:32:24, 1.66s/it] 74%|███████▍ | 22342/30000 [10:22:33<3:32:48, 1.67s/it] 74%|███████▍ | 22343/30000 [10:22:35<3:32:44, 1.67s/it] 74%|███████▍ | 22344/30000 [10:22:36<3:32:39, 1.67s/it] 74%|███████▍ | 22345/30000 [10:22:38<3:32:49, 1.67s/it] 74%|███████▍ | 22346/30000 [10:22:40<3:32:44, 1.67s/it] 74%|███████▍ | 22347/30000 [10:22:41<3:32:50, 1.67s/it] 74%|███████▍ | 22348/30000 [10:22:43<3:32:47, 1.67s/it] 74%|███████▍ | 22349/30000 [10:22:45<3:32:00, 1.66s/it] 74%|███████▍ | 22350/30000 [10:22:46<3:32:14, 1.66s/it] {'loss': 0.0189, 'grad_norm': 0.2011784166097641, 'learning_rate': 5.025866325666237e-06, 'flow_matching_loss': 0.018886541854590176, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.5} + 74%|███████▍ | 22350/30000 [10:22:46<3:32:14, 1.66s/it] 75%|███████▍ | 22351/30000 [10:22:48<3:32:00, 1.66s/it] 75%|███████▍ | 22352/30000 [10:22:50<3:31:58, 1.66s/it] 75%|███████▍ | 22353/30000 [10:22:51<3:31:59, 1.66s/it] 75%|███████▍ | 22354/30000 [10:22:53<3:32:01, 1.66s/it] 75%|███████▍ | 22355/30000 [10:22:55<3:32:04, 1.66s/it] 75%|███████▍ | 22356/30000 [10:22:56<3:32:05, 1.66s/it] 75%|███████▍ | 22357/30000 [10:22:58<3:31:57, 1.66s/it] 75%|███████▍ | 22358/30000 [10:23:00<3:32:16, 1.67s/it] 75%|███████▍ | 22359/30000 [10:23:01<3:32:23, 1.67s/it] 75%|███████▍ | 22360/30000 [10:23:03<3:32:11, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10209684818983078, 'learning_rate': 5.013522708183383e-06, 'flow_matching_loss': 0.015397986583411693, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.51} + 75%|███████▍ | 22360/30000 [10:23:03<3:32:11, 1.67s/it] 75%|███████▍ | 22361/30000 [10:23:05<3:32:16, 1.67s/it] 75%|███████▍ | 22362/30000 [10:23:06<3:32:11, 1.67s/it] 75%|███████▍ | 22363/30000 [10:23:08<3:31:44, 1.66s/it] 75%|███████▍ | 22364/30000 [10:23:10<3:31:44, 1.66s/it] 75%|███████▍ | 22365/30000 [10:23:11<3:31:27, 1.66s/it] 75%|███████▍ | 22366/30000 [10:23:13<3:31:24, 1.66s/it] 75%|███████▍ | 22367/30000 [10:23:15<3:31:45, 1.66s/it] 75%|███████▍ | 22368/30000 [10:23:16<3:31:41, 1.66s/it] 75%|███████▍ | 22369/30000 [10:23:18<3:31:48, 1.67s/it] 75%|███████▍ | 22370/30000 [10:23:20<3:31:41, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.1274028867483139, 'learning_rate': 5.001191225212096e-06, 'flow_matching_loss': 0.01873317714780569, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.51} + 75%|███████▍ | 22370/30000 [10:23:20<3:31:41, 1.66s/it] 75%|███████▍ | 22371/30000 [10:23:21<3:32:02, 1.67s/it] 75%|███████▍ | 22372/30000 [10:23:23<3:31:52, 1.67s/it] 75%|███████▍ | 22373/30000 [10:23:25<3:31:43, 1.67s/it] 75%|███████▍ | 22374/30000 [10:23:26<3:31:47, 1.67s/it] 75%|███████▍ | 22375/30000 [10:23:28<3:32:03, 1.67s/it] 75%|███████▍ | 22376/30000 [10:23:30<3:32:01, 1.67s/it] 75%|███████▍ | 22377/30000 [10:23:31<3:31:57, 1.67s/it] 75%|███████▍ | 22378/30000 [10:23:33<3:32:12, 1.67s/it] 75%|███████▍ | 22379/30000 [10:23:35<3:31:56, 1.67s/it] 75%|███████▍ | 22380/30000 [10:23:36<3:31:38, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10131800174713135, 'learning_rate': 4.9888718917363e-06, 'flow_matching_loss': 0.016953751165419816, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.51} + 75%|███████▍ | 22380/30000 [10:23:36<3:31:38, 1.67s/it] 75%|███████▍ | 22381/30000 [10:23:38<3:31:22, 1.66s/it] 75%|███████▍ | 22382/30000 [10:23:40<3:31:38, 1.67s/it] 75%|███████▍ | 22383/30000 [10:23:41<3:31:15, 1.66s/it] 75%|███████▍ | 22384/30000 [10:23:43<3:31:20, 1.66s/it] 75%|███████▍ | 22385/30000 [10:23:45<3:31:20, 1.67s/it] 75%|███████▍ | 22386/30000 [10:23:46<3:31:26, 1.67s/it] 75%|███████▍ | 22387/30000 [10:23:48<3:31:19, 1.67s/it] 75%|███████▍ | 22388/30000 [10:23:50<3:31:00, 1.66s/it] 75%|███████▍ | 22389/30000 [10:23:51<3:30:48, 1.66s/it] 75%|███████▍ | 22390/30000 [10:23:53<3:31:19, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.09195392578840256, 'learning_rate': 4.9765647227251395e-06, 'flow_matching_loss': 0.018367323745042085, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.51} + 75%|███████▍ | 22390/30000 [10:23:53<3:31:19, 1.67s/it] 75%|███████▍ | 22391/30000 [10:23:55<3:31:19, 1.67s/it] 75%|███████▍ | 22392/30000 [10:23:56<3:31:08, 1.67s/it] 75%|███████▍ | 22393/30000 [10:23:58<3:31:08, 1.67s/it] 75%|███████▍ | 22394/30000 [10:24:00<3:31:10, 1.67s/it] 75%|███████▍ | 22395/30000 [10:24:01<3:31:07, 1.67s/it] 75%|███████▍ | 22396/30000 [10:24:03<3:31:02, 1.67s/it] 75%|███████▍ | 22397/30000 [10:24:05<3:30:52, 1.66s/it] 75%|███████▍ | 22398/30000 [10:24:06<3:31:16, 1.67s/it] 75%|███████▍ | 22399/30000 [10:24:08<3:31:10, 1.67s/it] 75%|███████▍ | 22400/30000 [10:24:10<3:31:08, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.11462356895208359, 'learning_rate': 4.964269733132992e-06, 'flow_matching_loss': 0.016827388573437928, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.52} + 75%|███████▍ | 22400/30000 [10:24:10<3:31:08, 1.67s/it] 75%|███████▍ | 22401/30000 [10:24:11<3:31:20, 1.67s/it] 75%|███████▍ | 22402/30000 [10:24:13<3:30:53, 1.67s/it] 75%|███████▍ | 22403/30000 [10:24:15<3:30:49, 1.67s/it] 75%|███████▍ | 22404/30000 [10:24:16<3:30:55, 1.67s/it] 75%|███████▍ | 22405/30000 [10:24:18<3:31:05, 1.67s/it] 75%|███████▍ | 22406/30000 [10:24:20<3:31:02, 1.67s/it] 75%|███████▍ | 22407/30000 [10:24:21<3:30:34, 1.66s/it] 75%|███████▍ | 22408/30000 [10:24:23<3:30:38, 1.66s/it] 75%|███████▍ | 22409/30000 [10:24:25<3:30:20, 1.66s/it] 75%|███████▍ | 22410/30000 [10:24:26<3:30:49, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.1395314782857895, 'learning_rate': 4.951986937899428e-06, 'flow_matching_loss': 0.018721663393080235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.52} + 75%|███████▍ | 22410/30000 [10:24:26<3:30:49, 1.67s/it] 75%|███████▍ | 22411/30000 [10:24:28<3:30:55, 1.67s/it] 75%|███████▍ | 22412/30000 [10:24:30<3:30:48, 1.67s/it] 75%|███████▍ | 22413/30000 [10:24:31<3:30:28, 1.66s/it] 75%|███████▍ | 22414/30000 [10:24:33<3:30:28, 1.66s/it] 75%|███████▍ | 22415/30000 [10:24:35<3:30:26, 1.66s/it] 75%|███████▍ | 22416/30000 [10:24:36<3:30:15, 1.66s/it] 75%|███████▍ | 22417/30000 [10:24:38<3:30:20, 1.66s/it] 75%|███████▍ | 22418/30000 [10:24:40<3:30:34, 1.67s/it] 75%|███████▍ | 22419/30000 [10:24:41<3:30:34, 1.67s/it] 75%|███████▍ | 22420/30000 [10:24:43<3:30:27, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.12311446666717529, 'learning_rate': 4.9397163519492e-06, 'flow_matching_loss': 0.019006349239498378, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.52} + 75%|███████▍ | 22420/30000 [10:24:43<3:30:27, 1.67s/it] 75%|███████▍ | 22421/30000 [10:24:45<3:30:27, 1.67s/it] 75%|███████▍ | 22422/30000 [10:24:46<3:30:30, 1.67s/it] 75%|███████▍ | 22423/30000 [10:24:48<3:30:19, 1.67s/it] 75%|███████▍ | 22424/30000 [10:24:50<3:30:30, 1.67s/it] 75%|███████▍ | 22425/30000 [10:24:51<3:30:26, 1.67s/it] 75%|███████▍ | 22426/30000 [10:24:53<3:30:30, 1.67s/it] 75%|███████▍ | 22427/30000 [10:24:55<3:30:31, 1.67s/it] 75%|███████▍ | 22428/30000 [10:24:56<3:30:16, 1.67s/it] 75%|███████▍ | 22429/30000 [10:24:58<3:30:07, 1.67s/it] 75%|███████▍ | 22430/30000 [10:25:00<3:30:13, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.13608866930007935, 'learning_rate': 4.9274579901922275e-06, 'flow_matching_loss': 0.01658180933445692, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.53} + 75%|███████▍ | 22430/30000 [10:25:00<3:30:13, 1.67s/it] 75%|███████▍ | 22431/30000 [10:25:01<3:30:09, 1.67s/it] 75%|███████▍ | 22432/30000 [10:25:03<3:30:15, 1.67s/it] 75%|███████▍ | 22433/30000 [10:25:05<3:30:21, 1.67s/it] 75%|███████▍ | 22434/30000 [10:25:06<3:30:20, 1.67s/it] 75%|███████▍ | 22435/30000 [10:25:08<3:30:00, 1.67s/it] 75%|███████▍ | 22436/30000 [10:25:10<3:29:58, 1.67s/it] 75%|███████▍ | 22437/30000 [10:25:11<3:29:55, 1.67s/it] 75%|███████▍ | 22438/30000 [10:25:13<3:30:00, 1.67s/it] 75%|███████▍ | 22439/30000 [10:25:15<3:29:57, 1.67s/it] 75%|███████▍ | 22440/30000 [10:25:16<3:29:52, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.0951695665717125, 'learning_rate': 4.9152118675235705e-06, 'flow_matching_loss': 0.017111853510141373, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.53} + 75%|███████▍ | 22440/30000 [10:25:16<3:29:52, 1.67s/it] 75%|███████▍ | 22441/30000 [10:25:18<3:30:00, 1.67s/it] 75%|███████▍ | 22442/30000 [10:25:20<3:30:45, 1.67s/it] 75%|███████▍ | 22443/30000 [10:25:21<3:30:29, 1.67s/it] 75%|███████▍ | 22444/30000 [10:25:23<3:30:10, 1.67s/it] 75%|███████▍ | 22445/30000 [10:25:25<3:29:49, 1.67s/it] 75%|███████▍ | 22446/30000 [10:25:26<3:29:57, 1.67s/it] 75%|███████▍ | 22447/30000 [10:25:28<3:30:17, 1.67s/it] 75%|███████▍ | 22448/30000 [10:25:30<3:30:01, 1.67s/it] 75%|███████▍ | 22449/30000 [10:25:31<3:29:58, 1.67s/it] 75%|███████▍ | 22450/30000 [10:25:33<3:30:02, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.08759071677923203, 'learning_rate': 4.902977998823432e-06, 'flow_matching_loss': 0.01796594513580203, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.53} + 75%|███████▍ | 22450/30000 [10:25:33<3:30:02, 1.67s/it] 75%|███████▍ | 22451/30000 [10:25:35<3:30:31, 1.67s/it] 75%|███████▍ | 22452/30000 [10:25:36<3:30:05, 1.67s/it] 75%|███████▍ | 22453/30000 [10:25:38<3:29:42, 1.67s/it] 75%|███████▍ | 22454/30000 [10:25:40<3:29:28, 1.67s/it] 75%|███████▍ | 22455/30000 [10:25:41<3:29:51, 1.67s/it] 75%|███████▍ | 22456/30000 [10:25:43<3:29:38, 1.67s/it] 75%|███████▍ | 22457/30000 [10:25:45<3:29:29, 1.67s/it] 75%|███████▍ | 22458/30000 [10:25:46<3:29:31, 1.67s/it] 75%|███████▍ | 22459/30000 [10:25:48<3:29:35, 1.67s/it] 75%|███████▍ | 22460/30000 [10:25:50<3:29:30, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.09232563525438309, 'learning_rate': 4.890756398957114e-06, 'flow_matching_loss': 0.018523573968559505, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.53} + 75%|███████▍ | 22460/30000 [10:25:50<3:29:30, 1.67s/it] 75%|███████▍ | 22461/30000 [10:25:51<3:29:36, 1.67s/it] 75%|███████▍ | 22462/30000 [10:25:53<3:29:49, 1.67s/it] 75%|███████▍ | 22463/30000 [10:25:55<3:29:33, 1.67s/it] 75%|███████▍ | 22464/30000 [10:25:56<3:29:31, 1.67s/it] 75%|███████▍ | 22465/30000 [10:25:58<3:29:23, 1.67s/it] 75%|███████▍ | 22466/30000 [10:26:00<3:29:18, 1.67s/it] 75%|███████▍ | 22467/30000 [10:26:01<3:29:11, 1.67s/it] 75%|███████▍ | 22468/30000 [10:26:03<3:28:57, 1.66s/it] 75%|███████▍ | 22469/30000 [10:26:05<3:29:07, 1.67s/it] 75%|███████▍ | 22470/30000 [10:26:06<3:29:34, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10627374053001404, 'learning_rate': 4.8785470827750075e-06, 'flow_matching_loss': 0.015412921272218227, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.54} + 75%|███████▍ | 22470/30000 [10:26:06<3:29:34, 1.67s/it] 75%|███████▍ | 22471/30000 [10:26:08<3:29:33, 1.67s/it] 75%|███████▍ | 22472/30000 [10:26:10<3:29:10, 1.67s/it] 75%|███████▍ | 22473/30000 [10:26:11<3:29:10, 1.67s/it] 75%|███████▍ | 22474/30000 [10:26:13<3:29:03, 1.67s/it] 75%|███████▍ | 22475/30000 [10:26:15<3:29:19, 1.67s/it] 75%|███████▍ | 22476/30000 [10:26:16<3:29:04, 1.67s/it] 75%|███████▍ | 22477/30000 [10:26:18<3:28:54, 1.67s/it] 75%|███████▍ | 22478/30000 [10:26:20<3:29:10, 1.67s/it] 75%|███████▍ | 22479/30000 [10:26:21<3:28:49, 1.67s/it] 75%|███████▍ | 22480/30000 [10:26:23<3:28:53, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.10815057903528214, 'learning_rate': 4.866350065112588e-06, 'flow_matching_loss': 0.01623103441670537, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.54} + 75%|███████▍ | 22480/30000 [10:26:23<3:28:53, 1.67s/it] 75%|███████▍ | 22481/30000 [10:26:25<3:29:08, 1.67s/it] 75%|███████▍ | 22482/30000 [10:26:26<3:29:11, 1.67s/it] 75%|███████▍ | 22483/30000 [10:26:28<3:28:57, 1.67s/it] 75%|███████▍ | 22484/30000 [10:26:30<3:28:43, 1.67s/it] 75%|███████▍ | 22485/30000 [10:26:31<3:28:37, 1.67s/it] 75%|███████▍ | 22486/30000 [10:26:33<3:28:33, 1.67s/it] 75%|███████▍ | 22487/30000 [10:26:35<3:28:39, 1.67s/it] 75%|███████▍ | 22488/30000 [10:26:36<3:28:33, 1.67s/it] 75%|███████▍ | 22489/30000 [10:26:38<3:28:42, 1.67s/it] 75%|███████▍ | 22490/30000 [10:26:40<3:28:41, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.1096152514219284, 'learning_rate': 4.854165360790381e-06, 'flow_matching_loss': 0.014993325900286436, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.54} + 75%|███████▍ | 22490/30000 [10:26:40<3:28:41, 1.67s/it] 75%|███████▍ | 22491/30000 [10:26:41<3:28:39, 1.67s/it] 75%|███████▍ | 22492/30000 [10:26:43<3:28:33, 1.67s/it] 75%|███████▍ | 22493/30000 [10:26:45<3:28:32, 1.67s/it] 75%|███████▍ | 22494/30000 [10:26:46<3:28:36, 1.67s/it] 75%|███████▍ | 22495/30000 [10:26:48<3:28:30, 1.67s/it] 75%|███████▍ | 22496/30000 [10:26:50<3:28:34, 1.67s/it] 75%|███████▍ | 22497/30000 [10:26:51<3:28:19, 1.67s/it] 75%|███████▍ | 22498/30000 [10:26:53<3:28:28, 1.67s/it] 75%|███████▍ | 22499/30000 [10:26:55<3:28:27, 1.67s/it] 75%|███████▌ | 22500/30000 [10:26:56<3:28:20, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.14536064863204956, 'learning_rate': 4.8419929846139425e-06, 'flow_matching_loss': 0.016335310507565738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.55} + 75%|███████▌ | 22500/30000 [10:26:56<3:28:20, 1.67s/it] 75%|███████▌ | 22501/30000 [10:26:58<3:28:21, 1.67s/it] 75%|███████▌ | 22502/30000 [10:27:00<3:28:16, 1.67s/it] 75%|███████▌ | 22503/30000 [10:27:01<3:27:56, 1.66s/it] 75%|███████▌ | 22504/30000 [10:27:03<3:28:02, 1.67s/it] 75%|███████▌ | 22505/30000 [10:27:05<3:28:06, 1.67s/it] 75%|███████▌ | 22506/30000 [10:27:06<3:28:09, 1.67s/it] 75%|███████▌ | 22507/30000 [10:27:08<3:28:00, 1.67s/it] 75%|███████▌ | 22508/30000 [10:27:10<3:28:05, 1.67s/it] 75%|███████▌ | 22509/30000 [10:27:11<3:27:37, 1.66s/it] 75%|███████▌ | 22510/30000 [10:27:13<3:27:48, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.21145309507846832, 'learning_rate': 4.829832951373872e-06, 'flow_matching_loss': 0.017301762662827968, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.55} + 75%|███████▌ | 22510/30000 [10:27:13<3:27:48, 1.66s/it] 75%|███████▌ | 22511/30000 [10:27:15<3:28:02, 1.67s/it] 75%|███████▌ | 22512/30000 [10:27:16<3:28:02, 1.67s/it] 75%|███████▌ | 22513/30000 [10:27:18<3:28:09, 1.67s/it] 75%|███████▌ | 22514/30000 [10:27:20<3:28:03, 1.67s/it] 75%|███████▌ | 22515/30000 [10:27:21<3:27:55, 1.67s/it] 75%|███████▌ | 22516/30000 [10:27:23<3:27:58, 1.67s/it] 75%|███████▌ | 22517/30000 [10:27:25<3:27:56, 1.67s/it] 75%|███████▌ | 22518/30000 [10:27:26<3:27:55, 1.67s/it] 75%|███████▌ | 22519/30000 [10:27:28<3:28:02, 1.67s/it] 75%|███████▌ | 22520/30000 [10:27:30<3:27:48, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.11333227157592773, 'learning_rate': 4.817685275845746e-06, 'flow_matching_loss': 0.018642003275454046, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.55} + 75%|███████▌ | 22520/30000 [10:27:30<3:27:48, 1.67s/it] 75%|███████▌ | 22521/30000 [10:27:31<3:27:58, 1.67s/it] 75%|███████▌ | 22522/30000 [10:27:33<3:28:16, 1.67s/it] 75%|███████▌ | 22523/30000 [10:27:35<3:28:17, 1.67s/it] 75%|███████▌ | 22524/30000 [10:27:36<3:27:27, 1.67s/it] 75%|███████▌ | 22525/30000 [10:27:38<3:27:22, 1.66s/it] 75%|███████▌ | 22526/30000 [10:27:40<3:27:38, 1.67s/it] 75%|███████▌ | 22527/30000 [10:27:41<3:27:51, 1.67s/it] 75%|███████▌ | 22528/30000 [10:27:43<3:27:35, 1.67s/it] 75%|███████▌ | 22529/30000 [10:27:45<3:27:40, 1.67s/it] 75%|███████▌ | 22530/30000 [10:27:46<3:27:37, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.0956331193447113, 'learning_rate': 4.805549972790143e-06, 'flow_matching_loss': 0.015365940239280462, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.56} + 75%|███████▌ | 22530/30000 [10:27:46<3:27:37, 1.67s/it] 75%|███████▌ | 22531/30000 [10:27:48<3:28:00, 1.67s/it] 75%|███████▌ | 22532/30000 [10:27:50<3:28:04, 1.67s/it] 75%|███████▌ | 22533/30000 [10:27:51<3:27:47, 1.67s/it] 75%|███████▌ | 22534/30000 [10:27:53<3:27:18, 1.67s/it] 75%|███████▌ | 22535/30000 [10:27:55<3:27:06, 1.66s/it] 75%|███████▌ | 22536/30000 [10:27:56<3:27:02, 1.66s/it] 75%|███████▌ | 22537/30000 [10:27:58<3:27:04, 1.66s/it] 75%|███████▌ | 22538/30000 [10:28:00<3:26:53, 1.66s/it] 75%|███████▌ | 22539/30000 [10:28:01<3:27:06, 1.67s/it] 75%|███████▌ | 22540/30000 [10:28:03<3:27:16, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.12773992121219635, 'learning_rate': 4.7934270569525966e-06, 'flow_matching_loss': 0.017863186541944742, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.56} + 75%|███████▌ | 22540/30000 [10:28:03<3:27:16, 1.67s/it] 75%|███████▌ | 22541/30000 [10:28:05<3:27:14, 1.67s/it] 75%|███████▌ | 22542/30000 [10:28:06<3:27:03, 1.67s/it] 75%|███████▌ | 22543/30000 [10:28:08<3:26:39, 1.66s/it] 75%|███████▌ | 22544/30000 [10:28:10<3:26:32, 1.66s/it] 75%|███████▌ | 22545/30000 [10:28:11<3:26:39, 1.66s/it] 75%|███████▌ | 22546/30000 [10:28:13<3:26:56, 1.67s/it] 75%|███████▌ | 22547/30000 [10:28:15<3:27:00, 1.67s/it] 75%|███████▌ | 22548/30000 [10:28:16<3:27:13, 1.67s/it] 75%|███████▌ | 22549/30000 [10:28:18<3:26:55, 1.67s/it] 75%|███████▌ | 22550/30000 [10:28:20<3:27:20, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.07192949205636978, 'learning_rate': 4.7813165430635874e-06, 'flow_matching_loss': 0.01748182429000735, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.56} + 75%|███████▌ | 22550/30000 [10:28:20<3:27:20, 1.67s/it] 75%|███████▌ | 22551/30000 [10:28:21<3:27:23, 1.67s/it] 75%|███████▌ | 22552/30000 [10:28:23<3:27:13, 1.67s/it] 75%|███████▌ | 22553/30000 [10:28:25<3:26:49, 1.67s/it] 75%|███████▌ | 22554/30000 [10:28:26<3:26:51, 1.67s/it] 75%|███████▌ | 22555/30000 [10:28:28<3:26:58, 1.67s/it] 75%|███████▌ | 22556/30000 [10:28:30<3:26:57, 1.67s/it] 75%|███████▌ | 22557/30000 [10:28:31<3:26:38, 1.67s/it] 75%|███████▌ | 22558/30000 [10:28:33<3:26:38, 1.67s/it] 75%|███████▌ | 22559/30000 [10:28:35<3:26:36, 1.67s/it] 75%|███████▌ | 22560/30000 [10:28:36<3:26:34, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.07767564803361893, 'learning_rate': 4.769218445838544e-06, 'flow_matching_loss': 0.015012588165700436, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.56} + 75%|███████▌ | 22560/30000 [10:28:36<3:26:34, 1.67s/it] 75%|███████▌ | 22561/30000 [10:28:38<3:26:11, 1.66s/it] 75%|███████▌ | 22562/30000 [10:28:40<3:26:24, 1.66s/it] 75%|███████▌ | 22563/30000 [10:28:41<3:26:30, 1.67s/it] 75%|███████▌ | 22564/30000 [10:28:43<3:26:36, 1.67s/it] 75%|███████▌ | 22565/30000 [10:28:45<3:26:08, 1.66s/it] 75%|███████▌ | 22566/30000 [10:28:46<3:26:15, 1.66s/it] 75%|███████▌ | 22567/30000 [10:28:48<3:26:23, 1.67s/it] 75%|███████▌ | 22568/30000 [10:28:50<3:26:27, 1.67s/it] 75%|███████▌ | 22569/30000 [10:28:51<3:26:24, 1.67s/it] 75%|███████▌ | 22570/30000 [10:28:53<3:26:43, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.08983726799488068, 'learning_rate': 4.757132779977787e-06, 'flow_matching_loss': 0.016409252490848302, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.57} + 75%|███████▌ | 22570/30000 [10:28:53<3:26:43, 1.67s/it] 75%|███████▌ | 22571/30000 [10:28:55<3:26:40, 1.67s/it] 75%|███████▌ | 22572/30000 [10:28:56<3:26:34, 1.67s/it] 75%|███████▌ | 22573/30000 [10:28:58<3:26:25, 1.67s/it] 75%|███████▌ | 22574/30000 [10:29:00<3:26:36, 1.67s/it] 75%|███████▌ | 22575/30000 [10:29:01<3:26:18, 1.67s/it] 75%|███████▌ | 22576/30000 [10:29:03<3:26:15, 1.67s/it] 75%|███████▌ | 22577/30000 [10:29:05<3:26:12, 1.67s/it] 75%|███████▌ | 22578/30000 [10:29:06<3:26:13, 1.67s/it] 75%|███████▌ | 22579/30000 [10:29:08<3:26:24, 1.67s/it] 75%|███████▌ | 22580/30000 [10:29:10<3:36:40, 1.75s/it] {'loss': 0.0176, 'grad_norm': 0.1194198802113533, 'learning_rate': 4.745059560166542e-06, 'flow_matching_loss': 0.01758177364245057, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.57} + 75%|███████▌ | 22580/30000 [10:29:10<3:36:40, 1.75s/it] 75%|███████▌ | 22581/30000 [10:29:12<3:33:15, 1.72s/it] 75%|███████▌ | 22582/30000 [10:29:13<3:31:53, 1.71s/it] 75%|███████▌ | 22583/30000 [10:29:15<3:30:12, 1.70s/it] 75%|███████▌ | 22584/30000 [10:29:17<3:29:08, 1.69s/it] 75%|███████▌ | 22585/30000 [10:29:18<3:27:59, 1.68s/it] 75%|███████▌ | 22586/30000 [10:29:20<3:27:27, 1.68s/it] 75%|███████▌ | 22587/30000 [10:29:22<3:26:53, 1.67s/it] 75%|███████▌ | 22588/30000 [10:29:23<3:26:12, 1.67s/it] 75%|███████▌ | 22589/30000 [10:29:25<3:25:56, 1.67s/it] 75%|███████▌ | 22590/30000 [10:29:27<3:25:58, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.09361323714256287, 'learning_rate': 4.732998801074911e-06, 'flow_matching_loss': 0.01608030265197158, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.57} + 75%|███████▌ | 22590/30000 [10:29:27<3:25:58, 1.67s/it] 75%|███████▌ | 22591/30000 [10:29:28<3:26:10, 1.67s/it] 75%|███████▌ | 22592/30000 [10:29:30<3:25:57, 1.67s/it] 75%|███████▌ | 22593/30000 [10:29:32<3:25:53, 1.67s/it] 75%|███████▌ | 22594/30000 [10:29:33<3:25:52, 1.67s/it] 75%|███████▌ | 22595/30000 [10:29:35<3:25:49, 1.67s/it] 75%|███████▌ | 22596/30000 [10:29:37<3:25:56, 1.67s/it] 75%|███████▌ | 22597/30000 [10:29:38<3:25:58, 1.67s/it] 75%|███████▌ | 22598/30000 [10:29:40<3:26:24, 1.67s/it] 75%|███████▌ | 22599/30000 [10:29:42<3:26:04, 1.67s/it] 75%|███████▌ | 22600/30000 [10:29:43<3:26:07, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.10646373778581619, 'learning_rate': 4.7209505173578445e-06, 'flow_matching_loss': 0.016368421260267496, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.58} + 75%|███████▌ | 22600/30000 [10:29:43<3:26:07, 1.67s/it] 75%|███████▌ | 22601/30000 [10:29:45<3:25:48, 1.67s/it] 75%|███████▌ | 22602/30000 [10:29:47<3:26:04, 1.67s/it] 75%|███████▌ | 22603/30000 [10:29:48<3:25:50, 1.67s/it] 75%|███████▌ | 22604/30000 [10:29:50<3:25:42, 1.67s/it] 75%|███████▌ | 22605/30000 [10:29:52<3:25:13, 1.67s/it] 75%|███████▌ | 22606/30000 [10:29:53<3:25:39, 1.67s/it] 75%|███████▌ | 22607/30000 [10:29:55<3:25:23, 1.67s/it] 75%|███████▌ | 22608/30000 [10:29:57<3:25:24, 1.67s/it] 75%|███████▌ | 22609/30000 [10:29:58<3:25:06, 1.67s/it] 75%|███████▌ | 22610/30000 [10:30:00<3:25:24, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.09530932456254959, 'learning_rate': 4.7089147236551555e-06, 'flow_matching_loss': 0.019212669413536786, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.58} + 75%|███████▌ | 22610/30000 [10:30:00<3:25:24, 1.67s/it] 75%|███████▌ | 22611/30000 [10:30:02<3:25:28, 1.67s/it] 75%|███████▌ | 22612/30000 [10:30:03<3:25:46, 1.67s/it] 75%|███████▌ | 22613/30000 [10:30:05<3:25:25, 1.67s/it] 75%|███████▌ | 22614/30000 [10:30:07<3:25:28, 1.67s/it] 75%|███████▌ | 22615/30000 [10:30:08<3:25:20, 1.67s/it] 75%|███████▌ | 22616/30000 [10:30:10<3:25:28, 1.67s/it] 75%|███████▌ | 22617/30000 [10:30:12<3:25:26, 1.67s/it] 75%|███████▌ | 22618/30000 [10:30:13<3:25:16, 1.67s/it] 75%|███████▌ | 22619/30000 [10:30:15<3:25:19, 1.67s/it] 75%|███████▌ | 22620/30000 [10:30:17<3:25:23, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.10728336125612259, 'learning_rate': 4.696891434591464e-06, 'flow_matching_loss': 0.018234468065202236, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.58} + 75%|███████▌ | 22620/30000 [10:30:17<3:25:23, 1.67s/it] 75%|███████▌ | 22621/30000 [10:30:18<3:25:19, 1.67s/it] 75%|███████▌ | 22622/30000 [10:30:20<3:25:15, 1.67s/it] 75%|███████▌ | 22623/30000 [10:30:22<3:25:22, 1.67s/it] 75%|███████▌ | 22624/30000 [10:30:23<3:25:25, 1.67s/it] 75%|███████▌ | 22625/30000 [10:30:25<3:25:12, 1.67s/it] 75%|███████▌ | 22626/30000 [10:30:27<3:25:03, 1.67s/it] 75%|███████▌ | 22627/30000 [10:30:28<3:24:59, 1.67s/it] 75%|███████▌ | 22628/30000 [10:30:30<3:24:59, 1.67s/it] 75%|███████▌ | 22629/30000 [10:30:32<3:24:54, 1.67s/it] 75%|███████▌ | 22630/30000 [10:30:33<3:24:53, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.10716857016086578, 'learning_rate': 4.684880664776199e-06, 'flow_matching_loss': 0.01872680690139532, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.58} + 75%|███████▌ | 22630/30000 [10:30:33<3:24:53, 1.67s/it] 75%|███████▌ | 22631/30000 [10:30:35<3:25:23, 1.67s/it] 75%|███████▌ | 22632/30000 [10:30:37<3:25:07, 1.67s/it] 75%|███████▌ | 22633/30000 [10:30:38<3:24:37, 1.67s/it] 75%|███████▌ | 22634/30000 [10:30:40<3:24:26, 1.67s/it] 75%|███████▌ | 22635/30000 [10:30:42<3:24:34, 1.67s/it] 75%|███████▌ | 22636/30000 [10:30:43<3:24:37, 1.67s/it] 75%|███████▌ | 22637/30000 [10:30:45<3:24:23, 1.67s/it] 75%|███████▌ | 22638/30000 [10:30:47<3:24:33, 1.67s/it] 75%|███████▌ | 22639/30000 [10:30:48<3:24:46, 1.67s/it] 75%|███████▌ | 22640/30000 [10:30:50<3:24:45, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10091459006071091, 'learning_rate': 4.6728824288035784e-06, 'flow_matching_loss': 0.016328601446002722, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.59} + 75%|███████▌ | 22640/30000 [10:30:50<3:24:45, 1.67s/it] 75%|███████▌ | 22641/30000 [10:30:52<3:24:44, 1.67s/it] 75%|███████▌ | 22642/30000 [10:30:53<3:25:00, 1.67s/it] 75%|███████▌ | 22643/30000 [10:30:55<3:24:48, 1.67s/it] 75%|███████▌ | 22644/30000 [10:30:57<3:24:47, 1.67s/it] 75%|███████▌ | 22645/30000 [10:30:58<3:24:32, 1.67s/it] 75%|███████▌ | 22646/30000 [10:31:00<3:24:46, 1.67s/it] 75%|███████▌ | 22647/30000 [10:31:02<3:25:00, 1.67s/it] 75%|███████▌ | 22648/30000 [10:31:03<3:24:35, 1.67s/it] 75%|███████▌ | 22649/30000 [10:31:05<3:24:20, 1.67s/it] 76%|███████▌ | 22650/30000 [10:31:07<3:24:24, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.09506819397211075, 'learning_rate': 4.660896741252586e-06, 'flow_matching_loss': 0.017308411095291375, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.59} + 76%|███████▌ | 22650/30000 [10:31:07<3:24:24, 1.67s/it] 76%|███████▌ | 22651/30000 [10:31:08<3:24:12, 1.67s/it] 76%|███████▌ | 22652/30000 [10:31:10<3:24:12, 1.67s/it] 76%|███████▌ | 22653/30000 [10:31:12<3:23:54, 1.67s/it] 76%|███████▌ | 22654/30000 [10:31:13<3:24:03, 1.67s/it] 76%|███████▌ | 22655/30000 [10:31:15<3:24:17, 1.67s/it] 76%|███████▌ | 22656/30000 [10:31:17<3:24:22, 1.67s/it] 76%|███████▌ | 22657/30000 [10:31:18<3:24:09, 1.67s/it] 76%|███████▌ | 22658/30000 [10:31:20<3:24:00, 1.67s/it] 76%|███████▌ | 22659/30000 [10:31:22<3:23:59, 1.67s/it] 76%|███████▌ | 22660/30000 [10:31:23<3:23:42, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1302640289068222, 'learning_rate': 4.6489236166869714e-06, 'flow_matching_loss': 0.017312299460172653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.59} + 76%|███████▌ | 22660/30000 [10:31:24<3:23:42, 1.67s/it] 76%|███████▌ | 22661/30000 [10:31:25<3:23:48, 1.67s/it] 76%|███████▌ | 22662/30000 [10:31:27<3:23:53, 1.67s/it] 76%|███████▌ | 22663/30000 [10:31:28<3:24:10, 1.67s/it] 76%|███████▌ | 22664/30000 [10:31:30<3:23:55, 1.67s/it] 76%|███████▌ | 22665/30000 [10:31:32<3:23:47, 1.67s/it] 76%|███████▌ | 22666/30000 [10:31:33<3:24:02, 1.67s/it] 76%|███████▌ | 22667/30000 [10:31:35<3:23:45, 1.67s/it] 76%|███████▌ | 22668/30000 [10:31:37<3:23:27, 1.67s/it] 76%|███████▌ | 22669/30000 [10:31:38<3:23:02, 1.66s/it] 76%|███████▌ | 22670/30000 [10:31:40<3:23:04, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.08634522557258606, 'learning_rate': 4.6369630696552e-06, 'flow_matching_loss': 0.018694581277668477, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.6} + 76%|███████▌ | 22670/30000 [10:31:40<3:23:04, 1.66s/it] 76%|███████▌ | 22671/30000 [10:31:42<3:23:07, 1.66s/it] 76%|███████▌ | 22672/30000 [10:31:43<3:23:41, 1.67s/it] 76%|███████▌ | 22673/30000 [10:31:45<3:23:11, 1.66s/it] 76%|███████▌ | 22674/30000 [10:31:47<3:23:20, 1.67s/it] 76%|███████▌ | 22675/30000 [10:31:48<3:23:11, 1.66s/it] 76%|███████▌ | 22676/30000 [10:31:50<3:23:18, 1.67s/it] 76%|███████▌ | 22677/30000 [10:31:52<3:23:09, 1.66s/it] 76%|███████▌ | 22678/30000 [10:31:53<3:23:35, 1.67s/it] 76%|███████▌ | 22679/30000 [10:31:55<3:23:36, 1.67s/it] 76%|███████▌ | 22680/30000 [10:31:57<3:23:34, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.09686609357595444, 'learning_rate': 4.625015114690474e-06, 'flow_matching_loss': 0.01684972206130624, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.6} + 76%|███████▌ | 22680/30000 [10:31:57<3:23:34, 1.67s/it] 76%|███████▌ | 22681/30000 [10:31:58<3:23:29, 1.67s/it] 76%|███████▌ | 22682/30000 [10:32:00<3:23:40, 1.67s/it] 76%|███████▌ | 22683/30000 [10:32:02<3:23:17, 1.67s/it] 76%|███████▌ | 22684/30000 [10:32:03<3:23:05, 1.67s/it] 76%|███████▌ | 22685/30000 [10:32:05<3:22:49, 1.66s/it] 76%|███████▌ | 22686/30000 [10:32:07<3:23:00, 1.67s/it] 76%|███████▌ | 22687/30000 [10:32:08<3:22:59, 1.67s/it] 76%|███████▌ | 22688/30000 [10:32:10<3:23:21, 1.67s/it] 76%|███████▌ | 22689/30000 [10:32:12<3:23:22, 1.67s/it] 76%|███████▌ | 22690/30000 [10:32:13<3:23:21, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.0873836949467659, 'learning_rate': 4.613079766310682e-06, 'flow_matching_loss': 0.018987191002815963, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.6} + 76%|███████▌ | 22690/30000 [10:32:14<3:23:21, 1.67s/it] 76%|███████▌ | 22691/30000 [10:32:15<3:23:27, 1.67s/it] 76%|███████▌ | 22692/30000 [10:32:17<3:23:23, 1.67s/it] 76%|███████▌ | 22693/30000 [10:32:18<3:23:13, 1.67s/it] 76%|███████▌ | 22694/30000 [10:32:20<3:23:49, 1.67s/it] 76%|███████▌ | 22695/30000 [10:32:22<3:23:06, 1.67s/it] 76%|███████▌ | 22696/30000 [10:32:24<3:23:10, 1.67s/it] 76%|███████▌ | 22697/30000 [10:32:25<3:22:57, 1.67s/it] 76%|███████▌ | 22698/30000 [10:32:27<3:22:45, 1.67s/it] 76%|███████▌ | 22699/30000 [10:32:29<3:22:54, 1.67s/it] 76%|███████▌ | 22700/30000 [10:32:30<3:22:53, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10460921376943588, 'learning_rate': 4.601157039018396e-06, 'flow_matching_loss': 0.017454196885228156, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.6} + 76%|███████▌ | 22700/30000 [10:32:30<3:22:53, 1.67s/it] 76%|███████▌ | 22701/30000 [10:32:32<3:22:41, 1.67s/it] 76%|███████▌ | 22702/30000 [10:32:33<3:22:36, 1.67s/it] 76%|███████▌ | 22703/30000 [10:32:35<3:22:36, 1.67s/it] 76%|███████▌ | 22704/30000 [10:32:37<3:22:40, 1.67s/it] 76%|███████▌ | 22705/30000 [10:32:38<3:22:41, 1.67s/it] 76%|███████▌ | 22706/30000 [10:32:40<3:22:43, 1.67s/it] 76%|███████▌ | 22707/30000 [10:32:42<3:22:59, 1.67s/it] 76%|███████▌ | 22708/30000 [10:32:44<3:22:46, 1.67s/it] 76%|███████▌ | 22709/30000 [10:32:45<3:22:25, 1.67s/it] 76%|███████▌ | 22710/30000 [10:32:47<3:22:36, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.10611008107662201, 'learning_rate': 4.589246947300849e-06, 'flow_matching_loss': 0.01878226799890399, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.61} + 76%|███████▌ | 22710/30000 [10:32:47<3:22:36, 1.67s/it] 76%|███████▌ | 22711/30000 [10:32:49<3:22:32, 1.67s/it] 76%|███████▌ | 22712/30000 [10:32:50<3:22:33, 1.67s/it] 76%|███████▌ | 22713/30000 [10:32:52<3:22:51, 1.67s/it] 76%|███████▌ | 22714/30000 [10:32:54<3:22:41, 1.67s/it] 76%|███████▌ | 22715/30000 [10:32:55<3:22:32, 1.67s/it] 76%|███████▌ | 22716/30000 [10:32:57<3:22:27, 1.67s/it] 76%|███████▌ | 22717/30000 [10:32:59<3:22:13, 1.67s/it] 76%|███████▌ | 22718/30000 [10:33:00<3:22:25, 1.67s/it] 76%|███████▌ | 22719/30000 [10:33:02<3:22:10, 1.67s/it] 76%|███████▌ | 22720/30000 [10:33:04<3:22:19, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.12131036072969437, 'learning_rate': 4.577349505629936e-06, 'flow_matching_loss': 0.018641437776386736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.61} + 76%|███████▌ | 22720/30000 [10:33:04<3:22:19, 1.67s/it] 76%|███████▌ | 22721/30000 [10:33:05<3:22:41, 1.67s/it] 76%|███████▌ | 22722/30000 [10:33:07<3:22:24, 1.67s/it] 76%|███████▌ | 22723/30000 [10:33:09<3:22:28, 1.67s/it] 76%|███████▌ | 22724/30000 [10:33:10<3:22:28, 1.67s/it] 76%|███████▌ | 22725/30000 [10:33:12<3:21:35, 1.66s/it] 76%|███████▌ | 22726/30000 [10:33:14<3:21:57, 1.67s/it] 76%|███████▌ | 22727/30000 [10:33:15<3:22:03, 1.67s/it] 76%|███████▌ | 22728/30000 [10:33:17<3:21:54, 1.67s/it] 76%|███████▌ | 22729/30000 [10:33:19<3:21:52, 1.67s/it] 76%|███████▌ | 22730/30000 [10:33:20<3:22:07, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.10973076522350311, 'learning_rate': 4.565464728462165e-06, 'flow_matching_loss': 0.016188878752291202, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.61} + 76%|███████▌ | 22730/30000 [10:33:20<3:22:07, 1.67s/it] 76%|███████▌ | 22731/30000 [10:33:22<3:21:49, 1.67s/it] 76%|███████▌ | 22732/30000 [10:33:24<3:21:34, 1.66s/it] 76%|███████▌ | 22733/30000 [10:33:25<3:21:16, 1.66s/it] 76%|███████▌ | 22734/30000 [10:33:27<3:21:49, 1.67s/it] 76%|███████▌ | 22735/30000 [10:33:29<3:21:43, 1.67s/it] 76%|███████▌ | 22736/30000 [10:33:30<3:21:57, 1.67s/it] 76%|███████▌ | 22737/30000 [10:33:32<3:22:11, 1.67s/it] 76%|███████▌ | 22738/30000 [10:33:34<3:21:55, 1.67s/it] 76%|███████▌ | 22739/30000 [10:33:35<3:21:49, 1.67s/it] 76%|███████▌ | 22740/30000 [10:33:37<3:21:48, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11741992831230164, 'learning_rate': 4.553592630238663e-06, 'flow_matching_loss': 0.018204996082931756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.62} + 76%|███████▌ | 22740/30000 [10:33:37<3:21:48, 1.67s/it] 76%|███████▌ | 22741/30000 [10:33:39<3:21:51, 1.67s/it] 76%|███████▌ | 22742/30000 [10:33:40<3:21:54, 1.67s/it] 76%|███████▌ | 22743/30000 [10:33:42<3:22:22, 1.67s/it] 76%|███████▌ | 22744/30000 [10:33:44<3:22:18, 1.67s/it] 76%|███████▌ | 22745/30000 [10:33:45<3:22:15, 1.67s/it] 76%|███████▌ | 22746/30000 [10:33:47<3:22:07, 1.67s/it] 76%|███████▌ | 22747/30000 [10:33:49<3:21:56, 1.67s/it] 76%|███████▌ | 22748/30000 [10:33:50<3:21:56, 1.67s/it] 76%|███████▌ | 22749/30000 [10:33:52<3:21:38, 1.67s/it] 76%|███████▌ | 22750/30000 [10:33:54<3:21:36, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.13418221473693848, 'learning_rate': 4.541733225385146e-06, 'flow_matching_loss': 0.017145031504333018, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.62} + 76%|███████▌ | 22750/30000 [10:33:54<3:21:36, 1.67s/it] 76%|███████▌ | 22751/30000 [10:33:55<3:21:28, 1.67s/it] 76%|███████▌ | 22752/30000 [10:33:57<3:21:31, 1.67s/it] 76%|███████▌ | 22753/30000 [10:33:59<3:21:13, 1.67s/it] 76%|███████▌ | 22754/30000 [10:34:00<3:21:22, 1.67s/it] 76%|███████▌ | 22755/30000 [10:34:02<3:21:28, 1.67s/it] 76%|███████▌ | 22756/30000 [10:34:04<3:21:11, 1.67s/it] 76%|███████▌ | 22757/30000 [10:34:05<3:20:47, 1.66s/it] 76%|███████▌ | 22758/30000 [10:34:07<3:21:08, 1.67s/it] 76%|███████▌ | 22759/30000 [10:34:09<3:21:28, 1.67s/it] 76%|███████▌ | 22760/30000 [10:34:10<3:21:08, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10867408663034439, 'learning_rate': 4.529886528311905e-06, 'flow_matching_loss': 0.017911470867693423, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.62} + 76%|███████▌ | 22760/30000 [10:34:10<3:21:08, 1.67s/it] 76%|███████▌ | 22761/30000 [10:34:12<3:20:53, 1.67s/it] 76%|███████▌ | 22762/30000 [10:34:14<3:20:56, 1.67s/it] 76%|███████▌ | 22763/30000 [10:34:15<3:21:24, 1.67s/it] 76%|███████▌ | 22764/30000 [10:34:17<3:20:58, 1.67s/it] 76%|███████▌ | 22765/30000 [10:34:19<3:20:43, 1.66s/it] 76%|███████▌ | 22766/30000 [10:34:20<3:20:59, 1.67s/it] 76%|███████▌ | 22767/30000 [10:34:22<3:20:58, 1.67s/it] 76%|███████▌ | 22768/30000 [10:34:24<3:20:54, 1.67s/it] 76%|███████▌ | 22769/30000 [10:34:25<3:20:49, 1.67s/it] 76%|███████▌ | 22770/30000 [10:34:27<3:20:51, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1019415333867073, 'learning_rate': 4.5180525534138045e-06, 'flow_matching_loss': 0.017289633955806495, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.62} + 76%|███████▌ | 22770/30000 [10:34:27<3:20:51, 1.67s/it] 76%|███████▌ | 22771/30000 [10:34:29<3:21:44, 1.67s/it] 76%|███████▌ | 22772/30000 [10:34:30<3:21:43, 1.67s/it] 76%|███████▌ | 22773/30000 [10:34:32<3:21:12, 1.67s/it] 76%|███████▌ | 22774/30000 [10:34:34<3:21:12, 1.67s/it] 76%|███████▌ | 22775/30000 [10:34:35<3:21:04, 1.67s/it] 76%|███████▌ | 22776/30000 [10:34:37<3:21:19, 1.67s/it] 76%|███████▌ | 22777/30000 [10:34:39<3:21:07, 1.67s/it] 76%|███████▌ | 22778/30000 [10:34:40<3:20:42, 1.67s/it] 76%|███████▌ | 22779/30000 [10:34:42<3:21:20, 1.67s/it] 76%|███████▌ | 22780/30000 [10:34:44<3:21:10, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.1285524070262909, 'learning_rate': 4.506231315070235e-06, 'flow_matching_loss': 0.017177082505077122, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.63} + 76%|███████▌ | 22780/30000 [10:34:44<3:21:10, 1.67s/it] 76%|███████▌ | 22781/30000 [10:34:45<3:20:51, 1.67s/it] 76%|███████▌ | 22782/30000 [10:34:47<3:20:56, 1.67s/it] 76%|███████▌ | 22783/30000 [10:34:49<3:20:50, 1.67s/it] 76%|███████▌ | 22784/30000 [10:34:50<3:20:43, 1.67s/it] 76%|███████▌ | 22785/30000 [10:34:52<3:20:26, 1.67s/it] 76%|███████▌ | 22786/30000 [10:34:54<3:20:25, 1.67s/it] 76%|███████▌ | 22787/30000 [10:34:55<3:20:30, 1.67s/it] 76%|███████▌ | 22788/30000 [10:34:57<3:20:17, 1.67s/it] 76%|███████▌ | 22789/30000 [10:34:59<3:20:15, 1.67s/it] 76%|███████▌ | 22790/30000 [10:35:00<3:20:29, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.09877578169107437, 'learning_rate': 4.494422827645115e-06, 'flow_matching_loss': 0.017097222805023193, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.63} + 76%|███████▌ | 22790/30000 [10:35:00<3:20:29, 1.67s/it] 76%|███████▌ | 22791/30000 [10:35:02<3:20:51, 1.67s/it] 76%|███████▌ | 22792/30000 [10:35:04<3:20:58, 1.67s/it] 76%|███████▌ | 22793/30000 [10:35:05<3:20:41, 1.67s/it] 76%|███████▌ | 22794/30000 [10:35:07<3:20:35, 1.67s/it] 76%|███████▌ | 22795/30000 [10:35:09<3:20:34, 1.67s/it] 76%|███████▌ | 22796/30000 [10:35:10<3:20:09, 1.67s/it] 76%|███████▌ | 22797/30000 [10:35:12<3:20:06, 1.67s/it] 76%|███████▌ | 22798/30000 [10:35:14<3:20:09, 1.67s/it] 76%|███████▌ | 22799/30000 [10:35:15<3:20:26, 1.67s/it] 76%|███████▌ | 22800/30000 [10:35:17<3:20:14, 1.67s/it] {'loss': 0.0141, 'grad_norm': 0.10601283609867096, 'learning_rate': 4.482627105486865e-06, 'flow_matching_loss': 0.014133478980511427, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.63} + 76%|███████▌ | 22800/30000 [10:35:17<3:20:14, 1.67s/it] 76%|███████▌ | 22801/30000 [10:35:19<3:20:48, 1.67s/it] 76%|███████▌ | 22802/30000 [10:35:20<3:20:52, 1.67s/it] 76%|███████▌ | 22803/30000 [10:35:22<3:20:41, 1.67s/it] 76%|███████▌ | 22804/30000 [10:35:24<3:20:37, 1.67s/it] 76%|███████▌ | 22805/30000 [10:35:25<3:20:24, 1.67s/it] 76%|███████▌ | 22806/30000 [10:35:27<3:20:03, 1.67s/it] 76%|███████▌ | 22807/30000 [10:35:29<3:19:41, 1.67s/it] 76%|███████▌ | 22808/30000 [10:35:30<3:20:09, 1.67s/it] 76%|███████▌ | 22809/30000 [10:35:32<3:19:36, 1.67s/it] 76%|███████▌ | 22810/30000 [10:35:34<3:19:57, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11988257616758347, 'learning_rate': 4.470844162928412e-06, 'flow_matching_loss': 0.01731813754886389, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.64} + 76%|███████▌ | 22810/30000 [10:35:34<3:19:57, 1.67s/it] 76%|███████▌ | 22811/30000 [10:35:35<3:20:01, 1.67s/it] 76%|███████▌ | 22812/30000 [10:35:37<3:19:52, 1.67s/it] 76%|███████▌ | 22813/30000 [10:35:39<3:19:33, 1.67s/it] 76%|███████▌ | 22814/30000 [10:35:40<3:19:29, 1.67s/it] 76%|███████▌ | 22815/30000 [10:35:42<3:19:39, 1.67s/it] 76%|███████▌ | 22816/30000 [10:35:44<3:19:32, 1.67s/it] 76%|███████▌ | 22817/30000 [10:35:45<3:19:21, 1.67s/it] 76%|███████▌ | 22818/30000 [10:35:47<3:19:26, 1.67s/it] 76%|███████▌ | 22819/30000 [10:35:49<3:19:38, 1.67s/it] 76%|███████▌ | 22820/30000 [10:35:50<3:19:39, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.07216678559780121, 'learning_rate': 4.459074014287129e-06, 'flow_matching_loss': 0.0148619937710464, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.64} + 76%|███████▌ | 22820/30000 [10:35:50<3:19:39, 1.67s/it] 76%|███████▌ | 22821/30000 [10:35:52<3:19:35, 1.67s/it] 76%|███████▌ | 22822/30000 [10:35:54<3:19:20, 1.67s/it] 76%|███████▌ | 22823/30000 [10:35:55<3:19:18, 1.67s/it] 76%|███████▌ | 22824/30000 [10:35:57<3:20:01, 1.67s/it] 76%|███████▌ | 22825/30000 [10:35:59<3:19:37, 1.67s/it] 76%|███████▌ | 22826/30000 [10:36:00<3:19:13, 1.67s/it] 76%|███████▌ | 22827/30000 [10:36:02<3:19:14, 1.67s/it] 76%|███████▌ | 22828/30000 [10:36:04<3:19:10, 1.67s/it] 76%|███████▌ | 22829/30000 [10:36:05<3:19:10, 1.67s/it] 76%|███████▌ | 22830/30000 [10:36:07<3:19:08, 1.67s/it] {'loss': 0.0136, 'grad_norm': 0.08279138058423996, 'learning_rate': 4.447316673864869e-06, 'flow_matching_loss': 0.013566225115209819, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.64} + 76%|███████▌ | 22830/30000 [10:36:07<3:19:08, 1.67s/it] 76%|███████▌ | 22831/30000 [10:36:09<3:19:01, 1.67s/it] 76%|███████▌ | 22832/30000 [10:36:10<3:19:17, 1.67s/it] 76%|███████▌ | 22833/30000 [10:36:12<3:19:12, 1.67s/it] 76%|███████▌ | 22834/30000 [10:36:14<3:18:59, 1.67s/it] 76%|███████▌ | 22835/30000 [10:36:15<3:19:06, 1.67s/it] 76%|███████▌ | 22836/30000 [10:36:17<3:18:58, 1.67s/it] 76%|███████▌ | 22837/30000 [10:36:19<3:18:58, 1.67s/it] 76%|███████▌ | 22838/30000 [10:36:20<3:19:00, 1.67s/it] 76%|███████▌ | 22839/30000 [10:36:22<3:19:01, 1.67s/it] 76%|███████▌ | 22840/30000 [10:36:24<3:19:01, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11643867194652557, 'learning_rate': 4.435572155947903e-06, 'flow_matching_loss': 0.016876506619155407, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.65} + 76%|███████▌ | 22840/30000 [10:36:24<3:19:01, 1.67s/it] 76%|███████▌ | 22841/30000 [10:36:25<3:19:05, 1.67s/it] 76%|███████▌ | 22842/30000 [10:36:27<3:19:07, 1.67s/it] 76%|███████▌ | 22843/30000 [10:36:29<3:19:30, 1.67s/it] 76%|███████▌ | 22844/30000 [10:36:30<3:19:24, 1.67s/it] 76%|███████▌ | 22845/30000 [10:36:32<3:19:26, 1.67s/it] 76%|███████▌ | 22846/30000 [10:36:34<3:19:41, 1.67s/it] 76%|███████▌ | 22847/30000 [10:36:35<3:19:00, 1.67s/it] 76%|███████▌ | 22848/30000 [10:36:37<3:19:22, 1.67s/it] 76%|███████▌ | 22849/30000 [10:36:39<3:19:12, 1.67s/it] 76%|███████▌ | 22850/30000 [10:36:40<3:19:06, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.1171204075217247, 'learning_rate': 4.423840474806929e-06, 'flow_matching_loss': 0.016351038496941327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.65} + 76%|███████▌ | 22850/30000 [10:36:40<3:19:06, 1.67s/it] 76%|███████▌ | 22851/30000 [10:36:42<3:19:08, 1.67s/it] 76%|███████▌ | 22852/30000 [10:36:44<3:19:33, 1.68s/it] 76%|███████▌ | 22853/30000 [10:36:45<3:19:13, 1.67s/it] 76%|███████▌ | 22854/30000 [10:36:47<3:19:19, 1.67s/it] 76%|███████▌ | 22855/30000 [10:36:49<3:18:48, 1.67s/it] 76%|███████▌ | 22856/30000 [10:36:50<3:18:44, 1.67s/it] 76%|███████▌ | 22857/30000 [10:36:52<3:18:54, 1.67s/it] 76%|███████▌ | 22858/30000 [10:36:54<3:18:53, 1.67s/it] 76%|███████▌ | 22859/30000 [10:36:55<3:19:03, 1.67s/it] 76%|███████▌ | 22860/30000 [10:36:57<3:18:38, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.10891880840063095, 'learning_rate': 4.412121644697043e-06, 'flow_matching_loss': 0.017106400895863773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.65} + 76%|███████▌ | 22860/30000 [10:36:57<3:18:38, 1.67s/it] 76%|███████▌ | 22861/30000 [10:36:59<3:18:59, 1.67s/it] 76%|███████▌ | 22862/30000 [10:37:01<3:19:07, 1.67s/it] 76%|███████▌ | 22863/30000 [10:37:02<3:18:47, 1.67s/it] 76%|███████▌ | 22864/30000 [10:37:04<3:18:46, 1.67s/it] 76%|███████▌ | 22865/30000 [10:37:05<3:18:14, 1.67s/it] 76%|███████▌ | 22866/30000 [10:37:07<3:18:09, 1.67s/it] 76%|███████▌ | 22867/30000 [10:37:09<3:18:17, 1.67s/it] 76%|███████▌ | 22868/30000 [10:37:10<3:17:55, 1.67s/it] 76%|███████▌ | 22869/30000 [10:37:12<3:17:52, 1.66s/it] 76%|███████▌ | 22870/30000 [10:37:14<3:17:31, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.11463446170091629, 'learning_rate': 4.400415679857727e-06, 'flow_matching_loss': 0.018697324953973294, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.65} + 76%|███████▌ | 22870/30000 [10:37:14<3:17:31, 1.66s/it] 76%|███████▌ | 22871/30000 [10:37:15<3:17:46, 1.66s/it] 76%|███████▌ | 22872/30000 [10:37:17<3:18:02, 1.67s/it] 76%|███████▌ | 22873/30000 [10:37:19<3:17:47, 1.67s/it] 76%|███████▌ | 22874/30000 [10:37:20<3:18:08, 1.67s/it] 76%|███████▋ | 22875/30000 [10:37:22<3:18:20, 1.67s/it] 76%|███████▋ | 22876/30000 [10:37:24<3:18:01, 1.67s/it] 76%|███████▋ | 22877/30000 [10:37:25<3:17:39, 1.66s/it] 76%|███████▋ | 22878/30000 [10:37:27<3:17:59, 1.67s/it] 76%|███████▋ | 22879/30000 [10:37:29<3:17:49, 1.67s/it] 76%|███████▋ | 22880/30000 [10:37:30<3:17:52, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.10480895638465881, 'learning_rate': 4.388722594512838e-06, 'flow_matching_loss': 0.019047841429710388, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.66} + 76%|███████▋ | 22880/30000 [10:37:31<3:17:52, 1.67s/it] 76%|███████▋ | 22881/30000 [10:37:32<3:17:52, 1.67s/it] 76%|███████▋ | 22882/30000 [10:37:34<3:18:17, 1.67s/it] 76%|███████▋ | 22883/30000 [10:37:36<3:18:02, 1.67s/it] 76%|███████▋ | 22884/30000 [10:37:37<3:17:55, 1.67s/it] 76%|███████▋ | 22885/30000 [10:37:39<3:17:32, 1.67s/it] 76%|███████▋ | 22886/30000 [10:37:41<3:18:23, 1.67s/it] 76%|███████▋ | 22887/30000 [10:37:42<3:17:44, 1.67s/it] 76%|███████▋ | 22888/30000 [10:37:44<3:17:47, 1.67s/it] 76%|███████▋ | 22889/30000 [10:37:46<3:17:34, 1.67s/it] 76%|███████▋ | 22890/30000 [10:37:47<3:17:44, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.1269891858100891, 'learning_rate': 4.377042402870577e-06, 'flow_matching_loss': 0.016992442682385443, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.66} + 76%|███████▋ | 22890/30000 [10:37:47<3:17:44, 1.67s/it] 76%|███████▋ | 22891/30000 [10:37:49<3:18:04, 1.67s/it] 76%|███████▋ | 22892/30000 [10:37:51<3:17:53, 1.67s/it] 76%|███████▋ | 22893/30000 [10:37:52<3:17:28, 1.67s/it] 76%|███████▋ | 22894/30000 [10:37:54<3:17:16, 1.67s/it] 76%|███████▋ | 22895/30000 [10:37:56<3:17:05, 1.66s/it] 76%|███████▋ | 22896/30000 [10:37:57<3:17:10, 1.67s/it] 76%|███████▋ | 22897/30000 [10:37:59<3:17:03, 1.66s/it] 76%|███████▋ | 22898/30000 [10:38:01<3:17:19, 1.67s/it] 76%|███████▋ | 22899/30000 [10:38:02<3:17:30, 1.67s/it] 76%|███████▋ | 22900/30000 [10:38:04<3:17:07, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.08715060353279114, 'learning_rate': 4.365375119123476e-06, 'flow_matching_loss': 0.015998940262943507, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.66} + 76%|███████▋ | 22900/30000 [10:38:04<3:17:07, 1.67s/it] 76%|███████▋ | 22901/30000 [10:38:06<3:16:40, 1.66s/it] 76%|███████▋ | 22902/30000 [10:38:07<3:17:02, 1.67s/it] 76%|███████▋ | 22903/30000 [10:38:09<3:17:24, 1.67s/it] 76%|███████▋ | 22904/30000 [10:38:11<3:17:20, 1.67s/it] 76%|███████▋ | 22905/30000 [10:38:12<3:17:04, 1.67s/it] 76%|███████▋ | 22906/30000 [10:38:14<3:17:26, 1.67s/it] 76%|███████▋ | 22907/30000 [10:38:16<3:17:25, 1.67s/it] 76%|███████▋ | 22908/30000 [10:38:17<3:17:54, 1.67s/it] 76%|███████▋ | 22909/30000 [10:38:19<3:17:31, 1.67s/it] 76%|███████▋ | 22910/30000 [10:38:21<3:17:15, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.07783123850822449, 'learning_rate': 4.353720757448383e-06, 'flow_matching_loss': 0.016377608943730592, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.67} + 76%|███████▋ | 22910/30000 [10:38:21<3:17:15, 1.67s/it] 76%|███████▋ | 22911/30000 [10:38:22<3:16:53, 1.67s/it] 76%|███████▋ | 22912/30000 [10:38:24<3:16:58, 1.67s/it] 76%|███████▋ | 22913/30000 [10:38:26<3:16:55, 1.67s/it] 76%|███████▋ | 22914/30000 [10:38:27<3:17:02, 1.67s/it] 76%|███████▋ | 22915/30000 [10:38:29<3:17:14, 1.67s/it] 76%|███████▋ | 22916/30000 [10:38:31<3:16:36, 1.67s/it] 76%|███████▋ | 22917/30000 [10:38:32<3:16:18, 1.66s/it] 76%|███████▋ | 22918/30000 [10:38:34<3:16:41, 1.67s/it] 76%|███████▋ | 22919/30000 [10:38:36<3:16:40, 1.67s/it] 76%|███████▋ | 22920/30000 [10:38:37<3:16:58, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.11237908899784088, 'learning_rate': 4.342079332006445e-06, 'flow_matching_loss': 0.018389174342155458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.67} + 76%|███████▋ | 22920/30000 [10:38:37<3:16:58, 1.67s/it] 76%|███████▋ | 22921/30000 [10:38:39<3:17:11, 1.67s/it] 76%|███████▋ | 22922/30000 [10:38:41<3:17:46, 1.68s/it] 76%|███████▋ | 22923/30000 [10:38:42<3:17:54, 1.68s/it] 76%|███████▋ | 22924/30000 [10:38:44<3:17:33, 1.68s/it] 76%|███████▋ | 22925/30000 [10:38:46<3:17:13, 1.67s/it] 76%|███████▋ | 22926/30000 [10:38:47<3:17:11, 1.67s/it] 76%|███████▋ | 22927/30000 [10:38:49<3:17:05, 1.67s/it] 76%|███████▋ | 22928/30000 [10:38:51<3:16:59, 1.67s/it] 76%|███████▋ | 22929/30000 [10:38:52<3:17:06, 1.67s/it] 76%|███████▋ | 22930/30000 [10:38:54<3:16:54, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1102844774723053, 'learning_rate': 4.330450856943101e-06, 'flow_matching_loss': 0.017949534114450216, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.67} + 76%|███████▋ | 22930/30000 [10:38:54<3:16:54, 1.67s/it] 76%|███████▋ | 22931/30000 [10:38:56<3:16:57, 1.67s/it] 76%|███████▋ | 22932/30000 [10:38:57<3:16:45, 1.67s/it] 76%|███████▋ | 22933/30000 [10:38:59<3:16:18, 1.67s/it] 76%|███████▋ | 22934/30000 [10:39:01<3:16:34, 1.67s/it] 76%|███████▋ | 22935/30000 [10:39:02<3:16:12, 1.67s/it] 76%|███████▋ | 22936/30000 [10:39:04<3:16:25, 1.67s/it] 76%|███████▋ | 22937/30000 [10:39:06<3:16:05, 1.67s/it] 76%|███████▋ | 22938/30000 [10:39:07<3:16:15, 1.67s/it] 76%|███████▋ | 22939/30000 [10:39:09<3:16:20, 1.67s/it] 76%|███████▋ | 22940/30000 [10:39:11<3:16:07, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.13324053585529327, 'learning_rate': 4.318835346388036e-06, 'flow_matching_loss': 0.017373894341289997, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.67} + 76%|███████▋ | 22940/30000 [10:39:11<3:16:07, 1.67s/it] 76%|███████▋ | 22941/30000 [10:39:12<3:15:49, 1.66s/it] 76%|███████▋ | 22942/30000 [10:39:14<3:16:00, 1.67s/it] 76%|███████▋ | 22943/30000 [10:39:16<3:16:13, 1.67s/it] 76%|███████▋ | 22944/30000 [10:39:17<3:16:18, 1.67s/it] 76%|███████▋ | 22945/30000 [10:39:19<3:15:51, 1.67s/it] 76%|███████▋ | 22946/30000 [10:39:21<3:15:56, 1.67s/it] 76%|███████▋ | 22947/30000 [10:39:22<3:16:03, 1.67s/it] 76%|███████▋ | 22948/30000 [10:39:24<3:15:52, 1.67s/it] 76%|███████▋ | 22949/30000 [10:39:26<3:15:36, 1.66s/it] 76%|███████▋ | 22950/30000 [10:39:27<3:15:58, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.12409870326519012, 'learning_rate': 4.307232814455189e-06, 'flow_matching_loss': 0.0151022813282907, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.68} + 76%|███████▋ | 22950/30000 [10:39:27<3:15:58, 1.67s/it] 77%|███████▋ | 22951/30000 [10:39:29<3:16:05, 1.67s/it] 77%|███████▋ | 22952/30000 [10:39:31<3:16:08, 1.67s/it] 77%|███████▋ | 22953/30000 [10:39:32<3:16:01, 1.67s/it] 77%|███████▋ | 22954/30000 [10:39:34<3:16:42, 1.68s/it] 77%|███████▋ | 22955/30000 [10:39:36<3:16:19, 1.67s/it] 77%|███████▋ | 22956/30000 [10:39:37<3:16:09, 1.67s/it] 77%|███████▋ | 22957/30000 [10:39:39<3:15:46, 1.67s/it] 77%|███████▋ | 22958/30000 [10:39:41<3:15:39, 1.67s/it] 77%|███████▋ | 22959/30000 [10:39:42<3:15:41, 1.67s/it] 77%|███████▋ | 22960/30000 [10:39:44<3:15:35, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.09416569024324417, 'learning_rate': 4.29564327524274e-06, 'flow_matching_loss': 0.01571532180532813, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.68} + 77%|███████▋ | 22960/30000 [10:39:44<3:15:35, 1.67s/it] 77%|███████▋ | 22961/30000 [10:39:46<3:15:41, 1.67s/it] 77%|███████▋ | 22962/30000 [10:39:47<3:15:36, 1.67s/it] 77%|███████▋ | 22963/30000 [10:39:49<3:15:38, 1.67s/it] 77%|███████▋ | 22964/30000 [10:39:51<3:15:36, 1.67s/it] 77%|███████▋ | 22965/30000 [10:39:52<3:15:23, 1.67s/it] 77%|███████▋ | 22966/30000 [10:39:54<3:15:33, 1.67s/it] 77%|███████▋ | 22967/30000 [10:39:56<3:15:15, 1.67s/it] 77%|███████▋ | 22968/30000 [10:39:57<3:15:58, 1.67s/it] 77%|███████▋ | 22969/30000 [10:39:59<3:15:29, 1.67s/it] 77%|███████▋ | 22970/30000 [10:40:01<3:15:12, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10353606194257736, 'learning_rate': 4.284066742833061e-06, 'flow_matching_loss': 0.017047615814954044, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.68} + 77%|███████▋ | 22970/30000 [10:40:01<3:15:12, 1.67s/it] 77%|███████▋ | 22971/30000 [10:40:02<3:15:14, 1.67s/it] 77%|███████▋ | 22972/30000 [10:40:04<3:15:05, 1.67s/it] 77%|███████▋ | 22973/30000 [10:40:06<3:14:49, 1.66s/it] 77%|███████▋ | 22974/30000 [10:40:07<3:14:39, 1.66s/it] 77%|███████▋ | 22975/30000 [10:40:09<3:14:34, 1.66s/it] 77%|███████▋ | 22976/30000 [10:40:11<3:14:45, 1.66s/it] 77%|███████▋ | 22977/30000 [10:40:12<3:14:32, 1.66s/it] 77%|███████▋ | 22978/30000 [10:40:14<3:14:39, 1.66s/it] 77%|███████▋ | 22979/30000 [10:40:16<3:14:33, 1.66s/it] 77%|███████▋ | 22980/30000 [10:40:17<3:15:10, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11579805612564087, 'learning_rate': 4.272503231292741e-06, 'flow_matching_loss': 0.018276203703135253, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.69} + 77%|███████▋ | 22980/30000 [10:40:17<3:15:10, 1.67s/it] 77%|███████▋ | 22981/30000 [10:40:19<3:15:29, 1.67s/it] 77%|███████▋ | 22982/30000 [10:40:21<3:15:18, 1.67s/it] 77%|███████▋ | 22983/30000 [10:40:22<3:14:50, 1.67s/it] 77%|███████▋ | 22984/30000 [10:40:24<3:15:08, 1.67s/it] 77%|███████▋ | 22985/30000 [10:40:26<3:14:37, 1.66s/it] 77%|███████▋ | 22986/30000 [10:40:27<3:14:46, 1.67s/it] 77%|███████▋ | 22987/30000 [10:40:29<3:14:34, 1.66s/it] 77%|███████▋ | 22988/30000 [10:40:31<3:14:45, 1.67s/it] 77%|███████▋ | 22989/30000 [10:40:32<3:14:45, 1.67s/it] 77%|███████▋ | 22990/30000 [10:40:34<3:14:49, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.12772542238235474, 'learning_rate': 4.260952754672532e-06, 'flow_matching_loss': 0.017894255556166173, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.69} + 77%|███████▋ | 22990/30000 [10:40:34<3:14:49, 1.67s/it] 77%|███████▋ | 22991/30000 [10:40:36<3:14:36, 1.67s/it] 77%|███████▋ | 22992/30000 [10:40:37<3:14:23, 1.66s/it] 77%|███████▋ | 22993/30000 [10:40:39<3:14:09, 1.66s/it] 77%|███████▋ | 22994/30000 [10:40:41<3:14:17, 1.66s/it] 77%|███████▋ | 22995/30000 [10:40:42<3:14:05, 1.66s/it] 77%|███████▋ | 22996/30000 [10:40:44<3:14:15, 1.66s/it] 77%|███████▋ | 22997/30000 [10:40:46<3:14:17, 1.66s/it] 77%|███████▋ | 22998/30000 [10:40:47<3:14:09, 1.66s/it] 77%|███████▋ | 22999/30000 [10:40:49<3:13:51, 1.66s/it] 77%|███████▋ | 23000/30000 [10:40:51<3:13:59, 1.66s/it] {'loss': 0.0167, 'grad_norm': 0.11369958519935608, 'learning_rate': 4.249415327007353e-06, 'flow_matching_loss': 0.016688597947359086, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.69} + 77%|███████▋ | 23000/30000 [10:40:51<3:13:59, 1.66s/it] 77%|███████▋ | 23001/30000 [10:40:52<3:13:57, 1.66s/it] 77%|███████▋ | 23002/30000 [10:40:54<3:13:59, 1.66s/it] 77%|███████▋ | 23003/30000 [10:40:56<3:14:01, 1.66s/it] 77%|███████▋ | 23004/30000 [10:40:57<3:14:03, 1.66s/it] 77%|███████▋ | 23005/30000 [10:40:59<3:13:55, 1.66s/it] 77%|███████▋ | 23006/30000 [10:41:01<3:14:29, 1.67s/it] 77%|███████▋ | 23007/30000 [10:41:02<3:14:33, 1.67s/it] 77%|███████▋ | 23008/30000 [10:41:04<3:14:16, 1.67s/it] 77%|███████▋ | 23009/30000 [10:41:06<3:13:37, 1.66s/it] 77%|███████▋ | 23010/30000 [10:41:07<3:13:56, 1.66s/it] {'loss': 0.0168, 'grad_norm': 0.09524653106927872, 'learning_rate': 4.237890962316264e-06, 'flow_matching_loss': 0.016818379797041417, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.69} + 77%|███████▋ | 23010/30000 [10:41:07<3:13:56, 1.66s/it] 77%|███████▋ | 23011/30000 [10:41:09<3:14:03, 1.67s/it] 77%|███████▋ | 23012/30000 [10:41:11<3:14:07, 1.67s/it] 77%|███████▋ | 23013/30000 [10:41:12<3:13:53, 1.67s/it] 77%|███████▋ | 23014/30000 [10:41:14<3:13:49, 1.66s/it] 77%|███████▋ | 23015/30000 [10:41:16<3:13:31, 1.66s/it] 77%|███████▋ | 23016/30000 [10:41:17<3:13:47, 1.66s/it] 77%|███████▋ | 23017/30000 [10:41:19<3:13:52, 1.67s/it] 77%|███████▋ | 23018/30000 [10:41:21<3:13:51, 1.67s/it] 77%|███████▋ | 23019/30000 [10:41:22<3:14:04, 1.67s/it] 77%|███████▋ | 23020/30000 [10:41:24<3:14:12, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.10901200026273727, 'learning_rate': 4.226379674602452e-06, 'flow_matching_loss': 0.0159509995020926, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.7} + 77%|███████▋ | 23020/30000 [10:41:24<3:14:12, 1.67s/it] 77%|███████▋ | 23021/30000 [10:41:26<3:13:53, 1.67s/it] 77%|███████▋ | 23022/30000 [10:41:27<3:13:44, 1.67s/it] 77%|███████▋ | 23023/30000 [10:41:29<3:13:34, 1.66s/it] 77%|███████▋ | 23024/30000 [10:41:31<3:13:48, 1.67s/it] 77%|███████▋ | 23025/30000 [10:41:32<3:13:28, 1.66s/it] 77%|███████▋ | 23026/30000 [10:41:34<3:13:24, 1.66s/it] 77%|███████▋ | 23027/30000 [10:41:36<3:13:19, 1.66s/it] 77%|███████▋ | 23028/30000 [10:41:37<3:13:16, 1.66s/it] 77%|███████▋ | 23029/30000 [10:41:39<3:13:02, 1.66s/it] 77%|███████▋ | 23030/30000 [10:41:41<3:13:13, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.1360853910446167, 'learning_rate': 4.214881477853227e-06, 'flow_matching_loss': 0.017799182794988155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.7} + 77%|███████▋ | 23030/30000 [10:41:41<3:13:13, 1.66s/it] 77%|███████▋ | 23031/30000 [10:41:42<3:13:00, 1.66s/it] 77%|███████▋ | 23032/30000 [10:41:44<3:13:24, 1.67s/it] 77%|███████▋ | 23033/30000 [10:41:46<3:13:16, 1.66s/it] 77%|███████▋ | 23034/30000 [10:41:47<3:13:18, 1.66s/it] 77%|███████▋ | 23035/30000 [10:41:49<3:13:45, 1.67s/it] 77%|███████▋ | 23036/30000 [10:41:51<3:13:42, 1.67s/it] 77%|███████▋ | 23037/30000 [10:41:52<3:13:13, 1.66s/it] 77%|███████▋ | 23038/30000 [10:41:54<3:13:15, 1.67s/it] 77%|███████▋ | 23039/30000 [10:41:56<3:12:53, 1.66s/it] 77%|███████▋ | 23040/30000 [10:41:57<3:13:22, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.094363272190094, 'learning_rate': 4.2033963860399745e-06, 'flow_matching_loss': 0.01750065628439188, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.7} + 77%|███████▋ | 23040/30000 [10:41:57<3:13:22, 1.67s/it] 77%|███████▋ | 23041/30000 [10:41:59<3:13:01, 1.66s/it] 77%|███████▋ | 23042/30000 [10:42:01<3:13:03, 1.66s/it] 77%|███████▋ | 23043/30000 [10:42:02<3:13:25, 1.67s/it] 77%|███████▋ | 23044/30000 [10:42:04<3:13:42, 1.67s/it] 77%|███████▋ | 23045/30000 [10:42:06<3:13:28, 1.67s/it] 77%|███████▋ | 23046/30000 [10:42:07<3:13:40, 1.67s/it] 77%|███████▋ | 23047/30000 [10:42:09<3:13:12, 1.67s/it] 77%|███████▋ | 23048/30000 [10:42:11<3:12:58, 1.67s/it] 77%|███████▋ | 23049/30000 [10:42:12<3:12:48, 1.66s/it] 77%|███████▋ | 23050/30000 [10:42:14<3:12:43, 1.66s/it] {'loss': 0.0213, 'grad_norm': 0.1571311503648758, 'learning_rate': 4.1919244131181696e-06, 'flow_matching_loss': 0.02131626568734646, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.71} + 77%|███████▋ | 23050/30000 [10:42:14<3:12:43, 1.66s/it] 77%|███████▋ | 23051/30000 [10:42:16<3:12:55, 1.67s/it] 77%|███████▋ | 23052/30000 [10:42:17<3:12:56, 1.67s/it] 77%|███████▋ | 23053/30000 [10:42:19<3:12:42, 1.66s/it] 77%|███████▋ | 23054/30000 [10:42:21<3:12:54, 1.67s/it] 77%|███████▋ | 23055/30000 [10:42:22<3:12:33, 1.66s/it] 77%|███████▋ | 23056/30000 [10:42:24<3:12:32, 1.66s/it] 77%|███████▋ | 23057/30000 [10:42:26<3:12:33, 1.66s/it] 77%|███████▋ | 23058/30000 [10:42:27<3:12:48, 1.67s/it] 77%|███████▋ | 23059/30000 [10:42:29<3:12:51, 1.67s/it] 77%|███████▋ | 23060/30000 [10:42:31<3:12:54, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.10373634845018387, 'learning_rate': 4.180465573027335e-06, 'flow_matching_loss': 0.01582461493089795, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.71} + 77%|███████▋ | 23060/30000 [10:42:31<3:12:54, 1.67s/it] 77%|███████▋ | 23061/30000 [10:42:32<3:12:37, 1.67s/it] 77%|███████▋ | 23062/30000 [10:42:34<3:12:44, 1.67s/it] 77%|███████▋ | 23063/30000 [10:42:36<3:12:30, 1.67s/it] 77%|███████▋ | 23064/30000 [10:42:37<3:12:33, 1.67s/it] 77%|███████▋ | 23065/30000 [10:42:39<3:12:23, 1.66s/it] 77%|███████▋ | 23066/30000 [10:42:41<3:13:01, 1.67s/it] 77%|███████▋ | 23067/30000 [10:42:42<3:12:28, 1.67s/it] 77%|███████▋ | 23068/30000 [10:42:44<3:12:19, 1.66s/it] 77%|███████▋ | 23069/30000 [10:42:46<3:11:56, 1.66s/it] 77%|███████▋ | 23070/30000 [10:42:47<3:12:10, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.09391728043556213, 'learning_rate': 4.169019879691046e-06, 'flow_matching_loss': 0.016385471168905496, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.71} + 77%|███████▋ | 23070/30000 [10:42:47<3:12:10, 1.66s/it] 77%|███████▋ | 23071/30000 [10:42:49<3:12:08, 1.66s/it] 77%|███████▋ | 23072/30000 [10:42:51<3:12:13, 1.66s/it] 77%|███████▋ | 23073/30000 [10:42:52<3:12:34, 1.67s/it] 77%|███████▋ | 23074/30000 [10:42:54<3:12:07, 1.66s/it] 77%|███████▋ | 23075/30000 [10:42:56<3:12:11, 1.67s/it] 77%|███████▋ | 23076/30000 [10:42:57<3:12:05, 1.66s/it] 77%|███████▋ | 23077/30000 [10:42:59<3:12:03, 1.66s/it] 77%|███████▋ | 23078/30000 [10:43:01<3:11:54, 1.66s/it] 77%|███████▋ | 23079/30000 [10:43:02<3:11:38, 1.66s/it] 77%|███████▋ | 23080/30000 [10:43:04<3:12:00, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.10200626403093338, 'learning_rate': 4.157587347016891e-06, 'flow_matching_loss': 0.01737043457105756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.72} + 77%|███████▋ | 23080/30000 [10:43:04<3:12:00, 1.66s/it] 77%|███████▋ | 23081/30000 [10:43:06<3:11:48, 1.66s/it] 77%|███████▋ | 23082/30000 [10:43:07<3:12:00, 1.67s/it] 77%|███████▋ | 23083/30000 [10:43:09<3:11:56, 1.66s/it] 77%|███████▋ | 23084/30000 [10:43:10<3:11:53, 1.66s/it] 77%|███████▋ | 23085/30000 [10:43:12<3:11:44, 1.66s/it] 77%|███████▋ | 23086/30000 [10:43:14<3:11:32, 1.66s/it] 77%|███████▋ | 23087/30000 [10:43:15<3:11:25, 1.66s/it] 77%|███████▋ | 23088/30000 [10:43:17<3:11:45, 1.66s/it] 77%|███████▋ | 23089/30000 [10:43:19<3:11:38, 1.66s/it] 77%|███████▋ | 23090/30000 [10:43:20<3:11:34, 1.66s/it] {'loss': 0.0167, 'grad_norm': 0.09990342706441879, 'learning_rate': 4.14616798889649e-06, 'flow_matching_loss': 0.016709166578948498, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.72} + 77%|███████▋ | 23090/30000 [10:43:21<3:11:34, 1.66s/it] 77%|███████▋ | 23091/30000 [10:43:22<3:11:57, 1.67s/it] 77%|███████▋ | 23092/30000 [10:43:24<3:11:39, 1.66s/it] 77%|███████▋ | 23093/30000 [10:43:25<3:11:31, 1.66s/it] 77%|███████▋ | 23094/30000 [10:43:27<3:11:36, 1.66s/it] 77%|███████▋ | 23095/30000 [10:43:29<3:11:17, 1.66s/it] 77%|███████▋ | 23096/30000 [10:43:30<3:11:16, 1.66s/it] 77%|███████▋ | 23097/30000 [10:43:32<3:11:15, 1.66s/it] 77%|███████▋ | 23098/30000 [10:43:34<3:11:43, 1.67s/it] 77%|███████▋ | 23099/30000 [10:43:35<3:11:36, 1.67s/it] 77%|███████▋ | 23100/30000 [10:43:37<3:11:50, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.12278929352760315, 'learning_rate': 4.134761819205425e-06, 'flow_matching_loss': 0.01799957752227783, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.72} + 77%|███████▋ | 23100/30000 [10:43:37<3:11:50, 1.67s/it] 77%|███████▋ | 23101/30000 [10:43:39<3:11:50, 1.67s/it] 77%|███████▋ | 23102/30000 [10:43:40<3:11:40, 1.67s/it] 77%|███████▋ | 23103/30000 [10:43:42<3:11:25, 1.67s/it] 77%|███████▋ | 23104/30000 [10:43:44<3:11:29, 1.67s/it] 77%|███████▋ | 23105/30000 [10:43:45<3:11:20, 1.67s/it] 77%|███████▋ | 23106/30000 [10:43:47<3:11:17, 1.66s/it] 77%|███████▋ | 23107/30000 [10:43:49<3:11:09, 1.66s/it] 77%|███████▋ | 23108/30000 [10:43:50<3:11:06, 1.66s/it] 77%|███████▋ | 23109/30000 [10:43:52<3:10:46, 1.66s/it] 77%|███████▋ | 23110/30000 [10:43:54<3:10:49, 1.66s/it] {'loss': 0.0179, 'grad_norm': 0.08903993666172028, 'learning_rate': 4.1233688518032794e-06, 'flow_matching_loss': 0.01787460343912244, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.72} + 77%|███████▋ | 23110/30000 [10:43:54<3:10:49, 1.66s/it] 77%|███████▋ | 23111/30000 [10:43:55<3:10:53, 1.66s/it] 77%|███████▋ | 23112/30000 [10:43:57<3:10:55, 1.66s/it] 77%|███████▋ | 23113/30000 [10:43:59<3:11:02, 1.66s/it] 77%|███████▋ | 23114/30000 [10:44:00<3:11:19, 1.67s/it] 77%|███████▋ | 23115/30000 [10:44:02<3:11:06, 1.67s/it] 77%|███████▋ | 23116/30000 [10:44:04<3:11:02, 1.67s/it] 77%|███████▋ | 23117/30000 [10:44:05<3:10:24, 1.66s/it] 77%|███████▋ | 23118/30000 [10:44:07<3:10:52, 1.66s/it] 77%|███████▋ | 23119/30000 [10:44:09<3:10:29, 1.66s/it] 77%|███████▋ | 23120/30000 [10:44:10<3:10:41, 1.66s/it] {'loss': 0.0171, 'grad_norm': 0.10742130875587463, 'learning_rate': 4.1119891005335795e-06, 'flow_matching_loss': 0.01705513847991824, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.73} + 77%|███████▋ | 23120/30000 [10:44:10<3:10:41, 1.66s/it] 77%|███████▋ | 23121/30000 [10:44:12<3:10:38, 1.66s/it] 77%|███████▋ | 23122/30000 [10:44:14<3:10:31, 1.66s/it] 77%|███████▋ | 23123/30000 [10:44:15<3:10:52, 1.67s/it] 77%|███████▋ | 23124/30000 [10:44:17<3:11:00, 1.67s/it] 77%|███████▋ | 23125/30000 [10:44:19<3:10:38, 1.66s/it] 77%|███████▋ | 23126/30000 [10:44:20<3:10:48, 1.67s/it] 77%|███████▋ | 23127/30000 [10:44:22<3:10:25, 1.66s/it] 77%|███████▋ | 23128/30000 [10:44:24<3:10:40, 1.66s/it] 77%|███████▋ | 23129/30000 [10:44:25<3:10:23, 1.66s/it] 77%|███████▋ | 23130/30000 [10:44:27<3:10:26, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.12149456888437271, 'learning_rate': 4.1006225792237895e-06, 'flow_matching_loss': 0.017156071960926056, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.73} + 77%|███████▋ | 23130/30000 [10:44:27<3:10:26, 1.66s/it] 77%|███████▋ | 23131/30000 [10:44:29<3:10:24, 1.66s/it] 77%|███████▋ | 23132/30000 [10:44:30<3:10:25, 1.66s/it] 77%|███████▋ | 23133/30000 [10:44:32<3:10:15, 1.66s/it] 77%|███████▋ | 23134/30000 [10:44:34<3:10:46, 1.67s/it] 77%|███████▋ | 23135/30000 [10:44:35<3:10:16, 1.66s/it] 77%|███████▋ | 23136/30000 [10:44:37<3:10:20, 1.66s/it] 77%|███████▋ | 23137/30000 [10:44:39<3:10:20, 1.66s/it] 77%|███████▋ | 23138/30000 [10:44:40<3:10:38, 1.67s/it] 77%|███████▋ | 23139/30000 [10:44:42<3:10:42, 1.67s/it] 77%|███████▋ | 23140/30000 [10:44:44<3:10:43, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10745647549629211, 'learning_rate': 4.089269301685314e-06, 'flow_matching_loss': 0.0154087258502841, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.73} + 77%|███████▋ | 23140/30000 [10:44:44<3:10:43, 1.67s/it] 77%|███████▋ | 23141/30000 [10:44:45<3:10:54, 1.67s/it] 77%|███████▋ | 23142/30000 [10:44:47<3:10:42, 1.67s/it] 77%|███████▋ | 23143/30000 [10:44:49<3:10:22, 1.67s/it] 77%|███████▋ | 23144/30000 [10:44:50<3:10:28, 1.67s/it] 77%|███████▋ | 23145/30000 [10:44:52<3:10:20, 1.67s/it] 77%|███████▋ | 23146/30000 [10:44:54<3:10:11, 1.66s/it] 77%|███████▋ | 23147/30000 [10:44:55<3:10:14, 1.67s/it] 77%|███████▋ | 23148/30000 [10:44:57<3:10:09, 1.67s/it] 77%|███████▋ | 23149/30000 [10:44:59<3:09:52, 1.66s/it] 77%|███████▋ | 23150/30000 [10:45:00<3:10:01, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.15320426225662231, 'learning_rate': 4.077929281713453e-06, 'flow_matching_loss': 0.01940418127924204, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.74} + 77%|███████▋ | 23150/30000 [10:45:00<3:10:01, 1.66s/it] 77%|███████▋ | 23151/30000 [10:45:02<3:09:50, 1.66s/it] 77%|███████▋ | 23152/30000 [10:45:04<3:09:50, 1.66s/it] 77%|███████▋ | 23153/30000 [10:45:05<3:09:43, 1.66s/it] 77%|███████▋ | 23154/30000 [10:45:07<3:10:19, 1.67s/it] 77%|███████▋ | 23155/30000 [10:45:09<3:10:34, 1.67s/it] 77%|███████▋ | 23156/30000 [10:45:10<3:10:19, 1.67s/it] 77%|███████▋ | 23157/30000 [10:45:12<3:10:27, 1.67s/it] 77%|███████▋ | 23158/30000 [10:45:14<3:10:21, 1.67s/it] 77%|███████▋ | 23159/30000 [10:45:15<3:09:50, 1.67s/it] 77%|███████▋ | 23160/30000 [10:45:17<3:09:51, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.14061850309371948, 'learning_rate': 4.066602533087398e-06, 'flow_matching_loss': 0.018887498136609792, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.74} + 77%|███████▋ | 23160/30000 [10:45:17<3:09:51, 1.67s/it] 77%|███████▋ | 23161/30000 [10:45:19<3:10:01, 1.67s/it] 77%|███████▋ | 23162/30000 [10:45:20<3:10:01, 1.67s/it] 77%|███████▋ | 23163/30000 [10:45:22<3:09:53, 1.67s/it] 77%|███████▋ | 23164/30000 [10:45:24<3:10:04, 1.67s/it] 77%|███████▋ | 23165/30000 [10:45:25<3:09:25, 1.66s/it] 77%|███████▋ | 23166/30000 [10:45:27<3:09:24, 1.66s/it] 77%|███████▋ | 23167/30000 [10:45:29<3:09:33, 1.66s/it] 77%|███████▋ | 23168/30000 [10:45:30<3:09:38, 1.67s/it] 77%|███████▋ | 23169/30000 [10:45:32<3:09:16, 1.66s/it] 77%|███████▋ | 23170/30000 [10:45:34<3:09:27, 1.66s/it] {'loss': 0.0155, 'grad_norm': 0.10608423501253128, 'learning_rate': 4.0552890695702175e-06, 'flow_matching_loss': 0.015509269665926695, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.74} + 77%|███████▋ | 23170/30000 [10:45:34<3:09:27, 1.66s/it] 77%|███████▋ | 23171/30000 [10:45:35<3:09:13, 1.66s/it] 77%|███████▋ | 23172/30000 [10:45:37<3:09:26, 1.66s/it] 77%|███████▋ | 23173/30000 [10:45:39<3:09:13, 1.66s/it] 77%|███████▋ | 23174/30000 [10:45:40<3:09:06, 1.66s/it] 77%|███████▋ | 23175/30000 [10:45:42<3:08:57, 1.66s/it] 77%|███████▋ | 23176/30000 [10:45:44<3:09:08, 1.66s/it] 77%|███████▋ | 23177/30000 [10:45:45<3:08:57, 1.66s/it] 77%|███████▋ | 23178/30000 [10:45:47<3:09:34, 1.67s/it] 77%|███████▋ | 23179/30000 [10:45:49<3:09:28, 1.67s/it] 77%|███████▋ | 23180/30000 [10:45:50<3:09:05, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.1056489571928978, 'learning_rate': 4.04398890490883e-06, 'flow_matching_loss': 0.017716884054243563, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.74} + 77%|███████▋ | 23180/30000 [10:45:50<3:09:05, 1.66s/it] 77%|███████▋ | 23181/30000 [10:45:52<3:08:58, 1.66s/it] 77%|███████▋ | 23182/30000 [10:45:54<3:08:55, 1.66s/it] 77%|███████▋ | 23183/30000 [10:45:55<3:08:55, 1.66s/it] 77%|███████▋ | 23184/30000 [10:45:57<3:09:22, 1.67s/it] 77%|███████▋ | 23185/30000 [10:45:59<3:09:08, 1.67s/it] 77%|███████▋ | 23186/30000 [10:46:00<3:09:03, 1.66s/it] 77%|███████▋ | 23187/30000 [10:46:02<3:09:09, 1.67s/it] 77%|███████▋ | 23188/30000 [10:46:04<3:09:06, 1.67s/it] 77%|███████▋ | 23189/30000 [10:46:05<3:08:48, 1.66s/it] 77%|███████▋ | 23190/30000 [10:46:07<3:08:49, 1.66s/it] {'loss': 0.0181, 'grad_norm': 0.1204288974404335, 'learning_rate': 4.032702052834013e-06, 'flow_matching_loss': 0.01813995037227869, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.75} + 77%|███████▋ | 23190/30000 [10:46:07<3:08:49, 1.66s/it] 77%|███████▋ | 23191/30000 [10:46:09<3:08:43, 1.66s/it] 77%|███████▋ | 23192/30000 [10:46:10<3:08:58, 1.67s/it] 77%|███████▋ | 23193/30000 [10:46:12<3:08:51, 1.66s/it] 77%|███████▋ | 23194/30000 [10:46:14<3:09:20, 1.67s/it] 77%|███████▋ | 23195/30000 [10:46:15<3:09:18, 1.67s/it] 77%|███████▋ | 23196/30000 [10:46:17<3:08:54, 1.67s/it] 77%|███████▋ | 23197/30000 [10:46:19<3:08:42, 1.66s/it] 77%|███████▋ | 23198/30000 [10:46:20<3:08:47, 1.67s/it] 77%|███████▋ | 23199/30000 [10:46:22<3:08:24, 1.66s/it] 77%|███████▋ | 23200/30000 [10:46:24<3:08:25, 1.66s/it] {'loss': 0.0159, 'grad_norm': 0.10779963433742523, 'learning_rate': 4.021428527060352e-06, 'flow_matching_loss': 0.015928423777222634, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.75} + 77%|███████▋ | 23200/30000 [10:46:24<3:08:25, 1.66s/it] 77%|███████▋ | 23201/30000 [10:46:25<3:08:20, 1.66s/it] 77%|███████▋ | 23202/30000 [10:46:27<3:08:35, 1.66s/it] 77%|███████▋ | 23203/30000 [10:46:29<3:08:31, 1.66s/it] 77%|███████▋ | 23204/30000 [10:46:30<3:08:24, 1.66s/it] 77%|███████▋ | 23205/30000 [10:46:32<3:08:30, 1.66s/it] 77%|███████▋ | 23206/30000 [10:46:34<3:08:29, 1.66s/it] 77%|███████▋ | 23207/30000 [10:46:35<3:08:09, 1.66s/it] 77%|███████▋ | 23208/30000 [10:46:37<3:08:02, 1.66s/it] 77%|███████▋ | 23209/30000 [10:46:39<3:08:05, 1.66s/it] 77%|███████▋ | 23210/30000 [10:46:40<3:07:41, 1.66s/it] {'loss': 0.0155, 'grad_norm': 0.10851942747831345, 'learning_rate': 4.010168341286241e-06, 'flow_matching_loss': 0.015454095881432294, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.75} + 77%|███████▋ | 23210/30000 [10:46:40<3:07:41, 1.66s/it] 77%|███████▋ | 23211/30000 [10:46:42<3:08:07, 1.66s/it] 77%|███████▋ | 23212/30000 [10:46:44<3:08:08, 1.66s/it] 77%|███████▋ | 23213/30000 [10:46:45<3:07:57, 1.66s/it] 77%|███████▋ | 23214/30000 [10:46:47<3:08:05, 1.66s/it] 77%|███████▋ | 23215/30000 [10:46:49<3:08:07, 1.66s/it] 77%|███████▋ | 23216/30000 [10:46:50<3:08:11, 1.66s/it] 77%|███████▋ | 23217/30000 [10:46:52<3:07:56, 1.66s/it] 77%|███████▋ | 23218/30000 [10:46:54<3:08:10, 1.66s/it] 77%|███████▋ | 23219/30000 [10:46:55<3:08:25, 1.67s/it] 77%|███████▋ | 23220/30000 [10:46:57<3:08:27, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.0770040825009346, 'learning_rate': 3.998921509193868e-06, 'flow_matching_loss': 0.016460054181516172, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.76} + 77%|███████▋ | 23220/30000 [10:46:57<3:08:27, 1.67s/it] 77%|███████▋ | 23221/30000 [10:46:59<3:07:59, 1.66s/it] 77%|███████▋ | 23222/30000 [10:47:00<3:07:43, 1.66s/it] 77%|███████▋ | 23223/30000 [10:47:02<3:07:19, 1.66s/it] 77%|███████▋ | 23224/30000 [10:47:04<3:07:45, 1.66s/it] 77%|███████▋ | 23225/30000 [10:47:05<3:07:23, 1.66s/it] 77%|███████▋ | 23226/30000 [10:47:07<3:07:36, 1.66s/it] 77%|███████▋ | 23227/30000 [10:47:09<3:07:59, 1.67s/it] 77%|███████▋ | 23228/30000 [10:47:10<3:07:33, 1.66s/it] 77%|███████▋ | 23229/30000 [10:47:12<3:07:28, 1.66s/it] 77%|███████▋ | 23230/30000 [10:47:13<3:07:36, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.0931885689496994, 'learning_rate': 3.987688044449193e-06, 'flow_matching_loss': 0.016471755038946868, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.76} + 77%|███████▋ | 23230/30000 [10:47:14<3:07:36, 1.66s/it] 77%|███████▋ | 23231/30000 [10:47:15<3:07:31, 1.66s/it] 77%|███████▋ | 23232/30000 [10:47:17<3:08:13, 1.67s/it] 77%|███████▋ | 23233/30000 [10:47:19<3:08:15, 1.67s/it] 77%|███████▋ | 23234/30000 [10:47:20<3:08:16, 1.67s/it] 77%|███████▋ | 23235/30000 [10:47:22<3:08:09, 1.67s/it] 77%|███████▋ | 23236/30000 [10:47:24<3:08:09, 1.67s/it] 77%|███████▋ | 23237/30000 [10:47:25<3:07:59, 1.67s/it] 77%|███████▋ | 23238/30000 [10:47:27<3:07:49, 1.67s/it] 77%|███████▋ | 23239/30000 [10:47:29<3:07:48, 1.67s/it] 77%|███████▋ | 23240/30000 [10:47:30<3:07:53, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.11964993923902512, 'learning_rate': 3.9764679607019385e-06, 'flow_matching_loss': 0.018033137638121845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.76} + 77%|███████▋ | 23240/30000 [10:47:30<3:07:53, 1.67s/it] 77%|███████▋ | 23241/30000 [10:47:32<3:07:49, 1.67s/it] 77%|███████▋ | 23242/30000 [10:47:34<3:07:44, 1.67s/it] 77%|███████▋ | 23243/30000 [10:47:35<3:07:46, 1.67s/it] 77%|███████▋ | 23244/30000 [10:47:37<3:07:59, 1.67s/it] 77%|███████▋ | 23245/30000 [10:47:39<3:07:40, 1.67s/it] 77%|███████▋ | 23246/30000 [10:47:40<3:07:29, 1.67s/it] 77%|███████▋ | 23247/30000 [10:47:42<3:07:29, 1.67s/it] 77%|███████▋ | 23248/30000 [10:47:44<3:07:43, 1.67s/it] 77%|███████▋ | 23249/30000 [10:47:45<3:07:35, 1.67s/it] 78%|███████▊ | 23250/30000 [10:47:47<3:07:39, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.09431663900613785, 'learning_rate': 3.965261271585561e-06, 'flow_matching_loss': 0.017095097340643406, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.76} + 78%|███████▊ | 23250/30000 [10:47:47<3:07:39, 1.67s/it] 78%|███████▊ | 23251/30000 [10:47:49<3:07:55, 1.67s/it] 78%|███████▊ | 23252/30000 [10:47:50<3:07:53, 1.67s/it] 78%|███████▊ | 23253/30000 [10:47:52<3:07:38, 1.67s/it] 78%|███████▊ | 23254/30000 [10:47:54<3:07:43, 1.67s/it] 78%|███████▊ | 23255/30000 [10:47:55<3:07:21, 1.67s/it] 78%|███████▊ | 23256/30000 [10:47:57<3:07:45, 1.67s/it] 78%|███████▊ | 23257/30000 [10:47:59<3:07:52, 1.67s/it] 78%|███████▊ | 23258/30000 [10:48:00<3:07:45, 1.67s/it] 78%|███████▊ | 23259/30000 [10:48:02<3:07:47, 1.67s/it] 78%|███████▊ | 23260/30000 [10:48:04<3:07:36, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09325417131185532, 'learning_rate': 3.954067990717251e-06, 'flow_matching_loss': 0.019254463724792004, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.77} + 78%|███████▊ | 23260/30000 [10:48:04<3:07:36, 1.67s/it] 78%|███████▊ | 23261/30000 [10:48:05<3:07:23, 1.67s/it] 78%|███████▊ | 23262/30000 [10:48:07<3:07:31, 1.67s/it] 78%|███████▊ | 23263/30000 [10:48:09<3:06:57, 1.67s/it] 78%|███████▊ | 23264/30000 [10:48:10<3:06:54, 1.66s/it] 78%|███████▊ | 23265/30000 [10:48:12<3:07:01, 1.67s/it] 78%|███████▊ | 23266/30000 [10:48:14<3:07:18, 1.67s/it] 78%|███████▊ | 23267/30000 [10:48:15<3:07:42, 1.67s/it] 78%|███████▊ | 23268/30000 [10:48:17<3:07:42, 1.67s/it] 78%|███████▊ | 23269/30000 [10:48:19<3:07:21, 1.67s/it] 78%|███████▊ | 23270/30000 [10:48:20<3:07:16, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.0977400615811348, 'learning_rate': 3.9428881316978935e-06, 'flow_matching_loss': 0.015801077336072923, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.77} + 78%|███████▊ | 23270/30000 [10:48:20<3:07:16, 1.67s/it] 78%|███████▊ | 23271/30000 [10:48:22<3:07:09, 1.67s/it] 78%|███████▊ | 23272/30000 [10:48:24<3:07:13, 1.67s/it] 78%|███████▊ | 23273/30000 [10:48:25<3:07:04, 1.67s/it] 78%|███████▊ | 23274/30000 [10:48:27<3:07:18, 1.67s/it] 78%|███████▊ | 23275/30000 [10:48:29<3:07:30, 1.67s/it] 78%|███████▊ | 23276/30000 [10:48:30<3:07:22, 1.67s/it] 78%|███████▊ | 23277/30000 [10:48:32<3:07:02, 1.67s/it] 78%|███████▊ | 23278/30000 [10:48:34<3:07:08, 1.67s/it] 78%|███████▊ | 23279/30000 [10:48:35<3:06:33, 1.67s/it] 78%|███████▊ | 23280/30000 [10:48:37<3:07:00, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12623851001262665, 'learning_rate': 3.931721708112075e-06, 'flow_matching_loss': 0.017238368932157754, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.77} + 78%|███████▊ | 23280/30000 [10:48:37<3:07:00, 1.67s/it] 78%|███████▊ | 23281/30000 [10:48:39<3:06:43, 1.67s/it] 78%|███████▊ | 23282/30000 [10:48:40<3:06:48, 1.67s/it] 78%|███████▊ | 23283/30000 [10:48:42<3:06:53, 1.67s/it] 78%|███████▊ | 23284/30000 [10:48:44<3:06:49, 1.67s/it] 78%|███████▊ | 23285/30000 [10:48:45<3:06:23, 1.67s/it] 78%|███████▊ | 23286/30000 [10:48:47<3:06:46, 1.67s/it] 78%|███████▊ | 23287/30000 [10:48:49<3:06:38, 1.67s/it] 78%|███████▊ | 23288/30000 [10:48:50<3:06:37, 1.67s/it] 78%|███████▊ | 23289/30000 [10:48:52<3:06:45, 1.67s/it] 78%|███████▊ | 23290/30000 [10:48:54<3:06:43, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.09753424674272537, 'learning_rate': 3.920568733528047e-06, 'flow_matching_loss': 0.016585749108344316, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.78} + 78%|███████▊ | 23290/30000 [10:48:54<3:06:43, 1.67s/it] 78%|███████▊ | 23291/30000 [10:48:55<3:07:14, 1.67s/it] 78%|███████▊ | 23292/30000 [10:48:57<3:07:17, 1.68s/it] 78%|███████▊ | 23293/30000 [10:48:59<3:06:45, 1.67s/it] 78%|███████▊ | 23294/30000 [10:49:00<3:06:36, 1.67s/it] 78%|███████▊ | 23295/30000 [10:49:02<3:06:22, 1.67s/it] 78%|███████▊ | 23296/30000 [10:49:04<3:06:32, 1.67s/it] 78%|███████▊ | 23297/30000 [10:49:05<3:06:21, 1.67s/it] 78%|███████▊ | 23298/30000 [10:49:07<3:06:18, 1.67s/it] 78%|███████▊ | 23299/30000 [10:49:09<3:06:19, 1.67s/it] 78%|███████▊ | 23300/30000 [10:49:10<3:06:33, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.09194587916135788, 'learning_rate': 3.909429221497734e-06, 'flow_matching_loss': 0.016130599938333035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.78} + 78%|███████▊ | 23300/30000 [10:49:10<3:06:33, 1.67s/it] 78%|███████▊ | 23301/30000 [10:49:12<3:06:25, 1.67s/it] 78%|███████▊ | 23302/30000 [10:49:14<3:05:55, 1.67s/it] 78%|███████▊ | 23303/30000 [10:49:15<3:06:18, 1.67s/it] 78%|███████▊ | 23304/30000 [10:49:17<3:06:39, 1.67s/it] 78%|███████▊ | 23305/30000 [10:49:19<3:06:23, 1.67s/it] 78%|███████▊ | 23306/30000 [10:49:20<3:06:30, 1.67s/it] 78%|███████▊ | 23307/30000 [10:49:22<3:06:22, 1.67s/it] 78%|███████▊ | 23308/30000 [10:49:24<3:06:16, 1.67s/it] 78%|███████▊ | 23309/30000 [10:49:25<3:05:54, 1.67s/it] 78%|███████▊ | 23310/30000 [10:49:27<3:06:08, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.09626881778240204, 'learning_rate': 3.898303185556689e-06, 'flow_matching_loss': 0.01667071199044585, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.78} + 78%|███████▊ | 23310/30000 [10:49:27<3:06:08, 1.67s/it] 78%|███████▊ | 23311/30000 [10:49:29<3:05:52, 1.67s/it] 78%|███████▊ | 23312/30000 [10:49:30<3:05:37, 1.67s/it] 78%|███████▊ | 23313/30000 [10:49:32<3:05:45, 1.67s/it] 78%|███████▊ | 23314/30000 [10:49:34<3:05:49, 1.67s/it] 78%|███████▊ | 23315/30000 [10:49:35<3:05:54, 1.67s/it] 78%|███████▊ | 23316/30000 [10:49:37<3:06:16, 1.67s/it] 78%|███████▊ | 23317/30000 [10:49:39<3:06:03, 1.67s/it] 78%|███████▊ | 23318/30000 [10:49:40<3:05:48, 1.67s/it] 78%|███████▊ | 23319/30000 [10:49:42<3:05:47, 1.67s/it] 78%|███████▊ | 23320/30000 [10:49:44<3:05:49, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.10408934950828552, 'learning_rate': 3.887190639224097e-06, 'flow_matching_loss': 0.014993457775563001, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.78} + 78%|███████▊ | 23320/30000 [10:49:44<3:05:49, 1.67s/it] 78%|███████▊ | 23321/30000 [10:49:45<3:06:19, 1.67s/it] 78%|███████▊ | 23322/30000 [10:49:47<3:06:36, 1.68s/it] 78%|███████▊ | 23323/30000 [10:49:49<3:06:07, 1.67s/it] 78%|███████▊ | 23324/30000 [10:49:50<3:06:08, 1.67s/it] 78%|███████▊ | 23325/30000 [10:49:52<3:05:47, 1.67s/it] 78%|███████▊ | 23326/30000 [10:49:54<3:05:27, 1.67s/it] 78%|███████▊ | 23327/30000 [10:49:55<3:05:12, 1.67s/it] 78%|███████▊ | 23328/30000 [10:49:57<3:05:27, 1.67s/it] 78%|███████▊ | 23329/30000 [10:49:59<3:05:27, 1.67s/it] 78%|███████▊ | 23330/30000 [10:50:00<3:05:32, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.08186125755310059, 'learning_rate': 3.876091596002746e-06, 'flow_matching_loss': 0.01609313637018204, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.79} + 78%|███████▊ | 23330/30000 [10:50:00<3:05:32, 1.67s/it] 78%|███████▊ | 23331/30000 [10:50:02<3:05:55, 1.67s/it] 78%|███████▊ | 23332/30000 [10:50:04<3:05:44, 1.67s/it] 78%|███████▊ | 23333/30000 [10:50:05<3:05:26, 1.67s/it] 78%|███████▊ | 23334/30000 [10:50:07<3:05:15, 1.67s/it] 78%|███████▊ | 23335/30000 [10:50:09<3:05:02, 1.67s/it] 78%|███████▊ | 23336/30000 [10:50:10<3:05:08, 1.67s/it] 78%|███████▊ | 23337/30000 [10:50:12<3:05:04, 1.67s/it] 78%|███████▊ | 23338/30000 [10:50:14<3:04:51, 1.66s/it] 78%|███████▊ | 23339/30000 [10:50:15<3:05:02, 1.67s/it] 78%|███████▊ | 23340/30000 [10:50:17<3:05:04, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.11462705582380295, 'learning_rate': 3.865006069379019e-06, 'flow_matching_loss': 0.019392379466444253, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.79} + 78%|███████▊ | 23340/30000 [10:50:17<3:05:04, 1.67s/it] 78%|███████▊ | 23341/30000 [10:50:19<3:05:10, 1.67s/it] 78%|███████▊ | 23342/30000 [10:50:20<3:04:54, 1.67s/it] 78%|███████▊ | 23343/30000 [10:50:22<3:04:59, 1.67s/it] 78%|███████▊ | 23344/30000 [10:50:24<3:05:20, 1.67s/it] 78%|███████▊ | 23345/30000 [10:50:25<3:05:30, 1.67s/it] 78%|███████▊ | 23346/30000 [10:50:27<3:05:26, 1.67s/it] 78%|███████▊ | 23347/30000 [10:50:29<3:05:22, 1.67s/it] 78%|███████▊ | 23348/30000 [10:50:30<3:05:22, 1.67s/it] 78%|███████▊ | 23349/30000 [10:50:32<3:05:01, 1.67s/it] 78%|███████▊ | 23350/30000 [10:50:34<3:05:03, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.11042310297489166, 'learning_rate': 3.853934072822881e-06, 'flow_matching_loss': 0.01622041966766119, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.79} + 78%|███████▊ | 23350/30000 [10:50:34<3:05:03, 1.67s/it] 78%|███████▊ | 23351/30000 [10:50:35<3:04:55, 1.67s/it] 78%|███████▊ | 23352/30000 [10:50:37<3:04:57, 1.67s/it] 78%|███████▊ | 23353/30000 [10:50:39<3:04:57, 1.67s/it] 78%|███████▊ | 23354/30000 [10:50:40<3:04:55, 1.67s/it] 78%|███████▊ | 23355/30000 [10:50:42<3:04:53, 1.67s/it] 78%|███████▊ | 23356/30000 [10:50:44<3:05:03, 1.67s/it] 78%|███████▊ | 23357/30000 [10:50:45<3:04:41, 1.67s/it] 78%|███████▊ | 23358/30000 [10:50:47<3:04:59, 1.67s/it] 78%|███████▊ | 23359/30000 [10:50:49<3:04:44, 1.67s/it] 78%|███████▊ | 23360/30000 [10:50:50<3:05:07, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.10100246220827103, 'learning_rate': 3.8428756197878514e-06, 'flow_matching_loss': 0.01681864196434617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.8} + 78%|███████▊ | 23360/30000 [10:50:51<3:05:07, 1.67s/it] 78%|███████▊ | 23361/30000 [10:50:52<3:04:39, 1.67s/it] 78%|███████▊ | 23362/30000 [10:50:54<3:04:31, 1.67s/it] 78%|███████▊ | 23363/30000 [10:50:55<3:04:24, 1.67s/it] 78%|███████▊ | 23364/30000 [10:50:57<3:04:35, 1.67s/it] 78%|███████▊ | 23365/30000 [10:50:59<3:05:02, 1.67s/it] 78%|███████▊ | 23366/30000 [10:51:01<3:05:10, 1.67s/it] 78%|███████▊ | 23367/30000 [10:51:02<3:04:38, 1.67s/it] 78%|███████▊ | 23368/30000 [10:51:04<3:04:37, 1.67s/it] 78%|███████▊ | 23369/30000 [10:51:06<3:04:16, 1.67s/it] 78%|███████▊ | 23370/30000 [10:51:07<3:04:08, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.11440810561180115, 'learning_rate': 3.831830723710992e-06, 'flow_matching_loss': 0.01835915455594659, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.8} + 78%|███████▊ | 23370/30000 [10:51:07<3:04:08, 1.67s/it] 78%|███████▊ | 23371/30000 [10:51:09<3:04:14, 1.67s/it] 78%|███████▊ | 23372/30000 [10:51:11<3:04:30, 1.67s/it] 78%|███████▊ | 23373/30000 [10:51:12<3:04:12, 1.67s/it] 78%|███████▊ | 23374/30000 [10:51:14<3:04:14, 1.67s/it] 78%|███████▊ | 23375/30000 [10:51:16<3:03:51, 1.67s/it] 78%|███████▊ | 23376/30000 [10:51:17<3:04:01, 1.67s/it] 78%|███████▊ | 23377/30000 [10:51:19<3:04:00, 1.67s/it] 78%|███████▊ | 23378/30000 [10:51:21<3:04:02, 1.67s/it] 78%|███████▊ | 23379/30000 [10:51:22<3:04:52, 1.68s/it] 78%|███████▊ | 23380/30000 [10:51:24<3:04:31, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.09182935208082199, 'learning_rate': 3.820799398012889e-06, 'flow_matching_loss': 0.01708876732736826, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.8} + 78%|███████▊ | 23380/30000 [10:51:24<3:04:31, 1.67s/it] 78%|███████▊ | 23381/30000 [10:51:26<3:04:23, 1.67s/it] 78%|███████▊ | 23382/30000 [10:51:27<3:04:07, 1.67s/it] 78%|███████▊ | 23383/30000 [10:51:29<3:03:31, 1.66s/it] 78%|███████▊ | 23384/30000 [10:51:31<3:03:41, 1.67s/it] 78%|███████▊ | 23385/30000 [10:51:32<3:03:29, 1.66s/it] 78%|███████▊ | 23386/30000 [10:51:34<3:03:31, 1.66s/it] 78%|███████▊ | 23387/30000 [10:51:36<3:03:22, 1.66s/it] 78%|███████▊ | 23388/30000 [10:51:37<3:03:45, 1.67s/it] 78%|███████▊ | 23389/30000 [10:51:39<3:03:33, 1.67s/it] 78%|███████▊ | 23390/30000 [10:51:41<3:03:39, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.10301543027162552, 'learning_rate': 3.80978165609765e-06, 'flow_matching_loss': 0.017297185212373733, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.81} + 78%|███████▊ | 23390/30000 [10:51:41<3:03:39, 1.67s/it] 78%|███████▊ | 23391/30000 [10:51:42<3:03:34, 1.67s/it] 78%|███████▊ | 23392/30000 [10:51:44<3:03:49, 1.67s/it] 78%|███████▊ | 23393/30000 [10:51:46<3:03:39, 1.67s/it] 78%|███████▊ | 23394/30000 [10:51:47<3:03:42, 1.67s/it] 78%|███████▊ | 23395/30000 [10:51:49<3:03:28, 1.67s/it] 78%|███████▊ | 23396/30000 [10:51:51<3:03:29, 1.67s/it] 78%|███████▊ | 23397/30000 [10:51:52<3:03:14, 1.67s/it] 78%|███████▊ | 23398/30000 [10:51:54<3:03:03, 1.66s/it] 78%|███████▊ | 23399/30000 [10:51:56<3:03:04, 1.66s/it] 78%|███████▊ | 23400/30000 [10:51:57<3:03:25, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.12462617456912994, 'learning_rate': 3.798777511352864e-06, 'flow_matching_loss': 0.016564240492880345, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.81} + 78%|███████▊ | 23400/30000 [10:51:57<3:03:25, 1.67s/it] 78%|███████▊ | 23401/30000 [10:51:59<3:03:10, 1.67s/it] 78%|███████▊ | 23402/30000 [10:52:01<3:03:18, 1.67s/it] 78%|███████▊ | 23403/30000 [10:52:02<3:03:19, 1.67s/it] 78%|███████▊ | 23404/30000 [10:52:04<3:03:11, 1.67s/it] 78%|███████▊ | 23405/30000 [10:52:06<3:03:08, 1.67s/it] 78%|███████▊ | 23406/30000 [10:52:07<3:03:06, 1.67s/it] 78%|███████▊ | 23407/30000 [10:52:09<3:02:37, 1.66s/it] 78%|███████▊ | 23408/30000 [10:52:11<3:02:44, 1.66s/it] 78%|███████▊ | 23409/30000 [10:52:12<3:02:48, 1.66s/it] 78%|███████▊ | 23410/30000 [10:52:14<3:03:00, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09255485236644745, 'learning_rate': 3.787786977149613e-06, 'flow_matching_loss': 0.017224732041358947, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.81} + 78%|███████▊ | 23410/30000 [10:52:14<3:03:00, 1.67s/it] 78%|███████▊ | 23411/30000 [10:52:16<3:02:59, 1.67s/it] 78%|███████▊ | 23412/30000 [10:52:17<3:03:01, 1.67s/it] 78%|███████▊ | 23413/30000 [10:52:19<3:02:35, 1.66s/it] 78%|███████▊ | 23414/30000 [10:52:21<3:02:37, 1.66s/it] 78%|███████▊ | 23415/30000 [10:52:22<3:02:30, 1.66s/it] 78%|███████▊ | 23416/30000 [10:52:24<3:02:40, 1.66s/it] 78%|███████▊ | 23417/30000 [10:52:26<3:02:45, 1.67s/it] 78%|███████▊ | 23418/30000 [10:52:27<3:02:34, 1.66s/it] 78%|███████▊ | 23419/30000 [10:52:29<3:03:21, 1.67s/it] 78%|███████▊ | 23420/30000 [10:52:31<3:03:09, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.08966761082410812, 'learning_rate': 3.776810066842427e-06, 'flow_matching_loss': 0.018309575412422417, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.81} + 78%|███████▊ | 23420/30000 [10:52:31<3:03:09, 1.67s/it] 78%|███████▊ | 23421/30000 [10:52:32<3:02:50, 1.67s/it] 78%|███████▊ | 23422/30000 [10:52:34<3:02:44, 1.67s/it] 78%|███████▊ | 23423/30000 [10:52:36<3:02:39, 1.67s/it] 78%|███████▊ | 23424/30000 [10:52:37<3:02:40, 1.67s/it] 78%|███████▊ | 23425/30000 [10:52:39<3:02:45, 1.67s/it] 78%|███████▊ | 23426/30000 [10:52:41<3:02:34, 1.67s/it] 78%|███████▊ | 23427/30000 [10:52:42<3:02:36, 1.67s/it] 78%|███████▊ | 23428/30000 [10:52:44<3:02:34, 1.67s/it] 78%|███████▊ | 23429/30000 [10:52:46<3:02:25, 1.67s/it] 78%|███████▊ | 23430/30000 [10:52:47<3:02:17, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.09483883529901505, 'learning_rate': 3.7658467937692866e-06, 'flow_matching_loss': 0.017626491934061052, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.82} + 78%|███████▊ | 23430/30000 [10:52:47<3:02:17, 1.66s/it] 78%|███████▊ | 23431/30000 [10:52:49<3:02:27, 1.67s/it] 78%|███████▊ | 23432/30000 [10:52:51<3:02:27, 1.67s/it] 78%|███████▊ | 23433/30000 [10:52:52<3:02:24, 1.67s/it] 78%|███████▊ | 23434/30000 [10:52:54<3:02:25, 1.67s/it] 78%|███████▊ | 23435/30000 [10:52:56<3:02:35, 1.67s/it] 78%|███████▊ | 23436/30000 [10:52:57<3:02:35, 1.67s/it] 78%|███████▊ | 23437/30000 [10:52:59<3:02:00, 1.66s/it] 78%|███████▊ | 23438/30000 [10:53:01<3:02:10, 1.67s/it] 78%|███████▊ | 23439/30000 [10:53:02<3:02:00, 1.66s/it] 78%|███████▊ | 23440/30000 [10:53:04<3:02:04, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.1076112762093544, 'learning_rate': 3.7548971712516e-06, 'flow_matching_loss': 0.01645378302782774, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.82} + 78%|███████▊ | 23440/30000 [10:53:04<3:02:04, 1.67s/it] 78%|███████▊ | 23441/30000 [10:53:06<3:02:05, 1.67s/it] 78%|███████▊ | 23442/30000 [10:53:07<3:02:02, 1.67s/it] 78%|███████▊ | 23443/30000 [10:53:09<3:02:22, 1.67s/it] 78%|███████▊ | 23444/30000 [10:53:11<3:02:15, 1.67s/it] 78%|███████▊ | 23445/30000 [10:53:12<3:02:08, 1.67s/it] 78%|███████▊ | 23446/30000 [10:53:14<3:02:13, 1.67s/it] 78%|███████▊ | 23447/30000 [10:53:16<3:02:03, 1.67s/it] 78%|███████▊ | 23448/30000 [10:53:17<3:02:08, 1.67s/it] 78%|███████▊ | 23449/30000 [10:53:19<3:02:09, 1.67s/it] 78%|███████▊ | 23450/30000 [10:53:21<3:02:32, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.20468734204769135, 'learning_rate': 3.743961212594197e-06, 'flow_matching_loss': 0.016175070498138665, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.82} + 78%|███████▊ | 23450/30000 [10:53:21<3:02:32, 1.67s/it] 78%|███████▊ | 23451/30000 [10:53:22<3:02:26, 1.67s/it] 78%|███████▊ | 23452/30000 [10:53:24<3:02:14, 1.67s/it] 78%|███████▊ | 23453/30000 [10:53:26<3:01:53, 1.67s/it] 78%|███████▊ | 23454/30000 [10:53:27<3:01:52, 1.67s/it] 78%|███████▊ | 23455/30000 [10:53:29<3:01:44, 1.67s/it] 78%|███████▊ | 23456/30000 [10:53:31<3:01:34, 1.66s/it] 78%|███████▊ | 23457/30000 [10:53:32<3:01:28, 1.66s/it] 78%|███████▊ | 23458/30000 [10:53:34<3:01:45, 1.67s/it] 78%|███████▊ | 23459/30000 [10:53:36<3:01:27, 1.66s/it] 78%|███████▊ | 23460/30000 [10:53:37<3:01:39, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10516936331987381, 'learning_rate': 3.7330389310852975e-06, 'flow_matching_loss': 0.01792901586741209, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.83} + 78%|███████▊ | 23460/30000 [10:53:37<3:01:39, 1.67s/it] 78%|███████▊ | 23461/30000 [10:53:39<3:01:37, 1.67s/it] 78%|███████▊ | 23462/30000 [10:53:41<3:01:22, 1.66s/it] 78%|███████▊ | 23463/30000 [10:53:42<3:01:23, 1.66s/it] 78%|███████▊ | 23464/30000 [10:53:44<3:01:39, 1.67s/it] 78%|███████▊ | 23465/30000 [10:53:46<3:01:39, 1.67s/it] 78%|███████▊ | 23466/30000 [10:53:47<3:02:16, 1.67s/it] 78%|███████▊ | 23467/30000 [10:53:49<3:01:46, 1.67s/it] 78%|███████▊ | 23468/30000 [10:53:51<3:01:24, 1.67s/it] 78%|███████▊ | 23469/30000 [10:53:52<3:01:16, 1.67s/it] 78%|███████▊ | 23470/30000 [10:53:54<3:01:20, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.09908360242843628, 'learning_rate': 3.7221303399965008e-06, 'flow_matching_loss': 0.018154269736260175, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.83} + 78%|███████▊ | 23470/30000 [10:53:54<3:01:20, 1.67s/it] 78%|███████▊ | 23471/30000 [10:53:56<3:01:28, 1.67s/it] 78%|███████▊ | 23472/30000 [10:53:57<3:00:56, 1.66s/it] 78%|███████▊ | 23473/30000 [10:53:59<3:01:07, 1.67s/it] 78%|███████▊ | 23474/30000 [10:54:01<3:00:58, 1.66s/it] 78%|███████▊ | 23475/30000 [10:54:02<3:01:14, 1.67s/it] 78%|███████▊ | 23476/30000 [10:54:04<3:01:13, 1.67s/it] 78%|███████▊ | 23477/30000 [10:54:06<3:00:48, 1.66s/it] 78%|███████▊ | 23478/30000 [10:54:07<3:01:17, 1.67s/it] 78%|███████▊ | 23479/30000 [10:54:09<3:01:23, 1.67s/it] 78%|███████▊ | 23480/30000 [10:54:11<3:01:27, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11349082738161087, 'learning_rate': 3.711235452582775e-06, 'flow_matching_loss': 0.01830526124686003, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.83} + 78%|███████▊ | 23480/30000 [10:54:11<3:01:27, 1.67s/it] 78%|███████▊ | 23481/30000 [10:54:12<3:01:16, 1.67s/it] 78%|███████▊ | 23482/30000 [10:54:14<3:01:15, 1.67s/it] 78%|███████▊ | 23483/30000 [10:54:16<3:01:12, 1.67s/it] 78%|███████▊ | 23484/30000 [10:54:17<3:01:03, 1.67s/it] 78%|███████▊ | 23485/30000 [10:54:19<3:01:27, 1.67s/it] 78%|███████▊ | 23486/30000 [10:54:21<3:01:08, 1.67s/it] 78%|███████▊ | 23487/30000 [10:54:22<3:01:04, 1.67s/it] 78%|███████▊ | 23488/30000 [10:54:24<3:01:07, 1.67s/it] 78%|███████▊ | 23489/30000 [10:54:26<3:00:58, 1.67s/it] 78%|███████▊ | 23490/30000 [10:54:27<3:01:01, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.09733294695615768, 'learning_rate': 3.7003542820824347e-06, 'flow_matching_loss': 0.015905369259417056, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.83} + 78%|███████▊ | 23490/30000 [10:54:27<3:01:01, 1.67s/it] 78%|███████▊ | 23491/30000 [10:54:29<3:01:02, 1.67s/it] 78%|███████▊ | 23492/30000 [10:54:31<3:00:54, 1.67s/it] 78%|███████▊ | 23493/30000 [10:54:32<3:00:52, 1.67s/it] 78%|███████▊ | 23494/30000 [10:54:34<3:00:56, 1.67s/it] 78%|███████▊ | 23495/30000 [10:54:36<3:00:55, 1.67s/it] 78%|███████▊ | 23496/30000 [10:54:37<3:00:40, 1.67s/it] 78%|███████▊ | 23497/30000 [10:54:39<3:00:34, 1.67s/it] 78%|███████▊ | 23498/30000 [10:54:41<3:00:33, 1.67s/it] 78%|███████▊ | 23499/30000 [10:54:42<3:00:47, 1.67s/it] 78%|███████▊ | 23500/30000 [10:54:44<3:00:53, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.10887221246957779, 'learning_rate': 3.6894868417171252e-06, 'flow_matching_loss': 0.018202053755521773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.84} + 78%|███████▊ | 23500/30000 [10:54:44<3:00:53, 1.67s/it] 78%|███████▊ | 23501/30000 [10:54:46<3:00:44, 1.67s/it] 78%|███████▊ | 23502/30000 [10:54:47<3:00:29, 1.67s/it] 78%|███████▊ | 23503/30000 [10:54:49<3:00:16, 1.66s/it] 78%|███████▊ | 23504/30000 [10:54:51<3:00:28, 1.67s/it] 78%|███████▊ | 23505/30000 [10:54:52<3:00:34, 1.67s/it] 78%|███████▊ | 23506/30000 [10:54:54<3:00:28, 1.67s/it] 78%|███████▊ | 23507/30000 [10:54:56<3:00:35, 1.67s/it] 78%|███████▊ | 23508/30000 [10:54:57<3:00:24, 1.67s/it] 78%|███████▊ | 23509/30000 [10:54:59<3:00:13, 1.67s/it] 78%|███████▊ | 23510/30000 [10:55:01<2:59:52, 1.66s/it] {'loss': 0.0163, 'grad_norm': 0.09577886760234833, 'learning_rate': 3.678633144691818e-06, 'flow_matching_loss': 0.016264140233397485, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.84} + 78%|███████▊ | 23510/30000 [10:55:01<2:59:52, 1.66s/it] 78%|███████▊ | 23511/30000 [10:55:02<2:59:46, 1.66s/it] 78%|███████▊ | 23512/30000 [10:55:04<2:59:47, 1.66s/it] 78%|███████▊ | 23513/30000 [10:55:06<2:59:46, 1.66s/it] 78%|███████▊ | 23514/30000 [10:55:07<3:00:05, 1.67s/it] 78%|███████▊ | 23515/30000 [10:55:09<2:59:44, 1.66s/it] 78%|███████▊ | 23516/30000 [10:55:11<3:00:01, 1.67s/it] 78%|███████▊ | 23517/30000 [10:55:12<2:59:56, 1.67s/it] 78%|███████▊ | 23518/30000 [10:55:14<2:59:39, 1.66s/it] 78%|███████▊ | 23519/30000 [10:55:16<3:00:06, 1.67s/it] 78%|███████▊ | 23520/30000 [10:55:17<3:00:00, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.14263774454593658, 'learning_rate': 3.667793204194776e-06, 'flow_matching_loss': 0.01864196751266718, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.84} + 78%|███████▊ | 23520/30000 [10:55:17<3:00:00, 1.67s/it] 78%|███████▊ | 23521/30000 [10:55:19<3:00:01, 1.67s/it] 78%|███████▊ | 23522/30000 [10:55:21<2:59:57, 1.67s/it] 78%|███████▊ | 23523/30000 [10:55:22<2:59:50, 1.67s/it] 78%|███████▊ | 23524/30000 [10:55:24<3:00:00, 1.67s/it] 78%|███████▊ | 23525/30000 [10:55:26<2:59:49, 1.67s/it] 78%|███████▊ | 23526/30000 [10:55:27<2:59:42, 1.67s/it] 78%|███████▊ | 23527/30000 [10:55:29<2:59:34, 1.66s/it] 78%|███████▊ | 23528/30000 [10:55:31<2:59:37, 1.67s/it] 78%|███████▊ | 23529/30000 [10:55:32<3:00:04, 1.67s/it] 78%|███████▊ | 23530/30000 [10:55:34<3:00:01, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09743741154670715, 'learning_rate': 3.656967033397544e-06, 'flow_matching_loss': 0.01780912419781089, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.85} + 78%|███████▊ | 23530/30000 [10:55:34<3:00:01, 1.67s/it] 78%|███████▊ | 23531/30000 [10:55:36<2:59:58, 1.67s/it] 78%|███████▊ | 23532/30000 [10:55:37<2:59:54, 1.67s/it] 78%|███████▊ | 23533/30000 [10:55:39<2:59:54, 1.67s/it] 78%|███████▊ | 23534/30000 [10:55:41<2:59:38, 1.67s/it] 78%|███████▊ | 23535/30000 [10:55:42<2:59:12, 1.66s/it] 78%|███████▊ | 23536/30000 [10:55:44<2:59:13, 1.66s/it] 78%|███████▊ | 23537/30000 [10:55:46<2:59:17, 1.66s/it] 78%|███████▊ | 23538/30000 [10:55:47<2:59:29, 1.67s/it] 78%|███████▊ | 23539/30000 [10:55:49<2:59:53, 1.67s/it] 78%|███████▊ | 23540/30000 [10:55:51<2:59:37, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11236803978681564, 'learning_rate': 3.646154645454948e-06, 'flow_matching_loss': 0.017739503737539054, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.85} + 78%|███████▊ | 23540/30000 [10:55:51<2:59:37, 1.67s/it] 78%|███████▊ | 23541/30000 [10:55:52<2:59:31, 1.67s/it] 78%|███████▊ | 23542/30000 [10:55:54<2:59:11, 1.66s/it] 78%|███████▊ | 23543/30000 [10:55:56<2:59:13, 1.67s/it] 78%|███████▊ | 23544/30000 [10:55:57<2:59:15, 1.67s/it] 78%|███████▊ | 23545/30000 [10:55:59<2:59:19, 1.67s/it] 78%|███████▊ | 23546/30000 [10:56:01<2:59:07, 1.67s/it] 78%|███████▊ | 23547/30000 [10:56:02<2:58:48, 1.66s/it] 78%|███████▊ | 23548/30000 [10:56:04<2:58:44, 1.66s/it] 78%|███████▊ | 23549/30000 [10:56:06<2:58:43, 1.66s/it] 78%|███████▊ | 23550/30000 [10:56:07<2:58:43, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.10255767405033112, 'learning_rate': 3.6353560535050524e-06, 'flow_matching_loss': 0.017832550685852766, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.85} + 78%|███████▊ | 23550/30000 [10:56:07<2:58:43, 1.66s/it] 79%|███████▊ | 23551/30000 [10:56:09<2:58:52, 1.66s/it] 79%|███████▊ | 23552/30000 [10:56:11<2:58:39, 1.66s/it] 79%|███████▊ | 23553/30000 [10:56:12<2:58:40, 1.66s/it] 79%|███████▊ | 23554/30000 [10:56:14<2:59:06, 1.67s/it] 79%|███████▊ | 23555/30000 [10:56:16<2:59:13, 1.67s/it] 79%|███████▊ | 23556/30000 [10:56:17<2:59:08, 1.67s/it] 79%|███████▊ | 23557/30000 [10:56:19<2:59:00, 1.67s/it] 79%|███████▊ | 23558/30000 [10:56:21<2:58:59, 1.67s/it] 79%|███████▊ | 23559/30000 [10:56:22<2:58:53, 1.67s/it] 79%|███████▊ | 23560/30000 [10:56:24<2:58:40, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.1150791272521019, 'learning_rate': 3.624571270669172e-06, 'flow_matching_loss': 0.018665601685643195, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.85} + 79%|███████▊ | 23560/30000 [10:56:24<2:58:40, 1.66s/it] 79%|███████▊ | 23561/30000 [10:56:26<2:58:45, 1.67s/it] 79%|███████▊ | 23562/30000 [10:56:27<2:58:54, 1.67s/it] 79%|███████▊ | 23563/30000 [10:56:29<2:58:44, 1.67s/it] 79%|███████▊ | 23564/30000 [10:56:31<2:59:04, 1.67s/it] 79%|███████▊ | 23565/30000 [10:56:32<2:58:53, 1.67s/it] 79%|███████▊ | 23566/30000 [10:56:34<2:58:49, 1.67s/it] 79%|███████▊ | 23567/30000 [10:56:36<2:58:28, 1.66s/it] 79%|███████▊ | 23568/30000 [10:56:37<2:58:26, 1.66s/it] 79%|███████▊ | 23569/30000 [10:56:39<2:58:28, 1.67s/it] 79%|███████▊ | 23570/30000 [10:56:41<2:58:29, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12547659873962402, 'learning_rate': 3.6138003100518296e-06, 'flow_matching_loss': 0.017631636746227742, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.86} + 79%|███████▊ | 23570/30000 [10:56:41<2:58:29, 1.67s/it] 79%|███████▊ | 23571/30000 [10:56:42<2:58:30, 1.67s/it] 79%|███████▊ | 23572/30000 [10:56:44<2:58:34, 1.67s/it] 79%|███████▊ | 23573/30000 [10:56:46<2:59:04, 1.67s/it] 79%|███████▊ | 23574/30000 [10:56:47<2:58:48, 1.67s/it] 79%|███████▊ | 23575/30000 [10:56:49<2:58:37, 1.67s/it] 79%|███████▊ | 23576/30000 [10:56:51<2:58:29, 1.67s/it] 79%|███████▊ | 23577/30000 [10:56:52<2:58:28, 1.67s/it] 79%|███████▊ | 23578/30000 [10:56:54<2:58:30, 1.67s/it] 79%|███████▊ | 23579/30000 [10:56:56<2:58:37, 1.67s/it] 79%|███████▊ | 23580/30000 [10:56:57<2:58:59, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.11764318495988846, 'learning_rate': 3.6030431847407595e-06, 'flow_matching_loss': 0.016014941316097975, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.86} + 79%|███████▊ | 23580/30000 [10:56:57<2:58:59, 1.67s/it] 79%|███████▊ | 23581/30000 [10:56:59<2:58:50, 1.67s/it] 79%|███████▊ | 23582/30000 [10:57:01<2:58:39, 1.67s/it] 79%|███████▊ | 23583/30000 [10:57:02<2:58:17, 1.67s/it] 79%|███████▊ | 23584/30000 [10:57:04<2:58:11, 1.67s/it] 79%|███████▊ | 23585/30000 [10:57:06<2:58:11, 1.67s/it] 79%|███████▊ | 23586/30000 [10:57:07<2:58:08, 1.67s/it] 79%|███████▊ | 23587/30000 [10:57:09<2:58:08, 1.67s/it] 79%|███████▊ | 23588/30000 [10:57:11<2:58:25, 1.67s/it] 79%|███████▊ | 23589/30000 [10:57:12<2:58:09, 1.67s/it] 79%|███████▊ | 23590/30000 [10:57:14<2:58:04, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10509534180164337, 'learning_rate': 3.592299907806881e-06, 'flow_matching_loss': 0.017020766995847224, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.86} + 79%|███████▊ | 23590/30000 [10:57:14<2:58:04, 1.67s/it] 79%|███████▊ | 23591/30000 [10:57:16<2:57:57, 1.67s/it] 79%|███████▊ | 23592/30000 [10:57:17<2:57:53, 1.67s/it] 79%|███████▊ | 23593/30000 [10:57:19<2:57:45, 1.66s/it] 79%|███████▊ | 23594/30000 [10:57:21<2:57:50, 1.67s/it] 79%|███████▊ | 23595/30000 [10:57:22<2:57:56, 1.67s/it] 79%|███████▊ | 23596/30000 [10:57:24<2:58:10, 1.67s/it] 79%|███████▊ | 23597/30000 [10:57:26<2:58:00, 1.67s/it] 79%|███████▊ | 23598/30000 [10:57:27<2:58:03, 1.67s/it] 79%|███████▊ | 23599/30000 [10:57:29<2:57:52, 1.67s/it] 79%|███████▊ | 23600/30000 [10:57:31<2:57:41, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.08680622279644012, 'learning_rate': 3.5815704923042892e-06, 'flow_matching_loss': 0.016865890007466078, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.87} + 79%|███████▊ | 23600/30000 [10:57:31<2:57:41, 1.67s/it] 79%|███████▊ | 23601/30000 [10:57:32<2:58:05, 1.67s/it] 79%|███████▊ | 23602/30000 [10:57:34<2:58:06, 1.67s/it] 79%|███████▊ | 23603/30000 [10:57:36<2:58:06, 1.67s/it] 79%|███████▊ | 23604/30000 [10:57:37<2:58:03, 1.67s/it] 79%|███████▊ | 23605/30000 [10:57:39<2:57:44, 1.67s/it] 79%|███████▊ | 23606/30000 [10:57:41<2:57:46, 1.67s/it] 79%|███████▊ | 23607/30000 [10:57:42<2:57:57, 1.67s/it] 79%|███████▊ | 23608/30000 [10:57:44<2:57:50, 1.67s/it] 79%|███████▊ | 23609/30000 [10:57:46<2:57:31, 1.67s/it] 79%|███████▊ | 23610/30000 [10:57:47<2:57:25, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.10743580013513565, 'learning_rate': 3.5708549512702392e-06, 'flow_matching_loss': 0.016177996061742306, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.87} + 79%|███████▊ | 23610/30000 [10:57:47<2:57:25, 1.67s/it] 79%|███████▊ | 23611/30000 [10:57:49<2:57:41, 1.67s/it] 79%|███████▊ | 23612/30000 [10:57:51<2:57:52, 1.67s/it] 79%|███████▊ | 23613/30000 [10:57:52<2:57:54, 1.67s/it] 79%|███████▊ | 23614/30000 [10:57:54<2:57:47, 1.67s/it] 79%|███████▊ | 23615/30000 [10:57:56<2:57:46, 1.67s/it] 79%|███████▊ | 23616/30000 [10:57:57<2:57:39, 1.67s/it] 79%|███████▊ | 23617/30000 [10:57:59<2:57:37, 1.67s/it] 79%|███████▊ | 23618/30000 [10:58:01<2:57:28, 1.67s/it] 79%|███████▊ | 23619/30000 [10:58:02<2:57:35, 1.67s/it] 79%|███████▊ | 23620/30000 [10:58:04<2:57:38, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1325998306274414, 'learning_rate': 3.5601532977251217e-06, 'flow_matching_loss': 0.018201796989887952, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.87} + 79%|███████▊ | 23620/30000 [10:58:04<2:57:38, 1.67s/it] 79%|███████▊ | 23621/30000 [10:58:06<2:57:29, 1.67s/it] 79%|███████▊ | 23622/30000 [10:58:07<2:57:45, 1.67s/it] 79%|███████▊ | 23623/30000 [10:58:09<2:57:40, 1.67s/it] 79%|███████▊ | 23624/30000 [10:58:11<2:57:31, 1.67s/it] 79%|███████▉ | 23625/30000 [10:58:12<2:57:35, 1.67s/it] 79%|███████▉ | 23626/30000 [10:58:14<2:57:25, 1.67s/it] 79%|███████▉ | 23627/30000 [10:58:16<2:57:14, 1.67s/it] 79%|███████▉ | 23628/30000 [10:58:17<2:57:19, 1.67s/it] 79%|███████▉ | 23629/30000 [10:58:19<2:57:16, 1.67s/it] 79%|███████▉ | 23630/30000 [10:58:21<2:57:26, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.12479688227176666, 'learning_rate': 3.5494655446724544e-06, 'flow_matching_loss': 0.016010715160518885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.88} + 79%|███████▉ | 23630/30000 [10:58:21<2:57:26, 1.67s/it] 79%|███████▉ | 23631/30000 [10:58:22<2:57:21, 1.67s/it] 79%|███████▉ | 23632/30000 [10:58:24<2:57:04, 1.67s/it] 79%|███████▉ | 23633/30000 [10:58:26<2:57:10, 1.67s/it] 79%|███████▉ | 23634/30000 [10:58:27<2:57:04, 1.67s/it] 79%|███████▉ | 23635/30000 [10:58:29<2:56:55, 1.67s/it] 79%|███████▉ | 23636/30000 [10:58:31<2:56:55, 1.67s/it] 79%|███████▉ | 23637/30000 [10:58:32<2:56:45, 1.67s/it] 79%|███████▉ | 23638/30000 [10:58:34<2:56:56, 1.67s/it] 79%|███████▉ | 23639/30000 [10:58:36<2:56:57, 1.67s/it] 79%|███████▉ | 23640/30000 [10:58:37<2:56:50, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.09420651197433472, 'learning_rate': 3.538791705098866e-06, 'flow_matching_loss': 0.015502171590924263, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.88} + 79%|███████▉ | 23640/30000 [10:58:37<2:56:50, 1.67s/it] 79%|███████▉ | 23641/30000 [10:58:39<2:56:56, 1.67s/it] 79%|███████▉ | 23642/30000 [10:58:41<2:56:51, 1.67s/it] 79%|███████▉ | 23643/30000 [10:58:42<2:56:53, 1.67s/it] 79%|███████▉ | 23644/30000 [10:58:44<2:56:50, 1.67s/it] 79%|███████▉ | 23645/30000 [10:58:46<2:56:31, 1.67s/it] 79%|███████▉ | 23646/30000 [10:58:47<2:57:05, 1.67s/it] 79%|███████▉ | 23647/30000 [10:58:49<2:56:38, 1.67s/it] 79%|███████▉ | 23648/30000 [10:58:51<2:56:57, 1.67s/it] 79%|███████▉ | 23649/30000 [10:58:52<2:56:40, 1.67s/it] 79%|███████▉ | 23650/30000 [10:58:54<2:56:22, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.18782903254032135, 'learning_rate': 3.5281317919740718e-06, 'flow_matching_loss': 0.017032801732420923, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.88} + 79%|███████▉ | 23650/30000 [10:58:54<2:56:22, 1.67s/it] 79%|███████▉ | 23651/30000 [10:58:56<2:56:22, 1.67s/it] 79%|███████▉ | 23652/30000 [10:58:57<2:56:50, 1.67s/it] 79%|███████▉ | 23653/30000 [10:58:59<2:56:41, 1.67s/it] 79%|███████▉ | 23654/30000 [10:59:01<2:56:31, 1.67s/it] 79%|███████▉ | 23655/30000 [10:59:02<2:56:27, 1.67s/it] 79%|███████▉ | 23656/30000 [10:59:04<2:56:38, 1.67s/it] 79%|███████▉ | 23657/30000 [10:59:06<2:56:28, 1.67s/it] 79%|███████▉ | 23658/30000 [10:59:07<2:56:24, 1.67s/it] 79%|███████▉ | 23659/30000 [10:59:09<2:56:06, 1.67s/it] 79%|███████▉ | 23660/30000 [10:59:11<2:56:19, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.10843450576066971, 'learning_rate': 3.5174858182508825e-06, 'flow_matching_loss': 0.019494228530675173, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.88} + 79%|███████▉ | 23660/30000 [10:59:11<2:56:19, 1.67s/it] 79%|███████▉ | 23661/30000 [10:59:12<2:56:20, 1.67s/it] 79%|███████▉ | 23662/30000 [10:59:14<2:56:17, 1.67s/it] 79%|███████▉ | 23663/30000 [10:59:16<2:56:15, 1.67s/it] 79%|███████▉ | 23664/30000 [10:59:17<2:56:22, 1.67s/it] 79%|███████▉ | 23665/30000 [10:59:19<2:56:19, 1.67s/it] 79%|███████▉ | 23666/30000 [10:59:21<2:56:06, 1.67s/it] 79%|███████▉ | 23667/30000 [10:59:22<2:56:05, 1.67s/it] 79%|███████▉ | 23668/30000 [10:59:24<2:56:06, 1.67s/it] 79%|███████▉ | 23669/30000 [10:59:26<2:55:52, 1.67s/it] 79%|███████▉ | 23670/30000 [10:59:27<2:55:56, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.11176398396492004, 'learning_rate': 3.506853796865153e-06, 'flow_matching_loss': 0.01735621364787221, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.89} + 79%|███████▉ | 23670/30000 [10:59:27<2:55:56, 1.67s/it] 79%|███████▉ | 23671/30000 [10:59:29<2:55:54, 1.67s/it] 79%|███████▉ | 23672/30000 [10:59:31<2:56:19, 1.67s/it] 79%|███████▉ | 23673/30000 [10:59:32<2:56:11, 1.67s/it] 79%|███████▉ | 23674/30000 [10:59:34<2:56:14, 1.67s/it] 79%|███████▉ | 23675/30000 [10:59:36<2:56:08, 1.67s/it] 79%|███████▉ | 23676/30000 [10:59:37<2:56:08, 1.67s/it] 79%|███████▉ | 23677/30000 [10:59:39<2:55:51, 1.67s/it] 79%|███████▉ | 23678/30000 [10:59:41<2:55:53, 1.67s/it] 79%|███████▉ | 23679/30000 [10:59:42<2:55:51, 1.67s/it] 79%|███████▉ | 23680/30000 [10:59:44<2:55:45, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.10120516270399094, 'learning_rate': 3.496235740735789e-06, 'flow_matching_loss': 0.015692174341529606, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.89} + 79%|███████▉ | 23680/30000 [10:59:44<2:55:45, 1.67s/it] 79%|███████▉ | 23681/30000 [10:59:46<2:55:40, 1.67s/it] 79%|███████▉ | 23682/30000 [10:59:47<2:55:45, 1.67s/it] 79%|███████▉ | 23683/30000 [10:59:49<2:55:45, 1.67s/it] 79%|███████▉ | 23684/30000 [10:59:51<2:55:51, 1.67s/it] 79%|███████▉ | 23685/30000 [10:59:52<2:56:02, 1.67s/it] 79%|███████▉ | 23686/30000 [10:59:54<2:56:02, 1.67s/it] 79%|███████▉ | 23687/30000 [10:59:56<2:55:51, 1.67s/it] 79%|███████▉ | 23688/30000 [10:59:57<2:55:27, 1.67s/it] 79%|███████▉ | 23689/30000 [10:59:59<2:55:26, 1.67s/it] 79%|███████▉ | 23690/30000 [11:00:01<2:55:23, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.12880916893482208, 'learning_rate': 3.485631662764738e-06, 'flow_matching_loss': 0.016265660617500545, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.89} + 79%|███████▉ | 23690/30000 [11:00:01<2:55:23, 1.67s/it] 79%|███████▉ | 23691/30000 [11:00:02<2:55:47, 1.67s/it] 79%|███████▉ | 23692/30000 [11:00:04<2:55:34, 1.67s/it] 79%|███████▉ | 23693/30000 [11:00:06<2:55:23, 1.67s/it] 79%|███████▉ | 23694/30000 [11:00:07<2:55:10, 1.67s/it] 79%|███████▉ | 23695/30000 [11:00:09<2:55:18, 1.67s/it] 79%|███████▉ | 23696/30000 [11:00:11<2:55:22, 1.67s/it] 79%|███████▉ | 23697/30000 [11:00:12<2:55:22, 1.67s/it] 79%|███████▉ | 23698/30000 [11:00:14<2:55:14, 1.67s/it] 79%|███████▉ | 23699/30000 [11:00:16<2:55:30, 1.67s/it] 79%|███████▉ | 23700/30000 [11:00:18<2:55:42, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.1076560840010643, 'learning_rate': 3.475041575836952e-06, 'flow_matching_loss': 0.015792726911604403, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.9} + 79%|███████▉ | 23700/30000 [11:00:18<2:55:42, 1.67s/it] 79%|███████▉ | 23701/30000 [11:00:19<2:55:29, 1.67s/it] 79%|███████▉ | 23702/30000 [11:00:21<2:55:21, 1.67s/it] 79%|███████▉ | 23703/30000 [11:00:23<2:55:16, 1.67s/it] 79%|███████▉ | 23704/30000 [11:00:24<2:55:06, 1.67s/it] 79%|███████▉ | 23705/30000 [11:00:26<2:55:21, 1.67s/it] 79%|███████▉ | 23706/30000 [11:00:28<2:55:39, 1.67s/it] 79%|███████▉ | 23707/30000 [11:00:29<2:55:21, 1.67s/it] 79%|███████▉ | 23708/30000 [11:00:31<2:55:22, 1.67s/it] 79%|███████▉ | 23709/30000 [11:00:33<2:55:23, 1.67s/it] 79%|███████▉ | 23710/30000 [11:00:34<2:55:01, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10205452144145966, 'learning_rate': 3.4644654928203796e-06, 'flow_matching_loss': 0.016546850837767125, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.9} + 79%|███████▉ | 23710/30000 [11:00:34<2:55:01, 1.67s/it] 79%|███████▉ | 23711/30000 [11:00:36<2:55:13, 1.67s/it] 79%|███████▉ | 23712/30000 [11:00:38<2:54:52, 1.67s/it] 79%|███████▉ | 23713/30000 [11:00:39<2:54:57, 1.67s/it] 79%|███████▉ | 23714/30000 [11:00:41<2:54:51, 1.67s/it] 79%|███████▉ | 23715/30000 [11:00:43<2:55:30, 1.68s/it] 79%|███████▉ | 23716/30000 [11:00:44<2:54:58, 1.67s/it] 79%|███████▉ | 23717/30000 [11:00:46<2:54:47, 1.67s/it] 79%|███████▉ | 23718/30000 [11:00:48<2:54:41, 1.67s/it] 79%|███████▉ | 23719/30000 [11:00:49<2:54:32, 1.67s/it] 79%|███████▉ | 23720/30000 [11:00:51<2:54:32, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.10915113985538483, 'learning_rate': 3.4539034265659663e-06, 'flow_matching_loss': 0.017162481043487787, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.9} + 79%|███████▉ | 23720/30000 [11:00:51<2:54:32, 1.67s/it] 79%|███████▉ | 23721/30000 [11:00:53<2:54:49, 1.67s/it] 79%|███████▉ | 23722/30000 [11:00:54<2:54:32, 1.67s/it] 79%|███████▉ | 23723/30000 [11:00:56<2:54:31, 1.67s/it] 79%|███████▉ | 23724/30000 [11:00:58<2:54:24, 1.67s/it] 79%|███████▉ | 23725/30000 [11:00:59<2:54:20, 1.67s/it] 79%|███████▉ | 23726/30000 [11:01:01<2:54:15, 1.67s/it] 79%|███████▉ | 23727/30000 [11:01:03<2:54:08, 1.67s/it] 79%|███████▉ | 23728/30000 [11:01:04<2:54:08, 1.67s/it] 79%|███████▉ | 23729/30000 [11:01:06<2:54:14, 1.67s/it] 79%|███████▉ | 23730/30000 [11:01:08<2:54:17, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.11580097675323486, 'learning_rate': 3.4433553899076163e-06, 'flow_matching_loss': 0.016703690961003305, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.9} + 79%|███████▉ | 23730/30000 [11:01:08<2:54:17, 1.67s/it] 79%|███████▉ | 23731/30000 [11:01:09<2:54:23, 1.67s/it] 79%|███████▉ | 23732/30000 [11:01:11<2:54:35, 1.67s/it] 79%|███████▉ | 23733/30000 [11:01:13<2:54:22, 1.67s/it] 79%|███████▉ | 23734/30000 [11:01:14<2:54:17, 1.67s/it] 79%|███████▉ | 23735/30000 [11:01:16<2:53:49, 1.66s/it] 79%|███████▉ | 23736/30000 [11:01:18<2:53:50, 1.67s/it] 79%|███████▉ | 23737/30000 [11:01:19<2:53:48, 1.67s/it] 79%|███████▉ | 23738/30000 [11:01:21<2:53:54, 1.67s/it] 79%|███████▉ | 23739/30000 [11:01:23<2:53:45, 1.67s/it] 79%|███████▉ | 23740/30000 [11:01:24<2:53:57, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.09367840737104416, 'learning_rate': 3.432821395662189e-06, 'flow_matching_loss': 0.017448533046990632, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.91} + 79%|███████▉ | 23740/30000 [11:01:24<2:53:57, 1.67s/it] 79%|███████▉ | 23741/30000 [11:01:26<2:53:41, 1.67s/it] 79%|███████▉ | 23742/30000 [11:01:28<2:53:30, 1.66s/it] 79%|███████▉ | 23743/30000 [11:01:29<2:53:19, 1.66s/it] 79%|███████▉ | 23744/30000 [11:01:31<2:53:26, 1.66s/it] 79%|███████▉ | 23745/30000 [11:01:33<2:53:33, 1.66s/it] 79%|███████▉ | 23746/30000 [11:01:34<2:53:19, 1.66s/it] 79%|███████▉ | 23747/30000 [11:01:36<2:53:35, 1.67s/it] 79%|███████▉ | 23748/30000 [11:01:38<2:53:49, 1.67s/it] 79%|███████▉ | 23749/30000 [11:01:39<2:53:37, 1.67s/it] 79%|███████▉ | 23750/30000 [11:01:41<2:53:37, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10568048059940338, 'learning_rate': 3.4223014566294785e-06, 'flow_matching_loss': 0.018274034559726714, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.91} + 79%|███████▉ | 23750/30000 [11:01:41<2:53:37, 1.67s/it] 79%|███████▉ | 23751/30000 [11:01:43<2:53:29, 1.67s/it] 79%|███████▉ | 23752/30000 [11:01:44<2:53:45, 1.67s/it] 79%|███████▉ | 23753/30000 [11:01:46<2:54:00, 1.67s/it] 79%|███████▉ | 23754/30000 [11:01:48<2:54:08, 1.67s/it] 79%|███████▉ | 23755/30000 [11:01:49<2:53:46, 1.67s/it] 79%|███████▉ | 23756/30000 [11:01:51<2:53:43, 1.67s/it] 79%|███████▉ | 23757/30000 [11:01:53<2:53:26, 1.67s/it] 79%|███████▉ | 23758/30000 [11:01:54<2:53:13, 1.67s/it] 79%|███████▉ | 23759/30000 [11:01:56<2:52:53, 1.66s/it] 79%|███████▉ | 23760/30000 [11:01:58<2:52:44, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.10038361698389053, 'learning_rate': 3.4117955855922e-06, 'flow_matching_loss': 0.017590893525630237, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.91} + 79%|███████▉ | 23760/30000 [11:01:58<2:52:44, 1.66s/it] 79%|███████▉ | 23761/30000 [11:01:59<2:52:57, 1.66s/it] 79%|███████▉ | 23762/30000 [11:02:01<2:52:54, 1.66s/it] 79%|███████▉ | 23763/30000 [11:02:03<2:53:08, 1.67s/it] 79%|███████▉ | 23764/30000 [11:02:04<2:53:27, 1.67s/it] 79%|███████▉ | 23765/30000 [11:02:06<2:53:29, 1.67s/it] 79%|███████▉ | 23766/30000 [11:02:08<2:53:14, 1.67s/it] 79%|███████▉ | 23767/30000 [11:02:09<2:53:10, 1.67s/it] 79%|███████▉ | 23768/30000 [11:02:11<2:53:05, 1.67s/it] 79%|███████▉ | 23769/30000 [11:02:13<2:53:13, 1.67s/it] 79%|███████▉ | 23770/30000 [11:02:14<2:53:15, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11092782765626907, 'learning_rate': 3.4013037953159855e-06, 'flow_matching_loss': 0.016449960041791202, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.92} + 79%|███████▉ | 23770/30000 [11:02:14<2:53:15, 1.67s/it] 79%|███████▉ | 23771/30000 [11:02:16<2:53:20, 1.67s/it] 79%|███████▉ | 23772/30000 [11:02:18<2:53:14, 1.67s/it] 79%|███████▉ | 23773/30000 [11:02:19<2:53:19, 1.67s/it] 79%|███████▉ | 23774/30000 [11:02:21<2:52:57, 1.67s/it] 79%|███████▉ | 23775/30000 [11:02:23<2:52:50, 1.67s/it] 79%|███████▉ | 23776/30000 [11:02:24<2:52:33, 1.66s/it] 79%|███████▉ | 23777/30000 [11:02:26<2:52:37, 1.66s/it] 79%|███████▉ | 23778/30000 [11:02:28<2:52:42, 1.67s/it] 79%|███████▉ | 23779/30000 [11:02:29<2:52:44, 1.67s/it] 79%|███████▉ | 23780/30000 [11:02:31<2:53:04, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10106968879699707, 'learning_rate': 3.390826098549345e-06, 'flow_matching_loss': 0.016544850450009106, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.92} + 79%|███████▉ | 23780/30000 [11:02:31<2:53:04, 1.67s/it] 79%|███████▉ | 23781/30000 [11:02:33<2:53:03, 1.67s/it] 79%|███████▉ | 23782/30000 [11:02:34<2:52:54, 1.67s/it] 79%|███████▉ | 23783/30000 [11:02:36<2:52:55, 1.67s/it] 79%|███████▉ | 23784/30000 [11:02:38<2:52:41, 1.67s/it] 79%|███████▉ | 23785/30000 [11:02:39<2:52:35, 1.67s/it] 79%|███████▉ | 23786/30000 [11:02:41<2:52:21, 1.66s/it] 79%|███████▉ | 23787/30000 [11:02:43<2:52:15, 1.66s/it] 79%|███████▉ | 23788/30000 [11:02:44<2:52:43, 1.67s/it] 79%|███████▉ | 23789/30000 [11:02:46<2:52:34, 1.67s/it] 79%|███████▉ | 23790/30000 [11:02:48<2:52:30, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.13476386666297913, 'learning_rate': 3.3803625080236684e-06, 'flow_matching_loss': 0.016471954993903637, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.92} + 79%|███████▉ | 23790/30000 [11:02:48<2:52:30, 1.67s/it] 79%|███████▉ | 23791/30000 [11:02:49<2:52:13, 1.66s/it] 79%|███████▉ | 23792/30000 [11:02:51<2:52:16, 1.67s/it] 79%|███████▉ | 23793/30000 [11:02:53<2:52:33, 1.67s/it] 79%|███████▉ | 23794/30000 [11:02:54<2:52:08, 1.66s/it] 79%|███████▉ | 23795/30000 [11:02:56<2:52:27, 1.67s/it] 79%|███████▉ | 23796/30000 [11:02:58<2:52:51, 1.67s/it] 79%|███████▉ | 23797/30000 [11:02:59<2:52:33, 1.67s/it] 79%|███████▉ | 23798/30000 [11:03:01<2:52:17, 1.67s/it] 79%|███████▉ | 23799/30000 [11:03:03<2:51:59, 1.66s/it] 79%|███████▉ | 23800/30000 [11:03:04<2:52:06, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.12958499789237976, 'learning_rate': 3.369913036453205e-06, 'flow_matching_loss': 0.016355565190315245, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.92} + 79%|███████▉ | 23800/30000 [11:03:04<2:52:06, 1.67s/it] 79%|███████▉ | 23801/30000 [11:03:06<2:52:06, 1.67s/it] 79%|███████▉ | 23802/30000 [11:03:08<2:52:20, 1.67s/it] 79%|███████▉ | 23803/30000 [11:03:09<2:52:19, 1.67s/it] 79%|███████▉ | 23804/30000 [11:03:11<2:52:23, 1.67s/it] 79%|███████▉ | 23805/30000 [11:03:13<2:52:18, 1.67s/it] 79%|███████▉ | 23806/30000 [11:03:14<2:51:54, 1.67s/it] 79%|███████▉ | 23807/30000 [11:03:16<2:51:51, 1.66s/it] 79%|███████▉ | 23808/30000 [11:03:18<2:52:00, 1.67s/it] 79%|███████▉ | 23809/30000 [11:03:19<2:52:27, 1.67s/it] 79%|███████▉ | 23810/30000 [11:03:21<2:52:10, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.15185649693012238, 'learning_rate': 3.3594776965350434e-06, 'flow_matching_loss': 0.01780538968741894, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.93} + 79%|███████▉ | 23810/30000 [11:03:21<2:52:10, 1.67s/it] 79%|███████▉ | 23811/30000 [11:03:23<2:52:15, 1.67s/it] 79%|███████▉ | 23812/30000 [11:03:24<2:52:28, 1.67s/it] 79%|███████▉ | 23813/30000 [11:03:26<2:52:05, 1.67s/it] 79%|███████▉ | 23814/30000 [11:03:28<2:51:28, 1.66s/it] 79%|███████▉ | 23815/30000 [11:03:29<2:51:16, 1.66s/it] 79%|███████▉ | 23816/30000 [11:03:31<2:51:34, 1.66s/it] 79%|███████▉ | 23817/30000 [11:03:33<2:51:59, 1.67s/it] 79%|███████▉ | 23818/30000 [11:03:34<2:51:57, 1.67s/it] 79%|███████▉ | 23819/30000 [11:03:36<2:51:49, 1.67s/it] 79%|███████▉ | 23820/30000 [11:03:38<2:51:50, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12171981483697891, 'learning_rate': 3.34905650094911e-06, 'flow_matching_loss': 0.017601192463189363, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.93} + 79%|███████▉ | 23820/30000 [11:03:38<2:51:50, 1.67s/it] 79%|███████▉ | 23821/30000 [11:03:39<2:51:45, 1.67s/it] 79%|███████▉ | 23822/30000 [11:03:41<2:51:42, 1.67s/it] 79%|███████▉ | 23823/30000 [11:03:43<2:51:38, 1.67s/it] 79%|███████▉ | 23824/30000 [11:03:44<2:51:37, 1.67s/it] 79%|███████▉ | 23825/30000 [11:03:46<2:51:51, 1.67s/it] 79%|███████▉ | 23826/30000 [11:03:48<2:52:04, 1.67s/it] 79%|███████▉ | 23827/30000 [11:03:49<2:51:51, 1.67s/it] 79%|███████▉ | 23828/30000 [11:03:51<2:51:48, 1.67s/it] 79%|███████▉ | 23829/30000 [11:03:53<2:51:37, 1.67s/it] 79%|███████▉ | 23830/30000 [11:03:54<2:51:15, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.12807156145572662, 'learning_rate': 3.338649462358145e-06, 'flow_matching_loss': 0.018427600711584093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.93} + 79%|███████▉ | 23830/30000 [11:03:54<2:51:15, 1.67s/it] 79%|███████▉ | 23831/30000 [11:03:56<2:51:11, 1.67s/it] 79%|███████▉ | 23832/30000 [11:03:58<2:51:34, 1.67s/it] 79%|███████▉ | 23833/30000 [11:03:59<2:51:55, 1.67s/it] 79%|███████▉ | 23834/30000 [11:04:01<2:51:32, 1.67s/it] 79%|███████▉ | 23835/30000 [11:04:03<2:51:32, 1.67s/it] 79%|███████▉ | 23836/30000 [11:04:04<2:51:36, 1.67s/it] 79%|███████▉ | 23837/30000 [11:04:06<2:51:31, 1.67s/it] 79%|███████▉ | 23838/30000 [11:04:08<2:51:09, 1.67s/it] 79%|███████▉ | 23839/30000 [11:04:09<2:50:54, 1.66s/it] 79%|███████▉ | 23840/30000 [11:04:11<2:51:02, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.10759255290031433, 'learning_rate': 3.3282565934076765e-06, 'flow_matching_loss': 0.01679075649008155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.94} + 79%|███████▉ | 23840/30000 [11:04:11<2:51:02, 1.67s/it] 79%|███████▉ | 23841/30000 [11:04:13<2:51:08, 1.67s/it] 79%|███████▉ | 23842/30000 [11:04:14<2:50:54, 1.67s/it] 79%|███████▉ | 23843/30000 [11:04:16<2:51:03, 1.67s/it] 79%|███████▉ | 23844/30000 [11:04:18<2:51:14, 1.67s/it] 79%|███████▉ | 23845/30000 [11:04:19<2:51:03, 1.67s/it] 79%|███████▉ | 23846/30000 [11:04:21<2:50:51, 1.67s/it] 79%|███████▉ | 23847/30000 [11:04:23<2:50:34, 1.66s/it] 79%|███████▉ | 23848/30000 [11:04:24<2:50:31, 1.66s/it] 79%|███████▉ | 23849/30000 [11:04:26<2:50:38, 1.66s/it] 80%|███████▉ | 23850/30000 [11:04:28<2:50:43, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.16637150943279266, 'learning_rate': 3.31787790672602e-06, 'flow_matching_loss': 0.018426778726279736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.94} + 80%|███████▉ | 23850/30000 [11:04:28<2:50:43, 1.67s/it] 80%|███████▉ | 23851/30000 [11:04:29<2:50:52, 1.67s/it] 80%|███████▉ | 23852/30000 [11:04:31<2:50:48, 1.67s/it] 80%|███████▉ | 23853/30000 [11:04:33<2:50:43, 1.67s/it] 80%|███████▉ | 23854/30000 [11:04:34<2:50:28, 1.66s/it] 80%|███████▉ | 23855/30000 [11:04:36<2:50:28, 1.66s/it] 80%|███████▉ | 23856/30000 [11:04:38<2:50:26, 1.66s/it] 80%|███████▉ | 23857/30000 [11:04:39<2:50:29, 1.67s/it] 80%|███████▉ | 23858/30000 [11:04:41<2:50:16, 1.66s/it] 80%|███████▉ | 23859/30000 [11:04:43<2:50:34, 1.67s/it] 80%|███████▉ | 23860/30000 [11:04:44<2:50:45, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.10051863640546799, 'learning_rate': 3.307513414924255e-06, 'flow_matching_loss': 0.017051279731094836, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.94} + 80%|███████▉ | 23860/30000 [11:04:44<2:50:45, 1.67s/it] 80%|███████▉ | 23861/30000 [11:04:46<2:50:55, 1.67s/it] 80%|███████▉ | 23862/30000 [11:04:48<2:50:45, 1.67s/it] 80%|███████▉ | 23863/30000 [11:04:49<2:50:46, 1.67s/it] 80%|███████▉ | 23864/30000 [11:04:51<2:50:35, 1.67s/it] 80%|███████▉ | 23865/30000 [11:04:53<2:50:25, 1.67s/it] 80%|███████▉ | 23866/30000 [11:04:54<2:50:01, 1.66s/it] 80%|███████▉ | 23867/30000 [11:04:56<2:50:07, 1.66s/it] 80%|███████▉ | 23868/30000 [11:04:58<2:50:18, 1.67s/it] 80%|███████▉ | 23869/30000 [11:04:59<2:50:17, 1.67s/it] 80%|███████▉ | 23870/30000 [11:05:01<2:50:03, 1.66s/it] {'loss': 0.0154, 'grad_norm': 0.10501682013273239, 'learning_rate': 3.2971631305962246e-06, 'flow_matching_loss': 0.015375468973070383, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.95} + 80%|███████▉ | 23870/30000 [11:05:01<2:50:03, 1.66s/it] 80%|███████▉ | 23871/30000 [11:05:03<2:50:05, 1.67s/it] 80%|███████▉ | 23872/30000 [11:05:04<2:49:57, 1.66s/it] 80%|███████▉ | 23873/30000 [11:05:06<2:50:08, 1.67s/it] 80%|███████▉ | 23874/30000 [11:05:08<2:49:59, 1.66s/it] 80%|███████▉ | 23875/30000 [11:05:09<2:49:52, 1.66s/it] 80%|███████▉ | 23876/30000 [11:05:11<2:49:57, 1.67s/it] 80%|███████▉ | 23877/30000 [11:05:13<2:50:11, 1.67s/it] 80%|███████▉ | 23878/30000 [11:05:14<2:49:53, 1.67s/it] 80%|███████▉ | 23879/30000 [11:05:16<2:50:01, 1.67s/it] 80%|███████▉ | 23880/30000 [11:05:18<2:49:55, 1.67s/it] {'loss': 0.0148, 'grad_norm': 0.09139063209295273, 'learning_rate': 3.2868270663184964e-06, 'flow_matching_loss': 0.014758257381618022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.95} + 80%|███████▉ | 23880/30000 [11:05:18<2:49:55, 1.67s/it] 80%|███████▉ | 23881/30000 [11:05:19<2:49:58, 1.67s/it] 80%|███████▉ | 23882/30000 [11:05:21<2:50:01, 1.67s/it] 80%|███████▉ | 23883/30000 [11:05:23<2:49:44, 1.66s/it] 80%|███████▉ | 23884/30000 [11:05:24<2:50:19, 1.67s/it] 80%|███████▉ | 23885/30000 [11:05:26<2:50:12, 1.67s/it] 80%|███████▉ | 23886/30000 [11:05:28<2:49:48, 1.67s/it] 80%|███████▉ | 23887/30000 [11:05:29<2:49:40, 1.67s/it] 80%|███████▉ | 23888/30000 [11:05:31<2:49:47, 1.67s/it] 80%|███████▉ | 23889/30000 [11:05:33<2:50:16, 1.67s/it] 80%|███████▉ | 23890/30000 [11:05:34<2:49:46, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.0847608670592308, 'learning_rate': 3.276505234650362e-06, 'flow_matching_loss': 0.01656463835388422, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.95} + 80%|███████▉ | 23890/30000 [11:05:34<2:49:46, 1.67s/it] 80%|███████▉ | 23891/30000 [11:05:36<2:49:59, 1.67s/it] 80%|███████▉ | 23892/30000 [11:05:38<2:50:00, 1.67s/it] 80%|███████▉ | 23893/30000 [11:05:39<2:50:06, 1.67s/it] 80%|███████▉ | 23894/30000 [11:05:41<2:49:54, 1.67s/it] 80%|███████▉ | 23895/30000 [11:05:43<2:49:44, 1.67s/it] 80%|███████▉ | 23896/30000 [11:05:44<2:49:35, 1.67s/it] 80%|███████▉ | 23897/30000 [11:05:46<2:49:42, 1.67s/it] 80%|███████▉ | 23898/30000 [11:05:48<2:49:27, 1.67s/it] 80%|███████▉ | 23899/30000 [11:05:49<2:49:26, 1.67s/it] 80%|███████▉ | 23900/30000 [11:05:51<2:49:49, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.130507692694664, 'learning_rate': 3.266197648133821e-06, 'flow_matching_loss': 0.01811719611287117, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.95} + 80%|███████▉ | 23900/30000 [11:05:51<2:49:49, 1.67s/it] 80%|███████▉ | 23901/30000 [11:05:53<2:49:33, 1.67s/it] 80%|███████▉ | 23902/30000 [11:05:54<2:49:20, 1.67s/it] 80%|███████▉ | 23903/30000 [11:05:56<2:49:16, 1.67s/it] 80%|███████▉ | 23904/30000 [11:05:58<2:49:21, 1.67s/it] 80%|███████▉ | 23905/30000 [11:05:59<2:49:19, 1.67s/it] 80%|███████▉ | 23906/30000 [11:06:01<2:49:06, 1.67s/it] 80%|███████▉ | 23907/30000 [11:06:03<2:49:21, 1.67s/it] 80%|███████▉ | 23908/30000 [11:06:04<2:49:28, 1.67s/it] 80%|███████▉ | 23909/30000 [11:06:06<2:49:33, 1.67s/it] 80%|███████▉ | 23910/30000 [11:06:08<2:49:14, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.07066809386014938, 'learning_rate': 3.255904319293562e-06, 'flow_matching_loss': 0.015909251011908054, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.96} + 80%|███████▉ | 23910/30000 [11:06:08<2:49:14, 1.67s/it] 80%|███████▉ | 23911/30000 [11:06:09<2:49:19, 1.67s/it] 80%|███████▉ | 23912/30000 [11:06:11<2:49:09, 1.67s/it] 80%|███████▉ | 23913/30000 [11:06:13<2:49:06, 1.67s/it] 80%|███████▉ | 23914/30000 [11:06:14<2:49:04, 1.67s/it] 80%|███████▉ | 23915/30000 [11:06:16<2:49:02, 1.67s/it] 80%|███████▉ | 23916/30000 [11:06:18<2:48:58, 1.67s/it] 80%|███████▉ | 23917/30000 [11:06:19<2:48:47, 1.66s/it] 80%|███████▉ | 23918/30000 [11:06:21<2:48:40, 1.66s/it] 80%|███████▉ | 23919/30000 [11:06:23<2:48:42, 1.66s/it] 80%|███████▉ | 23920/30000 [11:06:24<2:48:54, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.12508192658424377, 'learning_rate': 3.2456252606369485e-06, 'flow_matching_loss': 0.014959749393165111, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.96} + 80%|███████▉ | 23920/30000 [11:06:24<2:48:54, 1.67s/it] 80%|███████▉ | 23921/30000 [11:06:26<2:48:56, 1.67s/it] 80%|███████▉ | 23922/30000 [11:06:28<2:49:01, 1.67s/it] 80%|███████▉ | 23923/30000 [11:06:29<2:49:03, 1.67s/it] 80%|███████▉ | 23924/30000 [11:06:31<2:49:05, 1.67s/it] 80%|███████▉ | 23925/30000 [11:06:33<2:48:52, 1.67s/it] 80%|███████▉ | 23926/30000 [11:06:34<2:48:39, 1.67s/it] 80%|███████▉ | 23927/30000 [11:06:36<2:48:23, 1.66s/it] 80%|███████▉ | 23928/30000 [11:06:38<2:48:33, 1.67s/it] 80%|███████▉ | 23929/30000 [11:06:39<2:48:27, 1.66s/it] 80%|███████▉ | 23930/30000 [11:06:41<2:48:16, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.10419845581054688, 'learning_rate': 3.235360484654011e-06, 'flow_matching_loss': 0.017421395424753426, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.96} + 80%|███████▉ | 23930/30000 [11:06:41<2:48:16, 1.66s/it] 80%|███████▉ | 23931/30000 [11:06:43<2:48:11, 1.66s/it] 80%|███████▉ | 23932/30000 [11:06:44<2:48:27, 1.67s/it] 80%|███████▉ | 23933/30000 [11:06:46<2:48:38, 1.67s/it] 80%|███████▉ | 23934/30000 [11:06:48<2:48:20, 1.67s/it] 80%|███████▉ | 23935/30000 [11:06:49<2:48:28, 1.67s/it] 80%|███████▉ | 23936/30000 [11:06:51<2:48:11, 1.66s/it] 80%|███████▉ | 23937/30000 [11:06:53<2:48:18, 1.67s/it] 80%|███████▉ | 23938/30000 [11:06:54<2:48:09, 1.66s/it] 80%|███████▉ | 23939/30000 [11:06:56<2:48:09, 1.66s/it] 80%|███████▉ | 23940/30000 [11:06:58<2:48:22, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.09937242418527603, 'learning_rate': 3.225110003817418e-06, 'flow_matching_loss': 0.016437985002994537, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.97} + 80%|███████▉ | 23940/30000 [11:06:58<2:48:22, 1.67s/it] 80%|███████▉ | 23941/30000 [11:06:59<2:48:29, 1.67s/it] 80%|███████▉ | 23942/30000 [11:07:01<2:48:20, 1.67s/it] 80%|███████▉ | 23943/30000 [11:07:03<2:48:22, 1.67s/it] 80%|███████▉ | 23944/30000 [11:07:04<2:48:22, 1.67s/it] 80%|███████▉ | 23945/30000 [11:07:06<2:48:46, 1.67s/it] 80%|███████▉ | 23946/30000 [11:07:08<2:48:09, 1.67s/it] 80%|███████▉ | 23947/30000 [11:07:09<2:48:22, 1.67s/it] 80%|███████▉ | 23948/30000 [11:07:11<2:48:29, 1.67s/it] 80%|███████▉ | 23949/30000 [11:07:13<2:48:25, 1.67s/it] 80%|███████▉ | 23950/30000 [11:07:14<2:48:11, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.13215792179107666, 'learning_rate': 3.214873830582467e-06, 'flow_matching_loss': 0.01843032231554389, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.97} + 80%|███████▉ | 23950/30000 [11:07:14<2:48:11, 1.67s/it] 80%|███████▉ | 23951/30000 [11:07:16<2:49:19, 1.68s/it] 80%|███████▉ | 23952/30000 [11:07:18<2:48:37, 1.67s/it] 80%|███████▉ | 23953/30000 [11:07:19<2:48:20, 1.67s/it] 80%|███████▉ | 23954/30000 [11:07:21<2:48:07, 1.67s/it] 80%|███████▉ | 23955/30000 [11:07:23<2:48:03, 1.67s/it] 80%|███████▉ | 23956/30000 [11:07:24<2:47:57, 1.67s/it] 80%|███████▉ | 23957/30000 [11:07:26<2:47:51, 1.67s/it] 80%|███████▉ | 23958/30000 [11:07:28<2:47:47, 1.67s/it] 80%|███████▉ | 23959/30000 [11:07:29<2:47:58, 1.67s/it] 80%|███████▉ | 23960/30000 [11:07:31<2:47:53, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10717850178480148, 'learning_rate': 3.2046519773870803e-06, 'flow_matching_loss': 0.018601985182613134, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.97} + 80%|███████▉ | 23960/30000 [11:07:31<2:47:53, 1.67s/it] 80%|███████▉ | 23961/30000 [11:07:33<2:47:58, 1.67s/it] 80%|███████▉ | 23962/30000 [11:07:34<2:47:53, 1.67s/it] 80%|███████▉ | 23963/30000 [11:07:36<2:47:48, 1.67s/it] 80%|███████▉ | 23964/30000 [11:07:38<2:47:51, 1.67s/it] 80%|███████▉ | 23965/30000 [11:07:39<2:48:05, 1.67s/it] 80%|███████▉ | 23966/30000 [11:07:41<2:47:49, 1.67s/it] 80%|███████▉ | 23967/30000 [11:07:43<2:47:36, 1.67s/it] 80%|███████▉ | 23968/30000 [11:07:44<2:47:41, 1.67s/it] 80%|███████▉ | 23969/30000 [11:07:46<2:47:58, 1.67s/it] 80%|███████▉ | 23970/30000 [11:07:48<2:47:34, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10688174515962601, 'learning_rate': 3.1944444566517654e-06, 'flow_matching_loss': 0.01856215177103877, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.97} + 80%|███████▉ | 23970/30000 [11:07:48<2:47:34, 1.67s/it] 80%|███████▉ | 23971/30000 [11:07:49<2:47:33, 1.67s/it] 80%|███████▉ | 23972/30000 [11:07:51<2:47:45, 1.67s/it] 80%|███████▉ | 23973/30000 [11:07:53<2:47:39, 1.67s/it] 80%|███████▉ | 23974/30000 [11:07:54<2:47:19, 1.67s/it] 80%|███████▉ | 23975/30000 [11:07:56<2:47:17, 1.67s/it] 80%|███████▉ | 23976/30000 [11:07:58<2:47:31, 1.67s/it] 80%|███████▉ | 23977/30000 [11:07:59<2:47:23, 1.67s/it] 80%|███████▉ | 23978/30000 [11:08:01<2:47:10, 1.67s/it] 80%|███████▉ | 23979/30000 [11:08:03<2:46:56, 1.66s/it] 80%|███████▉ | 23980/30000 [11:08:04<2:46:56, 1.66s/it] {'loss': 0.0158, 'grad_norm': 0.09276304394006729, 'learning_rate': 3.18425128077963e-06, 'flow_matching_loss': 0.015812278538942338, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.98} + 80%|███████▉ | 23980/30000 [11:08:04<2:46:56, 1.66s/it] 80%|███████▉ | 23981/30000 [11:08:06<2:47:06, 1.67s/it] 80%|███████▉ | 23982/30000 [11:08:08<2:46:46, 1.66s/it] 80%|███████▉ | 23983/30000 [11:08:09<2:46:55, 1.66s/it] 80%|███████▉ | 23984/30000 [11:08:11<2:46:55, 1.66s/it] 80%|███████▉ | 23985/30000 [11:08:13<2:46:59, 1.67s/it] 80%|███████▉ | 23986/30000 [11:08:14<2:46:57, 1.67s/it] 80%|███████▉ | 23987/30000 [11:08:16<2:46:58, 1.67s/it] 80%|███████▉ | 23988/30000 [11:08:18<2:47:04, 1.67s/it] 80%|███████▉ | 23989/30000 [11:08:19<2:47:03, 1.67s/it] 80%|███████▉ | 23990/30000 [11:08:21<2:47:00, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.11476562172174454, 'learning_rate': 3.174072462156342e-06, 'flow_matching_loss': 0.016328488197177648, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.98} + 80%|███████▉ | 23990/30000 [11:08:21<2:47:00, 1.67s/it] 80%|███████▉ | 23991/30000 [11:08:23<2:46:55, 1.67s/it] 80%|███████▉ | 23992/30000 [11:08:24<2:46:53, 1.67s/it] 80%|███████▉ | 23993/30000 [11:08:26<2:46:42, 1.67s/it] 80%|███████▉ | 23994/30000 [11:08:28<2:46:45, 1.67s/it] 80%|███████▉ | 23995/30000 [11:08:29<2:46:37, 1.66s/it] 80%|███████▉ | 23996/30000 [11:08:31<2:46:36, 1.66s/it] 80%|███████▉ | 23997/30000 [11:08:33<2:46:23, 1.66s/it] 80%|███████▉ | 23998/30000 [11:08:34<2:46:14, 1.66s/it] 80%|███████▉ | 23999/30000 [11:08:36<2:46:24, 1.66s/it] 80%|████████ | 24000/30000 [11:08:38<2:46:32, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.11932380497455597, 'learning_rate': 3.163908013150124e-06, 'flow_matching_loss': 0.01563791502267122, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.98} + 80%|████████ | 24000/30000 [11:08:38<2:46:32, 1.67s/it] 80%|████████ | 24001/30000 [11:08:39<2:46:39, 1.67s/it] 80%|████████ | 24002/30000 [11:08:41<2:46:24, 1.66s/it] 80%|████████ | 24003/30000 [11:08:43<2:46:22, 1.66s/it] 80%|████████ | 24004/30000 [11:08:44<2:46:36, 1.67s/it] 80%|████████ | 24005/30000 [11:08:46<2:46:21, 1.66s/it] 80%|████████ | 24006/30000 [11:08:48<2:46:13, 1.66s/it] 80%|████████ | 24007/30000 [11:08:49<2:46:18, 1.66s/it] 80%|████████ | 24008/30000 [11:08:51<2:46:14, 1.66s/it] 80%|████████ | 24009/30000 [11:08:53<2:46:18, 1.67s/it] 80%|████████ | 24010/30000 [11:08:54<2:46:09, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.09046957641839981, 'learning_rate': 3.153757946111741e-06, 'flow_matching_loss': 0.01770009696483612, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.99} + 80%|████████ | 24010/30000 [11:08:54<2:46:09, 1.66s/it] 80%|████████ | 24011/30000 [11:08:56<2:46:01, 1.66s/it] 80%|████████ | 24012/30000 [11:08:58<2:46:09, 1.66s/it] 80%|████████ | 24013/30000 [11:08:59<2:46:21, 1.67s/it] 80%|████████ | 24014/30000 [11:09:01<2:46:12, 1.67s/it] 80%|████████ | 24015/30000 [11:09:03<2:46:04, 1.66s/it] 80%|████████ | 24016/30000 [11:09:04<2:46:12, 1.67s/it] 80%|████████ | 24017/30000 [11:09:06<2:46:01, 1.66s/it] 80%|████████ | 24018/30000 [11:09:08<2:45:56, 1.66s/it] 80%|████████ | 24019/30000 [11:09:09<2:46:01, 1.67s/it] 80%|████████ | 24020/30000 [11:09:11<2:45:58, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.09720265865325928, 'learning_rate': 3.1436222733744776e-06, 'flow_matching_loss': 0.016671020817011595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.99} + 80%|████████ | 24020/30000 [11:09:11<2:45:58, 1.67s/it] 80%|████████ | 24021/30000 [11:09:13<2:46:01, 1.67s/it] 80%|████████ | 24022/30000 [11:09:14<2:45:51, 1.66s/it] 80%|████████ | 24023/30000 [11:09:16<2:46:01, 1.67s/it] 80%|████████ | 24024/30000 [11:09:18<2:46:04, 1.67s/it] 80%|████████ | 24025/30000 [11:09:19<2:46:26, 1.67s/it] 80%|████████ | 24026/30000 [11:09:21<2:46:06, 1.67s/it] 80%|████████ | 24027/30000 [11:09:23<2:45:50, 1.67s/it] 80%|████████ | 24028/30000 [11:09:24<2:45:53, 1.67s/it] 80%|████████ | 24029/30000 [11:09:26<2:46:18, 1.67s/it] 80%|████████ | 24030/30000 [11:09:28<2:45:57, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.10221140086650848, 'learning_rate': 3.133501007254138e-06, 'flow_matching_loss': 0.01643597511574626, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.99} + 80%|████████ | 24030/30000 [11:09:28<2:45:57, 1.67s/it] 80%|████████ | 24031/30000 [11:09:29<2:46:00, 1.67s/it] 80%|████████ | 24032/30000 [11:09:31<2:45:54, 1.67s/it] 80%|████████ | 24033/30000 [11:09:33<2:46:02, 1.67s/it] 80%|████████ | 24034/30000 [11:09:34<2:45:56, 1.67s/it] 80%|████████ | 24035/30000 [11:09:36<2:46:27, 1.67s/it] 80%|████████ | 24036/30000 [11:09:38<2:46:08, 1.67s/it] 80%|████████ | 24037/30000 [11:09:39<2:46:08, 1.67s/it] 80%|████████ | 24038/30000 [11:09:41<2:45:49, 1.67s/it] 80%|████████ | 24039/30000 [11:09:43<2:45:35, 1.67s/it] 80%|████████ | 24040/30000 [11:09:44<2:45:47, 1.67s/it] {'loss': 0.0139, 'grad_norm': 0.11147983372211456, 'learning_rate': 3.1233941600490123e-06, 'flow_matching_loss': 0.013911827187985181, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 6.99} + 80%|████████ | 24040/30000 [11:09:44<2:45:47, 1.67s/it] 80%|████████ | 24041/30000 [11:09:46<2:45:52, 1.67s/it] 80%|████████ | 24042/30000 [11:09:48<2:45:45, 1.67s/it] 80%|████████ | 24043/30000 [11:09:49<2:45:22, 1.67s/it] 80%|████████ | 24044/30000 [11:09:51<2:45:14, 1.66s/it] 80%|████████ | 24045/30000 [11:09:53<2:44:56, 1.66s/it] 80%|████████ | 24046/30000 [11:09:54<2:44:40, 1.66s/it] 80%|████████ | 24047/30000 [11:09:56<2:44:34, 1.66s/it] 80%|████████ | 24048/30000 [11:09:58<2:44:25, 1.66s/it] 80%|████████ | 24049/30000 [11:09:59<2:44:30, 1.66s/it] 80%|████████ | 24050/30000 [11:10:01<2:44:02, 1.65s/it] {'loss': 0.017, 'grad_norm': 0.1328914910554886, 'learning_rate': 3.113301744039875e-06, 'flow_matching_loss': 0.016951282136142255, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.0} + 80%|████████ | 24050/30000 [11:10:01<2:44:02, 1.65s/it] 80%|████████ | 24051/30000 [11:10:03<2:44:00, 1.65s/it] 80%|████████ | 24052/30000 [11:10:04<2:44:03, 1.65s/it] 80%|████████ | 24053/30000 [11:10:06<2:44:07, 1.66s/it] 80%|████████ | 24054/30000 [11:10:08<2:44:05, 1.66s/it] 80%|████████ | 24055/30000 [11:10:09<2:44:00, 1.66s/it] 80%|████████ | 24056/30000 [11:10:11<2:43:55, 1.65s/it] 80%|████████ | 24057/30000 [11:10:13<2:43:47, 1.65s/it] 80%|████████ | 24058/30000 [11:10:14<2:43:49, 1.65s/it] 80%|████████ | 24059/30000 [11:10:16<2:43:10, 1.65s/it] 80%|████████ | 24060/30000 [11:10:24<6:10:39, 3.74s/it] {'loss': 0.0167, 'grad_norm': 0.12035376578569412, 'learning_rate': 3.103223771489959e-06, 'flow_matching_loss': 0.01672063171863556, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.0} + 80%|████████ | 24060/30000 [11:10:25<6:10:39, 3.74s/it] 80%|████████ | 24061/30000 [11:10:26<5:10:16, 3.13s/it] 80%|████████ | 24062/30000 [11:10:28<4:27:11, 2.70s/it] 80%|████████ | 24063/30000 [11:10:30<3:57:13, 2.40s/it] 80%|████████ | 24064/30000 [11:10:31<3:36:01, 2.18s/it] 80%|████████ | 24065/30000 [11:10:33<3:21:02, 2.03s/it] 80%|████████ | 24066/30000 [11:10:35<3:10:32, 1.93s/it] 80%|████████ | 24067/30000 [11:10:36<3:04:21, 1.86s/it] 80%|████████ | 24068/30000 [11:10:38<2:58:10, 1.80s/it] 80%|████████ | 24069/30000 [11:10:40<2:54:02, 1.76s/it] 80%|████████ | 24070/30000 [11:10:41<2:51:12, 1.73s/it] {'loss': 0.0171, 'grad_norm': 0.13319887220859528, 'learning_rate': 3.09316025464495e-06, 'flow_matching_loss': 0.0171104421839118, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.0} + 80%|████████ | 24070/30000 [11:10:41<2:51:12, 1.73s/it] 80%|████████ | 24071/30000 [11:10:43<2:49:15, 1.71s/it] 80%|████████ | 24072/30000 [11:10:45<2:47:34, 1.70s/it] 80%|████████ | 24073/30000 [11:10:46<2:46:29, 1.69s/it] 80%|████████ | 24074/30000 [11:10:48<2:45:38, 1.68s/it] 80%|████████ | 24075/30000 [11:10:50<2:45:32, 1.68s/it] 80%|████████ | 24076/30000 [11:10:51<2:45:08, 1.67s/it] 80%|████████ | 24077/30000 [11:10:53<2:45:08, 1.67s/it] 80%|████████ | 24078/30000 [11:10:55<2:44:58, 1.67s/it] 80%|████████ | 24079/30000 [11:10:56<2:44:24, 1.67s/it] 80%|████████ | 24080/30000 [11:10:58<2:44:15, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.10800987482070923, 'learning_rate': 3.0831112057329775e-06, 'flow_matching_loss': 0.017307795770466327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.01} + 80%|████████ | 24080/30000 [11:10:58<2:44:15, 1.66s/it] 80%|████████ | 24081/30000 [11:11:00<2:44:11, 1.66s/it] 80%|████████ | 24082/30000 [11:11:01<2:43:53, 1.66s/it] 80%|████████ | 24083/30000 [11:11:03<2:43:39, 1.66s/it] 80%|████████ | 24084/30000 [11:11:05<2:43:41, 1.66s/it] 80%|████████ | 24085/30000 [11:11:06<2:43:31, 1.66s/it] 80%|████████ | 24086/30000 [11:11:08<2:43:55, 1.66s/it] 80%|████████ | 24087/30000 [11:11:10<2:43:52, 1.66s/it] 80%|████████ | 24088/30000 [11:11:11<2:43:48, 1.66s/it] 80%|████████ | 24089/30000 [11:11:13<2:43:56, 1.66s/it] 80%|████████ | 24090/30000 [11:11:15<2:44:09, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.1425282508134842, 'learning_rate': 3.073076636964579e-06, 'flow_matching_loss': 0.016842451691627503, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.01} + 80%|████████ | 24090/30000 [11:11:15<2:44:09, 1.67s/it] 80%|████████ | 24091/30000 [11:11:16<2:43:51, 1.66s/it] 80%|████████ | 24092/30000 [11:11:18<2:43:34, 1.66s/it] 80%|████████ | 24093/30000 [11:11:20<2:43:22, 1.66s/it] 80%|████████ | 24094/30000 [11:11:21<2:43:29, 1.66s/it] 80%|████████ | 24095/30000 [11:11:23<2:43:24, 1.66s/it] 80%|████████ | 24096/30000 [11:11:25<2:43:37, 1.66s/it] 80%|████████ | 24097/30000 [11:11:26<2:43:58, 1.67s/it] 80%|████████ | 24098/30000 [11:11:28<2:43:34, 1.66s/it] 80%|████████ | 24099/30000 [11:11:30<2:43:40, 1.66s/it] 80%|████████ | 24100/30000 [11:11:31<2:43:31, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.18749424815177917, 'learning_rate': 3.063056560532698e-06, 'flow_matching_loss': 0.017665741965174675, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.01} + 80%|████████ | 24100/30000 [11:11:31<2:43:31, 1.66s/it] 80%|████████ | 24101/30000 [11:11:33<2:43:33, 1.66s/it] 80%|████████ | 24102/30000 [11:11:35<2:43:55, 1.67s/it] 80%|████████ | 24103/30000 [11:11:36<2:43:25, 1.66s/it] 80%|████████ | 24104/30000 [11:11:38<2:43:11, 1.66s/it] 80%|████████ | 24105/30000 [11:11:39<2:43:19, 1.66s/it] 80%|████████ | 24106/30000 [11:11:41<2:43:19, 1.66s/it] 80%|████████ | 24107/30000 [11:11:43<2:43:11, 1.66s/it] 80%|████████ | 24108/30000 [11:11:44<2:43:26, 1.66s/it] 80%|████████ | 24109/30000 [11:11:46<2:43:14, 1.66s/it] 80%|████████ | 24110/30000 [11:11:48<2:43:29, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.0882471352815628, 'learning_rate': 3.0530509886126807e-06, 'flow_matching_loss': 0.015965434722602367, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.01} + 80%|████████ | 24110/30000 [11:11:48<2:43:29, 1.67s/it] 80%|████████ | 24111/30000 [11:11:49<2:43:35, 1.67s/it] 80%|████████ | 24112/30000 [11:11:51<2:43:50, 1.67s/it] 80%|████████ | 24113/30000 [11:11:53<2:43:16, 1.66s/it] 80%|████████ | 24114/30000 [11:11:54<2:43:10, 1.66s/it] 80%|████████ | 24115/30000 [11:11:56<2:42:55, 1.66s/it] 80%|████████ | 24116/30000 [11:11:58<2:42:54, 1.66s/it] 80%|████████ | 24117/30000 [11:11:59<2:43:04, 1.66s/it] 80%|████████ | 24118/30000 [11:12:01<2:43:20, 1.67s/it] 80%|████████ | 24119/30000 [11:12:03<2:43:35, 1.67s/it] 80%|████████ | 24120/30000 [11:12:04<2:43:09, 1.66s/it] {'loss': 0.016, 'grad_norm': 0.10691534727811813, 'learning_rate': 3.043059933362236e-06, 'flow_matching_loss': 0.01604972081258893, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.02} + 80%|████████ | 24120/30000 [11:12:05<2:43:09, 1.66s/it] 80%|████████ | 24121/30000 [11:12:06<2:43:16, 1.67s/it] 80%|████████ | 24122/30000 [11:12:08<2:43:29, 1.67s/it] 80%|████████ | 24123/30000 [11:12:09<2:43:14, 1.67s/it] 80%|████████ | 24124/30000 [11:12:11<2:43:10, 1.67s/it] 80%|████████ | 24125/30000 [11:12:13<2:43:09, 1.67s/it] 80%|████████ | 24126/30000 [11:12:14<2:43:17, 1.67s/it] 80%|████████ | 24127/30000 [11:12:16<2:42:51, 1.66s/it] 80%|████████ | 24128/30000 [11:12:18<2:42:56, 1.66s/it] 80%|████████ | 24129/30000 [11:12:19<2:42:50, 1.66s/it] 80%|████████ | 24130/30000 [11:12:21<2:42:52, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.12276995927095413, 'learning_rate': 3.0330834069214337e-06, 'flow_matching_loss': 0.017286364827305077, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.02} + 80%|████████ | 24130/30000 [11:12:21<2:42:52, 1.66s/it] 80%|████████ | 24131/30000 [11:12:23<2:42:43, 1.66s/it] 80%|████████ | 24132/30000 [11:12:24<2:42:42, 1.66s/it] 80%|████████ | 24133/30000 [11:12:26<2:42:46, 1.66s/it] 80%|████████ | 24134/30000 [11:12:28<2:42:42, 1.66s/it] 80%|████████ | 24135/30000 [11:12:29<2:42:37, 1.66s/it] 80%|████████ | 24136/30000 [11:12:31<2:42:33, 1.66s/it] 80%|████████ | 24137/30000 [11:12:33<2:42:43, 1.67s/it] 80%|████████ | 24138/30000 [11:12:34<2:42:38, 1.66s/it] 80%|████████ | 24139/30000 [11:12:36<2:42:31, 1.66s/it] 80%|████████ | 24140/30000 [11:12:38<2:42:37, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.10022352635860443, 'learning_rate': 3.023121421412703e-06, 'flow_matching_loss': 0.01579572930932045, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.02} + 80%|████████ | 24140/30000 [11:12:38<2:42:37, 1.67s/it] 80%|████████ | 24141/30000 [11:12:39<2:42:28, 1.66s/it] 80%|████████ | 24142/30000 [11:12:41<2:42:46, 1.67s/it] 80%|████████ | 24143/30000 [11:12:43<2:42:40, 1.67s/it] 80%|████████ | 24144/30000 [11:12:44<2:42:28, 1.66s/it] 80%|████████ | 24145/30000 [11:12:46<2:42:41, 1.67s/it] 80%|████████ | 24146/30000 [11:12:48<2:42:24, 1.66s/it] 80%|████████ | 24147/30000 [11:12:49<2:42:24, 1.66s/it] 80%|████████ | 24148/30000 [11:12:51<2:42:45, 1.67s/it] 80%|████████ | 24149/30000 [11:12:53<2:42:37, 1.67s/it] 80%|████████ | 24150/30000 [11:12:54<2:42:50, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.09426591545343399, 'learning_rate': 3.0131739889407896e-06, 'flow_matching_loss': 0.015474467538297176, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.03} + 80%|████████ | 24150/30000 [11:12:54<2:42:50, 1.67s/it] 81%|████████ | 24151/30000 [11:12:56<2:42:28, 1.67s/it] 81%|████████ | 24152/30000 [11:12:58<2:42:43, 1.67s/it] 81%|████████ | 24153/30000 [11:12:59<2:42:44, 1.67s/it] 81%|████████ | 24154/30000 [11:13:01<2:42:28, 1.67s/it] 81%|████████ | 24155/30000 [11:13:03<2:42:13, 1.67s/it] 81%|████████ | 24156/30000 [11:13:04<2:42:15, 1.67s/it] 81%|████████ | 24157/30000 [11:13:06<2:42:04, 1.66s/it] 81%|████████ | 24158/30000 [11:13:08<2:42:20, 1.67s/it] 81%|████████ | 24159/30000 [11:13:09<2:42:13, 1.67s/it] 81%|████████ | 24160/30000 [11:13:11<2:42:14, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.0839998796582222, 'learning_rate': 3.0032411215927645e-06, 'flow_matching_loss': 0.01825009463354945, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.03} + 81%|████████ | 24160/30000 [11:13:11<2:42:14, 1.67s/it] 81%|████████ | 24161/30000 [11:13:13<2:42:10, 1.67s/it] 81%|████████ | 24162/30000 [11:13:14<2:42:34, 1.67s/it] 81%|████████ | 24163/30000 [11:13:16<2:42:16, 1.67s/it] 81%|████████ | 24164/30000 [11:13:18<2:42:18, 1.67s/it] 81%|████████ | 24165/30000 [11:13:19<2:42:14, 1.67s/it] 81%|████████ | 24166/30000 [11:13:21<2:42:09, 1.67s/it] 81%|████████ | 24167/30000 [11:13:23<2:42:01, 1.67s/it] 81%|████████ | 24168/30000 [11:13:24<2:41:46, 1.66s/it] 81%|████████ | 24169/30000 [11:13:26<2:41:52, 1.67s/it] 81%|████████ | 24170/30000 [11:13:28<2:42:04, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11216938495635986, 'learning_rate': 2.9933228314379975e-06, 'flow_matching_loss': 0.017175161559134722, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.03} + 81%|████████ | 24170/30000 [11:13:28<2:42:04, 1.67s/it] 81%|████████ | 24171/30000 [11:13:29<2:41:50, 1.67s/it] 81%|████████ | 24172/30000 [11:13:31<2:41:38, 1.66s/it] 81%|████████ | 24173/30000 [11:13:33<2:41:37, 1.66s/it] 81%|████████ | 24174/30000 [11:13:34<2:41:45, 1.67s/it] 81%|████████ | 24175/30000 [11:13:36<2:41:52, 1.67s/it] 81%|████████ | 24176/30000 [11:13:38<2:41:53, 1.67s/it] 81%|████████ | 24177/30000 [11:13:39<2:41:51, 1.67s/it] 81%|████████ | 24178/30000 [11:13:41<2:41:45, 1.67s/it] 81%|████████ | 24179/30000 [11:13:43<2:41:31, 1.66s/it] 81%|████████ | 24180/30000 [11:13:44<2:41:38, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.126678004860878, 'learning_rate': 2.9834191305281405e-06, 'flow_matching_loss': 0.01839293325319886, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.04} + 81%|████████ | 24180/30000 [11:13:44<2:41:38, 1.67s/it] 81%|████████ | 24181/30000 [11:13:46<2:41:34, 1.67s/it] 81%|████████ | 24182/30000 [11:13:48<2:41:43, 1.67s/it] 81%|████████ | 24183/30000 [11:13:49<2:41:23, 1.66s/it] 81%|████████ | 24184/30000 [11:13:51<2:41:29, 1.67s/it] 81%|████████ | 24185/30000 [11:13:53<2:41:40, 1.67s/it] 81%|████████ | 24186/30000 [11:13:54<2:41:58, 1.67s/it] 81%|████████ | 24187/30000 [11:13:56<2:41:33, 1.67s/it] 81%|████████ | 24188/30000 [11:13:58<2:41:24, 1.67s/it] 81%|████████ | 24189/30000 [11:13:59<2:41:24, 1.67s/it] 81%|████████ | 24190/30000 [11:14:01<2:41:33, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.10582878440618515, 'learning_rate': 2.973530030897135e-06, 'flow_matching_loss': 0.015141141321510076, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.04} + 81%|████████ | 24190/30000 [11:14:01<2:41:33, 1.67s/it] 81%|████████ | 24191/30000 [11:14:03<2:41:34, 1.67s/it] 81%|████████ | 24192/30000 [11:14:04<2:41:30, 1.67s/it] 81%|████████ | 24193/30000 [11:14:06<2:41:36, 1.67s/it] 81%|████████ | 24194/30000 [11:14:08<2:41:28, 1.67s/it] 81%|████████ | 24195/30000 [11:14:09<2:41:43, 1.67s/it] 81%|████████ | 24196/30000 [11:14:11<2:41:41, 1.67s/it] 81%|████████ | 24197/30000 [11:14:13<2:41:37, 1.67s/it] 81%|████████ | 24198/30000 [11:14:14<2:41:37, 1.67s/it] 81%|████████ | 24199/30000 [11:14:16<2:41:19, 1.67s/it] 81%|████████ | 24200/30000 [11:14:18<2:41:22, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09396814554929733, 'learning_rate': 2.9636555445611646e-06, 'flow_matching_loss': 0.017215043865144254, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.04} + 81%|████████ | 24200/30000 [11:14:18<2:41:22, 1.67s/it] 81%|████████ | 24201/30000 [11:14:19<2:41:24, 1.67s/it] 81%|████████ | 24202/30000 [11:14:21<2:41:10, 1.67s/it] 81%|████████ | 24203/30000 [11:14:23<2:41:11, 1.67s/it] 81%|████████ | 24204/30000 [11:14:24<2:41:18, 1.67s/it] 81%|████████ | 24205/30000 [11:14:26<2:40:51, 1.67s/it] 81%|████████ | 24206/30000 [11:14:28<2:41:02, 1.67s/it] 81%|████████ | 24207/30000 [11:14:29<2:41:00, 1.67s/it] 81%|████████ | 24208/30000 [11:14:31<2:40:59, 1.67s/it] 81%|████████ | 24209/30000 [11:14:33<2:40:59, 1.67s/it] 81%|████████ | 24210/30000 [11:14:34<2:40:57, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.12206369638442993, 'learning_rate': 2.953795683518659e-06, 'flow_matching_loss': 0.01700423685833812, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.04} + 81%|████████ | 24210/30000 [11:14:35<2:40:57, 1.67s/it] 81%|████████ | 24211/30000 [11:14:36<2:40:44, 1.67s/it] 81%|████████ | 24212/30000 [11:14:38<2:40:53, 1.67s/it] 81%|████████ | 24213/30000 [11:14:39<2:40:46, 1.67s/it] 81%|████████ | 24214/30000 [11:14:41<2:40:53, 1.67s/it] 81%|████████ | 24215/30000 [11:14:43<2:40:47, 1.67s/it] 81%|████████ | 24216/30000 [11:14:44<2:40:43, 1.67s/it] 81%|████████ | 24217/30000 [11:14:46<2:40:43, 1.67s/it] 81%|████████ | 24218/30000 [11:14:48<2:40:53, 1.67s/it] 81%|████████ | 24219/30000 [11:14:50<2:40:39, 1.67s/it] 81%|████████ | 24220/30000 [11:14:51<2:40:36, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11891517043113708, 'learning_rate': 2.9439504597502815e-06, 'flow_matching_loss': 0.017146963346749543, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.05} + 81%|████████ | 24220/30000 [11:14:51<2:40:36, 1.67s/it] 81%|████████ | 24221/30000 [11:14:53<2:40:20, 1.66s/it] 81%|████████ | 24222/30000 [11:14:55<2:40:33, 1.67s/it] 81%|████████ | 24223/30000 [11:14:56<2:40:27, 1.67s/it] 81%|████████ | 24224/30000 [11:14:58<2:40:25, 1.67s/it] 81%|████████ | 24225/30000 [11:15:00<2:40:46, 1.67s/it] 81%|████████ | 24226/30000 [11:15:01<2:40:17, 1.67s/it] 81%|████████ | 24227/30000 [11:15:03<2:40:04, 1.66s/it] 81%|████████ | 24228/30000 [11:15:05<2:40:22, 1.67s/it] 81%|████████ | 24229/30000 [11:15:06<2:40:08, 1.67s/it] 81%|████████ | 24230/30000 [11:15:08<2:40:25, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.09711063653230667, 'learning_rate': 2.934119885218902e-06, 'flow_matching_loss': 0.015362336859107017, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.05} + 81%|████████ | 24230/30000 [11:15:08<2:40:25, 1.67s/it] 81%|████████ | 24231/30000 [11:15:10<2:40:30, 1.67s/it] 81%|████████ | 24232/30000 [11:15:11<2:40:25, 1.67s/it] 81%|████████ | 24233/30000 [11:15:13<2:40:25, 1.67s/it] 81%|████████ | 24234/30000 [11:15:15<2:40:15, 1.67s/it] 81%|████████ | 24235/30000 [11:15:16<2:40:04, 1.67s/it] 81%|████████ | 24236/30000 [11:15:18<2:40:09, 1.67s/it] 81%|████████ | 24237/30000 [11:15:20<2:39:56, 1.67s/it] 81%|████████ | 24238/30000 [11:15:21<2:40:08, 1.67s/it] 81%|████████ | 24239/30000 [11:15:23<2:40:43, 1.67s/it] 81%|████████ | 24240/30000 [11:15:25<2:40:26, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.11003217846155167, 'learning_rate': 2.9243039718696045e-06, 'flow_matching_loss': 0.01567844459787011, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.05} + 81%|████████ | 24240/30000 [11:15:25<2:40:26, 1.67s/it] 81%|████████ | 24241/30000 [11:15:26<2:40:29, 1.67s/it] 81%|████████ | 24242/30000 [11:15:28<2:40:15, 1.67s/it] 81%|████████ | 24243/30000 [11:15:30<2:40:01, 1.67s/it] 81%|████████ | 24244/30000 [11:15:31<2:39:52, 1.67s/it] 81%|████████ | 24245/30000 [11:15:33<2:40:03, 1.67s/it] 81%|████████ | 24246/30000 [11:15:35<2:40:11, 1.67s/it] 81%|████████ | 24247/30000 [11:15:36<2:40:10, 1.67s/it] 81%|████████ | 24248/30000 [11:15:38<2:40:01, 1.67s/it] 81%|████████ | 24249/30000 [11:15:40<2:39:56, 1.67s/it] 81%|████████ | 24250/30000 [11:15:41<2:40:05, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11402525752782822, 'learning_rate': 2.914502731629641e-06, 'flow_matching_loss': 0.017109844367951155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.06} + 81%|████████ | 24250/30000 [11:15:41<2:40:05, 1.67s/it] 81%|████████ | 24251/30000 [11:15:43<2:39:51, 1.67s/it] 81%|████████ | 24252/30000 [11:15:45<2:39:47, 1.67s/it] 81%|████████ | 24253/30000 [11:15:46<2:39:32, 1.67s/it] 81%|████████ | 24254/30000 [11:15:48<2:39:39, 1.67s/it] 81%|████████ | 24255/30000 [11:15:50<2:39:44, 1.67s/it] 81%|████████ | 24256/30000 [11:15:51<2:39:36, 1.67s/it] 81%|████████ | 24257/30000 [11:15:53<2:39:31, 1.67s/it] 81%|████████ | 24258/30000 [11:15:55<2:39:43, 1.67s/it] 81%|████████ | 24259/30000 [11:15:56<2:39:28, 1.67s/it] 81%|████████ | 24260/30000 [11:15:58<2:39:28, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.0975738987326622, 'learning_rate': 2.904716176408451e-06, 'flow_matching_loss': 0.017106326762586832, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.06} + 81%|████████ | 24260/30000 [11:15:58<2:39:28, 1.67s/it] 81%|████████ | 24261/30000 [11:16:00<2:39:38, 1.67s/it] 81%|████████ | 24262/30000 [11:16:01<2:39:41, 1.67s/it] 81%|████████ | 24263/30000 [11:16:03<2:39:46, 1.67s/it] 81%|████████ | 24264/30000 [11:16:05<2:39:32, 1.67s/it] 81%|████████ | 24265/30000 [11:16:06<2:39:26, 1.67s/it] 81%|████████ | 24266/30000 [11:16:08<2:39:25, 1.67s/it] 81%|████████ | 24267/30000 [11:16:10<2:39:30, 1.67s/it] 81%|████████ | 24268/30000 [11:16:11<2:39:30, 1.67s/it] 81%|████████ | 24269/30000 [11:16:13<2:39:15, 1.67s/it] 81%|████████ | 24270/30000 [11:16:15<2:39:32, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.08767376840114594, 'learning_rate': 2.8949443180976172e-06, 'flow_matching_loss': 0.015803073439747094, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.06} + 81%|████████ | 24270/30000 [11:16:15<2:39:32, 1.67s/it] 81%|████████ | 24271/30000 [11:16:16<2:39:46, 1.67s/it] 81%|████████ | 24272/30000 [11:16:18<2:39:36, 1.67s/it] 81%|████████ | 24273/30000 [11:16:20<2:39:48, 1.67s/it] 81%|████████ | 24274/30000 [11:16:21<2:39:34, 1.67s/it] 81%|████████ | 24275/30000 [11:16:23<2:39:12, 1.67s/it] 81%|████████ | 24276/30000 [11:16:25<2:39:05, 1.67s/it] 81%|████████ | 24277/30000 [11:16:26<2:39:14, 1.67s/it] 81%|████████ | 24278/30000 [11:16:28<2:39:15, 1.67s/it] 81%|████████ | 24279/30000 [11:16:30<2:39:21, 1.67s/it] 81%|████████ | 24280/30000 [11:16:31<2:39:05, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.09205150604248047, 'learning_rate': 2.885187168570864e-06, 'flow_matching_loss': 0.016045760177075864, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.06} + 81%|████████ | 24280/30000 [11:16:31<2:39:05, 1.67s/it] 81%|████████ | 24281/30000 [11:16:33<2:39:07, 1.67s/it] 81%|████████ | 24282/30000 [11:16:35<2:39:18, 1.67s/it] 81%|████████ | 24283/30000 [11:16:36<2:38:53, 1.67s/it] 81%|████████ | 24284/30000 [11:16:38<2:38:53, 1.67s/it] 81%|████████ | 24285/30000 [11:16:40<2:38:35, 1.67s/it] 81%|████████ | 24286/30000 [11:16:41<2:38:49, 1.67s/it] 81%|████████ | 24287/30000 [11:16:43<2:38:51, 1.67s/it] 81%|████████ | 24288/30000 [11:16:45<2:38:30, 1.67s/it] 81%|████████ | 24289/30000 [11:16:46<2:38:41, 1.67s/it] 81%|████████ | 24290/30000 [11:16:48<2:38:45, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.11188387125730515, 'learning_rate': 2.875444739684058e-06, 'flow_matching_loss': 0.018650265131145715, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.07} + 81%|████████ | 24290/30000 [11:16:48<2:38:45, 1.67s/it] 81%|████████ | 24291/30000 [11:16:50<2:38:37, 1.67s/it] 81%|████████ | 24292/30000 [11:16:51<2:38:29, 1.67s/it] 81%|████████ | 24293/30000 [11:16:53<2:38:39, 1.67s/it] 81%|████████ | 24294/30000 [11:16:55<2:38:45, 1.67s/it] 81%|████████ | 24295/30000 [11:16:56<2:38:40, 1.67s/it] 81%|████████ | 24296/30000 [11:16:58<2:38:33, 1.67s/it] 81%|████████ | 24297/30000 [11:17:00<2:38:45, 1.67s/it] 81%|████████ | 24298/30000 [11:17:01<2:38:41, 1.67s/it] 81%|████████ | 24299/30000 [11:17:03<2:38:28, 1.67s/it] 81%|████████ | 24300/30000 [11:17:05<2:38:33, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.12263689190149307, 'learning_rate': 2.865717043275165e-06, 'flow_matching_loss': 0.01785365492105484, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.07} + 81%|████████ | 24300/30000 [11:17:05<2:38:33, 1.67s/it] 81%|████████ | 24301/30000 [11:17:06<2:38:16, 1.67s/it] 81%|████████ | 24302/30000 [11:17:08<2:38:27, 1.67s/it] 81%|████████ | 24303/30000 [11:17:10<2:38:20, 1.67s/it] 81%|████████ | 24304/30000 [11:17:11<2:38:19, 1.67s/it] 81%|████████ | 24305/30000 [11:17:13<2:38:16, 1.67s/it] 81%|████████ | 24306/30000 [11:17:15<2:38:24, 1.67s/it] 81%|████████ | 24307/30000 [11:17:16<2:38:12, 1.67s/it] 81%|████████ | 24308/30000 [11:17:18<2:38:04, 1.67s/it] 81%|████████ | 24309/30000 [11:17:20<2:38:04, 1.67s/it] 81%|████████ | 24310/30000 [11:17:21<2:38:28, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.12178346514701843, 'learning_rate': 2.8560040911642528e-06, 'flow_matching_loss': 0.018177549447864295, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.07} + 81%|████████ | 24310/30000 [11:17:21<2:38:28, 1.67s/it] 81%|████████ | 24311/30000 [11:17:23<2:38:34, 1.67s/it] 81%|████████ | 24312/30000 [11:17:25<2:38:11, 1.67s/it] 81%|████████ | 24313/30000 [11:17:26<2:38:08, 1.67s/it] 81%|████████ | 24314/30000 [11:17:28<2:37:59, 1.67s/it] 81%|████████ | 24315/30000 [11:17:30<2:37:53, 1.67s/it] 81%|████████ | 24316/30000 [11:17:31<2:37:50, 1.67s/it] 81%|████████ | 24317/30000 [11:17:33<2:37:46, 1.67s/it] 81%|████████ | 24318/30000 [11:17:35<2:38:00, 1.67s/it] 81%|████████ | 24319/30000 [11:17:36<2:38:02, 1.67s/it] 81%|████████ | 24320/30000 [11:17:38<2:38:00, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10454754531383514, 'learning_rate': 2.846305895153472e-06, 'flow_matching_loss': 0.01700234869495034, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.08} + 81%|████████ | 24320/30000 [11:17:38<2:38:00, 1.67s/it] 81%|████████ | 24321/30000 [11:17:40<2:37:59, 1.67s/it] 81%|████████ | 24322/30000 [11:17:41<2:37:55, 1.67s/it] 81%|████████ | 24323/30000 [11:17:43<2:37:45, 1.67s/it] 81%|████████ | 24324/30000 [11:17:45<2:37:59, 1.67s/it] 81%|████████ | 24325/30000 [11:17:46<2:38:00, 1.67s/it] 81%|████████ | 24326/30000 [11:17:48<2:37:49, 1.67s/it] 81%|████████ | 24327/30000 [11:17:50<2:37:53, 1.67s/it] 81%|████████ | 24328/30000 [11:17:51<2:37:42, 1.67s/it] 81%|████████ | 24329/30000 [11:17:53<2:38:00, 1.67s/it] 81%|████████ | 24330/30000 [11:17:55<2:37:44, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.09791138768196106, 'learning_rate': 2.8366224670270487e-06, 'flow_matching_loss': 0.0149841601960361, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.08} + 81%|████████ | 24330/30000 [11:17:55<2:37:44, 1.67s/it] 81%|████████ | 24331/30000 [11:17:56<2:37:43, 1.67s/it] 81%|████████ | 24332/30000 [11:17:58<2:37:43, 1.67s/it] 81%|████████ | 24333/30000 [11:18:00<2:37:30, 1.67s/it] 81%|████████ | 24334/30000 [11:18:01<2:37:36, 1.67s/it] 81%|████████ | 24335/30000 [11:18:03<2:37:24, 1.67s/it] 81%|████████ | 24336/30000 [11:18:05<2:37:19, 1.67s/it] 81%|████████ | 24337/30000 [11:18:06<2:37:24, 1.67s/it] 81%|████████ | 24338/30000 [11:18:08<2:37:35, 1.67s/it] 81%|████████ | 24339/30000 [11:18:10<2:37:26, 1.67s/it] 81%|████████ | 24340/30000 [11:18:11<2:37:10, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12860070168972015, 'learning_rate': 2.8269538185512535e-06, 'flow_matching_loss': 0.016892360337078572, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.08} + 81%|████████ | 24340/30000 [11:18:11<2:37:10, 1.67s/it] 81%|████████ | 24341/30000 [11:18:13<2:37:02, 1.67s/it] 81%|████████ | 24342/30000 [11:18:15<2:37:13, 1.67s/it] 81%|████████ | 24343/30000 [11:18:16<2:37:06, 1.67s/it] 81%|████████ | 24344/30000 [11:18:18<2:37:02, 1.67s/it] 81%|████████ | 24345/30000 [11:18:20<2:37:10, 1.67s/it] 81%|████████ | 24346/30000 [11:18:21<2:37:06, 1.67s/it] 81%|████████ | 24347/30000 [11:18:23<2:37:03, 1.67s/it] 81%|████████ | 24348/30000 [11:18:25<2:36:58, 1.67s/it] 81%|████████ | 24349/30000 [11:18:26<2:36:50, 1.67s/it] 81%|████████ | 24350/30000 [11:18:28<2:37:10, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12095863372087479, 'learning_rate': 2.817299961474417e-06, 'flow_matching_loss': 0.016885715909302233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.08} + 81%|████████ | 24350/30000 [11:18:28<2:37:10, 1.67s/it] 81%|████████ | 24351/30000 [11:18:30<2:37:16, 1.67s/it] 81%|████████ | 24352/30000 [11:18:31<2:37:02, 1.67s/it] 81%|████████ | 24353/30000 [11:18:33<2:36:56, 1.67s/it] 81%|████████ | 24354/30000 [11:18:35<2:37:00, 1.67s/it] 81%|████████ | 24355/30000 [11:18:36<2:37:02, 1.67s/it] 81%|████████ | 24356/30000 [11:18:38<2:36:58, 1.67s/it] 81%|████████ | 24357/30000 [11:18:40<2:37:06, 1.67s/it] 81%|████████ | 24358/30000 [11:18:41<2:36:48, 1.67s/it] 81%|████████ | 24359/30000 [11:18:43<2:36:52, 1.67s/it] 81%|████████ | 24360/30000 [11:18:45<2:36:49, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11459093540906906, 'learning_rate': 2.8076609075268816e-06, 'flow_matching_loss': 0.017071709968149662, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.09} + 81%|████████ | 24360/30000 [11:18:45<2:36:49, 1.67s/it] 81%|████████ | 24361/30000 [11:18:46<2:36:43, 1.67s/it] 81%|████████ | 24362/30000 [11:18:48<2:36:44, 1.67s/it] 81%|████████ | 24363/30000 [11:18:50<2:36:47, 1.67s/it] 81%|████████ | 24364/30000 [11:18:51<2:36:43, 1.67s/it] 81%|████████ | 24365/30000 [11:18:53<2:36:33, 1.67s/it] 81%|████████ | 24366/30000 [11:18:55<2:36:30, 1.67s/it] 81%|████████ | 24367/30000 [11:18:56<2:36:28, 1.67s/it] 81%|████████ | 24368/30000 [11:18:58<2:36:21, 1.67s/it] 81%|████████ | 24369/30000 [11:19:00<2:36:16, 1.67s/it] 81%|████████ | 24370/30000 [11:19:01<2:36:04, 1.66s/it] {'loss': 0.0163, 'grad_norm': 0.11913987249135971, 'learning_rate': 2.798036668421006e-06, 'flow_matching_loss': 0.016255707945674658, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.09} + 81%|████████ | 24370/30000 [11:19:01<2:36:04, 1.66s/it] 81%|████████ | 24371/30000 [11:19:03<2:36:08, 1.66s/it] 81%|████████ | 24372/30000 [11:19:05<2:36:07, 1.66s/it] 81%|████████ | 24373/30000 [11:19:06<2:36:03, 1.66s/it] 81%|████████ | 24374/30000 [11:19:08<2:36:19, 1.67s/it] 81%|████████▏ | 24375/30000 [11:19:10<2:36:24, 1.67s/it] 81%|████████▏ | 24376/30000 [11:19:11<2:36:21, 1.67s/it] 81%|████████▏ | 24377/30000 [11:19:13<2:35:59, 1.66s/it] 81%|████████▏ | 24378/30000 [11:19:15<2:35:55, 1.66s/it] 81%|████████▏ | 24379/30000 [11:19:16<2:35:44, 1.66s/it] 81%|████████▏ | 24380/30000 [11:19:18<2:35:44, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.11005455255508423, 'learning_rate': 2.7884272558511433e-06, 'flow_matching_loss': 0.016494190134108067, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.09} + 81%|████████▏ | 24380/30000 [11:19:18<2:35:44, 1.66s/it] 81%|████████▏ | 24381/30000 [11:19:20<2:35:49, 1.66s/it] 81%|████████▏ | 24382/30000 [11:19:21<2:36:12, 1.67s/it] 81%|████████▏ | 24383/30000 [11:19:23<2:36:01, 1.67s/it] 81%|████████▏ | 24384/30000 [11:19:25<2:35:53, 1.67s/it] 81%|████████▏ | 24385/30000 [11:19:26<2:35:51, 1.67s/it] 81%|████████▏ | 24386/30000 [11:19:28<2:35:47, 1.66s/it] 81%|████████▏ | 24387/30000 [11:19:30<2:35:37, 1.66s/it] 81%|████████▏ | 24388/30000 [11:19:31<2:35:46, 1.67s/it] 81%|████████▏ | 24389/30000 [11:19:33<2:35:42, 1.67s/it] 81%|████████▏ | 24390/30000 [11:19:35<2:36:02, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.13367559015750885, 'learning_rate': 2.7788326814936456e-06, 'flow_matching_loss': 0.01698399307206273, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.1} + 81%|████████▏ | 24390/30000 [11:19:35<2:36:02, 1.67s/it] 81%|████████▏ | 24391/30000 [11:19:36<2:36:15, 1.67s/it] 81%|████████▏ | 24392/30000 [11:19:38<2:35:59, 1.67s/it] 81%|████████▏ | 24393/30000 [11:19:40<2:36:04, 1.67s/it] 81%|████████▏ | 24394/30000 [11:19:41<2:36:11, 1.67s/it] 81%|████████▏ | 24395/30000 [11:19:43<2:35:37, 1.67s/it] 81%|████████▏ | 24396/30000 [11:19:45<2:35:47, 1.67s/it] 81%|████████▏ | 24397/30000 [11:19:46<2:35:35, 1.67s/it] 81%|████████▏ | 24398/30000 [11:19:48<2:35:49, 1.67s/it] 81%|████████▏ | 24399/30000 [11:19:50<2:36:14, 1.67s/it] 81%|████████▏ | 24400/30000 [11:19:51<2:35:53, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.17999540269374847, 'learning_rate': 2.7692529570068176e-06, 'flow_matching_loss': 0.017144338134676217, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.1} + 81%|████████▏ | 24400/30000 [11:19:51<2:35:53, 1.67s/it] 81%|████████▏ | 24401/30000 [11:19:53<2:35:54, 1.67s/it] 81%|████████▏ | 24402/30000 [11:19:55<2:35:53, 1.67s/it] 81%|████████▏ | 24403/30000 [11:19:56<2:35:50, 1.67s/it] 81%|████████▏ | 24404/30000 [11:19:58<2:35:30, 1.67s/it] 81%|████████▏ | 24405/30000 [11:20:00<2:35:32, 1.67s/it] 81%|████████▏ | 24406/30000 [11:20:01<2:35:35, 1.67s/it] 81%|████████▏ | 24407/30000 [11:20:03<2:35:31, 1.67s/it] 81%|████████▏ | 24408/30000 [11:20:05<2:35:14, 1.67s/it] 81%|████████▏ | 24409/30000 [11:20:06<2:35:18, 1.67s/it] 81%|████████▏ | 24410/30000 [11:20:08<2:35:21, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.09286437183618546, 'learning_rate': 2.759688094030933e-06, 'flow_matching_loss': 0.01925234720110893, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.1} + 81%|████████▏ | 24410/30000 [11:20:08<2:35:21, 1.67s/it] 81%|████████▏ | 24411/30000 [11:20:10<2:35:06, 1.67s/it] 81%|████████▏ | 24412/30000 [11:20:11<2:35:06, 1.67s/it] 81%|████████▏ | 24413/30000 [11:20:13<2:34:59, 1.66s/it] 81%|████████▏ | 24414/30000 [11:20:15<2:34:56, 1.66s/it] 81%|████████▏ | 24415/30000 [11:20:16<2:35:04, 1.67s/it] 81%|████████▏ | 24416/30000 [11:20:18<2:35:07, 1.67s/it] 81%|████████▏ | 24417/30000 [11:20:20<2:35:16, 1.67s/it] 81%|████████▏ | 24418/30000 [11:20:21<2:35:16, 1.67s/it] 81%|████████▏ | 24419/30000 [11:20:23<2:35:05, 1.67s/it] 81%|████████▏ | 24420/30000 [11:20:25<2:35:00, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.12296009063720703, 'learning_rate': 2.750138104188201e-06, 'flow_matching_loss': 0.016111648175865412, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.11} + 81%|████████▏ | 24420/30000 [11:20:25<2:35:00, 1.67s/it] 81%|████████▏ | 24421/30000 [11:20:26<2:34:56, 1.67s/it] 81%|████████▏ | 24422/30000 [11:20:28<2:35:10, 1.67s/it] 81%|████████▏ | 24423/30000 [11:20:30<2:35:10, 1.67s/it] 81%|████████▏ | 24424/30000 [11:20:31<2:34:41, 1.66s/it] 81%|████████▏ | 24425/30000 [11:20:33<2:34:44, 1.67s/it] 81%|████████▏ | 24426/30000 [11:20:35<2:35:06, 1.67s/it] 81%|████████▏ | 24427/30000 [11:20:36<2:35:03, 1.67s/it] 81%|████████▏ | 24428/30000 [11:20:38<2:34:43, 1.67s/it] 81%|████████▏ | 24429/30000 [11:20:40<2:34:32, 1.66s/it] 81%|████████▏ | 24430/30000 [11:20:41<2:34:40, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1353926807641983, 'learning_rate': 2.740602999082759e-06, 'flow_matching_loss': 0.017887687776237726, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.11} + 81%|████████▏ | 24430/30000 [11:20:41<2:34:40, 1.67s/it] 81%|████████▏ | 24431/30000 [11:20:43<2:35:02, 1.67s/it] 81%|████████▏ | 24432/30000 [11:20:45<2:34:49, 1.67s/it] 81%|████████▏ | 24433/30000 [11:20:46<2:34:44, 1.67s/it] 81%|████████▏ | 24434/30000 [11:20:48<2:34:59, 1.67s/it] 81%|████████▏ | 24435/30000 [11:20:50<2:35:00, 1.67s/it] 81%|████████▏ | 24436/30000 [11:20:51<2:35:01, 1.67s/it] 81%|████████▏ | 24437/30000 [11:20:53<2:34:47, 1.67s/it] 81%|████████▏ | 24438/30000 [11:20:55<2:34:37, 1.67s/it] 81%|████████▏ | 24439/30000 [11:20:56<2:34:58, 1.67s/it] 81%|████████▏ | 24440/30000 [11:20:58<2:34:56, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.15046297013759613, 'learning_rate': 2.731082790300654e-06, 'flow_matching_loss': 0.018150533456355332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.11} + 81%|████████▏ | 24440/30000 [11:20:58<2:34:56, 1.67s/it] 81%|████████▏ | 24441/30000 [11:21:00<2:34:51, 1.67s/it] 81%|████████▏ | 24442/30000 [11:21:01<2:34:51, 1.67s/it] 81%|████████▏ | 24443/30000 [11:21:03<2:34:46, 1.67s/it] 81%|████████▏ | 24444/30000 [11:21:05<2:34:48, 1.67s/it] 81%|████████▏ | 24445/30000 [11:21:06<2:34:34, 1.67s/it] 81%|████████▏ | 24446/30000 [11:21:08<2:34:33, 1.67s/it] 81%|████████▏ | 24447/30000 [11:21:10<2:34:30, 1.67s/it] 81%|████████▏ | 24448/30000 [11:21:12<2:34:21, 1.67s/it] 81%|████████▏ | 24449/30000 [11:21:13<2:34:23, 1.67s/it] 82%|████████▏ | 24450/30000 [11:21:15<2:34:21, 1.67s/it] {'loss': 0.021, 'grad_norm': 0.10078901797533035, 'learning_rate': 2.7215774894098474e-06, 'flow_matching_loss': 0.02096007000654936, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.11} + 82%|████████▏ | 24450/30000 [11:21:15<2:34:21, 1.67s/it] 82%|████████▏ | 24451/30000 [11:21:16<2:33:59, 1.67s/it] 82%|████████▏ | 24452/30000 [11:21:18<2:33:57, 1.66s/it] 82%|████████▏ | 24453/30000 [11:21:20<2:33:37, 1.66s/it] 82%|████████▏ | 24454/30000 [11:21:21<2:33:57, 1.67s/it] 82%|████████▏ | 24455/30000 [11:21:23<2:34:01, 1.67s/it] 82%|████████▏ | 24456/30000 [11:21:25<2:33:49, 1.66s/it] 82%|████████▏ | 24457/30000 [11:21:26<2:33:58, 1.67s/it] 82%|████████▏ | 24458/30000 [11:21:28<2:34:02, 1.67s/it] 82%|████████▏ | 24459/30000 [11:21:30<2:33:53, 1.67s/it] 82%|████████▏ | 24460/30000 [11:21:31<2:34:03, 1.67s/it] {'loss': 0.0137, 'grad_norm': 0.10990814864635468, 'learning_rate': 2.7120871079601696e-06, 'flow_matching_loss': 0.01370675303041935, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.12} + 82%|████████▏ | 24460/30000 [11:21:32<2:34:03, 1.67s/it] 82%|████████▏ | 24461/30000 [11:21:33<2:33:51, 1.67s/it] 82%|████████▏ | 24462/30000 [11:21:35<2:33:59, 1.67s/it] 82%|████████▏ | 24463/30000 [11:21:37<2:34:02, 1.67s/it] 82%|████████▏ | 24464/30000 [11:21:38<2:34:12, 1.67s/it] 82%|████████▏ | 24465/30000 [11:21:40<2:34:03, 1.67s/it] 82%|████████▏ | 24466/30000 [11:21:42<2:33:56, 1.67s/it] 82%|████████▏ | 24467/30000 [11:21:43<2:33:51, 1.67s/it] 82%|████████▏ | 24468/30000 [11:21:45<2:33:42, 1.67s/it] 82%|████████▏ | 24469/30000 [11:21:47<2:33:36, 1.67s/it] 82%|████████▏ | 24470/30000 [11:21:48<2:33:50, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.13866020739078522, 'learning_rate': 2.7026116574833314e-06, 'flow_matching_loss': 0.014924534782767295, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.12} + 82%|████████▏ | 24470/30000 [11:21:48<2:33:50, 1.67s/it] 82%|████████▏ | 24471/30000 [11:21:50<2:33:47, 1.67s/it] 82%|████████▏ | 24472/30000 [11:21:52<2:33:39, 1.67s/it] 82%|████████▏ | 24473/30000 [11:21:53<2:33:35, 1.67s/it] 82%|████████▏ | 24474/30000 [11:21:55<2:33:35, 1.67s/it] 82%|████████▏ | 24475/30000 [11:21:57<2:33:37, 1.67s/it] 82%|████████▏ | 24476/30000 [11:21:58<2:33:29, 1.67s/it] 82%|████████▏ | 24477/30000 [11:22:00<2:33:26, 1.67s/it] 82%|████████▏ | 24478/30000 [11:22:02<2:33:28, 1.67s/it] 82%|████████▏ | 24479/30000 [11:22:03<2:33:28, 1.67s/it] 82%|████████▏ | 24480/30000 [11:22:05<2:33:32, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09485026448965073, 'learning_rate': 2.6931511494928953e-06, 'flow_matching_loss': 0.017806737776845695, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.12} + 82%|████████▏ | 24480/30000 [11:22:05<2:33:32, 1.67s/it] 82%|████████▏ | 24481/30000 [11:22:07<2:33:39, 1.67s/it] 82%|████████▏ | 24482/30000 [11:22:08<2:33:32, 1.67s/it] 82%|████████▏ | 24483/30000 [11:22:10<2:33:26, 1.67s/it] 82%|████████▏ | 24484/30000 [11:22:12<2:33:30, 1.67s/it] 82%|████████▏ | 24485/30000 [11:22:13<2:33:13, 1.67s/it] 82%|████████▏ | 24486/30000 [11:22:15<2:33:14, 1.67s/it] 82%|████████▏ | 24487/30000 [11:22:17<2:33:21, 1.67s/it] 82%|████████▏ | 24488/30000 [11:22:18<2:33:15, 1.67s/it] 82%|████████▏ | 24489/30000 [11:22:20<2:33:10, 1.67s/it] 82%|████████▏ | 24490/30000 [11:22:22<2:33:22, 1.67s/it] {'loss': 0.0146, 'grad_norm': 0.0958140641450882, 'learning_rate': 2.683705595484275e-06, 'flow_matching_loss': 0.014576472714543343, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.13} + 82%|████████▏ | 24490/30000 [11:22:22<2:33:22, 1.67s/it] 82%|████████▏ | 24491/30000 [11:22:23<2:33:30, 1.67s/it] 82%|████████▏ | 24492/30000 [11:22:25<2:33:17, 1.67s/it] 82%|████████▏ | 24493/30000 [11:22:27<2:33:13, 1.67s/it] 82%|████████▏ | 24494/30000 [11:22:28<2:33:18, 1.67s/it] 82%|████████▏ | 24495/30000 [11:22:30<2:33:32, 1.67s/it] 82%|████████▏ | 24496/30000 [11:22:32<2:33:15, 1.67s/it] 82%|████████▏ | 24497/30000 [11:22:33<2:33:04, 1.67s/it] 82%|████████▏ | 24498/30000 [11:22:35<2:33:10, 1.67s/it] 82%|████████▏ | 24499/30000 [11:22:37<2:32:51, 1.67s/it] 82%|████████▏ | 24500/30000 [11:22:38<2:32:40, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11093910038471222, 'learning_rate': 2.6742750069347014e-06, 'flow_matching_loss': 0.01774850655347109, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.13} + 82%|████████▏ | 24500/30000 [11:22:38<2:32:40, 1.67s/it] 82%|████████▏ | 24501/30000 [11:22:40<2:32:44, 1.67s/it] 82%|████████▏ | 24502/30000 [11:22:42<2:33:24, 1.67s/it] 82%|████████▏ | 24503/30000 [11:22:43<2:33:12, 1.67s/it] 82%|████████▏ | 24504/30000 [11:22:45<2:32:58, 1.67s/it] 82%|████████▏ | 24505/30000 [11:22:47<2:32:51, 1.67s/it] 82%|████████▏ | 24506/30000 [11:22:48<2:32:47, 1.67s/it] 82%|████████▏ | 24507/30000 [11:22:50<2:32:32, 1.67s/it] 82%|████████▏ | 24508/30000 [11:22:52<2:32:30, 1.67s/it] 82%|████████▏ | 24509/30000 [11:22:53<2:32:36, 1.67s/it] 82%|████████▏ | 24510/30000 [11:22:55<2:32:26, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12303825467824936, 'learning_rate': 2.664859395303239e-06, 'flow_matching_loss': 0.01718199150636792, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.13} + 82%|████████▏ | 24510/30000 [11:22:55<2:32:26, 1.67s/it] 82%|████████▏ | 24511/30000 [11:22:57<2:32:37, 1.67s/it] 82%|████████▏ | 24512/30000 [11:22:58<2:32:35, 1.67s/it] 82%|████████▏ | 24513/30000 [11:23:00<2:32:28, 1.67s/it] 82%|████████▏ | 24514/30000 [11:23:02<2:32:26, 1.67s/it] 82%|████████▏ | 24515/30000 [11:23:03<2:32:18, 1.67s/it] 82%|████████▏ | 24516/30000 [11:23:05<2:32:19, 1.67s/it] 82%|████████▏ | 24517/30000 [11:23:07<2:32:21, 1.67s/it] 82%|████████▏ | 24518/30000 [11:23:08<2:32:31, 1.67s/it] 82%|████████▏ | 24519/30000 [11:23:10<2:32:28, 1.67s/it] 82%|████████▏ | 24520/30000 [11:23:12<2:32:21, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.10826433449983597, 'learning_rate': 2.655458772030739e-06, 'flow_matching_loss': 0.016734153404831885, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.13} + 82%|████████▏ | 24520/30000 [11:23:12<2:32:21, 1.67s/it] 82%|████████▏ | 24521/30000 [11:23:13<2:32:25, 1.67s/it] 82%|████████▏ | 24522/30000 [11:23:15<2:32:22, 1.67s/it] 82%|████████▏ | 24523/30000 [11:23:17<2:32:16, 1.67s/it] 82%|████████▏ | 24524/30000 [11:23:18<2:32:04, 1.67s/it] 82%|████████▏ | 24525/30000 [11:23:20<2:31:59, 1.67s/it] 82%|████████▏ | 24526/30000 [11:23:22<2:32:11, 1.67s/it] 82%|████████▏ | 24527/30000 [11:23:23<2:31:50, 1.66s/it] 82%|████████▏ | 24528/30000 [11:23:25<2:31:42, 1.66s/it] 82%|████████▏ | 24529/30000 [11:23:27<2:31:52, 1.67s/it] 82%|████████▏ | 24530/30000 [11:23:28<2:31:53, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.09142012149095535, 'learning_rate': 2.6460731485398403e-06, 'flow_matching_loss': 0.015663603134453297, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.14} + 82%|████████▏ | 24530/30000 [11:23:28<2:31:53, 1.67s/it] 82%|████████▏ | 24531/30000 [11:23:30<2:31:43, 1.66s/it] 82%|████████▏ | 24532/30000 [11:23:32<2:31:47, 1.67s/it] 82%|████████▏ | 24533/30000 [11:23:33<2:31:53, 1.67s/it] 82%|████████▏ | 24534/30000 [11:23:35<2:32:01, 1.67s/it] 82%|████████▏ | 24535/30000 [11:23:37<2:31:51, 1.67s/it] 82%|████████▏ | 24536/30000 [11:23:38<2:31:44, 1.67s/it] 82%|████████▏ | 24537/30000 [11:23:40<2:31:54, 1.67s/it] 82%|████████▏ | 24538/30000 [11:23:42<2:31:46, 1.67s/it] 82%|████████▏ | 24539/30000 [11:23:43<2:31:52, 1.67s/it] 82%|████████▏ | 24540/30000 [11:23:45<2:31:44, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12462123483419418, 'learning_rate': 2.6367025362349695e-06, 'flow_matching_loss': 0.017168229538947345, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.14} + 82%|████████▏ | 24540/30000 [11:23:45<2:31:44, 1.67s/it] 82%|████████▏ | 24541/30000 [11:23:47<2:31:47, 1.67s/it] 82%|████████▏ | 24542/30000 [11:23:48<2:31:58, 1.67s/it] 82%|████████▏ | 24543/30000 [11:23:50<2:31:58, 1.67s/it] 82%|████████▏ | 24544/30000 [11:23:52<2:31:39, 1.67s/it] 82%|████████▏ | 24545/30000 [11:23:53<2:31:46, 1.67s/it] 82%|████████▏ | 24546/30000 [11:23:55<2:31:48, 1.67s/it] 82%|████████▏ | 24547/30000 [11:23:57<2:31:32, 1.67s/it] 82%|████████▏ | 24548/30000 [11:23:58<2:31:25, 1.67s/it] 82%|████████▏ | 24549/30000 [11:24:00<2:31:18, 1.67s/it] 82%|████████▏ | 24550/30000 [11:24:02<2:31:23, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.08754251152276993, 'learning_rate': 2.6273469465022965e-06, 'flow_matching_loss': 0.016068386379629374, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.14} + 82%|████████▏ | 24550/30000 [11:24:02<2:31:23, 1.67s/it] 82%|████████▏ | 24551/30000 [11:24:03<2:31:26, 1.67s/it] 82%|████████▏ | 24552/30000 [11:24:05<2:31:22, 1.67s/it] 82%|████████▏ | 24553/30000 [11:24:07<2:31:27, 1.67s/it] 82%|████████▏ | 24554/30000 [11:24:08<2:31:36, 1.67s/it] 82%|████████▏ | 24555/30000 [11:24:10<2:31:42, 1.67s/it] 82%|████████▏ | 24556/30000 [11:24:12<2:31:47, 1.67s/it] 82%|████████▏ | 24557/30000 [11:24:13<2:31:36, 1.67s/it] 82%|████████▏ | 24558/30000 [11:24:15<2:31:39, 1.67s/it] 82%|████████▏ | 24559/30000 [11:24:17<2:31:36, 1.67s/it] 82%|████████▏ | 24560/30000 [11:24:18<2:31:22, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11936137080192566, 'learning_rate': 2.618006390709753e-06, 'flow_matching_loss': 0.016923494916409255, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.15} + 82%|████████▏ | 24560/30000 [11:24:18<2:31:22, 1.67s/it] 82%|████████▏ | 24561/30000 [11:24:20<2:31:31, 1.67s/it] 82%|████████▏ | 24562/30000 [11:24:22<2:31:27, 1.67s/it] 82%|████████▏ | 24563/30000 [11:24:23<2:31:09, 1.67s/it] 82%|████████▏ | 24564/30000 [11:24:25<2:30:56, 1.67s/it] 82%|████████▏ | 24565/30000 [11:24:27<2:30:59, 1.67s/it] 82%|████████▏ | 24566/30000 [11:24:28<2:31:10, 1.67s/it] 82%|████████▏ | 24567/30000 [11:24:30<2:30:56, 1.67s/it] 82%|████████▏ | 24568/30000 [11:24:32<2:30:59, 1.67s/it] 82%|████████▏ | 24569/30000 [11:24:33<2:30:56, 1.67s/it] 82%|████████▏ | 24570/30000 [11:24:35<2:31:06, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.1005033403635025, 'learning_rate': 2.60868088020699e-06, 'flow_matching_loss': 0.016566952411085367, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.15} + 82%|████████▏ | 24570/30000 [11:24:35<2:31:06, 1.67s/it] 82%|████████▏ | 24571/30000 [11:24:37<2:30:53, 1.67s/it] 82%|████████▏ | 24572/30000 [11:24:38<2:30:51, 1.67s/it] 82%|████████▏ | 24573/30000 [11:24:40<2:31:08, 1.67s/it] 82%|████████▏ | 24574/30000 [11:24:42<2:31:09, 1.67s/it] 82%|████████▏ | 24575/30000 [11:24:43<2:31:01, 1.67s/it] 82%|████████▏ | 24576/30000 [11:24:45<2:30:58, 1.67s/it] 82%|████████▏ | 24577/30000 [11:24:47<2:30:53, 1.67s/it] 82%|████████▏ | 24578/30000 [11:24:48<2:30:53, 1.67s/it] 82%|████████▏ | 24579/30000 [11:24:50<2:30:54, 1.67s/it] 82%|████████▏ | 24580/30000 [11:24:52<2:30:46, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.11100206524133682, 'learning_rate': 2.599370426325382e-06, 'flow_matching_loss': 0.0156305062584579, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.15} + 82%|████████▏ | 24580/30000 [11:24:52<2:30:46, 1.67s/it] 82%|████████▏ | 24581/30000 [11:24:53<2:30:49, 1.67s/it] 82%|████████▏ | 24582/30000 [11:24:55<2:30:42, 1.67s/it] 82%|████████▏ | 24583/30000 [11:24:57<2:30:50, 1.67s/it] 82%|████████▏ | 24584/30000 [11:24:58<2:31:02, 1.67s/it] 82%|████████▏ | 24585/30000 [11:25:00<2:31:07, 1.67s/it] 82%|████████▏ | 24586/30000 [11:25:02<2:31:02, 1.67s/it] 82%|████████▏ | 24587/30000 [11:25:03<2:30:38, 1.67s/it] 82%|████████▏ | 24588/30000 [11:25:05<2:30:26, 1.67s/it] 82%|████████▏ | 24589/30000 [11:25:07<2:30:29, 1.67s/it] 82%|████████▏ | 24590/30000 [11:25:08<2:30:36, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.11284086853265762, 'learning_rate': 2.5900750403780093e-06, 'flow_matching_loss': 0.016836263239383698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.15} + 82%|████████▏ | 24590/30000 [11:25:08<2:30:36, 1.67s/it] 82%|████████▏ | 24591/30000 [11:25:10<2:30:35, 1.67s/it] 82%|████████▏ | 24592/30000 [11:25:12<2:30:30, 1.67s/it] 82%|████████▏ | 24593/30000 [11:25:13<2:30:30, 1.67s/it] 82%|████████▏ | 24594/30000 [11:25:15<2:30:29, 1.67s/it] 82%|████████▏ | 24595/30000 [11:25:17<2:30:12, 1.67s/it] 82%|████████▏ | 24596/30000 [11:25:18<2:30:13, 1.67s/it] 82%|████████▏ | 24597/30000 [11:25:20<2:30:09, 1.67s/it] 82%|████████▏ | 24598/30000 [11:25:22<2:30:22, 1.67s/it] 82%|████████▏ | 24599/30000 [11:25:23<2:30:13, 1.67s/it] 82%|████████▏ | 24600/30000 [11:25:25<2:30:08, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12082286179065704, 'learning_rate': 2.580794733659639e-06, 'flow_matching_loss': 0.017172125168144703, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.16} + 82%|████████▏ | 24600/30000 [11:25:25<2:30:08, 1.67s/it] 82%|████████▏ | 24601/30000 [11:25:27<2:30:44, 1.68s/it] 82%|████████▏ | 24602/30000 [11:25:28<2:30:21, 1.67s/it] 82%|████████▏ | 24603/30000 [11:25:30<2:29:55, 1.67s/it] 82%|████████▏ | 24604/30000 [11:25:32<2:29:58, 1.67s/it] 82%|████████▏ | 24605/30000 [11:25:33<2:29:43, 1.67s/it] 82%|████████▏ | 24606/30000 [11:25:35<2:29:44, 1.67s/it] 82%|████████▏ | 24607/30000 [11:25:37<2:29:45, 1.67s/it] 82%|████████▏ | 24608/30000 [11:25:38<2:30:00, 1.67s/it] 82%|████████▏ | 24609/30000 [11:25:40<2:29:48, 1.67s/it] 82%|████████▏ | 24610/30000 [11:25:42<2:29:41, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.12418882548809052, 'learning_rate': 2.5715295174467236e-06, 'flow_matching_loss': 0.01679462231695652, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.16} + 82%|████████▏ | 24610/30000 [11:25:42<2:29:41, 1.67s/it] 82%|████████▏ | 24611/30000 [11:25:43<2:29:50, 1.67s/it] 82%|████████▏ | 24612/30000 [11:25:45<2:29:51, 1.67s/it] 82%|████████▏ | 24613/30000 [11:25:47<2:29:35, 1.67s/it] 82%|████████▏ | 24614/30000 [11:25:48<2:29:44, 1.67s/it] 82%|████████▏ | 24615/30000 [11:25:50<2:29:29, 1.67s/it] 82%|████████▏ | 24616/30000 [11:25:52<2:29:31, 1.67s/it] 82%|████████▏ | 24617/30000 [11:25:53<2:29:35, 1.67s/it] 82%|████████▏ | 24618/30000 [11:25:55<2:29:40, 1.67s/it] 82%|████████▏ | 24619/30000 [11:25:57<2:29:41, 1.67s/it] 82%|████████▏ | 24620/30000 [11:25:58<2:29:51, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.09778186678886414, 'learning_rate': 2.5622794029973746e-06, 'flow_matching_loss': 0.016274740267544986, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.16} + 82%|████████▏ | 24620/30000 [11:25:59<2:29:51, 1.67s/it] 82%|████████▏ | 24621/30000 [11:26:00<2:29:40, 1.67s/it] 82%|████████▏ | 24622/30000 [11:26:02<2:29:53, 1.67s/it] 82%|████████▏ | 24623/30000 [11:26:03<2:29:33, 1.67s/it] 82%|████████▏ | 24624/30000 [11:26:05<2:29:48, 1.67s/it] 82%|████████▏ | 24625/30000 [11:26:07<2:29:49, 1.67s/it] 82%|████████▏ | 24626/30000 [11:26:09<2:29:30, 1.67s/it] 82%|████████▏ | 24627/30000 [11:26:10<2:29:56, 1.67s/it] 82%|████████▏ | 24628/30000 [11:26:12<2:29:43, 1.67s/it] 82%|████████▏ | 24629/30000 [11:26:14<2:29:23, 1.67s/it] 82%|████████▏ | 24630/30000 [11:26:15<2:29:21, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10561735928058624, 'learning_rate': 2.553044401551351e-06, 'flow_matching_loss': 0.016486454010009765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.17} + 82%|████████▏ | 24630/30000 [11:26:15<2:29:21, 1.67s/it] 82%|████████▏ | 24631/30000 [11:26:17<2:29:21, 1.67s/it] 82%|████████▏ | 24632/30000 [11:26:19<2:29:15, 1.67s/it] 82%|████████▏ | 24633/30000 [11:26:20<2:29:12, 1.67s/it] 82%|████████▏ | 24634/30000 [11:26:22<2:29:11, 1.67s/it] 82%|████████▏ | 24635/30000 [11:26:24<2:29:07, 1.67s/it] 82%|████████▏ | 24636/30000 [11:26:25<2:29:08, 1.67s/it] 82%|████████▏ | 24637/30000 [11:26:27<2:28:47, 1.66s/it] 82%|████████▏ | 24638/30000 [11:26:29<2:28:47, 1.66s/it] 82%|████████▏ | 24639/30000 [11:26:30<2:28:48, 1.67s/it] 82%|████████▏ | 24640/30000 [11:26:32<2:28:48, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.10492397844791412, 'learning_rate': 2.54382452433005e-06, 'flow_matching_loss': 0.015326383151113987, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.17} + 82%|████████▏ | 24640/30000 [11:26:32<2:28:48, 1.67s/it] 82%|████████▏ | 24641/30000 [11:26:34<2:28:49, 1.67s/it] 82%|████████▏ | 24642/30000 [11:26:35<2:28:52, 1.67s/it] 82%|████████▏ | 24643/30000 [11:26:37<2:28:55, 1.67s/it] 82%|████████▏ | 24644/30000 [11:26:39<2:28:45, 1.67s/it] 82%|████████▏ | 24645/30000 [11:26:40<2:28:46, 1.67s/it] 82%|████████▏ | 24646/30000 [11:26:42<2:29:02, 1.67s/it] 82%|████████▏ | 24647/30000 [11:26:44<2:29:06, 1.67s/it] 82%|████████▏ | 24648/30000 [11:26:45<2:29:03, 1.67s/it] 82%|████████▏ | 24649/30000 [11:26:47<2:28:42, 1.67s/it] 82%|████████▏ | 24650/30000 [11:26:49<2:28:38, 1.67s/it] {'loss': 0.0138, 'grad_norm': 0.08965232223272324, 'learning_rate': 2.53461978253649e-06, 'flow_matching_loss': 0.013822208065539599, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.17} + 82%|████████▏ | 24650/30000 [11:26:49<2:28:38, 1.67s/it] 82%|████████▏ | 24651/30000 [11:26:50<2:28:51, 1.67s/it] 82%|████████▏ | 24652/30000 [11:26:52<2:28:48, 1.67s/it] 82%|████████▏ | 24653/30000 [11:26:54<2:28:35, 1.67s/it] 82%|████████▏ | 24654/30000 [11:26:55<2:28:34, 1.67s/it] 82%|████████▏ | 24655/30000 [11:26:57<2:28:33, 1.67s/it] 82%|████████▏ | 24656/30000 [11:26:59<2:28:36, 1.67s/it] 82%|████████▏ | 24657/30000 [11:27:00<2:28:34, 1.67s/it] 82%|████████▏ | 24658/30000 [11:27:02<2:28:20, 1.67s/it] 82%|████████▏ | 24659/30000 [11:27:04<2:28:24, 1.67s/it] 82%|████████▏ | 24660/30000 [11:27:05<2:28:24, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.09242396801710129, 'learning_rate': 2.5254301873553065e-06, 'flow_matching_loss': 0.017885430064052344, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.17} + 82%|████████▏ | 24660/30000 [11:27:05<2:28:24, 1.67s/it] 82%|████████▏ | 24661/30000 [11:27:07<2:28:27, 1.67s/it] 82%|████████▏ | 24662/30000 [11:27:09<2:28:36, 1.67s/it] 82%|████████▏ | 24663/30000 [11:27:10<2:28:18, 1.67s/it] 82%|████████▏ | 24664/30000 [11:27:12<2:28:22, 1.67s/it] 82%|████████▏ | 24665/30000 [11:27:14<2:28:20, 1.67s/it] 82%|████████▏ | 24666/30000 [11:27:15<2:28:24, 1.67s/it] 82%|████████▏ | 24667/30000 [11:27:17<2:28:07, 1.67s/it] 82%|████████▏ | 24668/30000 [11:27:19<2:28:02, 1.67s/it] 82%|████████▏ | 24669/30000 [11:27:20<2:27:54, 1.66s/it] 82%|████████▏ | 24670/30000 [11:27:22<2:27:56, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.09994582086801529, 'learning_rate': 2.5162557499527184e-06, 'flow_matching_loss': 0.015042686183005572, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.18} + 82%|████████▏ | 24670/30000 [11:27:22<2:27:56, 1.67s/it] 82%|████████▏ | 24671/30000 [11:27:24<2:28:01, 1.67s/it] 82%|████████▏ | 24672/30000 [11:27:25<2:28:01, 1.67s/it] 82%|████████▏ | 24673/30000 [11:27:27<2:27:45, 1.66s/it] 82%|████████▏ | 24674/30000 [11:27:29<2:27:43, 1.66s/it] 82%|████████▏ | 24675/30000 [11:27:30<2:27:44, 1.66s/it] 82%|████████▏ | 24676/30000 [11:27:32<2:27:50, 1.67s/it] 82%|████████▏ | 24677/30000 [11:27:34<2:27:40, 1.66s/it] 82%|████████▏ | 24678/30000 [11:27:35<2:27:50, 1.67s/it] 82%|████████▏ | 24679/30000 [11:27:37<2:27:47, 1.67s/it] 82%|████████▏ | 24680/30000 [11:27:39<2:27:51, 1.67s/it] {'loss': 0.0152, 'grad_norm': 0.11616538465023041, 'learning_rate': 2.5070964814765335e-06, 'flow_matching_loss': 0.015176682826131582, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.18} + 82%|████████▏ | 24680/30000 [11:27:39<2:27:51, 1.67s/it] 82%|████████▏ | 24681/30000 [11:27:40<2:27:50, 1.67s/it] 82%|████████▏ | 24682/30000 [11:27:42<2:27:33, 1.66s/it] 82%|████████▏ | 24683/30000 [11:27:44<2:27:32, 1.66s/it] 82%|████████▏ | 24684/30000 [11:27:45<2:27:28, 1.66s/it] 82%|████████▏ | 24685/30000 [11:27:47<2:27:23, 1.66s/it] 82%|████████▏ | 24686/30000 [11:27:49<2:27:26, 1.66s/it] 82%|████████▏ | 24687/30000 [11:27:50<2:27:20, 1.66s/it] 82%|████████▏ | 24688/30000 [11:27:52<2:27:25, 1.67s/it] 82%|████████▏ | 24689/30000 [11:27:54<2:27:28, 1.67s/it] 82%|████████▏ | 24690/30000 [11:27:55<2:27:47, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.12307991087436676, 'learning_rate': 2.4979523930561295e-06, 'flow_matching_loss': 0.01816064342856407, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.18} + 82%|████████▏ | 24690/30000 [11:27:55<2:27:47, 1.67s/it] 82%|████████▏ | 24691/30000 [11:27:57<2:27:40, 1.67s/it] 82%|████████▏ | 24692/30000 [11:27:59<2:27:34, 1.67s/it] 82%|████████▏ | 24693/30000 [11:28:00<2:27:32, 1.67s/it] 82%|████████▏ | 24694/30000 [11:28:02<2:27:29, 1.67s/it] 82%|████████▏ | 24695/30000 [11:28:04<2:27:17, 1.67s/it] 82%|████████▏ | 24696/30000 [11:28:05<2:27:39, 1.67s/it] 82%|████████▏ | 24697/30000 [11:28:07<2:27:24, 1.67s/it] 82%|████████▏ | 24698/30000 [11:28:09<2:27:12, 1.67s/it] 82%|████████▏ | 24699/30000 [11:28:10<2:27:20, 1.67s/it] 82%|████████▏ | 24700/30000 [11:28:12<2:27:21, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.12277092039585114, 'learning_rate': 2.4888234958024333e-06, 'flow_matching_loss': 0.015533548034727573, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.19} + 82%|████████▏ | 24700/30000 [11:28:12<2:27:21, 1.67s/it] 82%|████████▏ | 24701/30000 [11:28:14<2:26:57, 1.66s/it] 82%|████████▏ | 24702/30000 [11:28:15<2:27:03, 1.67s/it] 82%|████████▏ | 24703/30000 [11:28:17<2:27:13, 1.67s/it] 82%|████████▏ | 24704/30000 [11:28:19<2:27:17, 1.67s/it] 82%|████████▏ | 24705/30000 [11:28:20<2:27:15, 1.67s/it] 82%|████████▏ | 24706/30000 [11:28:22<2:27:28, 1.67s/it] 82%|████████▏ | 24707/30000 [11:28:24<2:27:22, 1.67s/it] 82%|████████▏ | 24708/30000 [11:28:25<2:27:14, 1.67s/it] 82%|████████▏ | 24709/30000 [11:28:27<2:27:10, 1.67s/it] 82%|████████▏ | 24710/30000 [11:28:29<2:27:10, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11582059413194656, 'learning_rate': 2.479709800807915e-06, 'flow_matching_loss': 0.018238860927522183, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.19} + 82%|████████▏ | 24710/30000 [11:28:29<2:27:10, 1.67s/it] 82%|████████▏ | 24711/30000 [11:28:30<2:27:08, 1.67s/it] 82%|████████▏ | 24712/30000 [11:28:32<2:26:54, 1.67s/it] 82%|████████▏ | 24713/30000 [11:28:34<2:27:01, 1.67s/it] 82%|████████▏ | 24714/30000 [11:28:35<2:27:02, 1.67s/it] 82%|████████▏ | 24715/30000 [11:28:37<2:26:57, 1.67s/it] 82%|████████▏ | 24716/30000 [11:28:39<2:26:50, 1.67s/it] 82%|████████▏ | 24717/30000 [11:28:40<2:26:38, 1.67s/it] 82%|████████▏ | 24718/30000 [11:28:42<2:26:42, 1.67s/it] 82%|████████▏ | 24719/30000 [11:28:44<2:26:36, 1.67s/it] 82%|████████▏ | 24720/30000 [11:28:45<2:26:40, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10814136266708374, 'learning_rate': 2.4706113191465767e-06, 'flow_matching_loss': 0.015385629050433636, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.19} + 82%|████████▏ | 24720/30000 [11:28:45<2:26:40, 1.67s/it] 82%|████████▏ | 24721/30000 [11:28:47<2:26:42, 1.67s/it] 82%|████████▏ | 24722/30000 [11:28:49<2:27:12, 1.67s/it] 82%|████████▏ | 24723/30000 [11:28:50<2:26:57, 1.67s/it] 82%|████████▏ | 24724/30000 [11:28:52<2:27:03, 1.67s/it] 82%|████████▏ | 24725/30000 [11:28:54<2:26:59, 1.67s/it] 82%|████████▏ | 24726/30000 [11:28:55<2:26:54, 1.67s/it] 82%|████████▏ | 24727/30000 [11:28:57<2:26:45, 1.67s/it] 82%|████████▏ | 24728/30000 [11:28:59<2:26:36, 1.67s/it] 82%|████████▏ | 24729/30000 [11:29:00<2:26:32, 1.67s/it] 82%|████████▏ | 24730/30000 [11:29:02<2:26:32, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.13215433061122894, 'learning_rate': 2.46152806187393e-06, 'flow_matching_loss': 0.016172619443386792, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.2} + 82%|████████▏ | 24730/30000 [11:29:02<2:26:32, 1.67s/it] 82%|████████▏ | 24731/30000 [11:29:04<2:26:42, 1.67s/it] 82%|████████▏ | 24732/30000 [11:29:05<2:26:34, 1.67s/it] 82%|████████▏ | 24733/30000 [11:29:07<2:26:18, 1.67s/it] 82%|████████▏ | 24734/30000 [11:29:09<2:26:32, 1.67s/it] 82%|████████▏ | 24735/30000 [11:29:10<2:26:27, 1.67s/it] 82%|████████▏ | 24736/30000 [11:29:12<2:26:24, 1.67s/it] 82%|████████▏ | 24737/30000 [11:29:14<2:26:25, 1.67s/it] 82%|████████▏ | 24738/30000 [11:29:15<2:26:26, 1.67s/it] 82%|████████▏ | 24739/30000 [11:29:17<2:26:18, 1.67s/it] 82%|████████▏ | 24740/30000 [11:29:19<2:26:28, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10134290158748627, 'learning_rate': 2.452460040026989e-06, 'flow_matching_loss': 0.016517798881977797, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.2} + 82%|████████▏ | 24740/30000 [11:29:19<2:26:28, 1.67s/it] 82%|████████▏ | 24741/30000 [11:29:20<2:26:24, 1.67s/it] 82%|████████▏ | 24742/30000 [11:29:22<2:26:27, 1.67s/it] 82%|████████▏ | 24743/30000 [11:29:24<2:26:10, 1.67s/it] 82%|████████▏ | 24744/30000 [11:29:25<2:26:15, 1.67s/it] 82%|████████▏ | 24745/30000 [11:29:27<2:26:13, 1.67s/it] 82%|████████▏ | 24746/30000 [11:29:29<2:26:05, 1.67s/it] 82%|████████▏ | 24747/30000 [11:29:30<2:25:54, 1.67s/it] 82%|████████▏ | 24748/30000 [11:29:32<2:25:57, 1.67s/it] 82%|████████▏ | 24749/30000 [11:29:34<2:25:55, 1.67s/it] 82%|████████▎ | 24750/30000 [11:29:35<2:26:01, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11685652285814285, 'learning_rate': 2.4434072646242555e-06, 'flow_matching_loss': 0.016363680176436902, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.2} + 82%|████████▎ | 24750/30000 [11:29:35<2:26:01, 1.67s/it] 83%|████████▎ | 24751/30000 [11:29:37<2:26:19, 1.67s/it] 83%|████████▎ | 24752/30000 [11:29:39<2:26:10, 1.67s/it] 83%|████████▎ | 24753/30000 [11:29:40<2:26:02, 1.67s/it] 83%|████████▎ | 24754/30000 [11:29:42<2:25:48, 1.67s/it] 83%|████████▎ | 24755/30000 [11:29:44<2:25:46, 1.67s/it] 83%|████████▎ | 24756/30000 [11:29:45<2:25:47, 1.67s/it] 83%|████████▎ | 24757/30000 [11:29:47<2:25:33, 1.67s/it] 83%|████████▎ | 24758/30000 [11:29:49<2:25:29, 1.67s/it] 83%|████████▎ | 24759/30000 [11:29:50<2:25:35, 1.67s/it] 83%|████████▎ | 24760/30000 [11:29:52<2:25:37, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.08536603301763535, 'learning_rate': 2.4343697466657015e-06, 'flow_matching_loss': 0.01597274886444211, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.2} + 83%|████████▎ | 24760/30000 [11:29:52<2:25:37, 1.67s/it] 83%|████████▎ | 24761/30000 [11:29:54<2:25:39, 1.67s/it] 83%|████████▎ | 24762/30000 [11:29:55<2:25:31, 1.67s/it] 83%|████████▎ | 24763/30000 [11:29:57<2:25:42, 1.67s/it] 83%|████████▎ | 24764/30000 [11:29:59<2:25:26, 1.67s/it] 83%|████████▎ | 24765/30000 [11:30:00<2:25:19, 1.67s/it] 83%|████████▎ | 24766/30000 [11:30:02<2:25:26, 1.67s/it] 83%|████████▎ | 24767/30000 [11:30:04<2:25:36, 1.67s/it] 83%|████████▎ | 24768/30000 [11:30:05<2:25:32, 1.67s/it] 83%|████████▎ | 24769/30000 [11:30:07<2:25:40, 1.67s/it] 83%|████████▎ | 24770/30000 [11:30:09<2:25:26, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.12809833884239197, 'learning_rate': 2.42534749713277e-06, 'flow_matching_loss': 0.01850161198526621, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.21} + 83%|████████▎ | 24770/30000 [11:30:09<2:25:26, 1.67s/it] 83%|████████▎ | 24771/30000 [11:30:10<2:25:22, 1.67s/it] 83%|████████▎ | 24772/30000 [11:30:12<2:25:19, 1.67s/it] 83%|████████▎ | 24773/30000 [11:30:14<2:25:14, 1.67s/it] 83%|████████▎ | 24774/30000 [11:30:15<2:25:12, 1.67s/it] 83%|████████▎ | 24775/30000 [11:30:17<2:25:09, 1.67s/it] 83%|████████▎ | 24776/30000 [11:30:19<2:25:05, 1.67s/it] 83%|████████▎ | 24777/30000 [11:30:20<2:25:12, 1.67s/it] 83%|████████▎ | 24778/30000 [11:30:22<2:24:52, 1.66s/it] 83%|████████▎ | 24779/30000 [11:30:24<2:24:45, 1.66s/it] 83%|████████▎ | 24780/30000 [11:30:25<2:24:51, 1.66s/it] {'loss': 0.016, 'grad_norm': 0.07942094653844833, 'learning_rate': 2.4163405269883425e-06, 'flow_matching_loss': 0.016049296222627164, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.21} + 83%|████████▎ | 24780/30000 [11:30:25<2:24:51, 1.66s/it] 83%|████████▎ | 24781/30000 [11:30:27<2:24:57, 1.67s/it] 83%|████████▎ | 24782/30000 [11:30:29<2:24:49, 1.67s/it] 83%|████████▎ | 24783/30000 [11:30:30<2:24:49, 1.67s/it] 83%|████████▎ | 24784/30000 [11:30:32<2:24:57, 1.67s/it] 83%|████████▎ | 24785/30000 [11:30:34<2:24:55, 1.67s/it] 83%|████████▎ | 24786/30000 [11:30:35<2:24:51, 1.67s/it] 83%|████████▎ | 24787/30000 [11:30:37<2:24:45, 1.67s/it] 83%|████████▎ | 24788/30000 [11:30:39<2:24:38, 1.67s/it] 83%|████████▎ | 24789/30000 [11:30:40<2:24:37, 1.67s/it] 83%|████████▎ | 24790/30000 [11:30:42<2:24:54, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.09718681871891022, 'learning_rate': 2.407348847176735e-06, 'flow_matching_loss': 0.016986101306974886, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.21} + 83%|████████▎ | 24790/30000 [11:30:42<2:24:54, 1.67s/it] 83%|████████▎ | 24791/30000 [11:30:44<2:24:41, 1.67s/it] 83%|████████▎ | 24792/30000 [11:30:45<2:24:46, 1.67s/it] 83%|████████▎ | 24793/30000 [11:30:47<2:24:35, 1.67s/it] 83%|████████▎ | 24794/30000 [11:30:49<2:24:36, 1.67s/it] 83%|████████▎ | 24795/30000 [11:30:50<2:24:35, 1.67s/it] 83%|████████▎ | 24796/30000 [11:30:52<2:24:36, 1.67s/it] 83%|████████▎ | 24797/30000 [11:30:54<2:24:31, 1.67s/it] 83%|████████▎ | 24798/30000 [11:30:55<2:24:41, 1.67s/it] 83%|████████▎ | 24799/30000 [11:30:57<2:24:36, 1.67s/it] 83%|████████▎ | 24800/30000 [11:30:59<2:24:34, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.1052352711558342, 'learning_rate': 2.398372468623688e-06, 'flow_matching_loss': 0.01656225584447384, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.22} + 83%|████████▎ | 24800/30000 [11:30:59<2:24:34, 1.67s/it] 83%|████████▎ | 24801/30000 [11:31:00<2:24:37, 1.67s/it] 83%|████████▎ | 24802/30000 [11:31:02<2:24:38, 1.67s/it] 83%|████████▎ | 24803/30000 [11:31:04<2:24:43, 1.67s/it] 83%|████████▎ | 24804/30000 [11:31:05<2:24:39, 1.67s/it] 83%|████████▎ | 24805/30000 [11:31:07<2:24:20, 1.67s/it] 83%|████████▎ | 24806/30000 [11:31:09<2:24:23, 1.67s/it] 83%|████████▎ | 24807/30000 [11:31:10<2:24:19, 1.67s/it] 83%|████████▎ | 24808/30000 [11:31:12<2:24:20, 1.67s/it] 83%|████████▎ | 24809/30000 [11:31:14<2:24:18, 1.67s/it] 83%|████████▎ | 24810/30000 [11:31:15<2:24:12, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1445632129907608, 'learning_rate': 2.3894114022363446e-06, 'flow_matching_loss': 0.017140885442495347, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.22} + 83%|████████▎ | 24810/30000 [11:31:15<2:24:12, 1.67s/it] 83%|████████▎ | 24811/30000 [11:31:17<2:24:07, 1.67s/it] 83%|████████▎ | 24812/30000 [11:31:19<2:24:08, 1.67s/it] 83%|████████▎ | 24813/30000 [11:31:20<2:24:07, 1.67s/it] 83%|████████▎ | 24814/30000 [11:31:22<2:24:10, 1.67s/it] 83%|████████▎ | 24815/30000 [11:31:24<2:24:08, 1.67s/it] 83%|████████▎ | 24816/30000 [11:31:25<2:24:08, 1.67s/it] 83%|████████▎ | 24817/30000 [11:31:27<2:24:04, 1.67s/it] 83%|████████▎ | 24818/30000 [11:31:29<2:23:57, 1.67s/it] 83%|████████▎ | 24819/30000 [11:31:30<2:23:45, 1.66s/it] 83%|████████▎ | 24820/30000 [11:31:32<2:23:53, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.12590815126895905, 'learning_rate': 2.3804656589032514e-06, 'flow_matching_loss': 0.01751101007685065, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.22} + 83%|████████▎ | 24820/30000 [11:31:32<2:23:53, 1.67s/it] 83%|████████▎ | 24821/30000 [11:31:34<2:23:43, 1.67s/it] 83%|████████▎ | 24822/30000 [11:31:35<2:24:00, 1.67s/it] 83%|████████▎ | 24823/30000 [11:31:37<2:23:58, 1.67s/it] 83%|████████▎ | 24824/30000 [11:31:39<2:23:57, 1.67s/it] 83%|████████▎ | 24825/30000 [11:31:40<2:23:47, 1.67s/it] 83%|████████▎ | 24826/30000 [11:31:42<2:23:53, 1.67s/it] 83%|████████▎ | 24827/30000 [11:31:44<2:23:45, 1.67s/it] 83%|████████▎ | 24828/30000 [11:31:45<2:23:31, 1.67s/it] 83%|████████▎ | 24829/30000 [11:31:47<2:23:08, 1.66s/it] 83%|████████▎ | 24830/30000 [11:31:49<2:23:23, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.08995667099952698, 'learning_rate': 2.3715352494943237e-06, 'flow_matching_loss': 0.017316666711121798, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.22} + 83%|████████▎ | 24830/30000 [11:31:49<2:23:23, 1.66s/it] 83%|████████▎ | 24831/30000 [11:31:50<2:23:43, 1.67s/it] 83%|████████▎ | 24832/30000 [11:31:52<2:23:47, 1.67s/it] 83%|████████▎ | 24833/30000 [11:31:54<2:23:49, 1.67s/it] 83%|████████▎ | 24834/30000 [11:31:55<2:23:45, 1.67s/it] 83%|████████▎ | 24835/30000 [11:31:57<2:23:45, 1.67s/it] 83%|████████▎ | 24836/30000 [11:31:59<2:23:12, 1.66s/it] 83%|████████▎ | 24837/30000 [11:32:00<2:23:17, 1.67s/it] 83%|████████▎ | 24838/30000 [11:32:02<2:23:20, 1.67s/it] 83%|████████▎ | 24839/30000 [11:32:04<2:23:23, 1.67s/it] 83%|████████▎ | 24840/30000 [11:32:05<2:23:28, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11812815070152283, 'learning_rate': 2.3626201848608582e-06, 'flow_matching_loss': 0.01576582482084632, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.23} + 83%|████████▎ | 24840/30000 [11:32:05<2:23:28, 1.67s/it] 83%|████████▎ | 24841/30000 [11:32:07<2:23:14, 1.67s/it] 83%|████████▎ | 24842/30000 [11:32:09<2:23:12, 1.67s/it] 83%|████████▎ | 24843/30000 [11:32:10<2:23:11, 1.67s/it] 83%|████████▎ | 24844/30000 [11:32:12<2:23:05, 1.67s/it] 83%|████████▎ | 24845/30000 [11:32:14<2:23:06, 1.67s/it] 83%|████████▎ | 24846/30000 [11:32:15<2:23:09, 1.67s/it] 83%|████████▎ | 24847/30000 [11:32:17<2:23:14, 1.67s/it] 83%|████████▎ | 24848/30000 [11:32:19<2:23:11, 1.67s/it] 83%|████████▎ | 24849/30000 [11:32:20<2:23:08, 1.67s/it] 83%|████████▎ | 24850/30000 [11:32:22<2:23:06, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.12161775678396225, 'learning_rate': 2.353720475835494e-06, 'flow_matching_loss': 0.01593364179134369, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.23} + 83%|████████▎ | 24850/30000 [11:32:22<2:23:06, 1.67s/it] 83%|████████▎ | 24851/30000 [11:32:24<2:22:59, 1.67s/it] 83%|████████▎ | 24852/30000 [11:32:25<2:23:05, 1.67s/it] 83%|████████▎ | 24853/30000 [11:32:27<2:23:00, 1.67s/it] 83%|████████▎ | 24854/30000 [11:32:29<2:22:55, 1.67s/it] 83%|████████▎ | 24855/30000 [11:32:30<2:22:46, 1.67s/it] 83%|████████▎ | 24856/30000 [11:32:32<2:22:49, 1.67s/it] 83%|████████▎ | 24857/30000 [11:32:34<2:23:02, 1.67s/it] 83%|████████▎ | 24858/30000 [11:32:35<2:23:03, 1.67s/it] 83%|████████▎ | 24859/30000 [11:32:37<2:22:56, 1.67s/it] 83%|████████▎ | 24860/30000 [11:32:39<2:22:51, 1.67s/it] {'loss': 0.0217, 'grad_norm': 0.12685853242874146, 'learning_rate': 2.344836133232215e-06, 'flow_matching_loss': 0.021671090088784695, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.23} + 83%|████████▎ | 24860/30000 [11:32:39<2:22:51, 1.67s/it] 83%|████████▎ | 24861/30000 [11:32:40<2:22:37, 1.67s/it] 83%|████████▎ | 24862/30000 [11:32:42<2:22:35, 1.67s/it] 83%|████████▎ | 24863/30000 [11:32:44<2:22:29, 1.66s/it] 83%|████████▎ | 24864/30000 [11:32:45<2:22:37, 1.67s/it] 83%|████████▎ | 24865/30000 [11:32:47<2:22:44, 1.67s/it] 83%|████████▎ | 24866/30000 [11:32:49<2:22:39, 1.67s/it] 83%|████████▎ | 24867/30000 [11:32:50<2:22:34, 1.67s/it] 83%|████████▎ | 24868/30000 [11:32:52<2:22:32, 1.67s/it] 83%|████████▎ | 24869/30000 [11:32:54<2:22:45, 1.67s/it] 83%|████████▎ | 24870/30000 [11:32:55<2:22:51, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.16331146657466888, 'learning_rate': 2.335967167846342e-06, 'flow_matching_loss': 0.01654612347483635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.24} + 83%|████████▎ | 24870/30000 [11:32:55<2:22:51, 1.67s/it] 83%|████████▎ | 24871/30000 [11:32:57<2:22:44, 1.67s/it] 83%|████████▎ | 24872/30000 [11:32:59<2:22:42, 1.67s/it] 83%|████████▎ | 24873/30000 [11:33:00<2:22:50, 1.67s/it] 83%|████████▎ | 24874/30000 [11:33:02<2:22:51, 1.67s/it] 83%|████████▎ | 24875/30000 [11:33:04<2:22:40, 1.67s/it] 83%|████████▎ | 24876/30000 [11:33:05<2:22:17, 1.67s/it] 83%|████████▎ | 24877/30000 [11:33:07<2:22:03, 1.66s/it] 83%|████████▎ | 24878/30000 [11:33:09<2:22:26, 1.67s/it] 83%|████████▎ | 24879/30000 [11:33:10<2:22:22, 1.67s/it] 83%|████████▎ | 24880/30000 [11:33:12<2:22:15, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1346747875213623, 'learning_rate': 2.3271135904544993e-06, 'flow_matching_loss': 0.017324383743107317, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.24} + 83%|████████▎ | 24880/30000 [11:33:12<2:22:15, 1.67s/it] 83%|████████▎ | 24881/30000 [11:33:14<2:22:43, 1.67s/it] 83%|████████▎ | 24882/30000 [11:33:15<2:22:36, 1.67s/it] 83%|████████▎ | 24883/30000 [11:33:17<2:22:37, 1.67s/it] 83%|████████▎ | 24884/30000 [11:33:19<2:22:22, 1.67s/it] 83%|████████▎ | 24885/30000 [11:33:20<2:22:21, 1.67s/it] 83%|████████▎ | 24886/30000 [11:33:22<2:22:18, 1.67s/it] 83%|████████▎ | 24887/30000 [11:33:24<2:22:03, 1.67s/it] 83%|████████▎ | 24888/30000 [11:33:25<2:22:01, 1.67s/it] 83%|████████▎ | 24889/30000 [11:33:27<2:22:04, 1.67s/it] 83%|████████▎ | 24890/30000 [11:33:29<2:22:09, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11647365987300873, 'learning_rate': 2.3182754118146206e-06, 'flow_matching_loss': 0.017090687062591314, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.24} + 83%|████████▎ | 24890/30000 [11:33:29<2:22:09, 1.67s/it] 83%|████████▎ | 24891/30000 [11:33:30<2:21:53, 1.67s/it] 83%|████████▎ | 24892/30000 [11:33:32<2:21:58, 1.67s/it] 83%|████████▎ | 24893/30000 [11:33:34<2:21:47, 1.67s/it] 83%|████████▎ | 24894/30000 [11:33:35<2:21:50, 1.67s/it] 83%|████████▎ | 24895/30000 [11:33:37<2:21:54, 1.67s/it] 83%|████████▎ | 24896/30000 [11:33:39<2:21:54, 1.67s/it] 83%|████████▎ | 24897/30000 [11:33:40<2:21:57, 1.67s/it] 83%|████████▎ | 24898/30000 [11:33:42<2:21:58, 1.67s/it] 83%|████████▎ | 24899/30000 [11:33:44<2:21:56, 1.67s/it] 83%|████████▎ | 24900/30000 [11:33:45<2:21:56, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.12394862622022629, 'learning_rate': 2.309452642665923e-06, 'flow_matching_loss': 0.016385556012392045, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.24} + 83%|████████▎ | 24900/30000 [11:33:46<2:21:56, 1.67s/it] 83%|████████▎ | 24901/30000 [11:33:47<2:21:55, 1.67s/it] 83%|████████▎ | 24902/30000 [11:33:49<2:22:01, 1.67s/it] 83%|████████▎ | 24903/30000 [11:33:50<2:22:11, 1.67s/it] 83%|████████▎ | 24904/30000 [11:33:52<2:21:35, 1.67s/it] 83%|████████▎ | 24905/30000 [11:33:54<2:21:25, 1.67s/it] 83%|████████▎ | 24906/30000 [11:33:55<2:21:26, 1.67s/it] 83%|████████▎ | 24907/30000 [11:33:57<2:21:52, 1.67s/it] 83%|████████▎ | 24908/30000 [11:33:59<2:21:24, 1.67s/it] 83%|████████▎ | 24909/30000 [11:34:00<2:21:26, 1.67s/it] 83%|████████▎ | 24910/30000 [11:34:02<2:21:30, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.12664474546909332, 'learning_rate': 2.3006452937289065e-06, 'flow_matching_loss': 0.018190414924174548, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.25} + 83%|████████▎ | 24910/30000 [11:34:02<2:21:30, 1.67s/it] 83%|████████▎ | 24911/30000 [11:34:04<2:21:39, 1.67s/it] 83%|████████▎ | 24912/30000 [11:34:05<2:21:31, 1.67s/it] 83%|████████▎ | 24913/30000 [11:34:07<2:21:19, 1.67s/it] 83%|████████▎ | 24914/30000 [11:34:09<2:21:18, 1.67s/it] 83%|████████▎ | 24915/30000 [11:34:10<2:21:18, 1.67s/it] 83%|████████▎ | 24916/30000 [11:34:12<2:21:13, 1.67s/it] 83%|████████▎ | 24917/30000 [11:34:14<2:21:09, 1.67s/it] 83%|████████▎ | 24918/30000 [11:34:15<2:21:12, 1.67s/it] 83%|████████▎ | 24919/30000 [11:34:17<2:21:13, 1.67s/it] 83%|████████▎ | 24920/30000 [11:34:19<2:21:23, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.09345303475856781, 'learning_rate': 2.291853375705327e-06, 'flow_matching_loss': 0.01750888992100954, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.25} + 83%|████████▎ | 24920/30000 [11:34:19<2:21:23, 1.67s/it] 83%|████████▎ | 24921/30000 [11:34:21<2:21:27, 1.67s/it] 83%|████████▎ | 24922/30000 [11:34:22<2:21:22, 1.67s/it] 83%|████████▎ | 24923/30000 [11:34:24<2:21:23, 1.67s/it] 83%|████████▎ | 24924/30000 [11:34:26<2:21:18, 1.67s/it] 83%|████████▎ | 24925/30000 [11:34:27<2:21:08, 1.67s/it] 83%|████████▎ | 24926/30000 [11:34:29<2:21:05, 1.67s/it] 83%|████████▎ | 24927/30000 [11:34:31<2:21:06, 1.67s/it] 83%|████████▎ | 24928/30000 [11:34:32<2:21:10, 1.67s/it] 83%|████████▎ | 24929/30000 [11:34:34<2:21:07, 1.67s/it] 83%|████████▎ | 24930/30000 [11:34:36<2:21:04, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.13148634135723114, 'learning_rate': 2.283076899278197e-06, 'flow_matching_loss': 0.017625903151929377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.25} + 83%|████████▎ | 24930/30000 [11:34:36<2:21:04, 1.67s/it] 83%|████████▎ | 24931/30000 [11:34:37<2:21:28, 1.67s/it] 83%|████████▎ | 24932/30000 [11:34:39<2:21:22, 1.67s/it] 83%|████████▎ | 24933/30000 [11:34:41<2:20:58, 1.67s/it] 83%|████████▎ | 24934/30000 [11:34:42<2:21:00, 1.67s/it] 83%|████████▎ | 24935/30000 [11:34:44<2:20:57, 1.67s/it] 83%|████████▎ | 24936/30000 [11:34:46<2:20:38, 1.67s/it] 83%|████████▎ | 24937/30000 [11:34:47<2:20:31, 1.67s/it] 83%|████████▎ | 24938/30000 [11:34:49<2:20:29, 1.67s/it] 83%|████████▎ | 24939/30000 [11:34:51<2:20:17, 1.66s/it] 83%|████████▎ | 24940/30000 [11:34:52<2:20:24, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.2023850530385971, 'learning_rate': 2.274315875111763e-06, 'flow_matching_loss': 0.016969245206564666, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.26} + 83%|████████▎ | 24940/30000 [11:34:52<2:20:24, 1.66s/it] 83%|████████▎ | 24941/30000 [11:34:54<2:20:24, 1.67s/it] 83%|████████▎ | 24942/30000 [11:34:56<2:20:21, 1.66s/it] 83%|████████▎ | 24943/30000 [11:34:57<2:20:25, 1.67s/it] 83%|████████▎ | 24944/30000 [11:34:59<2:20:10, 1.66s/it] 83%|████████▎ | 24945/30000 [11:35:01<2:20:18, 1.67s/it] 83%|████████▎ | 24946/30000 [11:35:02<2:20:15, 1.67s/it] 83%|████████▎ | 24947/30000 [11:35:04<2:20:15, 1.67s/it] 83%|████████▎ | 24948/30000 [11:35:06<2:20:09, 1.66s/it] 83%|████████▎ | 24949/30000 [11:35:07<2:20:08, 1.66s/it] 83%|████████▎ | 24950/30000 [11:35:09<2:20:19, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.10201316326856613, 'learning_rate': 2.265570313851493e-06, 'flow_matching_loss': 0.014908452052623034, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.26} + 83%|████████▎ | 24950/30000 [11:35:09<2:20:19, 1.67s/it] 83%|████████▎ | 24951/30000 [11:35:11<2:20:11, 1.67s/it] 83%|████████▎ | 24952/30000 [11:35:12<2:19:58, 1.66s/it] 83%|████████▎ | 24953/30000 [11:35:14<2:19:56, 1.66s/it] 83%|████████▎ | 24954/30000 [11:35:16<2:20:06, 1.67s/it] 83%|████████▎ | 24955/30000 [11:35:17<2:20:02, 1.67s/it] 83%|████████▎ | 24956/30000 [11:35:19<2:19:57, 1.66s/it] 83%|████████▎ | 24957/30000 [11:35:21<2:20:01, 1.67s/it] 83%|████████▎ | 24958/30000 [11:35:22<2:20:01, 1.67s/it] 83%|████████▎ | 24959/30000 [11:35:24<2:20:04, 1.67s/it] 83%|████████▎ | 24960/30000 [11:35:26<2:20:06, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.09572988748550415, 'learning_rate': 2.2568402261240685e-06, 'flow_matching_loss': 0.01760887261480093, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.26} + 83%|████████▎ | 24960/30000 [11:35:26<2:20:06, 1.67s/it] 83%|████████▎ | 24961/30000 [11:35:27<2:20:14, 1.67s/it] 83%|████████▎ | 24962/30000 [11:35:29<2:20:06, 1.67s/it] 83%|████████▎ | 24963/30000 [11:35:31<2:20:15, 1.67s/it] 83%|████████▎ | 24964/30000 [11:35:32<2:19:59, 1.67s/it] 83%|████████▎ | 24965/30000 [11:35:34<2:20:01, 1.67s/it] 83%|████████▎ | 24966/30000 [11:35:36<2:20:17, 1.67s/it] 83%|████████▎ | 24967/30000 [11:35:37<2:20:13, 1.67s/it] 83%|████████▎ | 24968/30000 [11:35:39<2:20:23, 1.67s/it] 83%|████████▎ | 24969/30000 [11:35:41<2:20:00, 1.67s/it] 83%|████████▎ | 24970/30000 [11:35:42<2:19:58, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.11050949990749359, 'learning_rate': 2.248125622537373e-06, 'flow_matching_loss': 0.01760612167418003, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.27} + 83%|████████▎ | 24970/30000 [11:35:42<2:19:58, 1.67s/it] 83%|████████▎ | 24971/30000 [11:35:44<2:20:07, 1.67s/it] 83%|████████▎ | 24972/30000 [11:35:46<2:19:39, 1.67s/it] 83%|████████▎ | 24973/30000 [11:35:47<2:19:31, 1.67s/it] 83%|████████▎ | 24974/30000 [11:35:49<2:19:30, 1.67s/it] 83%|████████▎ | 24975/30000 [11:35:51<2:19:33, 1.67s/it] 83%|████████▎ | 24976/30000 [11:35:52<2:19:39, 1.67s/it] 83%|████████▎ | 24977/30000 [11:35:54<2:19:26, 1.67s/it] 83%|████████▎ | 24978/30000 [11:35:56<2:19:22, 1.67s/it] 83%|████████▎ | 24979/30000 [11:35:57<2:19:22, 1.67s/it] 83%|████████▎ | 24980/30000 [11:35:59<2:19:20, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.10784924775362015, 'learning_rate': 2.239426513680467e-06, 'flow_matching_loss': 0.015762511268258096, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.27} + 83%|████████▎ | 24980/30000 [11:35:59<2:19:20, 1.67s/it] 83%|████████▎ | 24981/30000 [11:36:01<2:19:23, 1.67s/it] 83%|████████▎ | 24982/30000 [11:36:02<2:19:23, 1.67s/it] 83%|████████▎ | 24983/30000 [11:36:04<2:19:15, 1.67s/it] 83%|████████▎ | 24984/30000 [11:36:06<2:19:32, 1.67s/it] 83%|████████▎ | 24985/30000 [11:36:07<2:19:25, 1.67s/it] 83%|████████▎ | 24986/30000 [11:36:09<2:19:25, 1.67s/it] 83%|████████▎ | 24987/30000 [11:36:11<2:19:14, 1.67s/it] 83%|████████▎ | 24988/30000 [11:36:12<2:19:02, 1.66s/it] 83%|████████▎ | 24989/30000 [11:36:14<2:19:01, 1.66s/it] 83%|████████▎ | 24990/30000 [11:36:16<2:19:06, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.08574679493904114, 'learning_rate': 2.2307429101235915e-06, 'flow_matching_loss': 0.014678107295185327, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.27} + 83%|████████▎ | 24990/30000 [11:36:16<2:19:06, 1.67s/it] 83%|████████▎ | 24991/30000 [11:36:17<2:18:56, 1.66s/it] 83%|████████▎ | 24992/30000 [11:36:19<2:19:02, 1.67s/it] 83%|████████▎ | 24993/30000 [11:36:21<2:19:07, 1.67s/it] 83%|████████▎ | 24994/30000 [11:36:22<2:18:53, 1.66s/it] 83%|████████▎ | 24995/30000 [11:36:24<2:19:04, 1.67s/it] 83%|████████▎ | 24996/30000 [11:36:26<2:19:11, 1.67s/it] 83%|████████▎ | 24997/30000 [11:36:27<2:18:49, 1.66s/it] 83%|████████▎ | 24998/30000 [11:36:29<2:18:47, 1.66s/it] 83%|████████▎ | 24999/30000 [11:36:31<2:18:59, 1.67s/it] 83%|████████▎ | 25000/30000 [11:36:32<2:19:01, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.09465596079826355, 'learning_rate': 2.222074822418145e-06, 'flow_matching_loss': 0.019527727086097003, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.27} + 83%|████████▎ | 25000/30000 [11:36:32<2:19:01, 1.67s/it] 83%|████████▎ | 25001/30000 [11:36:34<2:19:03, 1.67s/it] 83%|████████▎ | 25002/30000 [11:36:36<2:18:56, 1.67s/it] 83%|████████▎ | 25003/30000 [11:36:37<2:18:57, 1.67s/it] 83%|████████▎ | 25004/30000 [11:36:39<2:18:43, 1.67s/it] 83%|████████▎ | 25005/30000 [11:36:41<2:18:24, 1.66s/it] 83%|████████▎ | 25006/30000 [11:36:42<2:18:32, 1.66s/it] 83%|████████▎ | 25007/30000 [11:36:44<2:18:43, 1.67s/it] 83%|████████▎ | 25008/30000 [11:36:46<2:18:52, 1.67s/it] 83%|████████▎ | 25009/30000 [11:36:47<2:18:52, 1.67s/it] 83%|████████▎ | 25010/30000 [11:36:49<2:18:57, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.11099681258201599, 'learning_rate': 2.213422261096668e-06, 'flow_matching_loss': 0.016055871453136205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.28} + 83%|████████▎ | 25010/30000 [11:36:49<2:18:57, 1.67s/it] 83%|████████▎ | 25011/30000 [11:36:51<2:18:46, 1.67s/it] 83%|████████▎ | 25012/30000 [11:36:52<2:18:37, 1.67s/it] 83%|████████▎ | 25013/30000 [11:36:54<2:18:28, 1.67s/it] 83%|████████▎ | 25014/30000 [11:36:56<2:18:27, 1.67s/it] 83%|████████▎ | 25015/30000 [11:36:57<2:18:21, 1.67s/it] 83%|████████▎ | 25016/30000 [11:36:59<2:18:21, 1.67s/it] 83%|████████▎ | 25017/30000 [11:37:01<2:18:24, 1.67s/it] 83%|████████▎ | 25018/30000 [11:37:02<2:18:15, 1.67s/it] 83%|████████▎ | 25019/30000 [11:37:04<2:18:27, 1.67s/it] 83%|████████▎ | 25020/30000 [11:37:06<2:18:33, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.12002035975456238, 'learning_rate': 2.204785236672835e-06, 'flow_matching_loss': 0.015842158067971467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.28} + 83%|████████▎ | 25020/30000 [11:37:06<2:18:33, 1.67s/it] 83%|████████▎ | 25021/30000 [11:37:07<2:18:21, 1.67s/it] 83%|████████▎ | 25022/30000 [11:37:09<2:18:35, 1.67s/it] 83%|████████▎ | 25023/30000 [11:37:11<2:18:25, 1.67s/it] 83%|████████▎ | 25024/30000 [11:37:12<2:18:30, 1.67s/it] 83%|████████▎ | 25025/30000 [11:37:14<2:18:27, 1.67s/it] 83%|████████▎ | 25026/30000 [11:37:16<2:18:10, 1.67s/it] 83%|████████▎ | 25027/30000 [11:37:17<2:17:57, 1.66s/it] 83%|████████▎ | 25028/30000 [11:37:19<2:17:46, 1.66s/it] 83%|████████▎ | 25029/30000 [11:37:21<2:17:51, 1.66s/it] 83%|████████▎ | 25030/30000 [11:37:22<2:17:56, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.08304926007986069, 'learning_rate': 2.1961637596414536e-06, 'flow_matching_loss': 0.018109541852027178, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.28} + 83%|████████▎ | 25030/30000 [11:37:22<2:17:56, 1.67s/it] 83%|████████▎ | 25031/30000 [11:37:24<2:17:52, 1.66s/it] 83%|████████▎ | 25032/30000 [11:37:26<2:17:57, 1.67s/it] 83%|████████▎ | 25033/30000 [11:37:27<2:17:53, 1.67s/it] 83%|████████▎ | 25034/30000 [11:37:29<2:18:27, 1.67s/it] 83%|████████▎ | 25035/30000 [11:37:31<2:18:23, 1.67s/it] 83%|████████▎ | 25036/30000 [11:37:32<2:18:09, 1.67s/it] 83%|████████▎ | 25037/30000 [11:37:34<2:18:18, 1.67s/it] 83%|████████▎ | 25038/30000 [11:37:36<2:18:16, 1.67s/it] 83%|████████▎ | 25039/30000 [11:37:37<2:17:59, 1.67s/it] 83%|████████▎ | 25040/30000 [11:37:39<2:18:01, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1040893942117691, 'learning_rate': 2.1875578404784275e-06, 'flow_matching_loss': 0.01787646496668458, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.29} + 83%|████████▎ | 25040/30000 [11:37:39<2:18:01, 1.67s/it] 83%|████████▎ | 25041/30000 [11:37:41<2:17:51, 1.67s/it] 83%|████████▎ | 25042/30000 [11:37:42<2:17:59, 1.67s/it] 83%|████████▎ | 25043/30000 [11:37:44<2:17:58, 1.67s/it] 83%|████████▎ | 25044/30000 [11:37:46<2:17:53, 1.67s/it] 83%|████████▎ | 25045/30000 [11:37:47<2:17:43, 1.67s/it] 83%|████████▎ | 25046/30000 [11:37:49<2:17:55, 1.67s/it] 83%|████████▎ | 25047/30000 [11:37:51<2:17:45, 1.67s/it] 83%|████████▎ | 25048/30000 [11:37:52<2:17:39, 1.67s/it] 83%|████████▎ | 25049/30000 [11:37:54<2:17:27, 1.67s/it] 84%|████████▎ | 25050/30000 [11:37:56<2:17:37, 1.67s/it] {'loss': 0.0148, 'grad_norm': 0.10576195269823074, 'learning_rate': 2.1789674896407583e-06, 'flow_matching_loss': 0.014762035198509693, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.29} + 84%|████████▎ | 25050/30000 [11:37:56<2:17:37, 1.67s/it] 84%|████████▎ | 25051/30000 [11:37:57<2:17:38, 1.67s/it] 84%|████████▎ | 25052/30000 [11:37:59<2:18:03, 1.67s/it] 84%|████████▎ | 25053/30000 [11:38:01<2:17:42, 1.67s/it] 84%|████████▎ | 25054/30000 [11:38:02<2:18:06, 1.68s/it] 84%|████████▎ | 25055/30000 [11:38:04<2:17:15, 1.67s/it] 84%|████████▎ | 25056/30000 [11:38:06<2:17:21, 1.67s/it] 84%|████████▎ | 25057/30000 [11:38:07<2:17:19, 1.67s/it] 84%|████████▎ | 25058/30000 [11:38:09<2:17:21, 1.67s/it] 84%|████████▎ | 25059/30000 [11:38:11<2:17:44, 1.67s/it] 84%|████████▎ | 25060/30000 [11:38:12<2:17:19, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.09252851456403732, 'learning_rate': 2.170392717566534e-06, 'flow_matching_loss': 0.01824412206187844, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.29} + 84%|████████▎ | 25060/30000 [11:38:12<2:17:19, 1.67s/it] 84%|████████▎ | 25061/30000 [11:38:14<2:16:56, 1.66s/it] 84%|████████▎ | 25062/30000 [11:38:16<2:17:07, 1.67s/it] 84%|████████▎ | 25063/30000 [11:38:17<2:16:58, 1.66s/it] 84%|████████▎ | 25064/30000 [11:38:19<2:16:52, 1.66s/it] 84%|████████▎ | 25065/30000 [11:38:21<2:16:47, 1.66s/it] 84%|████████▎ | 25066/30000 [11:38:22<2:16:47, 1.66s/it] 84%|████████▎ | 25067/30000 [11:38:24<2:16:55, 1.67s/it] 84%|████████▎ | 25068/30000 [11:38:26<2:17:00, 1.67s/it] 84%|████████▎ | 25069/30000 [11:38:27<2:17:02, 1.67s/it] 84%|████████▎ | 25070/30000 [11:38:29<2:16:51, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.14607778191566467, 'learning_rate': 2.161833534674909e-06, 'flow_matching_loss': 0.015441379696130752, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.29} + 84%|████████▎ | 25070/30000 [11:38:29<2:16:51, 1.67s/it] 84%|████████▎ | 25071/30000 [11:38:31<2:16:52, 1.67s/it] 84%|████████▎ | 25072/30000 [11:38:32<2:16:53, 1.67s/it] 84%|████████▎ | 25073/30000 [11:38:34<2:16:47, 1.67s/it] 84%|████████▎ | 25074/30000 [11:38:36<2:16:54, 1.67s/it] 84%|████████▎ | 25075/30000 [11:38:37<2:16:56, 1.67s/it] 84%|████████▎ | 25076/30000 [11:38:39<2:17:01, 1.67s/it] 84%|████████▎ | 25077/30000 [11:38:41<2:16:46, 1.67s/it] 84%|████████▎ | 25078/30000 [11:38:42<2:16:36, 1.67s/it] 84%|████████▎ | 25079/30000 [11:38:44<2:16:43, 1.67s/it] 84%|████████▎ | 25080/30000 [11:38:46<2:16:43, 1.67s/it] {'loss': 0.0197, 'grad_norm': 0.10732384771108627, 'learning_rate': 2.1532899513661015e-06, 'flow_matching_loss': 0.019744451530277728, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.3} + 84%|████████▎ | 25080/30000 [11:38:46<2:16:43, 1.67s/it] 84%|████████▎ | 25081/30000 [11:38:47<2:16:34, 1.67s/it] 84%|████████▎ | 25082/30000 [11:38:49<2:16:33, 1.67s/it] 84%|████████▎ | 25083/30000 [11:38:51<2:16:33, 1.67s/it] 84%|████████▎ | 25084/30000 [11:38:52<2:16:42, 1.67s/it] 84%|████████▎ | 25085/30000 [11:38:54<2:16:38, 1.67s/it] 84%|████████▎ | 25086/30000 [11:38:56<2:17:00, 1.67s/it] 84%|████████▎ | 25087/30000 [11:38:57<2:16:56, 1.67s/it] 84%|████████▎ | 25088/30000 [11:38:59<2:16:52, 1.67s/it] 84%|████████▎ | 25089/30000 [11:39:01<2:16:50, 1.67s/it] 84%|████████▎ | 25090/30000 [11:39:02<2:16:45, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.13322414457798004, 'learning_rate': 2.1447619780213682e-06, 'flow_matching_loss': 0.015944148879498243, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.3} + 84%|████████▎ | 25090/30000 [11:39:02<2:16:45, 1.67s/it] 84%|████████▎ | 25091/30000 [11:39:04<2:16:45, 1.67s/it] 84%|████████▎ | 25092/30000 [11:39:06<2:16:39, 1.67s/it] 84%|████████▎ | 25093/30000 [11:39:07<2:16:23, 1.67s/it] 84%|████████▎ | 25094/30000 [11:39:09<2:16:14, 1.67s/it] 84%|████████▎ | 25095/30000 [11:39:11<2:16:18, 1.67s/it] 84%|████████▎ | 25096/30000 [11:39:12<2:16:13, 1.67s/it] 84%|████████▎ | 25097/30000 [11:39:14<2:16:11, 1.67s/it] 84%|████████▎ | 25098/30000 [11:39:16<2:16:17, 1.67s/it] 84%|████████▎ | 25099/30000 [11:39:17<2:16:16, 1.67s/it] 84%|████████▎ | 25100/30000 [11:39:19<2:16:16, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.12834525108337402, 'learning_rate': 2.136249625003001e-06, 'flow_matching_loss': 0.015766154695302247, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.3} + 84%|████████▎ | 25100/30000 [11:39:19<2:16:16, 1.67s/it] 84%|████████▎ | 25101/30000 [11:39:21<2:16:12, 1.67s/it] 84%|████████▎ | 25102/30000 [11:39:22<2:16:11, 1.67s/it] 84%|████████▎ | 25103/30000 [11:39:24<2:16:08, 1.67s/it] 84%|████████▎ | 25104/30000 [11:39:26<2:16:05, 1.67s/it] 84%|████████▎ | 25105/30000 [11:39:27<2:16:05, 1.67s/it] 84%|████████▎ | 25106/30000 [11:39:29<2:16:06, 1.67s/it] 84%|████████▎ | 25107/30000 [11:39:31<2:16:09, 1.67s/it] 84%|████████▎ | 25108/30000 [11:39:32<2:16:06, 1.67s/it] 84%|████████▎ | 25109/30000 [11:39:34<2:15:47, 1.67s/it] 84%|████████▎ | 25110/30000 [11:39:36<2:15:53, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11938008666038513, 'learning_rate': 2.1277529026543107e-06, 'flow_matching_loss': 0.016937069315463304, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.31} + 84%|████████▎ | 25110/30000 [11:39:36<2:15:53, 1.67s/it] 84%|████████▎ | 25111/30000 [11:39:37<2:15:44, 1.67s/it] 84%|████████▎ | 25112/30000 [11:39:39<2:15:57, 1.67s/it] 84%|████████▎ | 25113/30000 [11:39:41<2:15:47, 1.67s/it] 84%|████████▎ | 25114/30000 [11:39:42<2:15:43, 1.67s/it] 84%|████████▎ | 25115/30000 [11:39:44<2:15:57, 1.67s/it] 84%|████████▎ | 25116/30000 [11:39:46<2:15:51, 1.67s/it] 84%|████████▎ | 25117/30000 [11:39:47<2:15:44, 1.67s/it] 84%|████████▎ | 25118/30000 [11:39:49<2:15:46, 1.67s/it] 84%|████████▎ | 25119/30000 [11:39:51<2:15:47, 1.67s/it] 84%|████████▎ | 25120/30000 [11:39:52<2:15:55, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.08326540887355804, 'learning_rate': 2.1192718212996188e-06, 'flow_matching_loss': 0.01627768585458398, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.31} + 84%|████████▎ | 25120/30000 [11:39:52<2:15:55, 1.67s/it] 84%|████████▎ | 25121/30000 [11:39:54<2:16:00, 1.67s/it] 84%|████████▎ | 25122/30000 [11:39:56<2:15:53, 1.67s/it] 84%|████████▎ | 25123/30000 [11:39:57<2:15:56, 1.67s/it] 84%|████████▎ | 25124/30000 [11:39:59<2:15:46, 1.67s/it] 84%|████████▍ | 25125/30000 [11:40:01<2:15:32, 1.67s/it] 84%|████████▍ | 25126/30000 [11:40:02<2:15:34, 1.67s/it] 84%|████████▍ | 25127/30000 [11:40:04<2:15:26, 1.67s/it] 84%|████████▍ | 25128/30000 [11:40:06<2:15:24, 1.67s/it] 84%|████████▍ | 25129/30000 [11:40:07<2:15:10, 1.67s/it] 84%|████████▍ | 25130/30000 [11:40:09<2:15:11, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.11940660327672958, 'learning_rate': 2.110806391244235e-06, 'flow_matching_loss': 0.017873191088438035, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.31} + 84%|████████▍ | 25130/30000 [11:40:09<2:15:11, 1.67s/it] 84%|████████▍ | 25131/30000 [11:40:11<2:15:11, 1.67s/it] 84%|████████▍ | 25132/30000 [11:40:12<2:15:33, 1.67s/it] 84%|████████▍ | 25133/30000 [11:40:14<2:15:29, 1.67s/it] 84%|████████▍ | 25134/30000 [11:40:16<2:15:30, 1.67s/it] 84%|████████▍ | 25135/30000 [11:40:17<2:15:51, 1.68s/it] 84%|████████▍ | 25136/30000 [11:40:19<2:15:27, 1.67s/it] 84%|████████▍ | 25137/30000 [11:40:21<2:15:14, 1.67s/it] 84%|████████▍ | 25138/30000 [11:40:22<2:15:16, 1.67s/it] 84%|████████▍ | 25139/30000 [11:40:24<2:15:17, 1.67s/it] 84%|████████▍ | 25140/30000 [11:40:26<2:15:19, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.13870199024677277, 'learning_rate': 2.1023566227744596e-06, 'flow_matching_loss': 0.019265729747712613, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.31} + 84%|████████▍ | 25140/30000 [11:40:26<2:15:19, 1.67s/it] 84%|████████▍ | 25141/30000 [11:40:27<2:15:06, 1.67s/it] 84%|████████▍ | 25142/30000 [11:40:29<2:14:57, 1.67s/it] 84%|████████▍ | 25143/30000 [11:40:31<2:14:57, 1.67s/it] 84%|████████▍ | 25144/30000 [11:40:32<2:14:55, 1.67s/it] 84%|████████▍ | 25145/30000 [11:40:34<2:14:54, 1.67s/it] 84%|████████▍ | 25146/30000 [11:40:36<2:14:52, 1.67s/it] 84%|████████▍ | 25147/30000 [11:40:37<2:14:55, 1.67s/it] 84%|████████▍ | 25148/30000 [11:40:39<2:15:12, 1.67s/it] 84%|████████▍ | 25149/30000 [11:40:41<2:14:54, 1.67s/it] 84%|████████▍ | 25150/30000 [11:40:42<2:14:47, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.09525352716445923, 'learning_rate': 2.0939225261575563e-06, 'flow_matching_loss': 0.015613408479839563, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.32} + 84%|████████▍ | 25150/30000 [11:40:42<2:14:47, 1.67s/it] 84%|████████▍ | 25151/30000 [11:40:44<2:15:04, 1.67s/it] 84%|████████▍ | 25152/30000 [11:40:46<2:15:00, 1.67s/it] 84%|████████▍ | 25153/30000 [11:40:47<2:14:49, 1.67s/it] 84%|████████▍ | 25154/30000 [11:40:49<2:14:44, 1.67s/it] 84%|████████▍ | 25155/30000 [11:40:51<2:14:52, 1.67s/it] 84%|████████▍ | 25156/30000 [11:40:52<2:14:51, 1.67s/it] 84%|████████▍ | 25157/30000 [11:40:54<2:14:43, 1.67s/it] 84%|████████▍ | 25158/30000 [11:40:56<2:14:41, 1.67s/it] 84%|████████▍ | 25159/30000 [11:40:57<2:14:35, 1.67s/it] 84%|████████▍ | 25160/30000 [11:40:59<2:14:34, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.12887541949748993, 'learning_rate': 2.0855041116417473e-06, 'flow_matching_loss': 0.01592240612953901, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.32} + 84%|████████▍ | 25160/30000 [11:40:59<2:14:34, 1.67s/it] 84%|████████▍ | 25161/30000 [11:41:01<2:14:34, 1.67s/it] 84%|████████▍ | 25162/30000 [11:41:02<2:14:25, 1.67s/it] 84%|████████▍ | 25163/30000 [11:41:04<2:14:30, 1.67s/it] 84%|████████▍ | 25164/30000 [11:41:06<2:14:27, 1.67s/it] 84%|████████▍ | 25165/30000 [11:41:07<2:14:23, 1.67s/it] 84%|████████▍ | 25166/30000 [11:41:09<2:14:23, 1.67s/it] 84%|████████▍ | 25167/30000 [11:41:11<2:14:46, 1.67s/it] 84%|████████▍ | 25168/30000 [11:41:12<2:14:31, 1.67s/it] 84%|████████▍ | 25169/30000 [11:41:14<2:14:27, 1.67s/it] 84%|████████▍ | 25170/30000 [11:41:16<2:14:16, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.08360602706670761, 'learning_rate': 2.0771013894562003e-06, 'flow_matching_loss': 0.01652248753234744, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.32} + 84%|████████▍ | 25170/30000 [11:41:16<2:14:16, 1.67s/it] 84%|████████▍ | 25171/30000 [11:41:18<2:14:29, 1.67s/it] 84%|████████▍ | 25172/30000 [11:41:19<2:14:26, 1.67s/it] 84%|████████▍ | 25173/30000 [11:41:21<2:14:08, 1.67s/it] 84%|████████▍ | 25174/30000 [11:41:23<2:14:01, 1.67s/it] 84%|████████▍ | 25175/30000 [11:41:24<2:14:05, 1.67s/it] 84%|████████▍ | 25176/30000 [11:41:26<2:14:10, 1.67s/it] 84%|████████▍ | 25177/30000 [11:41:28<2:14:04, 1.67s/it] 84%|████████▍ | 25178/30000 [11:41:29<2:13:59, 1.67s/it] 84%|████████▍ | 25179/30000 [11:41:31<2:14:18, 1.67s/it] 84%|████████▍ | 25180/30000 [11:41:33<2:13:52, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.14013148844242096, 'learning_rate': 2.0687143698110113e-06, 'flow_matching_loss': 0.01642277743667364, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.33} + 84%|████████▍ | 25180/30000 [11:41:33<2:13:52, 1.67s/it] 84%|████████▍ | 25181/30000 [11:41:34<2:13:45, 1.67s/it] 84%|████████▍ | 25182/30000 [11:41:36<2:13:53, 1.67s/it] 84%|████████▍ | 25183/30000 [11:41:38<2:13:55, 1.67s/it] 84%|████████▍ | 25184/30000 [11:41:39<2:13:46, 1.67s/it] 84%|████████▍ | 25185/30000 [11:41:41<2:13:46, 1.67s/it] 84%|████████▍ | 25186/30000 [11:41:43<2:13:47, 1.67s/it] 84%|████████▍ | 25187/30000 [11:41:44<2:13:39, 1.67s/it] 84%|████████▍ | 25188/30000 [11:41:46<2:13:32, 1.67s/it] 84%|████████▍ | 25189/30000 [11:41:47<2:13:20, 1.66s/it] 84%|████████▍ | 25190/30000 [11:41:49<2:13:36, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10909532010555267, 'learning_rate': 2.060343062897208e-06, 'flow_matching_loss': 0.016632502432912588, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.33} + 84%|████████▍ | 25190/30000 [11:41:49<2:13:36, 1.67s/it] 84%|████████▍ | 25191/30000 [11:41:51<2:13:49, 1.67s/it] 84%|████████▍ | 25192/30000 [11:41:53<2:13:56, 1.67s/it] 84%|████████▍ | 25193/30000 [11:41:54<2:13:53, 1.67s/it] 84%|████████▍ | 25194/30000 [11:41:56<2:13:55, 1.67s/it] 84%|████████▍ | 25195/30000 [11:41:58<2:13:51, 1.67s/it] 84%|████████▍ | 25196/30000 [11:41:59<2:13:40, 1.67s/it] 84%|████████▍ | 25197/30000 [11:42:01<2:13:25, 1.67s/it] 84%|████████▍ | 25198/30000 [11:42:03<2:13:30, 1.67s/it] 84%|████████▍ | 25199/30000 [11:42:04<2:13:55, 1.67s/it] 84%|████████▍ | 25200/30000 [11:42:06<2:13:47, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.08750493079423904, 'learning_rate': 2.0519874788867127e-06, 'flow_matching_loss': 0.016922935098409652, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.33} + 84%|████████▍ | 25200/30000 [11:42:06<2:13:47, 1.67s/it] 84%|████████▍ | 25201/30000 [11:42:08<2:13:17, 1.67s/it] 84%|████████▍ | 25202/30000 [11:42:09<2:13:16, 1.67s/it] 84%|████████▍ | 25203/30000 [11:42:11<2:13:29, 1.67s/it] 84%|████████▍ | 25204/30000 [11:42:13<2:13:31, 1.67s/it] 84%|████████▍ | 25205/30000 [11:42:14<2:13:21, 1.67s/it] 84%|████████▍ | 25206/30000 [11:42:16<2:13:25, 1.67s/it] 84%|████████▍ | 25207/30000 [11:42:18<2:13:31, 1.67s/it] 84%|████████▍ | 25208/30000 [11:42:19<2:13:17, 1.67s/it] 84%|████████▍ | 25209/30000 [11:42:21<2:13:13, 1.67s/it] 84%|████████▍ | 25210/30000 [11:42:23<2:13:08, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.11225835978984833, 'learning_rate': 2.043647627932347e-06, 'flow_matching_loss': 0.018019638024270535, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.33} + 84%|████████▍ | 25210/30000 [11:42:23<2:13:08, 1.67s/it] 84%|████████▍ | 25211/30000 [11:42:24<2:13:15, 1.67s/it] 84%|████████▍ | 25212/30000 [11:42:26<2:13:08, 1.67s/it] 84%|████████▍ | 25213/30000 [11:42:28<2:12:57, 1.67s/it] 84%|████████▍ | 25214/30000 [11:42:29<2:12:53, 1.67s/it] 84%|████████▍ | 25215/30000 [11:42:31<2:13:17, 1.67s/it] 84%|████████▍ | 25216/30000 [11:42:33<2:13:12, 1.67s/it] 84%|████████▍ | 25217/30000 [11:42:34<2:12:49, 1.67s/it] 84%|████████▍ | 25218/30000 [11:42:36<2:12:40, 1.66s/it] 84%|████████▍ | 25219/30000 [11:42:38<2:12:51, 1.67s/it] 84%|████████▍ | 25220/30000 [11:42:39<2:13:04, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.1091170385479927, 'learning_rate': 2.0353235201678193e-06, 'flow_matching_loss': 0.016794499661773443, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.34} + 84%|████████▍ | 25220/30000 [11:42:39<2:13:04, 1.67s/it] 84%|████████▍ | 25221/30000 [11:42:41<2:13:00, 1.67s/it] 84%|████████▍ | 25222/30000 [11:42:43<2:12:58, 1.67s/it] 84%|████████▍ | 25223/30000 [11:42:44<2:12:45, 1.67s/it] 84%|████████▍ | 25224/30000 [11:42:46<2:12:42, 1.67s/it] 84%|████████▍ | 25225/30000 [11:42:48<2:12:30, 1.67s/it] 84%|████████▍ | 25226/30000 [11:42:49<2:12:27, 1.66s/it] 84%|████████▍ | 25227/30000 [11:42:51<2:12:19, 1.66s/it] 84%|████████▍ | 25228/30000 [11:42:53<2:12:14, 1.66s/it] 84%|████████▍ | 25229/30000 [11:42:54<2:12:26, 1.67s/it] 84%|████████▍ | 25230/30000 [11:42:56<2:12:37, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10791861265897751, 'learning_rate': 2.0270151657076995e-06, 'flow_matching_loss': 0.016344435699284076, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.34} + 84%|████████▍ | 25230/30000 [11:42:56<2:12:37, 1.67s/it] 84%|████████▍ | 25231/30000 [11:42:58<2:12:54, 1.67s/it] 84%|████████▍ | 25232/30000 [11:42:59<2:12:47, 1.67s/it] 84%|████████▍ | 25233/30000 [11:43:01<2:12:27, 1.67s/it] 84%|████████▍ | 25234/30000 [11:43:03<2:12:19, 1.67s/it] 84%|████████▍ | 25235/30000 [11:43:04<2:12:27, 1.67s/it] 84%|████████▍ | 25236/30000 [11:43:06<2:12:25, 1.67s/it] 84%|████████▍ | 25237/30000 [11:43:08<2:12:23, 1.67s/it] 84%|████████▍ | 25238/30000 [11:43:09<2:12:23, 1.67s/it] 84%|████████▍ | 25239/30000 [11:43:11<2:12:48, 1.67s/it] 84%|████████▍ | 25240/30000 [11:43:13<2:12:40, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.07358674705028534, 'learning_rate': 2.0187225746474286e-06, 'flow_matching_loss': 0.015811993181705473, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.34} + 84%|████████▍ | 25240/30000 [11:43:13<2:12:40, 1.67s/it] 84%|████████▍ | 25241/30000 [11:43:14<2:12:33, 1.67s/it] 84%|████████▍ | 25242/30000 [11:43:16<2:12:30, 1.67s/it] 84%|████████▍ | 25243/30000 [11:43:18<2:12:56, 1.68s/it] 84%|████████▍ | 25244/30000 [11:43:19<2:12:45, 1.67s/it] 84%|████████▍ | 25245/30000 [11:43:21<2:12:30, 1.67s/it] 84%|████████▍ | 25246/30000 [11:43:23<2:12:14, 1.67s/it] 84%|████████▍ | 25247/30000 [11:43:24<2:12:23, 1.67s/it] 84%|████████▍ | 25248/30000 [11:43:26<2:12:17, 1.67s/it] 84%|████████▍ | 25249/30000 [11:43:28<2:12:07, 1.67s/it] 84%|████████▍ | 25250/30000 [11:43:29<2:12:07, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.11579696089029312, 'learning_rate': 2.0104457570632845e-06, 'flow_matching_loss': 0.018382654804736377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.35} + 84%|████████▍ | 25250/30000 [11:43:29<2:12:07, 1.67s/it] 84%|████████▍ | 25251/30000 [11:43:31<2:12:28, 1.67s/it] 84%|████████▍ | 25252/30000 [11:43:33<2:12:16, 1.67s/it] 84%|████████▍ | 25253/30000 [11:43:34<2:11:59, 1.67s/it] 84%|████████▍ | 25254/30000 [11:43:36<2:11:59, 1.67s/it] 84%|████████▍ | 25255/30000 [11:43:38<2:12:05, 1.67s/it] 84%|████████▍ | 25256/30000 [11:43:39<2:12:01, 1.67s/it] 84%|████████▍ | 25257/30000 [11:43:41<2:11:52, 1.67s/it] 84%|████████▍ | 25258/30000 [11:43:43<2:11:50, 1.67s/it] 84%|████████▍ | 25259/30000 [11:43:44<2:11:41, 1.67s/it] 84%|████████▍ | 25260/30000 [11:43:46<2:11:39, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.08441686630249023, 'learning_rate': 2.0021847230123775e-06, 'flow_matching_loss': 0.01713098445907235, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.35} + 84%|████████▍ | 25260/30000 [11:43:46<2:11:39, 1.67s/it] 84%|████████▍ | 25261/30000 [11:43:48<2:11:42, 1.67s/it] 84%|████████▍ | 25262/30000 [11:43:49<2:11:57, 1.67s/it] 84%|████████▍ | 25263/30000 [11:43:51<2:12:06, 1.67s/it] 84%|████████▍ | 25264/30000 [11:43:53<2:12:02, 1.67s/it] 84%|████████▍ | 25265/30000 [11:43:54<2:11:53, 1.67s/it] 84%|████████▍ | 25266/30000 [11:43:56<2:11:45, 1.67s/it] 84%|████████▍ | 25267/30000 [11:43:58<2:11:47, 1.67s/it] 84%|████████▍ | 25268/30000 [11:43:59<2:11:46, 1.67s/it] 84%|████████▍ | 25269/30000 [11:44:01<2:11:38, 1.67s/it] 84%|████████▍ | 25270/30000 [11:44:03<2:11:38, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.09394548833370209, 'learning_rate': 1.9939394825326494e-06, 'flow_matching_loss': 0.01760163139551878, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.35} + 84%|████████▍ | 25270/30000 [11:44:03<2:11:38, 1.67s/it] 84%|████████▍ | 25271/30000 [11:44:04<2:12:00, 1.67s/it] 84%|████████▍ | 25272/30000 [11:44:06<2:11:49, 1.67s/it] 84%|████████▍ | 25273/30000 [11:44:08<2:11:33, 1.67s/it] 84%|████████▍ | 25274/30000 [11:44:09<2:11:23, 1.67s/it] 84%|████████▍ | 25275/30000 [11:44:11<2:11:21, 1.67s/it] 84%|████████▍ | 25276/30000 [11:44:13<2:11:23, 1.67s/it] 84%|████████▍ | 25277/30000 [11:44:14<2:11:13, 1.67s/it] 84%|████████▍ | 25278/30000 [11:44:16<2:11:22, 1.67s/it] 84%|████████▍ | 25279/30000 [11:44:18<2:11:33, 1.67s/it] 84%|████████▍ | 25280/30000 [11:44:19<2:11:22, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.09830465912818909, 'learning_rate': 1.9857100456428385e-06, 'flow_matching_loss': 0.015387189574539661, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.36} + 84%|████████▍ | 25280/30000 [11:44:19<2:11:22, 1.67s/it] 84%|████████▍ | 25281/30000 [11:44:21<2:11:11, 1.67s/it] 84%|████████▍ | 25282/30000 [11:44:23<2:11:17, 1.67s/it] 84%|████████▍ | 25283/30000 [11:44:24<2:11:02, 1.67s/it] 84%|████████▍ | 25284/30000 [11:44:26<2:11:02, 1.67s/it] 84%|████████▍ | 25285/30000 [11:44:28<2:10:50, 1.67s/it] 84%|████████▍ | 25286/30000 [11:44:29<2:11:00, 1.67s/it] 84%|████████▍ | 25287/30000 [11:44:31<2:11:02, 1.67s/it] 84%|████████▍ | 25288/30000 [11:44:33<2:11:09, 1.67s/it] 84%|████████▍ | 25289/30000 [11:44:34<2:11:01, 1.67s/it] 84%|████████▍ | 25290/30000 [11:44:36<2:11:00, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.08153844624757767, 'learning_rate': 1.977496422342492e-06, 'flow_matching_loss': 0.016310876701027155, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.36} + 84%|████████▍ | 25290/30000 [11:44:36<2:11:00, 1.67s/it] 84%|████████▍ | 25291/30000 [11:44:38<2:11:03, 1.67s/it] 84%|████████▍ | 25292/30000 [11:44:39<2:10:52, 1.67s/it] 84%|████████▍ | 25293/30000 [11:44:41<2:10:49, 1.67s/it] 84%|████████▍ | 25294/30000 [11:44:43<2:10:59, 1.67s/it] 84%|████████▍ | 25295/30000 [11:44:44<2:11:05, 1.67s/it] 84%|████████▍ | 25296/30000 [11:44:46<2:11:10, 1.67s/it] 84%|████████▍ | 25297/30000 [11:44:48<2:11:24, 1.68s/it] 84%|████████▍ | 25298/30000 [11:44:49<2:11:06, 1.67s/it] 84%|████████▍ | 25299/30000 [11:44:51<2:10:53, 1.67s/it] 84%|████████▍ | 25300/30000 [11:44:53<2:10:51, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.11054138839244843, 'learning_rate': 1.9692986226119345e-06, 'flow_matching_loss': 0.014737005904316902, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.36} + 84%|████████▍ | 25300/30000 [11:44:53<2:10:51, 1.67s/it] 84%|████████▍ | 25301/30000 [11:44:54<2:10:44, 1.67s/it] 84%|████████▍ | 25302/30000 [11:44:56<2:10:55, 1.67s/it] 84%|████████▍ | 25303/30000 [11:44:58<2:10:52, 1.67s/it] 84%|████████▍ | 25304/30000 [11:45:00<2:10:51, 1.67s/it] 84%|████████▍ | 25305/30000 [11:45:01<2:10:33, 1.67s/it] 84%|████████▍ | 25306/30000 [11:45:03<2:10:21, 1.67s/it] 84%|████████▍ | 25307/30000 [11:45:04<2:10:18, 1.67s/it] 84%|████████▍ | 25308/30000 [11:45:06<2:10:15, 1.67s/it] 84%|████████▍ | 25309/30000 [11:45:08<2:10:11, 1.67s/it] 84%|████████▍ | 25310/30000 [11:45:10<2:10:23, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12815579771995544, 'learning_rate': 1.9611166564122658e-06, 'flow_matching_loss': 0.017630728147923946, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.36} + 84%|████████▍ | 25310/30000 [11:45:10<2:10:23, 1.67s/it] 84%|████████▍ | 25311/30000 [11:45:11<2:10:27, 1.67s/it] 84%|████████▍ | 25312/30000 [11:45:13<2:10:30, 1.67s/it] 84%|████████▍ | 25313/30000 [11:45:15<2:10:12, 1.67s/it] 84%|████████▍ | 25314/30000 [11:45:16<2:10:15, 1.67s/it] 84%|████████▍ | 25315/30000 [11:45:18<2:10:18, 1.67s/it] 84%|████████▍ | 25316/30000 [11:45:20<2:10:07, 1.67s/it] 84%|████████▍ | 25317/30000 [11:45:21<2:10:12, 1.67s/it] 84%|████████▍ | 25318/30000 [11:45:23<2:10:13, 1.67s/it] 84%|████████▍ | 25319/30000 [11:45:25<2:10:20, 1.67s/it] 84%|████████▍ | 25320/30000 [11:45:26<2:10:13, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.10619305074214935, 'learning_rate': 1.9529505336853456e-06, 'flow_matching_loss': 0.015509317256510257, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.37} + 84%|████████▍ | 25320/30000 [11:45:26<2:10:13, 1.67s/it] 84%|████████▍ | 25321/30000 [11:45:28<2:10:10, 1.67s/it] 84%|████████▍ | 25322/30000 [11:45:30<2:10:01, 1.67s/it] 84%|████████▍ | 25323/30000 [11:45:31<2:10:03, 1.67s/it] 84%|████████▍ | 25324/30000 [11:45:33<2:10:00, 1.67s/it] 84%|████████▍ | 25325/30000 [11:45:35<2:09:55, 1.67s/it] 84%|████████▍ | 25326/30000 [11:45:36<2:10:02, 1.67s/it] 84%|████████▍ | 25327/30000 [11:45:38<2:09:59, 1.67s/it] 84%|████████▍ | 25328/30000 [11:45:40<2:09:48, 1.67s/it] 84%|████████▍ | 25329/30000 [11:45:41<2:09:48, 1.67s/it] 84%|████████▍ | 25330/30000 [11:45:43<2:10:02, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.13847039639949799, 'learning_rate': 1.9448002643537833e-06, 'flow_matching_loss': 0.017523241881281137, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.37} + 84%|████████▍ | 25330/30000 [11:45:43<2:10:02, 1.67s/it] 84%|████████▍ | 25331/30000 [11:45:45<2:10:16, 1.67s/it] 84%|████████▍ | 25332/30000 [11:45:46<2:09:53, 1.67s/it] 84%|████████▍ | 25333/30000 [11:45:48<2:09:38, 1.67s/it] 84%|████████▍ | 25334/30000 [11:45:50<2:09:43, 1.67s/it] 84%|████████▍ | 25335/30000 [11:45:51<2:09:51, 1.67s/it] 84%|████████▍ | 25336/30000 [11:45:53<2:09:46, 1.67s/it] 84%|████████▍ | 25337/30000 [11:45:55<2:09:32, 1.67s/it] 84%|████████▍ | 25338/30000 [11:45:56<2:09:29, 1.67s/it] 84%|████████▍ | 25339/30000 [11:45:58<2:09:28, 1.67s/it] 84%|████████▍ | 25340/30000 [11:46:00<2:09:24, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1098083108663559, 'learning_rate': 1.9366658583209205e-06, 'flow_matching_loss': 0.017077056877315044, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.37} + 84%|████████▍ | 25340/30000 [11:46:00<2:09:24, 1.67s/it] 84%|████████▍ | 25341/30000 [11:46:01<2:09:26, 1.67s/it] 84%|████████▍ | 25342/30000 [11:46:03<2:09:30, 1.67s/it] 84%|████████▍ | 25343/30000 [11:46:05<2:09:28, 1.67s/it] 84%|████████▍ | 25344/30000 [11:46:06<2:09:27, 1.67s/it] 84%|████████▍ | 25345/30000 [11:46:08<2:09:25, 1.67s/it] 84%|████████▍ | 25346/30000 [11:46:10<2:09:23, 1.67s/it] 84%|████████▍ | 25347/30000 [11:46:11<2:09:24, 1.67s/it] 84%|████████▍ | 25348/30000 [11:46:13<2:09:25, 1.67s/it] 84%|████████▍ | 25349/30000 [11:46:15<2:09:07, 1.67s/it] 84%|████████▍ | 25350/30000 [11:46:16<2:09:09, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.10305366665124893, 'learning_rate': 1.9285473254708363e-06, 'flow_matching_loss': 0.01667931266129017, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.38} + 84%|████████▍ | 25350/30000 [11:46:16<2:09:09, 1.67s/it] 85%|████████▍ | 25351/30000 [11:46:18<2:09:09, 1.67s/it] 85%|████████▍ | 25352/30000 [11:46:20<2:09:32, 1.67s/it] 85%|████████▍ | 25353/30000 [11:46:21<2:09:10, 1.67s/it] 85%|████████▍ | 25354/30000 [11:46:23<2:09:15, 1.67s/it] 85%|████████▍ | 25355/30000 [11:46:25<2:09:28, 1.67s/it] 85%|████████▍ | 25356/30000 [11:46:26<2:09:27, 1.67s/it] 85%|████████▍ | 25357/30000 [11:46:28<2:09:01, 1.67s/it] 85%|████████▍ | 25358/30000 [11:46:30<2:09:00, 1.67s/it] 85%|████████▍ | 25359/30000 [11:46:31<2:09:07, 1.67s/it] 85%|████████▍ | 25360/30000 [11:46:33<2:09:06, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.11350658535957336, 'learning_rate': 1.9204446756683092e-06, 'flow_matching_loss': 0.015621845982968808, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.38} + 85%|████████▍ | 25360/30000 [11:46:33<2:09:06, 1.67s/it] 85%|████████▍ | 25361/30000 [11:46:35<2:08:59, 1.67s/it] 85%|████████▍ | 25362/30000 [11:46:36<2:08:59, 1.67s/it] 85%|████████▍ | 25363/30000 [11:46:38<2:09:02, 1.67s/it] 85%|████████▍ | 25364/30000 [11:46:40<2:09:11, 1.67s/it] 85%|████████▍ | 25365/30000 [11:46:41<2:08:58, 1.67s/it] 85%|████████▍ | 25366/30000 [11:46:43<2:09:06, 1.67s/it] 85%|████████▍ | 25367/30000 [11:46:45<2:09:03, 1.67s/it] 85%|████████▍ | 25368/30000 [11:46:46<2:08:53, 1.67s/it] 85%|████████▍ | 25369/30000 [11:46:48<2:08:49, 1.67s/it] 85%|████████▍ | 25370/30000 [11:46:50<2:08:41, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.12682941555976868, 'learning_rate': 1.912357918758822e-06, 'flow_matching_loss': 0.01653626309707761, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.38} + 85%|████████▍ | 25370/30000 [11:46:50<2:08:41, 1.67s/it] 85%|████████▍ | 25371/30000 [11:46:51<2:08:51, 1.67s/it] 85%|████████▍ | 25372/30000 [11:46:53<2:08:51, 1.67s/it] 85%|████████▍ | 25373/30000 [11:46:55<2:08:44, 1.67s/it] 85%|████████▍ | 25374/30000 [11:46:56<2:08:58, 1.67s/it] 85%|████████▍ | 25375/30000 [11:46:58<2:08:47, 1.67s/it] 85%|████████▍ | 25376/30000 [11:47:00<2:08:47, 1.67s/it] 85%|████████▍ | 25377/30000 [11:47:01<2:08:29, 1.67s/it] 85%|████████▍ | 25378/30000 [11:47:03<2:08:27, 1.67s/it] 85%|████████▍ | 25379/30000 [11:47:05<2:08:27, 1.67s/it] 85%|████████▍ | 25380/30000 [11:47:06<2:08:17, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.09112045168876648, 'learning_rate': 1.9042870645685478e-06, 'flow_matching_loss': 0.016420956701040268, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.38} + 85%|████████▍ | 25380/30000 [11:47:06<2:08:17, 1.67s/it] 85%|████████▍ | 25381/30000 [11:47:08<2:08:12, 1.67s/it] 85%|████████▍ | 25382/30000 [11:47:10<2:08:16, 1.67s/it] 85%|████████▍ | 25383/30000 [11:47:11<2:08:21, 1.67s/it] 85%|████████▍ | 25384/30000 [11:47:13<2:08:11, 1.67s/it] 85%|████████▍ | 25385/30000 [11:47:15<2:08:08, 1.67s/it] 85%|████████▍ | 25386/30000 [11:47:16<2:08:07, 1.67s/it] 85%|████████▍ | 25387/30000 [11:47:18<2:08:39, 1.67s/it] 85%|████████▍ | 25388/30000 [11:47:20<2:08:27, 1.67s/it] 85%|████████▍ | 25389/30000 [11:47:21<2:08:08, 1.67s/it] 85%|████████▍ | 25390/30000 [11:47:23<2:08:14, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.10921100527048111, 'learning_rate': 1.8962321229043322e-06, 'flow_matching_loss': 0.01729310266673565, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.39} + 85%|████████▍ | 25390/30000 [11:47:23<2:08:14, 1.67s/it] 85%|████████▍ | 25391/30000 [11:47:25<2:08:02, 1.67s/it] 85%|████████▍ | 25392/30000 [11:47:26<2:08:04, 1.67s/it] 85%|████████▍ | 25393/30000 [11:47:28<2:08:01, 1.67s/it] 85%|████████▍ | 25394/30000 [11:47:30<2:07:59, 1.67s/it] 85%|████████▍ | 25395/30000 [11:47:31<2:08:05, 1.67s/it] 85%|████████▍ | 25396/30000 [11:47:33<2:07:58, 1.67s/it] 85%|████████▍ | 25397/30000 [11:47:35<2:07:56, 1.67s/it] 85%|████████▍ | 25398/30000 [11:47:36<2:07:59, 1.67s/it] 85%|████████▍ | 25399/30000 [11:47:38<2:07:46, 1.67s/it] 85%|████████▍ | 25400/30000 [11:47:40<2:07:32, 1.66s/it] {'loss': 0.0154, 'grad_norm': 0.10583566129207611, 'learning_rate': 1.8881931035536943e-06, 'flow_matching_loss': 0.015447498951107263, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.39} + 85%|████████▍ | 25400/30000 [11:47:40<2:07:32, 1.66s/it] 85%|████████▍ | 25401/30000 [11:47:41<2:07:29, 1.66s/it] 85%|████████▍ | 25402/30000 [11:47:43<2:07:43, 1.67s/it] 85%|████████▍ | 25403/30000 [11:47:45<2:07:57, 1.67s/it] 85%|████████▍ | 25404/30000 [11:47:46<2:08:13, 1.67s/it] 85%|████████▍ | 25405/30000 [11:47:48<2:07:55, 1.67s/it] 85%|████████▍ | 25406/30000 [11:47:50<2:07:52, 1.67s/it] 85%|████████▍ | 25407/30000 [11:47:51<2:07:48, 1.67s/it] 85%|████████▍ | 25408/30000 [11:47:53<2:07:47, 1.67s/it] 85%|████████▍ | 25409/30000 [11:47:55<2:07:37, 1.67s/it] 85%|████████▍ | 25410/30000 [11:47:56<2:07:29, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11969496309757233, 'learning_rate': 1.8801700162847952e-06, 'flow_matching_loss': 0.018218011781573295, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.39} + 85%|████████▍ | 25410/30000 [11:47:56<2:07:29, 1.67s/it] 85%|████████▍ | 25411/30000 [11:47:58<2:07:26, 1.67s/it] 85%|████████▍ | 25412/30000 [11:48:00<2:07:28, 1.67s/it] 85%|████████▍ | 25413/30000 [11:48:01<2:07:25, 1.67s/it] 85%|████████▍ | 25414/30000 [11:48:03<2:07:30, 1.67s/it] 85%|████████▍ | 25415/30000 [11:48:05<2:07:26, 1.67s/it] 85%|████████▍ | 25416/30000 [11:48:06<2:07:23, 1.67s/it] 85%|████████▍ | 25417/30000 [11:48:08<2:07:20, 1.67s/it] 85%|████████▍ | 25418/30000 [11:48:10<2:07:19, 1.67s/it] 85%|████████▍ | 25419/30000 [11:48:11<2:07:23, 1.67s/it] 85%|████████▍ | 25420/30000 [11:48:13<2:07:24, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.10798710584640503, 'learning_rate': 1.87216287084645e-06, 'flow_matching_loss': 0.017973562888801097, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.4} + 85%|████████▍ | 25420/30000 [11:48:13<2:07:24, 1.67s/it] 85%|████████▍ | 25421/30000 [11:48:15<2:07:14, 1.67s/it] 85%|████████▍ | 25422/30000 [11:48:16<2:07:28, 1.67s/it] 85%|████████▍ | 25423/30000 [11:48:18<2:07:33, 1.67s/it] 85%|████████▍ | 25424/30000 [11:48:20<2:07:33, 1.67s/it] 85%|████████▍ | 25425/30000 [11:48:21<2:07:11, 1.67s/it] 85%|████████▍ | 25426/30000 [11:48:23<2:07:20, 1.67s/it] 85%|████████▍ | 25427/30000 [11:48:25<2:07:14, 1.67s/it] 85%|████████▍ | 25428/30000 [11:48:26<2:07:13, 1.67s/it] 85%|████████▍ | 25429/30000 [11:48:28<2:06:59, 1.67s/it] 85%|████████▍ | 25430/30000 [11:48:30<2:07:13, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10677444934844971, 'learning_rate': 1.8641716769680895e-06, 'flow_matching_loss': 0.016486407537013293, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.4} + 85%|████████▍ | 25430/30000 [11:48:30<2:07:13, 1.67s/it] 85%|████████▍ | 25431/30000 [11:48:31<2:07:03, 1.67s/it] 85%|████████▍ | 25432/30000 [11:48:33<2:07:09, 1.67s/it] 85%|████████▍ | 25433/30000 [11:48:35<2:07:03, 1.67s/it] 85%|████████▍ | 25434/30000 [11:48:36<2:07:13, 1.67s/it] 85%|████████▍ | 25435/30000 [11:48:38<2:07:15, 1.67s/it] 85%|████████▍ | 25436/30000 [11:48:40<2:07:01, 1.67s/it] 85%|████████▍ | 25437/30000 [11:48:41<2:06:39, 1.67s/it] 85%|████████▍ | 25438/30000 [11:48:43<2:06:51, 1.67s/it] 85%|████████▍ | 25439/30000 [11:48:45<2:06:53, 1.67s/it] 85%|████████▍ | 25440/30000 [11:48:46<2:06:49, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.10182216018438339, 'learning_rate': 1.8561964443597662e-06, 'flow_matching_loss': 0.015666481014341115, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.4} + 85%|████████▍ | 25440/30000 [11:48:46<2:06:49, 1.67s/it] 85%|████████▍ | 25441/30000 [11:48:48<2:06:39, 1.67s/it] 85%|████████▍ | 25442/30000 [11:48:50<2:06:36, 1.67s/it] 85%|████████▍ | 25443/30000 [11:48:51<2:06:49, 1.67s/it] 85%|████████▍ | 25444/30000 [11:48:53<2:06:45, 1.67s/it] 85%|████████▍ | 25445/30000 [11:48:55<2:06:30, 1.67s/it] 85%|████████▍ | 25446/30000 [11:48:56<2:06:33, 1.67s/it] 85%|████████▍ | 25447/30000 [11:48:58<2:06:37, 1.67s/it] 85%|████████▍ | 25448/30000 [11:49:00<2:06:28, 1.67s/it] 85%|████████▍ | 25449/30000 [11:49:01<2:06:12, 1.66s/it] 85%|████████▍ | 25450/30000 [11:49:03<2:06:18, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.1235278993844986, 'learning_rate': 1.848237182712147e-06, 'flow_matching_loss': 0.017431817855685948, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.4} + 85%|████████▍ | 25450/30000 [11:49:03<2:06:18, 1.67s/it] 85%|████████▍ | 25451/30000 [11:49:05<2:06:32, 1.67s/it] 85%|████████▍ | 25452/30000 [11:49:06<2:06:38, 1.67s/it] 85%|████████▍ | 25453/30000 [11:49:08<2:06:33, 1.67s/it] 85%|████████▍ | 25454/30000 [11:49:10<2:06:31, 1.67s/it] 85%|████████▍ | 25455/30000 [11:49:11<2:06:26, 1.67s/it] 85%|████████▍ | 25456/30000 [11:49:13<2:06:16, 1.67s/it] 85%|████████▍ | 25457/30000 [11:49:15<2:06:17, 1.67s/it] 85%|████████▍ | 25458/30000 [11:49:16<2:06:13, 1.67s/it] 85%|████████▍ | 25459/30000 [11:49:18<2:06:11, 1.67s/it] 85%|████████▍ | 25460/30000 [11:49:20<2:06:04, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.09599930047988892, 'learning_rate': 1.8402939016964788e-06, 'flow_matching_loss': 0.015044827852398157, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.41} + 85%|████████▍ | 25460/30000 [11:49:20<2:06:04, 1.67s/it] 85%|████████▍ | 25461/30000 [11:49:21<2:06:02, 1.67s/it] 85%|████████▍ | 25462/30000 [11:49:23<2:06:00, 1.67s/it] 85%|████████▍ | 25463/30000 [11:49:25<2:05:54, 1.67s/it] 85%|████████▍ | 25464/30000 [11:49:26<2:05:52, 1.66s/it] 85%|████████▍ | 25465/30000 [11:49:28<2:05:52, 1.67s/it] 85%|████████▍ | 25466/30000 [11:49:30<2:05:50, 1.67s/it] 85%|████████▍ | 25467/30000 [11:49:31<2:06:03, 1.67s/it] 85%|████████▍ | 25468/30000 [11:49:33<2:06:03, 1.67s/it] 85%|████████▍ | 25469/30000 [11:49:35<2:05:55, 1.67s/it] 85%|████████▍ | 25470/30000 [11:49:36<2:05:56, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.11068294197320938, 'learning_rate': 1.832366610964601e-06, 'flow_matching_loss': 0.018053434137254954, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.41} + 85%|████████▍ | 25470/30000 [11:49:37<2:05:56, 1.67s/it] 85%|████████▍ | 25471/30000 [11:49:38<2:06:08, 1.67s/it] 85%|████████▍ | 25472/30000 [11:49:40<2:06:09, 1.67s/it] 85%|████████▍ | 25473/30000 [11:49:41<2:05:56, 1.67s/it] 85%|████████▍ | 25474/30000 [11:49:43<2:05:59, 1.67s/it] 85%|████████▍ | 25475/30000 [11:49:45<2:05:55, 1.67s/it] 85%|████████▍ | 25476/30000 [11:49:46<2:05:39, 1.67s/it] 85%|████████▍ | 25477/30000 [11:49:48<2:05:27, 1.66s/it] 85%|████████▍ | 25478/30000 [11:49:50<2:05:44, 1.67s/it] 85%|████████▍ | 25479/30000 [11:49:51<2:05:28, 1.67s/it] 85%|████████▍ | 25480/30000 [11:49:53<2:05:25, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.09691335260868073, 'learning_rate': 1.8244553201489166e-06, 'flow_matching_loss': 0.01835685195401311, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.41} + 85%|████████▍ | 25480/30000 [11:49:53<2:05:25, 1.66s/it] 85%|████████▍ | 25481/30000 [11:49:55<2:05:15, 1.66s/it] 85%|████████▍ | 25482/30000 [11:49:56<2:05:29, 1.67s/it] 85%|████████▍ | 25483/30000 [11:49:58<2:05:22, 1.67s/it] 85%|████████▍ | 25484/30000 [11:50:00<2:05:23, 1.67s/it] 85%|████████▍ | 25485/30000 [11:50:01<2:05:17, 1.67s/it] 85%|████████▍ | 25486/30000 [11:50:03<2:05:29, 1.67s/it] 85%|████████▍ | 25487/30000 [11:50:05<2:05:42, 1.67s/it] 85%|████████▍ | 25488/30000 [11:50:06<2:05:33, 1.67s/it] 85%|████████▍ | 25489/30000 [11:50:08<2:05:20, 1.67s/it] 85%|████████▍ | 25490/30000 [11:50:10<2:05:19, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.08766897767782211, 'learning_rate': 1.8165600388623882e-06, 'flow_matching_loss': 0.01685881018638611, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.42} + 85%|████████▍ | 25490/30000 [11:50:10<2:05:19, 1.67s/it] 85%|████████▍ | 25491/30000 [11:50:11<2:05:27, 1.67s/it] 85%|████████▍ | 25492/30000 [11:50:13<2:05:30, 1.67s/it] 85%|████████▍ | 25493/30000 [11:50:15<2:05:12, 1.67s/it] 85%|████████▍ | 25494/30000 [11:50:16<2:05:21, 1.67s/it] 85%|████████▍ | 25495/30000 [11:50:18<2:05:22, 1.67s/it] 85%|████████▍ | 25496/30000 [11:50:20<2:05:10, 1.67s/it] 85%|████████▍ | 25497/30000 [11:50:21<2:05:06, 1.67s/it] 85%|████████▍ | 25498/30000 [11:50:23<2:05:11, 1.67s/it] 85%|████████▍ | 25499/30000 [11:50:25<2:05:11, 1.67s/it] 85%|████████▌ | 25500/30000 [11:50:27<2:05:22, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.1237594410777092, 'learning_rate': 1.8086807766985331e-06, 'flow_matching_loss': 0.018431488517671825, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.42} + 85%|████████▌ | 25500/30000 [11:50:27<2:05:22, 1.67s/it] 85%|████████▌ | 25501/30000 [11:50:28<2:05:10, 1.67s/it] 85%|████████▌ | 25502/30000 [11:50:30<2:05:07, 1.67s/it] 85%|████████▌ | 25503/30000 [11:50:32<2:05:27, 1.67s/it] 85%|████████▌ | 25504/30000 [11:50:33<2:05:39, 1.68s/it] 85%|████████▌ | 25505/30000 [11:50:35<2:05:16, 1.67s/it] 85%|████████▌ | 25506/30000 [11:50:37<2:05:06, 1.67s/it] 85%|████████▌ | 25507/30000 [11:50:38<2:05:09, 1.67s/it] 85%|████████▌ | 25508/30000 [11:50:40<2:05:10, 1.67s/it] 85%|████████▌ | 25509/30000 [11:50:42<2:04:55, 1.67s/it] 85%|████████▌ | 25510/30000 [11:50:43<2:04:48, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.1475805789232254, 'learning_rate': 1.8008175432313946e-06, 'flow_matching_loss': 0.01630810061469674, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.42} + 85%|████████▌ | 25510/30000 [11:50:43<2:04:48, 1.67s/it] 85%|████████▌ | 25511/30000 [11:50:45<2:04:58, 1.67s/it] 85%|████████▌ | 25512/30000 [11:50:47<2:04:41, 1.67s/it] 85%|████████▌ | 25513/30000 [11:50:48<2:04:33, 1.67s/it] 85%|████████▌ | 25514/30000 [11:50:50<2:04:34, 1.67s/it] 85%|████████▌ | 25515/30000 [11:50:52<2:04:47, 1.67s/it] 85%|████████▌ | 25516/30000 [11:50:53<2:04:47, 1.67s/it] 85%|████████▌ | 25517/30000 [11:50:55<2:04:36, 1.67s/it] 85%|████████▌ | 25518/30000 [11:50:57<2:04:31, 1.67s/it] 85%|████████▌ | 25519/30000 [11:50:58<2:04:41, 1.67s/it] 85%|████████▌ | 25520/30000 [11:51:00<2:04:33, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12809893488883972, 'learning_rate': 1.7929703480155429e-06, 'flow_matching_loss': 0.017167326621711256, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.43} + 85%|████████▌ | 25520/30000 [11:51:00<2:04:33, 1.67s/it] 85%|████████▌ | 25521/30000 [11:51:02<2:04:47, 1.67s/it] 85%|████████▌ | 25522/30000 [11:51:03<2:04:35, 1.67s/it] 85%|████████▌ | 25523/30000 [11:51:05<2:04:37, 1.67s/it] 85%|████████▌ | 25524/30000 [11:51:07<2:04:25, 1.67s/it] 85%|████████▌ | 25525/30000 [11:51:08<2:04:14, 1.67s/it] 85%|████████▌ | 25526/30000 [11:51:10<2:04:27, 1.67s/it] 85%|████████▌ | 25527/30000 [11:51:12<2:04:32, 1.67s/it] 85%|████████▌ | 25528/30000 [11:51:13<2:04:20, 1.67s/it] 85%|████████▌ | 25529/30000 [11:51:15<2:04:05, 1.67s/it] 85%|████████▌ | 25530/30000 [11:51:17<2:04:08, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.0999743863940239, 'learning_rate': 1.7851392005860595e-06, 'flow_matching_loss': 0.01679886532947421, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.43} + 85%|████████▌ | 25530/30000 [11:51:17<2:04:08, 1.67s/it] 85%|████████▌ | 25531/30000 [11:51:18<2:04:20, 1.67s/it] 85%|████████▌ | 25532/30000 [11:51:20<2:04:16, 1.67s/it] 85%|████████▌ | 25533/30000 [11:51:22<2:04:05, 1.67s/it] 85%|████████▌ | 25534/30000 [11:51:23<2:04:17, 1.67s/it] 85%|████████▌ | 25535/30000 [11:51:25<2:04:12, 1.67s/it] 85%|████████▌ | 25536/30000 [11:51:27<2:04:14, 1.67s/it] 85%|████████▌ | 25537/30000 [11:51:28<2:04:03, 1.67s/it] 85%|████████▌ | 25538/30000 [11:51:30<2:04:08, 1.67s/it] 85%|████████▌ | 25539/30000 [11:51:32<2:04:02, 1.67s/it] 85%|████████▌ | 25540/30000 [11:51:33<2:04:06, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10572803020477295, 'learning_rate': 1.7773241104585243e-06, 'flow_matching_loss': 0.016602170839905738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.43} + 85%|████████▌ | 25540/30000 [11:51:33<2:04:06, 1.67s/it] 85%|████████▌ | 25541/30000 [11:51:35<2:04:06, 1.67s/it] 85%|████████▌ | 25542/30000 [11:51:37<2:03:54, 1.67s/it] 85%|████████▌ | 25543/30000 [11:51:38<2:03:58, 1.67s/it] 85%|████████▌ | 25544/30000 [11:51:40<2:04:02, 1.67s/it] 85%|████████▌ | 25545/30000 [11:51:42<2:03:42, 1.67s/it] 85%|████████▌ | 25546/30000 [11:51:43<2:03:43, 1.67s/it] 85%|████████▌ | 25547/30000 [11:51:45<2:03:56, 1.67s/it] 85%|████████▌ | 25548/30000 [11:51:47<2:04:01, 1.67s/it] 85%|████████▌ | 25549/30000 [11:51:48<2:03:46, 1.67s/it] 85%|████████▌ | 25550/30000 [11:51:50<2:03:42, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.10968640446662903, 'learning_rate': 1.7695250871290108e-06, 'flow_matching_loss': 0.017948103602975607, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.43} + 85%|████████▌ | 25550/30000 [11:51:50<2:03:42, 1.67s/it] 85%|████████▌ | 25551/30000 [11:51:52<2:03:37, 1.67s/it] 85%|████████▌ | 25552/30000 [11:51:53<2:03:34, 1.67s/it] 85%|████████▌ | 25553/30000 [11:51:55<2:03:18, 1.66s/it] 85%|████████▌ | 25554/30000 [11:51:57<2:03:22, 1.66s/it] 85%|████████▌ | 25555/30000 [11:51:58<2:03:25, 1.67s/it] 85%|████████▌ | 25556/30000 [11:52:00<2:03:34, 1.67s/it] 85%|████████▌ | 25557/30000 [11:52:02<2:03:36, 1.67s/it] 85%|████████▌ | 25558/30000 [11:52:03<2:03:26, 1.67s/it] 85%|████████▌ | 25559/30000 [11:52:05<2:03:23, 1.67s/it] 85%|████████▌ | 25560/30000 [11:52:07<2:03:23, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.13640855252742767, 'learning_rate': 1.761742140074074e-06, 'flow_matching_loss': 0.017275887355208398, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.44} + 85%|████████▌ | 25560/30000 [11:52:07<2:03:23, 1.67s/it] 85%|████████▌ | 25561/30000 [11:52:08<2:03:12, 1.67s/it] 85%|████████▌ | 25562/30000 [11:52:10<2:03:23, 1.67s/it] 85%|████████▌ | 25563/30000 [11:52:12<2:03:29, 1.67s/it] 85%|████████▌ | 25564/30000 [11:52:13<2:03:35, 1.67s/it] 85%|████████▌ | 25565/30000 [11:52:15<2:03:14, 1.67s/it] 85%|████████▌ | 25566/30000 [11:52:17<2:03:16, 1.67s/it] 85%|████████▌ | 25567/30000 [11:52:18<2:03:09, 1.67s/it] 85%|████████▌ | 25568/30000 [11:52:20<2:03:18, 1.67s/it] 85%|████████▌ | 25569/30000 [11:52:22<2:03:09, 1.67s/it] 85%|████████▌ | 25570/30000 [11:52:23<2:03:06, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1068188026547432, 'learning_rate': 1.7539752787507208e-06, 'flow_matching_loss': 0.017928489204496145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.44} + 85%|████████▌ | 25570/30000 [11:52:23<2:03:06, 1.67s/it] 85%|████████▌ | 25571/30000 [11:52:25<2:03:17, 1.67s/it] 85%|████████▌ | 25572/30000 [11:52:27<2:03:16, 1.67s/it] 85%|████████▌ | 25573/30000 [11:52:28<2:03:05, 1.67s/it] 85%|████████▌ | 25574/30000 [11:52:30<2:03:28, 1.67s/it] 85%|████████▌ | 25575/30000 [11:52:32<2:03:15, 1.67s/it] 85%|████████▌ | 25576/30000 [11:52:33<2:03:10, 1.67s/it] 85%|████████▌ | 25577/30000 [11:52:35<2:03:04, 1.67s/it] 85%|████████▌ | 25578/30000 [11:52:37<2:02:45, 1.67s/it] 85%|████████▌ | 25579/30000 [11:52:38<2:02:53, 1.67s/it] 85%|████████▌ | 25580/30000 [11:52:40<2:02:54, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1456521898508072, 'learning_rate': 1.7462245125964233e-06, 'flow_matching_loss': 0.017347042541950942, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.44} + 85%|████████▌ | 25580/30000 [11:52:40<2:02:54, 1.67s/it] 85%|████████▌ | 25581/30000 [11:52:42<2:02:53, 1.67s/it] 85%|████████▌ | 25582/30000 [11:52:43<2:02:54, 1.67s/it] 85%|████████▌ | 25583/30000 [11:52:45<2:02:58, 1.67s/it] 85%|████████▌ | 25584/30000 [11:52:47<2:02:51, 1.67s/it] 85%|████████▌ | 25585/30000 [11:52:48<2:02:52, 1.67s/it] 85%|████████▌ | 25586/30000 [11:52:50<2:02:54, 1.67s/it] 85%|████████▌ | 25587/30000 [11:52:52<2:02:54, 1.67s/it] 85%|████████▌ | 25588/30000 [11:52:53<2:02:58, 1.67s/it] 85%|████████▌ | 25589/30000 [11:52:55<2:02:52, 1.67s/it] 85%|████████▌ | 25590/30000 [11:52:57<2:02:55, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.104998879134655, 'learning_rate': 1.7384898510290931e-06, 'flow_matching_loss': 0.018960622791200876, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.45} + 85%|████████▌ | 25590/30000 [11:52:57<2:02:55, 1.67s/it] 85%|████████▌ | 25591/30000 [11:52:58<2:02:53, 1.67s/it] 85%|████████▌ | 25592/30000 [11:53:00<2:02:44, 1.67s/it] 85%|████████▌ | 25593/30000 [11:53:02<2:02:29, 1.67s/it] 85%|████████▌ | 25594/30000 [11:53:03<2:02:24, 1.67s/it] 85%|████████▌ | 25595/30000 [11:53:05<2:02:29, 1.67s/it] 85%|████████▌ | 25596/30000 [11:53:07<2:02:28, 1.67s/it] 85%|████████▌ | 25597/30000 [11:53:08<2:02:19, 1.67s/it] 85%|████████▌ | 25598/30000 [11:53:10<2:02:20, 1.67s/it] 85%|████████▌ | 25599/30000 [11:53:12<2:02:23, 1.67s/it] 85%|████████▌ | 25600/30000 [11:53:13<2:02:28, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09788255393505096, 'learning_rate': 1.730771303447069e-06, 'flow_matching_loss': 0.017170166596770287, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.45} + 85%|████████▌ | 25600/30000 [11:53:13<2:02:28, 1.67s/it] 85%|████████▌ | 25601/30000 [11:53:15<2:02:21, 1.67s/it] 85%|████████▌ | 25602/30000 [11:53:17<2:02:13, 1.67s/it] 85%|████████▌ | 25603/30000 [11:53:18<2:02:30, 1.67s/it] 85%|████████▌ | 25604/30000 [11:53:20<2:02:27, 1.67s/it] 85%|████████▌ | 25605/30000 [11:53:22<2:02:13, 1.67s/it] 85%|████████▌ | 25606/30000 [11:53:23<2:02:17, 1.67s/it] 85%|████████▌ | 25607/30000 [11:53:25<2:02:14, 1.67s/it] 85%|████████▌ | 25608/30000 [11:53:27<2:02:08, 1.67s/it] 85%|████████▌ | 25609/30000 [11:53:28<2:02:04, 1.67s/it] 85%|████████▌ | 25610/30000 [11:53:30<2:02:05, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1156337633728981, 'learning_rate': 1.7230688792291204e-06, 'flow_matching_loss': 0.017920681927353143, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.45} + 85%|████████▌ | 25610/30000 [11:53:30<2:02:05, 1.67s/it] 85%|████████▌ | 25611/30000 [11:53:32<2:02:16, 1.67s/it] 85%|████████▌ | 25612/30000 [11:53:33<2:02:33, 1.68s/it] 85%|████████▌ | 25613/30000 [11:53:35<2:02:17, 1.67s/it] 85%|████████▌ | 25614/30000 [11:53:37<2:02:18, 1.67s/it] 85%|████████▌ | 25615/30000 [11:53:38<2:02:04, 1.67s/it] 85%|████████▌ | 25616/30000 [11:53:40<2:02:02, 1.67s/it] 85%|████████▌ | 25617/30000 [11:53:42<2:01:53, 1.67s/it] 85%|████████▌ | 25618/30000 [11:53:43<2:01:47, 1.67s/it] 85%|████████▌ | 25619/30000 [11:53:45<2:01:54, 1.67s/it] 85%|████████▌ | 25620/30000 [11:53:47<2:02:00, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.0975281372666359, 'learning_rate': 1.7153825877344175e-06, 'flow_matching_loss': 0.015754119399935006, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.45} + 85%|████████▌ | 25620/30000 [11:53:47<2:02:00, 1.67s/it] 85%|████████▌ | 25621/30000 [11:53:48<2:01:47, 1.67s/it] 85%|████████▌ | 25622/30000 [11:53:50<2:01:54, 1.67s/it] 85%|████████▌ | 25623/30000 [11:53:52<2:01:55, 1.67s/it] 85%|████████▌ | 25624/30000 [11:53:53<2:01:50, 1.67s/it] 85%|████████▌ | 25625/30000 [11:53:55<2:01:43, 1.67s/it] 85%|████████▌ | 25626/30000 [11:53:57<2:01:36, 1.67s/it] 85%|████████▌ | 25627/30000 [11:53:58<2:01:47, 1.67s/it] 85%|████████▌ | 25628/30000 [11:54:00<2:01:43, 1.67s/it] 85%|████████▌ | 25629/30000 [11:54:02<2:01:36, 1.67s/it] 85%|████████▌ | 25630/30000 [11:54:03<2:01:35, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.16247817873954773, 'learning_rate': 1.7077124383025278e-06, 'flow_matching_loss': 0.01737281996756792, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.46} + 85%|████████▌ | 25630/30000 [11:54:04<2:01:35, 1.67s/it] 85%|████████▌ | 25631/30000 [11:54:05<2:01:58, 1.68s/it] 85%|████████▌ | 25632/30000 [11:54:07<2:01:52, 1.67s/it] 85%|████████▌ | 25633/30000 [11:54:09<2:01:32, 1.67s/it] 85%|████████▌ | 25634/30000 [11:54:10<2:01:26, 1.67s/it] 85%|████████▌ | 25635/30000 [11:54:12<2:01:44, 1.67s/it] 85%|████████▌ | 25636/30000 [11:54:14<2:01:38, 1.67s/it] 85%|████████▌ | 25637/30000 [11:54:15<2:01:35, 1.67s/it] 85%|████████▌ | 25638/30000 [11:54:17<2:01:29, 1.67s/it] 85%|████████▌ | 25639/30000 [11:54:19<2:01:27, 1.67s/it] 85%|████████▌ | 25640/30000 [11:54:20<2:01:16, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.07920894026756287, 'learning_rate': 1.7000584402534058e-06, 'flow_matching_loss': 0.015801669284701347, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.46} + 85%|████████▌ | 25640/30000 [11:54:20<2:01:16, 1.67s/it] 85%|████████▌ | 25641/30000 [11:54:22<2:01:06, 1.67s/it] 85%|████████▌ | 25642/30000 [11:54:24<2:00:57, 1.67s/it] 85%|████████▌ | 25643/30000 [11:54:25<2:01:24, 1.67s/it] 85%|████████▌ | 25644/30000 [11:54:27<2:01:21, 1.67s/it] 85%|████████▌ | 25645/30000 [11:54:29<2:01:16, 1.67s/it] 85%|████████▌ | 25646/30000 [11:54:30<2:01:03, 1.67s/it] 85%|████████▌ | 25647/30000 [11:54:32<2:01:06, 1.67s/it] 85%|████████▌ | 25648/30000 [11:54:34<2:00:53, 1.67s/it] 85%|████████▌ | 25649/30000 [11:54:35<2:00:47, 1.67s/it] 86%|████████▌ | 25650/30000 [11:54:37<2:00:33, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.11928966641426086, 'learning_rate': 1.6924206028873774e-06, 'flow_matching_loss': 0.01716326242312789, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.46} + 86%|████████▌ | 25650/30000 [11:54:37<2:00:33, 1.66s/it] 86%|████████▌ | 25651/30000 [11:54:39<2:00:44, 1.67s/it] 86%|████████▌ | 25652/30000 [11:54:40<2:00:59, 1.67s/it] 86%|████████▌ | 25653/30000 [11:54:42<2:00:50, 1.67s/it] 86%|████████▌ | 25654/30000 [11:54:44<2:00:55, 1.67s/it] 86%|████████▌ | 25655/30000 [11:54:45<2:00:50, 1.67s/it] 86%|████████▌ | 25656/30000 [11:54:47<2:00:56, 1.67s/it] 86%|████████▌ | 25657/30000 [11:54:49<2:00:54, 1.67s/it] 86%|████████▌ | 25658/30000 [11:54:50<2:00:47, 1.67s/it] 86%|████████▌ | 25659/30000 [11:54:52<2:01:06, 1.67s/it] 86%|████████▌ | 25660/30000 [11:54:54<2:00:42, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.12639304995536804, 'learning_rate': 1.6847989354851434e-06, 'flow_matching_loss': 0.01588938180357218, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.47} + 86%|████████▌ | 25660/30000 [11:54:54<2:00:42, 1.67s/it] 86%|████████▌ | 25661/30000 [11:54:55<2:00:37, 1.67s/it] 86%|████████▌ | 25662/30000 [11:54:57<2:00:44, 1.67s/it] 86%|████████▌ | 25663/30000 [11:54:59<2:00:31, 1.67s/it] 86%|████████▌ | 25664/30000 [11:55:00<2:00:35, 1.67s/it] 86%|████████▌ | 25665/30000 [11:55:02<2:00:32, 1.67s/it] 86%|████████▌ | 25666/30000 [11:55:04<2:00:27, 1.67s/it] 86%|████████▌ | 25667/30000 [11:55:05<2:00:31, 1.67s/it] 86%|████████▌ | 25668/30000 [11:55:07<2:00:42, 1.67s/it] 86%|████████▌ | 25669/30000 [11:55:09<2:00:28, 1.67s/it] 86%|████████▌ | 25670/30000 [11:55:10<2:00:39, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.14198946952819824, 'learning_rate': 1.6771934473077443e-06, 'flow_matching_loss': 0.017204136494547127, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.47} + 86%|████████▌ | 25670/30000 [11:55:10<2:00:39, 1.67s/it] 86%|████████▌ | 25671/30000 [11:55:12<2:00:30, 1.67s/it] 86%|████████▌ | 25672/30000 [11:55:14<2:00:31, 1.67s/it] 86%|████████▌ | 25673/30000 [11:55:15<2:00:23, 1.67s/it] 86%|████████▌ | 25674/30000 [11:55:17<2:00:23, 1.67s/it] 86%|████████▌ | 25675/30000 [11:55:19<2:00:19, 1.67s/it] 86%|████████▌ | 25676/30000 [11:55:20<2:00:08, 1.67s/it] 86%|████████▌ | 25677/30000 [11:55:22<2:00:07, 1.67s/it] 86%|████████▌ | 25678/30000 [11:55:24<1:59:58, 1.67s/it] 86%|████████▌ | 25679/30000 [11:55:25<1:59:55, 1.67s/it] 86%|████████▌ | 25680/30000 [11:55:27<1:59:55, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11817518621683121, 'learning_rate': 1.669604147596563e-06, 'flow_matching_loss': 0.017699044942855836, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.47} + 86%|████████▌ | 25680/30000 [11:55:27<1:59:55, 1.67s/it] 86%|████████▌ | 25681/30000 [11:55:29<1:59:57, 1.67s/it] 86%|████████▌ | 25682/30000 [11:55:30<1:59:58, 1.67s/it] 86%|████████▌ | 25683/30000 [11:55:32<1:59:59, 1.67s/it] 86%|████████▌ | 25684/30000 [11:55:34<2:00:05, 1.67s/it] 86%|████████▌ | 25685/30000 [11:55:35<1:59:50, 1.67s/it] 86%|████████▌ | 25686/30000 [11:55:37<1:59:57, 1.67s/it] 86%|████████▌ | 25687/30000 [11:55:39<2:00:11, 1.67s/it] 86%|████████▌ | 25688/30000 [11:55:40<2:00:14, 1.67s/it] 86%|████████▌ | 25689/30000 [11:55:42<1:59:54, 1.67s/it] 86%|████████▌ | 25690/30000 [11:55:44<1:59:50, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1378019154071808, 'learning_rate': 1.662031045573319e-06, 'flow_matching_loss': 0.01729530803859234, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.47} + 86%|████████▌ | 25690/30000 [11:55:44<1:59:50, 1.67s/it] 86%|████████▌ | 25691/30000 [11:55:45<1:59:53, 1.67s/it] 86%|████████▌ | 25692/30000 [11:55:47<2:00:01, 1.67s/it] 86%|████████▌ | 25693/30000 [11:55:49<1:59:54, 1.67s/it] 86%|████████▌ | 25694/30000 [11:55:50<1:59:55, 1.67s/it] 86%|████████▌ | 25695/30000 [11:55:52<1:59:57, 1.67s/it] 86%|████████▌ | 25696/30000 [11:55:54<1:59:49, 1.67s/it] 86%|████████▌ | 25697/30000 [11:55:55<1:59:23, 1.66s/it] 86%|████████▌ | 25698/30000 [11:55:57<1:59:20, 1.66s/it] 86%|████████▌ | 25699/30000 [11:55:59<1:59:46, 1.67s/it] 86%|████████▌ | 25700/30000 [11:56:00<1:59:41, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.08705649524927139, 'learning_rate': 1.6544741504400402e-06, 'flow_matching_loss': 0.016884611826390027, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.48} + 86%|████████▌ | 25700/30000 [11:56:00<1:59:41, 1.67s/it] 86%|████████▌ | 25701/30000 [11:56:02<1:59:38, 1.67s/it] 86%|████████▌ | 25702/30000 [11:56:04<1:59:46, 1.67s/it] 86%|████████▌ | 25703/30000 [11:56:05<1:59:39, 1.67s/it] 86%|████████▌ | 25704/30000 [11:56:07<1:59:42, 1.67s/it] 86%|████████▌ | 25705/30000 [11:56:09<1:59:11, 1.67s/it] 86%|████████▌ | 25706/30000 [11:56:10<1:59:14, 1.67s/it] 86%|████████▌ | 25707/30000 [11:56:12<1:59:23, 1.67s/it] 86%|████████▌ | 25708/30000 [11:56:14<1:59:28, 1.67s/it] 86%|████████▌ | 25709/30000 [11:56:15<1:59:08, 1.67s/it] 86%|████████▌ | 25710/30000 [11:56:17<1:59:09, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1584470123052597, 'learning_rate': 1.6469334713790712e-06, 'flow_matching_loss': 0.01821026988327503, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.48} + 86%|████████▌ | 25710/30000 [11:56:17<1:59:09, 1.67s/it] 86%|████████▌ | 25711/30000 [11:56:19<1:59:15, 1.67s/it] 86%|████████▌ | 25712/30000 [11:56:20<1:59:09, 1.67s/it] 86%|████████▌ | 25713/30000 [11:56:22<1:59:06, 1.67s/it] 86%|████████▌ | 25714/30000 [11:56:24<1:58:59, 1.67s/it] 86%|████████▌ | 25715/30000 [11:56:25<1:59:11, 1.67s/it] 86%|████████▌ | 25716/30000 [11:56:27<1:59:16, 1.67s/it] 86%|████████▌ | 25717/30000 [11:56:29<1:59:03, 1.67s/it] 86%|████████▌ | 25718/30000 [11:56:30<1:59:13, 1.67s/it] 86%|████████▌ | 25719/30000 [11:56:32<1:59:29, 1.67s/it] 86%|████████▌ | 25720/30000 [11:56:34<1:59:07, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.0758744329214096, 'learning_rate': 1.639409017553048e-06, 'flow_matching_loss': 0.016196680907160043, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.48} + 86%|████████▌ | 25720/30000 [11:56:34<1:59:07, 1.67s/it] 86%|████████▌ | 25721/30000 [11:56:35<1:59:00, 1.67s/it] 86%|████████▌ | 25722/30000 [11:56:37<1:58:58, 1.67s/it] 86%|████████▌ | 25723/30000 [11:56:39<1:59:16, 1.67s/it] 86%|████████▌ | 25724/30000 [11:56:40<1:59:26, 1.68s/it] 86%|████████▌ | 25725/30000 [11:56:42<1:59:15, 1.67s/it] 86%|████████▌ | 25726/30000 [11:56:44<1:58:52, 1.67s/it] 86%|████████▌ | 25727/30000 [11:56:45<1:58:46, 1.67s/it] 86%|████████▌ | 25728/30000 [11:56:47<1:58:43, 1.67s/it] 86%|████████▌ | 25729/30000 [11:56:49<1:58:45, 1.67s/it] 86%|████████▌ | 25730/30000 [11:56:50<1:58:36, 1.67s/it] {'loss': 0.0146, 'grad_norm': 0.09807032346725464, 'learning_rate': 1.6319007981048884e-06, 'flow_matching_loss': 0.0146123506128788, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.49} + 86%|████████▌ | 25730/30000 [11:56:50<1:58:36, 1.67s/it] 86%|████████▌ | 25731/30000 [11:56:52<1:58:46, 1.67s/it] 86%|████████▌ | 25732/30000 [11:56:54<1:58:49, 1.67s/it] 86%|████████▌ | 25733/30000 [11:56:55<1:58:44, 1.67s/it] 86%|████████▌ | 25734/30000 [11:56:57<1:58:42, 1.67s/it] 86%|████████▌ | 25735/30000 [11:56:59<1:58:38, 1.67s/it] 86%|████████▌ | 25736/30000 [11:57:00<1:58:39, 1.67s/it] 86%|████████▌ | 25737/30000 [11:57:02<1:58:37, 1.67s/it] 86%|████████▌ | 25738/30000 [11:57:04<1:58:33, 1.67s/it] 86%|████████▌ | 25739/30000 [11:57:05<1:58:34, 1.67s/it] 86%|████████▌ | 25740/30000 [11:57:07<1:58:33, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.13478954136371613, 'learning_rate': 1.6244088221577896e-06, 'flow_matching_loss': 0.01795661700889468, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.49} + 86%|████████▌ | 25740/30000 [11:57:07<1:58:33, 1.67s/it] 86%|████████▌ | 25741/30000 [11:57:09<1:58:06, 1.66s/it] 86%|████████▌ | 25742/30000 [11:57:10<1:58:09, 1.67s/it] 86%|████████▌ | 25743/30000 [11:57:12<1:58:17, 1.67s/it] 86%|████████▌ | 25744/30000 [11:57:14<1:58:37, 1.67s/it] 86%|████████▌ | 25745/30000 [11:57:15<1:58:18, 1.67s/it] 86%|████████▌ | 25746/30000 [11:57:17<1:58:13, 1.67s/it] 86%|████████▌ | 25747/30000 [11:57:19<1:58:17, 1.67s/it] 86%|████████▌ | 25748/30000 [11:57:20<1:58:12, 1.67s/it] 86%|████████▌ | 25749/30000 [11:57:22<1:58:02, 1.67s/it] 86%|████████▌ | 25750/30000 [11:57:24<1:58:11, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.11012768000364304, 'learning_rate': 1.6169330988152081e-06, 'flow_matching_loss': 0.015878523606806992, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.49} + 86%|████████▌ | 25750/30000 [11:57:24<1:58:11, 1.67s/it] 86%|████████▌ | 25751/30000 [11:57:25<1:58:17, 1.67s/it] 86%|████████▌ | 25752/30000 [11:57:27<1:58:18, 1.67s/it] 86%|████████▌ | 25753/30000 [11:57:29<1:58:20, 1.67s/it] 86%|████████▌ | 25754/30000 [11:57:30<1:58:15, 1.67s/it] 86%|████████▌ | 25755/30000 [11:57:32<1:58:27, 1.67s/it] 86%|████████▌ | 25756/30000 [11:57:34<1:58:18, 1.67s/it] 86%|████████▌ | 25757/30000 [11:57:35<1:58:05, 1.67s/it] 86%|████████▌ | 25758/30000 [11:57:37<1:58:17, 1.67s/it] 86%|████████▌ | 25759/30000 [11:57:39<1:58:13, 1.67s/it] 86%|████████▌ | 25760/30000 [11:57:41<1:58:04, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.10035981237888336, 'learning_rate': 1.6094736371608475e-06, 'flow_matching_loss': 0.016140090953558683, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.49} + 86%|████████▌ | 25760/30000 [11:57:41<1:58:04, 1.67s/it] 86%|████████▌ | 25761/30000 [11:57:42<1:57:55, 1.67s/it] 86%|████████▌ | 25762/30000 [11:57:44<1:57:50, 1.67s/it] 86%|████████▌ | 25763/30000 [11:57:46<1:57:59, 1.67s/it] 86%|████████▌ | 25764/30000 [11:57:47<1:57:47, 1.67s/it] 86%|████████▌ | 25765/30000 [11:57:49<1:57:42, 1.67s/it] 86%|████████▌ | 25766/30000 [11:57:51<1:57:42, 1.67s/it] 86%|████████▌ | 25767/30000 [11:57:52<1:57:44, 1.67s/it] 86%|████████▌ | 25768/30000 [11:57:54<1:57:45, 1.67s/it] 86%|████████▌ | 25769/30000 [11:57:56<1:57:37, 1.67s/it] 86%|████████▌ | 25770/30000 [11:57:57<1:57:29, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.12580400705337524, 'learning_rate': 1.602030446258666e-06, 'flow_matching_loss': 0.01696659056469798, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.5} + 86%|████████▌ | 25770/30000 [11:57:57<1:57:29, 1.67s/it] 86%|████████▌ | 25771/30000 [11:57:59<1:57:34, 1.67s/it] 86%|████████▌ | 25772/30000 [11:58:01<1:57:25, 1.67s/it] 86%|████████▌ | 25773/30000 [11:58:02<1:57:13, 1.66s/it] 86%|████████▌ | 25774/30000 [11:58:04<1:57:15, 1.66s/it] 86%|████████▌ | 25775/30000 [11:58:06<1:57:17, 1.67s/it] 86%|████████▌ | 25776/30000 [11:58:07<1:57:23, 1.67s/it] 86%|████████▌ | 25777/30000 [11:58:09<1:57:18, 1.67s/it] 86%|████████▌ | 25778/30000 [11:58:11<1:57:13, 1.67s/it] 86%|████████▌ | 25779/30000 [11:58:12<1:57:36, 1.67s/it] 86%|████████▌ | 25780/30000 [11:58:14<1:57:39, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11467626690864563, 'learning_rate': 1.5946035351528388e-06, 'flow_matching_loss': 0.016443983651697636, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.5} + 86%|████████▌ | 25780/30000 [11:58:14<1:57:39, 1.67s/it] 86%|████████▌ | 25781/30000 [11:58:16<1:57:34, 1.67s/it] 86%|████████▌ | 25782/30000 [11:58:17<1:57:16, 1.67s/it] 86%|████████▌ | 25783/30000 [11:58:19<1:57:23, 1.67s/it] 86%|████████▌ | 25784/30000 [11:58:21<1:57:15, 1.67s/it] 86%|████████▌ | 25785/30000 [11:58:22<1:57:09, 1.67s/it] 86%|████████▌ | 25786/30000 [11:58:24<1:57:12, 1.67s/it] 86%|████████▌ | 25787/30000 [11:58:26<1:57:34, 1.67s/it] 86%|████████▌ | 25788/30000 [11:58:27<1:57:38, 1.68s/it] 86%|████████▌ | 25789/30000 [11:58:29<1:57:10, 1.67s/it] 86%|████████▌ | 25790/30000 [11:58:31<1:57:11, 1.67s/it] {'loss': 0.0191, 'grad_norm': 0.10499278455972672, 'learning_rate': 1.5871929128677621e-06, 'flow_matching_loss': 0.01905797319486737, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.5} + 86%|████████▌ | 25790/30000 [11:58:31<1:57:11, 1.67s/it] 86%|████████▌ | 25791/30000 [11:58:32<1:57:04, 1.67s/it] 86%|████████▌ | 25792/30000 [11:58:34<1:57:08, 1.67s/it] 86%|████████▌ | 25793/30000 [11:58:36<1:56:51, 1.67s/it] 86%|████████▌ | 25794/30000 [11:58:37<1:56:55, 1.67s/it] 86%|████████▌ | 25795/30000 [11:58:39<1:56:58, 1.67s/it] 86%|████████▌ | 25796/30000 [11:58:41<1:57:08, 1.67s/it] 86%|████████▌ | 25797/30000 [11:58:42<1:56:58, 1.67s/it] 86%|████████▌ | 25798/30000 [11:58:44<1:56:55, 1.67s/it] 86%|████████▌ | 25799/30000 [11:58:46<1:56:46, 1.67s/it] 86%|████████▌ | 25800/30000 [11:58:47<1:56:47, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12219163030385971, 'learning_rate': 1.5797985884080412e-06, 'flow_matching_loss': 0.017187544237822296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.51} + 86%|████████▌ | 25800/30000 [11:58:47<1:56:47, 1.67s/it] 86%|████████▌ | 25801/30000 [11:58:49<1:56:39, 1.67s/it] 86%|████████▌ | 25802/30000 [11:58:51<1:56:36, 1.67s/it] 86%|████████▌ | 25803/30000 [11:58:52<1:56:41, 1.67s/it] 86%|████████▌ | 25804/30000 [11:58:54<1:56:51, 1.67s/it] 86%|████████▌ | 25805/30000 [11:58:56<1:56:56, 1.67s/it] 86%|████████▌ | 25806/30000 [11:58:57<1:56:38, 1.67s/it] 86%|████████▌ | 25807/30000 [11:58:59<1:56:33, 1.67s/it] 86%|████████▌ | 25808/30000 [11:59:01<1:56:38, 1.67s/it] 86%|████████▌ | 25809/30000 [11:59:02<1:56:42, 1.67s/it] 86%|████████▌ | 25810/30000 [11:59:04<1:56:32, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.09352987259626389, 'learning_rate': 1.572420570758476e-06, 'flow_matching_loss': 0.015823251754045486, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.51} + 86%|████████▌ | 25810/30000 [11:59:04<1:56:32, 1.67s/it] 86%|████████▌ | 25811/30000 [11:59:06<1:56:35, 1.67s/it] 86%|████████▌ | 25812/30000 [11:59:07<1:56:31, 1.67s/it] 86%|████████▌ | 25813/30000 [11:59:09<1:56:29, 1.67s/it] 86%|████████▌ | 25814/30000 [11:59:11<1:56:23, 1.67s/it] 86%|████████▌ | 25815/30000 [11:59:12<1:56:28, 1.67s/it] 86%|████████▌ | 25816/30000 [11:59:14<1:56:30, 1.67s/it] 86%|████████▌ | 25817/30000 [11:59:16<1:56:12, 1.67s/it] 86%|████████▌ | 25818/30000 [11:59:17<1:56:07, 1.67s/it] 86%|████████▌ | 25819/30000 [11:59:19<1:56:06, 1.67s/it] 86%|████████▌ | 25820/30000 [11:59:21<1:55:59, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.11098916083574295, 'learning_rate': 1.5650588688840567e-06, 'flow_matching_loss': 0.016491684410721064, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.51} + 86%|████████▌ | 25820/30000 [11:59:21<1:55:59, 1.67s/it] 86%|████████▌ | 25821/30000 [11:59:22<1:55:59, 1.67s/it] 86%|████████▌ | 25822/30000 [11:59:24<1:55:58, 1.67s/it] 86%|████████▌ | 25823/30000 [11:59:26<1:56:07, 1.67s/it] 86%|████████▌ | 25824/30000 [11:59:27<1:56:08, 1.67s/it] 86%|████████▌ | 25825/30000 [11:59:29<1:56:02, 1.67s/it] 86%|████████▌ | 25826/30000 [11:59:31<1:55:54, 1.67s/it] 86%|████████▌ | 25827/30000 [11:59:32<1:56:07, 1.67s/it] 86%|████████▌ | 25828/30000 [11:59:34<1:56:08, 1.67s/it] 86%|████████▌ | 25829/30000 [11:59:36<1:55:57, 1.67s/it] 86%|████████▌ | 25830/30000 [11:59:37<1:56:02, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.08212760835886002, 'learning_rate': 1.5577134917299413e-06, 'flow_matching_loss': 0.015921012591570617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.52} + 86%|████████▌ | 25830/30000 [11:59:37<1:56:02, 1.67s/it] 86%|████████▌ | 25831/30000 [11:59:39<1:55:58, 1.67s/it] 86%|████████▌ | 25832/30000 [11:59:41<1:55:57, 1.67s/it] 86%|████████▌ | 25833/30000 [11:59:42<1:55:51, 1.67s/it] 86%|████████▌ | 25834/30000 [11:59:44<1:55:50, 1.67s/it] 86%|████████▌ | 25835/30000 [11:59:46<1:55:46, 1.67s/it] 86%|████████▌ | 25836/30000 [11:59:47<1:55:49, 1.67s/it] 86%|████████▌ | 25837/30000 [11:59:49<1:55:35, 1.67s/it] 86%|████████▌ | 25838/30000 [11:59:51<1:55:39, 1.67s/it] 86%|████████▌ | 25839/30000 [11:59:52<1:55:38, 1.67s/it] 86%|████████▌ | 25840/30000 [11:59:54<1:55:34, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.13441361486911774, 'learning_rate': 1.5503844482214618e-06, 'flow_matching_loss': 0.01821506293490529, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.52} + 86%|████████▌ | 25840/30000 [11:59:54<1:55:34, 1.67s/it] 86%|████████▌ | 25841/30000 [11:59:56<1:55:29, 1.67s/it] 86%|████████▌ | 25842/30000 [11:59:57<1:55:22, 1.66s/it] 86%|████████▌ | 25843/30000 [11:59:59<1:55:36, 1.67s/it] 86%|████████▌ | 25844/30000 [12:00:01<1:55:28, 1.67s/it] 86%|████████▌ | 25845/30000 [12:00:02<1:55:19, 1.67s/it] 86%|████████▌ | 25846/30000 [12:00:04<1:55:24, 1.67s/it] 86%|████████▌ | 25847/30000 [12:00:06<1:55:25, 1.67s/it] 86%|████████▌ | 25848/30000 [12:00:07<1:55:27, 1.67s/it] 86%|████████▌ | 25849/30000 [12:00:09<1:55:27, 1.67s/it] 86%|████████▌ | 25850/30000 [12:00:11<1:55:23, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.08403050899505615, 'learning_rate': 1.5430717472640932e-06, 'flow_matching_loss': 0.015552920382469892, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.52} + 86%|████████▌ | 25850/30000 [12:00:11<1:55:23, 1.67s/it] 86%|████████▌ | 25851/30000 [12:00:12<1:55:33, 1.67s/it] 86%|████████▌ | 25852/30000 [12:00:14<1:55:28, 1.67s/it] 86%|████████▌ | 25853/30000 [12:00:16<1:55:15, 1.67s/it] 86%|████████▌ | 25854/30000 [12:00:17<1:55:07, 1.67s/it] 86%|████████▌ | 25855/30000 [12:00:19<1:55:06, 1.67s/it] 86%|████████▌ | 25856/30000 [12:00:21<1:55:03, 1.67s/it] 86%|████████▌ | 25857/30000 [12:00:22<1:55:00, 1.67s/it] 86%|████████▌ | 25858/30000 [12:00:24<1:55:04, 1.67s/it] 86%|████████▌ | 25859/30000 [12:00:26<1:55:08, 1.67s/it] 86%|████████▌ | 25860/30000 [12:00:27<1:55:05, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.10085830837488174, 'learning_rate': 1.5357753977434541e-06, 'flow_matching_loss': 0.01727153630927205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.52} + 86%|████████▌ | 25860/30000 [12:00:27<1:55:05, 1.67s/it] 86%|████████▌ | 25861/30000 [12:00:29<1:55:01, 1.67s/it] 86%|████████▌ | 25862/30000 [12:00:31<1:55:06, 1.67s/it] 86%|████████▌ | 25863/30000 [12:00:32<1:55:07, 1.67s/it] 86%|████████▌ | 25864/30000 [12:00:34<1:55:07, 1.67s/it] 86%|████████▌ | 25865/30000 [12:00:36<1:54:52, 1.67s/it] 86%|████████▌ | 25866/30000 [12:00:37<1:54:50, 1.67s/it] 86%|████████▌ | 25867/30000 [12:00:39<1:54:42, 1.67s/it] 86%|████████▌ | 25868/30000 [12:00:41<1:54:49, 1.67s/it] 86%|████████▌ | 25869/30000 [12:00:42<1:54:41, 1.67s/it] 86%|████████▌ | 25870/30000 [12:00:44<1:54:35, 1.66s/it] {'loss': 0.018, 'grad_norm': 0.11872215569019318, 'learning_rate': 1.5284954085253043e-06, 'flow_matching_loss': 0.017999086808413268, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.53} + 86%|████████▌ | 25870/30000 [12:00:44<1:54:35, 1.66s/it] 86%|████████▌ | 25871/30000 [12:00:46<1:54:47, 1.67s/it] 86%|████████▌ | 25872/30000 [12:00:47<1:54:42, 1.67s/it] 86%|████████▌ | 25873/30000 [12:00:49<1:54:36, 1.67s/it] 86%|████████▌ | 25874/30000 [12:00:51<1:54:32, 1.67s/it] 86%|████████▋ | 25875/30000 [12:00:52<1:54:33, 1.67s/it] 86%|████████▋ | 25876/30000 [12:00:54<1:54:36, 1.67s/it] 86%|████████▋ | 25877/30000 [12:00:56<1:54:21, 1.66s/it] 86%|████████▋ | 25878/30000 [12:00:57<1:54:24, 1.67s/it] 86%|████████▋ | 25879/30000 [12:00:59<1:54:23, 1.67s/it] 86%|████████▋ | 25880/30000 [12:01:01<1:54:28, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.13969388604164124, 'learning_rate': 1.5212317884555115e-06, 'flow_matching_loss': 0.016227175109088422, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.53} + 86%|████████▋ | 25880/30000 [12:01:01<1:54:28, 1.67s/it] 86%|████████▋ | 25881/30000 [12:01:02<1:54:17, 1.66s/it] 86%|████████▋ | 25882/30000 [12:01:04<1:54:19, 1.67s/it] 86%|████████▋ | 25883/30000 [12:01:06<1:54:14, 1.66s/it] 86%|████████▋ | 25884/30000 [12:01:07<1:54:20, 1.67s/it] 86%|████████▋ | 25885/30000 [12:01:09<1:54:17, 1.67s/it] 86%|████████▋ | 25886/30000 [12:01:11<1:54:02, 1.66s/it] 86%|████████▋ | 25887/30000 [12:01:12<1:54:09, 1.67s/it] 86%|████████▋ | 25888/30000 [12:01:14<1:54:16, 1.67s/it] 86%|████████▋ | 25889/30000 [12:01:16<1:54:03, 1.66s/it] 86%|████████▋ | 25890/30000 [12:01:17<1:54:06, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.12857139110565186, 'learning_rate': 1.5139845463600605e-06, 'flow_matching_loss': 0.018629134632647038, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.53} + 86%|████████▋ | 25890/30000 [12:01:17<1:54:06, 1.67s/it] 86%|████████▋ | 25891/30000 [12:01:19<1:54:14, 1.67s/it] 86%|████████▋ | 25892/30000 [12:01:21<1:54:33, 1.67s/it] 86%|████████▋ | 25893/30000 [12:01:22<1:54:22, 1.67s/it] 86%|████████▋ | 25894/30000 [12:01:24<1:54:16, 1.67s/it] 86%|████████▋ | 25895/30000 [12:01:26<1:54:17, 1.67s/it] 86%|████████▋ | 25896/30000 [12:01:27<1:54:07, 1.67s/it] 86%|████████▋ | 25897/30000 [12:01:29<1:54:02, 1.67s/it] 86%|████████▋ | 25898/30000 [12:01:31<1:53:51, 1.67s/it] 86%|████████▋ | 25899/30000 [12:01:32<1:53:51, 1.67s/it] 86%|████████▋ | 25900/30000 [12:01:34<1:54:00, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.12619097530841827, 'learning_rate': 1.5067536910450352e-06, 'flow_matching_loss': 0.018070865608751773, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.54} + 86%|████████▋ | 25900/30000 [12:01:34<1:54:00, 1.67s/it] 86%|████████▋ | 25901/30000 [12:01:36<1:53:41, 1.66s/it] 86%|████████▋ | 25902/30000 [12:01:37<1:53:46, 1.67s/it] 86%|████████▋ | 25903/30000 [12:01:39<1:53:59, 1.67s/it] 86%|████████▋ | 25904/30000 [12:01:41<1:53:48, 1.67s/it] 86%|████████▋ | 25905/30000 [12:01:42<1:53:33, 1.66s/it] 86%|████████▋ | 25906/30000 [12:01:44<1:53:33, 1.66s/it] 86%|████████▋ | 25907/30000 [12:01:46<1:53:42, 1.67s/it] 86%|████████▋ | 25908/30000 [12:01:47<1:53:37, 1.67s/it] 86%|████████▋ | 25909/30000 [12:01:49<1:53:32, 1.67s/it] 86%|████████▋ | 25910/30000 [12:01:51<1:53:28, 1.66s/it] {'loss': 0.016, 'grad_norm': 0.12779659032821655, 'learning_rate': 1.4995392312966044e-06, 'flow_matching_loss': 0.016039667930454016, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.54} + 86%|████████▋ | 25910/30000 [12:01:51<1:53:28, 1.66s/it] 86%|████████▋ | 25911/30000 [12:01:52<1:53:33, 1.67s/it] 86%|████████▋ | 25912/30000 [12:01:54<1:53:25, 1.66s/it] 86%|████████▋ | 25913/30000 [12:01:56<1:53:25, 1.67s/it] 86%|████████▋ | 25914/30000 [12:01:57<1:53:26, 1.67s/it] 86%|████████▋ | 25915/30000 [12:01:59<1:53:35, 1.67s/it] 86%|████████▋ | 25916/30000 [12:02:01<1:53:23, 1.67s/it] 86%|████████▋ | 25917/30000 [12:02:02<1:53:22, 1.67s/it] 86%|████████▋ | 25918/30000 [12:02:04<1:53:21, 1.67s/it] 86%|████████▋ | 25919/30000 [12:02:06<1:53:21, 1.67s/it] 86%|████████▋ | 25920/30000 [12:02:07<1:53:43, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.13197249174118042, 'learning_rate': 1.492341175881014e-06, 'flow_matching_loss': 0.015396040957421064, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.54} + 86%|████████▋ | 25920/30000 [12:02:07<1:53:43, 1.67s/it] 86%|████████▋ | 25921/30000 [12:02:09<1:53:31, 1.67s/it] 86%|████████▋ | 25922/30000 [12:02:11<1:53:26, 1.67s/it] 86%|████████▋ | 25923/30000 [12:02:12<1:53:22, 1.67s/it] 86%|████████▋ | 25924/30000 [12:02:14<1:53:12, 1.67s/it] 86%|████████▋ | 25925/30000 [12:02:16<1:53:07, 1.67s/it] 86%|████████▋ | 25926/30000 [12:02:17<1:53:06, 1.67s/it] 86%|████████▋ | 25927/30000 [12:02:19<1:53:10, 1.67s/it] 86%|████████▋ | 25928/30000 [12:02:21<1:53:11, 1.67s/it] 86%|████████▋ | 25929/30000 [12:02:22<1:52:56, 1.66s/it] 86%|████████▋ | 25930/30000 [12:02:24<1:52:54, 1.66s/it] {'loss': 0.0159, 'grad_norm': 0.10649879276752472, 'learning_rate': 1.4851595335445895e-06, 'flow_matching_loss': 0.01588593665510416, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.54} + 86%|████████▋ | 25930/30000 [12:02:24<1:52:54, 1.66s/it] 86%|████████▋ | 25931/30000 [12:02:26<1:53:08, 1.67s/it] 86%|████████▋ | 25932/30000 [12:02:27<1:53:21, 1.67s/it] 86%|████████▋ | 25933/30000 [12:02:29<1:53:17, 1.67s/it] 86%|████████▋ | 25934/30000 [12:02:31<1:53:18, 1.67s/it] 86%|████████▋ | 25935/30000 [12:02:32<1:53:16, 1.67s/it] 86%|████████▋ | 25936/30000 [12:02:34<1:53:24, 1.67s/it] 86%|████████▋ | 25937/30000 [12:02:36<1:52:49, 1.67s/it] 86%|████████▋ | 25938/30000 [12:02:37<1:52:45, 1.67s/it] 86%|████████▋ | 25939/30000 [12:02:39<1:52:54, 1.67s/it] 86%|████████▋ | 25940/30000 [12:02:41<1:53:17, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12601003050804138, 'learning_rate': 1.4779943130136953e-06, 'flow_matching_loss': 0.017240880616009237, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.55} + 86%|████████▋ | 25940/30000 [12:02:41<1:53:17, 1.67s/it] 86%|████████▋ | 25941/30000 [12:02:42<1:52:59, 1.67s/it] 86%|████████▋ | 25942/30000 [12:02:44<1:53:02, 1.67s/it] 86%|████████▋ | 25943/30000 [12:02:46<1:52:56, 1.67s/it] 86%|████████▋ | 25944/30000 [12:02:47<1:52:54, 1.67s/it] 86%|████████▋ | 25945/30000 [12:02:49<1:52:46, 1.67s/it] 86%|████████▋ | 25946/30000 [12:02:51<1:52:41, 1.67s/it] 86%|████████▋ | 25947/30000 [12:02:52<1:52:37, 1.67s/it] 86%|████████▋ | 25948/30000 [12:02:54<1:52:36, 1.67s/it] 86%|████████▋ | 25949/30000 [12:02:56<1:52:30, 1.67s/it] 86%|████████▋ | 25950/30000 [12:02:57<1:52:29, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.09915526211261749, 'learning_rate': 1.4708455229947537e-06, 'flow_matching_loss': 0.016457827389240266, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.55} + 86%|████████▋ | 25950/30000 [12:02:57<1:52:29, 1.67s/it] 87%|████████▋ | 25951/30000 [12:02:59<1:52:36, 1.67s/it] 87%|████████▋ | 25952/30000 [12:03:01<1:52:32, 1.67s/it] 87%|████████▋ | 25953/30000 [12:03:02<1:52:23, 1.67s/it] 87%|████████▋ | 25954/30000 [12:03:04<1:52:25, 1.67s/it] 87%|████████▋ | 25955/30000 [12:03:06<1:52:38, 1.67s/it] 87%|████████▋ | 25956/30000 [12:03:07<1:52:31, 1.67s/it] 87%|████████▋ | 25957/30000 [12:03:09<1:52:20, 1.67s/it] 87%|████████▋ | 25958/30000 [12:03:11<1:52:11, 1.67s/it] 87%|████████▋ | 25959/30000 [12:03:12<1:52:12, 1.67s/it] 87%|████████▋ | 25960/30000 [12:03:14<1:52:20, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11579393595457077, 'learning_rate': 1.4637131721742148e-06, 'flow_matching_loss': 0.01578344199806452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.55} + 87%|████████▋ | 25960/30000 [12:03:14<1:52:20, 1.67s/it] 87%|████████▋ | 25961/30000 [12:03:16<1:52:14, 1.67s/it] 87%|████████▋ | 25962/30000 [12:03:17<1:52:14, 1.67s/it] 87%|████████▋ | 25963/30000 [12:03:19<1:52:45, 1.68s/it] 87%|████████▋ | 25964/30000 [12:03:21<1:52:25, 1.67s/it] 87%|████████▋ | 25965/30000 [12:03:22<1:52:17, 1.67s/it] 87%|████████▋ | 25966/30000 [12:03:24<1:52:01, 1.67s/it] 87%|████████▋ | 25967/30000 [12:03:26<1:52:07, 1.67s/it] 87%|████████▋ | 25968/30000 [12:03:27<1:52:10, 1.67s/it] 87%|████████▋ | 25969/30000 [12:03:29<1:52:01, 1.67s/it] 87%|████████▋ | 25970/30000 [12:03:31<1:51:58, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10812651365995407, 'learning_rate': 1.4565972692185626e-06, 'flow_matching_loss': 0.016508851572871207, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.56} + 87%|████████▋ | 25970/30000 [12:03:31<1:51:58, 1.67s/it] 87%|████████▋ | 25971/30000 [12:03:32<1:51:54, 1.67s/it] 87%|████████▋ | 25972/30000 [12:03:34<1:51:55, 1.67s/it] 87%|████████▋ | 25973/30000 [12:03:36<1:51:50, 1.67s/it] 87%|████████▋ | 25974/30000 [12:03:37<1:51:49, 1.67s/it] 87%|████████▋ | 25975/30000 [12:03:39<1:51:59, 1.67s/it] 87%|████████▋ | 25976/30000 [12:03:41<1:51:50, 1.67s/it] 87%|████████▋ | 25977/30000 [12:03:42<1:51:33, 1.66s/it] 87%|████████▋ | 25978/30000 [12:03:44<1:51:41, 1.67s/it] 87%|████████▋ | 25979/30000 [12:03:46<1:51:48, 1.67s/it] 87%|████████▋ | 25980/30000 [12:03:47<1:51:48, 1.67s/it] {'loss': 0.0193, 'grad_norm': 0.11557482182979584, 'learning_rate': 1.4494978227742855e-06, 'flow_matching_loss': 0.019319143146276474, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.56} + 87%|████████▋ | 25980/30000 [12:03:47<1:51:48, 1.67s/it] 87%|████████▋ | 25981/30000 [12:03:49<1:51:48, 1.67s/it] 87%|████████▋ | 25982/30000 [12:03:51<1:51:45, 1.67s/it] 87%|████████▋ | 25983/30000 [12:03:52<1:51:50, 1.67s/it] 87%|████████▋ | 25984/30000 [12:03:54<1:51:43, 1.67s/it] 87%|████████▋ | 25985/30000 [12:03:56<1:51:24, 1.66s/it] 87%|████████▋ | 25986/30000 [12:03:57<1:51:18, 1.66s/it] 87%|████████▋ | 25987/30000 [12:03:59<1:51:29, 1.67s/it] 87%|████████▋ | 25988/30000 [12:04:01<1:51:40, 1.67s/it] 87%|████████▋ | 25989/30000 [12:04:02<1:51:20, 1.67s/it] 87%|████████▋ | 25990/30000 [12:04:04<1:51:23, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1265757828950882, 'learning_rate': 1.442414841467885e-06, 'flow_matching_loss': 0.01859953524544835, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.56} + 87%|████████▋ | 25990/30000 [12:04:04<1:51:23, 1.67s/it] 87%|████████▋ | 25991/30000 [12:04:06<1:51:32, 1.67s/it] 87%|████████▋ | 25992/30000 [12:04:07<1:51:35, 1.67s/it] 87%|████████▋ | 25993/30000 [12:04:09<1:51:23, 1.67s/it] 87%|████████▋ | 25994/30000 [12:04:11<1:51:21, 1.67s/it] 87%|████████▋ | 25995/30000 [12:04:12<1:51:17, 1.67s/it] 87%|████████▋ | 25996/30000 [12:04:14<1:51:29, 1.67s/it] 87%|████████▋ | 25997/30000 [12:04:16<1:51:06, 1.67s/it] 87%|████████▋ | 25998/30000 [12:04:17<1:50:59, 1.66s/it] 87%|████████▋ | 25999/30000 [12:04:19<1:50:58, 1.66s/it] 87%|████████▋ | 26000/30000 [12:04:21<1:51:09, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12223576754331589, 'learning_rate': 1.4353483339058498e-06, 'flow_matching_loss': 0.016908757295459508, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.56} + 87%|████████▋ | 26000/30000 [12:04:21<1:51:09, 1.67s/it] 87%|████████▋ | 26001/30000 [12:04:22<1:51:01, 1.67s/it] 87%|████████▋ | 26002/30000 [12:04:24<1:50:54, 1.66s/it] 87%|████████▋ | 26003/30000 [12:04:26<1:51:08, 1.67s/it] 87%|████████▋ | 26004/30000 [12:04:27<1:50:50, 1.66s/it] 87%|████████▋ | 26005/30000 [12:04:29<1:50:35, 1.66s/it] 87%|████████▋ | 26006/30000 [12:04:31<1:50:37, 1.66s/it] 87%|████████▋ | 26007/30000 [12:04:32<1:50:54, 1.67s/it] 87%|████████▋ | 26008/30000 [12:04:34<1:50:55, 1.67s/it] 87%|████████▋ | 26009/30000 [12:04:36<1:50:44, 1.66s/it] 87%|████████▋ | 26010/30000 [12:04:37<1:50:54, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.11608084291219711, 'learning_rate': 1.4282983086746498e-06, 'flow_matching_loss': 0.01852099969983101, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.57} + 87%|████████▋ | 26010/30000 [12:04:37<1:50:54, 1.67s/it] 87%|████████▋ | 26011/30000 [12:04:39<1:51:13, 1.67s/it] 87%|████████▋ | 26012/30000 [12:04:41<1:50:58, 1.67s/it] 87%|████████▋ | 26013/30000 [12:04:42<1:50:52, 1.67s/it] 87%|████████▋ | 26014/30000 [12:04:44<1:50:47, 1.67s/it] 87%|████████▋ | 26015/30000 [12:04:46<1:50:49, 1.67s/it] 87%|████████▋ | 26016/30000 [12:04:47<1:50:49, 1.67s/it] 87%|████████▋ | 26017/30000 [12:04:49<1:50:40, 1.67s/it] 87%|████████▋ | 26018/30000 [12:04:51<1:50:38, 1.67s/it] 87%|████████▋ | 26019/30000 [12:04:52<1:50:58, 1.67s/it] 87%|████████▋ | 26020/30000 [12:04:54<1:50:56, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.13937808573246002, 'learning_rate': 1.4212647743407325e-06, 'flow_matching_loss': 0.016627729497849943, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.57} + 87%|████████▋ | 26020/30000 [12:04:54<1:50:56, 1.67s/it] 87%|████████▋ | 26021/30000 [12:04:56<1:50:45, 1.67s/it] 87%|████████▋ | 26022/30000 [12:04:57<1:50:31, 1.67s/it] 87%|████████▋ | 26023/30000 [12:04:59<1:50:30, 1.67s/it] 87%|████████▋ | 26024/30000 [12:05:01<1:50:30, 1.67s/it] 87%|████████▋ | 26025/30000 [12:05:02<1:50:23, 1.67s/it] 87%|████████▋ | 26026/30000 [12:05:04<1:50:23, 1.67s/it] 87%|████████▋ | 26027/30000 [12:05:06<1:50:23, 1.67s/it] 87%|████████▋ | 26028/30000 [12:05:07<1:50:32, 1.67s/it] 87%|████████▋ | 26029/30000 [12:05:09<1:50:23, 1.67s/it] 87%|████████▋ | 26030/30000 [12:05:11<1:50:21, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10073375701904297, 'learning_rate': 1.4142477394505065e-06, 'flow_matching_loss': 0.01661202050745487, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.57} + 87%|████████▋ | 26030/30000 [12:05:11<1:50:21, 1.67s/it] 87%|████████▋ | 26031/30000 [12:05:12<1:50:28, 1.67s/it] 87%|████████▋ | 26032/30000 [12:05:14<1:50:24, 1.67s/it] 87%|████████▋ | 26033/30000 [12:05:16<1:50:13, 1.67s/it] 87%|████████▋ | 26034/30000 [12:05:17<1:50:07, 1.67s/it] 87%|████████▋ | 26035/30000 [12:05:19<1:50:15, 1.67s/it] 87%|████████▋ | 26036/30000 [12:05:21<1:50:05, 1.67s/it] 87%|████████▋ | 26037/30000 [12:05:22<1:49:59, 1.67s/it] 87%|████████▋ | 26038/30000 [12:05:24<1:49:53, 1.66s/it] 87%|████████▋ | 26039/30000 [12:05:26<1:49:56, 1.67s/it] 87%|████████▋ | 26040/30000 [12:05:27<1:50:05, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.1199684739112854, 'learning_rate': 1.4072472125303299e-06, 'flow_matching_loss': 0.01838360372930765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.58} + 87%|████████▋ | 26040/30000 [12:05:28<1:50:05, 1.67s/it] 87%|████████▋ | 26041/30000 [12:05:29<1:49:53, 1.67s/it] 87%|████████▋ | 26042/30000 [12:05:31<1:49:52, 1.67s/it] 87%|████████▋ | 26043/30000 [12:05:32<1:50:00, 1.67s/it] 87%|████████▋ | 26044/30000 [12:05:34<1:49:57, 1.67s/it] 87%|████████▋ | 26045/30000 [12:05:36<1:49:38, 1.66s/it] 87%|████████▋ | 26046/30000 [12:05:37<1:49:42, 1.66s/it] 87%|████████▋ | 26047/30000 [12:05:39<1:49:40, 1.66s/it] 87%|████████▋ | 26048/30000 [12:05:41<1:49:48, 1.67s/it] 87%|████████▋ | 26049/30000 [12:05:42<1:49:43, 1.67s/it] 87%|████████▋ | 26050/30000 [12:05:44<1:49:35, 1.66s/it] {'loss': 0.0162, 'grad_norm': 0.10191280394792557, 'learning_rate': 1.4002632020865031e-06, 'flow_matching_loss': 0.0161775479093194, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.58} + 87%|████████▋ | 26050/30000 [12:05:44<1:49:35, 1.66s/it] 87%|████████▋ | 26051/30000 [12:05:46<1:49:48, 1.67s/it] 87%|████████▋ | 26052/30000 [12:05:47<1:49:37, 1.67s/it] 87%|████████▋ | 26053/30000 [12:05:49<1:49:30, 1.66s/it] 87%|████████▋ | 26054/30000 [12:05:51<1:49:54, 1.67s/it] 87%|████████▋ | 26055/30000 [12:05:52<1:49:41, 1.67s/it] 87%|████████▋ | 26056/30000 [12:05:54<1:49:42, 1.67s/it] 87%|████████▋ | 26057/30000 [12:05:56<1:49:39, 1.67s/it] 87%|████████▋ | 26058/30000 [12:05:57<1:49:31, 1.67s/it] 87%|████████▋ | 26059/30000 [12:05:59<1:49:45, 1.67s/it] 87%|████████▋ | 26060/30000 [12:06:01<1:49:42, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.12368609756231308, 'learning_rate': 1.393295716605258e-06, 'flow_matching_loss': 0.01857321336865425, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.58} + 87%|████████▋ | 26060/30000 [12:06:01<1:49:42, 1.67s/it] 87%|████████▋ | 26061/30000 [12:06:03<1:49:30, 1.67s/it] 87%|████████▋ | 26062/30000 [12:06:04<1:49:34, 1.67s/it] 87%|████████▋ | 26063/30000 [12:06:06<1:49:23, 1.67s/it] 87%|████████▋ | 26064/30000 [12:06:08<1:49:27, 1.67s/it] 87%|████████▋ | 26065/30000 [12:06:09<1:49:28, 1.67s/it] 87%|████████▋ | 26066/30000 [12:06:11<1:49:29, 1.67s/it] 87%|████████▋ | 26067/30000 [12:06:13<1:49:38, 1.67s/it] 87%|████████▋ | 26068/30000 [12:06:14<1:49:37, 1.67s/it] 87%|████████▋ | 26069/30000 [12:06:16<1:49:23, 1.67s/it] 87%|████████▋ | 26070/30000 [12:06:18<1:49:22, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.11762114614248276, 'learning_rate': 1.386344764552742e-06, 'flow_matching_loss': 0.016006550565361977, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.59} + 87%|████████▋ | 26070/30000 [12:06:18<1:49:22, 1.67s/it] 87%|████████▋ | 26071/30000 [12:06:19<1:49:09, 1.67s/it] 87%|████████▋ | 26072/30000 [12:06:21<1:49:11, 1.67s/it] 87%|████████▋ | 26073/30000 [12:06:23<1:49:04, 1.67s/it] 87%|████████▋ | 26074/30000 [12:06:24<1:48:55, 1.66s/it] 87%|████████▋ | 26075/30000 [12:06:26<1:48:55, 1.67s/it] 87%|████████▋ | 26076/30000 [12:06:28<1:48:58, 1.67s/it] 87%|████████▋ | 26077/30000 [12:06:29<1:48:50, 1.66s/it] 87%|████████▋ | 26078/30000 [12:06:31<1:48:58, 1.67s/it] 87%|████████▋ | 26079/30000 [12:06:33<1:48:56, 1.67s/it] 87%|████████▋ | 26080/30000 [12:06:34<1:49:15, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.09876447170972824, 'learning_rate': 1.3794103543750246e-06, 'flow_matching_loss': 0.01614157948642969, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.59} + 87%|████████▋ | 26080/30000 [12:06:34<1:49:15, 1.67s/it] 87%|████████▋ | 26081/30000 [12:06:36<1:49:11, 1.67s/it] 87%|████████▋ | 26082/30000 [12:06:38<1:48:58, 1.67s/it] 87%|████████▋ | 26083/30000 [12:06:39<1:48:53, 1.67s/it] 87%|████████▋ | 26084/30000 [12:06:41<1:48:52, 1.67s/it] 87%|████████▋ | 26085/30000 [12:06:43<1:48:50, 1.67s/it] 87%|████████▋ | 26086/30000 [12:06:44<1:48:44, 1.67s/it] 87%|████████▋ | 26087/30000 [12:06:46<1:48:44, 1.67s/it] 87%|████████▋ | 26088/30000 [12:06:48<1:48:41, 1.67s/it] 87%|████████▋ | 26089/30000 [12:06:49<1:48:29, 1.66s/it] 87%|████████▋ | 26090/30000 [12:06:51<1:48:24, 1.66s/it] {'loss': 0.0146, 'grad_norm': 0.09612321108579636, 'learning_rate': 1.3724924944980637e-06, 'flow_matching_loss': 0.01464417837560177, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.59} + 87%|████████▋ | 26090/30000 [12:06:51<1:48:24, 1.66s/it] 87%|████████▋ | 26091/30000 [12:06:53<1:48:33, 1.67s/it] 87%|████████▋ | 26092/30000 [12:06:54<1:48:29, 1.67s/it] 87%|████████▋ | 26093/30000 [12:06:56<1:48:42, 1.67s/it] 87%|████████▋ | 26094/30000 [12:06:58<1:48:34, 1.67s/it] 87%|████████▋ | 26095/30000 [12:06:59<1:48:37, 1.67s/it] 87%|████████▋ | 26096/30000 [12:07:01<1:48:30, 1.67s/it] 87%|████████▋ | 26097/30000 [12:07:03<1:48:19, 1.67s/it] 87%|████████▋ | 26098/30000 [12:07:04<1:48:17, 1.67s/it] 87%|████████▋ | 26099/30000 [12:07:06<1:48:30, 1.67s/it] 87%|████████▋ | 26100/30000 [12:07:08<1:48:29, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.12069921940565109, 'learning_rate': 1.365591193327712e-06, 'flow_matching_loss': 0.014902415592223406, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.59} + 87%|████████▋ | 26100/30000 [12:07:08<1:48:29, 1.67s/it] 87%|████████▋ | 26101/30000 [12:07:09<1:48:25, 1.67s/it] 87%|████████▋ | 26102/30000 [12:07:11<1:48:24, 1.67s/it] 87%|████████▋ | 26103/30000 [12:07:13<1:48:23, 1.67s/it] 87%|████████▋ | 26104/30000 [12:07:14<1:48:33, 1.67s/it] 87%|████████▋ | 26105/30000 [12:07:16<1:47:59, 1.66s/it] 87%|████████▋ | 26106/30000 [12:07:18<1:48:02, 1.66s/it] 87%|████████▋ | 26107/30000 [12:07:19<1:48:07, 1.67s/it] 87%|████████▋ | 26108/30000 [12:07:21<1:48:03, 1.67s/it] 87%|████████▋ | 26109/30000 [12:07:23<1:48:02, 1.67s/it] 87%|████████▋ | 26110/30000 [12:07:24<1:47:48, 1.66s/it] {'loss': 0.0194, 'grad_norm': 0.11267507821321487, 'learning_rate': 1.3587064592496984e-06, 'flow_matching_loss': 0.01937054516747594, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.6} + 87%|████████▋ | 26110/30000 [12:07:24<1:47:48, 1.66s/it] 87%|████████▋ | 26111/30000 [12:07:26<1:47:55, 1.67s/it] 87%|████████▋ | 26112/30000 [12:07:28<1:48:06, 1.67s/it] 87%|████████▋ | 26113/30000 [12:07:29<1:48:06, 1.67s/it] 87%|████████▋ | 26114/30000 [12:07:31<1:47:58, 1.67s/it] 87%|████████▋ | 26115/30000 [12:07:33<1:47:52, 1.67s/it] 87%|████████▋ | 26116/30000 [12:07:34<1:47:52, 1.67s/it] 87%|████████▋ | 26117/30000 [12:07:36<1:47:48, 1.67s/it] 87%|████████▋ | 26118/30000 [12:07:38<1:47:52, 1.67s/it] 87%|████████▋ | 26119/30000 [12:07:39<1:47:56, 1.67s/it] 87%|████████▋ | 26120/30000 [12:07:41<1:48:02, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.10682272911071777, 'learning_rate': 1.3518383006296292e-06, 'flow_matching_loss': 0.018491630721837283, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.6} + 87%|████████▋ | 26120/30000 [12:07:41<1:48:02, 1.67s/it] 87%|████████▋ | 26121/30000 [12:07:43<1:48:05, 1.67s/it] 87%|████████▋ | 26122/30000 [12:07:44<1:47:56, 1.67s/it] 87%|████████▋ | 26123/30000 [12:07:46<1:47:50, 1.67s/it] 87%|████████▋ | 26124/30000 [12:07:48<1:47:46, 1.67s/it] 87%|████████▋ | 26125/30000 [12:07:49<1:47:30, 1.66s/it] 87%|████████▋ | 26126/30000 [12:07:51<1:47:28, 1.66s/it] 87%|████████▋ | 26127/30000 [12:07:53<1:47:35, 1.67s/it] 87%|████████▋ | 26128/30000 [12:07:54<1:47:51, 1.67s/it] 87%|████████▋ | 26129/30000 [12:07:56<1:47:32, 1.67s/it] 87%|████████▋ | 26130/30000 [12:07:58<1:47:36, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.10733286291360855, 'learning_rate': 1.344986725812959e-06, 'flow_matching_loss': 0.016079328116029502, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.6} + 87%|████████▋ | 26130/30000 [12:07:58<1:47:36, 1.67s/it] 87%|████████▋ | 26131/30000 [12:07:59<1:47:47, 1.67s/it] 87%|████████▋ | 26132/30000 [12:08:01<1:47:39, 1.67s/it] 87%|████████▋ | 26133/30000 [12:08:03<1:47:25, 1.67s/it] 87%|████████▋ | 26134/30000 [12:08:04<1:47:20, 1.67s/it] 87%|████████▋ | 26135/30000 [12:08:06<1:47:15, 1.66s/it] 87%|████████▋ | 26136/30000 [12:08:08<1:47:19, 1.67s/it] 87%|████████▋ | 26137/30000 [12:08:09<1:47:17, 1.67s/it] 87%|████████▋ | 26138/30000 [12:08:11<1:47:11, 1.67s/it] 87%|████████▋ | 26139/30000 [12:08:13<1:47:05, 1.66s/it] 87%|████████▋ | 26140/30000 [12:08:14<1:47:07, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.12061959505081177, 'learning_rate': 1.3381517431250046e-06, 'flow_matching_loss': 0.01678028777241707, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.61} + 87%|████████▋ | 26140/30000 [12:08:14<1:47:07, 1.67s/it] 87%|████████▋ | 26141/30000 [12:08:16<1:46:56, 1.66s/it] 87%|████████▋ | 26142/30000 [12:08:18<1:46:56, 1.66s/it] 87%|████████▋ | 26143/30000 [12:08:19<1:47:05, 1.67s/it] 87%|████████▋ | 26144/30000 [12:08:21<1:47:23, 1.67s/it] 87%|████████▋ | 26145/30000 [12:08:23<1:47:22, 1.67s/it] 87%|████████▋ | 26146/30000 [12:08:24<1:47:19, 1.67s/it] 87%|████████▋ | 26147/30000 [12:08:26<1:47:03, 1.67s/it] 87%|████████▋ | 26148/30000 [12:08:28<1:46:54, 1.67s/it] 87%|████████▋ | 26149/30000 [12:08:29<1:46:51, 1.66s/it] 87%|████████▋ | 26150/30000 [12:08:31<1:47:01, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.12039703130722046, 'learning_rate': 1.3313333608709095e-06, 'flow_matching_loss': 0.016244478337466717, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.61} + 87%|████████▋ | 26150/30000 [12:08:31<1:47:01, 1.67s/it] 87%|████████▋ | 26151/30000 [12:08:33<1:47:09, 1.67s/it] 87%|████████▋ | 26152/30000 [12:08:34<1:47:08, 1.67s/it] 87%|████████▋ | 26153/30000 [12:08:36<1:47:06, 1.67s/it] 87%|████████▋ | 26154/30000 [12:08:38<1:47:08, 1.67s/it] 87%|████████▋ | 26155/30000 [12:08:39<1:47:07, 1.67s/it] 87%|████████▋ | 26156/30000 [12:08:41<1:47:04, 1.67s/it] 87%|████████▋ | 26157/30000 [12:08:43<1:46:59, 1.67s/it] 87%|████████▋ | 26158/30000 [12:08:44<1:46:56, 1.67s/it] 87%|████████▋ | 26159/30000 [12:08:46<1:46:58, 1.67s/it] 87%|████████▋ | 26160/30000 [12:08:48<1:47:03, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.10393530130386353, 'learning_rate': 1.3245315873356528e-06, 'flow_matching_loss': 0.01566795976832509, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.61} + 87%|████████▋ | 26160/30000 [12:08:48<1:47:03, 1.67s/it] 87%|████████▋ | 26161/30000 [12:08:49<1:46:52, 1.67s/it] 87%|████████▋ | 26162/30000 [12:08:51<1:46:49, 1.67s/it] 87%|████████▋ | 26163/30000 [12:08:53<1:46:51, 1.67s/it] 87%|████████▋ | 26164/30000 [12:08:54<1:46:46, 1.67s/it] 87%|████████▋ | 26165/30000 [12:08:56<1:46:37, 1.67s/it] 87%|████████▋ | 26166/30000 [12:08:58<1:46:38, 1.67s/it] 87%|████████▋ | 26167/30000 [12:08:59<1:46:53, 1.67s/it] 87%|████████▋ | 26168/30000 [12:09:01<1:46:58, 1.68s/it] 87%|████████▋ | 26169/30000 [12:09:03<1:46:51, 1.67s/it] 87%|████████▋ | 26170/30000 [12:09:04<1:46:42, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.11594333499670029, 'learning_rate': 1.3177464307840304e-06, 'flow_matching_loss': 0.016227751038968563, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.61} + 87%|████████▋ | 26170/30000 [12:09:04<1:46:42, 1.67s/it] 87%|████████▋ | 26171/30000 [12:09:06<1:46:35, 1.67s/it] 87%|████████▋ | 26172/30000 [12:09:08<1:46:43, 1.67s/it] 87%|████████▋ | 26173/30000 [12:09:09<1:46:31, 1.67s/it] 87%|████████▋ | 26174/30000 [12:09:11<1:46:21, 1.67s/it] 87%|████████▋ | 26175/30000 [12:09:13<1:46:22, 1.67s/it] 87%|████████▋ | 26176/30000 [12:09:14<1:46:11, 1.67s/it] 87%|████████▋ | 26177/30000 [12:09:16<1:46:06, 1.67s/it] 87%|████████▋ | 26178/30000 [12:09:18<1:46:10, 1.67s/it] 87%|████████▋ | 26179/30000 [12:09:19<1:46:11, 1.67s/it] 87%|████████▋ | 26180/30000 [12:09:21<1:46:13, 1.67s/it] {'loss': 0.0152, 'grad_norm': 0.091593436896801, 'learning_rate': 1.310977899460642e-06, 'flow_matching_loss': 0.015210362058132887, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.62} + 87%|████████▋ | 26180/30000 [12:09:21<1:46:13, 1.67s/it] 87%|████████▋ | 26181/30000 [12:09:23<1:46:11, 1.67s/it] 87%|████████▋ | 26182/30000 [12:09:24<1:46:03, 1.67s/it] 87%|████████▋ | 26183/30000 [12:09:26<1:46:09, 1.67s/it] 87%|████████▋ | 26184/30000 [12:09:28<1:46:15, 1.67s/it] 87%|████████▋ | 26185/30000 [12:09:29<1:45:57, 1.67s/it] 87%|████████▋ | 26186/30000 [12:09:31<1:45:57, 1.67s/it] 87%|████████▋ | 26187/30000 [12:09:33<1:45:59, 1.67s/it] 87%|████████▋ | 26188/30000 [12:09:34<1:45:53, 1.67s/it] 87%|████████▋ | 26189/30000 [12:09:36<1:45:46, 1.67s/it] 87%|████████▋ | 26190/30000 [12:09:38<1:45:49, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11635734885931015, 'learning_rate': 1.3042260015899006e-06, 'flow_matching_loss': 0.01661025620996952, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.62} + 87%|████████▋ | 26190/30000 [12:09:38<1:45:49, 1.67s/it] 87%|████████▋ | 26191/30000 [12:09:39<1:45:57, 1.67s/it] 87%|████████▋ | 26192/30000 [12:09:41<1:45:58, 1.67s/it] 87%|████████▋ | 26193/30000 [12:09:43<1:45:49, 1.67s/it] 87%|████████▋ | 26194/30000 [12:09:44<1:45:42, 1.67s/it] 87%|████████▋ | 26195/30000 [12:09:46<1:45:43, 1.67s/it] 87%|████████▋ | 26196/30000 [12:09:48<1:45:41, 1.67s/it] 87%|████████▋ | 26197/30000 [12:09:49<1:45:39, 1.67s/it] 87%|████████▋ | 26198/30000 [12:09:51<1:45:46, 1.67s/it] 87%|████████▋ | 26199/30000 [12:09:53<1:45:53, 1.67s/it] 87%|████████▋ | 26200/30000 [12:09:54<1:46:03, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.20064038038253784, 'learning_rate': 1.2974907453759948e-06, 'flow_matching_loss': 0.017056685872375965, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.62} + 87%|████████▋ | 26200/30000 [12:09:54<1:46:03, 1.67s/it] 87%|████████▋ | 26201/30000 [12:09:56<1:45:52, 1.67s/it] 87%|████████▋ | 26202/30000 [12:09:58<1:45:49, 1.67s/it] 87%|████████▋ | 26203/30000 [12:09:59<1:45:56, 1.67s/it] 87%|████████▋ | 26204/30000 [12:10:01<1:45:54, 1.67s/it] 87%|████████▋ | 26205/30000 [12:10:03<1:45:42, 1.67s/it] 87%|████████▋ | 26206/30000 [12:10:04<1:45:37, 1.67s/it] 87%|████████▋ | 26207/30000 [12:10:06<1:45:57, 1.68s/it] 87%|████████▋ | 26208/30000 [12:10:08<1:45:46, 1.67s/it] 87%|████████▋ | 26209/30000 [12:10:09<1:45:34, 1.67s/it] 87%|████████▋ | 26210/30000 [12:10:11<1:45:30, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.1064787209033966, 'learning_rate': 1.2907721390028937e-06, 'flow_matching_loss': 0.016238838899880648, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.63} + 87%|████████▋ | 26210/30000 [12:10:11<1:45:30, 1.67s/it] 87%|████████▋ | 26211/30000 [12:10:13<1:45:32, 1.67s/it] 87%|████████▋ | 26212/30000 [12:10:14<1:45:33, 1.67s/it] 87%|████████▋ | 26213/30000 [12:10:16<1:45:23, 1.67s/it] 87%|████████▋ | 26214/30000 [12:10:18<1:45:21, 1.67s/it] 87%|████████▋ | 26215/30000 [12:10:19<1:45:23, 1.67s/it] 87%|████████▋ | 26216/30000 [12:10:21<1:45:24, 1.67s/it] 87%|████████▋ | 26217/30000 [12:10:23<1:45:04, 1.67s/it] 87%|████████▋ | 26218/30000 [12:10:24<1:45:11, 1.67s/it] 87%|████████▋ | 26219/30000 [12:10:26<1:45:12, 1.67s/it] 87%|████████▋ | 26220/30000 [12:10:28<1:45:19, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.09223279356956482, 'learning_rate': 1.2840701906343417e-06, 'flow_matching_loss': 0.017926185112446546, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.63} + 87%|████████▋ | 26220/30000 [12:10:28<1:45:19, 1.67s/it] 87%|████████▋ | 26221/30000 [12:10:29<1:45:12, 1.67s/it] 87%|████████▋ | 26222/30000 [12:10:31<1:45:04, 1.67s/it] 87%|████████▋ | 26223/30000 [12:10:33<1:45:15, 1.67s/it] 87%|████████▋ | 26224/30000 [12:10:34<1:45:12, 1.67s/it] 87%|████████▋ | 26225/30000 [12:10:36<1:45:01, 1.67s/it] 87%|████████▋ | 26226/30000 [12:10:38<1:45:21, 1.68s/it] 87%|████████▋ | 26227/30000 [12:10:40<1:45:03, 1.67s/it] 87%|████████▋ | 26228/30000 [12:10:41<1:44:57, 1.67s/it] 87%|████████▋ | 26229/30000 [12:10:43<1:44:40, 1.67s/it] 87%|████████▋ | 26230/30000 [12:10:45<1:44:50, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.10679221898317337, 'learning_rate': 1.2773849084138312e-06, 'flow_matching_loss': 0.017365678679198027, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.63} + 87%|████████▋ | 26230/30000 [12:10:45<1:44:50, 1.67s/it] 87%|████████▋ | 26231/30000 [12:10:46<1:45:09, 1.67s/it] 87%|████████▋ | 26232/30000 [12:10:48<1:45:13, 1.68s/it] 87%|████████▋ | 26233/30000 [12:10:50<1:44:58, 1.67s/it] 87%|████████▋ | 26234/30000 [12:10:51<1:44:48, 1.67s/it] 87%|████████▋ | 26235/30000 [12:10:53<1:44:42, 1.67s/it] 87%|████████▋ | 26236/30000 [12:10:55<1:44:37, 1.67s/it] 87%|████████▋ | 26237/30000 [12:10:56<1:44:24, 1.66s/it] 87%|████████▋ | 26238/30000 [12:10:58<1:44:36, 1.67s/it] 87%|████████▋ | 26239/30000 [12:11:00<1:44:31, 1.67s/it] 87%|████████▋ | 26240/30000 [12:11:01<1:44:30, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.12347831577062607, 'learning_rate': 1.2707163004646177e-06, 'flow_matching_loss': 0.016241240687668322, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.63} + 87%|████████▋ | 26240/30000 [12:11:01<1:44:30, 1.67s/it] 87%|████████▋ | 26241/30000 [12:11:03<1:44:27, 1.67s/it] 87%|████████▋ | 26242/30000 [12:11:05<1:44:26, 1.67s/it] 87%|████████▋ | 26243/30000 [12:11:06<1:44:31, 1.67s/it] 87%|████████▋ | 26244/30000 [12:11:08<1:44:40, 1.67s/it] 87%|████████▋ | 26245/30000 [12:11:10<1:44:30, 1.67s/it] 87%|████████▋ | 26246/30000 [12:11:11<1:44:27, 1.67s/it] 87%|████████▋ | 26247/30000 [12:11:13<1:44:25, 1.67s/it] 87%|████████▋ | 26248/30000 [12:11:15<1:44:23, 1.67s/it] 87%|████████▋ | 26249/30000 [12:11:16<1:44:13, 1.67s/it] 88%|████████▊ | 26250/30000 [12:11:18<1:44:07, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.10658953338861465, 'learning_rate': 1.2640643748896879e-06, 'flow_matching_loss': 0.015104692336171866, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.64} + 88%|████████▊ | 26250/30000 [12:11:18<1:44:07, 1.67s/it] 88%|████████▊ | 26251/30000 [12:11:20<1:44:12, 1.67s/it] 88%|████████▊ | 26252/30000 [12:11:21<1:44:16, 1.67s/it] 88%|████████▊ | 26253/30000 [12:11:23<1:44:07, 1.67s/it] 88%|████████▊ | 26254/30000 [12:11:25<1:44:14, 1.67s/it] 88%|████████▊ | 26255/30000 [12:11:26<1:44:15, 1.67s/it] 88%|████████▊ | 26256/30000 [12:11:28<1:44:18, 1.67s/it] 88%|████████▊ | 26257/30000 [12:11:30<1:44:15, 1.67s/it] 88%|████████▊ | 26258/30000 [12:11:31<1:44:07, 1.67s/it] 88%|████████▊ | 26259/30000 [12:11:33<1:44:01, 1.67s/it] 88%|████████▊ | 26260/30000 [12:11:35<1:43:53, 1.67s/it] {'loss': 0.0203, 'grad_norm': 0.09552943706512451, 'learning_rate': 1.257429139771753e-06, 'flow_matching_loss': 0.020314796641469002, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.64} + 88%|████████▊ | 26260/30000 [12:11:35<1:43:53, 1.67s/it] 88%|████████▊ | 26261/30000 [12:11:36<1:43:55, 1.67s/it] 88%|████████▊ | 26262/30000 [12:11:38<1:43:54, 1.67s/it] 88%|████████▊ | 26263/30000 [12:11:40<1:44:09, 1.67s/it] 88%|████████▊ | 26264/30000 [12:11:41<1:43:48, 1.67s/it] 88%|████████▊ | 26265/30000 [12:11:43<1:43:41, 1.67s/it] 88%|████████▊ | 26266/30000 [12:11:45<1:43:42, 1.67s/it] 88%|████████▊ | 26267/30000 [12:11:46<1:43:49, 1.67s/it] 88%|████████▊ | 26268/30000 [12:11:48<1:43:52, 1.67s/it] 88%|████████▊ | 26269/30000 [12:11:50<1:43:47, 1.67s/it] 88%|████████▊ | 26270/30000 [12:11:51<1:43:56, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10643500834703445, 'learning_rate': 1.2508106031732553e-06, 'flow_matching_loss': 0.01539908517152071, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.64} + 88%|████████▊ | 26270/30000 [12:11:51<1:43:56, 1.67s/it] 88%|████████▊ | 26271/30000 [12:11:53<1:44:01, 1.67s/it] 88%|████████▊ | 26272/30000 [12:11:55<1:43:52, 1.67s/it] 88%|████████▊ | 26273/30000 [12:11:56<1:43:42, 1.67s/it] 88%|████████▊ | 26274/30000 [12:11:58<1:43:44, 1.67s/it] 88%|████████▊ | 26275/30000 [12:12:00<1:43:56, 1.67s/it] 88%|████████▊ | 26276/30000 [12:12:01<1:43:51, 1.67s/it] 88%|████████▊ | 26277/30000 [12:12:03<1:43:37, 1.67s/it] 88%|████████▊ | 26278/30000 [12:12:05<1:43:36, 1.67s/it] 88%|████████▊ | 26279/30000 [12:12:06<1:43:39, 1.67s/it] 88%|████████▊ | 26280/30000 [12:12:08<1:43:36, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.1164766177535057, 'learning_rate': 1.2442087731363366e-06, 'flow_matching_loss': 0.016537176351994275, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.65} + 88%|████████▊ | 26280/30000 [12:12:08<1:43:36, 1.67s/it] 88%|████████▊ | 26281/30000 [12:12:10<1:43:30, 1.67s/it] 88%|████████▊ | 26282/30000 [12:12:11<1:43:27, 1.67s/it] 88%|████████▊ | 26283/30000 [12:12:13<1:43:18, 1.67s/it] 88%|████████▊ | 26284/30000 [12:12:15<1:43:25, 1.67s/it] 88%|████████▊ | 26285/30000 [12:12:16<1:43:29, 1.67s/it] 88%|████████▊ | 26286/30000 [12:12:18<1:43:30, 1.67s/it] 88%|████████▊ | 26287/30000 [12:12:20<1:43:23, 1.67s/it] 88%|████████▊ | 26288/30000 [12:12:21<1:43:20, 1.67s/it] 88%|████████▊ | 26289/30000 [12:12:23<1:43:12, 1.67s/it] 88%|████████▊ | 26290/30000 [12:12:25<1:43:10, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.10414409637451172, 'learning_rate': 1.237623657682847e-06, 'flow_matching_loss': 0.015738406404852866, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.65} + 88%|████████▊ | 26290/30000 [12:12:25<1:43:10, 1.67s/it] 88%|████████▊ | 26291/30000 [12:12:26<1:43:17, 1.67s/it] 88%|████████▊ | 26292/30000 [12:12:28<1:43:12, 1.67s/it] 88%|████████▊ | 26293/30000 [12:12:30<1:43:04, 1.67s/it] 88%|████████▊ | 26294/30000 [12:12:31<1:43:05, 1.67s/it] 88%|████████▊ | 26295/30000 [12:12:33<1:43:07, 1.67s/it] 88%|████████▊ | 26296/30000 [12:12:35<1:43:03, 1.67s/it] 88%|████████▊ | 26297/30000 [12:12:36<1:43:07, 1.67s/it] 88%|████████▊ | 26298/30000 [12:12:38<1:43:03, 1.67s/it] 88%|████████▊ | 26299/30000 [12:12:40<1:42:57, 1.67s/it] 88%|████████▊ | 26300/30000 [12:12:41<1:42:55, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.09647400677204132, 'learning_rate': 1.2310552648143208e-06, 'flow_matching_loss': 0.014672881271690131, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.65} + 88%|████████▊ | 26300/30000 [12:12:41<1:42:55, 1.67s/it] 88%|████████▊ | 26301/30000 [12:12:43<1:42:51, 1.67s/it] 88%|████████▊ | 26302/30000 [12:12:45<1:42:53, 1.67s/it] 88%|████████▊ | 26303/30000 [12:12:46<1:42:58, 1.67s/it] 88%|████████▊ | 26304/30000 [12:12:48<1:42:55, 1.67s/it] 88%|████████▊ | 26305/30000 [12:12:50<1:42:49, 1.67s/it] 88%|████████▊ | 26306/30000 [12:12:51<1:42:47, 1.67s/it] 88%|████████▊ | 26307/30000 [12:12:53<1:42:44, 1.67s/it] 88%|████████▊ | 26308/30000 [12:12:55<1:42:49, 1.67s/it] 88%|████████▊ | 26309/30000 [12:12:56<1:42:36, 1.67s/it] 88%|████████▊ | 26310/30000 [12:12:58<1:42:39, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.09571129828691483, 'learning_rate': 1.2245036025119738e-06, 'flow_matching_loss': 0.018511212058365346, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.65} + 88%|████████▊ | 26310/30000 [12:12:58<1:42:39, 1.67s/it] 88%|████████▊ | 26311/30000 [12:13:00<1:42:39, 1.67s/it] 88%|████████▊ | 26312/30000 [12:13:01<1:43:07, 1.68s/it] 88%|████████▊ | 26313/30000 [12:13:03<1:42:51, 1.67s/it] 88%|████████▊ | 26314/30000 [12:13:05<1:42:45, 1.67s/it] 88%|████████▊ | 26315/30000 [12:13:06<1:42:37, 1.67s/it] 88%|████████▊ | 26316/30000 [12:13:08<1:42:36, 1.67s/it] 88%|████████▊ | 26317/30000 [12:13:10<1:42:21, 1.67s/it] 88%|████████▊ | 26318/30000 [12:13:11<1:42:23, 1.67s/it] 88%|████████▊ | 26319/30000 [12:13:13<1:42:18, 1.67s/it] 88%|████████▊ | 26320/30000 [12:13:15<1:42:18, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.11372699588537216, 'learning_rate': 1.2179686787366962e-06, 'flow_matching_loss': 0.016672522760927677, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.66} + 88%|████████▊ | 26320/30000 [12:13:15<1:42:18, 1.67s/it] 88%|████████▊ | 26321/30000 [12:13:16<1:42:22, 1.67s/it] 88%|████████▊ | 26322/30000 [12:13:18<1:42:15, 1.67s/it] 88%|████████▊ | 26323/30000 [12:13:20<1:42:12, 1.67s/it] 88%|████████▊ | 26324/30000 [12:13:21<1:42:15, 1.67s/it] 88%|████████▊ | 26325/30000 [12:13:23<1:42:09, 1.67s/it] 88%|████████▊ | 26326/30000 [12:13:25<1:42:12, 1.67s/it] 88%|████████▊ | 26327/30000 [12:13:26<1:42:14, 1.67s/it] 88%|████████▊ | 26328/30000 [12:13:28<1:42:15, 1.67s/it] 88%|████████▊ | 26329/30000 [12:13:30<1:42:07, 1.67s/it] 88%|████████▊ | 26330/30000 [12:13:31<1:42:14, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.09859182685613632, 'learning_rate': 1.2114505014290329e-06, 'flow_matching_loss': 0.017597438860684635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.66} + 88%|████████▊ | 26330/30000 [12:13:32<1:42:14, 1.67s/it] 88%|████████▊ | 26331/30000 [12:13:33<1:42:08, 1.67s/it] 88%|████████▊ | 26332/30000 [12:13:35<1:42:10, 1.67s/it] 88%|████████▊ | 26333/30000 [12:13:36<1:42:00, 1.67s/it] 88%|████████▊ | 26334/30000 [12:13:38<1:42:00, 1.67s/it] 88%|████████▊ | 26335/30000 [12:13:40<1:42:02, 1.67s/it] 88%|████████▊ | 26336/30000 [12:13:42<1:42:04, 1.67s/it] 88%|████████▊ | 26337/30000 [12:13:43<1:41:51, 1.67s/it] 88%|████████▊ | 26338/30000 [12:13:45<1:41:46, 1.67s/it] 88%|████████▊ | 26339/30000 [12:13:47<1:41:49, 1.67s/it] 88%|████████▊ | 26340/30000 [12:13:48<1:41:51, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.12010589987039566, 'learning_rate': 1.2049490785091833e-06, 'flow_matching_loss': 0.020602206978946925, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.66} + 88%|████████▊ | 26340/30000 [12:13:48<1:41:51, 1.67s/it] 88%|████████▊ | 26341/30000 [12:13:50<1:41:59, 1.67s/it] 88%|████████▊ | 26342/30000 [12:13:52<1:41:54, 1.67s/it] 88%|████████▊ | 26343/30000 [12:13:53<1:41:42, 1.67s/it] 88%|████████▊ | 26344/30000 [12:13:55<1:41:43, 1.67s/it] 88%|████████▊ | 26345/30000 [12:13:57<1:41:40, 1.67s/it] 88%|████████▊ | 26346/30000 [12:13:58<1:41:36, 1.67s/it] 88%|████████▊ | 26347/30000 [12:14:00<1:41:26, 1.67s/it] 88%|████████▊ | 26348/30000 [12:14:02<1:41:25, 1.67s/it] 88%|████████▊ | 26349/30000 [12:14:03<1:41:20, 1.67s/it] 88%|████████▊ | 26350/30000 [12:14:05<1:41:26, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.09569157660007477, 'learning_rate': 1.1984644178769949e-06, 'flow_matching_loss': 0.016328837908804416, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.67} + 88%|████████▊ | 26350/30000 [12:14:05<1:41:26, 1.67s/it] 88%|████████▊ | 26351/30000 [12:14:07<1:41:31, 1.67s/it] 88%|████████▊ | 26352/30000 [12:14:08<1:41:52, 1.68s/it] 88%|████████▊ | 26353/30000 [12:14:10<1:41:31, 1.67s/it] 88%|████████▊ | 26354/30000 [12:14:12<1:41:26, 1.67s/it] 88%|████████▊ | 26355/30000 [12:14:13<1:41:30, 1.67s/it] 88%|████████▊ | 26356/30000 [12:14:15<1:41:20, 1.67s/it] 88%|████████▊ | 26357/30000 [12:14:17<1:41:05, 1.66s/it] 88%|████████▊ | 26358/30000 [12:14:18<1:40:57, 1.66s/it] 88%|████████▊ | 26359/30000 [12:14:20<1:41:01, 1.66s/it] 88%|████████▊ | 26360/30000 [12:14:22<1:41:03, 1.67s/it] {'loss': 0.0144, 'grad_norm': 0.13092182576656342, 'learning_rate': 1.1919965274119381e-06, 'flow_matching_loss': 0.014362936932593584, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.67} + 88%|████████▊ | 26360/30000 [12:14:22<1:41:03, 1.67s/it] 88%|████████▊ | 26361/30000 [12:14:23<1:41:01, 1.67s/it] 88%|████████▊ | 26362/30000 [12:14:25<1:40:55, 1.66s/it] 88%|████████▊ | 26363/30000 [12:14:27<1:41:00, 1.67s/it] 88%|████████▊ | 26364/30000 [12:14:28<1:41:04, 1.67s/it] 88%|████████▊ | 26365/30000 [12:14:30<1:40:58, 1.67s/it] 88%|████████▊ | 26366/30000 [12:14:32<1:40:58, 1.67s/it] 88%|████████▊ | 26367/30000 [12:14:33<1:40:58, 1.67s/it] 88%|████████▊ | 26368/30000 [12:14:35<1:41:02, 1.67s/it] 88%|████████▊ | 26369/30000 [12:14:37<1:40:59, 1.67s/it] 88%|████████▊ | 26370/30000 [12:14:38<1:40:56, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11179786175489426, 'learning_rate': 1.18554541497311e-06, 'flow_matching_loss': 0.01732156816869974, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.67} + 88%|████████▊ | 26370/30000 [12:14:38<1:40:56, 1.67s/it] 88%|████████▊ | 26371/30000 [12:14:40<1:41:02, 1.67s/it] 88%|████████▊ | 26372/30000 [12:14:42<1:40:57, 1.67s/it] 88%|████████▊ | 26373/30000 [12:14:43<1:40:50, 1.67s/it] 88%|████████▊ | 26374/30000 [12:14:45<1:40:49, 1.67s/it] 88%|████████▊ | 26375/30000 [12:14:47<1:40:57, 1.67s/it] 88%|████████▊ | 26376/30000 [12:14:48<1:40:54, 1.67s/it] 88%|████████▊ | 26377/30000 [12:14:50<1:40:53, 1.67s/it] 88%|████████▊ | 26378/30000 [12:14:52<1:40:51, 1.67s/it] 88%|████████▊ | 26379/30000 [12:14:53<1:40:52, 1.67s/it] 88%|████████▊ | 26380/30000 [12:14:55<1:40:53, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.1633908897638321, 'learning_rate': 1.1791110883992213e-06, 'flow_matching_loss': 0.018115770164877178, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.68} + 88%|████████▊ | 26380/30000 [12:14:55<1:40:53, 1.67s/it] 88%|████████▊ | 26381/30000 [12:14:57<1:40:42, 1.67s/it] 88%|████████▊ | 26382/30000 [12:14:58<1:40:45, 1.67s/it] 88%|████████▊ | 26383/30000 [12:15:00<1:40:42, 1.67s/it] 88%|████████▊ | 26384/30000 [12:15:02<1:40:39, 1.67s/it] 88%|████████▊ | 26385/30000 [12:15:03<1:40:29, 1.67s/it] 88%|████████▊ | 26386/30000 [12:15:05<1:40:31, 1.67s/it] 88%|████████▊ | 26387/30000 [12:15:07<1:40:32, 1.67s/it] 88%|████████▊ | 26388/30000 [12:15:08<1:40:32, 1.67s/it] 88%|████████▊ | 26389/30000 [12:15:10<1:40:16, 1.67s/it] 88%|████████▊ | 26390/30000 [12:15:12<1:40:29, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.20499421656131744, 'learning_rate': 1.1726935555085817e-06, 'flow_matching_loss': 0.017917819414287807, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.68} + 88%|████████▊ | 26390/30000 [12:15:12<1:40:29, 1.67s/it] 88%|████████▊ | 26391/30000 [12:15:13<1:40:37, 1.67s/it] 88%|████████▊ | 26392/30000 [12:15:15<1:40:41, 1.67s/it] 88%|████████▊ | 26393/30000 [12:15:17<1:40:32, 1.67s/it] 88%|████████▊ | 26394/30000 [12:15:18<1:40:40, 1.68s/it] 88%|████████▊ | 26395/30000 [12:15:20<1:40:31, 1.67s/it] 88%|████████▊ | 26396/30000 [12:15:22<1:40:15, 1.67s/it] 88%|████████▊ | 26397/30000 [12:15:23<1:40:04, 1.67s/it] 88%|████████▊ | 26398/30000 [12:15:25<1:40:05, 1.67s/it] 88%|████████▊ | 26399/30000 [12:15:27<1:40:08, 1.67s/it] 88%|████████▊ | 26400/30000 [12:15:28<1:40:14, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1282639354467392, 'learning_rate': 1.166292824099105e-06, 'flow_matching_loss': 0.017130224127322437, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.68} + 88%|████████▊ | 26400/30000 [12:15:28<1:40:14, 1.67s/it] 88%|████████▊ | 26401/30000 [12:15:30<1:40:04, 1.67s/it] 88%|████████▊ | 26402/30000 [12:15:32<1:40:04, 1.67s/it] 88%|████████▊ | 26403/30000 [12:15:33<1:40:03, 1.67s/it] 88%|████████▊ | 26404/30000 [12:15:35<1:40:04, 1.67s/it] 88%|████████▊ | 26405/30000 [12:15:37<1:39:59, 1.67s/it] 88%|████████▊ | 26406/30000 [12:15:38<1:39:56, 1.67s/it] 88%|████████▊ | 26407/30000 [12:15:40<1:39:57, 1.67s/it] 88%|████████▊ | 26408/30000 [12:15:42<1:40:01, 1.67s/it] 88%|████████▊ | 26409/30000 [12:15:43<1:39:57, 1.67s/it] 88%|████████▊ | 26410/30000 [12:15:45<1:39:46, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.11228074133396149, 'learning_rate': 1.1599089019482768e-06, 'flow_matching_loss': 0.015535354148596525, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.68} + 88%|████████▊ | 26410/30000 [12:15:45<1:39:46, 1.67s/it] 88%|████████▊ | 26411/30000 [12:15:47<1:39:43, 1.67s/it] 88%|████████▊ | 26412/30000 [12:15:48<1:39:31, 1.66s/it] 88%|████████▊ | 26413/30000 [12:15:50<1:39:24, 1.66s/it] 88%|████████▊ | 26414/30000 [12:15:52<1:39:32, 1.67s/it] 88%|████████▊ | 26415/30000 [12:15:53<1:39:33, 1.67s/it] 88%|████████▊ | 26416/30000 [12:15:55<1:39:39, 1.67s/it] 88%|████████▊ | 26417/30000 [12:15:57<1:39:36, 1.67s/it] 88%|████████▊ | 26418/30000 [12:15:58<1:39:37, 1.67s/it] 88%|████████▊ | 26419/30000 [12:16:00<1:39:39, 1.67s/it] 88%|████████▊ | 26420/30000 [12:16:02<1:39:41, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.13798588514328003, 'learning_rate': 1.1535417968131718e-06, 'flow_matching_loss': 0.01559803932905197, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.69} + 88%|████████▊ | 26420/30000 [12:16:02<1:39:41, 1.67s/it] 88%|████████▊ | 26421/30000 [12:16:03<1:39:35, 1.67s/it] 88%|████████▊ | 26422/30000 [12:16:05<1:39:34, 1.67s/it] 88%|████████▊ | 26423/30000 [12:16:07<1:39:48, 1.67s/it] 88%|████████▊ | 26424/30000 [12:16:08<1:39:42, 1.67s/it] 88%|████████▊ | 26425/30000 [12:16:10<1:39:29, 1.67s/it] 88%|████████▊ | 26426/30000 [12:16:12<1:39:20, 1.67s/it] 88%|████████▊ | 26427/30000 [12:16:13<1:39:18, 1.67s/it] 88%|████████▊ | 26428/30000 [12:16:15<1:39:17, 1.67s/it] 88%|████████▊ | 26429/30000 [12:16:17<1:39:12, 1.67s/it] 88%|████████▊ | 26430/30000 [12:16:18<1:39:18, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11635096371173859, 'learning_rate': 1.147191516430418e-06, 'flow_matching_loss': 0.01770455976948142, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.69} + 88%|████████▊ | 26430/30000 [12:16:18<1:39:18, 1.67s/it] 88%|████████▊ | 26431/30000 [12:16:20<1:39:24, 1.67s/it] 88%|████████▊ | 26432/30000 [12:16:22<1:39:26, 1.67s/it] 88%|████████▊ | 26433/30000 [12:16:23<1:39:19, 1.67s/it] 88%|████████▊ | 26434/30000 [12:16:25<1:39:13, 1.67s/it] 88%|████████▊ | 26435/30000 [12:16:27<1:39:02, 1.67s/it] 88%|████████▊ | 26436/30000 [12:16:28<1:39:07, 1.67s/it] 88%|████████▊ | 26437/30000 [12:16:30<1:38:55, 1.67s/it] 88%|████████▊ | 26438/30000 [12:16:32<1:38:53, 1.67s/it] 88%|████████▊ | 26439/30000 [12:16:33<1:39:03, 1.67s/it] 88%|████████▊ | 26440/30000 [12:16:35<1:39:11, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11015941202640533, 'learning_rate': 1.140858068516205e-06, 'flow_matching_loss': 0.016594744101166726, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.69} + 88%|████████▊ | 26440/30000 [12:16:35<1:39:11, 1.67s/it] 88%|████████▊ | 26441/30000 [12:16:37<1:39:22, 1.68s/it] 88%|████████▊ | 26442/30000 [12:16:38<1:39:09, 1.67s/it] 88%|████████▊ | 26443/30000 [12:16:40<1:39:08, 1.67s/it] 88%|████████▊ | 26444/30000 [12:16:42<1:39:07, 1.67s/it] 88%|████████▊ | 26445/30000 [12:16:43<1:38:51, 1.67s/it] 88%|████████▊ | 26446/30000 [12:16:45<1:38:52, 1.67s/it] 88%|████████▊ | 26447/30000 [12:16:47<1:39:11, 1.68s/it] 88%|████████▊ | 26448/30000 [12:16:48<1:38:59, 1.67s/it] 88%|████████▊ | 26449/30000 [12:16:50<1:38:49, 1.67s/it] 88%|████████▊ | 26450/30000 [12:16:52<1:38:45, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.10151723027229309, 'learning_rate': 1.1345414607662736e-06, 'flow_matching_loss': 0.015060017630457879, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.7} + 88%|████████▊ | 26450/30000 [12:16:52<1:38:45, 1.67s/it] 88%|████████▊ | 26451/30000 [12:16:53<1:38:43, 1.67s/it] 88%|████████▊ | 26452/30000 [12:16:55<1:38:30, 1.67s/it] 88%|████████▊ | 26453/30000 [12:16:57<1:38:29, 1.67s/it] 88%|████████▊ | 26454/30000 [12:16:58<1:38:39, 1.67s/it] 88%|████████▊ | 26455/30000 [12:17:00<1:38:41, 1.67s/it] 88%|████████▊ | 26456/30000 [12:17:02<1:38:37, 1.67s/it] 88%|████████▊ | 26457/30000 [12:17:03<1:38:30, 1.67s/it] 88%|████████▊ | 26458/30000 [12:17:05<1:38:25, 1.67s/it] 88%|████████▊ | 26459/30000 [12:17:07<1:38:46, 1.67s/it] 88%|████████▊ | 26460/30000 [12:17:08<1:38:38, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.1015833392739296, 'learning_rate': 1.1282417008558937e-06, 'flow_matching_loss': 0.015330482088029385, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.7} + 88%|████████▊ | 26460/30000 [12:17:09<1:38:38, 1.67s/it] 88%|████████▊ | 26461/30000 [12:17:10<1:38:27, 1.67s/it] 88%|████████▊ | 26462/30000 [12:17:12<1:38:26, 1.67s/it] 88%|████████▊ | 26463/30000 [12:17:14<1:38:35, 1.67s/it] 88%|████████▊ | 26464/30000 [12:17:15<1:38:34, 1.67s/it] 88%|████████▊ | 26465/30000 [12:17:17<1:38:42, 1.68s/it] 88%|████████▊ | 26466/30000 [12:17:19<1:38:39, 1.68s/it] 88%|████████▊ | 26467/30000 [12:17:20<1:38:34, 1.67s/it] 88%|████████▊ | 26468/30000 [12:17:22<1:38:30, 1.67s/it] 88%|████████▊ | 26469/30000 [12:17:24<1:38:23, 1.67s/it] 88%|████████▊ | 26470/30000 [12:17:25<1:38:26, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.13818199932575226, 'learning_rate': 1.1219587964398674e-06, 'flow_matching_loss': 0.017223885282874107, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.7} + 88%|████████▊ | 26470/30000 [12:17:25<1:38:26, 1.67s/it] 88%|████████▊ | 26471/30000 [12:17:27<1:38:22, 1.67s/it] 88%|████████▊ | 26472/30000 [12:17:29<1:38:18, 1.67s/it] 88%|████████▊ | 26473/30000 [12:17:30<1:37:58, 1.67s/it] 88%|████████▊ | 26474/30000 [12:17:32<1:37:54, 1.67s/it] 88%|████████▊ | 26475/30000 [12:17:34<1:37:56, 1.67s/it] 88%|████████▊ | 26476/30000 [12:17:35<1:38:01, 1.67s/it] 88%|████████▊ | 26477/30000 [12:17:37<1:37:47, 1.67s/it] 88%|████████▊ | 26478/30000 [12:17:39<1:37:40, 1.66s/it] 88%|████████▊ | 26479/30000 [12:17:40<1:37:49, 1.67s/it] 88%|████████▊ | 26480/30000 [12:17:42<1:37:52, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12285952270030975, 'learning_rate': 1.1156927551525198e-06, 'flow_matching_loss': 0.017612573597580193, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.7} + 88%|████████▊ | 26480/30000 [12:17:42<1:37:52, 1.67s/it] 88%|████████▊ | 26481/30000 [12:17:44<1:38:06, 1.67s/it] 88%|████████▊ | 26482/30000 [12:17:45<1:37:59, 1.67s/it] 88%|████████▊ | 26483/30000 [12:17:47<1:37:51, 1.67s/it] 88%|████████▊ | 26484/30000 [12:17:49<1:37:49, 1.67s/it] 88%|████████▊ | 26485/30000 [12:17:50<1:37:42, 1.67s/it] 88%|████████▊ | 26486/30000 [12:17:52<1:37:44, 1.67s/it] 88%|████████▊ | 26487/30000 [12:17:54<1:37:28, 1.66s/it] 88%|████████▊ | 26488/30000 [12:17:55<1:37:45, 1.67s/it] 88%|████████▊ | 26489/30000 [12:17:57<1:37:40, 1.67s/it] 88%|████████▊ | 26490/30000 [12:17:59<1:37:33, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.09446259588003159, 'learning_rate': 1.109443584607675e-06, 'flow_matching_loss': 0.016252072621136905, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.71} + 88%|████████▊ | 26490/30000 [12:17:59<1:37:33, 1.67s/it] 88%|████████▊ | 26491/30000 [12:18:00<1:37:35, 1.67s/it] 88%|████████▊ | 26492/30000 [12:18:02<1:37:20, 1.66s/it] 88%|████████▊ | 26493/30000 [12:18:04<1:37:01, 1.66s/it] 88%|████████▊ | 26494/30000 [12:18:05<1:37:06, 1.66s/it] 88%|████████▊ | 26495/30000 [12:18:07<1:37:13, 1.66s/it] 88%|████████▊ | 26496/30000 [12:18:09<1:37:21, 1.67s/it] 88%|████████▊ | 26497/30000 [12:18:10<1:37:16, 1.67s/it] 88%|████████▊ | 26498/30000 [12:18:12<1:37:13, 1.67s/it] 88%|████████▊ | 26499/30000 [12:18:14<1:37:12, 1.67s/it] 88%|████████▊ | 26500/30000 [12:18:15<1:37:11, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.1025547981262207, 'learning_rate': 1.1032112923986708e-06, 'flow_matching_loss': 0.017468373756855726, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.71} + 88%|████████▊ | 26500/30000 [12:18:15<1:37:11, 1.67s/it] 88%|████████▊ | 26501/30000 [12:18:17<1:36:57, 1.66s/it] 88%|████████▊ | 26502/30000 [12:18:19<1:37:00, 1.66s/it] 88%|████████▊ | 26503/30000 [12:18:20<1:36:56, 1.66s/it] 88%|████████▊ | 26504/30000 [12:18:22<1:37:05, 1.67s/it] 88%|████████▊ | 26505/30000 [12:18:24<1:36:58, 1.66s/it] 88%|████████▊ | 26506/30000 [12:18:25<1:36:56, 1.66s/it] 88%|████████▊ | 26507/30000 [12:18:27<1:36:52, 1.66s/it] 88%|████████▊ | 26508/30000 [12:18:29<1:36:52, 1.66s/it] 88%|████████▊ | 26509/30000 [12:18:30<1:36:47, 1.66s/it] 88%|████████▊ | 26510/30000 [12:18:32<1:36:54, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.11844010651111603, 'learning_rate': 1.0969958860983299e-06, 'flow_matching_loss': 0.01754791382700205, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.71} + 88%|████████▊ | 26510/30000 [12:18:32<1:36:54, 1.67s/it] 88%|████████▊ | 26511/30000 [12:18:34<1:36:55, 1.67s/it] 88%|████████▊ | 26512/30000 [12:18:35<1:37:02, 1.67s/it] 88%|████████▊ | 26513/30000 [12:18:37<1:36:53, 1.67s/it] 88%|████████▊ | 26514/30000 [12:18:39<1:36:52, 1.67s/it] 88%|████████▊ | 26515/30000 [12:18:40<1:36:46, 1.67s/it] 88%|████████▊ | 26516/30000 [12:18:42<1:36:50, 1.67s/it] 88%|████████▊ | 26517/30000 [12:18:44<1:36:38, 1.66s/it] 88%|████████▊ | 26518/30000 [12:18:45<1:36:49, 1.67s/it] 88%|████████▊ | 26519/30000 [12:18:47<1:36:47, 1.67s/it] 88%|████████▊ | 26520/30000 [12:18:49<1:36:58, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.10444069653749466, 'learning_rate': 1.0907973732589537e-06, 'flow_matching_loss': 0.015143881738185882, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.72} + 88%|████████▊ | 26520/30000 [12:18:49<1:36:58, 1.67s/it] 88%|████████▊ | 26521/30000 [12:18:50<1:36:35, 1.67s/it] 88%|████████▊ | 26522/30000 [12:18:52<1:36:41, 1.67s/it] 88%|████████▊ | 26523/30000 [12:18:54<1:36:40, 1.67s/it] 88%|████████▊ | 26524/30000 [12:18:55<1:36:50, 1.67s/it] 88%|████████▊ | 26525/30000 [12:18:57<1:36:37, 1.67s/it] 88%|████████▊ | 26526/30000 [12:18:59<1:36:35, 1.67s/it] 88%|████████▊ | 26527/30000 [12:19:00<1:36:17, 1.66s/it] 88%|████████▊ | 26528/30000 [12:19:02<1:36:37, 1.67s/it] 88%|████████▊ | 26529/30000 [12:19:04<1:36:52, 1.67s/it] 88%|████████▊ | 26530/30000 [12:19:05<1:36:44, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1047576516866684, 'learning_rate': 1.0846157614123215e-06, 'flow_matching_loss': 0.01821896927431226, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.72} + 88%|████████▊ | 26530/30000 [12:19:05<1:36:44, 1.67s/it] 88%|████████▊ | 26531/30000 [12:19:07<1:36:37, 1.67s/it] 88%|████████▊ | 26532/30000 [12:19:09<1:36:47, 1.67s/it] 88%|████████▊ | 26533/30000 [12:19:10<1:36:39, 1.67s/it] 88%|████████▊ | 26534/30000 [12:19:12<1:36:33, 1.67s/it] 88%|████████▊ | 26535/30000 [12:19:14<1:36:27, 1.67s/it] 88%|████████▊ | 26536/30000 [12:19:15<1:36:29, 1.67s/it] 88%|████████▊ | 26537/30000 [12:19:17<1:36:23, 1.67s/it] 88%|████████▊ | 26538/30000 [12:19:19<1:36:07, 1.67s/it] 88%|████████▊ | 26539/30000 [12:19:20<1:36:21, 1.67s/it] 88%|████████▊ | 26540/30000 [12:19:22<1:36:21, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.09930343180894852, 'learning_rate': 1.078451058069671e-06, 'flow_matching_loss': 0.016338979080319404, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.72} + 88%|████████▊ | 26540/30000 [12:19:22<1:36:21, 1.67s/it] 88%|████████▊ | 26541/30000 [12:19:24<1:36:13, 1.67s/it] 88%|████████▊ | 26542/30000 [12:19:25<1:36:09, 1.67s/it] 88%|████████▊ | 26543/30000 [12:19:27<1:36:10, 1.67s/it] 88%|████████▊ | 26544/30000 [12:19:29<1:36:20, 1.67s/it] 88%|████████▊ | 26545/30000 [12:19:30<1:36:13, 1.67s/it] 88%|████████▊ | 26546/30000 [12:19:32<1:36:04, 1.67s/it] 88%|████████▊ | 26547/30000 [12:19:34<1:35:58, 1.67s/it] 88%|████████▊ | 26548/30000 [12:19:35<1:35:57, 1.67s/it] 88%|████████▊ | 26549/30000 [12:19:37<1:35:53, 1.67s/it] 88%|████████▊ | 26550/30000 [12:19:39<1:35:55, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.13719087839126587, 'learning_rate': 1.0723032707217056e-06, 'flow_matching_loss': 0.016396713070571424, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.72} + 88%|████████▊ | 26550/30000 [12:19:39<1:35:55, 1.67s/it] 89%|████████▊ | 26551/30000 [12:19:40<1:36:03, 1.67s/it] 89%|████████▊ | 26552/30000 [12:19:42<1:36:07, 1.67s/it] 89%|████████▊ | 26553/30000 [12:19:44<1:35:53, 1.67s/it] 89%|████████▊ | 26554/30000 [12:19:45<1:35:53, 1.67s/it] 89%|████████▊ | 26555/30000 [12:19:47<1:35:51, 1.67s/it] 89%|████████▊ | 26556/30000 [12:19:49<1:35:54, 1.67s/it] 89%|████████▊ | 26557/30000 [12:19:50<1:35:44, 1.67s/it] 89%|████████▊ | 26558/30000 [12:19:52<1:35:43, 1.67s/it] 89%|████████▊ | 26559/30000 [12:19:54<1:35:48, 1.67s/it] 89%|████████▊ | 26560/30000 [12:19:55<1:35:43, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.1346079558134079, 'learning_rate': 1.066172406838558e-06, 'flow_matching_loss': 0.016847232729196547, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.73} + 89%|████████▊ | 26560/30000 [12:19:55<1:35:43, 1.67s/it] 89%|████████▊ | 26561/30000 [12:19:57<1:35:35, 1.67s/it] 89%|████████▊ | 26562/30000 [12:19:59<1:35:30, 1.67s/it] 89%|████████▊ | 26563/30000 [12:20:00<1:35:35, 1.67s/it] 89%|████████▊ | 26564/30000 [12:20:02<1:35:33, 1.67s/it] 89%|████████▊ | 26565/30000 [12:20:04<1:35:34, 1.67s/it] 89%|████████▊ | 26566/30000 [12:20:05<1:35:31, 1.67s/it] 89%|████████▊ | 26567/30000 [12:20:07<1:35:26, 1.67s/it] 89%|████████▊ | 26568/30000 [12:20:09<1:35:26, 1.67s/it] 89%|████████▊ | 26569/30000 [12:20:10<1:35:21, 1.67s/it] 89%|████████▊ | 26570/30000 [12:20:12<1:35:18, 1.67s/it] {'loss': 0.0208, 'grad_norm': 0.10316973924636841, 'learning_rate': 1.0600584738698127e-06, 'flow_matching_loss': 0.020764584373682737, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.73} + 89%|████████▊ | 26570/30000 [12:20:12<1:35:18, 1.67s/it] 89%|████████▊ | 26571/30000 [12:20:14<1:35:24, 1.67s/it] 89%|████████▊ | 26572/30000 [12:20:15<1:35:13, 1.67s/it] 89%|████████▊ | 26573/30000 [12:20:17<1:35:09, 1.67s/it] 89%|████████▊ | 26574/30000 [12:20:19<1:35:16, 1.67s/it] 89%|████████▊ | 26575/30000 [12:20:20<1:35:19, 1.67s/it] 89%|████████▊ | 26576/30000 [12:20:22<1:35:16, 1.67s/it] 89%|████████▊ | 26577/30000 [12:20:24<1:35:06, 1.67s/it] 89%|████████▊ | 26578/30000 [12:20:25<1:35:02, 1.67s/it] 89%|████████▊ | 26579/30000 [12:20:27<1:34:57, 1.67s/it] 89%|████████▊ | 26580/30000 [12:20:29<1:35:01, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.14686673879623413, 'learning_rate': 1.0539614792444735e-06, 'flow_matching_loss': 0.01775878630578518, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.73} + 89%|████████▊ | 26580/30000 [12:20:29<1:35:01, 1.67s/it] 89%|████████▊ | 26581/30000 [12:20:30<1:35:07, 1.67s/it] 89%|████████▊ | 26582/30000 [12:20:32<1:35:10, 1.67s/it] 89%|████████▊ | 26583/30000 [12:20:34<1:35:01, 1.67s/it] 89%|████████▊ | 26584/30000 [12:20:35<1:35:05, 1.67s/it] 89%|████████▊ | 26585/30000 [12:20:37<1:34:57, 1.67s/it] 89%|████████▊ | 26586/30000 [12:20:39<1:34:56, 1.67s/it] 89%|████████▊ | 26587/30000 [12:20:40<1:34:53, 1.67s/it] 89%|████████▊ | 26588/30000 [12:20:42<1:34:52, 1.67s/it] 89%|████████▊ | 26589/30000 [12:20:44<1:34:49, 1.67s/it] 89%|████████▊ | 26590/30000 [12:20:45<1:34:46, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.07682402431964874, 'learning_rate': 1.0478814303709627e-06, 'flow_matching_loss': 0.015139202307909726, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.74} + 89%|████████▊ | 26590/30000 [12:20:45<1:34:46, 1.67s/it] 89%|████████▊ | 26591/30000 [12:20:47<1:34:55, 1.67s/it] 89%|████████▊ | 26592/30000 [12:20:49<1:34:58, 1.67s/it] 89%|████████▊ | 26593/30000 [12:20:50<1:34:40, 1.67s/it] 89%|████████▊ | 26594/30000 [12:20:52<1:34:38, 1.67s/it] 89%|████████▊ | 26595/30000 [12:20:54<1:34:34, 1.67s/it] 89%|████████▊ | 26596/30000 [12:20:55<1:34:39, 1.67s/it] 89%|████████▊ | 26597/30000 [12:20:57<1:34:43, 1.67s/it] 89%|████████▊ | 26598/30000 [12:20:59<1:34:47, 1.67s/it] 89%|████████▊ | 26599/30000 [12:21:00<1:34:44, 1.67s/it] 89%|████████▊ | 26600/30000 [12:21:02<1:34:44, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.14001646637916565, 'learning_rate': 1.041818334637109e-06, 'flow_matching_loss': 0.02013961300253868, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.74} + 89%|████████▊ | 26600/30000 [12:21:02<1:34:44, 1.67s/it] 89%|████████▊ | 26601/30000 [12:21:04<1:34:49, 1.67s/it] 89%|████████▊ | 26602/30000 [12:21:05<1:34:38, 1.67s/it] 89%|████████▊ | 26603/30000 [12:21:07<1:34:29, 1.67s/it] 89%|████████▊ | 26604/30000 [12:21:09<1:34:33, 1.67s/it] 89%|████████▊ | 26605/30000 [12:21:10<1:34:24, 1.67s/it] 89%|████████▊ | 26606/30000 [12:21:12<1:34:30, 1.67s/it] 89%|████████▊ | 26607/30000 [12:21:14<1:34:33, 1.67s/it] 89%|████████▊ | 26608/30000 [12:21:15<1:34:32, 1.67s/it] 89%|████████▊ | 26609/30000 [12:21:17<1:34:20, 1.67s/it] 89%|████████▊ | 26610/30000 [12:21:19<1:34:11, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.11620599031448364, 'learning_rate': 1.0357721994101526e-06, 'flow_matching_loss': 0.01695873560383916, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.74} + 89%|████████▊ | 26610/30000 [12:21:19<1:34:11, 1.67s/it] 89%|████████▊ | 26611/30000 [12:21:20<1:34:21, 1.67s/it] 89%|████████▊ | 26612/30000 [12:21:22<1:34:17, 1.67s/it] 89%|████████▊ | 26613/30000 [12:21:24<1:34:14, 1.67s/it] 89%|████████▊ | 26614/30000 [12:21:25<1:34:27, 1.67s/it] 89%|████████▊ | 26615/30000 [12:21:27<1:34:22, 1.67s/it] 89%|████████▊ | 26616/30000 [12:21:29<1:34:16, 1.67s/it] 89%|████████▊ | 26617/30000 [12:21:30<1:34:02, 1.67s/it] 89%|████████▊ | 26618/30000 [12:21:32<1:34:10, 1.67s/it] 89%|████████▊ | 26619/30000 [12:21:34<1:34:03, 1.67s/it] 89%|████████▊ | 26620/30000 [12:21:35<1:33:56, 1.67s/it] {'loss': 0.0146, 'grad_norm': 0.1534479856491089, 'learning_rate': 1.0297430320367135e-06, 'flow_matching_loss': 0.014638782944530249, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.75} + 89%|████████▊ | 26620/30000 [12:21:36<1:33:56, 1.67s/it] 89%|████████▊ | 26621/30000 [12:21:37<1:33:55, 1.67s/it] 89%|████████▊ | 26622/30000 [12:21:39<1:33:50, 1.67s/it] 89%|████████▊ | 26623/30000 [12:21:41<1:33:59, 1.67s/it] 89%|████████▊ | 26624/30000 [12:21:42<1:34:04, 1.67s/it] 89%|████████▉ | 26625/30000 [12:21:44<1:34:04, 1.67s/it] 89%|████████▉ | 26626/30000 [12:21:46<1:33:46, 1.67s/it] 89%|████████▉ | 26627/30000 [12:21:47<1:33:41, 1.67s/it] 89%|████████▉ | 26628/30000 [12:21:49<1:33:40, 1.67s/it] 89%|████████▉ | 26629/30000 [12:21:51<1:33:36, 1.67s/it] 89%|████████▉ | 26630/30000 [12:21:52<1:33:39, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.1429210752248764, 'learning_rate': 1.0237308398428014e-06, 'flow_matching_loss': 0.01813233932480216, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.75} + 89%|████████▉ | 26630/30000 [12:21:52<1:33:39, 1.67s/it] 89%|████████▉ | 26631/30000 [12:21:54<1:33:42, 1.67s/it] 89%|████████▉ | 26632/30000 [12:21:56<1:33:45, 1.67s/it] 89%|████████▉ | 26633/30000 [12:21:57<1:33:37, 1.67s/it] 89%|████████▉ | 26634/30000 [12:21:59<1:33:26, 1.67s/it] 89%|████████▉ | 26635/30000 [12:22:01<1:33:27, 1.67s/it] 89%|████████▉ | 26636/30000 [12:22:02<1:33:30, 1.67s/it] 89%|████████▉ | 26637/30000 [12:22:04<1:33:28, 1.67s/it] 89%|████████▉ | 26638/30000 [12:22:06<1:33:28, 1.67s/it] 89%|████████▉ | 26639/30000 [12:22:07<1:33:30, 1.67s/it] 89%|████████▉ | 26640/30000 [12:22:09<1:33:46, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.10350409895181656, 'learning_rate': 1.0177356301337925e-06, 'flow_matching_loss': 0.017767577897757292, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.75} + 89%|████████▉ | 26640/30000 [12:22:09<1:33:46, 1.67s/it] 89%|████████▉ | 26641/30000 [12:22:11<1:33:44, 1.67s/it] 89%|████████▉ | 26642/30000 [12:22:12<1:33:28, 1.67s/it] 89%|████████▉ | 26643/30000 [12:22:14<1:33:12, 1.67s/it] 89%|████████▉ | 26644/30000 [12:22:16<1:33:16, 1.67s/it] 89%|████████▉ | 26645/30000 [12:22:17<1:33:10, 1.67s/it] 89%|████████▉ | 26646/30000 [12:22:19<1:33:11, 1.67s/it] 89%|████████▉ | 26647/30000 [12:22:21<1:33:21, 1.67s/it] 89%|████████▉ | 26648/30000 [12:22:22<1:33:25, 1.67s/it] 89%|████████▉ | 26649/30000 [12:22:24<1:33:20, 1.67s/it] 89%|████████▉ | 26650/30000 [12:22:26<1:33:13, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.1250780075788498, 'learning_rate': 1.0117574101944348e-06, 'flow_matching_loss': 0.015958290174603464, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.75} + 89%|████████▉ | 26650/30000 [12:22:26<1:33:13, 1.67s/it] 89%|████████▉ | 26651/30000 [12:22:27<1:33:11, 1.67s/it] 89%|████████▉ | 26652/30000 [12:22:29<1:33:13, 1.67s/it] 89%|████████▉ | 26653/30000 [12:22:31<1:33:06, 1.67s/it] 89%|████████▉ | 26654/30000 [12:22:32<1:33:08, 1.67s/it] 89%|████████▉ | 26655/30000 [12:22:34<1:33:01, 1.67s/it] 89%|████████▉ | 26656/30000 [12:22:36<1:32:58, 1.67s/it] 89%|████████▉ | 26657/30000 [12:22:37<1:32:56, 1.67s/it] 89%|████████▉ | 26658/30000 [12:22:39<1:32:53, 1.67s/it] 89%|████████▉ | 26659/30000 [12:22:41<1:32:44, 1.67s/it] 89%|████████▉ | 26660/30000 [12:22:42<1:32:45, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.1024094820022583, 'learning_rate': 1.0057961872888293e-06, 'flow_matching_loss': 0.016662419028580188, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.76} + 89%|████████▉ | 26660/30000 [12:22:42<1:32:45, 1.67s/it] 89%|████████▉ | 26661/30000 [12:22:44<1:32:42, 1.67s/it] 89%|████████▉ | 26662/30000 [12:22:46<1:32:45, 1.67s/it] 89%|████████▉ | 26663/30000 [12:22:47<1:32:49, 1.67s/it] 89%|████████▉ | 26664/30000 [12:22:49<1:32:53, 1.67s/it] 89%|████████▉ | 26665/30000 [12:22:51<1:32:47, 1.67s/it] 89%|████████▉ | 26666/30000 [12:22:52<1:32:43, 1.67s/it] 89%|████████▉ | 26667/30000 [12:22:54<1:32:39, 1.67s/it] 89%|████████▉ | 26668/30000 [12:22:56<1:32:45, 1.67s/it] 89%|████████▉ | 26669/30000 [12:22:57<1:32:46, 1.67s/it] 89%|████████▉ | 26670/30000 [12:22:59<1:32:41, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.09627498686313629, 'learning_rate': 9.998519686604235e-07, 'flow_matching_loss': 0.016281235497444868, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.76} + 89%|████████▉ | 26670/30000 [12:22:59<1:32:41, 1.67s/it] 89%|████████▉ | 26671/30000 [12:23:01<1:32:50, 1.67s/it] 89%|████████▉ | 26672/30000 [12:23:02<1:32:41, 1.67s/it] 89%|████████▉ | 26673/30000 [12:23:04<1:32:44, 1.67s/it] 89%|████████▉ | 26674/30000 [12:23:06<1:32:35, 1.67s/it] 89%|████████▉ | 26675/30000 [12:23:07<1:32:30, 1.67s/it] 89%|████████▉ | 26676/30000 [12:23:09<1:32:20, 1.67s/it] 89%|████████▉ | 26677/30000 [12:23:11<1:32:18, 1.67s/it] 89%|████████▉ | 26678/30000 [12:23:12<1:32:24, 1.67s/it] 89%|████████▉ | 26679/30000 [12:23:14<1:32:21, 1.67s/it] 89%|████████▉ | 26680/30000 [12:23:16<1:32:17, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.0891786739230156, 'learning_rate': 9.939247615320047e-07, 'flow_matching_loss': 0.016217714734375478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.76} + 89%|████████▉ | 26680/30000 [12:23:16<1:32:17, 1.67s/it] 89%|████████▉ | 26681/30000 [12:23:17<1:32:14, 1.67s/it] 89%|████████▉ | 26682/30000 [12:23:19<1:32:13, 1.67s/it] 89%|████████▉ | 26683/30000 [12:23:21<1:32:07, 1.67s/it] 89%|████████▉ | 26684/30000 [12:23:22<1:32:12, 1.67s/it] 89%|████████▉ | 26685/30000 [12:23:24<1:32:10, 1.67s/it] 89%|████████▉ | 26686/30000 [12:23:26<1:32:13, 1.67s/it] 89%|████████▉ | 26687/30000 [12:23:27<1:32:04, 1.67s/it] 89%|████████▉ | 26688/30000 [12:23:29<1:32:01, 1.67s/it] 89%|████████▉ | 26689/30000 [12:23:31<1:31:58, 1.67s/it] 89%|████████▉ | 26690/30000 [12:23:32<1:31:59, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.09771498292684555, 'learning_rate': 9.880145731056834e-07, 'flow_matching_loss': 0.016708804480731487, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.77} + 89%|████████▉ | 26690/30000 [12:23:32<1:31:59, 1.67s/it] 89%|████████▉ | 26691/30000 [12:23:34<1:32:04, 1.67s/it] 89%|████████▉ | 26692/30000 [12:23:36<1:32:05, 1.67s/it] 89%|████████▉ | 26693/30000 [12:23:37<1:32:00, 1.67s/it] 89%|████████▉ | 26694/30000 [12:23:39<1:31:57, 1.67s/it] 89%|████████▉ | 26695/30000 [12:23:41<1:31:59, 1.67s/it] 89%|████████▉ | 26696/30000 [12:23:42<1:32:00, 1.67s/it] 89%|████████▉ | 26697/30000 [12:23:44<1:31:42, 1.67s/it] 89%|████████▉ | 26698/30000 [12:23:46<1:31:50, 1.67s/it] 89%|████████▉ | 26699/30000 [12:23:47<1:31:58, 1.67s/it] 89%|████████▉ | 26700/30000 [12:23:49<1:31:59, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.10485399514436722, 'learning_rate': 9.821214105629034e-07, 'flow_matching_loss': 0.017377295158803464, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.77} + 89%|████████▉ | 26700/30000 [12:23:49<1:31:59, 1.67s/it] 89%|████████▉ | 26701/30000 [12:23:51<1:32:00, 1.67s/it] 89%|████████▉ | 26702/30000 [12:23:52<1:32:03, 1.67s/it] 89%|████████▉ | 26703/30000 [12:23:54<1:32:02, 1.67s/it] 89%|████████▉ | 26704/30000 [12:23:56<1:31:55, 1.67s/it] 89%|████████▉ | 26705/30000 [12:23:57<1:31:46, 1.67s/it] 89%|████████▉ | 26706/30000 [12:23:59<1:31:47, 1.67s/it] 89%|████████▉ | 26707/30000 [12:24:01<1:31:39, 1.67s/it] 89%|████████▉ | 26708/30000 [12:24:02<1:31:31, 1.67s/it] 89%|████████▉ | 26709/30000 [12:24:04<1:31:25, 1.67s/it] 89%|████████▉ | 26710/30000 [12:24:06<1:31:21, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.08564203232526779, 'learning_rate': 9.762452810644068e-07, 'flow_matching_loss': 0.017337939701974392, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.77} + 89%|████████▉ | 26710/30000 [12:24:06<1:31:21, 1.67s/it] 89%|████████▉ | 26711/30000 [12:24:07<1:31:15, 1.66s/it] 89%|████████▉ | 26712/30000 [12:24:09<1:31:17, 1.67s/it] 89%|████████▉ | 26713/30000 [12:24:11<1:31:13, 1.67s/it] 89%|████████▉ | 26714/30000 [12:24:12<1:31:27, 1.67s/it] 89%|████████▉ | 26715/30000 [12:24:14<1:31:35, 1.67s/it] 89%|████████▉ | 26716/30000 [12:24:16<1:31:31, 1.67s/it] 89%|████████▉ | 26717/30000 [12:24:17<1:31:22, 1.67s/it] 89%|████████▉ | 26718/30000 [12:24:19<1:31:17, 1.67s/it] 89%|████████▉ | 26719/30000 [12:24:21<1:31:14, 1.67s/it] 89%|████████▉ | 26720/30000 [12:24:22<1:31:21, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12252016365528107, 'learning_rate': 9.703861917502487e-07, 'flow_matching_loss': 0.017563496064394713, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.77} + 89%|████████▉ | 26720/30000 [12:24:22<1:31:21, 1.67s/it] 89%|████████▉ | 26721/30000 [12:24:24<1:31:18, 1.67s/it] 89%|████████▉ | 26722/30000 [12:24:26<1:31:11, 1.67s/it] 89%|████████▉ | 26723/30000 [12:24:27<1:31:10, 1.67s/it] 89%|████████▉ | 26724/30000 [12:24:29<1:31:08, 1.67s/it] 89%|████████▉ | 26725/30000 [12:24:31<1:31:03, 1.67s/it] 89%|████████▉ | 26726/30000 [12:24:32<1:30:54, 1.67s/it] 89%|████████▉ | 26727/30000 [12:24:34<1:30:55, 1.67s/it] 89%|████████▉ | 26728/30000 [12:24:36<1:30:55, 1.67s/it] 89%|████████▉ | 26729/30000 [12:24:37<1:30:46, 1.67s/it] 89%|████████▉ | 26730/30000 [12:24:39<1:30:46, 1.67s/it] {'loss': 0.0198, 'grad_norm': 0.13971896469593048, 'learning_rate': 9.645441497397744e-07, 'flow_matching_loss': 0.01975841661915183, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.78} + 89%|████████▉ | 26730/30000 [12:24:39<1:30:46, 1.67s/it] 89%|████████▉ | 26731/30000 [12:24:41<1:30:52, 1.67s/it] 89%|████████▉ | 26732/30000 [12:24:42<1:30:56, 1.67s/it] 89%|████████▉ | 26733/30000 [12:24:44<1:30:41, 1.67s/it] 89%|████████▉ | 26734/30000 [12:24:46<1:30:39, 1.67s/it] 89%|████████▉ | 26735/30000 [12:24:47<1:30:40, 1.67s/it] 89%|████████▉ | 26736/30000 [12:24:49<1:30:46, 1.67s/it] 89%|████████▉ | 26737/30000 [12:24:51<1:30:46, 1.67s/it] 89%|████████▉ | 26738/30000 [12:24:52<1:30:46, 1.67s/it] 89%|████████▉ | 26739/30000 [12:24:54<1:30:43, 1.67s/it] 89%|████████▉ | 26740/30000 [12:24:56<1:30:34, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10266285389661789, 'learning_rate': 9.587191621316154e-07, 'flow_matching_loss': 0.016343730967491865, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.78} + 89%|████████▉ | 26740/30000 [12:24:56<1:30:34, 1.67s/it] 89%|████████▉ | 26741/30000 [12:24:57<1:30:31, 1.67s/it] 89%|████████▉ | 26742/30000 [12:24:59<1:30:34, 1.67s/it] 89%|████████▉ | 26743/30000 [12:25:01<1:30:37, 1.67s/it] 89%|████████▉ | 26744/30000 [12:25:02<1:30:30, 1.67s/it] 89%|████████▉ | 26745/30000 [12:25:04<1:30:19, 1.67s/it] 89%|████████▉ | 26746/30000 [12:25:06<1:30:22, 1.67s/it] 89%|████████▉ | 26747/30000 [12:25:07<1:30:26, 1.67s/it] 89%|████████▉ | 26748/30000 [12:25:09<1:30:20, 1.67s/it] 89%|████████▉ | 26749/30000 [12:25:11<1:30:19, 1.67s/it] 89%|████████▉ | 26750/30000 [12:25:12<1:30:08, 1.66s/it] {'loss': 0.0158, 'grad_norm': 0.1023002341389656, 'learning_rate': 9.529112360036802e-07, 'flow_matching_loss': 0.01577748479321599, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.78} + 89%|████████▉ | 26750/30000 [12:25:12<1:30:08, 1.66s/it] 89%|████████▉ | 26751/30000 [12:25:14<1:30:24, 1.67s/it] 89%|████████▉ | 26752/30000 [12:25:16<1:30:19, 1.67s/it] 89%|████████▉ | 26753/30000 [12:25:17<1:30:20, 1.67s/it] 89%|████████▉ | 26754/30000 [12:25:19<1:30:19, 1.67s/it] 89%|████████▉ | 26755/30000 [12:25:21<1:30:16, 1.67s/it] 89%|████████▉ | 26756/30000 [12:25:22<1:30:15, 1.67s/it] 89%|████████▉ | 26757/30000 [12:25:24<1:30:14, 1.67s/it] 89%|████████▉ | 26758/30000 [12:25:26<1:30:09, 1.67s/it] 89%|████████▉ | 26759/30000 [12:25:27<1:30:10, 1.67s/it] 89%|████████▉ | 26760/30000 [12:25:29<1:30:06, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.10571715235710144, 'learning_rate': 9.471203784131449e-07, 'flow_matching_loss': 0.018048472236841917, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.79} + 89%|████████▉ | 26760/30000 [12:25:29<1:30:06, 1.67s/it] 89%|████████▉ | 26761/30000 [12:25:31<1:30:09, 1.67s/it] 89%|████████▉ | 26762/30000 [12:25:32<1:30:12, 1.67s/it] 89%|████████▉ | 26763/30000 [12:25:34<1:30:04, 1.67s/it] 89%|████████▉ | 26764/30000 [12:25:36<1:30:01, 1.67s/it] 89%|████████▉ | 26765/30000 [12:25:37<1:29:55, 1.67s/it] 89%|████████▉ | 26766/30000 [12:25:39<1:30:02, 1.67s/it] 89%|████████▉ | 26767/30000 [12:25:41<1:29:59, 1.67s/it] 89%|████████▉ | 26768/30000 [12:25:42<1:29:58, 1.67s/it] 89%|████████▉ | 26769/30000 [12:25:44<1:29:56, 1.67s/it] 89%|████████▉ | 26770/30000 [12:25:46<1:29:58, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.07610070705413818, 'learning_rate': 9.41346596396453e-07, 'flow_matching_loss': 0.016489394940435886, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.79} + 89%|████████▉ | 26770/30000 [12:25:46<1:29:58, 1.67s/it] 89%|████████▉ | 26771/30000 [12:25:48<1:29:56, 1.67s/it] 89%|████████▉ | 26772/30000 [12:25:49<1:29:55, 1.67s/it] 89%|████████▉ | 26773/30000 [12:25:51<1:29:59, 1.67s/it] 89%|████████▉ | 26774/30000 [12:25:53<1:29:54, 1.67s/it] 89%|████████▉ | 26775/30000 [12:25:54<1:29:54, 1.67s/it] 89%|████████▉ | 26776/30000 [12:25:56<1:29:45, 1.67s/it] 89%|████████▉ | 26777/30000 [12:25:58<1:29:49, 1.67s/it] 89%|████████▉ | 26778/30000 [12:25:59<1:29:43, 1.67s/it] 89%|████████▉ | 26779/30000 [12:26:01<1:29:43, 1.67s/it] 89%|████████▉ | 26780/30000 [12:26:03<1:29:38, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10475745052099228, 'learning_rate': 9.355898969692889e-07, 'flow_matching_loss': 0.016337825823575257, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.79} + 89%|████████▉ | 26780/30000 [12:26:03<1:29:38, 1.67s/it] 89%|████████▉ | 26781/30000 [12:26:04<1:29:31, 1.67s/it] 89%|████████▉ | 26782/30000 [12:26:06<1:29:29, 1.67s/it] 89%|████████▉ | 26783/30000 [12:26:08<1:29:28, 1.67s/it] 89%|████████▉ | 26784/30000 [12:26:09<1:29:23, 1.67s/it] 89%|████████▉ | 26785/30000 [12:26:11<1:29:30, 1.67s/it] 89%|████████▉ | 26786/30000 [12:26:13<1:29:26, 1.67s/it] 89%|████████▉ | 26787/30000 [12:26:14<1:29:17, 1.67s/it] 89%|████████▉ | 26788/30000 [12:26:16<1:29:21, 1.67s/it] 89%|████████▉ | 26789/30000 [12:26:18<1:29:14, 1.67s/it] 89%|████████▉ | 26790/30000 [12:26:19<1:29:16, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.12961611151695251, 'learning_rate': 9.29850287126589e-07, 'flow_matching_loss': 0.01875503929331899, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.79} + 89%|████████▉ | 26790/30000 [12:26:19<1:29:16, 1.67s/it] 89%|████████▉ | 26791/30000 [12:26:21<1:29:14, 1.67s/it] 89%|████████▉ | 26792/30000 [12:26:23<1:29:10, 1.67s/it] 89%|████████▉ | 26793/30000 [12:26:24<1:29:11, 1.67s/it] 89%|████████▉ | 26794/30000 [12:26:26<1:29:11, 1.67s/it] 89%|████████▉ | 26795/30000 [12:26:28<1:29:10, 1.67s/it] 89%|████████▉ | 26796/30000 [12:26:29<1:29:03, 1.67s/it] 89%|████████▉ | 26797/30000 [12:26:31<1:28:58, 1.67s/it] 89%|████████▉ | 26798/30000 [12:26:33<1:28:54, 1.67s/it] 89%|████████▉ | 26799/30000 [12:26:34<1:28:57, 1.67s/it] 89%|████████▉ | 26800/30000 [12:26:36<1:28:44, 1.66s/it] {'loss': 0.0177, 'grad_norm': 0.11036974936723709, 'learning_rate': 9.24127773842518e-07, 'flow_matching_loss': 0.017737009562551975, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.8} + 89%|████████▉ | 26800/30000 [12:26:36<1:28:44, 1.66s/it] 89%|████████▉ | 26801/30000 [12:26:38<1:28:40, 1.66s/it] 89%|████████▉ | 26802/30000 [12:26:39<1:28:42, 1.66s/it] 89%|████████▉ | 26803/30000 [12:26:41<1:28:44, 1.67s/it] 89%|████████▉ | 26804/30000 [12:26:43<1:28:57, 1.67s/it] 89%|████████▉ | 26805/30000 [12:26:44<1:28:42, 1.67s/it] 89%|████████▉ | 26806/30000 [12:26:46<1:28:38, 1.67s/it] 89%|████████▉ | 26807/30000 [12:26:48<1:28:28, 1.66s/it] 89%|████████▉ | 26808/30000 [12:26:49<1:28:32, 1.66s/it] 89%|████████▉ | 26809/30000 [12:26:51<1:28:35, 1.67s/it] 89%|████████▉ | 26810/30000 [12:26:53<1:28:35, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.10314518958330154, 'learning_rate': 9.18422364070467e-07, 'flow_matching_loss': 0.015565968491137028, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.8} + 89%|████████▉ | 26810/30000 [12:26:53<1:28:35, 1.67s/it] 89%|████████▉ | 26811/30000 [12:26:54<1:28:49, 1.67s/it] 89%|████████▉ | 26812/30000 [12:26:56<1:28:47, 1.67s/it] 89%|████████▉ | 26813/30000 [12:26:58<1:28:38, 1.67s/it] 89%|████████▉ | 26814/30000 [12:26:59<1:28:38, 1.67s/it] 89%|████████▉ | 26815/30000 [12:27:01<1:28:43, 1.67s/it] 89%|████████▉ | 26816/30000 [12:27:03<1:28:30, 1.67s/it] 89%|████████▉ | 26817/30000 [12:27:04<1:28:36, 1.67s/it] 89%|████████▉ | 26818/30000 [12:27:06<1:28:33, 1.67s/it] 89%|████████▉ | 26819/30000 [12:27:08<1:28:27, 1.67s/it] 89%|████████▉ | 26820/30000 [12:27:09<1:28:24, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.12438426166772842, 'learning_rate': 9.127340647430538e-07, 'flow_matching_loss': 0.0168011381290853, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.8} + 89%|████████▉ | 26820/30000 [12:27:09<1:28:24, 1.67s/it] 89%|████████▉ | 26821/30000 [12:27:11<1:28:20, 1.67s/it] 89%|████████▉ | 26822/30000 [12:27:13<1:28:20, 1.67s/it] 89%|████████▉ | 26823/30000 [12:27:14<1:28:17, 1.67s/it] 89%|████████▉ | 26824/30000 [12:27:16<1:28:13, 1.67s/it] 89%|████████▉ | 26825/30000 [12:27:18<1:28:10, 1.67s/it] 89%|████████▉ | 26826/30000 [12:27:19<1:28:06, 1.67s/it] 89%|████████▉ | 26827/30000 [12:27:21<1:28:15, 1.67s/it] 89%|████████▉ | 26828/30000 [12:27:23<1:28:05, 1.67s/it] 89%|████████▉ | 26829/30000 [12:27:24<1:28:04, 1.67s/it] 89%|████████▉ | 26830/30000 [12:27:26<1:28:08, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.09508120268583298, 'learning_rate': 9.070628827720929e-07, 'flow_matching_loss': 0.017952955048531293, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.81} + 89%|████████▉ | 26830/30000 [12:27:26<1:28:08, 1.67s/it] 89%|████████▉ | 26831/30000 [12:27:28<1:28:08, 1.67s/it] 89%|████████▉ | 26832/30000 [12:27:29<1:28:14, 1.67s/it] 89%|████████▉ | 26833/30000 [12:27:31<1:28:03, 1.67s/it] 89%|████████▉ | 26834/30000 [12:27:33<1:28:08, 1.67s/it] 89%|████████▉ | 26835/30000 [12:27:34<1:27:57, 1.67s/it] 89%|████████▉ | 26836/30000 [12:27:36<1:27:52, 1.67s/it] 89%|████████▉ | 26837/30000 [12:27:38<1:27:47, 1.67s/it] 89%|████████▉ | 26838/30000 [12:27:39<1:27:47, 1.67s/it] 89%|████████▉ | 26839/30000 [12:27:41<1:27:48, 1.67s/it] 89%|████████▉ | 26840/30000 [12:27:43<1:27:56, 1.67s/it] {'loss': 0.0146, 'grad_norm': 0.10780379921197891, 'learning_rate': 9.014088250486052e-07, 'flow_matching_loss': 0.014569046441465616, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.81} + 89%|████████▉ | 26840/30000 [12:27:43<1:27:56, 1.67s/it] 89%|████████▉ | 26841/30000 [12:27:44<1:27:57, 1.67s/it] 89%|████████▉ | 26842/30000 [12:27:46<1:27:48, 1.67s/it] 89%|████████▉ | 26843/30000 [12:27:48<1:27:48, 1.67s/it] 89%|████████▉ | 26844/30000 [12:27:49<1:27:57, 1.67s/it] 89%|████████▉ | 26845/30000 [12:27:51<1:27:48, 1.67s/it] 89%|████████▉ | 26846/30000 [12:27:53<1:27:44, 1.67s/it] 89%|████████▉ | 26847/30000 [12:27:54<1:27:39, 1.67s/it] 89%|████████▉ | 26848/30000 [12:27:56<1:27:39, 1.67s/it] 89%|████████▉ | 26849/30000 [12:27:58<1:27:36, 1.67s/it] 90%|████████▉ | 26850/30000 [12:27:59<1:27:36, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.1359512358903885, 'learning_rate': 8.95771898442807e-07, 'flow_matching_loss': 0.017029562126845123, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.81} + 90%|████████▉ | 26850/30000 [12:27:59<1:27:36, 1.67s/it] 90%|████████▉ | 26851/30000 [12:28:01<1:27:32, 1.67s/it] 90%|████████▉ | 26852/30000 [12:28:03<1:27:28, 1.67s/it] 90%|████████▉ | 26853/30000 [12:28:04<1:27:24, 1.67s/it] 90%|████████▉ | 26854/30000 [12:28:06<1:27:25, 1.67s/it] 90%|████████▉ | 26855/30000 [12:28:08<1:27:18, 1.67s/it] 90%|████████▉ | 26856/30000 [12:28:09<1:27:27, 1.67s/it] 90%|████████▉ | 26857/30000 [12:28:11<1:27:24, 1.67s/it] 90%|████████▉ | 26858/30000 [12:28:13<1:27:19, 1.67s/it] 90%|████████▉ | 26859/30000 [12:28:14<1:27:16, 1.67s/it] 90%|████████▉ | 26860/30000 [12:28:16<1:27:22, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.0849982276558876, 'learning_rate': 8.90152109804091e-07, 'flow_matching_loss': 0.01755044236779213, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.81} + 90%|████████▉ | 26860/30000 [12:28:16<1:27:22, 1.67s/it] 90%|████████▉ | 26861/30000 [12:28:18<1:27:20, 1.67s/it] 90%|████████▉ | 26862/30000 [12:28:19<1:27:18, 1.67s/it] 90%|████████▉ | 26863/30000 [12:28:21<1:27:15, 1.67s/it] 90%|████████▉ | 26864/30000 [12:28:23<1:27:17, 1.67s/it] 90%|████████▉ | 26865/30000 [12:28:24<1:27:19, 1.67s/it] 90%|████████▉ | 26866/30000 [12:28:26<1:27:08, 1.67s/it] 90%|████████▉ | 26867/30000 [12:28:28<1:27:09, 1.67s/it] 90%|████████▉ | 26868/30000 [12:28:29<1:27:10, 1.67s/it] 90%|████████▉ | 26869/30000 [12:28:31<1:27:04, 1.67s/it] 90%|████████▉ | 26870/30000 [12:28:33<1:26:58, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.09353775531053543, 'learning_rate': 8.845494659610365e-07, 'flow_matching_loss': 0.016027521062642335, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.82} + 90%|████████▉ | 26870/30000 [12:28:33<1:26:58, 1.67s/it] 90%|████████▉ | 26871/30000 [12:28:34<1:26:56, 1.67s/it] 90%|████████▉ | 26872/30000 [12:28:36<1:27:03, 1.67s/it] 90%|████████▉ | 26873/30000 [12:28:38<1:27:00, 1.67s/it] 90%|████████▉ | 26874/30000 [12:28:39<1:26:57, 1.67s/it] 90%|████████▉ | 26875/30000 [12:28:41<1:26:55, 1.67s/it] 90%|████████▉ | 26876/30000 [12:28:43<1:26:58, 1.67s/it] 90%|████████▉ | 26877/30000 [12:28:44<1:26:49, 1.67s/it] 90%|████████▉ | 26878/30000 [12:28:46<1:26:52, 1.67s/it] 90%|████████▉ | 26879/30000 [12:28:48<1:26:44, 1.67s/it] 90%|████████▉ | 26880/30000 [12:28:49<1:26:52, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11063067615032196, 'learning_rate': 8.789639737213812e-07, 'flow_matching_loss': 0.016568421386182308, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.82} + 90%|████████▉ | 26880/30000 [12:28:49<1:26:52, 1.67s/it] 90%|████████▉ | 26881/30000 [12:28:51<1:26:43, 1.67s/it] 90%|████████▉ | 26882/30000 [12:28:53<1:26:40, 1.67s/it] 90%|████████▉ | 26883/30000 [12:28:54<1:26:38, 1.67s/it] 90%|████████▉ | 26884/30000 [12:28:56<1:26:30, 1.67s/it] 90%|████████▉ | 26885/30000 [12:28:58<1:26:32, 1.67s/it] 90%|████████▉ | 26886/30000 [12:28:59<1:26:30, 1.67s/it] 90%|████████▉ | 26887/30000 [12:29:01<1:26:28, 1.67s/it] 90%|████████▉ | 26888/30000 [12:29:03<1:26:29, 1.67s/it] 90%|████████▉ | 26889/30000 [12:29:04<1:26:23, 1.67s/it] 90%|████████▉ | 26890/30000 [12:29:06<1:26:30, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.08797696977853775, 'learning_rate': 8.733956398720244e-07, 'flow_matching_loss': 0.015259498078376055, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.82} + 90%|████████▉ | 26890/30000 [12:29:06<1:26:30, 1.67s/it] 90%|████████▉ | 26891/30000 [12:29:08<1:26:26, 1.67s/it] 90%|████████▉ | 26892/30000 [12:29:09<1:26:21, 1.67s/it] 90%|████████▉ | 26893/30000 [12:29:11<1:26:17, 1.67s/it] 90%|████████▉ | 26894/30000 [12:29:13<1:26:10, 1.66s/it] 90%|████████▉ | 26895/30000 [12:29:14<1:26:08, 1.66s/it] 90%|████████▉ | 26896/30000 [12:29:16<1:26:15, 1.67s/it] 90%|████████▉ | 26897/30000 [12:29:18<1:26:15, 1.67s/it] 90%|████████▉ | 26898/30000 [12:29:19<1:26:12, 1.67s/it] 90%|████████▉ | 26899/30000 [12:29:21<1:26:17, 1.67s/it] 90%|████████▉ | 26900/30000 [12:29:23<1:26:12, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.11058362573385239, 'learning_rate': 8.678444711790157e-07, 'flow_matching_loss': 0.016055736877024173, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.83} + 90%|████████▉ | 26900/30000 [12:29:23<1:26:12, 1.67s/it] 90%|████████▉ | 26901/30000 [12:29:24<1:26:08, 1.67s/it] 90%|████████▉ | 26902/30000 [12:29:26<1:26:05, 1.67s/it] 90%|████████▉ | 26903/30000 [12:29:28<1:25:55, 1.66s/it] 90%|████████▉ | 26904/30000 [12:29:29<1:25:57, 1.67s/it] 90%|████████▉ | 26905/30000 [12:29:31<1:26:25, 1.68s/it] 90%|████████▉ | 26906/30000 [12:29:33<1:25:58, 1.67s/it] 90%|████████▉ | 26907/30000 [12:29:34<1:25:57, 1.67s/it] 90%|████████▉ | 26908/30000 [12:29:36<1:26:00, 1.67s/it] 90%|████████▉ | 26909/30000 [12:29:38<1:25:54, 1.67s/it] 90%|████████▉ | 26910/30000 [12:29:39<1:25:46, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.11643990129232407, 'learning_rate': 8.623104743875493e-07, 'flow_matching_loss': 0.016384350042790173, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.83} + 90%|████████▉ | 26910/30000 [12:29:39<1:25:46, 1.67s/it] 90%|████████▉ | 26911/30000 [12:29:41<1:25:42, 1.66s/it] 90%|████████▉ | 26912/30000 [12:29:43<1:25:39, 1.66s/it] 90%|████████▉ | 26913/30000 [12:29:44<1:25:41, 1.67s/it] 90%|████████▉ | 26914/30000 [12:29:46<1:25:44, 1.67s/it] 90%|████████▉ | 26915/30000 [12:29:48<1:25:44, 1.67s/it] 90%|████████▉ | 26916/30000 [12:29:49<1:25:35, 1.67s/it] 90%|████████▉ | 26917/30000 [12:29:51<1:25:39, 1.67s/it] 90%|████████▉ | 26918/30000 [12:29:53<1:25:28, 1.66s/it] 90%|████████▉ | 26919/30000 [12:29:54<1:25:30, 1.67s/it] 90%|████████▉ | 26920/30000 [12:29:56<1:25:27, 1.66s/it] {'loss': 0.0155, 'grad_norm': 0.1385451704263687, 'learning_rate': 8.567936562219547e-07, 'flow_matching_loss': 0.015470374654978514, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.83} + 90%|████████▉ | 26920/30000 [12:29:56<1:25:27, 1.66s/it] 90%|████████▉ | 26921/30000 [12:29:58<1:25:28, 1.67s/it] 90%|████████▉ | 26922/30000 [12:29:59<1:25:22, 1.66s/it] 90%|████████▉ | 26923/30000 [12:30:01<1:25:20, 1.66s/it] 90%|████████▉ | 26924/30000 [12:30:03<1:25:18, 1.66s/it] 90%|████████▉ | 26925/30000 [12:30:04<1:25:27, 1.67s/it] 90%|████████▉ | 26926/30000 [12:30:06<1:25:27, 1.67s/it] 90%|████████▉ | 26927/30000 [12:30:08<1:25:26, 1.67s/it] 90%|████████▉ | 26928/30000 [12:30:09<1:25:28, 1.67s/it] 90%|████████▉ | 26929/30000 [12:30:11<1:25:38, 1.67s/it] 90%|████████▉ | 26930/30000 [12:30:13<1:25:36, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11651664972305298, 'learning_rate': 8.512940233856847e-07, 'flow_matching_loss': 0.01657206080853939, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.84} + 90%|████████▉ | 26930/30000 [12:30:13<1:25:36, 1.67s/it] 90%|████████▉ | 26931/30000 [12:30:14<1:25:34, 1.67s/it] 90%|████████▉ | 26932/30000 [12:30:16<1:25:26, 1.67s/it] 90%|████████▉ | 26933/30000 [12:30:18<1:25:21, 1.67s/it] 90%|████████▉ | 26934/30000 [12:30:19<1:25:18, 1.67s/it] 90%|████████▉ | 26935/30000 [12:30:21<1:25:11, 1.67s/it] 90%|████████▉ | 26936/30000 [12:30:23<1:25:12, 1.67s/it] 90%|████████▉ | 26937/30000 [12:30:24<1:25:09, 1.67s/it] 90%|████████▉ | 26938/30000 [12:30:26<1:25:13, 1.67s/it] 90%|████████▉ | 26939/30000 [12:30:28<1:25:12, 1.67s/it] 90%|████████▉ | 26940/30000 [12:30:29<1:25:06, 1.67s/it] {'loss': 0.0137, 'grad_norm': 0.09204642474651337, 'learning_rate': 8.458115825613122e-07, 'flow_matching_loss': 0.013743676897138356, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.84} + 90%|████████▉ | 26940/30000 [12:30:29<1:25:06, 1.67s/it] 90%|████████▉ | 26941/30000 [12:30:31<1:25:07, 1.67s/it] 90%|████████▉ | 26942/30000 [12:30:33<1:25:12, 1.67s/it] 90%|████████▉ | 26943/30000 [12:30:34<1:25:01, 1.67s/it] 90%|████████▉ | 26944/30000 [12:30:36<1:25:17, 1.67s/it] 90%|████████▉ | 26945/30000 [12:30:38<1:25:00, 1.67s/it] 90%|████████▉ | 26946/30000 [12:30:39<1:24:51, 1.67s/it] 90%|████████▉ | 26947/30000 [12:30:41<1:24:53, 1.67s/it] 90%|████████▉ | 26948/30000 [12:30:43<1:24:47, 1.67s/it] 90%|████████▉ | 26949/30000 [12:30:44<1:24:49, 1.67s/it] 90%|████████▉ | 26950/30000 [12:30:46<1:24:45, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.10452815145254135, 'learning_rate': 8.403463404105199e-07, 'flow_matching_loss': 0.016075845807790756, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.84} + 90%|████████▉ | 26950/30000 [12:30:46<1:24:45, 1.67s/it] 90%|████████▉ | 26951/30000 [12:30:48<1:24:45, 1.67s/it] 90%|████████▉ | 26952/30000 [12:30:49<1:24:46, 1.67s/it] 90%|████████▉ | 26953/30000 [12:30:51<1:24:50, 1.67s/it] 90%|████████▉ | 26954/30000 [12:30:53<1:24:42, 1.67s/it] 90%|████████▉ | 26955/30000 [12:30:54<1:24:41, 1.67s/it] 90%|████████▉ | 26956/30000 [12:30:56<1:24:43, 1.67s/it] 90%|████████▉ | 26957/30000 [12:30:58<1:24:42, 1.67s/it] 90%|████████▉ | 26958/30000 [12:30:59<1:24:30, 1.67s/it] 90%|████████▉ | 26959/30000 [12:31:01<1:24:31, 1.67s/it] 90%|████████▉ | 26960/30000 [12:31:03<1:24:32, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11882384866476059, 'learning_rate': 8.348983035740926e-07, 'flow_matching_loss': 0.017109699361026288, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.84} + 90%|████████▉ | 26960/30000 [12:31:03<1:24:32, 1.67s/it] 90%|████████▉ | 26961/30000 [12:31:04<1:24:34, 1.67s/it] 90%|████████▉ | 26962/30000 [12:31:06<1:24:31, 1.67s/it] 90%|████████▉ | 26963/30000 [12:31:08<1:24:23, 1.67s/it] 90%|████████▉ | 26964/30000 [12:31:09<1:24:18, 1.67s/it] 90%|████████▉ | 26965/30000 [12:31:11<1:24:17, 1.67s/it] 90%|████████▉ | 26966/30000 [12:31:13<1:24:19, 1.67s/it] 90%|████████▉ | 26967/30000 [12:31:14<1:24:14, 1.67s/it] 90%|████████▉ | 26968/30000 [12:31:16<1:24:18, 1.67s/it] 90%|████████▉ | 26969/30000 [12:31:18<1:24:21, 1.67s/it] 90%|████████▉ | 26970/30000 [12:31:19<1:24:18, 1.67s/it] {'loss': 0.0142, 'grad_norm': 0.08921445161104202, 'learning_rate': 8.294674786719064e-07, 'flow_matching_loss': 0.01416791956871748, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.85} + 90%|████████▉ | 26970/30000 [12:31:20<1:24:18, 1.67s/it] 90%|████████▉ | 26971/30000 [12:31:21<1:24:22, 1.67s/it] 90%|████████▉ | 26972/30000 [12:31:23<1:24:10, 1.67s/it] 90%|████████▉ | 26973/30000 [12:31:24<1:24:12, 1.67s/it] 90%|████████▉ | 26974/30000 [12:31:26<1:23:57, 1.66s/it] 90%|████████▉ | 26975/30000 [12:31:28<1:24:02, 1.67s/it] 90%|████████▉ | 26976/30000 [12:31:29<1:24:13, 1.67s/it] 90%|████████▉ | 26977/30000 [12:31:31<1:24:11, 1.67s/it] 90%|████████▉ | 26978/30000 [12:31:33<1:24:07, 1.67s/it] 90%|████████▉ | 26979/30000 [12:31:35<1:24:07, 1.67s/it] 90%|████████▉ | 26980/30000 [12:31:36<1:24:00, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.12030082195997238, 'learning_rate': 8.240538723029295e-07, 'flow_matching_loss': 0.01659415094181895, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.85} + 90%|████████▉ | 26980/30000 [12:31:36<1:24:00, 1.67s/it] 90%|████████▉ | 26981/30000 [12:31:38<1:23:49, 1.67s/it] 90%|████████▉ | 26982/30000 [12:31:39<1:23:47, 1.67s/it] 90%|████████▉ | 26983/30000 [12:31:41<1:23:57, 1.67s/it] 90%|████████▉ | 26984/30000 [12:31:43<1:24:00, 1.67s/it] 90%|████████▉ | 26985/30000 [12:31:45<1:23:52, 1.67s/it] 90%|████████▉ | 26986/30000 [12:31:46<1:23:49, 1.67s/it] 90%|████████▉ | 26987/30000 [12:31:48<1:23:59, 1.67s/it] 90%|████████▉ | 26988/30000 [12:31:50<1:23:58, 1.67s/it] 90%|████████▉ | 26989/30000 [12:31:51<1:23:50, 1.67s/it] 90%|████████▉ | 26990/30000 [12:31:53<1:23:46, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.13280707597732544, 'learning_rate': 8.186574910451983e-07, 'flow_matching_loss': 0.01709871655330062, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.85} + 90%|████████▉ | 26990/30000 [12:31:53<1:23:46, 1.67s/it] 90%|████████▉ | 26991/30000 [12:31:55<1:23:43, 1.67s/it] 90%|████████▉ | 26992/30000 [12:31:56<1:23:51, 1.67s/it] 90%|████████▉ | 26993/30000 [12:31:58<1:23:45, 1.67s/it] 90%|████████▉ | 26994/30000 [12:32:00<1:23:39, 1.67s/it] 90%|████████▉ | 26995/30000 [12:32:01<1:23:39, 1.67s/it] 90%|████████▉ | 26996/30000 [12:32:03<1:23:34, 1.67s/it] 90%|████████▉ | 26997/30000 [12:32:05<1:23:28, 1.67s/it] 90%|████████▉ | 26998/30000 [12:32:06<1:23:26, 1.67s/it] 90%|████████▉ | 26999/30000 [12:32:08<1:23:21, 1.67s/it] 90%|█████████ | 27000/30000 [12:32:10<1:23:22, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.10193353146314621, 'learning_rate': 8.132783414558326e-07, 'flow_matching_loss': 0.01742080645635724, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.86} + 90%|█████████ | 27000/30000 [12:32:10<1:23:22, 1.67s/it] 90%|█████████ | 27001/30000 [12:32:11<1:23:16, 1.67s/it] 90%|█████████ | 27002/30000 [12:32:13<1:23:27, 1.67s/it] 90%|█████████ | 27003/30000 [12:32:15<1:23:06, 1.66s/it] 90%|█████████ | 27004/30000 [12:32:16<1:23:04, 1.66s/it] 90%|█████████ | 27005/30000 [12:32:18<1:23:02, 1.66s/it] 90%|█████████ | 27006/30000 [12:32:20<1:23:00, 1.66s/it] 90%|█████████ | 27007/30000 [12:32:21<1:22:59, 1.66s/it] 90%|█████████ | 27008/30000 [12:32:23<1:23:05, 1.67s/it] 90%|█████████ | 27009/30000 [12:32:25<1:23:06, 1.67s/it] 90%|█████████ | 27010/30000 [12:32:26<1:23:12, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.0890578106045723, 'learning_rate': 8.079164300710023e-07, 'flow_matching_loss': 0.015587520319968462, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.86} + 90%|█████████ | 27010/30000 [12:32:26<1:23:12, 1.67s/it] 90%|█████████ | 27011/30000 [12:32:28<1:23:02, 1.67s/it] 90%|█████████ | 27012/30000 [12:32:30<1:22:59, 1.67s/it] 90%|█████████ | 27013/30000 [12:32:31<1:23:08, 1.67s/it] 90%|█████████ | 27014/30000 [12:32:33<1:22:49, 1.66s/it] 90%|█████████ | 27015/30000 [12:32:35<1:22:49, 1.66s/it] 90%|█████████ | 27016/30000 [12:32:36<1:22:51, 1.67s/it] 90%|█████████ | 27017/30000 [12:32:38<1:22:58, 1.67s/it] 90%|█████████ | 27018/30000 [12:32:40<1:22:56, 1.67s/it] 90%|█████████ | 27019/30000 [12:32:41<1:22:51, 1.67s/it] 90%|█████████ | 27020/30000 [12:32:43<1:22:50, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.08475514501333237, 'learning_rate': 8.025717634059326e-07, 'flow_matching_loss': 0.016545362118631602, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.86} + 90%|█████████ | 27020/30000 [12:32:43<1:22:50, 1.67s/it] 90%|█████████ | 27021/30000 [12:32:45<1:22:47, 1.67s/it] 90%|█████████ | 27022/30000 [12:32:46<1:22:48, 1.67s/it] 90%|█████████ | 27023/30000 [12:32:48<1:22:46, 1.67s/it] 90%|█████████ | 27024/30000 [12:32:50<1:22:51, 1.67s/it] 90%|█████████ | 27025/30000 [12:32:51<1:22:52, 1.67s/it] 90%|█████████ | 27026/30000 [12:32:53<1:22:46, 1.67s/it] 90%|█████████ | 27027/30000 [12:32:55<1:22:49, 1.67s/it] 90%|█████████ | 27028/30000 [12:32:56<1:22:40, 1.67s/it] 90%|█████████ | 27029/30000 [12:32:58<1:22:40, 1.67s/it] 90%|█████████ | 27030/30000 [12:33:00<1:22:30, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10366075485944748, 'learning_rate': 7.972443479549035e-07, 'flow_matching_loss': 0.017477298527956008, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.86} + 90%|█████████ | 27030/30000 [12:33:00<1:22:30, 1.67s/it] 90%|█████████ | 27031/30000 [12:33:01<1:22:27, 1.67s/it] 90%|█████████ | 27032/30000 [12:33:03<1:22:29, 1.67s/it] 90%|█████████ | 27033/30000 [12:33:05<1:22:29, 1.67s/it] 90%|█████████ | 27034/30000 [12:33:06<1:22:36, 1.67s/it] 90%|█████████ | 27035/30000 [12:33:08<1:22:33, 1.67s/it] 90%|█████████ | 27036/30000 [12:33:10<1:22:35, 1.67s/it] 90%|█████████ | 27037/30000 [12:33:11<1:22:32, 1.67s/it] 90%|█████████ | 27038/30000 [12:33:13<1:22:30, 1.67s/it] 90%|█████████ | 27039/30000 [12:33:15<1:22:18, 1.67s/it] 90%|█████████ | 27040/30000 [12:33:16<1:22:15, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.11713565140962601, 'learning_rate': 7.919341901912236e-07, 'flow_matching_loss': 0.017541076987981796, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.87} + 90%|█████████ | 27040/30000 [12:33:16<1:22:15, 1.67s/it] 90%|█████████ | 27041/30000 [12:33:18<1:22:16, 1.67s/it] 90%|█████████ | 27042/30000 [12:33:20<1:22:13, 1.67s/it] 90%|█████████ | 27043/30000 [12:33:21<1:22:11, 1.67s/it] 90%|█████████ | 27044/30000 [12:33:23<1:22:08, 1.67s/it] 90%|█████████ | 27045/30000 [12:33:25<1:22:04, 1.67s/it] 90%|█████████ | 27046/30000 [12:33:26<1:22:01, 1.67s/it] 90%|█████████ | 27047/30000 [12:33:28<1:21:59, 1.67s/it] 90%|█████████ | 27048/30000 [12:33:30<1:22:08, 1.67s/it] 90%|█████████ | 27049/30000 [12:33:31<1:22:06, 1.67s/it] 90%|█████████ | 27050/30000 [12:33:33<1:22:10, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11832873523235321, 'learning_rate': 7.866412965672365e-07, 'flow_matching_loss': 0.016878723725676538, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.87} + 90%|█████████ | 27050/30000 [12:33:33<1:22:10, 1.67s/it] 90%|█████████ | 27051/30000 [12:33:35<1:22:04, 1.67s/it] 90%|█████████ | 27052/30000 [12:33:36<1:22:03, 1.67s/it] 90%|█████████ | 27053/30000 [12:33:38<1:21:57, 1.67s/it] 90%|█████████ | 27054/30000 [12:33:40<1:21:51, 1.67s/it] 90%|█████████ | 27055/30000 [12:33:41<1:21:45, 1.67s/it] 90%|█████████ | 27056/30000 [12:33:43<1:21:45, 1.67s/it] 90%|█████████ | 27057/30000 [12:33:45<1:21:57, 1.67s/it] 90%|█████████ | 27058/30000 [12:33:46<1:21:49, 1.67s/it] 90%|█████████ | 27059/30000 [12:33:48<1:21:33, 1.66s/it] 90%|█████████ | 27060/30000 [12:33:50<1:21:38, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.11755330115556717, 'learning_rate': 7.813656735143044e-07, 'flow_matching_loss': 0.016831501573324203, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.87} + 90%|█████████ | 27060/30000 [12:33:50<1:21:38, 1.67s/it] 90%|█████████ | 27061/30000 [12:33:51<1:21:50, 1.67s/it] 90%|█████████ | 27062/30000 [12:33:53<1:21:49, 1.67s/it] 90%|█████████ | 27063/30000 [12:33:55<1:21:40, 1.67s/it] 90%|█████████ | 27064/30000 [12:33:56<1:21:33, 1.67s/it] 90%|█████████ | 27065/30000 [12:33:58<1:21:32, 1.67s/it] 90%|█████████ | 27066/30000 [12:34:00<1:21:34, 1.67s/it] 90%|█████████ | 27067/30000 [12:34:01<1:21:34, 1.67s/it] 90%|█████████ | 27068/30000 [12:34:03<1:21:31, 1.67s/it] 90%|█████████ | 27069/30000 [12:34:05<1:21:27, 1.67s/it] 90%|█████████ | 27070/30000 [12:34:06<1:21:21, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.13434752821922302, 'learning_rate': 7.761073274428076e-07, 'flow_matching_loss': 0.01859431266784668, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.88} + 90%|█████████ | 27070/30000 [12:34:06<1:21:21, 1.67s/it] 90%|█████████ | 27071/30000 [12:34:08<1:21:18, 1.67s/it] 90%|█████████ | 27072/30000 [12:34:10<1:21:22, 1.67s/it] 90%|█████████ | 27073/30000 [12:34:11<1:21:21, 1.67s/it] 90%|█████████ | 27074/30000 [12:34:13<1:21:20, 1.67s/it] 90%|█████████ | 27075/30000 [12:34:15<1:21:19, 1.67s/it] 90%|█████████ | 27076/30000 [12:34:16<1:21:07, 1.66s/it] 90%|█████████ | 27077/30000 [12:34:18<1:21:14, 1.67s/it] 90%|█████████ | 27078/30000 [12:34:20<1:21:11, 1.67s/it] 90%|█████████ | 27079/30000 [12:34:21<1:21:07, 1.67s/it] 90%|█████████ | 27080/30000 [12:34:23<1:21:10, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.11639373004436493, 'learning_rate': 7.708662647421355e-07, 'flow_matching_loss': 0.017964462749660015, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.88} + 90%|█████████ | 27080/30000 [12:34:23<1:21:10, 1.67s/it] 90%|█████████ | 27081/30000 [12:34:25<1:21:16, 1.67s/it] 90%|█████████ | 27082/30000 [12:34:26<1:21:16, 1.67s/it] 90%|█████████ | 27083/30000 [12:34:28<1:21:09, 1.67s/it] 90%|█████████ | 27084/30000 [12:34:30<1:21:06, 1.67s/it] 90%|█████████ | 27085/30000 [12:34:31<1:21:02, 1.67s/it] 90%|█████████ | 27086/30000 [12:34:33<1:20:47, 1.66s/it] 90%|█████████ | 27087/30000 [12:34:35<1:20:45, 1.66s/it] 90%|█████████ | 27088/30000 [12:34:36<1:20:43, 1.66s/it] 90%|█████████ | 27089/30000 [12:34:38<1:20:45, 1.66s/it] 90%|█████████ | 27090/30000 [12:34:40<1:20:49, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.08603303879499435, 'learning_rate': 7.65642491780672e-07, 'flow_matching_loss': 0.015891475416719914, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.88} + 90%|█████████ | 27090/30000 [12:34:40<1:20:49, 1.67s/it] 90%|█████████ | 27091/30000 [12:34:41<1:20:48, 1.67s/it] 90%|█████████ | 27092/30000 [12:34:43<1:20:44, 1.67s/it] 90%|█████████ | 27093/30000 [12:34:45<1:20:36, 1.66s/it] 90%|█████████ | 27094/30000 [12:34:46<1:20:34, 1.66s/it] 90%|█████████ | 27095/30000 [12:34:48<1:20:36, 1.66s/it] 90%|█████████ | 27096/30000 [12:34:50<1:20:43, 1.67s/it] 90%|█████████ | 27097/30000 [12:34:51<1:20:41, 1.67s/it] 90%|█████████ | 27098/30000 [12:34:53<1:20:38, 1.67s/it] 90%|█████████ | 27099/30000 [12:34:55<1:20:34, 1.67s/it] 90%|█████████ | 27100/30000 [12:34:56<1:20:29, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.07883035391569138, 'learning_rate': 7.604360149057916e-07, 'flow_matching_loss': 0.01671014865860343, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.88} + 90%|█████████ | 27100/30000 [12:34:56<1:20:29, 1.67s/it] 90%|█████████ | 27101/30000 [12:34:58<1:20:31, 1.67s/it] 90%|█████████ | 27102/30000 [12:35:00<1:20:32, 1.67s/it] 90%|█████████ | 27103/30000 [12:35:01<1:20:27, 1.67s/it] 90%|█████████ | 27104/30000 [12:35:03<1:20:24, 1.67s/it] 90%|█████████ | 27105/30000 [12:35:05<1:20:27, 1.67s/it] 90%|█████████ | 27106/30000 [12:35:06<1:20:28, 1.67s/it] 90%|█████████ | 27107/30000 [12:35:08<1:20:27, 1.67s/it] 90%|█████████ | 27108/30000 [12:35:10<1:20:30, 1.67s/it] 90%|█████████ | 27109/30000 [12:35:11<1:20:32, 1.67s/it] 90%|█████████ | 27110/30000 [12:35:13<1:20:24, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.11628247797489166, 'learning_rate': 7.552468404438568e-07, 'flow_matching_loss': 0.01598105700686574, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.89} + 90%|█████████ | 27110/30000 [12:35:13<1:20:24, 1.67s/it] 90%|█████████ | 27111/30000 [12:35:15<1:20:20, 1.67s/it] 90%|█████████ | 27112/30000 [12:35:16<1:20:18, 1.67s/it] 90%|█████████ | 27113/30000 [12:35:18<1:20:14, 1.67s/it] 90%|█████████ | 27114/30000 [12:35:20<1:20:12, 1.67s/it] 90%|█████████ | 27115/30000 [12:35:21<1:20:11, 1.67s/it] 90%|█████████ | 27116/30000 [12:35:23<1:20:10, 1.67s/it] 90%|█████████ | 27117/30000 [12:35:25<1:20:10, 1.67s/it] 90%|█████████ | 27118/30000 [12:35:26<1:20:16, 1.67s/it] 90%|█████████ | 27119/30000 [12:35:28<1:20:04, 1.67s/it] 90%|█████████ | 27120/30000 [12:35:30<1:20:16, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.10266762226819992, 'learning_rate': 7.500749747002022e-07, 'flow_matching_loss': 0.015264035109430552, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.89} + 90%|█████████ | 27120/30000 [12:35:30<1:20:16, 1.67s/it] 90%|█████████ | 27121/30000 [12:35:31<1:20:11, 1.67s/it] 90%|█████████ | 27122/30000 [12:35:33<1:20:08, 1.67s/it] 90%|█████████ | 27123/30000 [12:35:35<1:19:55, 1.67s/it] 90%|█████████ | 27124/30000 [12:35:36<1:19:58, 1.67s/it] 90%|█████████ | 27125/30000 [12:35:38<1:20:03, 1.67s/it] 90%|█████████ | 27126/30000 [12:35:40<1:20:01, 1.67s/it] 90%|█████████ | 27127/30000 [12:35:41<1:20:00, 1.67s/it] 90%|█████████ | 27128/30000 [12:35:43<1:19:55, 1.67s/it] 90%|█████████ | 27129/30000 [12:35:45<1:19:47, 1.67s/it] 90%|█████████ | 27130/30000 [12:35:46<1:19:44, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.09273316711187363, 'learning_rate': 7.449204239591345e-07, 'flow_matching_loss': 0.017274890560656786, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.89} + 90%|█████████ | 27130/30000 [12:35:46<1:19:44, 1.67s/it] 90%|█████████ | 27131/30000 [12:35:48<1:19:45, 1.67s/it] 90%|█████████ | 27132/30000 [12:35:50<1:19:43, 1.67s/it] 90%|█████████ | 27133/30000 [12:35:51<1:19:40, 1.67s/it] 90%|█████████ | 27134/30000 [12:35:53<1:19:41, 1.67s/it] 90%|█████████ | 27135/30000 [12:35:55<1:19:33, 1.67s/it] 90%|█████████ | 27136/30000 [12:35:56<1:19:30, 1.67s/it] 90%|█████████ | 27137/30000 [12:35:58<1:19:30, 1.67s/it] 90%|█████████ | 27138/30000 [12:36:00<1:19:34, 1.67s/it] 90%|█████████ | 27139/30000 [12:36:01<1:19:29, 1.67s/it] 90%|█████████ | 27140/30000 [12:36:03<1:19:23, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.10676487535238266, 'learning_rate': 7.397831944839167e-07, 'flow_matching_loss': 0.01616607727482915, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.9} + 90%|█████████ | 27140/30000 [12:36:03<1:19:23, 1.67s/it] 90%|█████████ | 27141/30000 [12:36:05<1:19:18, 1.66s/it] 90%|█████████ | 27142/30000 [12:36:06<1:19:27, 1.67s/it] 90%|█████████ | 27143/30000 [12:36:08<1:19:21, 1.67s/it] 90%|█████████ | 27144/30000 [12:36:10<1:19:26, 1.67s/it] 90%|█████████ | 27145/30000 [12:36:11<1:19:26, 1.67s/it] 90%|█████████ | 27146/30000 [12:36:13<1:19:27, 1.67s/it] 90%|█████████ | 27147/30000 [12:36:15<1:19:21, 1.67s/it] 90%|█████████ | 27148/30000 [12:36:16<1:19:15, 1.67s/it] 90%|█████████ | 27149/30000 [12:36:18<1:19:12, 1.67s/it] 90%|█████████ | 27150/30000 [12:36:20<1:19:14, 1.67s/it] {'loss': 0.0148, 'grad_norm': 0.10344656556844711, 'learning_rate': 7.346632925167706e-07, 'flow_matching_loss': 0.01482489574700594, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.9} + 90%|█████████ | 27150/30000 [12:36:20<1:19:14, 1.67s/it] 91%|█████████ | 27151/30000 [12:36:21<1:19:09, 1.67s/it] 91%|█████████ | 27152/30000 [12:36:23<1:19:02, 1.67s/it] 91%|█████████ | 27153/30000 [12:36:25<1:19:01, 1.67s/it] 91%|█████████ | 27154/30000 [12:36:26<1:19:05, 1.67s/it] 91%|█████████ | 27155/30000 [12:36:28<1:19:10, 1.67s/it] 91%|█████████ | 27156/30000 [12:36:30<1:18:53, 1.66s/it] 91%|█████████ | 27157/30000 [12:36:31<1:18:46, 1.66s/it] 91%|█████████ | 27158/30000 [12:36:33<1:18:42, 1.66s/it] 91%|█████████ | 27159/30000 [12:36:35<1:18:41, 1.66s/it] 91%|█████████ | 27160/30000 [12:36:36<1:18:43, 1.66s/it] {'loss': 0.0146, 'grad_norm': 0.12331348657608032, 'learning_rate': 7.295607242788566e-07, 'flow_matching_loss': 0.014592032972723245, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.9} + 91%|█████████ | 27160/30000 [12:36:36<1:18:43, 1.66s/it] 91%|█████████ | 27161/30000 [12:36:38<1:18:47, 1.67s/it] 91%|█████████ | 27162/30000 [12:36:40<1:18:50, 1.67s/it] 91%|█████████ | 27163/30000 [12:36:41<1:18:49, 1.67s/it] 91%|█████████ | 27164/30000 [12:36:43<1:18:44, 1.67s/it] 91%|█████████ | 27165/30000 [12:36:45<1:18:50, 1.67s/it] 91%|█████████ | 27166/30000 [12:36:46<1:18:48, 1.67s/it] 91%|█████████ | 27167/30000 [12:36:48<1:18:37, 1.67s/it] 91%|█████████ | 27168/30000 [12:36:50<1:18:38, 1.67s/it] 91%|█████████ | 27169/30000 [12:36:51<1:18:47, 1.67s/it] 91%|█████████ | 27170/30000 [12:36:53<1:18:41, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.12110414355993271, 'learning_rate': 7.244754959702765e-07, 'flow_matching_loss': 0.01623920537531376, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.91} + 91%|█████████ | 27170/30000 [12:36:53<1:18:41, 1.67s/it] 91%|█████████ | 27171/30000 [12:36:55<1:18:48, 1.67s/it] 91%|█████████ | 27172/30000 [12:36:56<1:18:42, 1.67s/it] 91%|█████████ | 27173/30000 [12:36:58<1:18:40, 1.67s/it] 91%|█████████ | 27174/30000 [12:37:00<1:18:35, 1.67s/it] 91%|█████████ | 27175/30000 [12:37:01<1:18:25, 1.67s/it] 91%|█████████ | 27176/30000 [12:37:03<1:18:27, 1.67s/it] 91%|█████████ | 27177/30000 [12:37:05<1:18:19, 1.66s/it] 91%|█████████ | 27178/30000 [12:37:06<1:18:17, 1.66s/it] 91%|█████████ | 27179/30000 [12:37:08<1:18:17, 1.67s/it] 91%|█████████ | 27180/30000 [12:37:10<1:18:16, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.13123837113380432, 'learning_rate': 7.194076137700628e-07, 'flow_matching_loss': 0.018407359533011914, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.91} + 91%|█████████ | 27180/30000 [12:37:10<1:18:16, 1.67s/it] 91%|█████████ | 27181/30000 [12:37:11<1:18:16, 1.67s/it] 91%|█████████ | 27182/30000 [12:37:13<1:18:25, 1.67s/it] 91%|█████████ | 27183/30000 [12:37:15<1:18:09, 1.66s/it] 91%|█████████ | 27184/30000 [12:37:16<1:18:16, 1.67s/it] 91%|█████████ | 27185/30000 [12:37:18<1:18:15, 1.67s/it] 91%|█████████ | 27186/30000 [12:37:20<1:18:16, 1.67s/it] 91%|█████████ | 27187/30000 [12:37:21<1:18:09, 1.67s/it] 91%|█████████ | 27188/30000 [12:37:23<1:18:09, 1.67s/it] 91%|█████████ | 27189/30000 [12:37:25<1:18:04, 1.67s/it] 91%|█████████ | 27190/30000 [12:37:26<1:18:01, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10391909629106522, 'learning_rate': 7.143570838361696e-07, 'flow_matching_loss': 0.016573181562125682, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.91} + 91%|█████████ | 27190/30000 [12:37:26<1:18:01, 1.67s/it] 91%|█████████ | 27191/30000 [12:37:28<1:18:04, 1.67s/it] 91%|█████████ | 27192/30000 [12:37:30<1:18:01, 1.67s/it] 91%|█████████ | 27193/30000 [12:37:31<1:18:03, 1.67s/it] 91%|█████████ | 27194/30000 [12:37:33<1:18:04, 1.67s/it] 91%|█████████ | 27195/30000 [12:37:35<1:18:02, 1.67s/it] 91%|█████████ | 27196/30000 [12:37:36<1:17:59, 1.67s/it] 91%|█████████ | 27197/30000 [12:37:38<1:17:53, 1.67s/it] 91%|█████████ | 27198/30000 [12:37:40<1:17:56, 1.67s/it] 91%|█████████ | 27199/30000 [12:37:41<1:17:50, 1.67s/it] 91%|█████████ | 27200/30000 [12:37:43<1:17:49, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.10233257710933685, 'learning_rate': 7.093239123054696e-07, 'flow_matching_loss': 0.01676005097106099, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.91} + 91%|█████████ | 27200/30000 [12:37:43<1:17:49, 1.67s/it] 91%|█████████ | 27201/30000 [12:37:45<1:17:49, 1.67s/it] 91%|█████████ | 27202/30000 [12:37:46<1:17:48, 1.67s/it] 91%|█████████ | 27203/30000 [12:37:48<1:17:47, 1.67s/it] 91%|█████████ | 27204/30000 [12:37:50<1:17:43, 1.67s/it] 91%|█████████ | 27205/30000 [12:37:51<1:17:42, 1.67s/it] 91%|█████████ | 27206/30000 [12:37:53<1:17:43, 1.67s/it] 91%|█████████ | 27207/30000 [12:37:55<1:17:36, 1.67s/it] 91%|█████████ | 27208/30000 [12:37:56<1:17:44, 1.67s/it] 91%|█████████ | 27209/30000 [12:37:58<1:17:36, 1.67s/it] 91%|█████████ | 27210/30000 [12:38:00<1:17:34, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.11010567098855972, 'learning_rate': 7.043081052937389e-07, 'flow_matching_loss': 0.0174422905780375, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.92} + 91%|█████████ | 27210/30000 [12:38:00<1:17:34, 1.67s/it] 91%|█████████ | 27211/30000 [12:38:01<1:17:31, 1.67s/it] 91%|█████████ | 27212/30000 [12:38:03<1:17:32, 1.67s/it] 91%|█████████ | 27213/30000 [12:38:05<1:17:29, 1.67s/it] 91%|█████████ | 27214/30000 [12:38:06<1:17:24, 1.67s/it] 91%|█████████ | 27215/30000 [12:38:08<1:17:20, 1.67s/it] 91%|█████████ | 27216/30000 [12:38:10<1:17:21, 1.67s/it] 91%|█████████ | 27217/30000 [12:38:11<1:17:23, 1.67s/it] 91%|█████████ | 27218/30000 [12:38:13<1:17:22, 1.67s/it] 91%|█████████ | 27219/30000 [12:38:15<1:17:13, 1.67s/it] 91%|█████████ | 27220/30000 [12:38:16<1:17:16, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.1216324120759964, 'learning_rate': 6.993096688956558e-07, 'flow_matching_loss': 0.015833993535488845, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.92} + 91%|█████████ | 27220/30000 [12:38:16<1:17:16, 1.67s/it] 91%|█████████ | 27221/30000 [12:38:18<1:17:09, 1.67s/it] 91%|█████████ | 27222/30000 [12:38:20<1:17:15, 1.67s/it] 91%|█████████ | 27223/30000 [12:38:21<1:17:11, 1.67s/it] 91%|█████████ | 27224/30000 [12:38:23<1:17:11, 1.67s/it] 91%|█████████ | 27225/30000 [12:38:25<1:17:08, 1.67s/it] 91%|█████████ | 27226/30000 [12:38:26<1:17:10, 1.67s/it] 91%|█████████ | 27227/30000 [12:38:28<1:17:07, 1.67s/it] 91%|█████████ | 27228/30000 [12:38:30<1:17:15, 1.67s/it] 91%|█████████ | 27229/30000 [12:38:31<1:17:02, 1.67s/it] 91%|█████████ | 27230/30000 [12:38:33<1:16:58, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.12545566260814667, 'learning_rate': 6.943286091847884e-07, 'flow_matching_loss': 0.015835635643452407, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.92} + 91%|█████████ | 27230/30000 [12:38:33<1:16:58, 1.67s/it] 91%|█████████ | 27231/30000 [12:38:35<1:16:53, 1.67s/it] 91%|█████████ | 27232/30000 [12:38:36<1:16:47, 1.66s/it] 91%|█████████ | 27233/30000 [12:38:38<1:16:58, 1.67s/it] 91%|█████████ | 27234/30000 [12:38:40<1:16:57, 1.67s/it] 91%|█████████ | 27235/30000 [12:38:41<1:16:50, 1.67s/it] 91%|█████████ | 27236/30000 [12:38:43<1:16:51, 1.67s/it] 91%|█████████ | 27237/30000 [12:38:45<1:16:49, 1.67s/it] 91%|█████████ | 27238/30000 [12:38:46<1:16:46, 1.67s/it] 91%|█████████ | 27239/30000 [12:38:48<1:16:41, 1.67s/it] 91%|█████████ | 27240/30000 [12:38:50<1:16:43, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.10893958061933517, 'learning_rate': 6.89364932213602e-07, 'flow_matching_loss': 0.016126826591789722, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.93} + 91%|█████████ | 27240/30000 [12:38:50<1:16:43, 1.67s/it] 91%|█████████ | 27241/30000 [12:38:51<1:16:44, 1.67s/it] 91%|█████████ | 27242/30000 [12:38:53<1:16:46, 1.67s/it] 91%|█████████ | 27243/30000 [12:38:55<1:16:41, 1.67s/it] 91%|█████████ | 27244/30000 [12:38:56<1:16:36, 1.67s/it] 91%|█████████ | 27245/30000 [12:38:58<1:16:34, 1.67s/it] 91%|█████████ | 27246/30000 [12:39:00<1:16:33, 1.67s/it] 91%|█████████ | 27247/30000 [12:39:01<1:16:30, 1.67s/it] 91%|█████████ | 27248/30000 [12:39:03<1:16:27, 1.67s/it] 91%|█████████ | 27249/30000 [12:39:05<1:16:26, 1.67s/it] 91%|█████████ | 27250/30000 [12:39:06<1:16:32, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.15398117899894714, 'learning_rate': 6.844186440134253e-07, 'flow_matching_loss': 0.018061319924890996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.93} + 91%|█████████ | 27250/30000 [12:39:07<1:16:32, 1.67s/it] 91%|█████████ | 27251/30000 [12:39:08<1:16:30, 1.67s/it] 91%|█████████ | 27252/30000 [12:39:10<1:16:19, 1.67s/it] 91%|█████████ | 27253/30000 [12:39:11<1:16:18, 1.67s/it] 91%|█████████ | 27254/30000 [12:39:13<1:16:15, 1.67s/it] 91%|█████████ | 27255/30000 [12:39:15<1:16:20, 1.67s/it] 91%|█████████ | 27256/30000 [12:39:16<1:16:20, 1.67s/it] 91%|█████████ | 27257/30000 [12:39:18<1:16:14, 1.67s/it] 91%|█████████ | 27258/30000 [12:39:20<1:16:14, 1.67s/it] 91%|█████████ | 27259/30000 [12:39:21<1:16:09, 1.67s/it] 91%|█████████ | 27260/30000 [12:39:23<1:16:10, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.10886521637439728, 'learning_rate': 6.794897505944692e-07, 'flow_matching_loss': 0.018093566037714483, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.93} + 91%|█████████ | 27260/30000 [12:39:23<1:16:10, 1.67s/it] 91%|█████████ | 27261/30000 [12:39:25<1:16:14, 1.67s/it] 91%|█████████ | 27262/30000 [12:39:27<1:16:12, 1.67s/it] 91%|█████████ | 27263/30000 [12:39:28<1:16:07, 1.67s/it] 91%|█████████ | 27264/30000 [12:39:30<1:16:04, 1.67s/it] 91%|█████████ | 27265/30000 [12:39:32<1:16:06, 1.67s/it] 91%|█████████ | 27266/30000 [12:39:33<1:16:01, 1.67s/it] 91%|█████████ | 27267/30000 [12:39:35<1:15:56, 1.67s/it] 91%|█████████ | 27268/30000 [12:39:37<1:15:57, 1.67s/it] 91%|█████████ | 27269/30000 [12:39:38<1:15:52, 1.67s/it] 91%|█████████ | 27270/30000 [12:39:40<1:15:46, 1.67s/it] {'loss': 0.0148, 'grad_norm': 0.09689252823591232, 'learning_rate': 6.745782579457993e-07, 'flow_matching_loss': 0.014788133464753628, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.93} + 91%|█████████ | 27270/30000 [12:39:40<1:15:46, 1.67s/it] 91%|█████████ | 27271/30000 [12:39:42<1:15:41, 1.66s/it] 91%|█████████ | 27272/30000 [12:39:43<1:15:42, 1.67s/it] 91%|█████████ | 27273/30000 [12:39:45<1:15:45, 1.67s/it] 91%|█████████ | 27274/30000 [12:39:47<1:15:44, 1.67s/it] 91%|█████████ | 27275/30000 [12:39:48<1:15:50, 1.67s/it] 91%|█████████ | 27276/30000 [12:39:50<1:15:39, 1.67s/it] 91%|█████████ | 27277/30000 [12:39:52<1:15:40, 1.67s/it] 91%|█████████ | 27278/30000 [12:39:53<1:15:36, 1.67s/it] 91%|█████████ | 27279/30000 [12:39:55<1:15:35, 1.67s/it] 91%|█████████ | 27280/30000 [12:39:57<1:15:36, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.09555044770240784, 'learning_rate': 6.696841720353453e-07, 'flow_matching_loss': 0.017445346899330617, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.94} + 91%|█████████ | 27280/30000 [12:39:57<1:15:36, 1.67s/it] 91%|█████████ | 27281/30000 [12:39:58<1:15:36, 1.67s/it] 91%|█████████ | 27282/30000 [12:40:00<1:15:30, 1.67s/it] 91%|█████████ | 27283/30000 [12:40:02<1:15:27, 1.67s/it] 91%|█████████ | 27284/30000 [12:40:03<1:15:23, 1.67s/it] 91%|█████████ | 27285/30000 [12:40:05<1:15:21, 1.67s/it] 91%|█████████ | 27286/30000 [12:40:07<1:15:22, 1.67s/it] 91%|█████████ | 27287/30000 [12:40:08<1:15:14, 1.66s/it] 91%|█████████ | 27288/30000 [12:40:10<1:15:22, 1.67s/it] 91%|█████████ | 27289/30000 [12:40:12<1:15:17, 1.67s/it] 91%|█████████ | 27290/30000 [12:40:13<1:15:16, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.0864528939127922, 'learning_rate': 6.648074988098834e-07, 'flow_matching_loss': 0.016971500124782324, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.94} + 91%|█████████ | 27290/30000 [12:40:13<1:15:16, 1.67s/it] 91%|█████████ | 27291/30000 [12:40:15<1:15:21, 1.67s/it] 91%|█████████ | 27292/30000 [12:40:17<1:15:16, 1.67s/it] 91%|█████████ | 27293/30000 [12:40:18<1:15:11, 1.67s/it] 91%|█████████ | 27294/30000 [12:40:20<1:15:09, 1.67s/it] 91%|█████████ | 27295/30000 [12:40:22<1:15:10, 1.67s/it] 91%|█████████ | 27296/30000 [12:40:23<1:15:11, 1.67s/it] 91%|█████████ | 27297/30000 [12:40:25<1:15:11, 1.67s/it] 91%|█████████ | 27298/30000 [12:40:27<1:15:10, 1.67s/it] 91%|█████████ | 27299/30000 [12:40:28<1:15:05, 1.67s/it] 91%|█████████ | 27300/30000 [12:40:30<1:15:01, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.10722745954990387, 'learning_rate': 6.599482441950322e-07, 'flow_matching_loss': 0.016102815233170985, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.94} + 91%|█████████ | 27300/30000 [12:40:30<1:15:01, 1.67s/it] 91%|█████████ | 27301/30000 [12:40:32<1:15:00, 1.67s/it] 91%|█████████ | 27302/30000 [12:40:33<1:14:55, 1.67s/it] 91%|█████████ | 27303/30000 [12:40:35<1:14:55, 1.67s/it] 91%|█████████ | 27304/30000 [12:40:37<1:14:53, 1.67s/it] 91%|█████████ | 27305/30000 [12:40:38<1:14:51, 1.67s/it] 91%|█████████ | 27306/30000 [12:40:40<1:14:56, 1.67s/it] 91%|█████████ | 27307/30000 [12:40:42<1:14:54, 1.67s/it] 91%|█████████ | 27308/30000 [12:40:43<1:14:49, 1.67s/it] 91%|█████████ | 27309/30000 [12:40:45<1:14:48, 1.67s/it] 91%|█████████ | 27310/30000 [12:40:47<1:14:38, 1.66s/it] {'loss': 0.0178, 'grad_norm': 0.09180110692977905, 'learning_rate': 6.551064140952417e-07, 'flow_matching_loss': 0.017845273483544588, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.95} + 91%|█████████ | 27310/30000 [12:40:47<1:14:38, 1.66s/it] 91%|█████████ | 27311/30000 [12:40:48<1:14:35, 1.66s/it] 91%|█████████ | 27312/30000 [12:40:50<1:14:36, 1.67s/it] 91%|█████████ | 27313/30000 [12:40:52<1:14:37, 1.67s/it] 91%|█████████ | 27314/30000 [12:40:53<1:14:38, 1.67s/it] 91%|█████████ | 27315/30000 [12:40:55<1:14:30, 1.66s/it] 91%|█████████ | 27316/30000 [12:40:57<1:14:34, 1.67s/it] 91%|█████████ | 27317/30000 [12:40:58<1:14:30, 1.67s/it] 91%|█████████ | 27318/30000 [12:41:00<1:14:32, 1.67s/it] 91%|█████████ | 27319/30000 [12:41:02<1:14:23, 1.66s/it] 91%|█████████ | 27320/30000 [12:41:03<1:14:28, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10854774713516235, 'learning_rate': 6.502820143937943e-07, 'flow_matching_loss': 0.01631897231563926, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.95} + 91%|█████████ | 27320/30000 [12:41:03<1:14:28, 1.67s/it] 91%|█████████ | 27321/30000 [12:41:05<1:14:30, 1.67s/it] 91%|█████████ | 27322/30000 [12:41:07<1:14:29, 1.67s/it] 91%|█████████ | 27323/30000 [12:41:08<1:14:25, 1.67s/it] 91%|█████████ | 27324/30000 [12:41:10<1:14:23, 1.67s/it] 91%|█████████ | 27325/30000 [12:41:12<1:14:17, 1.67s/it] 91%|█████████ | 27326/30000 [12:41:13<1:14:17, 1.67s/it] 91%|█████████ | 27327/30000 [12:41:15<1:14:15, 1.67s/it] 91%|█████████ | 27328/30000 [12:41:17<1:14:07, 1.66s/it] 91%|█████████ | 27329/30000 [12:41:18<1:14:05, 1.66s/it] 91%|█████████ | 27330/30000 [12:41:20<1:14:09, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.12085209786891937, 'learning_rate': 6.454750509527874e-07, 'flow_matching_loss': 0.015635440498590468, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.95} + 91%|█████████ | 27330/30000 [12:41:20<1:14:09, 1.67s/it] 91%|█████████ | 27331/30000 [12:41:22<1:14:11, 1.67s/it] 91%|█████████ | 27332/30000 [12:41:23<1:14:08, 1.67s/it] 91%|█████████ | 27333/30000 [12:41:25<1:14:06, 1.67s/it] 91%|█████████ | 27334/30000 [12:41:27<1:14:04, 1.67s/it] 91%|█████████ | 27335/30000 [12:41:28<1:14:03, 1.67s/it] 91%|█████████ | 27336/30000 [12:41:30<1:14:04, 1.67s/it] 91%|█████████ | 27337/30000 [12:41:32<1:14:05, 1.67s/it] 91%|█████████ | 27338/30000 [12:41:33<1:13:59, 1.67s/it] 91%|█████████ | 27339/30000 [12:41:35<1:14:00, 1.67s/it] 91%|█████████ | 27340/30000 [12:41:37<1:13:50, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.08162079751491547, 'learning_rate': 6.406855296131387e-07, 'flow_matching_loss': 0.017424186784774066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.95} + 91%|█████████ | 27340/30000 [12:41:37<1:13:50, 1.67s/it] 91%|█████████ | 27341/30000 [12:41:38<1:14:02, 1.67s/it] 91%|█████████ | 27342/30000 [12:41:40<1:13:59, 1.67s/it] 91%|█████████ | 27343/30000 [12:41:42<1:13:50, 1.67s/it] 91%|█████████ | 27344/30000 [12:41:43<1:13:51, 1.67s/it] 91%|█████████ | 27345/30000 [12:41:45<1:13:46, 1.67s/it] 91%|█████████ | 27346/30000 [12:41:47<1:13:52, 1.67s/it] 91%|█████████ | 27347/30000 [12:41:48<1:13:45, 1.67s/it] 91%|█████████ | 27348/30000 [12:41:50<1:13:36, 1.67s/it] 91%|█████████ | 27349/30000 [12:41:52<1:13:42, 1.67s/it] 91%|█████████ | 27350/30000 [12:41:53<1:13:41, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.10832064598798752, 'learning_rate': 6.359134561945662e-07, 'flow_matching_loss': 0.015980622824281455, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.96} + 91%|█████████ | 27350/30000 [12:41:53<1:13:41, 1.67s/it] 91%|█████████ | 27351/30000 [12:41:55<1:13:36, 1.67s/it] 91%|█████████ | 27352/30000 [12:41:57<1:13:43, 1.67s/it] 91%|█████████ | 27353/30000 [12:41:58<1:13:39, 1.67s/it] 91%|█████████ | 27354/30000 [12:42:00<1:13:39, 1.67s/it] 91%|█████████ | 27355/30000 [12:42:02<1:13:48, 1.67s/it] 91%|█████████ | 27356/30000 [12:42:03<1:13:34, 1.67s/it] 91%|█████████ | 27357/30000 [12:42:05<1:13:34, 1.67s/it] 91%|█████████ | 27358/30000 [12:42:07<1:13:25, 1.67s/it] 91%|█████████ | 27359/30000 [12:42:08<1:13:15, 1.66s/it] 91%|█████████ | 27360/30000 [12:42:10<1:13:26, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.10781270265579224, 'learning_rate': 6.311588364955883e-07, 'flow_matching_loss': 0.016040070727467538, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.96} + 91%|█████████ | 27360/30000 [12:42:10<1:13:26, 1.67s/it] 91%|█████████ | 27361/30000 [12:42:12<1:13:31, 1.67s/it] 91%|█████████ | 27362/30000 [12:42:13<1:13:33, 1.67s/it] 91%|█████████ | 27363/30000 [12:42:15<1:13:28, 1.67s/it] 91%|█████████ | 27364/30000 [12:42:17<1:13:23, 1.67s/it] 91%|█████████ | 27365/30000 [12:42:18<1:13:19, 1.67s/it] 91%|█████████ | 27366/30000 [12:42:20<1:13:15, 1.67s/it] 91%|█████████ | 27367/30000 [12:42:22<1:13:12, 1.67s/it] 91%|█████████ | 27368/30000 [12:42:23<1:13:10, 1.67s/it] 91%|█████████ | 27369/30000 [12:42:25<1:13:13, 1.67s/it] 91%|█████████ | 27370/30000 [12:42:27<1:13:08, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.08846275508403778, 'learning_rate': 6.264216762935187e-07, 'flow_matching_loss': 0.014679515268653631, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.96} + 91%|█████████ | 27370/30000 [12:42:27<1:13:08, 1.67s/it] 91%|█████████ | 27371/30000 [12:42:28<1:13:03, 1.67s/it] 91%|█████████ | 27372/30000 [12:42:30<1:13:01, 1.67s/it] 91%|█████████ | 27373/30000 [12:42:32<1:12:53, 1.66s/it] 91%|█████████ | 27374/30000 [12:42:33<1:12:49, 1.66s/it] 91%|█████████▏| 27375/30000 [12:42:35<1:13:06, 1.67s/it] 91%|█████████▏| 27376/30000 [12:42:37<1:12:59, 1.67s/it] 91%|█████████▏| 27377/30000 [12:42:38<1:13:00, 1.67s/it] 91%|█████████▏| 27378/30000 [12:42:40<1:12:56, 1.67s/it] 91%|█████████▏| 27379/30000 [12:42:42<1:12:47, 1.67s/it] 91%|█████████▏| 27380/30000 [12:42:43<1:12:46, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.13211658596992493, 'learning_rate': 6.21701981344453e-07, 'flow_matching_loss': 0.01686251852661371, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.97} + 91%|█████████▏| 27380/30000 [12:42:43<1:12:46, 1.67s/it] 91%|█████████▏| 27381/30000 [12:42:45<1:12:49, 1.67s/it] 91%|█████████▏| 27382/30000 [12:42:47<1:12:48, 1.67s/it] 91%|█████████▏| 27383/30000 [12:42:48<1:12:41, 1.67s/it] 91%|█████████▏| 27384/30000 [12:42:50<1:12:46, 1.67s/it] 91%|█████████▏| 27385/30000 [12:42:52<1:12:44, 1.67s/it] 91%|█████████▏| 27386/30000 [12:42:53<1:12:42, 1.67s/it] 91%|█████████▏| 27387/30000 [12:42:55<1:12:37, 1.67s/it] 91%|█████████▏| 27388/30000 [12:42:57<1:12:37, 1.67s/it] 91%|█████████▏| 27389/30000 [12:42:58<1:12:33, 1.67s/it] 91%|█████████▏| 27390/30000 [12:43:00<1:12:33, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.09745681285858154, 'learning_rate': 6.16999757383262e-07, 'flow_matching_loss': 0.014911133144050837, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.97} + 91%|█████████▏| 27390/30000 [12:43:00<1:12:33, 1.67s/it] 91%|█████████▏| 27391/30000 [12:43:02<1:12:29, 1.67s/it] 91%|█████████▏| 27392/30000 [12:43:03<1:12:30, 1.67s/it] 91%|█████████▏| 27393/30000 [12:43:05<1:12:26, 1.67s/it] 91%|█████████▏| 27394/30000 [12:43:07<1:12:31, 1.67s/it] 91%|█████████▏| 27395/30000 [12:43:08<1:12:34, 1.67s/it] 91%|█████████▏| 27396/30000 [12:43:10<1:12:26, 1.67s/it] 91%|█████████▏| 27397/30000 [12:43:12<1:12:18, 1.67s/it] 91%|█████████▏| 27398/30000 [12:43:13<1:12:21, 1.67s/it] 91%|█████████▏| 27399/30000 [12:43:15<1:12:15, 1.67s/it] 91%|█████████▏| 27400/30000 [12:43:17<1:12:17, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.12146525830030441, 'learning_rate': 6.123150101235952e-07, 'flow_matching_loss': 0.016633941791951656, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.97} + 91%|█████████▏| 27400/30000 [12:43:17<1:12:17, 1.67s/it] 91%|█████████▏| 27401/30000 [12:43:18<1:12:21, 1.67s/it] 91%|█████████▏| 27402/30000 [12:43:20<1:12:21, 1.67s/it] 91%|█████████▏| 27403/30000 [12:43:22<1:12:12, 1.67s/it] 91%|█████████▏| 27404/30000 [12:43:23<1:12:16, 1.67s/it] 91%|█████████▏| 27405/30000 [12:43:25<1:12:16, 1.67s/it] 91%|█████████▏| 27406/30000 [12:43:27<1:12:11, 1.67s/it] 91%|█████████▏| 27407/30000 [12:43:28<1:12:05, 1.67s/it] 91%|█████████▏| 27408/30000 [12:43:30<1:12:00, 1.67s/it] 91%|█████████▏| 27409/30000 [12:43:32<1:12:02, 1.67s/it] 91%|█████████▏| 27410/30000 [12:43:33<1:12:08, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11543826758861542, 'learning_rate': 6.076477452578594e-07, 'flow_matching_loss': 0.017295575980097056, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.97} + 91%|█████████▏| 27410/30000 [12:43:33<1:12:08, 1.67s/it] 91%|█████████▏| 27411/30000 [12:43:35<1:12:00, 1.67s/it] 91%|█████████▏| 27412/30000 [12:43:37<1:11:51, 1.67s/it] 91%|█████████▏| 27413/30000 [12:43:38<1:11:47, 1.67s/it] 91%|█████████▏| 27414/30000 [12:43:40<1:11:41, 1.66s/it] 91%|█████████▏| 27415/30000 [12:43:42<1:11:44, 1.67s/it] 91%|█████████▏| 27416/30000 [12:43:43<1:11:47, 1.67s/it] 91%|█████████▏| 27417/30000 [12:43:45<1:11:44, 1.67s/it] 91%|█████████▏| 27418/30000 [12:43:47<1:11:47, 1.67s/it] 91%|█████████▏| 27419/30000 [12:43:48<1:11:47, 1.67s/it] 91%|█████████▏| 27420/30000 [12:43:50<1:11:33, 1.66s/it] {'loss': 0.0158, 'grad_norm': 0.09186551719903946, 'learning_rate': 6.029979684572262e-07, 'flow_matching_loss': 0.015778972860425712, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.98} + 91%|█████████▏| 27420/30000 [12:43:50<1:11:33, 1.66s/it] 91%|█████████▏| 27421/30000 [12:43:52<1:11:32, 1.66s/it] 91%|█████████▏| 27422/30000 [12:43:53<1:11:32, 1.66s/it] 91%|█████████▏| 27423/30000 [12:43:55<1:11:31, 1.67s/it] 91%|█████████▏| 27424/30000 [12:43:57<1:11:33, 1.67s/it] 91%|█████████▏| 27425/30000 [12:43:58<1:11:25, 1.66s/it] 91%|█████████▏| 27426/30000 [12:44:00<1:11:26, 1.67s/it] 91%|█████████▏| 27427/30000 [12:44:02<1:11:22, 1.66s/it] 91%|█████████▏| 27428/30000 [12:44:03<1:11:16, 1.66s/it] 91%|█████████▏| 27429/30000 [12:44:05<1:11:11, 1.66s/it] 91%|█████████▏| 27430/30000 [12:44:07<1:11:17, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.11749756336212158, 'learning_rate': 5.983656853716097e-07, 'flow_matching_loss': 0.017020966019481422, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.98} + 91%|█████████▏| 27430/30000 [12:44:07<1:11:17, 1.66s/it] 91%|█████████▏| 27431/30000 [12:44:08<1:11:15, 1.66s/it] 91%|█████████▏| 27432/30000 [12:44:10<1:11:18, 1.67s/it] 91%|█████████▏| 27433/30000 [12:44:12<1:11:17, 1.67s/it] 91%|█████████▏| 27434/30000 [12:44:13<1:11:22, 1.67s/it] 91%|█████████▏| 27435/30000 [12:44:15<1:11:19, 1.67s/it] 91%|█████████▏| 27436/30000 [12:44:17<1:11:16, 1.67s/it] 91%|█████████▏| 27437/30000 [12:44:18<1:11:17, 1.67s/it] 91%|█████████▏| 27438/30000 [12:44:20<1:11:20, 1.67s/it] 91%|█████████▏| 27439/30000 [12:44:22<1:11:15, 1.67s/it] 91%|█████████▏| 27440/30000 [12:44:23<1:11:11, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.1263260692358017, 'learning_rate': 5.937509016296689e-07, 'flow_matching_loss': 0.018119411449879406, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.98} + 91%|█████████▏| 27440/30000 [12:44:23<1:11:11, 1.67s/it] 91%|█████████▏| 27441/30000 [12:44:25<1:11:09, 1.67s/it] 91%|█████████▏| 27442/30000 [12:44:27<1:11:08, 1.67s/it] 91%|█████████▏| 27443/30000 [12:44:28<1:11:02, 1.67s/it] 91%|█████████▏| 27444/30000 [12:44:30<1:11:00, 1.67s/it] 91%|█████████▏| 27445/30000 [12:44:32<1:10:59, 1.67s/it] 91%|█████████▏| 27446/30000 [12:44:33<1:11:02, 1.67s/it] 91%|█████████▏| 27447/30000 [12:44:35<1:10:52, 1.67s/it] 91%|█████████▏| 27448/30000 [12:44:37<1:10:55, 1.67s/it] 91%|█████████▏| 27449/30000 [12:44:38<1:10:55, 1.67s/it] 92%|█████████▏| 27450/30000 [12:44:40<1:10:56, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.1071842759847641, 'learning_rate': 5.89153622838805e-07, 'flow_matching_loss': 0.01830987948924303, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.99} + 92%|█████████▏| 27450/30000 [12:44:40<1:10:56, 1.67s/it] 92%|█████████▏| 27451/30000 [12:44:42<1:10:54, 1.67s/it] 92%|█████████▏| 27452/30000 [12:44:43<1:10:48, 1.67s/it] 92%|█████████▏| 27453/30000 [12:44:45<1:10:44, 1.67s/it] 92%|█████████▏| 27454/30000 [12:44:47<1:10:47, 1.67s/it] 92%|█████████▏| 27455/30000 [12:44:48<1:10:41, 1.67s/it] 92%|█████████▏| 27456/30000 [12:44:50<1:10:39, 1.67s/it] 92%|█████████▏| 27457/30000 [12:44:52<1:10:32, 1.66s/it] 92%|█████████▏| 27458/30000 [12:44:53<1:10:33, 1.67s/it] 92%|█████████▏| 27459/30000 [12:44:55<1:10:36, 1.67s/it] 92%|█████████▏| 27460/30000 [12:44:57<1:10:26, 1.66s/it] {'loss': 0.0185, 'grad_norm': 0.10750597715377808, 'learning_rate': 5.845738545851431e-07, 'flow_matching_loss': 0.018454377260059118, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.99} + 92%|█████████▏| 27460/30000 [12:44:57<1:10:26, 1.66s/it] 92%|█████████▏| 27461/30000 [12:44:58<1:10:30, 1.67s/it] 92%|█████████▏| 27462/30000 [12:45:00<1:10:23, 1.66s/it] 92%|█████████▏| 27463/30000 [12:45:02<1:10:22, 1.66s/it] 92%|█████████▏| 27464/30000 [12:45:03<1:10:19, 1.66s/it] 92%|█████████▏| 27465/30000 [12:45:05<1:10:21, 1.67s/it] 92%|█████████▏| 27466/30000 [12:45:07<1:10:19, 1.67s/it] 92%|█████████▏| 27467/30000 [12:45:08<1:10:18, 1.67s/it] 92%|█████████▏| 27468/30000 [12:45:10<1:10:17, 1.67s/it] 92%|█████████▏| 27469/30000 [12:45:12<1:10:20, 1.67s/it] 92%|█████████▏| 27470/30000 [12:45:13<1:10:14, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10492756962776184, 'learning_rate': 5.800116024335334e-07, 'flow_matching_loss': 0.016301316395401954, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 7.99} + 92%|█████████▏| 27470/30000 [12:45:13<1:10:14, 1.67s/it] 92%|█████████▏| 27471/30000 [12:45:15<1:10:13, 1.67s/it] 92%|█████████▏| 27472/30000 [12:45:17<1:10:12, 1.67s/it] 92%|█████████▏| 27473/30000 [12:45:18<1:10:15, 1.67s/it] 92%|█████████▏| 27474/30000 [12:45:20<1:10:12, 1.67s/it] 92%|█████████▏| 27475/30000 [12:45:22<1:10:11, 1.67s/it] 92%|█████████▏| 27476/30000 [12:45:23<1:10:11, 1.67s/it] 92%|█████████▏| 27477/30000 [12:45:25<1:10:04, 1.67s/it] 92%|█████████▏| 27478/30000 [12:45:27<1:10:06, 1.67s/it] 92%|█████████▏| 27479/30000 [12:45:28<1:10:04, 1.67s/it] 92%|█████████▏| 27480/30000 [12:45:30<1:09:58, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11603213101625443, 'learning_rate': 5.75466871927543e-07, 'flow_matching_loss': 0.01662497902289033, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.0} + 92%|█████████▏| 27480/30000 [12:45:30<1:09:58, 1.67s/it] 92%|█████████▏| 27481/30000 [12:45:32<1:09:50, 1.66s/it] 92%|█████████▏| 27482/30000 [12:45:33<1:09:44, 1.66s/it] 92%|█████████▏| 27483/30000 [12:45:35<1:09:37, 1.66s/it] 92%|█████████▏| 27484/30000 [12:45:37<1:09:27, 1.66s/it] 92%|█████████▏| 27485/30000 [12:45:38<1:09:24, 1.66s/it] 92%|█████████▏| 27486/30000 [12:45:40<1:09:24, 1.66s/it] 92%|█████████▏| 27487/30000 [12:45:42<1:09:22, 1.66s/it] 92%|█████████▏| 27488/30000 [12:45:43<1:09:18, 1.66s/it] 92%|█████████▏| 27489/30000 [12:45:45<1:09:16, 1.66s/it] 92%|█████████▏| 27490/30000 [12:45:47<1:09:17, 1.66s/it] {'loss': 0.0145, 'grad_norm': 0.0716029554605484, 'learning_rate': 5.709396685894463e-07, 'flow_matching_loss': 0.014548239018768071, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.0} + 92%|█████████▏| 27490/30000 [12:45:47<1:09:17, 1.66s/it] 92%|█████████▏| 27491/30000 [12:45:48<1:09:15, 1.66s/it] 92%|█████████▏| 27492/30000 [12:45:50<1:09:12, 1.66s/it] 92%|█████████▏| 27493/30000 [12:45:52<1:09:07, 1.65s/it] 92%|█████████▏| 27494/30000 [12:45:53<1:09:04, 1.65s/it] 92%|█████████▏| 27495/30000 [12:45:55<1:09:00, 1.65s/it] 92%|█████████▏| 27496/30000 [12:45:56<1:08:48, 1.65s/it] 92%|█████████▏| 27497/30000 [12:46:05<2:40:02, 3.84s/it] 92%|█████████▏| 27498/30000 [12:46:07<2:12:53, 3.19s/it] 92%|█████████▏| 27499/30000 [12:46:09<1:54:07, 2.74s/it] 92%|█████████▏| 27500/30000 [12:46:10<1:40:56, 2.42s/it] {'loss': 0.0149, 'grad_norm': 0.11036854982376099, 'learning_rate': 5.664299979202264e-07, 'flow_matching_loss': 0.014882995281368494, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.0} + 92%|█████████▏| 27500/30000 [12:46:10<1:40:56, 2.42s/it] 92%|█████████▏| 27501/30000 [12:46:12<1:31:43, 2.20s/it] 92%|█████████▏| 27502/30000 [12:46:14<1:25:12, 2.05s/it] 92%|█████████▏| 27503/30000 [12:46:16<1:20:37, 1.94s/it] 92%|█████████▏| 27504/30000 [12:46:17<1:17:52, 1.87s/it] 92%|█████████▏| 27505/30000 [12:46:19<1:15:01, 1.80s/it] 92%|█████████▏| 27506/30000 [12:46:21<1:13:15, 1.76s/it] 92%|█████████▏| 27507/30000 [12:46:22<1:12:04, 1.73s/it] 92%|█████████▏| 27508/30000 [12:46:24<1:11:02, 1.71s/it] 92%|█████████▏| 27509/30000 [12:46:26<1:10:22, 1.70s/it] 92%|█████████▏| 27510/30000 [12:46:27<1:10:02, 1.69s/it] {'loss': 0.0171, 'grad_norm': 0.09504213184118271, 'learning_rate': 5.61937865399555e-07, 'flow_matching_loss': 0.01705261701717973, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.0} + 92%|█████████▏| 27510/30000 [12:46:27<1:10:02, 1.69s/it] 92%|█████████▏| 27511/30000 [12:46:29<1:09:42, 1.68s/it] 92%|█████████▏| 27512/30000 [12:46:31<1:09:37, 1.68s/it] 92%|█████████▏| 27513/30000 [12:46:32<1:09:14, 1.67s/it] 92%|█████████▏| 27514/30000 [12:46:34<1:09:05, 1.67s/it] 92%|█████████▏| 27515/30000 [12:46:35<1:08:57, 1.66s/it] 92%|█████████▏| 27516/30000 [12:46:37<1:08:51, 1.66s/it] 92%|█████████▏| 27517/30000 [12:46:39<1:08:54, 1.67s/it] 92%|█████████▏| 27518/30000 [12:46:40<1:08:50, 1.66s/it] 92%|█████████▏| 27519/30000 [12:46:42<1:08:48, 1.66s/it] 92%|█████████▏| 27520/30000 [12:46:44<1:08:49, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.12679648399353027, 'learning_rate': 5.574632764857974e-07, 'flow_matching_loss': 0.018424464482814075, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.01} + 92%|█████████▏| 27520/30000 [12:46:44<1:08:49, 1.67s/it] 92%|█████████▏| 27521/30000 [12:46:45<1:08:48, 1.67s/it] 92%|█████████▏| 27522/30000 [12:46:47<1:08:39, 1.66s/it] 92%|█████████▏| 27523/30000 [12:46:49<1:08:38, 1.66s/it] 92%|█████████▏| 27524/30000 [12:46:50<1:08:35, 1.66s/it] 92%|█████████▏| 27525/30000 [12:46:52<1:08:31, 1.66s/it] 92%|█████████▏| 27526/30000 [12:46:54<1:08:37, 1.66s/it] 92%|█████████▏| 27527/30000 [12:46:55<1:08:40, 1.67s/it] 92%|█████████▏| 27528/30000 [12:46:57<1:08:33, 1.66s/it] 92%|█████████▏| 27529/30000 [12:46:59<1:08:29, 1.66s/it] 92%|█████████▏| 27530/30000 [12:47:00<1:08:21, 1.66s/it] {'loss': 0.0148, 'grad_norm': 0.12765468657016754, 'learning_rate': 5.53006236616001e-07, 'flow_matching_loss': 0.014849949907511473, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.01} + 92%|█████████▏| 27530/30000 [12:47:00<1:08:21, 1.66s/it] 92%|█████████▏| 27531/30000 [12:47:02<1:08:21, 1.66s/it] 92%|█████████▏| 27532/30000 [12:47:04<1:08:21, 1.66s/it] 92%|█████████▏| 27533/30000 [12:47:05<1:08:24, 1.66s/it] 92%|█████████▏| 27534/30000 [12:47:07<1:08:22, 1.66s/it] 92%|█████████▏| 27535/30000 [12:47:09<1:08:21, 1.66s/it] 92%|█████████▏| 27536/30000 [12:47:10<1:08:19, 1.66s/it] 92%|█████████▏| 27537/30000 [12:47:12<1:08:15, 1.66s/it] 92%|█████████▏| 27538/30000 [12:47:14<1:08:12, 1.66s/it] 92%|█████████▏| 27539/30000 [12:47:15<1:08:13, 1.66s/it] 92%|█████████▏| 27540/30000 [12:47:17<1:08:10, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.09619444608688354, 'learning_rate': 5.485667512058873e-07, 'flow_matching_loss': 0.01654960922896862, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.01} + 92%|█████████▏| 27540/30000 [12:47:17<1:08:10, 1.66s/it] 92%|█████████▏| 27541/30000 [12:47:19<1:08:13, 1.66s/it] 92%|█████████▏| 27542/30000 [12:47:20<1:08:11, 1.66s/it] 92%|█████████▏| 27543/30000 [12:47:22<1:08:13, 1.67s/it] 92%|█████████▏| 27544/30000 [12:47:24<1:08:24, 1.67s/it] 92%|█████████▏| 27545/30000 [12:47:25<1:08:16, 1.67s/it] 92%|█████████▏| 27546/30000 [12:47:27<1:08:08, 1.67s/it] 92%|█████████▏| 27547/30000 [12:47:29<1:08:01, 1.66s/it] 92%|█████████▏| 27548/30000 [12:47:30<1:07:58, 1.66s/it] 92%|█████████▏| 27549/30000 [12:47:32<1:07:56, 1.66s/it] 92%|█████████▏| 27550/30000 [12:47:34<1:07:56, 1.66s/it] {'loss': 0.016, 'grad_norm': 0.08485928922891617, 'learning_rate': 5.441448256498544e-07, 'flow_matching_loss': 0.0159828569740057, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.02} + 92%|█████████▏| 27550/30000 [12:47:34<1:07:56, 1.66s/it] 92%|█████████▏| 27551/30000 [12:47:35<1:07:58, 1.67s/it] 92%|█████████▏| 27552/30000 [12:47:37<1:07:58, 1.67s/it] 92%|█████████▏| 27553/30000 [12:47:39<1:07:52, 1.66s/it] 92%|█████████▏| 27554/30000 [12:47:40<1:07:54, 1.67s/it] 92%|█████████▏| 27555/30000 [12:47:42<1:07:50, 1.66s/it] 92%|█████████▏| 27556/30000 [12:47:44<1:07:45, 1.66s/it] 92%|█████████▏| 27557/30000 [12:47:45<1:07:46, 1.66s/it] 92%|█████████▏| 27558/30000 [12:47:47<1:07:55, 1.67s/it] 92%|█████████▏| 27559/30000 [12:47:49<1:07:54, 1.67s/it] 92%|█████████▏| 27560/30000 [12:47:50<1:07:56, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.12113086134195328, 'learning_rate': 5.397404653209559e-07, 'flow_matching_loss': 0.017634123004972933, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.02} + 92%|█████████▏| 27560/30000 [12:47:50<1:07:56, 1.67s/it] 92%|█████████▏| 27561/30000 [12:47:52<1:07:52, 1.67s/it] 92%|█████████▏| 27562/30000 [12:47:54<1:07:45, 1.67s/it] 92%|█████████▏| 27563/30000 [12:47:55<1:07:45, 1.67s/it] 92%|█████████▏| 27564/30000 [12:47:57<1:07:42, 1.67s/it] 92%|█████████▏| 27565/30000 [12:47:59<1:07:33, 1.66s/it] 92%|█████████▏| 27566/30000 [12:48:00<1:07:35, 1.67s/it] 92%|█████████▏| 27567/30000 [12:48:02<1:07:25, 1.66s/it] 92%|█████████▏| 27568/30000 [12:48:04<1:07:23, 1.66s/it] 92%|█████████▏| 27569/30000 [12:48:05<1:07:16, 1.66s/it] 92%|█████████▏| 27570/30000 [12:48:07<1:07:19, 1.66s/it] {'loss': 0.0159, 'grad_norm': 0.10339347273111343, 'learning_rate': 5.35353675570906e-07, 'flow_matching_loss': 0.01593182496726513, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.02} + 92%|█████████▏| 27570/30000 [12:48:07<1:07:19, 1.66s/it] 92%|█████████▏| 27571/30000 [12:48:09<1:07:22, 1.66s/it] 92%|█████████▏| 27572/30000 [12:48:10<1:07:24, 1.67s/it] 92%|█████████▏| 27573/30000 [12:48:12<1:07:24, 1.67s/it] 92%|█████████▏| 27574/30000 [12:48:14<1:07:29, 1.67s/it] 92%|█████████▏| 27575/30000 [12:48:15<1:07:21, 1.67s/it] 92%|█████████▏| 27576/30000 [12:48:17<1:07:20, 1.67s/it] 92%|█████████▏| 27577/30000 [12:48:19<1:07:13, 1.66s/it] 92%|█████████▏| 27578/30000 [12:48:20<1:07:13, 1.67s/it] 92%|█████████▏| 27579/30000 [12:48:22<1:07:14, 1.67s/it] 92%|█████████▏| 27580/30000 [12:48:24<1:07:08, 1.66s/it] {'loss': 0.0144, 'grad_norm': 0.10463747382164001, 'learning_rate': 5.309844617300674e-07, 'flow_matching_loss': 0.01441552983596921, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.02} + 92%|█████████▏| 27580/30000 [12:48:24<1:07:08, 1.66s/it] 92%|█████████▏| 27581/30000 [12:48:25<1:07:09, 1.67s/it] 92%|█████████▏| 27582/30000 [12:48:27<1:07:12, 1.67s/it] 92%|█████████▏| 27583/30000 [12:48:29<1:07:10, 1.67s/it] 92%|█████████▏| 27584/30000 [12:48:30<1:07:03, 1.67s/it] 92%|█████████▏| 27585/30000 [12:48:32<1:06:55, 1.66s/it] 92%|█████████▏| 27586/30000 [12:48:34<1:06:55, 1.66s/it] 92%|█████████▏| 27587/30000 [12:48:35<1:07:02, 1.67s/it] 92%|█████████▏| 27588/30000 [12:48:37<1:06:58, 1.67s/it] 92%|█████████▏| 27589/30000 [12:48:39<1:06:54, 1.66s/it] 92%|█████████▏| 27590/30000 [12:48:40<1:06:58, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.09421480447053909, 'learning_rate': 5.266328291074468e-07, 'flow_matching_loss': 0.015405604243278503, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.03} + 92%|█████████▏| 27590/30000 [12:48:40<1:06:58, 1.67s/it] 92%|█████████▏| 27591/30000 [12:48:42<1:07:10, 1.67s/it] 92%|█████████▏| 27592/30000 [12:48:44<1:06:57, 1.67s/it] 92%|█████████▏| 27593/30000 [12:48:45<1:06:50, 1.67s/it] 92%|█████████▏| 27594/30000 [12:48:47<1:06:47, 1.67s/it] 92%|█████████▏| 27595/30000 [12:48:49<1:06:46, 1.67s/it] 92%|█████████▏| 27596/30000 [12:48:50<1:06:45, 1.67s/it] 92%|█████████▏| 27597/30000 [12:48:52<1:06:42, 1.67s/it] 92%|█████████▏| 27598/30000 [12:48:54<1:06:45, 1.67s/it] 92%|█████████▏| 27599/30000 [12:48:55<1:06:45, 1.67s/it] 92%|█████████▏| 27600/30000 [12:48:57<1:06:48, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.12989288568496704, 'learning_rate': 5.222987829906861e-07, 'flow_matching_loss': 0.017217989545315504, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.03} + 92%|█████████▏| 27600/30000 [12:48:57<1:06:48, 1.67s/it] 92%|█████████▏| 27601/30000 [12:48:59<1:06:28, 1.66s/it] 92%|█████████▏| 27602/30000 [12:49:00<1:06:31, 1.66s/it] 92%|█████████▏| 27603/30000 [12:49:02<1:06:33, 1.67s/it] 92%|█████████▏| 27604/30000 [12:49:04<1:06:33, 1.67s/it] 92%|█████████▏| 27605/30000 [12:49:05<1:06:30, 1.67s/it] 92%|█████████▏| 27606/30000 [12:49:07<1:06:25, 1.66s/it] 92%|█████████▏| 27607/30000 [12:49:09<1:06:25, 1.67s/it] 92%|█████████▏| 27608/30000 [12:49:10<1:06:21, 1.66s/it] 92%|█████████▏| 27609/30000 [12:49:12<1:06:19, 1.66s/it] 92%|█████████▏| 27610/30000 [12:49:14<1:06:19, 1.66s/it] {'loss': 0.0146, 'grad_norm': 0.1296377032995224, 'learning_rate': 5.179823286460644e-07, 'flow_matching_loss': 0.014612351730465888, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.03} + 92%|█████████▏| 27610/30000 [12:49:14<1:06:19, 1.66s/it] 92%|█████████▏| 27611/30000 [12:49:15<1:06:23, 1.67s/it] 92%|█████████▏| 27612/30000 [12:49:17<1:06:19, 1.67s/it] 92%|█████████▏| 27613/30000 [12:49:19<1:06:14, 1.67s/it] 92%|█████████▏| 27614/30000 [12:49:20<1:06:20, 1.67s/it] 92%|█████████▏| 27615/30000 [12:49:22<1:06:19, 1.67s/it] 92%|█████████▏| 27616/30000 [12:49:24<1:06:10, 1.67s/it] 92%|█████████▏| 27617/30000 [12:49:25<1:06:08, 1.67s/it] 92%|█████████▏| 27618/30000 [12:49:27<1:06:08, 1.67s/it] 92%|█████████▏| 27619/30000 [12:49:29<1:06:12, 1.67s/it] 92%|█████████▏| 27620/30000 [12:49:30<1:06:13, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.10777503252029419, 'learning_rate': 5.13683471318478e-07, 'flow_matching_loss': 0.017747920006513596, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.04} + 92%|█████████▏| 27620/30000 [12:49:30<1:06:13, 1.67s/it] 92%|█████████▏| 27621/30000 [12:49:32<1:06:13, 1.67s/it] 92%|█████████▏| 27622/30000 [12:49:34<1:06:08, 1.67s/it] 92%|█████████▏| 27623/30000 [12:49:35<1:06:08, 1.67s/it] 92%|█████████▏| 27624/30000 [12:49:37<1:06:04, 1.67s/it] 92%|█████████▏| 27625/30000 [12:49:39<1:06:01, 1.67s/it] 92%|█████████▏| 27626/30000 [12:49:40<1:05:57, 1.67s/it] 92%|█████████▏| 27627/30000 [12:49:42<1:05:59, 1.67s/it] 92%|█████████▏| 27628/30000 [12:49:44<1:05:59, 1.67s/it] 92%|█████████▏| 27629/30000 [12:49:45<1:05:57, 1.67s/it] 92%|█████████▏| 27630/30000 [12:49:47<1:05:53, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.13809162378311157, 'learning_rate': 5.094022162314449e-07, 'flow_matching_loss': 0.017554369941353797, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.04} + 92%|█████████▏| 27630/30000 [12:49:47<1:05:53, 1.67s/it] 92%|█████████▏| 27631/30000 [12:49:49<1:05:54, 1.67s/it] 92%|█████████▏| 27632/30000 [12:49:50<1:05:52, 1.67s/it] 92%|█████████▏| 27633/30000 [12:49:52<1:05:46, 1.67s/it] 92%|█████████▏| 27634/30000 [12:49:54<1:05:49, 1.67s/it] 92%|█████████▏| 27635/30000 [12:49:55<1:05:47, 1.67s/it] 92%|█████████▏| 27636/30000 [12:49:57<1:05:42, 1.67s/it] 92%|█████████▏| 27637/30000 [12:49:59<1:05:39, 1.67s/it] 92%|█████████▏| 27638/30000 [12:50:00<1:05:46, 1.67s/it] 92%|█████████▏| 27639/30000 [12:50:02<1:05:41, 1.67s/it] 92%|█████████▏| 27640/30000 [12:50:04<1:05:37, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.10850776731967926, 'learning_rate': 5.051385685870924e-07, 'flow_matching_loss': 0.01839955896139145, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.04} + 92%|█████████▏| 27640/30000 [12:50:04<1:05:37, 1.67s/it] 92%|█████████▏| 27641/30000 [12:50:05<1:05:42, 1.67s/it] 92%|█████████▏| 27642/30000 [12:50:07<1:05:36, 1.67s/it] 92%|█████████▏| 27643/30000 [12:50:09<1:05:43, 1.67s/it] 92%|█████████▏| 27644/30000 [12:50:10<1:05:36, 1.67s/it] 92%|█████████▏| 27645/30000 [12:50:12<1:05:30, 1.67s/it] 92%|█████████▏| 27646/30000 [12:50:14<1:05:35, 1.67s/it] 92%|█████████▏| 27647/30000 [12:50:15<1:05:25, 1.67s/it] 92%|█████████▏| 27648/30000 [12:50:17<1:05:25, 1.67s/it] 92%|█████████▏| 27649/30000 [12:50:19<1:05:23, 1.67s/it] 92%|█████████▏| 27650/30000 [12:50:20<1:05:14, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.11550461500883102, 'learning_rate': 5.008925335661546e-07, 'flow_matching_loss': 0.016231601126492023, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.04} + 92%|█████████▏| 27650/30000 [12:50:20<1:05:14, 1.67s/it] 92%|█████████▏| 27651/30000 [12:50:22<1:05:17, 1.67s/it] 92%|█████████▏| 27652/30000 [12:50:24<1:05:15, 1.67s/it] 92%|█████████▏| 27653/30000 [12:50:25<1:05:13, 1.67s/it] 92%|█████████▏| 27654/30000 [12:50:27<1:05:17, 1.67s/it] 92%|█████████▏| 27655/30000 [12:50:29<1:05:15, 1.67s/it] 92%|█████████▏| 27656/30000 [12:50:30<1:05:12, 1.67s/it] 92%|█████████▏| 27657/30000 [12:50:32<1:05:08, 1.67s/it] 92%|█████████▏| 27658/30000 [12:50:34<1:05:03, 1.67s/it] 92%|█████████▏| 27659/30000 [12:50:35<1:05:05, 1.67s/it] 92%|█████████▏| 27660/30000 [12:50:37<1:05:03, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.1100827157497406, 'learning_rate': 4.966641163279662e-07, 'flow_matching_loss': 0.01661005588248372, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.05} + 92%|█████████▏| 27660/30000 [12:50:37<1:05:03, 1.67s/it] 92%|█████████▏| 27661/30000 [12:50:39<1:04:57, 1.67s/it] 92%|█████████▏| 27662/30000 [12:50:40<1:05:03, 1.67s/it] 92%|█████████▏| 27663/30000 [12:50:42<1:05:04, 1.67s/it] 92%|█████████▏| 27664/30000 [12:50:44<1:05:00, 1.67s/it] 92%|█████████▏| 27665/30000 [12:50:45<1:04:51, 1.67s/it] 92%|█████████▏| 27666/30000 [12:50:47<1:04:47, 1.67s/it] 92%|█████████▏| 27667/30000 [12:50:49<1:04:47, 1.67s/it] 92%|█████████▏| 27668/30000 [12:50:50<1:04:44, 1.67s/it] 92%|█████████▏| 27669/30000 [12:50:52<1:04:33, 1.66s/it] 92%|█████████▏| 27670/30000 [12:50:54<1:04:39, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.11835053563117981, 'learning_rate': 4.924533220104521e-07, 'flow_matching_loss': 0.016468654666095973, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.05} + 92%|█████████▏| 27670/30000 [12:50:54<1:04:39, 1.66s/it] 92%|█████████▏| 27671/30000 [12:50:55<1:04:49, 1.67s/it] 92%|█████████▏| 27672/30000 [12:50:57<1:04:59, 1.68s/it] 92%|█████████▏| 27673/30000 [12:50:59<1:04:44, 1.67s/it] 92%|█████████▏| 27674/30000 [12:51:00<1:04:47, 1.67s/it] 92%|█████████▏| 27675/30000 [12:51:02<1:04:38, 1.67s/it] 92%|█████████▏| 27676/30000 [12:51:04<1:04:35, 1.67s/it] 92%|█████████▏| 27677/30000 [12:51:05<1:04:34, 1.67s/it] 92%|█████████▏| 27678/30000 [12:51:07<1:04:28, 1.67s/it] 92%|█████████▏| 27679/30000 [12:51:09<1:04:27, 1.67s/it] 92%|█████████▏| 27680/30000 [12:51:10<1:04:24, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10152707248926163, 'learning_rate': 4.882601557301231e-07, 'flow_matching_loss': 0.016950856428593397, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.05} + 92%|█████████▏| 27680/30000 [12:51:11<1:04:24, 1.67s/it] 92%|█████████▏| 27681/30000 [12:51:12<1:04:24, 1.67s/it] 92%|█████████▏| 27682/30000 [12:51:14<1:04:22, 1.67s/it] 92%|█████████▏| 27683/30000 [12:51:15<1:04:16, 1.66s/it] 92%|█████████▏| 27684/30000 [12:51:17<1:04:14, 1.66s/it] 92%|█████████▏| 27685/30000 [12:51:19<1:04:10, 1.66s/it] 92%|█████████▏| 27686/30000 [12:51:20<1:04:16, 1.67s/it] 92%|█████████▏| 27687/30000 [12:51:22<1:04:16, 1.67s/it] 92%|█████████▏| 27688/30000 [12:51:24<1:04:15, 1.67s/it] 92%|█████████▏| 27689/30000 [12:51:25<1:04:18, 1.67s/it] 92%|█████████▏| 27690/30000 [12:51:27<1:04:09, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.09433590620756149, 'learning_rate': 4.840846225820717e-07, 'flow_matching_loss': 0.01822915058583021, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.06} + 92%|█████████▏| 27690/30000 [12:51:27<1:04:09, 1.67s/it] 92%|█████████▏| 27691/30000 [12:51:29<1:04:08, 1.67s/it] 92%|█████████▏| 27692/30000 [12:51:30<1:04:05, 1.67s/it] 92%|█████████▏| 27693/30000 [12:51:32<1:04:03, 1.67s/it] 92%|█████████▏| 27694/30000 [12:51:34<1:04:08, 1.67s/it] 92%|█████████▏| 27695/30000 [12:51:35<1:04:04, 1.67s/it] 92%|█████████▏| 27696/30000 [12:51:37<1:03:57, 1.67s/it] 92%|█████████▏| 27697/30000 [12:51:39<1:03:53, 1.66s/it] 92%|█████████▏| 27698/30000 [12:51:40<1:03:49, 1.66s/it] 92%|█████████▏| 27699/30000 [12:51:42<1:03:52, 1.67s/it] 92%|█████████▏| 27700/30000 [12:51:44<1:03:50, 1.67s/it] {'loss': 0.0148, 'grad_norm': 0.07986672222614288, 'learning_rate': 4.79926727639966e-07, 'flow_matching_loss': 0.014805999025702477, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.06} + 92%|█████████▏| 27700/30000 [12:51:44<1:03:50, 1.67s/it] 92%|█████████▏| 27701/30000 [12:51:45<1:03:48, 1.67s/it] 92%|█████████▏| 27702/30000 [12:51:47<1:03:49, 1.67s/it] 92%|█████████▏| 27703/30000 [12:51:49<1:03:42, 1.66s/it] 92%|█████████▏| 27704/30000 [12:51:50<1:03:40, 1.66s/it] 92%|█████████▏| 27705/30000 [12:51:52<1:03:39, 1.66s/it] 92%|█████████▏| 27706/30000 [12:51:54<1:03:39, 1.66s/it] 92%|█████████▏| 27707/30000 [12:51:55<1:03:41, 1.67s/it] 92%|█████████▏| 27708/30000 [12:51:57<1:03:37, 1.67s/it] 92%|█████████▏| 27709/30000 [12:51:59<1:03:38, 1.67s/it] 92%|█████████▏| 27710/30000 [12:52:00<1:03:40, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1033533439040184, 'learning_rate': 4.7578647595603817e-07, 'flow_matching_loss': 0.01726028947159648, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.06} + 92%|█████████▏| 27710/30000 [12:52:01<1:03:40, 1.67s/it] 92%|█████████▏| 27711/30000 [12:52:02<1:03:44, 1.67s/it] 92%|█████████▏| 27712/30000 [12:52:04<1:03:45, 1.67s/it] 92%|█████████▏| 27713/30000 [12:52:05<1:03:38, 1.67s/it] 92%|█████████▏| 27714/30000 [12:52:07<1:03:28, 1.67s/it] 92%|█████████▏| 27715/30000 [12:52:09<1:03:33, 1.67s/it] 92%|█████████▏| 27716/30000 [12:52:10<1:03:27, 1.67s/it] 92%|█████████▏| 27717/30000 [12:52:12<1:03:22, 1.67s/it] 92%|█████████▏| 27718/30000 [12:52:14<1:03:25, 1.67s/it] 92%|█████████▏| 27719/30000 [12:52:15<1:03:15, 1.66s/it] 92%|█████████▏| 27720/30000 [12:52:17<1:03:18, 1.67s/it] {'loss': 0.0211, 'grad_norm': 0.1353791356086731, 'learning_rate': 4.716638725610889e-07, 'flow_matching_loss': 0.02107853814959526, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.07} + 92%|█████████▏| 27720/30000 [12:52:17<1:03:18, 1.67s/it] 92%|█████████▏| 27721/30000 [12:52:19<1:03:13, 1.66s/it] 92%|█████████▏| 27722/30000 [12:52:20<1:03:15, 1.67s/it] 92%|█████████▏| 27723/30000 [12:52:22<1:03:15, 1.67s/it] 92%|█████████▏| 27724/30000 [12:52:24<1:03:15, 1.67s/it] 92%|█████████▏| 27725/30000 [12:52:25<1:03:04, 1.66s/it] 92%|█████████▏| 27726/30000 [12:52:27<1:03:06, 1.67s/it] 92%|█████████▏| 27727/30000 [12:52:29<1:03:09, 1.67s/it] 92%|█████████▏| 27728/30000 [12:52:30<1:03:06, 1.67s/it] 92%|█████████▏| 27729/30000 [12:52:32<1:03:05, 1.67s/it] 92%|█████████▏| 27730/30000 [12:52:34<1:03:02, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.09542663395404816, 'learning_rate': 4.6755892246446606e-07, 'flow_matching_loss': 0.017327431309968232, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.07} + 92%|█████████▏| 27730/30000 [12:52:34<1:03:02, 1.67s/it] 92%|█████████▏| 27731/30000 [12:52:35<1:03:08, 1.67s/it] 92%|█████████▏| 27732/30000 [12:52:37<1:02:55, 1.66s/it] 92%|█████████▏| 27733/30000 [12:52:39<1:02:59, 1.67s/it] 92%|█████████▏| 27734/30000 [12:52:40<1:02:55, 1.67s/it] 92%|█████████▏| 27735/30000 [12:52:42<1:02:55, 1.67s/it] 92%|█████████▏| 27736/30000 [12:52:44<1:02:54, 1.67s/it] 92%|█████████▏| 27737/30000 [12:52:45<1:02:52, 1.67s/it] 92%|█████████▏| 27738/30000 [12:52:47<1:02:49, 1.67s/it] 92%|█████████▏| 27739/30000 [12:52:49<1:02:53, 1.67s/it] 92%|█████████▏| 27740/30000 [12:52:50<1:02:49, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.13335877656936646, 'learning_rate': 4.634716306540715e-07, 'flow_matching_loss': 0.016390999685972928, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.07} + 92%|█████████▏| 27740/30000 [12:52:51<1:02:49, 1.67s/it] 92%|█████████▏| 27741/30000 [12:52:52<1:02:40, 1.66s/it] 92%|█████████▏| 27742/30000 [12:52:54<1:02:43, 1.67s/it] 92%|█████████▏| 27743/30000 [12:52:55<1:02:39, 1.67s/it] 92%|█████████▏| 27744/30000 [12:52:57<1:02:36, 1.66s/it] 92%|█████████▏| 27745/30000 [12:52:59<1:02:39, 1.67s/it] 92%|█████████▏| 27746/30000 [12:53:00<1:02:33, 1.67s/it] 92%|█████████▏| 27747/30000 [12:53:02<1:02:33, 1.67s/it] 92%|█████████▏| 27748/30000 [12:53:04<1:02:27, 1.66s/it] 92%|█████████▏| 27749/30000 [12:53:05<1:02:26, 1.66s/it] 92%|█████████▎| 27750/30000 [12:53:07<1:02:26, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.10466547310352325, 'learning_rate': 4.5940200209635244e-07, 'flow_matching_loss': 0.01783170560374856, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.07} + 92%|█████████▎| 27750/30000 [12:53:07<1:02:26, 1.67s/it] 93%|█████████▎| 27751/30000 [12:53:09<1:02:30, 1.67s/it] 93%|█████████▎| 27752/30000 [12:53:10<1:02:25, 1.67s/it] 93%|█████████▎| 27753/30000 [12:53:12<1:02:21, 1.67s/it] 93%|█████████▎| 27754/30000 [12:53:14<1:02:16, 1.66s/it] 93%|█████████▎| 27755/30000 [12:53:15<1:02:14, 1.66s/it] 93%|█████████▎| 27756/30000 [12:53:17<1:02:08, 1.66s/it] 93%|█████████▎| 27757/30000 [12:53:19<1:02:12, 1.66s/it] 93%|█████████▎| 27758/30000 [12:53:20<1:02:15, 1.67s/it] 93%|█████████▎| 27759/30000 [12:53:22<1:02:27, 1.67s/it] 93%|█████████▎| 27760/30000 [12:53:24<1:02:29, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10268886387348175, 'learning_rate': 4.5535004173628657e-07, 'flow_matching_loss': 0.01704621696844697, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.08} + 93%|█████████▎| 27760/30000 [12:53:24<1:02:29, 1.67s/it] 93%|█████████▎| 27761/30000 [12:53:25<1:02:21, 1.67s/it] 93%|█████████▎| 27762/30000 [12:53:27<1:02:16, 1.67s/it] 93%|█████████▎| 27763/30000 [12:53:29<1:02:14, 1.67s/it] 93%|█████████▎| 27764/30000 [12:53:30<1:02:11, 1.67s/it] 93%|█████████▎| 27765/30000 [12:53:32<1:02:01, 1.66s/it] 93%|█████████▎| 27766/30000 [12:53:34<1:02:02, 1.67s/it] 93%|█████████▎| 27767/30000 [12:53:35<1:01:59, 1.67s/it] 93%|█████████▎| 27768/30000 [12:53:37<1:01:57, 1.67s/it] 93%|█████████▎| 27769/30000 [12:53:39<1:01:51, 1.66s/it] 93%|█████████▎| 27770/30000 [12:53:40<1:01:48, 1.66s/it] {'loss': 0.0147, 'grad_norm': 0.11184444278478622, 'learning_rate': 4.5131575449739225e-07, 'flow_matching_loss': 0.014734952896833419, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.08} + 93%|█████████▎| 27770/30000 [12:53:40<1:01:48, 1.66s/it] 93%|█████████▎| 27771/30000 [12:53:42<1:01:54, 1.67s/it] 93%|█████████▎| 27772/30000 [12:53:44<1:01:49, 1.66s/it] 93%|█████████▎| 27773/30000 [12:53:45<1:01:55, 1.67s/it] 93%|█████████▎| 27774/30000 [12:53:47<1:01:40, 1.66s/it] 93%|█████████▎| 27775/30000 [12:53:49<1:01:36, 1.66s/it] 93%|█████████▎| 27776/30000 [12:53:50<1:01:37, 1.66s/it] 93%|█████████▎| 27777/30000 [12:53:52<1:01:36, 1.66s/it] 93%|█████████▎| 27778/30000 [12:53:54<1:01:37, 1.66s/it] 93%|█████████▎| 27779/30000 [12:53:55<1:01:50, 1.67s/it] 93%|█████████▎| 27780/30000 [12:53:57<1:01:41, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.09027250111103058, 'learning_rate': 4.472991452817099e-07, 'flow_matching_loss': 0.017439541500061752, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.08} + 93%|█████████▎| 27780/30000 [12:53:57<1:01:41, 1.67s/it] 93%|█████████▎| 27781/30000 [12:53:59<1:01:36, 1.67s/it] 93%|█████████▎| 27782/30000 [12:54:00<1:01:40, 1.67s/it] 93%|█████████▎| 27783/30000 [12:54:02<1:01:39, 1.67s/it] 93%|█████████▎| 27784/30000 [12:54:04<1:01:39, 1.67s/it] 93%|█████████▎| 27785/30000 [12:54:05<1:01:33, 1.67s/it] 93%|█████████▎| 27786/30000 [12:54:07<1:01:29, 1.67s/it] 93%|█████████▎| 27787/30000 [12:54:09<1:01:35, 1.67s/it] 93%|█████████▎| 27788/30000 [12:54:10<1:01:32, 1.67s/it] 93%|█████████▎| 27789/30000 [12:54:12<1:01:27, 1.67s/it] 93%|█████████▎| 27790/30000 [12:54:14<1:01:29, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.09708419442176819, 'learning_rate': 4.433002189697938e-07, 'flow_matching_loss': 0.017257827799767256, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.09} + 93%|█████████▎| 27790/30000 [12:54:14<1:01:29, 1.67s/it] 93%|█████████▎| 27791/30000 [12:54:15<1:01:24, 1.67s/it] 93%|█████████▎| 27792/30000 [12:54:17<1:01:27, 1.67s/it] 93%|█████████▎| 27793/30000 [12:54:19<1:01:14, 1.66s/it] 93%|█████████▎| 27794/30000 [12:54:20<1:01:10, 1.66s/it] 93%|█████████▎| 27795/30000 [12:54:22<1:01:14, 1.67s/it] 93%|█████████▎| 27796/30000 [12:54:24<1:01:16, 1.67s/it] 93%|█████████▎| 27797/30000 [12:54:25<1:01:14, 1.67s/it] 93%|█████████▎| 27798/30000 [12:54:27<1:01:11, 1.67s/it] 93%|█████████▎| 27799/30000 [12:54:29<1:01:05, 1.67s/it] 93%|█████████▎| 27800/30000 [12:54:30<1:01:06, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.12552763521671295, 'learning_rate': 4.393189804207187e-07, 'flow_matching_loss': 0.018384593725204467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.09} + 93%|█████████▎| 27800/30000 [12:54:31<1:01:06, 1.67s/it] 93%|█████████▎| 27801/30000 [12:54:32<1:01:04, 1.67s/it] 93%|█████████▎| 27802/30000 [12:54:34<1:01:05, 1.67s/it] 93%|█████████▎| 27803/30000 [12:54:35<1:00:56, 1.66s/it] 93%|█████████▎| 27804/30000 [12:54:37<1:01:03, 1.67s/it] 93%|█████████▎| 27805/30000 [12:54:39<1:00:58, 1.67s/it] 93%|█████████▎| 27806/30000 [12:54:40<1:01:01, 1.67s/it] 93%|█████████▎| 27807/30000 [12:54:42<1:00:54, 1.67s/it] 93%|█████████▎| 27808/30000 [12:54:44<1:00:50, 1.67s/it] 93%|█████████▎| 27809/30000 [12:54:45<1:00:50, 1.67s/it] 93%|█████████▎| 27810/30000 [12:54:47<1:00:47, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.12655572593212128, 'learning_rate': 4.353554344720651e-07, 'flow_matching_loss': 0.016997058968991043, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.09} + 93%|█████████▎| 27810/30000 [12:54:47<1:00:47, 1.67s/it] 93%|█████████▎| 27811/30000 [12:54:49<1:00:48, 1.67s/it] 93%|█████████▎| 27812/30000 [12:54:50<1:00:42, 1.66s/it] 93%|█████████▎| 27813/30000 [12:54:52<1:00:41, 1.67s/it] 93%|█████████▎| 27814/30000 [12:54:54<1:01:00, 1.67s/it] 93%|█████████▎| 27815/30000 [12:54:55<1:00:48, 1.67s/it] 93%|█████████▎| 27816/30000 [12:54:57<1:00:43, 1.67s/it] 93%|█████████▎| 27817/30000 [12:54:59<1:00:36, 1.67s/it] 93%|█████████▎| 27818/30000 [12:55:00<1:00:30, 1.66s/it] 93%|█████████▎| 27819/30000 [12:55:02<1:00:32, 1.67s/it] 93%|█████████▎| 27820/30000 [12:55:04<1:00:37, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.08662471920251846, 'learning_rate': 4.314095859399153e-07, 'flow_matching_loss': 0.017813256941735744, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.09} + 93%|█████████▎| 27820/30000 [12:55:04<1:00:37, 1.67s/it] 93%|█████████▎| 27821/30000 [12:55:05<1:00:31, 1.67s/it] 93%|█████████▎| 27822/30000 [12:55:07<1:00:41, 1.67s/it] 93%|█████████▎| 27823/30000 [12:55:09<1:00:30, 1.67s/it] 93%|█████████▎| 27824/30000 [12:55:10<1:00:27, 1.67s/it] 93%|█████████▎| 27825/30000 [12:55:12<1:00:23, 1.67s/it] 93%|█████████▎| 27826/30000 [12:55:14<1:00:21, 1.67s/it] 93%|█████████▎| 27827/30000 [12:55:15<1:00:22, 1.67s/it] 93%|█████████▎| 27828/30000 [12:55:17<1:00:20, 1.67s/it] 93%|█████████▎| 27829/30000 [12:55:19<1:00:17, 1.67s/it] 93%|█████████▎| 27830/30000 [12:55:20<1:00:25, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.08894810825586319, 'learning_rate': 4.274814396188459e-07, 'flow_matching_loss': 0.01772695714607835, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.1} + 93%|█████████▎| 27830/30000 [12:55:21<1:00:25, 1.67s/it] 93%|█████████▎| 27831/30000 [12:55:22<1:00:22, 1.67s/it] 93%|█████████▎| 27832/30000 [12:55:24<1:00:16, 1.67s/it] 93%|█████████▎| 27833/30000 [12:55:25<1:00:11, 1.67s/it] 93%|█████████▎| 27834/30000 [12:55:27<1:00:19, 1.67s/it] 93%|█████████▎| 27835/30000 [12:55:29<1:00:19, 1.67s/it] 93%|█████████▎| 27836/30000 [12:55:30<1:00:11, 1.67s/it] 93%|█████████▎| 27837/30000 [12:55:32<1:00:07, 1.67s/it] 93%|█████████▎| 27838/30000 [12:55:34<1:00:14, 1.67s/it] 93%|█████████▎| 27839/30000 [12:55:36<1:00:16, 1.67s/it] 93%|█████████▎| 27840/30000 [12:55:37<1:00:11, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.14411120116710663, 'learning_rate': 4.235710002819271e-07, 'flow_matching_loss': 0.014746333844959736, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.1} + 93%|█████████▎| 27840/30000 [12:55:37<1:00:11, 1.67s/it] 93%|█████████▎| 27841/30000 [12:55:39<1:00:12, 1.67s/it] 93%|█████████▎| 27842/30000 [12:55:41<1:00:08, 1.67s/it] 93%|█████████▎| 27843/30000 [12:55:42<1:00:02, 1.67s/it] 93%|█████████▎| 27844/30000 [12:55:44<59:56, 1.67s/it] 93%|█████████▎| 27845/30000 [12:55:46<59:50, 1.67s/it] 93%|█████████▎| 27846/30000 [12:55:47<59:52, 1.67s/it] 93%|█████████▎| 27847/30000 [12:55:49<59:48, 1.67s/it] 93%|█████████▎| 27848/30000 [12:55:51<59:44, 1.67s/it] 93%|█████████▎| 27849/30000 [12:55:52<59:42, 1.67s/it] 93%|█████████▎| 27850/30000 [12:55:54<59:38, 1.66s/it] {'loss': 0.0169, 'grad_norm': 0.07578876614570618, 'learning_rate': 4.196782726807097e-07, 'flow_matching_loss': 0.016947351396083832, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.1} + 93%|█████████▎| 27850/30000 [12:55:54<59:38, 1.66s/it] 93%|█████████▎| 27851/30000 [12:55:56<59:44, 1.67s/it] 93%|█████████▎| 27852/30000 [12:55:57<59:42, 1.67s/it] 93%|█████████▎| 27853/30000 [12:55:59<59:37, 1.67s/it] 93%|█████████▎| 27854/30000 [12:56:01<59:35, 1.67s/it] 93%|█████████▎| 27855/30000 [12:56:02<59:33, 1.67s/it] 93%|█████████▎| 27856/30000 [12:56:04<59:39, 1.67s/it] 93%|█████████▎| 27857/30000 [12:56:06<59:36, 1.67s/it] 93%|█████████▎| 27858/30000 [12:56:07<59:32, 1.67s/it] 93%|█████████▎| 27859/30000 [12:56:09<59:29, 1.67s/it] 93%|█████████▎| 27860/30000 [12:56:11<59:28, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.1220133900642395, 'learning_rate': 4.158032615452251e-07, 'flow_matching_loss': 0.015347376931458712, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.11} + 93%|█████████▎| 27860/30000 [12:56:11<59:28, 1.67s/it] 93%|█████████▎| 27861/30000 [12:56:12<59:28, 1.67s/it] 93%|█████████▎| 27862/30000 [12:56:14<59:22, 1.67s/it] 93%|█████████▎| 27863/30000 [12:56:16<59:23, 1.67s/it] 93%|█████████▎| 27864/30000 [12:56:17<59:31, 1.67s/it] 93%|█████████▎| 27865/30000 [12:56:19<59:25, 1.67s/it] 93%|█████████▎| 27866/30000 [12:56:21<59:19, 1.67s/it] 93%|█████████▎| 27867/30000 [12:56:22<59:14, 1.67s/it] 93%|█████████▎| 27868/30000 [12:56:24<59:13, 1.67s/it] 93%|█████████▎| 27869/30000 [12:56:26<59:10, 1.67s/it] 93%|█████████▎| 27870/30000 [12:56:27<59:11, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.0886167660355568, 'learning_rate': 4.1194597158397853e-07, 'flow_matching_loss': 0.01660834327340126, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.11} + 93%|█████████▎| 27870/30000 [12:56:27<59:11, 1.67s/it] 93%|█████████▎| 27871/30000 [12:56:29<59:13, 1.67s/it] 93%|█████████▎| 27872/30000 [12:56:31<59:08, 1.67s/it] 93%|█████████▎| 27873/30000 [12:56:32<59:07, 1.67s/it] 93%|█████████▎| 27874/30000 [12:56:34<58:59, 1.67s/it] 93%|█████████▎| 27875/30000 [12:56:36<59:04, 1.67s/it] 93%|█████████▎| 27876/30000 [12:56:37<59:02, 1.67s/it] 93%|█████████▎| 27877/30000 [12:56:39<59:02, 1.67s/it] 93%|█████████▎| 27878/30000 [12:56:41<58:57, 1.67s/it] 93%|█████████▎| 27879/30000 [12:56:42<59:03, 1.67s/it] 93%|█████████▎| 27880/30000 [12:56:44<59:03, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.09371016919612885, 'learning_rate': 4.081064074839408e-07, 'flow_matching_loss': 0.017839364428073167, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.11} + 93%|█████████▎| 27880/30000 [12:56:44<59:03, 1.67s/it] 93%|█████████▎| 27881/30000 [12:56:46<59:01, 1.67s/it] 93%|█████████▎| 27882/30000 [12:56:47<58:56, 1.67s/it] 93%|█████████▎| 27883/30000 [12:56:49<58:55, 1.67s/it] 93%|█████████▎| 27884/30000 [12:56:51<58:57, 1.67s/it] 93%|█████████▎| 27885/30000 [12:56:52<58:58, 1.67s/it] 93%|█████████▎| 27886/30000 [12:56:54<58:48, 1.67s/it] 93%|█████████▎| 27887/30000 [12:56:56<58:45, 1.67s/it] 93%|█████████▎| 27888/30000 [12:56:57<58:40, 1.67s/it] 93%|█████████▎| 27889/30000 [12:56:59<58:36, 1.67s/it] 93%|█████████▎| 27890/30000 [12:57:01<58:27, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.12097290903329849, 'learning_rate': 4.042845739105433e-07, 'flow_matching_loss': 0.01758541725575924, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.11} + 93%|█████████▎| 27890/30000 [12:57:01<58:27, 1.66s/it] 93%|█████████▎| 27891/30000 [12:57:02<58:30, 1.66s/it] 93%|█████████▎| 27892/30000 [12:57:04<58:28, 1.66s/it] 93%|█████████▎| 27893/30000 [12:57:06<58:29, 1.67s/it] 93%|█████████▎| 27894/30000 [12:57:07<58:32, 1.67s/it] 93%|█████████▎| 27895/30000 [12:57:09<58:32, 1.67s/it] 93%|█████████▎| 27896/30000 [12:57:11<58:27, 1.67s/it] 93%|█████████▎| 27897/30000 [12:57:12<58:26, 1.67s/it] 93%|█████████▎| 27898/30000 [12:57:14<58:22, 1.67s/it] 93%|█████████▎| 27899/30000 [12:57:16<58:30, 1.67s/it] 93%|█████████▎| 27900/30000 [12:57:17<58:29, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.12603741884231567, 'learning_rate': 4.004804755076746e-07, 'flow_matching_loss': 0.017824140284210442, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.12} + 93%|█████████▎| 27900/30000 [12:57:17<58:29, 1.67s/it] 93%|█████████▎| 27901/30000 [12:57:19<58:23, 1.67s/it] 93%|█████████▎| 27902/30000 [12:57:21<58:18, 1.67s/it] 93%|█████████▎| 27903/30000 [12:57:22<58:10, 1.66s/it] 93%|█████████▎| 27904/30000 [12:57:24<58:11, 1.67s/it] 93%|█████████▎| 27905/30000 [12:57:26<58:10, 1.67s/it] 93%|█████████▎| 27906/30000 [12:57:27<58:10, 1.67s/it] 93%|█████████▎| 27907/30000 [12:57:29<58:11, 1.67s/it] 93%|█████████▎| 27908/30000 [12:57:31<58:06, 1.67s/it] 93%|█████████▎| 27909/30000 [12:57:32<58:06, 1.67s/it] 93%|█████████▎| 27910/30000 [12:57:34<58:07, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.1080336645245552, 'learning_rate': 3.9669411689767063e-07, 'flow_matching_loss': 0.01839134804904461, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.12} + 93%|█████████▎| 27910/30000 [12:57:34<58:07, 1.67s/it] 93%|█████████▎| 27911/30000 [12:57:36<58:07, 1.67s/it] 93%|█████████▎| 27912/30000 [12:57:37<58:06, 1.67s/it] 93%|█████████▎| 27913/30000 [12:57:39<58:07, 1.67s/it] 93%|█████████▎| 27914/30000 [12:57:41<58:04, 1.67s/it] 93%|█████████▎| 27915/30000 [12:57:42<58:02, 1.67s/it] 93%|█████████▎| 27916/30000 [12:57:44<57:54, 1.67s/it] 93%|█████████▎| 27917/30000 [12:57:46<57:53, 1.67s/it] 93%|█████████▎| 27918/30000 [12:57:47<57:56, 1.67s/it] 93%|█████████▎| 27919/30000 [12:57:49<57:54, 1.67s/it] 93%|█████████▎| 27920/30000 [12:57:51<57:48, 1.67s/it] {'loss': 0.0189, 'grad_norm': 0.1305614709854126, 'learning_rate': 3.929255026813194e-07, 'flow_matching_loss': 0.01886373581364751, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.12} + 93%|█████████▎| 27920/30000 [12:57:51<57:48, 1.67s/it] 93%|█████████▎| 27921/30000 [12:57:52<57:49, 1.67s/it] 93%|█████████▎| 27922/30000 [12:57:54<57:41, 1.67s/it] 93%|█████████▎| 27923/30000 [12:57:56<57:43, 1.67s/it] 93%|█████████▎| 27924/30000 [12:57:57<57:41, 1.67s/it] 93%|█████████▎| 27925/30000 [12:57:59<57:39, 1.67s/it] 93%|█████████▎| 27926/30000 [12:58:01<57:39, 1.67s/it] 93%|█████████▎| 27927/30000 [12:58:02<57:39, 1.67s/it] 93%|█████████▎| 27928/30000 [12:58:04<57:32, 1.67s/it] 93%|█████████▎| 27929/30000 [12:58:06<57:26, 1.66s/it] 93%|█████████▎| 27930/30000 [12:58:07<57:26, 1.66s/it] {'loss': 0.015, 'grad_norm': 0.10555889457464218, 'learning_rate': 3.8917463743783797e-07, 'flow_matching_loss': 0.015001950040459632, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.13} + 93%|█████████▎| 27930/30000 [12:58:07<57:26, 1.66s/it] 93%|█████████▎| 27931/30000 [12:58:09<57:28, 1.67s/it] 93%|█████████▎| 27932/30000 [12:58:11<57:21, 1.66s/it] 93%|█████████▎| 27933/30000 [12:58:12<57:24, 1.67s/it] 93%|█████████▎| 27934/30000 [12:58:14<57:21, 1.67s/it] 93%|█████████▎| 27935/30000 [12:58:16<57:20, 1.67s/it] 93%|█████████▎| 27936/30000 [12:58:17<57:20, 1.67s/it] 93%|█████████▎| 27937/30000 [12:58:19<57:20, 1.67s/it] 93%|█████████▎| 27938/30000 [12:58:21<57:17, 1.67s/it] 93%|█████████▎| 27939/30000 [12:58:22<57:14, 1.67s/it] 93%|█████████▎| 27940/30000 [12:58:24<57:21, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.1300949603319168, 'learning_rate': 3.854415257248839e-07, 'flow_matching_loss': 0.016228120494633912, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.13} + 93%|█████████▎| 27940/30000 [12:58:24<57:21, 1.67s/it] 93%|█████████▎| 27941/30000 [12:58:26<57:14, 1.67s/it] 93%|█████████▎| 27942/30000 [12:58:27<57:13, 1.67s/it] 93%|█████████▎| 27943/30000 [12:58:29<57:19, 1.67s/it] 93%|█████████▎| 27944/30000 [12:58:31<57:20, 1.67s/it] 93%|█████████▎| 27945/30000 [12:58:32<57:13, 1.67s/it] 93%|█████████▎| 27946/30000 [12:58:34<57:10, 1.67s/it] 93%|█████████▎| 27947/30000 [12:58:36<57:06, 1.67s/it] 93%|█████████▎| 27948/30000 [12:58:37<57:01, 1.67s/it] 93%|█████████▎| 27949/30000 [12:58:39<56:57, 1.67s/it] 93%|█████████▎| 27950/30000 [12:58:41<56:56, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.10766170918941498, 'learning_rate': 3.8172617207853864e-07, 'flow_matching_loss': 0.015835399366915227, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.13} + 93%|█████████▎| 27950/30000 [12:58:41<56:56, 1.67s/it] 93%|█████████▎| 27951/30000 [12:58:42<56:56, 1.67s/it] 93%|█████████▎| 27952/30000 [12:58:44<56:58, 1.67s/it] 93%|█████████▎| 27953/30000 [12:58:46<56:53, 1.67s/it] 93%|█████████▎| 27954/30000 [12:58:47<56:48, 1.67s/it] 93%|█████████▎| 27955/30000 [12:58:49<56:49, 1.67s/it] 93%|█████████▎| 27956/30000 [12:58:51<56:42, 1.66s/it] 93%|█████████▎| 27957/30000 [12:58:52<56:39, 1.66s/it] 93%|█████████▎| 27958/30000 [12:58:54<56:48, 1.67s/it] 93%|█████████▎| 27959/30000 [12:58:56<56:47, 1.67s/it] 93%|█████████▎| 27960/30000 [12:58:57<56:44, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.1340651661157608, 'learning_rate': 3.7802858101330773e-07, 'flow_matching_loss': 0.01779886381700635, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.14} + 93%|█████████▎| 27960/30000 [12:58:57<56:44, 1.67s/it] 93%|█████████▎| 27961/30000 [12:58:59<56:39, 1.67s/it] 93%|█████████▎| 27962/30000 [12:59:01<56:34, 1.67s/it] 93%|█████████▎| 27963/30000 [12:59:02<56:40, 1.67s/it] 93%|█████████▎| 27964/30000 [12:59:04<56:31, 1.67s/it] 93%|█████████▎| 27965/30000 [12:59:06<56:29, 1.67s/it] 93%|█████████▎| 27966/30000 [12:59:07<56:37, 1.67s/it] 93%|█████████▎| 27967/30000 [12:59:09<56:36, 1.67s/it] 93%|█████████▎| 27968/30000 [12:59:11<56:33, 1.67s/it] 93%|█████████▎| 27969/30000 [12:59:12<56:26, 1.67s/it] 93%|█████████▎| 27970/30000 [12:59:14<56:21, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11559050530195236, 'learning_rate': 3.743487570221121e-07, 'flow_matching_loss': 0.015788334980607034, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.14} + 93%|█████████▎| 27970/30000 [12:59:14<56:21, 1.67s/it] 93%|█████████▎| 27971/30000 [12:59:16<56:21, 1.67s/it] 93%|█████████▎| 27972/30000 [12:59:17<56:15, 1.66s/it] 93%|█████████▎| 27973/30000 [12:59:19<56:08, 1.66s/it] 93%|█████████▎| 27974/30000 [12:59:21<56:13, 1.67s/it] 93%|█████████▎| 27975/30000 [12:59:22<56:11, 1.66s/it] 93%|█████████▎| 27976/30000 [12:59:24<56:17, 1.67s/it] 93%|█████████▎| 27977/30000 [12:59:26<56:08, 1.67s/it] 93%|█████████▎| 27978/30000 [12:59:27<56:02, 1.66s/it] 93%|█████████▎| 27979/30000 [12:59:29<55:59, 1.66s/it] 93%|█████████▎| 27980/30000 [12:59:31<55:57, 1.66s/it] {'loss': 0.0157, 'grad_norm': 0.09102863073348999, 'learning_rate': 3.7068670457628517e-07, 'flow_matching_loss': 0.015719023998826742, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.14} + 93%|█████████▎| 27980/30000 [12:59:31<55:57, 1.66s/it] 93%|█████████▎| 27981/30000 [12:59:32<55:57, 1.66s/it] 93%|█████████▎| 27982/30000 [12:59:34<56:06, 1.67s/it] 93%|█████████▎| 27983/30000 [12:59:36<56:06, 1.67s/it] 93%|█████████▎| 27984/30000 [12:59:37<56:00, 1.67s/it] 93%|█████████▎| 27985/30000 [12:59:39<55:53, 1.66s/it] 93%|█████████▎| 27986/30000 [12:59:41<55:58, 1.67s/it] 93%|█████████▎| 27987/30000 [12:59:42<55:52, 1.67s/it] 93%|█████████▎| 27988/30000 [12:59:44<55:50, 1.67s/it] 93%|█████████▎| 27989/30000 [12:59:46<55:49, 1.67s/it] 93%|█████████▎| 27990/30000 [12:59:47<55:57, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.10633231699466705, 'learning_rate': 3.6704242812556576e-07, 'flow_matching_loss': 0.018323539476841687, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.14} + 93%|█████████▎| 27990/30000 [12:59:47<55:57, 1.67s/it] 93%|█████████▎| 27991/30000 [12:59:49<55:53, 1.67s/it] 93%|█████████▎| 27992/30000 [12:59:51<55:48, 1.67s/it] 93%|█████████▎| 27993/30000 [12:59:52<55:43, 1.67s/it] 93%|█████████▎| 27994/30000 [12:59:54<55:44, 1.67s/it] 93%|█████████▎| 27995/30000 [12:59:56<55:42, 1.67s/it] 93%|█████████▎| 27996/30000 [12:59:57<55:49, 1.67s/it] 93%|█████████▎| 27997/30000 [12:59:59<55:44, 1.67s/it] 93%|█████████▎| 27998/30000 [13:00:01<55:52, 1.67s/it] 93%|█████████▎| 27999/30000 [13:00:02<55:54, 1.68s/it] 93%|█████████▎| 28000/30000 [13:00:04<55:46, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.1154639944434166, 'learning_rate': 3.634159320980951e-07, 'flow_matching_loss': 0.017888043634593488, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.15} + 93%|█████████▎| 28000/30000 [13:00:04<55:46, 1.67s/it] 93%|█████████▎| 28001/30000 [13:00:06<55:35, 1.67s/it] 93%|█████████▎| 28002/30000 [13:00:07<55:30, 1.67s/it] 93%|█████████▎| 28003/30000 [13:00:09<55:30, 1.67s/it] 93%|█████████▎| 28004/30000 [13:00:11<55:27, 1.67s/it] 93%|█████████▎| 28005/30000 [13:00:12<55:27, 1.67s/it] 93%|█████████▎| 28006/30000 [13:00:14<55:28, 1.67s/it] 93%|█████████▎| 28007/30000 [13:00:16<55:34, 1.67s/it] 93%|█████████▎| 28008/30000 [13:00:17<55:33, 1.67s/it] 93%|█████████▎| 28009/30000 [13:00:19<55:27, 1.67s/it] 93%|█████████▎| 28010/30000 [13:00:21<55:25, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.09271486103534698, 'learning_rate': 3.5980722090040663e-07, 'flow_matching_loss': 0.01872042864561081, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.15} + 93%|█████████▎| 28010/30000 [13:00:21<55:25, 1.67s/it] 93%|█████████▎| 28011/30000 [13:00:22<55:17, 1.67s/it] 93%|█████████▎| 28012/30000 [13:00:24<55:18, 1.67s/it] 93%|█████████▎| 28013/30000 [13:00:26<55:15, 1.67s/it] 93%|█████████▎| 28014/30000 [13:00:27<55:16, 1.67s/it] 93%|█████████▎| 28015/30000 [13:00:29<55:15, 1.67s/it] 93%|█████████▎| 28016/30000 [13:00:31<55:11, 1.67s/it] 93%|█████████▎| 28017/30000 [13:00:32<55:06, 1.67s/it] 93%|█████████▎| 28018/30000 [13:00:34<55:06, 1.67s/it] 93%|█████████▎| 28019/30000 [13:00:36<55:02, 1.67s/it] 93%|█████████▎| 28020/30000 [13:00:37<54:58, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.13920466601848602, 'learning_rate': 3.5621629891742447e-07, 'flow_matching_loss': 0.016949978936463595, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.15} + 93%|█████████▎| 28020/30000 [13:00:37<54:58, 1.67s/it] 93%|█████████▎| 28021/30000 [13:00:39<54:54, 1.66s/it] 93%|█████████▎| 28022/30000 [13:00:41<54:55, 1.67s/it] 93%|█████████▎| 28023/30000 [13:00:42<54:51, 1.67s/it] 93%|█████████▎| 28024/30000 [13:00:44<54:54, 1.67s/it] 93%|█████████▎| 28025/30000 [13:00:46<54:54, 1.67s/it] 93%|█████████▎| 28026/30000 [13:00:47<54:52, 1.67s/it] 93%|█████████▎| 28027/30000 [13:00:49<55:01, 1.67s/it] 93%|█████████▎| 28028/30000 [13:00:51<54:55, 1.67s/it] 93%|█████████▎| 28029/30000 [13:00:52<54:51, 1.67s/it] 93%|█████████▎| 28030/30000 [13:00:54<54:42, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.1139133870601654, 'learning_rate': 3.526431705124583e-07, 'flow_matching_loss': 0.015480183158069849, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.16} + 93%|█████████▎| 28030/30000 [13:00:54<54:42, 1.67s/it] 93%|█████████▎| 28031/30000 [13:00:56<54:45, 1.67s/it] 93%|█████████▎| 28032/30000 [13:00:57<54:50, 1.67s/it] 93%|█████████▎| 28033/30000 [13:00:59<54:44, 1.67s/it] 93%|█████████▎| 28034/30000 [13:01:01<54:35, 1.67s/it] 93%|█████████▎| 28035/30000 [13:01:02<54:29, 1.66s/it] 93%|█████████▎| 28036/30000 [13:01:04<54:36, 1.67s/it] 93%|█████████▎| 28037/30000 [13:01:06<54:33, 1.67s/it] 93%|█████████▎| 28038/30000 [13:01:07<54:29, 1.67s/it] 93%|█████████▎| 28039/30000 [13:01:09<54:25, 1.67s/it] 93%|█████████▎| 28040/30000 [13:01:11<54:28, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.13979877531528473, 'learning_rate': 3.4908784002719517e-07, 'flow_matching_loss': 0.017019743751734494, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.16} + 93%|█████████▎| 28040/30000 [13:01:11<54:28, 1.67s/it] 93%|█████████▎| 28041/30000 [13:01:12<54:25, 1.67s/it] 93%|█████████▎| 28042/30000 [13:01:14<54:22, 1.67s/it] 93%|█████████▎| 28043/30000 [13:01:16<54:20, 1.67s/it] 93%|█████████▎| 28044/30000 [13:01:17<54:19, 1.67s/it] 93%|█████████▎| 28045/30000 [13:01:19<54:20, 1.67s/it] 93%|█████████▎| 28046/30000 [13:01:21<54:22, 1.67s/it] 93%|█████████▎| 28047/30000 [13:01:22<54:18, 1.67s/it] 93%|█████████▎| 28048/30000 [13:01:24<54:18, 1.67s/it] 93%|█████████▎| 28049/30000 [13:01:26<54:14, 1.67s/it] 94%|█████████▎| 28050/30000 [13:01:27<54:06, 1.66s/it] {'loss': 0.0167, 'grad_norm': 0.08272090554237366, 'learning_rate': 3.4555031178169773e-07, 'flow_matching_loss': 0.016738462541252375, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.16} + 94%|█████████▎| 28050/30000 [13:01:27<54:06, 1.66s/it] 94%|█████████▎| 28051/30000 [13:01:29<54:06, 1.67s/it] 94%|█████████▎| 28052/30000 [13:01:31<54:03, 1.67s/it] 94%|█████████▎| 28053/30000 [13:01:32<54:11, 1.67s/it] 94%|█████████▎| 28054/30000 [13:01:34<54:06, 1.67s/it] 94%|█████████▎| 28055/30000 [13:01:36<54:07, 1.67s/it] 94%|█████████▎| 28056/30000 [13:01:37<54:23, 1.68s/it] 94%|█████████▎| 28057/30000 [13:01:39<54:13, 1.67s/it] 94%|█████████▎| 28058/30000 [13:01:41<54:01, 1.67s/it] 94%|█████████▎| 28059/30000 [13:01:42<54:02, 1.67s/it] 94%|█████████▎| 28060/30000 [13:01:44<53:55, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.13437283039093018, 'learning_rate': 3.420305900743942e-07, 'flow_matching_loss': 0.0181335280649364, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.16} + 94%|█████████▎| 28060/30000 [13:01:44<53:55, 1.67s/it] 94%|█████████▎| 28061/30000 [13:01:46<53:54, 1.67s/it] 94%|█████████▎| 28062/30000 [13:01:47<53:58, 1.67s/it] 94%|█████████▎| 28063/30000 [13:01:49<53:54, 1.67s/it] 94%|█████████▎| 28064/30000 [13:01:51<53:58, 1.67s/it] 94%|█████████▎| 28065/30000 [13:01:52<53:55, 1.67s/it] 94%|█████████▎| 28066/30000 [13:01:54<53:47, 1.67s/it] 94%|█████████▎| 28067/30000 [13:01:56<53:46, 1.67s/it] 94%|█████████▎| 28068/30000 [13:01:57<53:43, 1.67s/it] 94%|█████████▎| 28069/30000 [13:01:59<53:36, 1.67s/it] 94%|█████████▎| 28070/30000 [13:02:01<53:39, 1.67s/it] {'loss': 0.0148, 'grad_norm': 0.06937019526958466, 'learning_rate': 3.385286791820802e-07, 'flow_matching_loss': 0.01484588896855712, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.17} + 94%|█████████▎| 28070/30000 [13:02:01<53:39, 1.67s/it] 94%|█████████▎| 28071/30000 [13:02:02<53:39, 1.67s/it] 94%|█████████▎| 28072/30000 [13:02:04<53:36, 1.67s/it] 94%|█████████▎| 28073/30000 [13:02:06<53:33, 1.67s/it] 94%|█████████▎| 28074/30000 [13:02:07<53:34, 1.67s/it] 94%|█████████▎| 28075/30000 [13:02:09<53:27, 1.67s/it] 94%|█████████▎| 28076/30000 [13:02:11<53:23, 1.67s/it] 94%|█████████▎| 28077/30000 [13:02:12<53:21, 1.66s/it] 94%|█████████▎| 28078/30000 [13:02:14<53:23, 1.67s/it] 94%|█████████▎| 28079/30000 [13:02:16<53:26, 1.67s/it] 94%|█████████▎| 28080/30000 [13:02:17<53:20, 1.67s/it] {'loss': 0.0188, 'grad_norm': 0.11979344487190247, 'learning_rate': 3.350445833599086e-07, 'flow_matching_loss': 0.018780367635190486, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.17} + 94%|█████████▎| 28080/30000 [13:02:18<53:20, 1.67s/it] 94%|█████████▎| 28081/30000 [13:02:19<53:22, 1.67s/it] 94%|█████████▎| 28082/30000 [13:02:21<53:17, 1.67s/it] 94%|█████████▎| 28083/30000 [13:02:22<53:09, 1.66s/it] 94%|█████████▎| 28084/30000 [13:02:24<53:08, 1.66s/it] 94%|█████████▎| 28085/30000 [13:02:26<53:10, 1.67s/it] 94%|█████████▎| 28086/30000 [13:02:27<53:11, 1.67s/it] 94%|█████████▎| 28087/30000 [13:02:29<53:18, 1.67s/it] 94%|█████████▎| 28088/30000 [13:02:31<53:14, 1.67s/it] 94%|█████████▎| 28089/30000 [13:02:32<53:09, 1.67s/it] 94%|█████████▎| 28090/30000 [13:02:34<53:07, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.1840168535709381, 'learning_rate': 3.3157830684138303e-07, 'flow_matching_loss': 0.01807881221175194, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.17} + 94%|█████████▎| 28090/30000 [13:02:34<53:07, 1.67s/it] 94%|█████████▎| 28091/30000 [13:02:36<53:14, 1.67s/it] 94%|█████████▎| 28092/30000 [13:02:38<53:09, 1.67s/it] 94%|█████████▎| 28093/30000 [13:02:39<53:04, 1.67s/it] 94%|█████████▎| 28094/30000 [13:02:41<53:02, 1.67s/it] 94%|█████████▎| 28095/30000 [13:02:43<52:58, 1.67s/it] 94%|█████████▎| 28096/30000 [13:02:44<53:01, 1.67s/it] 94%|█████████▎| 28097/30000 [13:02:46<52:56, 1.67s/it] 94%|█████████▎| 28098/30000 [13:02:48<52:51, 1.67s/it] 94%|█████████▎| 28099/30000 [13:02:49<52:46, 1.67s/it] 94%|█████████▎| 28100/30000 [13:02:51<52:44, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.12508514523506165, 'learning_rate': 3.281298538383559e-07, 'flow_matching_loss': 0.01630085613578558, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.18} + 94%|█████████▎| 28100/30000 [13:02:51<52:44, 1.67s/it] 94%|█████████▎| 28101/30000 [13:02:53<52:50, 1.67s/it] 94%|█████████▎| 28102/30000 [13:02:54<52:49, 1.67s/it] 94%|█████████▎| 28103/30000 [13:02:56<52:50, 1.67s/it] 94%|█████████▎| 28104/30000 [13:02:58<52:48, 1.67s/it] 94%|█████████▎| 28105/30000 [13:02:59<52:41, 1.67s/it] 94%|█████████▎| 28106/30000 [13:03:01<52:39, 1.67s/it] 94%|█████████▎| 28107/30000 [13:03:03<52:34, 1.67s/it] 94%|█████████▎| 28108/30000 [13:03:04<52:34, 1.67s/it] 94%|█████████▎| 28109/30000 [13:03:06<52:30, 1.67s/it] 94%|█████████▎| 28110/30000 [13:03:08<52:29, 1.67s/it] {'loss': 0.0201, 'grad_norm': 0.11129694432020187, 'learning_rate': 3.2469922854102387e-07, 'flow_matching_loss': 0.02008527098223567, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.18} + 94%|█████████▎| 28110/30000 [13:03:08<52:29, 1.67s/it] 94%|█████████▎| 28111/30000 [13:03:09<52:32, 1.67s/it] 94%|█████████▎| 28112/30000 [13:03:11<52:31, 1.67s/it] 94%|█████████▎| 28113/30000 [13:03:13<52:26, 1.67s/it] 94%|█████████▎| 28114/30000 [13:03:14<52:22, 1.67s/it] 94%|█████████▎| 28115/30000 [13:03:16<52:24, 1.67s/it] 94%|█████████▎| 28116/30000 [13:03:18<52:23, 1.67s/it] 94%|█████████▎| 28117/30000 [13:03:19<52:21, 1.67s/it] 94%|█████████▎| 28118/30000 [13:03:21<52:23, 1.67s/it] 94%|█████████▎| 28119/30000 [13:03:23<52:20, 1.67s/it] 94%|█████████▎| 28120/30000 [13:03:24<52:17, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.10985851287841797, 'learning_rate': 3.21286435117919e-07, 'flow_matching_loss': 0.016670915111899377, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.18} + 94%|█████████▎| 28120/30000 [13:03:24<52:17, 1.67s/it] 94%|█████████▎| 28121/30000 [13:03:26<52:13, 1.67s/it] 94%|█████████▎| 28122/30000 [13:03:28<52:13, 1.67s/it] 94%|█████████▎| 28123/30000 [13:03:29<52:12, 1.67s/it] 94%|█████████▎| 28124/30000 [13:03:31<52:06, 1.67s/it] 94%|█████████▍| 28125/30000 [13:03:33<52:04, 1.67s/it] 94%|█████████▍| 28126/30000 [13:03:34<52:04, 1.67s/it] 94%|█████████▍| 28127/30000 [13:03:36<52:04, 1.67s/it] 94%|█████████▍| 28128/30000 [13:03:38<52:06, 1.67s/it] 94%|█████████▍| 28129/30000 [13:03:39<51:57, 1.67s/it] 94%|█████████▍| 28130/30000 [13:03:41<51:57, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.1119886115193367, 'learning_rate': 3.1789147771590754e-07, 'flow_matching_loss': 0.017825155053287745, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.18} + 94%|█████████▍| 28130/30000 [13:03:41<51:57, 1.67s/it] 94%|█████████▍| 28131/30000 [13:03:43<51:57, 1.67s/it] 94%|█████████▍| 28132/30000 [13:03:44<51:51, 1.67s/it] 94%|█████████▍| 28133/30000 [13:03:46<51:48, 1.66s/it] 94%|█████████▍| 28134/30000 [13:03:48<51:49, 1.67s/it] 94%|█████████▍| 28135/30000 [13:03:49<51:48, 1.67s/it] 94%|█████████▍| 28136/30000 [13:03:51<51:49, 1.67s/it] 94%|█████████▍| 28137/30000 [13:03:53<51:50, 1.67s/it] 94%|█████████▍| 28138/30000 [13:03:54<51:47, 1.67s/it] 94%|█████████▍| 28139/30000 [13:03:56<51:42, 1.67s/it] 94%|█████████▍| 28140/30000 [13:03:58<51:42, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.0792856439948082, 'learning_rate': 3.14514360460183e-07, 'flow_matching_loss': 0.017166949342936277, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.19} + 94%|█████████▍| 28140/30000 [13:03:58<51:42, 1.67s/it] 94%|█████████▍| 28141/30000 [13:03:59<51:34, 1.66s/it] 94%|█████████▍| 28142/30000 [13:04:01<51:37, 1.67s/it] 94%|█████████▍| 28143/30000 [13:04:03<51:36, 1.67s/it] 94%|█████████▍| 28144/30000 [13:04:04<51:37, 1.67s/it] 94%|█████████▍| 28145/30000 [13:04:06<51:32, 1.67s/it] 94%|█████████▍| 28146/30000 [13:04:08<51:30, 1.67s/it] 94%|█████████▍| 28147/30000 [13:04:09<51:40, 1.67s/it] 94%|█████████▍| 28148/30000 [13:04:11<51:35, 1.67s/it] 94%|█████████▍| 28149/30000 [13:04:13<51:30, 1.67s/it] 94%|█████████▍| 28150/30000 [13:04:14<51:30, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11610166728496552, 'learning_rate': 3.1115508745426293e-07, 'flow_matching_loss': 0.01715052742511034, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.19} + 94%|█████████▍| 28150/30000 [13:04:14<51:30, 1.67s/it] 94%|█████████▍| 28151/30000 [13:04:16<51:28, 1.67s/it] 94%|█████████▍| 28152/30000 [13:04:18<51:23, 1.67s/it] 94%|█████████▍| 28153/30000 [13:04:19<51:18, 1.67s/it] 94%|█████████▍| 28154/30000 [13:04:21<51:19, 1.67s/it] 94%|█████████▍| 28155/30000 [13:04:23<51:11, 1.67s/it] 94%|█████████▍| 28156/30000 [13:04:24<51:09, 1.66s/it] 94%|█████████▍| 28157/30000 [13:04:26<51:04, 1.66s/it] 94%|█████████▍| 28158/30000 [13:04:28<51:03, 1.66s/it] 94%|█████████▍| 28159/30000 [13:04:29<51:02, 1.66s/it] 94%|█████████▍| 28160/30000 [13:04:31<51:00, 1.66s/it] {'loss': 0.017, 'grad_norm': 0.0988088846206665, 'learning_rate': 3.0781366277997716e-07, 'flow_matching_loss': 0.0169563558883965, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.19} + 94%|█████████▍| 28160/30000 [13:04:31<51:00, 1.66s/it] 94%|█████████▍| 28161/30000 [13:04:33<50:58, 1.66s/it] 94%|█████████▍| 28162/30000 [13:04:34<50:59, 1.66s/it] 94%|█████████▍| 28163/30000 [13:04:36<50:56, 1.66s/it] 94%|█████████▍| 28164/30000 [13:04:38<50:57, 1.67s/it] 94%|█████████▍| 28165/30000 [13:04:39<51:01, 1.67s/it] 94%|█████████▍| 28166/30000 [13:04:41<51:01, 1.67s/it] 94%|█████████▍| 28167/30000 [13:04:43<50:59, 1.67s/it] 94%|█████████▍| 28168/30000 [13:04:44<50:58, 1.67s/it] 94%|█████████▍| 28169/30000 [13:04:46<50:56, 1.67s/it] 94%|█████████▍| 28170/30000 [13:04:48<50:51, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.08942919969558716, 'learning_rate': 3.044900904974762e-07, 'flow_matching_loss': 0.01695994269102812, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.2} + 94%|█████████▍| 28170/30000 [13:04:48<50:51, 1.67s/it] 94%|█████████▍| 28171/30000 [13:04:49<50:43, 1.66s/it] 94%|█████████▍| 28172/30000 [13:04:51<50:45, 1.67s/it] 94%|█████████▍| 28173/30000 [13:04:53<50:46, 1.67s/it] 94%|█████████▍| 28174/30000 [13:04:54<50:45, 1.67s/it] 94%|█████████▍| 28175/30000 [13:04:56<50:45, 1.67s/it] 94%|█████████▍| 28176/30000 [13:04:58<50:41, 1.67s/it] 94%|█████████▍| 28177/30000 [13:04:59<50:41, 1.67s/it] 94%|█████████▍| 28178/30000 [13:05:01<50:38, 1.67s/it] 94%|█████████▍| 28179/30000 [13:05:03<50:40, 1.67s/it] 94%|█████████▍| 28180/30000 [13:05:04<50:39, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.1098044365644455, 'learning_rate': 3.011843746452081e-07, 'flow_matching_loss': 0.016465434757992625, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.2} + 94%|█████████▍| 28180/30000 [13:05:04<50:39, 1.67s/it] 94%|█████████▍| 28181/30000 [13:05:06<50:36, 1.67s/it] 94%|█████████▍| 28182/30000 [13:05:08<50:34, 1.67s/it] 94%|█████████▍| 28183/30000 [13:05:09<50:34, 1.67s/it] 94%|█████████▍| 28184/30000 [13:05:11<50:25, 1.67s/it] 94%|█████████▍| 28185/30000 [13:05:13<50:23, 1.67s/it] 94%|█████████▍| 28186/30000 [13:05:14<50:22, 1.67s/it] 94%|█████████▍| 28187/30000 [13:05:16<50:17, 1.66s/it] 94%|█████████▍| 28188/30000 [13:05:18<50:18, 1.67s/it] 94%|█████████▍| 28189/30000 [13:05:19<50:22, 1.67s/it] 94%|█████████▍| 28190/30000 [13:05:21<50:23, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1280789077281952, 'learning_rate': 2.9789651923993464e-07, 'flow_matching_loss': 0.017092216480523347, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.2} + 94%|█████████▍| 28190/30000 [13:05:21<50:23, 1.67s/it] 94%|█████████▍| 28191/30000 [13:05:23<50:23, 1.67s/it] 94%|█████████▍| 28192/30000 [13:05:24<50:20, 1.67s/it] 94%|█████████▍| 28193/30000 [13:05:26<50:14, 1.67s/it] 94%|█████████▍| 28194/30000 [13:05:28<50:11, 1.67s/it] 94%|█████████▍| 28195/30000 [13:05:29<50:07, 1.67s/it] 94%|█████████▍| 28196/30000 [13:05:31<50:11, 1.67s/it] 94%|█████████▍| 28197/30000 [13:05:33<50:06, 1.67s/it] 94%|█████████▍| 28198/30000 [13:05:34<50:08, 1.67s/it] 94%|█████████▍| 28199/30000 [13:05:36<50:09, 1.67s/it] 94%|█████████▍| 28200/30000 [13:05:38<50:09, 1.67s/it] {'loss': 0.0138, 'grad_norm': 0.10381992906332016, 'learning_rate': 2.9462652827670855e-07, 'flow_matching_loss': 0.013791220262646675, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.2} + 94%|█████████▍| 28200/30000 [13:05:38<50:09, 1.67s/it] 94%|█████████▍| 28201/30000 [13:05:39<50:06, 1.67s/it] 94%|█████████▍| 28202/30000 [13:05:41<49:57, 1.67s/it] 94%|█████████▍| 28203/30000 [13:05:43<50:02, 1.67s/it] 94%|█████████▍| 28204/30000 [13:05:44<49:58, 1.67s/it] 94%|█████████▍| 28205/30000 [13:05:46<49:57, 1.67s/it] 94%|█████████▍| 28206/30000 [13:05:48<49:58, 1.67s/it] 94%|█████████▍| 28207/30000 [13:05:49<49:57, 1.67s/it] 94%|█████████▍| 28208/30000 [13:05:51<49:52, 1.67s/it] 94%|█████████▍| 28209/30000 [13:05:53<49:47, 1.67s/it] 94%|█████████▍| 28210/30000 [13:05:54<49:44, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.08444373309612274, 'learning_rate': 2.913744057288764e-07, 'flow_matching_loss': 0.015308719966560603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.21} + 94%|█████████▍| 28210/30000 [13:05:54<49:44, 1.67s/it] 94%|█████████▍| 28211/30000 [13:05:56<49:45, 1.67s/it] 94%|█████████▍| 28212/30000 [13:05:58<49:42, 1.67s/it] 94%|█████████▍| 28213/30000 [13:05:59<49:43, 1.67s/it] 94%|█████████▍| 28214/30000 [13:06:01<49:45, 1.67s/it] 94%|█████████▍| 28215/30000 [13:06:03<49:43, 1.67s/it] 94%|█████████▍| 28216/30000 [13:06:04<49:40, 1.67s/it] 94%|█████████▍| 28217/30000 [13:06:06<49:37, 1.67s/it] 94%|█████████▍| 28218/30000 [13:06:08<49:34, 1.67s/it] 94%|█████████▍| 28219/30000 [13:06:09<49:34, 1.67s/it] 94%|█████████▍| 28220/30000 [13:06:11<49:37, 1.67s/it] {'loss': 0.0146, 'grad_norm': 0.08241211622953415, 'learning_rate': 2.8814015554807396e-07, 'flow_matching_loss': 0.014586291741579771, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.21} + 94%|█████████▍| 28220/30000 [13:06:11<49:37, 1.67s/it] 94%|█████████▍| 28221/30000 [13:06:13<49:37, 1.67s/it] 94%|█████████▍| 28222/30000 [13:06:14<49:36, 1.67s/it] 94%|█████████▍| 28223/30000 [13:06:16<49:33, 1.67s/it] 94%|█████████▍| 28224/30000 [13:06:18<49:29, 1.67s/it] 94%|█████████▍| 28225/30000 [13:06:19<49:25, 1.67s/it] 94%|█████████▍| 28226/30000 [13:06:21<49:18, 1.67s/it] 94%|█████████▍| 28227/30000 [13:06:23<49:19, 1.67s/it] 94%|█████████▍| 28228/30000 [13:06:24<49:23, 1.67s/it] 94%|█████████▍| 28229/30000 [13:06:26<49:19, 1.67s/it] 94%|█████████▍| 28230/30000 [13:06:28<49:12, 1.67s/it] {'loss': 0.0144, 'grad_norm': 0.09819327294826508, 'learning_rate': 2.849237816642192e-07, 'flow_matching_loss': 0.014436818007379771, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.21} + 94%|█████████▍| 28230/30000 [13:06:28<49:12, 1.67s/it] 94%|█████████▍| 28231/30000 [13:06:29<49:14, 1.67s/it] 94%|█████████▍| 28232/30000 [13:06:31<49:10, 1.67s/it] 94%|█████████▍| 28233/30000 [13:06:33<49:02, 1.67s/it] 94%|█████████▍| 28234/30000 [13:06:34<49:00, 1.67s/it] 94%|█████████▍| 28235/30000 [13:06:36<49:09, 1.67s/it] 94%|█████████▍| 28236/30000 [13:06:38<49:06, 1.67s/it] 94%|█████████▍| 28237/30000 [13:06:39<49:05, 1.67s/it] 94%|█████████▍| 28238/30000 [13:06:41<49:09, 1.67s/it] 94%|█████████▍| 28239/30000 [13:06:43<49:05, 1.67s/it] 94%|█████████▍| 28240/30000 [13:06:44<49:01, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.09514476358890533, 'learning_rate': 2.817252879855109e-07, 'flow_matching_loss': 0.016530578210949897, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.22} + 94%|█████████▍| 28240/30000 [13:06:45<49:01, 1.67s/it] 94%|█████████▍| 28241/30000 [13:06:46<48:56, 1.67s/it] 94%|█████████▍| 28242/30000 [13:06:48<48:52, 1.67s/it] 94%|█████████▍| 28243/30000 [13:06:49<48:52, 1.67s/it] 94%|█████████▍| 28244/30000 [13:06:51<48:51, 1.67s/it] 94%|█████████▍| 28245/30000 [13:06:53<48:49, 1.67s/it] 94%|█████████▍| 28246/30000 [13:06:54<48:49, 1.67s/it] 94%|█████████▍| 28247/30000 [13:06:56<48:44, 1.67s/it] 94%|█████████▍| 28248/30000 [13:06:58<48:46, 1.67s/it] 94%|█████████▍| 28249/30000 [13:06:59<48:42, 1.67s/it] 94%|█████████▍| 28250/30000 [13:07:01<48:40, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.10842707008123398, 'learning_rate': 2.785446783984219e-07, 'flow_matching_loss': 0.01677730856463313, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.22} + 94%|█████████▍| 28250/30000 [13:07:01<48:40, 1.67s/it] 94%|█████████▍| 28251/30000 [13:07:03<48:38, 1.67s/it] 94%|█████████▍| 28252/30000 [13:07:04<48:37, 1.67s/it] 94%|█████████▍| 28253/30000 [13:07:06<48:36, 1.67s/it] 94%|█████████▍| 28254/30000 [13:07:08<48:35, 1.67s/it] 94%|█████████▍| 28255/30000 [13:07:10<48:37, 1.67s/it] 94%|█████████▍| 28256/30000 [13:07:11<48:35, 1.67s/it] 94%|█████████▍| 28257/30000 [13:07:13<48:29, 1.67s/it] 94%|█████████▍| 28258/30000 [13:07:15<48:26, 1.67s/it] 94%|█████████▍| 28259/30000 [13:07:16<48:27, 1.67s/it] 94%|█████████▍| 28260/30000 [13:07:18<48:22, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.09855857491493225, 'learning_rate': 2.7538195676769076e-07, 'flow_matching_loss': 0.018025182839483022, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.22} + 94%|█████████▍| 28260/30000 [13:07:18<48:22, 1.67s/it] 94%|█████████▍| 28261/30000 [13:07:20<48:19, 1.67s/it] 94%|█████████▍| 28262/30000 [13:07:21<48:23, 1.67s/it] 94%|█████████▍| 28263/30000 [13:07:23<48:24, 1.67s/it] 94%|█████████▍| 28264/30000 [13:07:25<48:18, 1.67s/it] 94%|█████████▍| 28265/30000 [13:07:26<48:14, 1.67s/it] 94%|█████████▍| 28266/30000 [13:07:28<48:08, 1.67s/it] 94%|█████████▍| 28267/30000 [13:07:30<48:10, 1.67s/it] 94%|█████████▍| 28268/30000 [13:07:31<48:10, 1.67s/it] 94%|█████████▍| 28269/30000 [13:07:33<48:03, 1.67s/it] 94%|█████████▍| 28270/30000 [13:07:35<48:00, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.11725559085607529, 'learning_rate': 2.722371269363216e-07, 'flow_matching_loss': 0.017919787671416998, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.23} + 94%|█████████▍| 28270/30000 [13:07:35<48:00, 1.67s/it] 94%|█████████▍| 28271/30000 [13:07:36<48:02, 1.67s/it] 94%|█████████▍| 28272/30000 [13:07:38<48:06, 1.67s/it] 94%|█████████▍| 28273/30000 [13:07:40<48:00, 1.67s/it] 94%|█████████▍| 28274/30000 [13:07:41<47:59, 1.67s/it] 94%|█████████▍| 28275/30000 [13:07:43<47:56, 1.67s/it] 94%|█████████▍| 28276/30000 [13:07:45<47:50, 1.67s/it] 94%|█████████▍| 28277/30000 [13:07:46<47:50, 1.67s/it] 94%|█████████▍| 28278/30000 [13:07:48<47:50, 1.67s/it] 94%|█████████▍| 28279/30000 [13:07:50<47:51, 1.67s/it] 94%|█████████▍| 28280/30000 [13:07:51<47:49, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.0826844796538353, 'learning_rate': 2.6911019272558125e-07, 'flow_matching_loss': 0.01651355642825365, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.23} + 94%|█████████▍| 28280/30000 [13:07:51<47:49, 1.67s/it] 94%|█████████▍| 28281/30000 [13:07:53<47:40, 1.66s/it] 94%|█████████▍| 28282/30000 [13:07:55<47:38, 1.66s/it] 94%|█████████▍| 28283/30000 [13:07:56<47:38, 1.66s/it] 94%|█████████▍| 28284/30000 [13:07:58<47:35, 1.66s/it] 94%|█████████▍| 28285/30000 [13:08:00<47:36, 1.67s/it] 94%|█████████▍| 28286/30000 [13:08:01<47:38, 1.67s/it] 94%|█████████▍| 28287/30000 [13:08:03<47:37, 1.67s/it] 94%|█████████▍| 28288/30000 [13:08:05<47:36, 1.67s/it] 94%|█████████▍| 28289/30000 [13:08:06<47:31, 1.67s/it] 94%|█████████▍| 28290/30000 [13:08:08<47:29, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.1021074578166008, 'learning_rate': 2.6600115793498857e-07, 'flow_matching_loss': 0.016240917798131704, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.23} + 94%|█████████▍| 28290/30000 [13:08:08<47:29, 1.67s/it] 94%|█████████▍| 28291/30000 [13:08:10<47:29, 1.67s/it] 94%|█████████▍| 28292/30000 [13:08:11<47:31, 1.67s/it] 94%|█████████▍| 28293/30000 [13:08:13<47:37, 1.67s/it] 94%|█████████▍| 28294/30000 [13:08:15<47:33, 1.67s/it] 94%|█████████▍| 28295/30000 [13:08:16<47:33, 1.67s/it] 94%|█████████▍| 28296/30000 [13:08:18<47:26, 1.67s/it] 94%|█████████▍| 28297/30000 [13:08:20<47:24, 1.67s/it] 94%|█████████▍| 28298/30000 [13:08:21<47:21, 1.67s/it] 94%|█████████▍| 28299/30000 [13:08:23<47:19, 1.67s/it] 94%|█████████▍| 28300/30000 [13:08:25<47:16, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.10767331719398499, 'learning_rate': 2.629100263423151e-07, 'flow_matching_loss': 0.016584744118154048, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.23} + 94%|█████████▍| 28300/30000 [13:08:25<47:16, 1.67s/it] 94%|█████████▍| 28301/30000 [13:08:26<47:20, 1.67s/it] 94%|█████████▍| 28302/30000 [13:08:28<47:14, 1.67s/it] 94%|█████████▍| 28303/30000 [13:08:30<47:14, 1.67s/it] 94%|█████████▍| 28304/30000 [13:08:31<47:09, 1.67s/it] 94%|█████████▍| 28305/30000 [13:08:33<47:05, 1.67s/it] 94%|█████████▍| 28306/30000 [13:08:35<47:02, 1.67s/it] 94%|█████████▍| 28307/30000 [13:08:36<47:03, 1.67s/it] 94%|█████████▍| 28308/30000 [13:08:38<47:00, 1.67s/it] 94%|█████████▍| 28309/30000 [13:08:40<46:59, 1.67s/it] 94%|█████████▍| 28310/30000 [13:08:41<47:04, 1.67s/it] {'loss': 0.0195, 'grad_norm': 0.11126401275396347, 'learning_rate': 2.598368017035763e-07, 'flow_matching_loss': 0.019512680917978288, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.24} + 94%|█████████▍| 28310/30000 [13:08:41<47:04, 1.67s/it] 94%|█████████▍| 28311/30000 [13:08:43<46:59, 1.67s/it] 94%|█████████▍| 28312/30000 [13:08:45<47:04, 1.67s/it] 94%|█████████▍| 28313/30000 [13:08:46<46:53, 1.67s/it] 94%|█████████▍| 28314/30000 [13:08:48<46:51, 1.67s/it] 94%|█████████▍| 28315/30000 [13:08:50<46:52, 1.67s/it] 94%|█████████▍| 28316/30000 [13:08:51<46:51, 1.67s/it] 94%|█████████▍| 28317/30000 [13:08:53<46:48, 1.67s/it] 94%|█████████▍| 28318/30000 [13:08:55<46:46, 1.67s/it] 94%|█████████▍| 28319/30000 [13:08:56<46:44, 1.67s/it] 94%|█████████▍| 28320/30000 [13:08:58<46:43, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.08357933163642883, 'learning_rate': 2.5678148775303e-07, 'flow_matching_loss': 0.01569961290806532, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.24} + 94%|█████████▍| 28320/30000 [13:08:58<46:43, 1.67s/it] 94%|█████████▍| 28321/30000 [13:09:00<46:40, 1.67s/it] 94%|█████████▍| 28322/30000 [13:09:01<46:41, 1.67s/it] 94%|█████████▍| 28323/30000 [13:09:03<46:40, 1.67s/it] 94%|█████████▍| 28324/30000 [13:09:05<46:38, 1.67s/it] 94%|█████████▍| 28325/30000 [13:09:06<46:33, 1.67s/it] 94%|█████████▍| 28326/30000 [13:09:08<46:34, 1.67s/it] 94%|█████████▍| 28327/30000 [13:09:10<46:39, 1.67s/it] 94%|█████████▍| 28328/30000 [13:09:11<46:29, 1.67s/it] 94%|█████████▍| 28329/30000 [13:09:13<46:29, 1.67s/it] 94%|█████████▍| 28330/30000 [13:09:15<46:26, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.10942737013101578, 'learning_rate': 2.537440882031683e-07, 'flow_matching_loss': 0.015335808973759413, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.24} + 94%|█████████▍| 28330/30000 [13:09:15<46:26, 1.67s/it] 94%|█████████▍| 28331/30000 [13:09:16<46:25, 1.67s/it] 94%|█████████▍| 28332/30000 [13:09:18<46:20, 1.67s/it] 94%|█████████▍| 28333/30000 [13:09:20<46:17, 1.67s/it] 94%|█████████▍| 28334/30000 [13:09:21<46:17, 1.67s/it] 94%|█████████▍| 28335/30000 [13:09:23<46:18, 1.67s/it] 94%|█████████▍| 28336/30000 [13:09:25<46:17, 1.67s/it] 94%|█████████▍| 28337/30000 [13:09:26<46:14, 1.67s/it] 94%|█████████▍| 28338/30000 [13:09:28<46:07, 1.67s/it] 94%|█████████▍| 28339/30000 [13:09:30<46:08, 1.67s/it] 94%|█████████▍| 28340/30000 [13:09:31<46:14, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.10890378803014755, 'learning_rate': 2.5072460674472385e-07, 'flow_matching_loss': 0.01764611219987273, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.25} + 94%|█████████▍| 28340/30000 [13:09:31<46:14, 1.67s/it] 94%|█████████▍| 28341/30000 [13:09:33<46:10, 1.67s/it] 94%|█████████▍| 28342/30000 [13:09:35<46:13, 1.67s/it] 94%|█████████▍| 28343/30000 [13:09:36<46:08, 1.67s/it] 94%|█████████▍| 28344/30000 [13:09:38<46:06, 1.67s/it] 94%|█████████▍| 28345/30000 [13:09:40<45:59, 1.67s/it] 94%|█████████▍| 28346/30000 [13:09:41<45:54, 1.67s/it] 94%|█████████▍| 28347/30000 [13:09:43<45:53, 1.67s/it] 94%|█████████▍| 28348/30000 [13:09:45<45:53, 1.67s/it] 94%|█████████▍| 28349/30000 [13:09:46<45:55, 1.67s/it] 94%|█████████▍| 28350/30000 [13:09:48<45:58, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.08998184651136398, 'learning_rate': 2.4772304704664683e-07, 'flow_matching_loss': 0.015668281260877846, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.25} + 94%|█████████▍| 28350/30000 [13:09:48<45:58, 1.67s/it] 95%|█████████▍| 28351/30000 [13:09:50<45:56, 1.67s/it] 95%|█████████▍| 28352/30000 [13:09:51<45:55, 1.67s/it] 95%|█████████▍| 28353/30000 [13:09:53<45:53, 1.67s/it] 95%|█████████▍| 28354/30000 [13:09:55<45:48, 1.67s/it] 95%|█████████▍| 28355/30000 [13:09:56<45:44, 1.67s/it] 95%|█████████▍| 28356/30000 [13:09:58<45:40, 1.67s/it] 95%|█████████▍| 28357/30000 [13:10:00<45:39, 1.67s/it] 95%|█████████▍| 28358/30000 [13:10:01<45:38, 1.67s/it] 95%|█████████▍| 28359/30000 [13:10:03<45:39, 1.67s/it] 95%|█████████▍| 28360/30000 [13:10:05<45:37, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.12520183622837067, 'learning_rate': 2.447394127561181e-07, 'flow_matching_loss': 0.01727243550121784, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.25} + 95%|█████████▍| 28360/30000 [13:10:05<45:37, 1.67s/it] 95%|█████████▍| 28361/30000 [13:10:06<45:34, 1.67s/it] 95%|█████████▍| 28362/30000 [13:10:08<45:36, 1.67s/it] 95%|█████████▍| 28363/30000 [13:10:10<45:32, 1.67s/it] 95%|█████████▍| 28364/30000 [13:10:11<45:30, 1.67s/it] 95%|█████████▍| 28365/30000 [13:10:13<45:23, 1.67s/it] 95%|█████████▍| 28366/30000 [13:10:15<45:26, 1.67s/it] 95%|█████████▍| 28367/30000 [13:10:16<45:26, 1.67s/it] 95%|█████████▍| 28368/30000 [13:10:18<45:22, 1.67s/it] 95%|█████████▍| 28369/30000 [13:10:20<45:20, 1.67s/it] 95%|█████████▍| 28370/30000 [13:10:21<45:18, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.10943374782800674, 'learning_rate': 2.41773707498531e-07, 'flow_matching_loss': 0.015880607720464467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.25} + 95%|█████████▍| 28370/30000 [13:10:21<45:18, 1.67s/it] 95%|█████████▍| 28371/30000 [13:10:23<45:17, 1.67s/it] 95%|█████████▍| 28372/30000 [13:10:25<45:11, 1.67s/it] 95%|█████████▍| 28373/30000 [13:10:26<45:11, 1.67s/it] 95%|█████████▍| 28374/30000 [13:10:28<45:09, 1.67s/it] 95%|█████████▍| 28375/30000 [13:10:30<45:10, 1.67s/it] 95%|█████████▍| 28376/30000 [13:10:31<45:11, 1.67s/it] 95%|█████████▍| 28377/30000 [13:10:33<45:07, 1.67s/it] 95%|█████████▍| 28378/30000 [13:10:35<45:03, 1.67s/it] 95%|█████████▍| 28379/30000 [13:10:36<44:57, 1.66s/it] 95%|█████████▍| 28380/30000 [13:10:38<44:58, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11200235038995743, 'learning_rate': 2.388259348774996e-07, 'flow_matching_loss': 0.01730420012027025, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.26} + 95%|█████████▍| 28380/30000 [13:10:38<44:58, 1.67s/it] 95%|█████████▍| 28381/30000 [13:10:40<45:02, 1.67s/it] 95%|█████████▍| 28382/30000 [13:10:41<45:00, 1.67s/it] 95%|█████████▍| 28383/30000 [13:10:43<44:57, 1.67s/it] 95%|█████████▍| 28384/30000 [13:10:45<44:58, 1.67s/it] 95%|█████████▍| 28385/30000 [13:10:46<44:55, 1.67s/it] 95%|█████████▍| 28386/30000 [13:10:48<44:57, 1.67s/it] 95%|█████████▍| 28387/30000 [13:10:50<45:01, 1.67s/it] 95%|█████████▍| 28388/30000 [13:10:51<45:00, 1.68s/it] 95%|█████████▍| 28389/30000 [13:10:53<44:55, 1.67s/it] 95%|█████████▍| 28390/30000 [13:10:55<44:59, 1.68s/it] {'loss': 0.0168, 'grad_norm': 0.11363326758146286, 'learning_rate': 2.358960984748454e-07, 'flow_matching_loss': 0.016771071683615447, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.26} + 95%|█████████▍| 28390/30000 [13:10:55<44:59, 1.68s/it] 95%|█████████▍| 28391/30000 [13:10:56<44:53, 1.67s/it] 95%|█████████▍| 28392/30000 [13:10:58<44:53, 1.67s/it] 95%|█████████▍| 28393/30000 [13:11:00<44:47, 1.67s/it] 95%|█████████▍| 28394/30000 [13:11:01<44:42, 1.67s/it] 95%|█████████▍| 28395/30000 [13:11:03<44:42, 1.67s/it] 95%|█████████▍| 28396/30000 [13:11:05<44:38, 1.67s/it] 95%|█████████▍| 28397/30000 [13:11:06<44:34, 1.67s/it] 95%|█████████▍| 28398/30000 [13:11:08<44:33, 1.67s/it] 95%|█████████▍| 28399/30000 [13:11:10<44:29, 1.67s/it] 95%|█████████▍| 28400/30000 [13:11:11<44:31, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.11046702414751053, 'learning_rate': 2.3298420185059565e-07, 'flow_matching_loss': 0.015550535637885332, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.26} + 95%|█████████▍| 28400/30000 [13:11:12<44:31, 1.67s/it] 95%|█████████▍| 28401/30000 [13:11:13<44:27, 1.67s/it] 95%|█████████▍| 28402/30000 [13:11:15<44:24, 1.67s/it] 95%|█████████▍| 28403/30000 [13:11:16<44:18, 1.66s/it] 95%|█████████▍| 28404/30000 [13:11:18<44:14, 1.66s/it] 95%|█████████▍| 28405/30000 [13:11:20<44:15, 1.67s/it] 95%|█████████▍| 28406/30000 [13:11:21<44:16, 1.67s/it] 95%|█████████▍| 28407/30000 [13:11:23<44:14, 1.67s/it] 95%|█████████▍| 28408/30000 [13:11:25<44:15, 1.67s/it] 95%|█████████▍| 28409/30000 [13:11:26<44:19, 1.67s/it] 95%|█████████▍| 28410/30000 [13:11:28<44:09, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.09175163507461548, 'learning_rate': 2.3009024854297844e-07, 'flow_matching_loss': 0.016726489644497633, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.27} + 95%|█████████▍| 28410/30000 [13:11:28<44:09, 1.67s/it] 95%|█████████▍| 28411/30000 [13:11:30<44:08, 1.67s/it] 95%|█████████▍| 28412/30000 [13:11:31<44:07, 1.67s/it] 95%|█████████▍| 28413/30000 [13:11:33<44:06, 1.67s/it] 95%|█████████▍| 28414/30000 [13:11:35<44:09, 1.67s/it] 95%|█████████▍| 28415/30000 [13:11:36<44:07, 1.67s/it] 95%|█████████▍| 28416/30000 [13:11:38<44:04, 1.67s/it] 95%|█████████▍| 28417/30000 [13:11:40<43:59, 1.67s/it] 95%|█████████▍| 28418/30000 [13:11:41<43:54, 1.67s/it] 95%|█████████▍| 28419/30000 [13:11:43<43:53, 1.67s/it] 95%|█████████▍| 28420/30000 [13:11:45<43:54, 1.67s/it] {'loss': 0.0149, 'grad_norm': 0.10730845481157303, 'learning_rate': 2.272142420684209e-07, 'flow_matching_loss': 0.01492569139227271, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.27} + 95%|█████████▍| 28420/30000 [13:11:45<43:54, 1.67s/it] 95%|█████████▍| 28421/30000 [13:11:46<43:54, 1.67s/it] 95%|█████████▍| 28422/30000 [13:11:48<43:53, 1.67s/it] 95%|█████████▍| 28423/30000 [13:11:50<43:49, 1.67s/it] 95%|█████████▍| 28424/30000 [13:11:51<43:47, 1.67s/it] 95%|█████████▍| 28425/30000 [13:11:53<43:46, 1.67s/it] 95%|█████████▍| 28426/30000 [13:11:55<43:41, 1.67s/it] 95%|█████████▍| 28427/30000 [13:11:56<43:38, 1.66s/it] 95%|█████████▍| 28428/30000 [13:11:58<43:38, 1.67s/it] 95%|█████████▍| 28429/30000 [13:12:00<43:37, 1.67s/it] 95%|█████████▍| 28430/30000 [13:12:01<43:37, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.0751507580280304, 'learning_rate': 2.243561859215426e-07, 'flow_matching_loss': 0.015799003187566996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.27} + 95%|█████████▍| 28430/30000 [13:12:02<43:37, 1.67s/it] 95%|█████████▍| 28431/30000 [13:12:03<43:37, 1.67s/it] 95%|█████████▍| 28432/30000 [13:12:05<43:39, 1.67s/it] 95%|█████████▍| 28433/30000 [13:12:07<43:36, 1.67s/it] 95%|█████████▍| 28434/30000 [13:12:08<43:32, 1.67s/it] 95%|█████████▍| 28435/30000 [13:12:10<43:30, 1.67s/it] 95%|█████████▍| 28436/30000 [13:12:12<43:30, 1.67s/it] 95%|█████████▍| 28437/30000 [13:12:13<43:28, 1.67s/it] 95%|█████████▍| 28438/30000 [13:12:15<43:26, 1.67s/it] 95%|█████████▍| 28439/30000 [13:12:17<43:27, 1.67s/it] 95%|█████████▍| 28440/30000 [13:12:18<43:26, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.13116413354873657, 'learning_rate': 2.2151608357514897e-07, 'flow_matching_loss': 0.015442417096346616, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.27} + 95%|█████████▍| 28440/30000 [13:12:18<43:26, 1.67s/it] 95%|█████████▍| 28441/30000 [13:12:20<43:19, 1.67s/it] 95%|█████████▍| 28442/30000 [13:12:22<43:20, 1.67s/it] 95%|█████████▍| 28443/30000 [13:12:23<43:17, 1.67s/it] 95%|█████████▍| 28444/30000 [13:12:25<43:16, 1.67s/it] 95%|█████████▍| 28445/30000 [13:12:27<43:11, 1.67s/it] 95%|█████████▍| 28446/30000 [13:12:28<43:11, 1.67s/it] 95%|█████████▍| 28447/30000 [13:12:30<43:09, 1.67s/it] 95%|█████████▍| 28448/30000 [13:12:32<43:12, 1.67s/it] 95%|█████████▍| 28449/30000 [13:12:33<43:08, 1.67s/it] 95%|█████████▍| 28450/30000 [13:12:35<43:04, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.1293666809797287, 'learning_rate': 2.186939384802361e-07, 'flow_matching_loss': 0.015821889601647855, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.28} + 95%|█████████▍| 28450/30000 [13:12:35<43:04, 1.67s/it] 95%|█████████▍| 28451/30000 [13:12:37<43:05, 1.67s/it] 95%|█████████▍| 28452/30000 [13:12:38<42:59, 1.67s/it] 95%|█████████▍| 28453/30000 [13:12:40<42:59, 1.67s/it] 95%|█████████▍| 28454/30000 [13:12:42<43:03, 1.67s/it] 95%|█████████▍| 28455/30000 [13:12:43<43:00, 1.67s/it] 95%|█████████▍| 28456/30000 [13:12:45<42:57, 1.67s/it] 95%|█████████▍| 28457/30000 [13:12:47<42:52, 1.67s/it] 95%|█████████▍| 28458/30000 [13:12:48<42:49, 1.67s/it] 95%|█████████▍| 28459/30000 [13:12:50<42:46, 1.67s/it] 95%|█████████▍| 28460/30000 [13:12:52<42:47, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.12226514518260956, 'learning_rate': 2.1588975406597266e-07, 'flow_matching_loss': 0.015572121646255255, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.28} + 95%|█████████▍| 28460/30000 [13:12:52<42:47, 1.67s/it] 95%|█████████▍| 28461/30000 [13:12:53<42:48, 1.67s/it] 95%|█████████▍| 28462/30000 [13:12:55<42:42, 1.67s/it] 95%|█████████▍| 28463/30000 [13:12:57<42:41, 1.67s/it] 95%|█████████▍| 28464/30000 [13:12:58<42:37, 1.67s/it] 95%|█████████▍| 28465/30000 [13:13:00<42:39, 1.67s/it] 95%|█████████▍| 28466/30000 [13:13:02<42:38, 1.67s/it] 95%|█████████▍| 28467/30000 [13:13:03<42:36, 1.67s/it] 95%|█████████▍| 28468/30000 [13:13:05<42:38, 1.67s/it] 95%|█████████▍| 28469/30000 [13:13:07<42:35, 1.67s/it] 95%|█████████▍| 28470/30000 [13:13:08<42:39, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.09963106364011765, 'learning_rate': 2.131035337397097e-07, 'flow_matching_loss': 0.017479223571717738, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.28} + 95%|█████████▍| 28470/30000 [13:13:08<42:39, 1.67s/it] 95%|█████████▍| 28471/30000 [13:13:10<42:33, 1.67s/it] 95%|█████████▍| 28472/30000 [13:13:12<42:38, 1.67s/it] 95%|█████████▍| 28473/30000 [13:13:13<42:26, 1.67s/it] 95%|█████████▍| 28474/30000 [13:13:15<42:27, 1.67s/it] 95%|█████████▍| 28475/30000 [13:13:17<42:21, 1.67s/it] 95%|█████████▍| 28476/30000 [13:13:18<42:19, 1.67s/it] 95%|█████████▍| 28477/30000 [13:13:20<42:17, 1.67s/it] 95%|█████████▍| 28478/30000 [13:13:22<42:17, 1.67s/it] 95%|█████████▍| 28479/30000 [13:13:23<42:13, 1.67s/it] 95%|█████████▍| 28480/30000 [13:13:25<42:14, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.12689745426177979, 'learning_rate': 2.1033528088696575e-07, 'flow_matching_loss': 0.01739638317376375, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.29} + 95%|█████████▍| 28480/30000 [13:13:25<42:14, 1.67s/it] 95%|█████████▍| 28481/30000 [13:13:27<42:16, 1.67s/it] 95%|█████████▍| 28482/30000 [13:13:28<42:10, 1.67s/it] 95%|█████████▍| 28483/30000 [13:13:30<42:09, 1.67s/it] 95%|█████████▍| 28484/30000 [13:13:32<42:08, 1.67s/it] 95%|█████████▍| 28485/30000 [13:13:33<42:02, 1.67s/it] 95%|█████████▍| 28486/30000 [13:13:35<42:03, 1.67s/it] 95%|█████████▍| 28487/30000 [13:13:37<42:02, 1.67s/it] 95%|█████████▍| 28488/30000 [13:13:38<42:04, 1.67s/it] 95%|█████████▍| 28489/30000 [13:13:40<41:59, 1.67s/it] 95%|█████████▍| 28490/30000 [13:13:42<41:54, 1.67s/it] {'loss': 0.015, 'grad_norm': 0.1328137218952179, 'learning_rate': 2.0758499887143012e-07, 'flow_matching_loss': 0.015005677845329047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.29} + 95%|█████████▍| 28490/30000 [13:13:42<41:54, 1.67s/it] 95%|█████████▍| 28491/30000 [13:13:43<41:52, 1.67s/it] 95%|█████████▍| 28492/30000 [13:13:45<41:55, 1.67s/it] 95%|█████████▍| 28493/30000 [13:13:47<41:52, 1.67s/it] 95%|█████████▍| 28494/30000 [13:13:48<41:48, 1.67s/it] 95%|█████████▍| 28495/30000 [13:13:50<41:51, 1.67s/it] 95%|█████████▍| 28496/30000 [13:13:52<41:54, 1.67s/it] 95%|█████████▍| 28497/30000 [13:13:53<41:49, 1.67s/it] 95%|█████████▍| 28498/30000 [13:13:55<41:44, 1.67s/it] 95%|█████████▍| 28499/30000 [13:13:57<41:44, 1.67s/it] 95%|█████████▌| 28500/30000 [13:13:58<41:43, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.1602291315793991, 'learning_rate': 2.0485269103495462e-07, 'flow_matching_loss': 0.01857606628909707, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.29} + 95%|█████████▌| 28500/30000 [13:13:58<41:43, 1.67s/it] 95%|█████████▌| 28501/30000 [13:14:00<41:38, 1.67s/it] 95%|█████████▌| 28502/30000 [13:14:02<41:38, 1.67s/it] 95%|█████████▌| 28503/30000 [13:14:03<41:34, 1.67s/it] 95%|█████████▌| 28504/30000 [13:14:05<41:40, 1.67s/it] 95%|█████████▌| 28505/30000 [13:14:07<41:34, 1.67s/it] 95%|█████████▌| 28506/30000 [13:14:08<41:34, 1.67s/it] 95%|█████████▌| 28507/30000 [13:14:10<41:28, 1.67s/it] 95%|█████████▌| 28508/30000 [13:14:12<41:26, 1.67s/it] 95%|█████████▌| 28509/30000 [13:14:13<41:26, 1.67s/it] 95%|█████████▌| 28510/30000 [13:14:15<41:23, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.07568424195051193, 'learning_rate': 2.021383606975502e-07, 'flow_matching_loss': 0.01649680808186531, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.3} + 95%|█████████▌| 28510/30000 [13:14:15<41:23, 1.67s/it] 95%|█████████▌| 28511/30000 [13:14:17<41:27, 1.67s/it] 95%|█████████▌| 28512/30000 [13:14:18<41:28, 1.67s/it] 95%|█████████▌| 28513/30000 [13:14:20<41:17, 1.67s/it] 95%|█████████▌| 28514/30000 [13:14:22<41:16, 1.67s/it] 95%|█████████▌| 28515/30000 [13:14:23<41:14, 1.67s/it] 95%|█████████▌| 28516/30000 [13:14:25<41:11, 1.67s/it] 95%|█████████▌| 28517/30000 [13:14:27<41:15, 1.67s/it] 95%|█████████▌| 28518/30000 [13:14:28<41:17, 1.67s/it] 95%|█████████▌| 28519/30000 [13:14:30<41:10, 1.67s/it] 95%|█████████▌| 28520/30000 [13:14:32<41:09, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.08667024224996567, 'learning_rate': 1.9944201115738524e-07, 'flow_matching_loss': 0.015143763460218906, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.3} + 95%|█████████▌| 28520/30000 [13:14:32<41:09, 1.67s/it] 95%|█████████▌| 28521/30000 [13:14:33<41:02, 1.67s/it] 95%|█████████▌| 28522/30000 [13:14:35<41:03, 1.67s/it] 95%|█████████▌| 28523/30000 [13:14:37<40:58, 1.66s/it] 95%|█████████▌| 28524/30000 [13:14:38<40:56, 1.66s/it] 95%|█████████▌| 28525/30000 [13:14:40<41:03, 1.67s/it] 95%|█████████▌| 28526/30000 [13:14:42<41:00, 1.67s/it] 95%|█████████▌| 28527/30000 [13:14:43<40:56, 1.67s/it] 95%|█████████▌| 28528/30000 [13:14:45<40:59, 1.67s/it] 95%|█████████▌| 28529/30000 [13:14:47<40:57, 1.67s/it] 95%|█████████▌| 28530/30000 [13:14:48<40:49, 1.67s/it] {'loss': 0.0144, 'grad_norm': 0.08229169249534607, 'learning_rate': 1.9676364569077732e-07, 'flow_matching_loss': 0.014449786860495806, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.3} + 95%|█████████▌| 28530/30000 [13:14:48<40:49, 1.67s/it] 95%|█████████▌| 28531/30000 [13:14:50<40:48, 1.67s/it] 95%|█████████▌| 28532/30000 [13:14:52<40:47, 1.67s/it] 95%|█████████▌| 28533/30000 [13:14:53<40:54, 1.67s/it] 95%|█████████▌| 28534/30000 [13:14:55<40:47, 1.67s/it] 95%|█████████▌| 28535/30000 [13:14:57<40:41, 1.67s/it] 95%|█████████▌| 28536/30000 [13:14:58<40:43, 1.67s/it] 95%|█████████▌| 28537/30000 [13:15:00<40:42, 1.67s/it] 95%|█████████▌| 28538/30000 [13:15:02<40:39, 1.67s/it] 95%|█████████▌| 28539/30000 [13:15:03<40:33, 1.67s/it] 95%|█████████▌| 28540/30000 [13:15:05<40:32, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.12347795814275742, 'learning_rate': 1.9410326755219477e-07, 'flow_matching_loss': 0.017335629276931285, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.3} + 95%|█████████▌| 28540/30000 [13:15:05<40:32, 1.67s/it] 95%|█████████▌| 28541/30000 [13:15:07<40:32, 1.67s/it] 95%|█████████▌| 28542/30000 [13:15:08<40:33, 1.67s/it] 95%|█████████▌| 28543/30000 [13:15:10<40:27, 1.67s/it] 95%|█████████▌| 28544/30000 [13:15:12<40:29, 1.67s/it] 95%|█████████▌| 28545/30000 [13:15:13<40:24, 1.67s/it] 95%|█████████▌| 28546/30000 [13:15:15<40:23, 1.67s/it] 95%|█████████▌| 28547/30000 [13:15:17<40:26, 1.67s/it] 95%|█████████▌| 28548/30000 [13:15:18<40:24, 1.67s/it] 95%|█████████▌| 28549/30000 [13:15:20<40:27, 1.67s/it] 95%|█████████▌| 28550/30000 [13:15:22<40:23, 1.67s/it] {'loss': 0.0152, 'grad_norm': 0.11841046810150146, 'learning_rate': 1.9146087997424677e-07, 'flow_matching_loss': 0.01522622024640441, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.31} + 95%|█████████▌| 28550/30000 [13:15:22<40:23, 1.67s/it] 95%|█████████▌| 28551/30000 [13:15:23<40:20, 1.67s/it] 95%|█████████▌| 28552/30000 [13:15:25<40:23, 1.67s/it] 95%|█████████▌| 28553/30000 [13:15:27<40:16, 1.67s/it] 95%|█████████▌| 28554/30000 [13:15:28<40:14, 1.67s/it] 95%|█████████▌| 28555/30000 [13:15:30<40:10, 1.67s/it] 95%|█████████▌| 28556/30000 [13:15:32<40:09, 1.67s/it] 95%|█████████▌| 28557/30000 [13:15:33<40:09, 1.67s/it] 95%|█████████▌| 28558/30000 [13:15:35<40:10, 1.67s/it] 95%|█████████▌| 28559/30000 [13:15:37<40:05, 1.67s/it] 95%|█████████▌| 28560/30000 [13:15:38<40:03, 1.67s/it] {'loss': 0.0153, 'grad_norm': 0.12854433059692383, 'learning_rate': 1.8883648616768335e-07, 'flow_matching_loss': 0.015322551038116217, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.31} + 95%|█████████▌| 28560/30000 [13:15:38<40:03, 1.67s/it] 95%|█████████▌| 28561/30000 [13:15:40<39:59, 1.67s/it] 95%|█████████▌| 28562/30000 [13:15:42<39:58, 1.67s/it] 95%|█████████▌| 28563/30000 [13:15:43<39:56, 1.67s/it] 95%|█████████▌| 28564/30000 [13:15:45<39:58, 1.67s/it] 95%|█████████▌| 28565/30000 [13:15:47<39:55, 1.67s/it] 95%|█████████▌| 28566/30000 [13:15:48<39:57, 1.67s/it] 95%|█████████▌| 28567/30000 [13:15:50<39:50, 1.67s/it] 95%|█████████▌| 28568/30000 [13:15:52<39:47, 1.67s/it] 95%|█████████▌| 28569/30000 [13:15:53<39:45, 1.67s/it] 95%|█████████▌| 28570/30000 [13:15:55<39:40, 1.66s/it] {'loss': 0.0182, 'grad_norm': 0.10545343160629272, 'learning_rate': 1.862300893213903e-07, 'flow_matching_loss': 0.01824597381055355, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.31} + 95%|█████████▌| 28570/30000 [13:15:55<39:40, 1.66s/it] 95%|█████████▌| 28571/30000 [13:15:57<39:39, 1.67s/it] 95%|█████████▌| 28572/30000 [13:15:58<39:40, 1.67s/it] 95%|█████████▌| 28573/30000 [13:16:00<39:39, 1.67s/it] 95%|█████████▌| 28574/30000 [13:16:02<39:40, 1.67s/it] 95%|█████████▌| 28575/30000 [13:16:03<39:35, 1.67s/it] 95%|█████████▌| 28576/30000 [13:16:05<39:39, 1.67s/it] 95%|█████████▌| 28577/30000 [13:16:07<39:34, 1.67s/it] 95%|█████████▌| 28578/30000 [13:16:08<39:33, 1.67s/it] 95%|█████████▌| 28579/30000 [13:16:10<39:28, 1.67s/it] 95%|█████████▌| 28580/30000 [13:16:12<39:23, 1.66s/it] {'loss': 0.0188, 'grad_norm': 0.11265421658754349, 'learning_rate': 1.8364169260238595e-07, 'flow_matching_loss': 0.01883046478033066, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.32} + 95%|█████████▌| 28580/30000 [13:16:12<39:23, 1.66s/it] 95%|█████████▌| 28581/30000 [13:16:13<39:18, 1.66s/it] 95%|█████████▌| 28582/30000 [13:16:15<39:25, 1.67s/it] 95%|█████████▌| 28583/30000 [13:16:17<39:21, 1.67s/it] 95%|█████████▌| 28584/30000 [13:16:18<39:23, 1.67s/it] 95%|█████████▌| 28585/30000 [13:16:20<39:18, 1.67s/it] 95%|█████████▌| 28586/30000 [13:16:22<39:17, 1.67s/it] 95%|█████████▌| 28587/30000 [13:16:23<39:15, 1.67s/it] 95%|█████████▌| 28588/30000 [13:16:25<39:14, 1.67s/it] 95%|█████████▌| 28589/30000 [13:16:27<39:15, 1.67s/it] 95%|█████████▌| 28590/30000 [13:16:28<39:12, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.10810314863920212, 'learning_rate': 1.8107129915581777e-07, 'flow_matching_loss': 0.01650908850133419, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.32} + 95%|█████████▌| 28590/30000 [13:16:28<39:12, 1.67s/it] 95%|█████████▌| 28591/30000 [13:16:30<39:15, 1.67s/it] 95%|█████████▌| 28592/30000 [13:16:32<39:12, 1.67s/it] 95%|█████████▌| 28593/30000 [13:16:33<39:10, 1.67s/it] 95%|█████████▌| 28594/30000 [13:16:35<39:05, 1.67s/it] 95%|█████████▌| 28595/30000 [13:16:37<39:04, 1.67s/it] 95%|█████████▌| 28596/30000 [13:16:38<39:06, 1.67s/it] 95%|█████████▌| 28597/30000 [13:16:40<39:02, 1.67s/it] 95%|█████████▌| 28598/30000 [13:16:42<39:00, 1.67s/it] 95%|█████████▌| 28599/30000 [13:16:43<38:51, 1.66s/it] 95%|█████████▌| 28600/30000 [13:16:45<38:59, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.10468016564846039, 'learning_rate': 1.785189121049541e-07, 'flow_matching_loss': 0.01715223751962185, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.32} + 95%|█████████▌| 28600/30000 [13:16:45<38:59, 1.67s/it] 95%|█████████▌| 28601/30000 [13:16:47<38:55, 1.67s/it] 95%|█████████▌| 28602/30000 [13:16:48<38:53, 1.67s/it] 95%|█████████▌| 28603/30000 [13:16:50<38:49, 1.67s/it] 95%|█████████▌| 28604/30000 [13:16:52<38:47, 1.67s/it] 95%|█████████▌| 28605/30000 [13:16:53<38:51, 1.67s/it] 95%|█████████▌| 28606/30000 [13:16:55<38:42, 1.67s/it] 95%|█████████▌| 28607/30000 [13:16:57<38:38, 1.66s/it] 95%|█████████▌| 28608/30000 [13:16:58<38:40, 1.67s/it] 95%|█████████▌| 28609/30000 [13:17:00<38:39, 1.67s/it] 95%|█████████▌| 28610/30000 [13:17:02<38:37, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.12646465003490448, 'learning_rate': 1.7598453455118567e-07, 'flow_matching_loss': 0.015960878878831863, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.32} + 95%|█████████▌| 28610/30000 [13:17:02<38:37, 1.67s/it] 95%|█████████▌| 28611/30000 [13:17:03<38:34, 1.67s/it] 95%|█████████▌| 28612/30000 [13:17:05<38:34, 1.67s/it] 95%|█████████▌| 28613/30000 [13:17:07<38:31, 1.67s/it] 95%|█████████▌| 28614/30000 [13:17:08<38:31, 1.67s/it] 95%|█████████▌| 28615/30000 [13:17:10<38:25, 1.66s/it] 95%|█████████▌| 28616/30000 [13:17:12<38:30, 1.67s/it] 95%|█████████▌| 28617/30000 [13:17:13<38:26, 1.67s/it] 95%|█████████▌| 28618/30000 [13:17:15<38:25, 1.67s/it] 95%|█████████▌| 28619/30000 [13:17:17<38:24, 1.67s/it] 95%|█████████▌| 28620/30000 [13:17:18<38:22, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.10135272145271301, 'learning_rate': 1.7346816957402256e-07, 'flow_matching_loss': 0.016411090176552533, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.33} + 95%|█████████▌| 28620/30000 [13:17:18<38:22, 1.67s/it] 95%|█████████▌| 28621/30000 [13:17:20<38:21, 1.67s/it] 95%|█████████▌| 28622/30000 [13:17:22<38:22, 1.67s/it] 95%|█████████▌| 28623/30000 [13:17:23<38:14, 1.67s/it] 95%|█████████▌| 28624/30000 [13:17:25<38:16, 1.67s/it] 95%|█████████▌| 28625/30000 [13:17:27<38:13, 1.67s/it] 95%|█████████▌| 28626/30000 [13:17:28<38:10, 1.67s/it] 95%|█████████▌| 28627/30000 [13:17:30<38:08, 1.67s/it] 95%|█████████▌| 28628/30000 [13:17:32<38:09, 1.67s/it] 95%|█████████▌| 28629/30000 [13:17:33<38:07, 1.67s/it] 95%|█████████▌| 28630/30000 [13:17:35<38:07, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.10438814014196396, 'learning_rate': 1.7096982023108389e-07, 'flow_matching_loss': 0.016804995574057104, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.33} + 95%|█████████▌| 28630/30000 [13:17:35<38:07, 1.67s/it] 95%|█████████▌| 28631/30000 [13:17:37<38:05, 1.67s/it] 95%|█████████▌| 28632/30000 [13:17:38<38:09, 1.67s/it] 95%|█████████▌| 28633/30000 [13:17:40<38:02, 1.67s/it] 95%|█████████▌| 28634/30000 [13:17:42<37:56, 1.67s/it] 95%|█████████▌| 28635/30000 [13:17:43<37:57, 1.67s/it] 95%|█████████▌| 28636/30000 [13:17:45<37:56, 1.67s/it] 95%|█████████▌| 28637/30000 [13:17:47<37:57, 1.67s/it] 95%|█████████▌| 28638/30000 [13:17:49<37:56, 1.67s/it] 95%|█████████▌| 28639/30000 [13:17:50<37:53, 1.67s/it] 95%|█████████▌| 28640/30000 [13:17:52<37:51, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.14359872043132782, 'learning_rate': 1.6848948955809963e-07, 'flow_matching_loss': 0.017552030459046363, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.33} + 95%|█████████▌| 28640/30000 [13:17:52<37:51, 1.67s/it] 95%|█████████▌| 28641/30000 [13:17:54<37:49, 1.67s/it] 95%|█████████▌| 28642/30000 [13:17:55<37:45, 1.67s/it] 95%|█████████▌| 28643/30000 [13:17:57<37:45, 1.67s/it] 95%|█████████▌| 28644/30000 [13:17:59<37:45, 1.67s/it] 95%|█████████▌| 28645/30000 [13:18:00<37:40, 1.67s/it] 95%|█████████▌| 28646/30000 [13:18:02<37:41, 1.67s/it] 95%|█████████▌| 28647/30000 [13:18:04<37:35, 1.67s/it] 95%|█████████▌| 28648/30000 [13:18:05<37:41, 1.67s/it] 95%|█████████▌| 28649/30000 [13:18:07<37:37, 1.67s/it] 96%|█████████▌| 28650/30000 [13:18:09<37:38, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.10857093334197998, 'learning_rate': 1.66027180568904e-07, 'flow_matching_loss': 0.015838005207479, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.34} + 96%|█████████▌| 28650/30000 [13:18:09<37:38, 1.67s/it] 96%|█████████▌| 28651/30000 [13:18:10<37:42, 1.68s/it] 96%|█████████▌| 28652/30000 [13:18:12<37:36, 1.67s/it] 96%|█████████▌| 28653/30000 [13:18:14<37:32, 1.67s/it] 96%|█████████▌| 28654/30000 [13:18:15<37:25, 1.67s/it] 96%|█████████▌| 28655/30000 [13:18:17<37:21, 1.67s/it] 96%|█████████▌| 28656/30000 [13:18:19<37:23, 1.67s/it] 96%|█████████▌| 28657/30000 [13:18:20<37:19, 1.67s/it] 96%|█████████▌| 28658/30000 [13:18:22<37:13, 1.66s/it] 96%|█████████▌| 28659/30000 [13:18:24<37:14, 1.67s/it] 96%|█████████▌| 28660/30000 [13:18:25<37:14, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.12618893384933472, 'learning_rate': 1.6358289625543865e-07, 'flow_matching_loss': 0.016461730655282735, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.34} + 96%|█████████▌| 28660/30000 [13:18:25<37:14, 1.67s/it] 96%|█████████▌| 28661/30000 [13:18:27<37:09, 1.67s/it] 96%|█████████▌| 28662/30000 [13:18:29<37:10, 1.67s/it] 96%|█████████▌| 28663/30000 [13:18:30<37:12, 1.67s/it] 96%|█████████▌| 28664/30000 [13:18:32<37:12, 1.67s/it] 96%|█████████▌| 28665/30000 [13:18:34<37:07, 1.67s/it] 96%|█████████▌| 28666/30000 [13:18:35<37:03, 1.67s/it] 96%|█████████▌| 28667/30000 [13:18:37<37:04, 1.67s/it] 96%|█████████▌| 28668/30000 [13:18:39<37:06, 1.67s/it] 96%|█████████▌| 28669/30000 [13:18:40<37:02, 1.67s/it] 96%|█████████▌| 28670/30000 [13:18:42<37:00, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11623778939247131, 'learning_rate': 1.6115663958773618e-07, 'flow_matching_loss': 0.01766495602205396, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.34} + 96%|█████████▌| 28670/30000 [13:18:42<37:00, 1.67s/it] 96%|█████████▌| 28671/30000 [13:18:44<36:59, 1.67s/it] 96%|█████████▌| 28672/30000 [13:18:45<36:58, 1.67s/it] 96%|█████████▌| 28673/30000 [13:18:47<36:51, 1.67s/it] 96%|█████████▌| 28674/30000 [13:18:49<36:49, 1.67s/it] 96%|█████████▌| 28675/30000 [13:18:50<36:49, 1.67s/it] 96%|█████████▌| 28676/30000 [13:18:52<36:48, 1.67s/it] 96%|█████████▌| 28677/30000 [13:18:54<36:48, 1.67s/it] 96%|█████████▌| 28678/30000 [13:18:55<36:47, 1.67s/it] 96%|█████████▌| 28679/30000 [13:18:57<36:42, 1.67s/it] 96%|█████████▌| 28680/30000 [13:18:59<36:45, 1.67s/it] {'loss': 0.0143, 'grad_norm': 0.10327652841806412, 'learning_rate': 1.5874841351392832e-07, 'flow_matching_loss': 0.014262532349675894, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.34} + 96%|█████████▌| 28680/30000 [13:18:59<36:45, 1.67s/it] 96%|█████████▌| 28681/30000 [13:19:00<36:44, 1.67s/it] 96%|█████████▌| 28682/30000 [13:19:02<36:42, 1.67s/it] 96%|█████████▌| 28683/30000 [13:19:04<36:41, 1.67s/it] 96%|█████████▌| 28684/30000 [13:19:05<36:40, 1.67s/it] 96%|█████████▌| 28685/30000 [13:19:07<36:37, 1.67s/it] 96%|█████████▌| 28686/30000 [13:19:09<36:38, 1.67s/it] 96%|█████████▌| 28687/30000 [13:19:10<36:34, 1.67s/it] 96%|█████████▌| 28688/30000 [13:19:12<36:38, 1.68s/it] 96%|█████████▌| 28689/30000 [13:19:14<36:28, 1.67s/it] 96%|█████████▌| 28690/30000 [13:19:15<36:24, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.13406246900558472, 'learning_rate': 1.56358220960236e-07, 'flow_matching_loss': 0.01839480847120285, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.35} + 96%|█████████▌| 28690/30000 [13:19:15<36:24, 1.67s/it] 96%|█████████▌| 28691/30000 [13:19:17<36:24, 1.67s/it] 96%|█████████▌| 28692/30000 [13:19:19<36:22, 1.67s/it] 96%|█████████▌| 28693/30000 [13:19:20<36:20, 1.67s/it] 96%|█████████▌| 28694/30000 [13:19:22<36:19, 1.67s/it] 96%|█████████▌| 28695/30000 [13:19:24<36:18, 1.67s/it] 96%|█████████▌| 28696/30000 [13:19:25<36:16, 1.67s/it] 96%|█████████▌| 28697/30000 [13:19:27<36:07, 1.66s/it] 96%|█████████▌| 28698/30000 [13:19:29<36:03, 1.66s/it] 96%|█████████▌| 28699/30000 [13:19:30<36:06, 1.67s/it] 96%|█████████▌| 28700/30000 [13:19:32<36:05, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.11374656856060028, 'learning_rate': 1.5398606483096932e-07, 'flow_matching_loss': 0.017026145197451114, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.35} + 96%|█████████▌| 28700/30000 [13:19:32<36:05, 1.67s/it] 96%|█████████▌| 28701/30000 [13:19:34<36:05, 1.67s/it] 96%|█████████▌| 28702/30000 [13:19:35<36:06, 1.67s/it] 96%|█████████▌| 28703/30000 [13:19:37<36:03, 1.67s/it] 96%|█████████▌| 28704/30000 [13:19:39<36:04, 1.67s/it] 96%|█████████▌| 28705/30000 [13:19:40<36:00, 1.67s/it] 96%|█████████▌| 28706/30000 [13:19:42<35:59, 1.67s/it] 96%|█████████▌| 28707/30000 [13:19:44<35:53, 1.67s/it] 96%|█████████▌| 28708/30000 [13:19:45<35:53, 1.67s/it] 96%|█████████▌| 28709/30000 [13:19:47<35:52, 1.67s/it] 96%|█████████▌| 28710/30000 [13:19:49<35:49, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.11301910132169724, 'learning_rate': 1.5163194800852265e-07, 'flow_matching_loss': 0.016052294801920653, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.35} + 96%|█████████▌| 28710/30000 [13:19:49<35:49, 1.67s/it] 96%|█████████▌| 28711/30000 [13:19:50<35:50, 1.67s/it] 96%|█████████▌| 28712/30000 [13:19:52<35:50, 1.67s/it] 96%|█████████▌| 28713/30000 [13:19:54<35:44, 1.67s/it] 96%|█████████▌| 28714/30000 [13:19:55<35:43, 1.67s/it] 96%|█████████▌| 28715/30000 [13:19:57<35:42, 1.67s/it] 96%|█████████▌| 28716/30000 [13:19:59<35:47, 1.67s/it] 96%|█████████▌| 28717/30000 [13:20:00<35:42, 1.67s/it] 96%|█████████▌| 28718/30000 [13:20:02<35:42, 1.67s/it] 96%|█████████▌| 28719/30000 [13:20:04<35:41, 1.67s/it] 96%|█████████▌| 28720/30000 [13:20:05<35:35, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.10368986427783966, 'learning_rate': 1.4929587335336614e-07, 'flow_matching_loss': 0.017743988242000342, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.36} + 96%|█████████▌| 28720/30000 [13:20:05<35:35, 1.67s/it] 96%|█████████▌| 28721/30000 [13:20:07<35:33, 1.67s/it] 96%|█████████▌| 28722/30000 [13:20:09<35:31, 1.67s/it] 96%|█████████▌| 28723/30000 [13:20:10<35:31, 1.67s/it] 96%|█████████▌| 28724/30000 [13:20:12<35:31, 1.67s/it] 96%|█████████▌| 28725/30000 [13:20:14<35:28, 1.67s/it] 96%|█████████▌| 28726/30000 [13:20:15<35:27, 1.67s/it] 96%|█████████▌| 28727/30000 [13:20:17<35:23, 1.67s/it] 96%|█████████▌| 28728/30000 [13:20:19<35:21, 1.67s/it] 96%|█████████▌| 28729/30000 [13:20:20<35:16, 1.66s/it] 96%|█████████▌| 28730/30000 [13:20:22<35:13, 1.66s/it] {'loss': 0.015, 'grad_norm': 0.08507075160741806, 'learning_rate': 1.4697784370405587e-07, 'flow_matching_loss': 0.014990556053817272, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.36} + 96%|█████████▌| 28730/30000 [13:20:22<35:13, 1.66s/it] 96%|█████████▌| 28731/30000 [13:20:24<35:12, 1.66s/it] 96%|█████████▌| 28732/30000 [13:20:25<35:10, 1.66s/it] 96%|█████████▌| 28733/30000 [13:20:27<35:09, 1.66s/it] 96%|█████████▌| 28734/30000 [13:20:29<35:07, 1.66s/it] 96%|█████████▌| 28735/30000 [13:20:30<35:06, 1.67s/it] 96%|█████████▌| 28736/30000 [13:20:32<35:07, 1.67s/it] 96%|█████████▌| 28737/30000 [13:20:34<35:05, 1.67s/it] 96%|█████████▌| 28738/30000 [13:20:35<35:01, 1.67s/it] 96%|█████████▌| 28739/30000 [13:20:37<35:02, 1.67s/it] 96%|█████████▌| 28740/30000 [13:20:39<35:05, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.0911799892783165, 'learning_rate': 1.4467786187721376e-07, 'flow_matching_loss': 0.01616332456469536, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.36} + 96%|█████████▌| 28740/30000 [13:20:39<35:05, 1.67s/it] 96%|█████████▌| 28741/30000 [13:20:40<35:06, 1.67s/it] 96%|█████████▌| 28742/30000 [13:20:42<35:00, 1.67s/it] 96%|█████████▌| 28743/30000 [13:20:44<34:57, 1.67s/it] 96%|█████████▌| 28744/30000 [13:20:45<34:57, 1.67s/it] 96%|█████████▌| 28745/30000 [13:20:47<34:52, 1.67s/it] 96%|█████████▌| 28746/30000 [13:20:49<34:51, 1.67s/it] 96%|█████████▌| 28747/30000 [13:20:50<34:47, 1.67s/it] 96%|█████████▌| 28748/30000 [13:20:52<34:46, 1.67s/it] 96%|█████████▌| 28749/30000 [13:20:54<34:42, 1.67s/it] 96%|█████████▌| 28750/30000 [13:20:55<34:43, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.14211444556713104, 'learning_rate': 1.4239593066753265e-07, 'flow_matching_loss': 0.017309670615941287, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.36} + 96%|█████████▌| 28750/30000 [13:20:55<34:43, 1.67s/it] 96%|█████████▌| 28751/30000 [13:20:57<34:43, 1.67s/it] 96%|█████████▌| 28752/30000 [13:20:59<34:41, 1.67s/it] 96%|█████████▌| 28753/30000 [13:21:00<34:37, 1.67s/it] 96%|█████████▌| 28754/30000 [13:21:02<34:35, 1.67s/it] 96%|█████████▌| 28755/30000 [13:21:04<34:36, 1.67s/it] 96%|█████████▌| 28756/30000 [13:21:05<34:35, 1.67s/it] 96%|█████████▌| 28757/30000 [13:21:07<34:31, 1.67s/it] 96%|█████████▌| 28758/30000 [13:21:09<34:30, 1.67s/it] 96%|█████████▌| 28759/30000 [13:21:10<34:28, 1.67s/it] 96%|█████████▌| 28760/30000 [13:21:12<34:30, 1.67s/it] {'loss': 0.019, 'grad_norm': 0.10325443744659424, 'learning_rate': 1.4013205284777953e-07, 'flow_matching_loss': 0.018953120801597834, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.37} + 96%|█████████▌| 28760/30000 [13:21:12<34:30, 1.67s/it] 96%|█████████▌| 28761/30000 [13:21:14<34:26, 1.67s/it] 96%|█████████▌| 28762/30000 [13:21:15<34:21, 1.67s/it] 96%|█████████▌| 28763/30000 [13:21:17<34:17, 1.66s/it] 96%|█████████▌| 28764/30000 [13:21:19<34:19, 1.67s/it] 96%|█████████▌| 28765/30000 [13:21:20<34:17, 1.67s/it] 96%|█████████▌| 28766/30000 [13:21:22<34:15, 1.67s/it] 96%|█████████▌| 28767/30000 [13:21:24<34:12, 1.66s/it] 96%|█████████▌| 28768/30000 [13:21:25<34:13, 1.67s/it] 96%|█████████▌| 28769/30000 [13:21:27<34:09, 1.67s/it] 96%|█████████▌| 28770/30000 [13:21:29<34:05, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.13041645288467407, 'learning_rate': 1.3788623116877397e-07, 'flow_matching_loss': 0.01639158707112074, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.37} + 96%|█████████▌| 28770/30000 [13:21:29<34:05, 1.66s/it] 96%|█████████▌| 28771/30000 [13:21:30<34:04, 1.66s/it] 96%|█████████▌| 28772/30000 [13:21:32<34:05, 1.67s/it] 96%|█████████▌| 28773/30000 [13:21:34<34:10, 1.67s/it] 96%|█████████▌| 28774/30000 [13:21:35<34:09, 1.67s/it] 96%|█████████▌| 28775/30000 [13:21:37<34:06, 1.67s/it] 96%|█████████▌| 28776/30000 [13:21:39<34:12, 1.68s/it] 96%|█████████▌| 28777/30000 [13:21:40<34:04, 1.67s/it] 96%|█████████▌| 28778/30000 [13:21:42<34:03, 1.67s/it] 96%|█████████▌| 28779/30000 [13:21:44<33:59, 1.67s/it] 96%|█████████▌| 28780/30000 [13:21:45<33:57, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.10175041854381561, 'learning_rate': 1.3565846835940477e-07, 'flow_matching_loss': 0.017963586188852788, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.37} + 96%|█████████▌| 28780/30000 [13:21:45<33:57, 1.67s/it] 96%|█████████▌| 28781/30000 [13:21:47<33:57, 1.67s/it] 96%|█████████▌| 28782/30000 [13:21:49<33:54, 1.67s/it] 96%|█████████▌| 28783/30000 [13:21:50<33:52, 1.67s/it] 96%|█████████▌| 28784/30000 [13:21:52<33:50, 1.67s/it] 96%|█████████▌| 28785/30000 [13:21:54<33:47, 1.67s/it] 96%|█████████▌| 28786/30000 [13:21:55<33:44, 1.67s/it] 96%|█████████▌| 28787/30000 [13:21:57<33:44, 1.67s/it] 96%|█████████▌| 28788/30000 [13:21:59<33:37, 1.67s/it] 96%|█████████▌| 28789/30000 [13:22:00<33:37, 1.67s/it] 96%|█████████▌| 28790/30000 [13:22:02<33:35, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.12794943153858185, 'learning_rate': 1.334487671266116e-07, 'flow_matching_loss': 0.016952116321772338, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.38} + 96%|█████████▌| 28790/30000 [13:22:02<33:35, 1.67s/it] 96%|█████████▌| 28791/30000 [13:22:04<33:33, 1.67s/it] 96%|█████████▌| 28792/30000 [13:22:05<33:37, 1.67s/it] 96%|█████████▌| 28793/30000 [13:22:07<33:34, 1.67s/it] 96%|█████████▌| 28794/30000 [13:22:09<33:31, 1.67s/it] 96%|█████████▌| 28795/30000 [13:22:10<33:29, 1.67s/it] 96%|█████████▌| 28796/30000 [13:22:12<33:27, 1.67s/it] 96%|█████████▌| 28797/30000 [13:22:14<33:25, 1.67s/it] 96%|█████████▌| 28798/30000 [13:22:15<33:29, 1.67s/it] 96%|█████████▌| 28799/30000 [13:22:17<33:24, 1.67s/it] 96%|█████████▌| 28800/30000 [13:22:19<33:26, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.08185240626335144, 'learning_rate': 1.3125713015538998e-07, 'flow_matching_loss': 0.015361174196004867, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.38} + 96%|█████████▌| 28800/30000 [13:22:19<33:26, 1.67s/it] 96%|█████████▌| 28801/30000 [13:22:20<33:21, 1.67s/it] 96%|█████████▌| 28802/30000 [13:22:22<33:17, 1.67s/it] 96%|█████████▌| 28803/30000 [13:22:24<33:15, 1.67s/it] 96%|█████████▌| 28804/30000 [13:22:25<33:16, 1.67s/it] 96%|█████████▌| 28805/30000 [13:22:27<33:16, 1.67s/it] 96%|█████████▌| 28806/30000 [13:22:29<33:20, 1.68s/it] 96%|█████████▌| 28807/30000 [13:22:30<33:14, 1.67s/it] 96%|█████████▌| 28808/30000 [13:22:32<33:13, 1.67s/it] 96%|█████████▌| 28809/30000 [13:22:34<33:10, 1.67s/it] 96%|█████████▌| 28810/30000 [13:22:35<33:04, 1.67s/it] {'loss': 0.017, 'grad_norm': 0.10874204337596893, 'learning_rate': 1.290835601087864e-07, 'flow_matching_loss': 0.016966152377426623, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.38} + 96%|█████████▌| 28810/30000 [13:22:36<33:04, 1.67s/it] 96%|█████████▌| 28811/30000 [13:22:37<33:00, 1.67s/it] 96%|█████████▌| 28812/30000 [13:22:39<32:59, 1.67s/it] 96%|█████████▌| 28813/30000 [13:22:40<32:57, 1.67s/it] 96%|█████████▌| 28814/30000 [13:22:42<32:57, 1.67s/it] 96%|█████████▌| 28815/30000 [13:22:44<32:54, 1.67s/it] 96%|█████████▌| 28816/30000 [13:22:45<32:56, 1.67s/it] 96%|█████████▌| 28817/30000 [13:22:47<32:52, 1.67s/it] 96%|█████████▌| 28818/30000 [13:22:49<32:49, 1.67s/it] 96%|█████████▌| 28819/30000 [13:22:50<32:47, 1.67s/it] 96%|█████████▌| 28820/30000 [13:22:52<32:46, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.11409560590982437, 'learning_rate': 1.2692805962789323e-07, 'flow_matching_loss': 0.0182018562220037, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.39} + 96%|█████████▌| 28820/30000 [13:22:52<32:46, 1.67s/it] 96%|█████████▌| 28821/30000 [13:22:54<32:48, 1.67s/it] 96%|█████████▌| 28822/30000 [13:22:55<32:40, 1.66s/it] 96%|█████████▌| 28823/30000 [13:22:57<32:41, 1.67s/it] 96%|█████████▌| 28824/30000 [13:22:59<32:42, 1.67s/it] 96%|█████████▌| 28825/30000 [13:23:00<32:36, 1.67s/it] 96%|█████████▌| 28826/30000 [13:23:02<32:33, 1.66s/it] 96%|█████████▌| 28827/30000 [13:23:04<32:28, 1.66s/it] 96%|█████████▌| 28828/30000 [13:23:05<32:29, 1.66s/it] 96%|█████████▌| 28829/30000 [13:23:07<32:33, 1.67s/it] 96%|█████████▌| 28830/30000 [13:23:09<32:32, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.12164508551359177, 'learning_rate': 1.2479063133184698e-07, 'flow_matching_loss': 0.01734218271449208, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.39} + 96%|█████████▌| 28830/30000 [13:23:09<32:32, 1.67s/it] 96%|█████████▌| 28831/30000 [13:23:10<32:34, 1.67s/it] 96%|█████████▌| 28832/30000 [13:23:12<32:31, 1.67s/it] 96%|█████████▌| 28833/30000 [13:23:14<32:26, 1.67s/it] 96%|█████████▌| 28834/30000 [13:23:15<32:25, 1.67s/it] 96%|█████████▌| 28835/30000 [13:23:17<32:25, 1.67s/it] 96%|█████████▌| 28836/30000 [13:23:19<32:25, 1.67s/it] 96%|█████████▌| 28837/30000 [13:23:21<32:23, 1.67s/it] 96%|█████████▌| 28838/30000 [13:23:22<32:19, 1.67s/it] 96%|█████████▌| 28839/30000 [13:23:24<32:18, 1.67s/it] 96%|█████████▌| 28840/30000 [13:23:26<32:19, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.1266392320394516, 'learning_rate': 1.2267127781782516e-07, 'flow_matching_loss': 0.016585812252014876, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.39} + 96%|█████████▌| 28840/30000 [13:23:26<32:19, 1.67s/it] 96%|█████████▌| 28841/30000 [13:23:27<32:14, 1.67s/it] 96%|█████████▌| 28842/30000 [13:23:29<32:12, 1.67s/it] 96%|█████████▌| 28843/30000 [13:23:31<32:06, 1.67s/it] 96%|█████████▌| 28844/30000 [13:23:32<32:07, 1.67s/it] 96%|█████████▌| 28845/30000 [13:23:34<32:07, 1.67s/it] 96%|█████████▌| 28846/30000 [13:23:36<32:05, 1.67s/it] 96%|█████████▌| 28847/30000 [13:23:37<32:02, 1.67s/it] 96%|█████████▌| 28848/30000 [13:23:39<32:01, 1.67s/it] 96%|█████████▌| 28849/30000 [13:23:41<31:56, 1.67s/it] 96%|█████████▌| 28850/30000 [13:23:42<31:57, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.1025894284248352, 'learning_rate': 1.205700016610395e-07, 'flow_matching_loss': 0.017371085379272698, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.39} + 96%|█████████▌| 28850/30000 [13:23:42<31:57, 1.67s/it] 96%|█████████▌| 28851/30000 [13:23:44<31:57, 1.67s/it] 96%|█████████▌| 28852/30000 [13:23:46<31:56, 1.67s/it] 96%|█████████▌| 28853/30000 [13:23:47<31:53, 1.67s/it] 96%|█████████▌| 28854/30000 [13:23:49<31:52, 1.67s/it] 96%|█████████▌| 28855/30000 [13:23:51<31:48, 1.67s/it] 96%|█████████▌| 28856/30000 [13:23:52<31:48, 1.67s/it] 96%|█████████▌| 28857/30000 [13:23:54<31:45, 1.67s/it] 96%|█████████▌| 28858/30000 [13:23:56<31:50, 1.67s/it] 96%|█████████▌| 28859/30000 [13:23:57<31:47, 1.67s/it] 96%|█████████▌| 28860/30000 [13:23:59<31:45, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.09474308043718338, 'learning_rate': 1.1848680541474088e-07, 'flow_matching_loss': 0.016754532139748333, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.4} + 96%|█████████▌| 28860/30000 [13:23:59<31:45, 1.67s/it] 96%|█████████▌| 28861/30000 [13:24:01<31:45, 1.67s/it] 96%|█████████▌| 28862/30000 [13:24:02<31:41, 1.67s/it] 96%|█████████▌| 28863/30000 [13:24:04<31:37, 1.67s/it] 96%|█████████▌| 28864/30000 [13:24:06<31:38, 1.67s/it] 96%|█████████▌| 28865/30000 [13:24:07<31:33, 1.67s/it] 96%|█████████▌| 28866/30000 [13:24:09<31:33, 1.67s/it] 96%|█████████▌| 28867/30000 [13:24:11<31:28, 1.67s/it] 96%|█████████▌| 28868/30000 [13:24:12<31:26, 1.67s/it] 96%|█████████▌| 28869/30000 [13:24:14<31:25, 1.67s/it] 96%|█████████▌| 28870/30000 [13:24:16<31:24, 1.67s/it] {'loss': 0.0206, 'grad_norm': 0.22403855621814728, 'learning_rate': 1.1642169161020955e-07, 'flow_matching_loss': 0.020632494892925023, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.4} + 96%|█████████▌| 28870/30000 [13:24:16<31:24, 1.67s/it] 96%|█████████▌| 28871/30000 [13:24:17<31:22, 1.67s/it] 96%|█████████▌| 28872/30000 [13:24:19<31:22, 1.67s/it] 96%|█████████▌| 28873/30000 [13:24:21<31:17, 1.67s/it] 96%|█████████▌| 28874/30000 [13:24:22<31:16, 1.67s/it] 96%|█████████▋| 28875/30000 [13:24:24<31:15, 1.67s/it] 96%|█████████▋| 28876/30000 [13:24:26<31:11, 1.67s/it] 96%|█████████▋| 28877/30000 [13:24:27<31:11, 1.67s/it] 96%|█████████▋| 28878/30000 [13:24:29<31:11, 1.67s/it] 96%|█████████▋| 28879/30000 [13:24:31<31:08, 1.67s/it] 96%|█████████▋| 28880/30000 [13:24:32<31:08, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.12097236514091492, 'learning_rate': 1.1437466275675156e-07, 'flow_matching_loss': 0.017054725950583816, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.4} + 96%|█████████▋| 28880/30000 [13:24:32<31:08, 1.67s/it] 96%|█████████▋| 28881/30000 [13:24:34<31:06, 1.67s/it] 96%|█████████▋| 28882/30000 [13:24:36<31:04, 1.67s/it] 96%|█████████▋| 28883/30000 [13:24:37<31:02, 1.67s/it] 96%|█████████▋| 28884/30000 [13:24:39<31:01, 1.67s/it] 96%|█████████▋| 28885/30000 [13:24:41<30:59, 1.67s/it] 96%|█████████▋| 28886/30000 [13:24:42<30:57, 1.67s/it] 96%|█████████▋| 28887/30000 [13:24:44<30:54, 1.67s/it] 96%|█████████▋| 28888/30000 [13:24:46<30:54, 1.67s/it] 96%|█████████▋| 28889/30000 [13:24:47<30:51, 1.67s/it] 96%|█████████▋| 28890/30000 [13:24:49<30:49, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.10921961814165115, 'learning_rate': 1.1234572134170229e-07, 'flow_matching_loss': 0.015614493656903506, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.41} + 96%|█████████▋| 28890/30000 [13:24:49<30:49, 1.67s/it] 96%|█████████▋| 28891/30000 [13:24:51<30:48, 1.67s/it] 96%|█████████▋| 28892/30000 [13:24:52<30:48, 1.67s/it] 96%|█████████▋| 28893/30000 [13:24:54<30:47, 1.67s/it] 96%|█████████▋| 28894/30000 [13:24:56<30:45, 1.67s/it] 96%|█████████▋| 28895/30000 [13:24:57<30:40, 1.67s/it] 96%|█████████▋| 28896/30000 [13:24:59<30:44, 1.67s/it] 96%|█████████▋| 28897/30000 [13:25:01<30:41, 1.67s/it] 96%|█████████▋| 28898/30000 [13:25:02<30:38, 1.67s/it] 96%|█████████▋| 28899/30000 [13:25:04<30:34, 1.67s/it] 96%|█████████▋| 28900/30000 [13:25:06<30:35, 1.67s/it] {'loss': 0.018, 'grad_norm': 0.1381542831659317, 'learning_rate': 1.1033486983041463e-07, 'flow_matching_loss': 0.01796451136469841, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.41} + 96%|█████████▋| 28900/30000 [13:25:06<30:35, 1.67s/it] 96%|█████████▋| 28901/30000 [13:25:07<30:34, 1.67s/it] 96%|█████████▋| 28902/30000 [13:25:09<30:31, 1.67s/it] 96%|█████████▋| 28903/30000 [13:25:11<30:28, 1.67s/it] 96%|█████████▋| 28904/30000 [13:25:12<30:27, 1.67s/it] 96%|█████████▋| 28905/30000 [13:25:14<30:26, 1.67s/it] 96%|█████████▋| 28906/30000 [13:25:16<30:23, 1.67s/it] 96%|█████████▋| 28907/30000 [13:25:17<30:20, 1.67s/it] 96%|█████████▋| 28908/30000 [13:25:19<30:18, 1.67s/it] 96%|█████████▋| 28909/30000 [13:25:21<30:20, 1.67s/it] 96%|█████████▋| 28910/30000 [13:25:22<30:20, 1.67s/it] {'loss': 0.0184, 'grad_norm': 0.10123277455568314, 'learning_rate': 1.0834211066626409e-07, 'flow_matching_loss': 0.01837212685495615, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.41} + 96%|█████████▋| 28910/30000 [13:25:22<30:20, 1.67s/it] 96%|█████████▋| 28911/30000 [13:25:24<30:19, 1.67s/it] 96%|█████████▋| 28912/30000 [13:25:26<30:16, 1.67s/it] 96%|█████████▋| 28913/30000 [13:25:27<30:12, 1.67s/it] 96%|█████████▋| 28914/30000 [13:25:29<30:10, 1.67s/it] 96%|█████████▋| 28915/30000 [13:25:31<30:10, 1.67s/it] 96%|█████████▋| 28916/30000 [13:25:32<30:05, 1.67s/it] 96%|█████████▋| 28917/30000 [13:25:34<30:03, 1.66s/it] 96%|█████████▋| 28918/30000 [13:25:36<30:02, 1.67s/it] 96%|█████████▋| 28919/30000 [13:25:37<30:01, 1.67s/it] 96%|█████████▋| 28920/30000 [13:25:39<30:00, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.12191835790872574, 'learning_rate': 1.0636744627064044e-07, 'flow_matching_loss': 0.01547235157340765, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.41} + 96%|█████████▋| 28920/30000 [13:25:39<30:00, 1.67s/it] 96%|█████████▋| 28921/30000 [13:25:41<30:00, 1.67s/it] 96%|█████████▋| 28922/30000 [13:25:42<29:58, 1.67s/it] 96%|█████████▋| 28923/30000 [13:25:44<29:54, 1.67s/it] 96%|█████████▋| 28924/30000 [13:25:46<29:55, 1.67s/it] 96%|█████████▋| 28925/30000 [13:25:47<29:51, 1.67s/it] 96%|█████████▋| 28926/30000 [13:25:49<29:52, 1.67s/it] 96%|█████████▋| 28927/30000 [13:25:51<29:45, 1.66s/it] 96%|█████████▋| 28928/30000 [13:25:52<29:46, 1.67s/it] 96%|█████████▋| 28929/30000 [13:25:54<29:40, 1.66s/it] 96%|█████████▋| 28930/30000 [13:25:56<29:41, 1.66s/it] {'loss': 0.0176, 'grad_norm': 0.15899750590324402, 'learning_rate': 1.0441087904294766e-07, 'flow_matching_loss': 0.0175982260145247, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.42} + 96%|█████████▋| 28930/30000 [13:25:56<29:41, 1.66s/it] 96%|█████████▋| 28931/30000 [13:25:57<29:37, 1.66s/it] 96%|█████████▋| 28932/30000 [13:25:59<29:36, 1.66s/it] 96%|█████████▋| 28933/30000 [13:26:01<29:34, 1.66s/it] 96%|█████████▋| 28934/30000 [13:26:02<29:34, 1.67s/it] 96%|█████████▋| 28935/30000 [13:26:04<29:31, 1.66s/it] 96%|█████████▋| 28936/30000 [13:26:06<29:31, 1.66s/it] 96%|█████████▋| 28937/30000 [13:26:07<29:29, 1.66s/it] 96%|█████████▋| 28938/30000 [13:26:09<29:26, 1.66s/it] 96%|█████████▋| 28939/30000 [13:26:11<29:21, 1.66s/it] 96%|█████████▋| 28940/30000 [13:26:12<29:23, 1.66s/it] {'loss': 0.016, 'grad_norm': 0.10471194237470627, 'learning_rate': 1.0247241136059904e-07, 'flow_matching_loss': 0.016007203422486783, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.42} + 96%|█████████▋| 28940/30000 [13:26:12<29:23, 1.66s/it] 96%|█████████▋| 28941/30000 [13:26:14<29:21, 1.66s/it] 96%|█████████▋| 28942/30000 [13:26:16<29:19, 1.66s/it] 96%|█████████▋| 28943/30000 [13:26:17<29:17, 1.66s/it] 96%|█████████▋| 28944/30000 [13:26:19<29:17, 1.66s/it] 96%|█████████▋| 28945/30000 [13:26:21<29:14, 1.66s/it] 96%|█████████▋| 28946/30000 [13:26:22<29:17, 1.67s/it] 96%|█████████▋| 28947/30000 [13:26:24<29:14, 1.67s/it] 96%|█████████▋| 28948/30000 [13:26:26<29:15, 1.67s/it] 96%|█████████▋| 28949/30000 [13:26:27<29:13, 1.67s/it] 96%|█████████▋| 28950/30000 [13:26:29<29:09, 1.67s/it] {'loss': 0.02, 'grad_norm': 0.08237095922231674, 'learning_rate': 1.0055204557901709e-07, 'flow_matching_loss': 0.020011258032172918, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.42} + 96%|█████████▋| 28950/30000 [13:26:29<29:09, 1.67s/it] 97%|█████████▋| 28951/30000 [13:26:31<29:12, 1.67s/it] 97%|█████████▋| 28952/30000 [13:26:32<29:09, 1.67s/it] 97%|█████████▋| 28953/30000 [13:26:34<29:04, 1.67s/it] 97%|█████████▋| 28954/30000 [13:26:36<29:01, 1.67s/it] 97%|█████████▋| 28955/30000 [13:26:37<28:57, 1.66s/it] 97%|█████████▋| 28956/30000 [13:26:39<28:57, 1.66s/it] 97%|█████████▋| 28957/30000 [13:26:41<28:56, 1.66s/it] 97%|█████████▋| 28958/30000 [13:26:42<28:55, 1.67s/it] 97%|█████████▋| 28959/30000 [13:26:44<28:51, 1.66s/it] 97%|█████████▋| 28960/30000 [13:26:46<28:49, 1.66s/it] {'loss': 0.0184, 'grad_norm': 0.09734025597572327, 'learning_rate': 9.864978403162361e-08, 'flow_matching_loss': 0.01843107147142291, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.43} + 97%|█████████▋| 28960/30000 [13:26:46<28:49, 1.66s/it] 97%|█████████▋| 28961/30000 [13:26:47<28:49, 1.66s/it] 97%|█████████▋| 28962/30000 [13:26:49<28:50, 1.67s/it] 97%|█████████▋| 28963/30000 [13:26:51<28:45, 1.66s/it] 97%|█████████▋| 28964/30000 [13:26:52<28:46, 1.67s/it] 97%|█████████▋| 28965/30000 [13:26:54<28:45, 1.67s/it] 97%|█████████▋| 28966/30000 [13:26:56<28:42, 1.67s/it] 97%|█████████▋| 28967/30000 [13:26:57<28:40, 1.67s/it] 97%|█████████▋| 28968/30000 [13:26:59<28:39, 1.67s/it] 97%|█████████▋| 28969/30000 [13:27:01<28:37, 1.67s/it] 97%|█████████▋| 28970/30000 [13:27:02<28:35, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.10808148980140686, 'learning_rate': 9.676562902984965e-08, 'flow_matching_loss': 0.016755203995853663, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.43} + 97%|█████████▋| 28970/30000 [13:27:02<28:35, 1.67s/it] 97%|█████████▋| 28971/30000 [13:27:04<28:32, 1.66s/it] 97%|█████████▋| 28972/30000 [13:27:06<28:32, 1.67s/it] 97%|█████████▋| 28973/30000 [13:27:07<28:30, 1.67s/it] 97%|█████████▋| 28974/30000 [13:27:09<28:29, 1.67s/it] 97%|█████████▋| 28975/30000 [13:27:11<28:28, 1.67s/it] 97%|█████████▋| 28976/30000 [13:27:12<28:30, 1.67s/it] 97%|█████████▋| 28977/30000 [13:27:14<28:27, 1.67s/it] 97%|█████████▋| 28978/30000 [13:27:16<28:24, 1.67s/it] 97%|█████████▋| 28979/30000 [13:27:17<28:19, 1.66s/it] 97%|█████████▋| 28980/30000 [13:27:19<28:20, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.11521086096763611, 'learning_rate': 9.489958286311883e-08, 'flow_matching_loss': 0.016886249557137488, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.43} + 97%|█████████▋| 28980/30000 [13:27:19<28:20, 1.67s/it] 97%|█████████▋| 28981/30000 [13:27:21<28:20, 1.67s/it] 97%|█████████▋| 28982/30000 [13:27:22<28:16, 1.67s/it] 97%|█████████▋| 28983/30000 [13:27:24<28:12, 1.66s/it] 97%|█████████▋| 28984/30000 [13:27:26<28:17, 1.67s/it] 97%|█████████▋| 28985/30000 [13:27:27<28:12, 1.67s/it] 97%|█████████▋| 28986/30000 [13:27:29<28:10, 1.67s/it] 97%|█████████▋| 28987/30000 [13:27:31<28:08, 1.67s/it] 97%|█████████▋| 28988/30000 [13:27:32<28:06, 1.67s/it] 97%|█████████▋| 28989/30000 [13:27:34<28:06, 1.67s/it] 97%|█████████▋| 28990/30000 [13:27:36<28:07, 1.67s/it] {'loss': 0.0156, 'grad_norm': 0.11612576246261597, 'learning_rate': 9.30516477988541e-08, 'flow_matching_loss': 0.015559057891368865, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.43} + 97%|█████████▋| 28990/30000 [13:27:36<28:07, 1.67s/it] 97%|█████████▋| 28991/30000 [13:27:37<28:02, 1.67s/it] 97%|█████████▋| 28992/30000 [13:27:39<28:01, 1.67s/it] 97%|█████████▋| 28993/30000 [13:27:41<27:57, 1.67s/it] 97%|█████████▋| 28994/30000 [13:27:42<27:55, 1.67s/it] 97%|█████████▋| 28995/30000 [13:27:44<27:55, 1.67s/it] 97%|█████████▋| 28996/30000 [13:27:46<27:54, 1.67s/it] 97%|█████████▋| 28997/30000 [13:27:47<27:53, 1.67s/it] 97%|█████████▋| 28998/30000 [13:27:49<27:51, 1.67s/it] 97%|█████████▋| 28999/30000 [13:27:51<27:44, 1.66s/it] 97%|█████████▋| 29000/30000 [13:27:52<27:43, 1.66s/it] {'loss': 0.0157, 'grad_norm': 0.08873492479324341, 'learning_rate': 9.122182608247098e-08, 'flow_matching_loss': 0.01570640131831169, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.44} + 97%|█████████▋| 29000/30000 [13:27:52<27:43, 1.66s/it] 97%|█████████▋| 29001/30000 [13:27:54<27:39, 1.66s/it] 97%|█████████▋| 29002/30000 [13:27:56<27:37, 1.66s/it] 97%|█████████▋| 29003/30000 [13:27:57<27:35, 1.66s/it] 97%|█████████▋| 29004/30000 [13:27:59<27:38, 1.67s/it] 97%|█████████▋| 29005/30000 [13:28:01<27:37, 1.67s/it] 97%|█████████▋| 29006/30000 [13:28:02<27:38, 1.67s/it] 97%|█████████▋| 29007/30000 [13:28:04<27:36, 1.67s/it] 97%|█████████▋| 29008/30000 [13:28:06<27:33, 1.67s/it] 97%|█████████▋| 29009/30000 [13:28:07<27:29, 1.66s/it] 97%|█████████▋| 29010/30000 [13:28:09<27:28, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.09847293794155121, 'learning_rate': 8.94101199373759e-08, 'flow_matching_loss': 0.017159491870552303, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.44} + 97%|█████████▋| 29010/30000 [13:28:09<27:28, 1.67s/it] 97%|█████████▋| 29011/30000 [13:28:11<27:23, 1.66s/it] 97%|█████████▋| 29012/30000 [13:28:12<27:24, 1.66s/it] 97%|█████████▋| 29013/30000 [13:28:14<27:26, 1.67s/it] 97%|█████████▋| 29014/30000 [13:28:16<27:23, 1.67s/it] 97%|█████████▋| 29015/30000 [13:28:17<27:20, 1.67s/it] 97%|█████████▋| 29016/30000 [13:28:19<27:21, 1.67s/it] 97%|█████████▋| 29017/30000 [13:28:21<27:18, 1.67s/it] 97%|█████████▋| 29018/30000 [13:28:22<27:17, 1.67s/it] 97%|█████████▋| 29019/30000 [13:28:24<27:14, 1.67s/it] 97%|█████████▋| 29020/30000 [13:28:26<27:13, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.12355221807956696, 'learning_rate': 8.761653156495964e-08, 'flow_matching_loss': 0.018070902302861215, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.44} + 97%|█████████▋| 29020/30000 [13:28:26<27:13, 1.67s/it] 97%|█████████▋| 29021/30000 [13:28:27<27:12, 1.67s/it] 97%|█████████▋| 29022/30000 [13:28:29<27:07, 1.66s/it] 97%|█████████▋| 29023/30000 [13:28:31<27:05, 1.66s/it] 97%|█████████▋| 29024/30000 [13:28:32<27:06, 1.67s/it] 97%|█████████▋| 29025/30000 [13:28:34<27:04, 1.67s/it] 97%|█████████▋| 29026/30000 [13:28:36<27:07, 1.67s/it] 97%|█████████▋| 29027/30000 [13:28:37<27:01, 1.67s/it] 97%|█████████▋| 29028/30000 [13:28:39<27:03, 1.67s/it] 97%|█████████▋| 29029/30000 [13:28:41<27:01, 1.67s/it] 97%|█████████▋| 29030/30000 [13:28:42<27:00, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.09190908074378967, 'learning_rate': 8.584106314460549e-08, 'flow_matching_loss': 0.016496270429342985, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.45} + 97%|█████████▋| 29030/30000 [13:28:42<27:00, 1.67s/it] 97%|█████████▋| 29031/30000 [13:28:44<26:57, 1.67s/it] 97%|█████████▋| 29032/30000 [13:28:46<26:56, 1.67s/it] 97%|█████████▋| 29033/30000 [13:28:47<26:52, 1.67s/it] 97%|█████████▋| 29034/30000 [13:28:49<26:48, 1.67s/it] 97%|█████████▋| 29035/30000 [13:28:51<26:45, 1.66s/it] 97%|█████████▋| 29036/30000 [13:28:52<26:45, 1.67s/it] 97%|█████████▋| 29037/30000 [13:28:54<26:47, 1.67s/it] 97%|█████████▋| 29038/30000 [13:28:56<26:43, 1.67s/it] 97%|█████████▋| 29039/30000 [13:28:57<26:42, 1.67s/it] 97%|█████████▋| 29040/30000 [13:28:59<26:40, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.10812534391880035, 'learning_rate': 8.408371683367111e-08, 'flow_matching_loss': 0.016021491773426533, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.45} + 97%|█████████▋| 29040/30000 [13:28:59<26:40, 1.67s/it] 97%|█████████▋| 29041/30000 [13:29:01<26:36, 1.66s/it] 97%|█████████▋| 29042/30000 [13:29:02<26:38, 1.67s/it] 97%|█████████▋| 29043/30000 [13:29:04<26:36, 1.67s/it] 97%|█████████▋| 29044/30000 [13:29:06<26:35, 1.67s/it] 97%|█████████▋| 29045/30000 [13:29:07<26:34, 1.67s/it] 97%|█████████▋| 29046/30000 [13:29:09<26:31, 1.67s/it] 97%|█████████▋| 29047/30000 [13:29:11<26:25, 1.66s/it] 97%|█████████▋| 29048/30000 [13:29:12<26:26, 1.67s/it] 97%|█████████▋| 29049/30000 [13:29:14<26:21, 1.66s/it] 97%|█████████▋| 29050/30000 [13:29:16<26:18, 1.66s/it] {'loss': 0.0187, 'grad_norm': 0.1158435270190239, 'learning_rate': 8.234449476750172e-08, 'flow_matching_loss': 0.01866204934194684, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.45} + 97%|█████████▋| 29050/30000 [13:29:16<26:18, 1.66s/it] 97%|█████████▋| 29051/30000 [13:29:17<26:17, 1.66s/it] 97%|█████████▋| 29052/30000 [13:29:19<26:13, 1.66s/it] 97%|█████████▋| 29053/30000 [13:29:21<26:14, 1.66s/it] 97%|█████████▋| 29054/30000 [13:29:22<26:13, 1.66s/it] 97%|█████████▋| 29055/30000 [13:29:24<26:12, 1.66s/it] 97%|█████████▋| 29056/30000 [13:29:26<26:13, 1.67s/it] 97%|█████████▋| 29057/30000 [13:29:27<26:08, 1.66s/it] 97%|█████████▋| 29058/30000 [13:29:29<26:09, 1.67s/it] 97%|█████████▋| 29059/30000 [13:29:30<26:05, 1.66s/it] 97%|█████████▋| 29060/30000 [13:29:32<26:04, 1.66s/it] {'loss': 0.0174, 'grad_norm': 0.11041083186864853, 'learning_rate': 8.062339905941351e-08, 'flow_matching_loss': 0.017356151901185512, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.46} + 97%|█████████▋| 29060/30000 [13:29:32<26:04, 1.66s/it] 97%|█████████▋| 29061/30000 [13:29:34<26:05, 1.67s/it] 97%|█████████▋| 29062/30000 [13:29:36<26:03, 1.67s/it] 97%|█████████▋| 29063/30000 [13:29:37<25:59, 1.66s/it] 97%|█████████▋| 29064/30000 [13:29:39<25:57, 1.66s/it] 97%|█████████▋| 29065/30000 [13:29:40<25:57, 1.67s/it] 97%|█████████▋| 29066/30000 [13:29:42<25:52, 1.66s/it] 97%|█████████▋| 29067/30000 [13:29:44<25:49, 1.66s/it] 97%|█████████▋| 29068/30000 [13:29:45<25:51, 1.66s/it] 97%|█████████▋| 29069/30000 [13:29:47<25:50, 1.67s/it] 97%|█████████▋| 29070/30000 [13:29:49<25:50, 1.67s/it] {'loss': 0.0185, 'grad_norm': 0.1332685649394989, 'learning_rate': 7.89204318007003e-08, 'flow_matching_loss': 0.018461471516638996, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.46} + 97%|█████████▋| 29070/30000 [13:29:49<25:50, 1.67s/it] 97%|█████████▋| 29071/30000 [13:29:50<25:49, 1.67s/it] 97%|█████████▋| 29072/30000 [13:29:52<25:44, 1.66s/it] 97%|█████████▋| 29073/30000 [13:29:54<25:40, 1.66s/it] 97%|█████████▋| 29074/30000 [13:29:55<25:40, 1.66s/it] 97%|█████████▋| 29075/30000 [13:29:57<25:38, 1.66s/it] 97%|█████████▋| 29076/30000 [13:29:59<25:38, 1.67s/it] 97%|█████████▋| 29077/30000 [13:30:00<25:37, 1.67s/it] 97%|█████████▋| 29078/30000 [13:30:02<25:38, 1.67s/it] 97%|█████████▋| 29079/30000 [13:30:04<25:34, 1.67s/it] 97%|█████████▋| 29080/30000 [13:30:05<25:34, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.10313952714204788, 'learning_rate': 7.723559506062849e-08, 'flow_matching_loss': 0.016668329294770957, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.46} + 97%|█████████▋| 29080/30000 [13:30:06<25:34, 1.67s/it] 97%|█████████▋| 29081/30000 [13:30:07<25:30, 1.67s/it] 97%|█████████▋| 29082/30000 [13:30:09<25:26, 1.66s/it] 97%|█████████▋| 29083/30000 [13:30:10<25:24, 1.66s/it] 97%|█████████▋| 29084/30000 [13:30:12<25:25, 1.67s/it] 97%|█████████▋| 29085/30000 [13:30:14<25:27, 1.67s/it] 97%|█████████▋| 29086/30000 [13:30:15<25:25, 1.67s/it] 97%|█████████▋| 29087/30000 [13:30:17<25:23, 1.67s/it] 97%|█████████▋| 29088/30000 [13:30:19<25:22, 1.67s/it] 97%|█████████▋| 29089/30000 [13:30:20<25:24, 1.67s/it] 97%|█████████▋| 29090/30000 [13:30:22<25:23, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.13281938433647156, 'learning_rate': 7.556889088643381e-08, 'flow_matching_loss': 0.014701985474675893, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.46} + 97%|█████████▋| 29090/30000 [13:30:22<25:23, 1.67s/it] 97%|█████████▋| 29091/30000 [13:30:24<25:16, 1.67s/it] 97%|█████████▋| 29092/30000 [13:30:25<25:15, 1.67s/it] 97%|█████████▋| 29093/30000 [13:30:27<25:13, 1.67s/it] 97%|█████████▋| 29094/30000 [13:30:29<25:11, 1.67s/it] 97%|█████████▋| 29095/30000 [13:30:30<25:07, 1.67s/it] 97%|█████████▋| 29096/30000 [13:30:32<25:07, 1.67s/it] 97%|█████████▋| 29097/30000 [13:30:34<25:05, 1.67s/it] 97%|█████████▋| 29098/30000 [13:30:35<25:04, 1.67s/it] 97%|█████████▋| 29099/30000 [13:30:37<25:00, 1.66s/it] 97%|█████████▋| 29100/30000 [13:30:39<24:58, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.09851227700710297, 'learning_rate': 7.392032130331793e-08, 'flow_matching_loss': 0.016152955405414105, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.47} + 97%|█████████▋| 29100/30000 [13:30:39<24:58, 1.67s/it] 97%|█████████▋| 29101/30000 [13:30:40<24:58, 1.67s/it] 97%|█████████▋| 29102/30000 [13:30:42<24:57, 1.67s/it] 97%|█████████▋| 29103/30000 [13:30:44<24:55, 1.67s/it] 97%|█████████▋| 29104/30000 [13:30:46<24:55, 1.67s/it] 97%|█████████▋| 29105/30000 [13:30:47<24:51, 1.67s/it] 97%|█████████▋| 29106/30000 [13:30:49<24:51, 1.67s/it] 97%|█████████▋| 29107/30000 [13:30:51<24:49, 1.67s/it] 97%|█████████▋| 29108/30000 [13:30:52<24:49, 1.67s/it] 97%|█████████▋| 29109/30000 [13:30:54<24:46, 1.67s/it] 97%|█████████▋| 29110/30000 [13:30:56<24:44, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.13737763464450836, 'learning_rate': 7.228988831445015e-08, 'flow_matching_loss': 0.01805432280525565, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.47} + 97%|█████████▋| 29110/30000 [13:30:56<24:44, 1.67s/it] 97%|█████████▋| 29111/30000 [13:30:57<24:40, 1.67s/it] 97%|█████████▋| 29112/30000 [13:30:59<24:37, 1.66s/it] 97%|█████████▋| 29113/30000 [13:31:00<24:36, 1.66s/it] 97%|█████████▋| 29114/30000 [13:31:02<24:35, 1.67s/it] 97%|█████████▋| 29115/30000 [13:31:04<24:30, 1.66s/it] 97%|█████████▋| 29116/30000 [13:31:05<24:28, 1.66s/it] 97%|█████████▋| 29117/30000 [13:31:07<24:27, 1.66s/it] 97%|█████████▋| 29118/30000 [13:31:09<24:29, 1.67s/it] 97%|█████████▋| 29119/30000 [13:31:10<24:26, 1.66s/it] 97%|█████████▋| 29120/30000 [13:31:12<24:25, 1.67s/it] {'loss': 0.0187, 'grad_norm': 0.11976506561040878, 'learning_rate': 7.06775939009574e-08, 'flow_matching_loss': 0.018668448273092508, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.47} + 97%|█████████▋| 29120/30000 [13:31:12<24:25, 1.67s/it] 97%|█████████▋| 29121/30000 [13:31:14<24:23, 1.67s/it] 97%|█████████▋| 29122/30000 [13:31:15<24:23, 1.67s/it] 97%|█████████▋| 29123/30000 [13:31:17<24:18, 1.66s/it] 97%|█████████▋| 29124/30000 [13:31:19<24:20, 1.67s/it] 97%|█████████▋| 29125/30000 [13:31:20<24:20, 1.67s/it] 97%|█████████▋| 29126/30000 [13:31:22<24:21, 1.67s/it] 97%|█████████▋| 29127/30000 [13:31:24<24:16, 1.67s/it] 97%|█████████▋| 29128/30000 [13:31:25<24:14, 1.67s/it] 97%|█████████▋| 29129/30000 [13:31:27<24:15, 1.67s/it] 97%|█████████▋| 29130/30000 [13:31:29<24:13, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.09270692616701126, 'learning_rate': 6.908344002193256e-08, 'flow_matching_loss': 0.01690689893439412, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.48} + 97%|█████████▋| 29130/30000 [13:31:29<24:13, 1.67s/it] 97%|█████████▋| 29131/30000 [13:31:31<24:09, 1.67s/it] 97%|█████████▋| 29132/30000 [13:31:32<24:07, 1.67s/it] 97%|█████████▋| 29133/30000 [13:31:34<24:06, 1.67s/it] 97%|█████████▋| 29134/30000 [13:31:36<24:04, 1.67s/it] 97%|█████████▋| 29135/30000 [13:31:37<23:59, 1.66s/it] 97%|█████████▋| 29136/30000 [13:31:39<24:01, 1.67s/it] 97%|█████████▋| 29137/30000 [13:31:40<23:58, 1.67s/it] 97%|█████████▋| 29138/30000 [13:31:42<23:56, 1.67s/it] 97%|█████████▋| 29139/30000 [13:31:44<23:53, 1.66s/it] 97%|█████████▋| 29140/30000 [13:31:45<23:52, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.08720783144235611, 'learning_rate': 6.750742861442116e-08, 'flow_matching_loss': 0.01775004491209984, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.48} + 97%|█████████▋| 29140/30000 [13:31:46<23:52, 1.67s/it] 97%|█████████▋| 29141/30000 [13:31:47<23:53, 1.67s/it] 97%|█████████▋| 29142/30000 [13:31:49<23:52, 1.67s/it] 97%|█████████▋| 29143/30000 [13:31:50<23:45, 1.66s/it] 97%|█████████▋| 29144/30000 [13:31:52<23:46, 1.67s/it] 97%|█████████▋| 29145/30000 [13:31:54<23:41, 1.66s/it] 97%|█████████▋| 29146/30000 [13:31:55<23:44, 1.67s/it] 97%|█████████▋| 29147/30000 [13:31:57<23:38, 1.66s/it] 97%|█████████▋| 29148/30000 [13:31:59<23:35, 1.66s/it] 97%|█████████▋| 29149/30000 [13:32:00<23:36, 1.66s/it] 97%|█████████▋| 29150/30000 [13:32:02<23:36, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.09086131304502487, 'learning_rate': 6.594956159342636e-08, 'flow_matching_loss': 0.01740582287311554, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.48} + 97%|█████████▋| 29150/30000 [13:32:02<23:36, 1.67s/it] 97%|█████████▋| 29151/30000 [13:32:04<23:30, 1.66s/it] 97%|█████████▋| 29152/30000 [13:32:05<23:31, 1.66s/it] 97%|█████████▋| 29153/30000 [13:32:07<23:28, 1.66s/it] 97%|█████████▋| 29154/30000 [13:32:09<23:26, 1.66s/it] 97%|█████████▋| 29155/30000 [13:32:10<23:24, 1.66s/it] 97%|█████████▋| 29156/30000 [13:32:12<23:24, 1.66s/it] 97%|█████████▋| 29157/30000 [13:32:14<23:23, 1.66s/it] 97%|█████████▋| 29158/30000 [13:32:15<23:23, 1.67s/it] 97%|█████████▋| 29159/30000 [13:32:17<23:19, 1.66s/it] 97%|█████████▋| 29160/30000 [13:32:19<23:20, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.13176901638507843, 'learning_rate': 6.440984085190394e-08, 'flow_matching_loss': 0.017661122139543295, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.48} + 97%|█████████▋| 29160/30000 [13:32:19<23:20, 1.67s/it] 97%|█████████▋| 29161/30000 [13:32:20<23:17, 1.67s/it] 97%|█████████▋| 29162/30000 [13:32:22<23:16, 1.67s/it] 97%|█████████▋| 29163/30000 [13:32:24<23:14, 1.67s/it] 97%|█████████▋| 29164/30000 [13:32:25<23:14, 1.67s/it] 97%|█████████▋| 29165/30000 [13:32:27<23:14, 1.67s/it] 97%|█████████▋| 29166/30000 [13:32:29<23:12, 1.67s/it] 97%|█████████▋| 29167/30000 [13:32:30<23:09, 1.67s/it] 97%|█████████▋| 29168/30000 [13:32:32<23:08, 1.67s/it] 97%|█████████▋| 29169/30000 [13:32:34<23:05, 1.67s/it] 97%|█████████▋| 29170/30000 [13:32:35<23:03, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.10969079285860062, 'learning_rate': 6.288826826075733e-08, 'flow_matching_loss': 0.016859534103423356, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.49} + 97%|█████████▋| 29170/30000 [13:32:36<23:03, 1.67s/it] 97%|█████████▋| 29171/30000 [13:32:37<22:59, 1.66s/it] 97%|█████████▋| 29172/30000 [13:32:39<22:59, 1.67s/it] 97%|█████████▋| 29173/30000 [13:32:40<22:59, 1.67s/it] 97%|█████████▋| 29174/30000 [13:32:42<22:57, 1.67s/it] 97%|█████████▋| 29175/30000 [13:32:44<22:53, 1.66s/it] 97%|█████████▋| 29176/30000 [13:32:45<22:56, 1.67s/it] 97%|█████████▋| 29177/30000 [13:32:47<22:51, 1.67s/it] 97%|█████████▋| 29178/30000 [13:32:49<22:48, 1.66s/it] 97%|█████████▋| 29179/30000 [13:32:50<22:45, 1.66s/it] 97%|█████████▋| 29180/30000 [13:32:52<22:46, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.08910497277975082, 'learning_rate': 6.138484566884261e-08, 'flow_matching_loss': 0.01776787396520376, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.49} + 97%|█████████▋| 29180/30000 [13:32:52<22:46, 1.67s/it] 97%|█████████▋| 29181/30000 [13:32:54<22:47, 1.67s/it] 97%|█████████▋| 29182/30000 [13:32:55<22:47, 1.67s/it] 97%|█████████▋| 29183/30000 [13:32:57<22:40, 1.67s/it] 97%|█████████▋| 29184/30000 [13:32:59<22:40, 1.67s/it] 97%|█████████▋| 29185/30000 [13:33:00<22:36, 1.66s/it] 97%|█████████▋| 29186/30000 [13:33:02<22:36, 1.67s/it] 97%|█████████▋| 29187/30000 [13:33:04<22:33, 1.66s/it] 97%|█████████▋| 29188/30000 [13:33:05<22:31, 1.66s/it] 97%|█████████▋| 29189/30000 [13:33:07<22:31, 1.67s/it] 97%|█████████▋| 29190/30000 [13:33:09<22:30, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.1557551920413971, 'learning_rate': 5.989957490296183e-08, 'flow_matching_loss': 0.0162162528373301, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.49} + 97%|█████████▋| 29190/30000 [13:33:09<22:30, 1.67s/it] 97%|█████████▋| 29191/30000 [13:33:10<22:27, 1.67s/it] 97%|█████████▋| 29192/30000 [13:33:12<22:23, 1.66s/it] 97%|█████████▋| 29193/30000 [13:33:14<22:25, 1.67s/it] 97%|█████████▋| 29194/30000 [13:33:15<22:23, 1.67s/it] 97%|█████████▋| 29195/30000 [13:33:17<22:20, 1.67s/it] 97%|█████████▋| 29196/30000 [13:33:19<22:19, 1.67s/it] 97%|█████████▋| 29197/30000 [13:33:20<22:18, 1.67s/it] 97%|█████████▋| 29198/30000 [13:33:22<22:17, 1.67s/it] 97%|█████████▋| 29199/30000 [13:33:24<22:13, 1.67s/it] 97%|█████████▋| 29200/30000 [13:33:25<22:14, 1.67s/it] {'loss': 0.0143, 'grad_norm': 0.11421690881252289, 'learning_rate': 5.843245776785466e-08, 'flow_matching_loss': 0.014336137473583222, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.5} + 97%|█████████▋| 29200/30000 [13:33:26<22:14, 1.67s/it] 97%|█████████▋| 29201/30000 [13:33:27<22:12, 1.67s/it] 97%|█████████▋| 29202/30000 [13:33:29<22:12, 1.67s/it] 97%|█████████▋| 29203/30000 [13:33:30<22:08, 1.67s/it] 97%|█████████▋| 29204/30000 [13:33:32<22:07, 1.67s/it] 97%|█████████▋| 29205/30000 [13:33:34<22:07, 1.67s/it] 97%|█████████▋| 29206/30000 [13:33:35<22:04, 1.67s/it] 97%|█████████▋| 29207/30000 [13:33:37<22:02, 1.67s/it] 97%|█████████▋| 29208/30000 [13:33:39<22:00, 1.67s/it] 97%|█████████▋| 29209/30000 [13:33:40<21:56, 1.66s/it] 97%|█████████▋| 29210/30000 [13:33:42<21:55, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.22479179501533508, 'learning_rate': 5.6983496046210115e-08, 'flow_matching_loss': 0.016384423431009053, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.5} + 97%|█████████▋| 29210/30000 [13:33:42<21:55, 1.67s/it] 97%|█████████▋| 29211/30000 [13:33:44<21:54, 1.67s/it] 97%|█████████▋| 29212/30000 [13:33:45<21:53, 1.67s/it] 97%|█████████▋| 29213/30000 [13:33:47<21:51, 1.67s/it] 97%|█████████▋| 29214/30000 [13:33:49<21:51, 1.67s/it] 97%|█████████▋| 29215/30000 [13:33:50<21:49, 1.67s/it] 97%|█████████▋| 29216/30000 [13:33:52<21:49, 1.67s/it] 97%|█████████▋| 29217/30000 [13:33:54<21:46, 1.67s/it] 97%|█████████▋| 29218/30000 [13:33:55<21:45, 1.67s/it] 97%|█████████▋| 29219/30000 [13:33:57<21:42, 1.67s/it] 97%|█████████▋| 29220/30000 [13:33:59<21:39, 1.67s/it] {'loss': 0.016, 'grad_norm': 0.09838612377643585, 'learning_rate': 5.5552691498653165e-08, 'flow_matching_loss': 0.016001442447304726, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.5} + 97%|█████████▋| 29220/30000 [13:33:59<21:39, 1.67s/it] 97%|█████████▋| 29221/30000 [13:34:00<21:38, 1.67s/it] 97%|█████████▋| 29222/30000 [13:34:02<21:39, 1.67s/it] 97%|█████████▋| 29223/30000 [13:34:04<21:36, 1.67s/it] 97%|█████████▋| 29224/30000 [13:34:05<21:34, 1.67s/it] 97%|█████████▋| 29225/30000 [13:34:07<21:28, 1.66s/it] 97%|█████████▋| 29226/30000 [13:34:09<21:29, 1.67s/it] 97%|█████████▋| 29227/30000 [13:34:10<21:23, 1.66s/it] 97%|█████████▋| 29228/30000 [13:34:12<21:23, 1.66s/it] 97%|█████████▋| 29229/30000 [13:34:14<21:23, 1.66s/it] 97%|█████████▋| 29230/30000 [13:34:15<21:22, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.14454340934753418, 'learning_rate': 5.4140045863743106e-08, 'flow_matching_loss': 0.016869787778705358, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.5} + 97%|█████████▋| 29230/30000 [13:34:16<21:22, 1.67s/it] 97%|█████████▋| 29231/30000 [13:34:17<21:21, 1.67s/it] 97%|█████████▋| 29232/30000 [13:34:19<21:21, 1.67s/it] 97%|█████████▋| 29233/30000 [13:34:20<21:17, 1.67s/it] 97%|█████████▋| 29234/30000 [13:34:22<21:16, 1.67s/it] 97%|█████████▋| 29235/30000 [13:34:24<21:14, 1.67s/it] 97%|█████████▋| 29236/30000 [13:34:25<21:14, 1.67s/it] 97%|█████████▋| 29237/30000 [13:34:27<21:13, 1.67s/it] 97%|█████████▋| 29238/30000 [13:34:29<21:11, 1.67s/it] 97%|█████████▋| 29239/30000 [13:34:30<21:08, 1.67s/it] 97%|█████████▋| 29240/30000 [13:34:32<21:08, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.08787086606025696, 'learning_rate': 5.274556085798188e-08, 'flow_matching_loss': 0.017061915434896945, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.51} + 97%|█████████▋| 29240/30000 [13:34:32<21:08, 1.67s/it] 97%|█████████▋| 29241/30000 [13:34:34<21:05, 1.67s/it] 97%|█████████▋| 29242/30000 [13:34:35<21:03, 1.67s/it] 97%|█████████▋| 29243/30000 [13:34:37<21:00, 1.67s/it] 97%|█████████▋| 29244/30000 [13:34:39<20:58, 1.66s/it] 97%|█████████▋| 29245/30000 [13:34:40<20:56, 1.66s/it] 97%|█████████▋| 29246/30000 [13:34:42<20:55, 1.67s/it] 97%|█████████▋| 29247/30000 [13:34:44<20:55, 1.67s/it] 97%|█████████▋| 29248/30000 [13:34:45<20:52, 1.67s/it] 97%|█████████▋| 29249/30000 [13:34:47<20:50, 1.67s/it] 98%|█████████▊| 29250/30000 [13:34:49<20:47, 1.66s/it] {'loss': 0.0156, 'grad_norm': 0.1211855560541153, 'learning_rate': 5.136923817579742e-08, 'flow_matching_loss': 0.015608166158199311, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.51} + 98%|█████████▊| 29250/30000 [13:34:49<20:47, 1.66s/it] 98%|█████████▊| 29251/30000 [13:34:50<20:47, 1.67s/it] 98%|█████████▊| 29252/30000 [13:34:52<20:45, 1.66s/it] 98%|█████████▊| 29253/30000 [13:34:54<20:44, 1.67s/it] 98%|█████████▊| 29254/30000 [13:34:55<20:43, 1.67s/it] 98%|█████████▊| 29255/30000 [13:34:57<20:39, 1.66s/it] 98%|█████████▊| 29256/30000 [13:34:59<20:39, 1.67s/it] 98%|█████████▊| 29257/30000 [13:35:00<20:37, 1.67s/it] 98%|█████████▊| 29258/30000 [13:35:02<20:37, 1.67s/it] 98%|█████████▊| 29259/30000 [13:35:04<20:34, 1.67s/it] 98%|█████████▊| 29260/30000 [13:35:05<20:32, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.08972861617803574, 'learning_rate': 5.001107948955197e-08, 'flow_matching_loss': 0.017799376230686902, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.51} + 98%|█████████▊| 29260/30000 [13:35:06<20:32, 1.67s/it] 98%|█████████▊| 29261/30000 [13:35:07<20:31, 1.67s/it] 98%|█████████▊| 29262/30000 [13:35:09<20:29, 1.67s/it] 98%|█████████▊| 29263/30000 [13:35:10<20:26, 1.66s/it] 98%|█████████▊| 29264/30000 [13:35:12<20:25, 1.66s/it] 98%|█████████▊| 29265/30000 [13:35:14<20:22, 1.66s/it] 98%|█████████▊| 29266/30000 [13:35:15<20:24, 1.67s/it] 98%|█████████▊| 29267/30000 [13:35:17<20:19, 1.66s/it] 98%|█████████▊| 29268/30000 [13:35:19<20:18, 1.66s/it] 98%|█████████▊| 29269/30000 [13:35:20<20:18, 1.67s/it] 98%|█████████▊| 29270/30000 [13:35:22<20:17, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.1429262012243271, 'learning_rate': 4.867108644953711e-08, 'flow_matching_loss': 0.017369616869837047, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.52} + 98%|█████████▊| 29270/30000 [13:35:22<20:17, 1.67s/it] 98%|█████████▊| 29271/30000 [13:35:24<20:15, 1.67s/it] 98%|█████████▊| 29272/30000 [13:35:25<20:13, 1.67s/it] 98%|█████████▊| 29273/30000 [13:35:27<20:11, 1.67s/it] 98%|█████████▊| 29274/30000 [13:35:29<20:08, 1.66s/it] 98%|█████████▊| 29275/30000 [13:35:30<20:07, 1.67s/it] 98%|█████████▊| 29276/30000 [13:35:32<20:04, 1.66s/it] 98%|█████████▊| 29277/30000 [13:35:34<20:03, 1.66s/it] 98%|█████████▊| 29278/30000 [13:35:35<20:06, 1.67s/it] 98%|█████████▊| 29279/30000 [13:35:37<20:02, 1.67s/it] 98%|█████████▊| 29280/30000 [13:35:39<20:01, 1.67s/it] {'loss': 0.0181, 'grad_norm': 0.19085536897182465, 'learning_rate': 4.734926068397038e-08, 'flow_matching_loss': 0.018076660577207804, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.52} + 98%|█████████▊| 29280/30000 [13:35:39<20:01, 1.67s/it] 98%|█████████▊| 29281/30000 [13:35:40<19:58, 1.67s/it] 98%|█████████▊| 29282/30000 [13:35:42<19:58, 1.67s/it] 98%|█████████▊| 29283/30000 [13:35:44<19:52, 1.66s/it] 98%|█████████▊| 29284/30000 [13:35:45<19:53, 1.67s/it] 98%|█████████▊| 29285/30000 [13:35:47<19:51, 1.67s/it] 98%|█████████▊| 29286/30000 [13:35:49<19:50, 1.67s/it] 98%|█████████▊| 29287/30000 [13:35:50<19:48, 1.67s/it] 98%|█████████▊| 29288/30000 [13:35:52<19:47, 1.67s/it] 98%|█████████▊| 29289/30000 [13:35:54<19:45, 1.67s/it] 98%|█████████▊| 29290/30000 [13:35:55<19:40, 1.66s/it] {'loss': 0.0172, 'grad_norm': 0.1206425130367279, 'learning_rate': 4.604560379899536e-08, 'flow_matching_loss': 0.017192846909165383, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.52} + 98%|█████████▊| 29290/30000 [13:35:55<19:40, 1.66s/it] 98%|█████████▊| 29291/30000 [13:35:57<19:39, 1.66s/it] 98%|█████████▊| 29292/30000 [13:35:59<19:39, 1.67s/it] 98%|█████████▊| 29293/30000 [13:36:00<19:37, 1.67s/it] 98%|█████████▊| 29294/30000 [13:36:02<19:37, 1.67s/it] 98%|█████████▊| 29295/30000 [13:36:04<19:33, 1.67s/it] 98%|█████████▊| 29296/30000 [13:36:05<19:33, 1.67s/it] 98%|█████████▊| 29297/30000 [13:36:07<19:30, 1.67s/it] 98%|█████████▊| 29298/30000 [13:36:09<19:28, 1.66s/it] 98%|█████████▊| 29299/30000 [13:36:10<19:25, 1.66s/it] 98%|█████████▊| 29300/30000 [13:36:12<19:25, 1.66s/it] {'loss': 0.0165, 'grad_norm': 0.14016449451446533, 'learning_rate': 4.476011737867658e-08, 'flow_matching_loss': 0.016460073040798308, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.52} + 98%|█████████▊| 29300/30000 [13:36:12<19:25, 1.66s/it] 98%|█████████▊| 29301/30000 [13:36:14<19:24, 1.67s/it] 98%|█████████▊| 29302/30000 [13:36:15<19:25, 1.67s/it] 98%|█████████▊| 29303/30000 [13:36:17<19:20, 1.67s/it] 98%|█████████▊| 29304/30000 [13:36:19<19:18, 1.66s/it] 98%|█████████▊| 29305/30000 [13:36:20<19:17, 1.67s/it] 98%|█████████▊| 29306/30000 [13:36:22<19:15, 1.67s/it] 98%|█████████▊| 29307/30000 [13:36:24<19:13, 1.66s/it] 98%|█████████▊| 29308/30000 [13:36:25<19:13, 1.67s/it] 98%|█████████▊| 29309/30000 [13:36:27<19:12, 1.67s/it] 98%|█████████▊| 29310/30000 [13:36:29<19:10, 1.67s/it] {'loss': 0.0162, 'grad_norm': 0.09205260127782822, 'learning_rate': 4.349280298500291e-08, 'flow_matching_loss': 0.016189270839095115, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.53} + 98%|█████████▊| 29310/30000 [13:36:29<19:10, 1.67s/it] 98%|█████████▊| 29311/30000 [13:36:30<19:09, 1.67s/it] 98%|█████████▊| 29312/30000 [13:36:32<19:08, 1.67s/it] 98%|█████████▊| 29313/30000 [13:36:34<19:03, 1.67s/it] 98%|█████████▊| 29314/30000 [13:36:35<19:02, 1.67s/it] 98%|█████████▊| 29315/30000 [13:36:37<18:57, 1.66s/it] 98%|█████████▊| 29316/30000 [13:36:39<18:59, 1.67s/it] 98%|█████████▊| 29317/30000 [13:36:40<18:56, 1.66s/it] 98%|█████████▊| 29318/30000 [13:36:42<18:53, 1.66s/it] 98%|█████████▊| 29319/30000 [13:36:44<18:51, 1.66s/it] 98%|█████████▊| 29320/30000 [13:36:45<18:50, 1.66s/it] {'loss': 0.0186, 'grad_norm': 0.12741851806640625, 'learning_rate': 4.224366215787923e-08, 'flow_matching_loss': 0.018572316505014896, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.53} + 98%|█████████▊| 29320/30000 [13:36:45<18:50, 1.66s/it] 98%|█████████▊| 29321/30000 [13:36:47<18:49, 1.66s/it] 98%|█████████▊| 29322/30000 [13:36:49<18:48, 1.67s/it] 98%|█████████▊| 29323/30000 [13:36:50<18:44, 1.66s/it] 98%|█████████▊| 29324/30000 [13:36:52<18:44, 1.66s/it] 98%|█████████▊| 29325/30000 [13:36:54<18:45, 1.67s/it] 98%|█████████▊| 29326/30000 [13:36:55<18:44, 1.67s/it] 98%|█████████▊| 29327/30000 [13:36:57<18:42, 1.67s/it] 98%|█████████▊| 29328/30000 [13:36:59<18:40, 1.67s/it] 98%|█████████▊| 29329/30000 [13:37:00<18:38, 1.67s/it] 98%|█████████▊| 29330/30000 [13:37:02<18:37, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.1104394868016243, 'learning_rate': 4.101269641513139e-08, 'flow_matching_loss': 0.01575256437063217, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.53} + 98%|█████████▊| 29330/30000 [13:37:02<18:37, 1.67s/it] 98%|█████████▊| 29331/30000 [13:37:04<18:34, 1.67s/it] 98%|█████████▊| 29332/30000 [13:37:05<18:32, 1.67s/it] 98%|█████████▊| 29333/30000 [13:37:07<18:30, 1.66s/it] 98%|█████████▊| 29334/30000 [13:37:09<18:29, 1.67s/it] 98%|█████████▊| 29335/30000 [13:37:10<18:25, 1.66s/it] 98%|█████████▊| 29336/30000 [13:37:12<18:25, 1.67s/it] 98%|█████████▊| 29337/30000 [13:37:14<18:22, 1.66s/it] 98%|█████████▊| 29338/30000 [13:37:15<18:21, 1.66s/it] 98%|█████████▊| 29339/30000 [13:37:17<18:19, 1.66s/it] 98%|█████████▊| 29340/30000 [13:37:19<18:21, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.1190609484910965, 'learning_rate': 3.979990725249627e-08, 'flow_matching_loss': 0.01711922436952591, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.54} + 98%|█████████▊| 29340/30000 [13:37:19<18:21, 1.67s/it] 98%|█████████▊| 29341/30000 [13:37:20<18:19, 1.67s/it] 98%|█████████▊| 29342/30000 [13:37:22<18:17, 1.67s/it] 98%|█████████▊| 29343/30000 [13:37:24<18:13, 1.66s/it] 98%|█████████▊| 29344/30000 [13:37:25<18:15, 1.67s/it] 98%|█████████▊| 29345/30000 [13:37:27<18:12, 1.67s/it] 98%|█████████▊| 29346/30000 [13:37:29<18:09, 1.67s/it] 98%|█████████▊| 29347/30000 [13:37:30<18:05, 1.66s/it] 98%|█████████▊| 29348/30000 [13:37:32<18:06, 1.67s/it] 98%|█████████▊| 29349/30000 [13:37:34<18:06, 1.67s/it] 98%|█████████▊| 29350/30000 [13:37:35<18:07, 1.67s/it] {'loss': 0.0186, 'grad_norm': 0.10086828470230103, 'learning_rate': 3.860529614363006e-08, 'flow_matching_loss': 0.018623094912618397, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.54} + 98%|█████████▊| 29350/30000 [13:37:35<18:07, 1.67s/it] 98%|█████████▊| 29351/30000 [13:37:37<18:03, 1.67s/it] 98%|█████████▊| 29352/30000 [13:37:39<18:00, 1.67s/it] 98%|█████████▊| 29353/30000 [13:37:40<17:58, 1.67s/it] 98%|█████████▊| 29354/30000 [13:37:42<17:56, 1.67s/it] 98%|█████████▊| 29355/30000 [13:37:44<17:52, 1.66s/it] 98%|█████████▊| 29356/30000 [13:37:45<17:53, 1.67s/it] 98%|█████████▊| 29357/30000 [13:37:47<17:52, 1.67s/it] 98%|█████████▊| 29358/30000 [13:37:49<17:50, 1.67s/it] 98%|█████████▊| 29359/30000 [13:37:50<17:47, 1.67s/it] 98%|█████████▊| 29360/30000 [13:37:52<17:47, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.10797565430402756, 'learning_rate': 3.742886454009664e-08, 'flow_matching_loss': 0.017355551570653917, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.54} + 98%|█████████▊| 29360/30000 [13:37:52<17:47, 1.67s/it] 98%|█████████▊| 29361/30000 [13:37:54<17:45, 1.67s/it] 98%|█████████▊| 29362/30000 [13:37:55<17:43, 1.67s/it] 98%|█████████▊| 29363/30000 [13:37:57<17:41, 1.67s/it] 98%|█████████▊| 29364/30000 [13:37:59<17:40, 1.67s/it] 98%|█████████▊| 29365/30000 [13:38:00<17:39, 1.67s/it] 98%|█████████▊| 29366/30000 [13:38:02<17:38, 1.67s/it] 98%|█████████▊| 29367/30000 [13:38:04<17:36, 1.67s/it] 98%|█████████▊| 29368/30000 [13:38:05<17:33, 1.67s/it] 98%|█████████▊| 29369/30000 [13:38:07<17:31, 1.67s/it] 98%|█████████▊| 29370/30000 [13:38:09<17:29, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.1284957081079483, 'learning_rate': 3.627061387137087e-08, 'flow_matching_loss': 0.01649613967165351, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.55} + 98%|█████████▊| 29370/30000 [13:38:09<17:29, 1.67s/it] 98%|█████████▊| 29371/30000 [13:38:10<17:27, 1.67s/it] 98%|█████████▊| 29372/30000 [13:38:12<17:28, 1.67s/it] 98%|█████████▊| 29373/30000 [13:38:14<17:27, 1.67s/it] 98%|█████████▊| 29374/30000 [13:38:15<17:24, 1.67s/it] 98%|█████████▊| 29375/30000 [13:38:17<17:21, 1.67s/it] 98%|█████████▊| 29376/30000 [13:38:19<17:23, 1.67s/it] 98%|█████████▊| 29377/30000 [13:38:20<17:19, 1.67s/it] 98%|█████████▊| 29378/30000 [13:38:22<17:19, 1.67s/it] 98%|█████████▊| 29379/30000 [13:38:24<17:16, 1.67s/it] 98%|█████████▊| 29380/30000 [13:38:25<17:14, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.11086784303188324, 'learning_rate': 3.5130545544835305e-08, 'flow_matching_loss': 0.015694069769233467, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.55} + 98%|█████████▊| 29380/30000 [13:38:25<17:14, 1.67s/it] 98%|█████████▊| 29381/30000 [13:38:27<17:13, 1.67s/it] 98%|█████████▊| 29382/30000 [13:38:29<17:11, 1.67s/it] 98%|█████████▊| 29383/30000 [13:38:30<17:06, 1.66s/it] 98%|█████████▊| 29384/30000 [13:38:32<17:06, 1.67s/it] 98%|█████████▊| 29385/30000 [13:38:34<17:05, 1.67s/it] 98%|█████████▊| 29386/30000 [13:38:35<17:03, 1.67s/it] 98%|█████████▊| 29387/30000 [13:38:37<17:01, 1.67s/it] 98%|█████████▊| 29388/30000 [13:38:39<17:00, 1.67s/it] 98%|█████████▊| 29389/30000 [13:38:40<16:58, 1.67s/it] 98%|█████████▊| 29390/30000 [13:38:42<16:57, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1085214763879776, 'learning_rate': 3.400866094578348e-08, 'flow_matching_loss': 0.017259686067700387, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.55} + 98%|█████████▊| 29390/30000 [13:38:42<16:57, 1.67s/it] 98%|█████████▊| 29391/30000 [13:38:44<16:55, 1.67s/it] 98%|█████████▊| 29392/30000 [13:38:45<16:54, 1.67s/it] 98%|█████████▊| 29393/30000 [13:38:47<16:53, 1.67s/it] 98%|█████████▊| 29394/30000 [13:38:49<16:51, 1.67s/it] 98%|█████████▊| 29395/30000 [13:38:50<16:48, 1.67s/it] 98%|█████████▊| 29396/30000 [13:38:52<16:47, 1.67s/it] 98%|█████████▊| 29397/30000 [13:38:54<16:46, 1.67s/it] 98%|█████████▊| 29398/30000 [13:38:55<16:45, 1.67s/it] 98%|█████████▊| 29399/30000 [13:38:57<16:42, 1.67s/it] 98%|█████████▊| 29400/30000 [13:38:59<16:42, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.11480821669101715, 'learning_rate': 3.290496143740829e-08, 'flow_matching_loss': 0.016623582411557435, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.55} + 98%|█████████▊| 29400/30000 [13:38:59<16:42, 1.67s/it] 98%|█████████▊| 29401/30000 [13:39:00<16:39, 1.67s/it] 98%|█████████▊| 29402/30000 [13:39:02<16:38, 1.67s/it] 98%|█████████▊| 29403/30000 [13:39:04<16:35, 1.67s/it] 98%|█████████▊| 29404/30000 [13:39:05<16:35, 1.67s/it] 98%|█████████▊| 29405/30000 [13:39:07<16:33, 1.67s/it] 98%|█████████▊| 29406/30000 [13:39:09<16:33, 1.67s/it] 98%|█████████▊| 29407/30000 [13:39:10<16:29, 1.67s/it] 98%|█████████▊| 29408/30000 [13:39:12<16:28, 1.67s/it] 98%|█████████▊| 29409/30000 [13:39:14<16:25, 1.67s/it] 98%|█████████▊| 29410/30000 [13:39:15<16:22, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.1022830680012703, 'learning_rate': 3.18194483608103e-08, 'flow_matching_loss': 0.015875436645001174, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.56} + 98%|█████████▊| 29410/30000 [13:39:16<16:22, 1.67s/it] 98%|█████████▊| 29411/30000 [13:39:17<16:21, 1.67s/it] 98%|█████████▊| 29412/30000 [13:39:19<16:20, 1.67s/it] 98%|█████████▊| 29413/30000 [13:39:20<16:17, 1.67s/it] 98%|█████████▊| 29414/30000 [13:39:22<16:16, 1.67s/it] 98%|█████████▊| 29415/30000 [13:39:24<16:13, 1.66s/it] 98%|█████████▊| 29416/30000 [13:39:25<16:12, 1.67s/it] 98%|█████████▊| 29417/30000 [13:39:27<16:10, 1.66s/it] 98%|█████████▊| 29418/30000 [13:39:29<16:09, 1.67s/it] 98%|█████████▊| 29419/30000 [13:39:30<16:06, 1.66s/it] 98%|█████████▊| 29420/30000 [13:39:32<16:08, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.12646785378456116, 'learning_rate': 3.075212303498942e-08, 'flow_matching_loss': 0.017467066179960966, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.56} + 98%|█████████▊| 29420/30000 [13:39:32<16:08, 1.67s/it] 98%|█████████▊| 29421/30000 [13:39:34<16:06, 1.67s/it] 98%|█████████▊| 29422/30000 [13:39:35<16:04, 1.67s/it] 98%|█████████▊| 29423/30000 [13:39:37<16:01, 1.67s/it] 98%|█████████▊| 29424/30000 [13:39:39<16:00, 1.67s/it] 98%|█████████▊| 29425/30000 [13:39:40<16:00, 1.67s/it] 98%|█████████▊| 29426/30000 [13:39:42<15:58, 1.67s/it] 98%|█████████▊| 29427/30000 [13:39:44<15:56, 1.67s/it] 98%|█████████▊| 29428/30000 [13:39:45<15:55, 1.67s/it] 98%|█████████▊| 29429/30000 [13:39:47<15:53, 1.67s/it] 98%|█████████▊| 29430/30000 [13:39:49<15:52, 1.67s/it] {'loss': 0.0216, 'grad_norm': 0.20540373027324677, 'learning_rate': 2.9702986756846574e-08, 'flow_matching_loss': 0.02160377809777856, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.56} + 98%|█████████▊| 29430/30000 [13:39:49<15:52, 1.67s/it] 98%|█████████▊| 29431/30000 [13:39:50<15:49, 1.67s/it] 98%|█████████▊| 29432/30000 [13:39:52<15:47, 1.67s/it] 98%|█████████▊| 29433/30000 [13:39:54<15:43, 1.66s/it] 98%|█████████▊| 29434/30000 [13:39:55<15:41, 1.66s/it] 98%|█████████▊| 29435/30000 [13:39:57<15:40, 1.66s/it] 98%|█████████▊| 29436/30000 [13:39:59<15:39, 1.67s/it] 98%|█████████▊| 29437/30000 [13:40:00<15:39, 1.67s/it] 98%|█████████▊| 29438/30000 [13:40:02<15:37, 1.67s/it] 98%|█████████▊| 29439/30000 [13:40:04<15:34, 1.67s/it] 98%|█████████▊| 29440/30000 [13:40:05<15:33, 1.67s/it] {'loss': 0.013, 'grad_norm': 0.08625707775354385, 'learning_rate': 2.867204080118202e-08, 'flow_matching_loss': 0.013038795627653598, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.57} + 98%|█████████▊| 29440/30000 [13:40:06<15:33, 1.67s/it] 98%|█████████▊| 29441/30000 [13:40:07<15:31, 1.67s/it] 98%|█████████▊| 29442/30000 [13:40:09<15:29, 1.67s/it] 98%|█████████▊| 29443/30000 [13:40:10<15:26, 1.66s/it] 98%|█████████▊| 29444/30000 [13:40:12<15:27, 1.67s/it] 98%|█████████▊| 29445/30000 [13:40:14<15:26, 1.67s/it] 98%|█████████▊| 29446/30000 [13:40:15<15:24, 1.67s/it] 98%|█████████▊| 29447/30000 [13:40:17<15:22, 1.67s/it] 98%|█████████▊| 29448/30000 [13:40:19<15:20, 1.67s/it] 98%|█████████▊| 29449/30000 [13:40:20<15:18, 1.67s/it] 98%|█████████▊| 29450/30000 [13:40:22<15:20, 1.67s/it] {'loss': 0.0152, 'grad_norm': 0.11435655504465103, 'learning_rate': 2.7659286420693708e-08, 'flow_matching_loss': 0.015203375648707152, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.57} + 98%|█████████▊| 29450/30000 [13:40:22<15:20, 1.67s/it] 98%|█████████▊| 29451/30000 [13:40:24<15:17, 1.67s/it] 98%|█████████▊| 29452/30000 [13:40:26<15:15, 1.67s/it] 98%|█████████▊| 29453/30000 [13:40:27<15:14, 1.67s/it] 98%|█████████▊| 29454/30000 [13:40:29<15:12, 1.67s/it] 98%|█████████▊| 29455/30000 [13:40:31<15:09, 1.67s/it] 98%|█████████▊| 29456/30000 [13:40:32<15:06, 1.67s/it] 98%|█████████▊| 29457/30000 [13:40:34<15:05, 1.67s/it] 98%|█████████▊| 29458/30000 [13:40:36<15:04, 1.67s/it] 98%|█████████▊| 29459/30000 [13:40:37<15:00, 1.67s/it] 98%|█████████▊| 29460/30000 [13:40:39<15:00, 1.67s/it] {'loss': 0.0194, 'grad_norm': 0.23616522550582886, 'learning_rate': 2.6664724845968934e-08, 'flow_matching_loss': 0.019364334642887115, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.57} + 98%|█████████▊| 29460/30000 [13:40:39<15:00, 1.67s/it] 98%|█████████▊| 29461/30000 [13:40:41<14:58, 1.67s/it] 98%|█████████▊| 29462/30000 [13:40:42<14:59, 1.67s/it] 98%|█████████▊| 29463/30000 [13:40:44<14:57, 1.67s/it] 98%|█████████▊| 29464/30000 [13:40:46<14:54, 1.67s/it] 98%|█████████▊| 29465/30000 [13:40:47<14:51, 1.67s/it] 98%|█████████▊| 29466/30000 [13:40:49<14:49, 1.67s/it] 98%|█████████▊| 29467/30000 [13:40:51<14:46, 1.66s/it] 98%|█████████▊| 29468/30000 [13:40:52<14:45, 1.67s/it] 98%|█████████▊| 29469/30000 [13:40:54<14:44, 1.67s/it] 98%|█████████▊| 29470/30000 [13:40:56<14:44, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.08585438132286072, 'learning_rate': 2.5688357285499343e-08, 'flow_matching_loss': 0.01671108352020383, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.57} + 98%|█████████▊| 29470/30000 [13:40:56<14:44, 1.67s/it] 98%|█████████▊| 29471/30000 [13:40:57<14:43, 1.67s/it] 98%|█████████▊| 29472/30000 [13:40:59<14:41, 1.67s/it] 98%|█████████▊| 29473/30000 [13:41:01<14:40, 1.67s/it] 98%|█████████▊| 29474/30000 [13:41:02<14:38, 1.67s/it] 98%|█████████▊| 29475/30000 [13:41:04<14:35, 1.67s/it] 98%|█████████▊| 29476/30000 [13:41:06<14:32, 1.66s/it] 98%|█████████▊| 29477/30000 [13:41:07<14:30, 1.66s/it] 98%|█████████▊| 29478/30000 [13:41:09<14:30, 1.67s/it] 98%|█████████▊| 29479/30000 [13:41:11<14:28, 1.67s/it] 98%|█████████▊| 29480/30000 [13:41:12<14:27, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.09351510554552078, 'learning_rate': 2.473018492565926e-08, 'flow_matching_loss': 0.016443801391869784, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.58} + 98%|█████████▊| 29480/30000 [13:41:12<14:27, 1.67s/it] 98%|█████████▊| 29481/30000 [13:41:14<14:25, 1.67s/it] 98%|█████████▊| 29482/30000 [13:41:16<14:22, 1.67s/it] 98%|█████████▊| 29483/30000 [13:41:17<14:20, 1.66s/it] 98%|█████████▊| 29484/30000 [13:41:19<14:20, 1.67s/it] 98%|█████████▊| 29485/30000 [13:41:21<14:20, 1.67s/it] 98%|█████████▊| 29486/30000 [13:41:22<14:19, 1.67s/it] 98%|█████████▊| 29487/30000 [13:41:24<14:17, 1.67s/it] 98%|█████████▊| 29488/30000 [13:41:26<14:14, 1.67s/it] 98%|█████████▊| 29489/30000 [13:41:27<14:12, 1.67s/it] 98%|█████████▊| 29490/30000 [13:41:29<14:10, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.10526628792285919, 'learning_rate': 2.3790208930720702e-08, 'flow_matching_loss': 0.017506261821836233, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.58} + 98%|█████████▊| 29490/30000 [13:41:29<14:10, 1.67s/it] 98%|█████████▊| 29491/30000 [13:41:31<14:10, 1.67s/it] 98%|█████████▊| 29492/30000 [13:41:32<14:07, 1.67s/it] 98%|█████████▊| 29493/30000 [13:41:34<14:06, 1.67s/it] 98%|█████████▊| 29494/30000 [13:41:36<14:04, 1.67s/it] 98%|█████████▊| 29495/30000 [13:41:37<14:01, 1.67s/it] 98%|█████████▊| 29496/30000 [13:41:39<13:58, 1.66s/it] 98%|█████████▊| 29497/30000 [13:41:41<13:56, 1.66s/it] 98%|█████████▊| 29498/30000 [13:41:42<13:54, 1.66s/it] 98%|█████████▊| 29499/30000 [13:41:44<13:53, 1.66s/it] 98%|█████████▊| 29500/30000 [13:41:46<13:52, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.12500633299350739, 'learning_rate': 2.2868430442843368e-08, 'flow_matching_loss': 0.017083605471998452, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.58} + 98%|█████████▊| 29500/30000 [13:41:46<13:52, 1.67s/it] 98%|█████████▊| 29501/30000 [13:41:47<13:52, 1.67s/it] 98%|█████████▊| 29502/30000 [13:41:49<13:50, 1.67s/it] 98%|█████████▊| 29503/30000 [13:41:51<13:49, 1.67s/it] 98%|█████████▊| 29504/30000 [13:41:52<13:48, 1.67s/it] 98%|█████████▊| 29505/30000 [13:41:54<13:45, 1.67s/it] 98%|█████████▊| 29506/30000 [13:41:56<13:43, 1.67s/it] 98%|█████████▊| 29507/30000 [13:41:57<13:40, 1.66s/it] 98%|█████████▊| 29508/30000 [13:41:59<13:39, 1.67s/it] 98%|█████████▊| 29509/30000 [13:42:01<13:42, 1.67s/it] 98%|█████████▊| 29510/30000 [13:42:02<13:39, 1.67s/it] {'loss': 0.0161, 'grad_norm': 0.10795081406831741, 'learning_rate': 2.196485058207298e-08, 'flow_matching_loss': 0.016086986009031534, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.59} + 98%|█████████▊| 29510/30000 [13:42:02<13:39, 1.67s/it] 98%|█████████▊| 29511/30000 [13:42:04<13:36, 1.67s/it] 98%|█████████▊| 29512/30000 [13:42:06<13:33, 1.67s/it] 98%|█████████▊| 29513/30000 [13:42:07<13:31, 1.67s/it] 98%|█████████▊| 29514/30000 [13:42:09<13:30, 1.67s/it] 98%|█████████▊| 29515/30000 [13:42:11<13:27, 1.66s/it] 98%|█████████▊| 29516/30000 [13:42:12<13:26, 1.67s/it] 98%|█████████▊| 29517/30000 [13:42:14<13:26, 1.67s/it] 98%|█████████▊| 29518/30000 [13:42:16<13:26, 1.67s/it] 98%|█████████▊| 29519/30000 [13:42:17<13:23, 1.67s/it] 98%|█████████▊| 29520/30000 [13:42:19<13:21, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.10210143774747849, 'learning_rate': 2.1079470446346282e-08, 'flow_matching_loss': 0.01670957924798131, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.59} + 98%|█████████▊| 29520/30000 [13:42:19<13:21, 1.67s/it] 98%|█████████▊| 29521/30000 [13:42:21<13:20, 1.67s/it] 98%|█████████▊| 29522/30000 [13:42:22<13:17, 1.67s/it] 98%|█████████▊| 29523/30000 [13:42:24<13:14, 1.66s/it] 98%|█████████▊| 29524/30000 [13:42:26<13:13, 1.67s/it] 98%|█████████▊| 29525/30000 [13:42:27<13:13, 1.67s/it] 98%|█████████▊| 29526/30000 [13:42:29<13:12, 1.67s/it] 98%|█████████▊| 29527/30000 [13:42:31<13:08, 1.67s/it] 98%|█████████▊| 29528/30000 [13:42:32<13:06, 1.67s/it] 98%|█████████▊| 29529/30000 [13:42:34<13:04, 1.67s/it] 98%|█████████▊| 29530/30000 [13:42:36<13:02, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.08508699387311935, 'learning_rate': 2.0212291111482707e-08, 'flow_matching_loss': 0.01654137745499611, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.59} + 98%|█████████▊| 29530/30000 [13:42:36<13:02, 1.67s/it] 98%|█████████▊| 29531/30000 [13:42:37<13:00, 1.66s/it] 98%|█████████▊| 29532/30000 [13:42:39<12:59, 1.67s/it] 98%|█████████▊| 29533/30000 [13:42:41<12:59, 1.67s/it] 98%|█████████▊| 29534/30000 [13:42:42<12:58, 1.67s/it] 98%|█████████▊| 29535/30000 [13:42:44<12:53, 1.66s/it] 98%|█████████▊| 29536/30000 [13:42:46<12:52, 1.67s/it] 98%|█████████▊| 29537/30000 [13:42:47<12:51, 1.67s/it] 98%|█████████▊| 29538/30000 [13:42:49<12:49, 1.67s/it] 98%|█████████▊| 29539/30000 [13:42:51<12:46, 1.66s/it] 98%|█████████▊| 29540/30000 [13:42:52<12:46, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.09902411699295044, 'learning_rate': 1.9363313631187707e-08, 'flow_matching_loss': 0.01786104030907154, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.59} + 98%|█████████▊| 29540/30000 [13:42:52<12:46, 1.67s/it] 98%|█████████▊| 29541/30000 [13:42:54<12:46, 1.67s/it] 98%|█████████▊| 29542/30000 [13:42:56<12:44, 1.67s/it] 98%|█████████▊| 29543/30000 [13:42:57<12:43, 1.67s/it] 98%|█████████▊| 29544/30000 [13:42:59<12:42, 1.67s/it] 98%|█████████▊| 29545/30000 [13:43:01<12:39, 1.67s/it] 98%|█████████▊| 29546/30000 [13:43:02<12:36, 1.67s/it] 98%|█████████▊| 29547/30000 [13:43:04<12:34, 1.67s/it] 98%|█████████▊| 29548/30000 [13:43:06<12:33, 1.67s/it] 98%|█████████▊| 29549/30000 [13:43:07<12:31, 1.67s/it] 98%|█████████▊| 29550/30000 [13:43:09<12:30, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.11693890392780304, 'learning_rate': 1.853253903704777e-08, 'flow_matching_loss': 0.015072743315249682, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.6} + 98%|█████████▊| 29550/30000 [13:43:09<12:30, 1.67s/it] 99%|█████████▊| 29551/30000 [13:43:11<12:29, 1.67s/it] 99%|█████████▊| 29552/30000 [13:43:12<12:28, 1.67s/it] 99%|█████████▊| 29553/30000 [13:43:14<12:25, 1.67s/it] 99%|█████████▊| 29554/30000 [13:43:16<12:22, 1.66s/it] 99%|█████████▊| 29555/30000 [13:43:17<12:21, 1.67s/it] 99%|█████████▊| 29556/30000 [13:43:19<12:19, 1.67s/it] 99%|█████████▊| 29557/30000 [13:43:21<12:18, 1.67s/it] 99%|█████████▊| 29558/30000 [13:43:22<12:16, 1.67s/it] 99%|█████████▊| 29559/30000 [13:43:24<12:15, 1.67s/it] 99%|█████████▊| 29560/30000 [13:43:26<12:15, 1.67s/it] {'loss': 0.0183, 'grad_norm': 0.11471894383430481, 'learning_rate': 1.7719968338533733e-08, 'flow_matching_loss': 0.018289112765341998, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.6} + 99%|█████████▊| 29560/30000 [13:43:26<12:15, 1.67s/it] 99%|█████████▊| 29561/30000 [13:43:27<12:13, 1.67s/it] 99%|█████████▊| 29562/30000 [13:43:29<12:11, 1.67s/it] 99%|█████████▊| 29563/30000 [13:43:31<12:08, 1.67s/it] 99%|█████████▊| 29564/30000 [13:43:32<12:07, 1.67s/it] 99%|█████████▊| 29565/30000 [13:43:34<12:06, 1.67s/it] 99%|█████████▊| 29566/30000 [13:43:36<12:04, 1.67s/it] 99%|█████████▊| 29567/30000 [13:43:37<12:03, 1.67s/it] 99%|█████████▊| 29568/30000 [13:43:39<12:01, 1.67s/it] 99%|█████████▊| 29569/30000 [13:43:41<11:59, 1.67s/it] 99%|█████████▊| 29570/30000 [13:43:42<11:57, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.10598555952310562, 'learning_rate': 1.6925602522992467e-08, 'flow_matching_loss': 0.015851623471826316, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.6} + 99%|█████████▊| 29570/30000 [13:43:42<11:57, 1.67s/it] 99%|█████████▊| 29571/30000 [13:43:44<11:55, 1.67s/it] 99%|█████████▊| 29572/30000 [13:43:46<11:54, 1.67s/it] 99%|█████████▊| 29573/30000 [13:43:47<11:53, 1.67s/it] 99%|█████████▊| 29574/30000 [13:43:49<11:51, 1.67s/it] 99%|█████████▊| 29575/30000 [13:43:51<11:48, 1.67s/it] 99%|█████████▊| 29576/30000 [13:43:52<11:46, 1.67s/it] 99%|█████████▊| 29577/30000 [13:43:54<11:44, 1.67s/it] 99%|█████████▊| 29578/30000 [13:43:56<11:43, 1.67s/it] 99%|█████████▊| 29579/30000 [13:43:57<11:40, 1.66s/it] 99%|█████████▊| 29580/30000 [13:43:59<11:40, 1.67s/it] {'loss': 0.0192, 'grad_norm': 0.10536330193281174, 'learning_rate': 1.6149442555658533e-08, 'flow_matching_loss': 0.019179785810410976, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.61} + 99%|█████████▊| 29580/30000 [13:43:59<11:40, 1.67s/it] 99%|█████████▊| 29581/30000 [13:44:01<11:38, 1.67s/it] 99%|█████████▊| 29582/30000 [13:44:02<11:36, 1.67s/it] 99%|█████████▊| 29583/30000 [13:44:04<11:33, 1.66s/it] 99%|█████████▊| 29584/30000 [13:44:06<11:31, 1.66s/it] 99%|█████████▊| 29585/30000 [13:44:07<11:29, 1.66s/it] 99%|█████████▊| 29586/30000 [13:44:09<11:28, 1.66s/it] 99%|█████████▊| 29587/30000 [13:44:11<11:26, 1.66s/it] 99%|█████████▊| 29588/30000 [13:44:12<11:25, 1.66s/it] 99%|█████████▊| 29589/30000 [13:44:14<11:24, 1.66s/it] 99%|█████████▊| 29590/30000 [13:44:16<11:23, 1.67s/it] {'loss': 0.0163, 'grad_norm': 0.10319129377603531, 'learning_rate': 1.5391489379635858e-08, 'flow_matching_loss': 0.016321760881692172, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.61} + 99%|█████████▊| 29590/30000 [13:44:16<11:23, 1.67s/it] 99%|█████████▊| 29591/30000 [13:44:17<11:21, 1.67s/it] 99%|█████████▊| 29592/30000 [13:44:19<11:20, 1.67s/it] 99%|█████████▊| 29593/30000 [13:44:21<11:18, 1.67s/it] 99%|█████████▊| 29594/30000 [13:44:22<11:16, 1.67s/it] 99%|█████████▊| 29595/30000 [13:44:24<11:15, 1.67s/it] 99%|█████████▊| 29596/30000 [13:44:26<11:12, 1.67s/it] 99%|█████████▊| 29597/30000 [13:44:27<11:11, 1.67s/it] 99%|█████████▊| 29598/30000 [13:44:29<11:09, 1.67s/it] 99%|█████████▊| 29599/30000 [13:44:31<11:08, 1.67s/it] 99%|█████████▊| 29600/30000 [13:44:32<11:07, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.1075555756688118, 'learning_rate': 1.4651743915909399e-08, 'flow_matching_loss': 0.017313531041145323, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.61} + 99%|█████████▊| 29600/30000 [13:44:32<11:07, 1.67s/it] 99%|█████████▊| 29601/30000 [13:44:34<11:06, 1.67s/it] 99%|█████████▊| 29602/30000 [13:44:36<11:04, 1.67s/it] 99%|█████████▊| 29603/30000 [13:44:37<11:01, 1.67s/it] 99%|█████████▊| 29604/30000 [13:44:39<11:00, 1.67s/it] 99%|█████████▊| 29605/30000 [13:44:41<10:59, 1.67s/it] 99%|█████████▊| 29606/30000 [13:44:42<10:58, 1.67s/it] 99%|█████████▊| 29607/30000 [13:44:44<10:55, 1.67s/it] 99%|█████████▊| 29608/30000 [13:44:46<10:53, 1.67s/it] 99%|█████████▊| 29609/30000 [13:44:47<10:51, 1.67s/it] 99%|█████████▊| 29610/30000 [13:44:49<10:49, 1.66s/it] {'loss': 0.0164, 'grad_norm': 0.102397121489048, 'learning_rate': 1.3930207063340139e-08, 'flow_matching_loss': 0.016392960771918298, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.62} + 99%|█████████▊| 29610/30000 [13:44:49<10:49, 1.66s/it] 99%|█████████▊| 29611/30000 [13:44:51<10:47, 1.66s/it] 99%|█████████▊| 29612/30000 [13:44:52<10:46, 1.67s/it] 99%|█████████▊| 29613/30000 [13:44:54<10:46, 1.67s/it] 99%|█████████▊| 29614/30000 [13:44:56<10:45, 1.67s/it] 99%|█████████▊| 29615/30000 [13:44:57<10:44, 1.67s/it] 99%|█████████▊| 29616/30000 [13:44:59<10:41, 1.67s/it] 99%|█████████▊| 29617/30000 [13:45:01<10:38, 1.67s/it] 99%|█████████▊| 29618/30000 [13:45:02<10:37, 1.67s/it] 99%|█████████▊| 29619/30000 [13:45:04<10:36, 1.67s/it] 99%|█████████▊| 29620/30000 [13:45:06<10:34, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.106986403465271, 'learning_rate': 1.322687969866343e-08, 'flow_matching_loss': 0.017392058577388524, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.62} + 99%|█████████▊| 29620/30000 [13:45:06<10:34, 1.67s/it] 99%|█████████▊| 29621/30000 [13:45:07<10:34, 1.67s/it] 99%|█████████▊| 29622/30000 [13:45:09<10:32, 1.67s/it] 99%|█████████▊| 29623/30000 [13:45:11<10:28, 1.67s/it] 99%|█████████▊| 29624/30000 [13:45:12<10:26, 1.67s/it] 99%|█████████▉| 29625/30000 [13:45:14<10:25, 1.67s/it] 99%|█████████▉| 29626/30000 [13:45:16<10:23, 1.67s/it] 99%|█████████▉| 29627/30000 [13:45:17<10:21, 1.67s/it] 99%|█████████▉| 29628/30000 [13:45:19<10:19, 1.67s/it] 99%|█████████▉| 29629/30000 [13:45:21<10:18, 1.67s/it] 99%|█████████▉| 29630/30000 [13:45:22<10:17, 1.67s/it] {'loss': 0.0175, 'grad_norm': 0.13303199410438538, 'learning_rate': 1.2541762676488989e-08, 'flow_matching_loss': 0.017472144775092603, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.62} + 99%|█████████▉| 29630/30000 [13:45:22<10:17, 1.67s/it] 99%|█████████▉| 29631/30000 [13:45:24<10:16, 1.67s/it] 99%|█████████▉| 29632/30000 [13:45:26<10:14, 1.67s/it] 99%|█████████▉| 29633/30000 [13:45:27<10:11, 1.67s/it] 99%|█████████▉| 29634/30000 [13:45:29<10:09, 1.67s/it] 99%|█████████▉| 29635/30000 [13:45:31<10:08, 1.67s/it] 99%|█████████▉| 29636/30000 [13:45:32<10:07, 1.67s/it] 99%|█████████▉| 29637/30000 [13:45:34<10:05, 1.67s/it] 99%|█████████▉| 29638/30000 [13:45:36<10:04, 1.67s/it] 99%|█████████▉| 29639/30000 [13:45:37<10:02, 1.67s/it] 99%|█████████▉| 29640/30000 [13:45:39<10:00, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.10979532450437546, 'learning_rate': 1.1874856829297564e-08, 'flow_matching_loss': 0.017429826129227877, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.62} + 99%|█████████▉| 29640/30000 [13:45:39<10:00, 1.67s/it] 99%|█████████▉| 29641/30000 [13:45:41<09:58, 1.67s/it] 99%|█████████▉| 29642/30000 [13:45:42<09:56, 1.67s/it] 99%|█████████▉| 29643/30000 [13:45:44<09:54, 1.67s/it] 99%|█████████▉| 29644/30000 [13:45:46<09:53, 1.67s/it] 99%|█████████▉| 29645/30000 [13:45:47<09:52, 1.67s/it] 99%|█████████▉| 29646/30000 [13:45:49<09:51, 1.67s/it] 99%|█████████▉| 29647/30000 [13:45:51<09:48, 1.67s/it] 99%|█████████▉| 29648/30000 [13:45:52<09:46, 1.67s/it] 99%|█████████▉| 29649/30000 [13:45:54<09:45, 1.67s/it] 99%|█████████▉| 29650/30000 [13:45:56<09:43, 1.67s/it] {'loss': 0.0164, 'grad_norm': 0.1279127597808838, 'learning_rate': 1.1226162967442611e-08, 'flow_matching_loss': 0.016413062810897827, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.63} + 99%|█████████▉| 29650/30000 [13:45:56<09:43, 1.67s/it] 99%|█████████▉| 29651/30000 [13:45:57<09:41, 1.67s/it] 99%|█████████▉| 29652/30000 [13:45:59<09:39, 1.67s/it] 99%|█████████▉| 29653/30000 [13:46:01<09:38, 1.67s/it] 99%|█████████▉| 29654/30000 [13:46:02<09:38, 1.67s/it] 99%|█████████▉| 29655/30000 [13:46:04<09:36, 1.67s/it] 99%|█████████▉| 29656/30000 [13:46:06<09:34, 1.67s/it] 99%|█████████▉| 29657/30000 [13:46:07<09:32, 1.67s/it] 99%|█████████▉| 29658/30000 [13:46:09<09:29, 1.67s/it] 99%|█████████▉| 29659/30000 [13:46:11<09:26, 1.66s/it] 99%|█████████▉| 29660/30000 [13:46:12<09:26, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10647371411323547, 'learning_rate': 1.059568187914861e-08, 'flow_matching_loss': 0.015360698197036981, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.63} + 99%|█████████▉| 29660/30000 [13:46:12<09:26, 1.67s/it] 99%|█████████▉| 29661/30000 [13:46:14<09:26, 1.67s/it] 99%|█████████▉| 29662/30000 [13:46:16<09:24, 1.67s/it] 99%|█████████▉| 29663/30000 [13:46:17<09:22, 1.67s/it] 99%|█████████▉| 29664/30000 [13:46:19<09:20, 1.67s/it] 99%|█████████▉| 29665/30000 [13:46:21<09:18, 1.67s/it] 99%|█████████▉| 29666/30000 [13:46:22<09:16, 1.67s/it] 99%|█████████▉| 29667/30000 [13:46:24<09:14, 1.66s/it] 99%|█████████▉| 29668/30000 [13:46:26<09:13, 1.67s/it] 99%|█████████▉| 29669/30000 [13:46:27<09:12, 1.67s/it] 99%|█████████▉| 29670/30000 [13:46:29<09:11, 1.67s/it] {'loss': 0.0151, 'grad_norm': 0.10401125997304916, 'learning_rate': 9.983414330511087e-09, 'flow_matching_loss': 0.015120465122163296, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.63} + 99%|█████████▉| 29670/30000 [13:46:29<09:11, 1.67s/it] 99%|█████████▉| 29671/30000 [13:46:31<09:09, 1.67s/it] 99%|█████████▉| 29672/30000 [13:46:32<09:07, 1.67s/it] 99%|█████████▉| 29673/30000 [13:46:34<09:06, 1.67s/it] 99%|█████████▉| 29674/30000 [13:46:36<09:03, 1.67s/it] 99%|█████████▉| 29675/30000 [13:46:37<09:00, 1.66s/it] 99%|█████████▉| 29676/30000 [13:46:39<09:00, 1.67s/it] 99%|█████████▉| 29677/30000 [13:46:41<08:59, 1.67s/it] 99%|█████████▉| 29678/30000 [13:46:42<08:57, 1.67s/it] 99%|█████████▉| 29679/30000 [13:46:44<08:55, 1.67s/it] 99%|█████████▉| 29680/30000 [13:46:46<08:52, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.11396359652280807, 'learning_rate': 9.389361065489932e-09, 'flow_matching_loss': 0.017355920840054752, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.64} + 99%|█████████▉| 29680/30000 [13:46:46<08:52, 1.67s/it] 99%|█████████▉| 29681/30000 [13:46:47<08:51, 1.66s/it] 99%|█████████▉| 29682/30000 [13:46:49<08:49, 1.67s/it] 99%|█████████▉| 29683/30000 [13:46:51<08:48, 1.67s/it] 99%|█████████▉| 29684/30000 [13:46:52<08:46, 1.67s/it] 99%|█████████▉| 29685/30000 [13:46:54<08:45, 1.67s/it] 99%|█████████▉| 29686/30000 [13:46:56<08:43, 1.67s/it] 99%|█████████▉| 29687/30000 [13:46:57<08:42, 1.67s/it] 99%|█████████▉| 29688/30000 [13:46:59<08:39, 1.67s/it] 99%|█████████▉| 29689/30000 [13:47:01<08:38, 1.67s/it] 99%|█████████▉| 29690/30000 [13:47:02<08:36, 1.67s/it] {'loss': 0.0171, 'grad_norm': 0.11630044877529144, 'learning_rate': 8.81352280591774e-09, 'flow_matching_loss': 0.017067883908748627, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.64} + 99%|█████████▉| 29690/30000 [13:47:02<08:36, 1.67s/it] 99%|█████████▉| 29691/30000 [13:47:04<08:34, 1.67s/it] 99%|█████████▉| 29692/30000 [13:47:06<08:32, 1.67s/it] 99%|█████████▉| 29693/30000 [13:47:07<08:31, 1.67s/it] 99%|█████████▉| 29694/30000 [13:47:09<08:30, 1.67s/it] 99%|█████████▉| 29695/30000 [13:47:11<08:28, 1.67s/it] 99%|█████████▉| 29696/30000 [13:47:12<08:26, 1.67s/it] 99%|█████████▉| 29697/30000 [13:47:14<08:24, 1.67s/it] 99%|█████████▉| 29698/30000 [13:47:16<08:23, 1.67s/it] 99%|█████████▉| 29699/30000 [13:47:17<08:21, 1.67s/it] 99%|█████████▉| 29700/30000 [13:47:19<08:20, 1.67s/it] {'loss': 0.0182, 'grad_norm': 0.1116955503821373, 'learning_rate': 8.255900251491478e-09, 'flow_matching_loss': 0.018241239618510006, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.64} + 99%|█████████▉| 29700/30000 [13:47:19<08:20, 1.67s/it] 99%|█████████▉| 29701/30000 [13:47:21<08:19, 1.67s/it] 99%|█████████▉| 29702/30000 [13:47:22<08:18, 1.67s/it] 99%|█████████▉| 29703/30000 [13:47:24<08:16, 1.67s/it] 99%|█████████▉| 29704/30000 [13:47:26<08:14, 1.67s/it] 99%|█████████▉| 29705/30000 [13:47:27<08:11, 1.67s/it] 99%|█████████▉| 29706/30000 [13:47:29<08:09, 1.67s/it] 99%|█████████▉| 29707/30000 [13:47:31<08:07, 1.67s/it] 99%|█████████▉| 29708/30000 [13:47:32<08:06, 1.67s/it] 99%|█████████▉| 29709/30000 [13:47:34<08:05, 1.67s/it] 99%|█████████▉| 29710/30000 [13:47:36<08:03, 1.67s/it] {'loss': 0.0168, 'grad_norm': 0.11785730719566345, 'learning_rate': 7.716494079775816e-09, 'flow_matching_loss': 0.016828664857894183, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.64} + 99%|█████████▉| 29710/30000 [13:47:36<08:03, 1.67s/it] 99%|█████████▉| 29711/30000 [13:47:37<08:02, 1.67s/it] 99%|█████████▉| 29712/30000 [13:47:39<08:00, 1.67s/it] 99%|█████████▉| 29713/30000 [13:47:41<07:58, 1.67s/it] 99%|█████████▉| 29714/30000 [13:47:42<07:56, 1.67s/it] 99%|█████████▉| 29715/30000 [13:47:44<07:54, 1.66s/it] 99%|█████████▉| 29716/30000 [13:47:46<07:51, 1.66s/it] 99%|█████████▉| 29717/30000 [13:47:47<07:51, 1.67s/it] 99%|█████████▉| 29718/30000 [13:47:49<07:49, 1.67s/it] 99%|█████████▉| 29719/30000 [13:47:51<07:49, 1.67s/it] 99%|█████████▉| 29720/30000 [13:47:52<07:47, 1.67s/it] {'loss': 0.0154, 'grad_norm': 0.10720957070589066, 'learning_rate': 7.195304946199799e-09, 'flow_matching_loss': 0.015438307821750642, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.65} + 99%|█████████▉| 29720/30000 [13:47:52<07:47, 1.67s/it] 99%|█████████▉| 29721/30000 [13:47:54<07:45, 1.67s/it] 99%|█████████▉| 29722/30000 [13:47:56<07:42, 1.67s/it] 99%|█████████▉| 29723/30000 [13:47:57<07:40, 1.66s/it] 99%|█████████▉| 29724/30000 [13:47:59<07:40, 1.67s/it] 99%|█████████▉| 29725/30000 [13:48:01<07:38, 1.67s/it] 99%|█████████▉| 29726/30000 [13:48:02<07:37, 1.67s/it] 99%|█████████▉| 29727/30000 [13:48:04<07:35, 1.67s/it] 99%|█████████▉| 29728/30000 [13:48:06<07:33, 1.67s/it] 99%|█████████▉| 29729/30000 [13:48:07<07:31, 1.67s/it] 99%|█████████▉| 29730/30000 [13:48:09<07:29, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.12195885926485062, 'learning_rate': 6.692333484056845e-09, 'flow_matching_loss': 0.01674095094203949, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.65} + 99%|█████████▉| 29730/30000 [13:48:09<07:29, 1.67s/it] 99%|█████████▉| 29731/30000 [13:48:11<07:28, 1.67s/it] 99%|█████████▉| 29732/30000 [13:48:12<07:26, 1.66s/it] 99%|█████████▉| 29733/30000 [13:48:14<07:24, 1.67s/it] 99%|█████████▉| 29734/30000 [13:48:16<07:24, 1.67s/it] 99%|█████████▉| 29735/30000 [13:48:17<07:22, 1.67s/it] 99%|█████████▉| 29736/30000 [13:48:19<07:20, 1.67s/it] 99%|█████████▉| 29737/30000 [13:48:21<07:18, 1.67s/it] 99%|█████████▉| 29738/30000 [13:48:22<07:15, 1.66s/it] 99%|█████████▉| 29739/30000 [13:48:24<07:14, 1.66s/it] 99%|█████████▉| 29740/30000 [13:48:26<07:12, 1.66s/it] {'loss': 0.0148, 'grad_norm': 0.1166924387216568, 'learning_rate': 6.207580304506411e-09, 'flow_matching_loss': 0.014767872076481581, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.65} + 99%|█████████▉| 29740/30000 [13:48:26<07:12, 1.66s/it] 99%|█████████▉| 29741/30000 [13:48:27<07:11, 1.67s/it] 99%|█████████▉| 29742/30000 [13:48:29<07:10, 1.67s/it] 99%|█████████▉| 29743/30000 [13:48:31<07:08, 1.67s/it] 99%|█████████▉| 29744/30000 [13:48:32<07:06, 1.67s/it] 99%|█████████▉| 29745/30000 [13:48:34<07:04, 1.67s/it] 99%|█████████▉| 29746/30000 [13:48:36<07:02, 1.66s/it] 99%|█████████▉| 29747/30000 [13:48:37<07:00, 1.66s/it] 99%|█████████▉| 29748/30000 [13:48:39<06:59, 1.67s/it] 99%|█████████▉| 29749/30000 [13:48:41<06:57, 1.66s/it] 99%|█████████▉| 29750/30000 [13:48:42<06:56, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.13064366579055786, 'learning_rate': 5.741045996567329e-09, 'flow_matching_loss': 0.017811968456953764, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.66} + 99%|█████████▉| 29750/30000 [13:48:42<06:56, 1.67s/it] 99%|█████████▉| 29751/30000 [13:48:44<06:55, 1.67s/it] 99%|█████████▉| 29752/30000 [13:48:46<06:54, 1.67s/it] 99%|█████████▉| 29753/30000 [13:48:47<06:52, 1.67s/it] 99%|█████████▉| 29754/30000 [13:48:49<06:49, 1.67s/it] 99%|█████████▉| 29755/30000 [13:48:51<06:48, 1.67s/it] 99%|█████████▉| 29756/30000 [13:48:52<06:46, 1.66s/it] 99%|█████████▉| 29757/30000 [13:48:54<06:45, 1.67s/it] 99%|█████████▉| 29758/30000 [13:48:56<06:43, 1.67s/it] 99%|█████████▉| 29759/30000 [13:48:57<06:42, 1.67s/it] 99%|█████████▉| 29760/30000 [13:48:59<06:40, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.10809650272130966, 'learning_rate': 5.2927311271244725e-09, 'flow_matching_loss': 0.017235432285815477, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.66} + 99%|█████████▉| 29760/30000 [13:48:59<06:40, 1.67s/it] 99%|█████████▉| 29761/30000 [13:49:01<06:38, 1.67s/it] 99%|█████████▉| 29762/30000 [13:49:02<06:37, 1.67s/it] 99%|█████████▉| 29763/30000 [13:49:04<06:34, 1.67s/it] 99%|█████████▉| 29764/30000 [13:49:06<06:33, 1.67s/it] 99%|█████████▉| 29765/30000 [13:49:07<06:32, 1.67s/it] 99%|█████████▉| 29766/30000 [13:49:09<06:31, 1.67s/it] 99%|█████████▉| 29767/30000 [13:49:11<06:29, 1.67s/it] 99%|█████████▉| 29768/30000 [13:49:12<06:27, 1.67s/it] 99%|█████████▉| 29769/30000 [13:49:14<06:24, 1.66s/it] 99%|█████████▉| 29770/30000 [13:49:16<06:23, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11230509728193283, 'learning_rate': 4.8626362409204265e-09, 'flow_matching_loss': 0.017243807017803193, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.66} + 99%|█████████▉| 29770/30000 [13:49:16<06:23, 1.67s/it] 99%|█████████▉| 29771/30000 [13:49:17<06:21, 1.67s/it] 99%|█████████▉| 29772/30000 [13:49:19<06:20, 1.67s/it] 99%|█████████▉| 29773/30000 [13:49:21<06:18, 1.67s/it] 99%|█████████▉| 29774/30000 [13:49:22<06:17, 1.67s/it] 99%|█████████▉| 29775/30000 [13:49:24<06:15, 1.67s/it] 99%|█████████▉| 29776/30000 [13:49:26<06:14, 1.67s/it] 99%|█████████▉| 29777/30000 [13:49:27<06:12, 1.67s/it] 99%|█████████▉| 29778/30000 [13:49:29<06:10, 1.67s/it] 99%|█████████▉| 29779/30000 [13:49:31<06:08, 1.67s/it] 99%|█████████▉| 29780/30000 [13:49:32<06:06, 1.67s/it] {'loss': 0.0174, 'grad_norm': 0.09828793257474899, 'learning_rate': 4.4507618605638126e-09, 'flow_matching_loss': 0.017356294393539428, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.66} + 99%|█████████▉| 29780/30000 [13:49:33<06:06, 1.67s/it] 99%|█████████▉| 29781/30000 [13:49:34<06:05, 1.67s/it] 99%|█████████▉| 29782/30000 [13:49:36<06:04, 1.67s/it] 99%|█████████▉| 29783/30000 [13:49:38<06:02, 1.67s/it] 99%|█████████▉| 29784/30000 [13:49:39<06:00, 1.67s/it] 99%|█████████▉| 29785/30000 [13:49:41<05:58, 1.67s/it] 99%|█████████▉| 29786/30000 [13:49:42<05:56, 1.67s/it] 99%|█████████▉| 29787/30000 [13:49:44<05:54, 1.67s/it] 99%|█████████▉| 29788/30000 [13:49:46<05:53, 1.67s/it] 99%|█████████▉| 29789/30000 [13:49:48<05:52, 1.67s/it] 99%|█████████▉| 29790/30000 [13:49:49<05:50, 1.67s/it] {'loss': 0.0166, 'grad_norm': 0.09579647332429886, 'learning_rate': 4.057108486519301e-09, 'flow_matching_loss': 0.01662429589778185, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.67} + 99%|█████████▉| 29790/30000 [13:49:49<05:50, 1.67s/it] 99%|█████████▉| 29791/30000 [13:49:51<05:48, 1.67s/it] 99%|█████████▉| 29792/30000 [13:49:52<05:46, 1.67s/it] 99%|█████████▉| 29793/30000 [13:49:54<05:44, 1.66s/it] 99%|█████████▉| 29794/30000 [13:49:56<05:42, 1.66s/it] 99%|█████████▉| 29795/30000 [13:49:57<05:40, 1.66s/it] 99%|█████████▉| 29796/30000 [13:49:59<05:39, 1.66s/it] 99%|█████████▉| 29797/30000 [13:50:01<05:38, 1.67s/it] 99%|█████████▉| 29798/30000 [13:50:02<05:37, 1.67s/it] 99%|█████████▉| 29799/30000 [13:50:04<05:35, 1.67s/it] 99%|█████████▉| 29800/30000 [13:50:06<05:34, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.08981339633464813, 'learning_rate': 3.6816765971126043e-09, 'flow_matching_loss': 0.017234774213284253, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.67} + 99%|█████████▉| 29800/30000 [13:50:06<05:34, 1.67s/it] 99%|█████████▉| 29801/30000 [13:50:08<05:32, 1.67s/it] 99%|█████████▉| 29802/30000 [13:50:09<05:30, 1.67s/it] 99%|█████████▉| 29803/30000 [13:50:11<05:28, 1.67s/it] 99%|█████████▉| 29804/30000 [13:50:13<05:26, 1.67s/it] 99%|█████████▉| 29805/30000 [13:50:14<05:25, 1.67s/it] 99%|█████████▉| 29806/30000 [13:50:16<05:24, 1.67s/it] 99%|█████████▉| 29807/30000 [13:50:18<05:22, 1.67s/it] 99%|█████████▉| 29808/30000 [13:50:19<05:21, 1.67s/it] 99%|█████████▉| 29809/30000 [13:50:21<05:19, 1.67s/it] 99%|█████████▉| 29810/30000 [13:50:23<05:17, 1.67s/it] {'loss': 0.0176, 'grad_norm': 0.13319242000579834, 'learning_rate': 3.324466648528812e-09, 'flow_matching_loss': 0.01758427480235696, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.67} + 99%|█████████▉| 29810/30000 [13:50:23<05:17, 1.67s/it] 99%|█████████▉| 29811/30000 [13:50:24<05:15, 1.67s/it] 99%|█████████▉| 29812/30000 [13:50:26<05:14, 1.67s/it] 99%|█████████▉| 29813/30000 [13:50:28<05:12, 1.67s/it] 99%|█████████▉| 29814/30000 [13:50:29<05:10, 1.67s/it] 99%|█████████▉| 29815/30000 [13:50:31<05:09, 1.67s/it] 99%|█████████▉| 29816/30000 [13:50:33<05:07, 1.67s/it] 99%|█████████▉| 29817/30000 [13:50:34<05:04, 1.67s/it] 99%|█████████▉| 29818/30000 [13:50:36<05:03, 1.67s/it] 99%|█████████▉| 29819/30000 [13:50:38<05:02, 1.67s/it] 99%|█████████▉| 29820/30000 [13:50:39<05:00, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.13636445999145508, 'learning_rate': 2.9854790748123917e-09, 'flow_matching_loss': 0.015855715982615946, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.68} + 99%|█████████▉| 29820/30000 [13:50:39<05:00, 1.67s/it] 99%|█████████▉| 29821/30000 [13:50:41<04:58, 1.67s/it] 99%|█████████▉| 29822/30000 [13:50:43<04:57, 1.67s/it] 99%|█████████▉| 29823/30000 [13:50:44<04:55, 1.67s/it] 99%|█████████▉| 29824/30000 [13:50:46<04:54, 1.67s/it] 99%|█████████▉| 29825/30000 [13:50:48<04:51, 1.67s/it] 99%|█████████▉| 29826/30000 [13:50:49<04:49, 1.66s/it] 99%|█████████▉| 29827/30000 [13:50:51<04:47, 1.66s/it] 99%|█████████▉| 29828/30000 [13:50:53<04:46, 1.66s/it] 99%|█████████▉| 29829/30000 [13:50:54<04:45, 1.67s/it] 99%|█████████▉| 29830/30000 [13:50:56<04:43, 1.67s/it] {'loss': 0.0165, 'grad_norm': 0.1126306802034378, 'learning_rate': 2.664714287865522e-09, 'flow_matching_loss': 0.016472129337489604, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.68} + 99%|█████████▉| 29830/30000 [13:50:56<04:43, 1.67s/it] 99%|█████████▉| 29831/30000 [13:50:58<04:42, 1.67s/it] 99%|█████████▉| 29832/30000 [13:50:59<04:40, 1.67s/it] 99%|█████████▉| 29833/30000 [13:51:01<04:37, 1.66s/it] 99%|█████████▉| 29834/30000 [13:51:03<04:36, 1.66s/it] 99%|█████████▉| 29835/30000 [13:51:04<04:34, 1.66s/it] 99%|█████████▉| 29836/30000 [13:51:06<04:32, 1.66s/it] 99%|█████████▉| 29837/30000 [13:51:08<04:30, 1.66s/it] 99%|█████████▉| 29838/30000 [13:51:09<04:29, 1.67s/it] 99%|█████████▉| 29839/30000 [13:51:11<04:29, 1.67s/it] 99%|█████████▉| 29840/30000 [13:51:13<04:27, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.11386274546384811, 'learning_rate': 2.362172677446428e-09, 'flow_matching_loss': 0.017264990694820882, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.68} + 99%|█████████▉| 29840/30000 [13:51:13<04:27, 1.67s/it] 99%|█████████▉| 29841/30000 [13:51:14<04:25, 1.67s/it] 99%|█████████▉| 29842/30000 [13:51:16<04:23, 1.67s/it] 99%|█████████▉| 29843/30000 [13:51:18<04:21, 1.67s/it] 99%|█████████▉| 29844/30000 [13:51:19<04:20, 1.67s/it] 99%|█████████▉| 29845/30000 [13:51:21<04:18, 1.67s/it] 99%|█████████▉| 29846/30000 [13:51:23<04:17, 1.67s/it] 99%|█████████▉| 29847/30000 [13:51:24<04:15, 1.67s/it] 99%|█████████▉| 29848/30000 [13:51:26<04:13, 1.67s/it] 99%|█████████▉| 29849/30000 [13:51:28<04:11, 1.67s/it] 100%|█████████▉| 29850/30000 [13:51:29<04:09, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.10973042994737625, 'learning_rate': 2.0778546111727137e-09, 'flow_matching_loss': 0.01727754110470414, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.68} + 100%|█████████▉| 29850/30000 [13:51:29<04:09, 1.66s/it] 100%|█████████▉| 29851/30000 [13:51:31<04:07, 1.66s/it] 100%|█████████▉| 29852/30000 [13:51:33<04:06, 1.67s/it] 100%|█████████▉| 29853/30000 [13:51:34<04:04, 1.67s/it] 100%|█████████▉| 29854/30000 [13:51:36<04:03, 1.67s/it] 100%|█████████▉| 29855/30000 [13:51:38<04:02, 1.67s/it] 100%|█████████▉| 29856/30000 [13:51:39<04:00, 1.67s/it] 100%|█████████▉| 29857/30000 [13:51:41<03:58, 1.67s/it] 100%|█████████▉| 29858/30000 [13:51:43<03:56, 1.67s/it] 100%|█████████▉| 29859/30000 [13:51:44<03:54, 1.66s/it] 100%|█████████▉| 29860/30000 [13:51:46<03:53, 1.67s/it] {'loss': 0.0179, 'grad_norm': 0.08964318037033081, 'learning_rate': 1.811760434516363e-09, 'flow_matching_loss': 0.017887166887521743, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.69} + 100%|█████████▉| 29860/30000 [13:51:46<03:53, 1.67s/it] 100%|█████████▉| 29861/30000 [13:51:48<03:51, 1.67s/it] 100%|█████████▉| 29862/30000 [13:51:49<03:50, 1.67s/it] 100%|█████████▉| 29863/30000 [13:51:51<03:48, 1.67s/it] 100%|█████████▉| 29864/30000 [13:51:53<03:46, 1.67s/it] 100%|█████████▉| 29865/30000 [13:51:54<03:44, 1.66s/it] 100%|█████████▉| 29866/30000 [13:51:56<03:42, 1.66s/it] 100%|█████████▉| 29867/30000 [13:51:58<03:41, 1.66s/it] 100%|█████████▉| 29868/30000 [13:51:59<03:40, 1.67s/it] 100%|█████████▉| 29869/30000 [13:52:01<03:38, 1.67s/it] 100%|█████████▉| 29870/30000 [13:52:03<03:37, 1.67s/it] {'loss': 0.0157, 'grad_norm': 0.10601167380809784, 'learning_rate': 1.5638904708087377e-09, 'flow_matching_loss': 0.015700911357998847, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.69} + 100%|█████████▉| 29870/30000 [13:52:03<03:37, 1.67s/it] 100%|█████████▉| 29871/30000 [13:52:04<03:35, 1.67s/it] 100%|█████████▉| 29872/30000 [13:52:06<03:33, 1.67s/it] 100%|█████████▉| 29873/30000 [13:52:08<03:31, 1.66s/it] 100%|█████████▉| 29874/30000 [13:52:09<03:29, 1.66s/it] 100%|█████████▉| 29875/30000 [13:52:11<03:28, 1.67s/it] 100%|█████████▉| 29876/30000 [13:52:13<03:26, 1.67s/it] 100%|█████████▉| 29877/30000 [13:52:14<03:24, 1.67s/it] 100%|█████████▉| 29878/30000 [13:52:16<03:23, 1.67s/it] 100%|█████████▉| 29879/30000 [13:52:18<03:21, 1.67s/it] 100%|█████████▉| 29880/30000 [13:52:19<03:20, 1.67s/it] {'loss': 0.0172, 'grad_norm': 0.11662076413631439, 'learning_rate': 1.3342450212355805e-09, 'flow_matching_loss': 0.017241763509809972, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.69} + 100%|█████████▉| 29880/30000 [13:52:19<03:20, 1.67s/it] 100%|█████████▉| 29881/30000 [13:52:21<03:18, 1.67s/it] 100%|█████████▉| 29882/30000 [13:52:23<03:16, 1.67s/it] 100%|█████████▉| 29883/30000 [13:52:24<03:14, 1.67s/it] 100%|█████████▉| 29884/30000 [13:52:26<03:13, 1.67s/it] 100%|█████████▉| 29885/30000 [13:52:28<03:11, 1.67s/it] 100%|█████████▉| 29886/30000 [13:52:29<03:10, 1.67s/it] 100%|█████████▉| 29887/30000 [13:52:31<03:08, 1.67s/it] 100%|█████████▉| 29888/30000 [13:52:33<03:07, 1.67s/it] 100%|█████████▉| 29889/30000 [13:52:34<03:05, 1.67s/it] 100%|█████████▉| 29890/30000 [13:52:36<03:03, 1.66s/it] {'loss': 0.0175, 'grad_norm': 0.10041908919811249, 'learning_rate': 1.122824364835351e-09, 'flow_matching_loss': 0.01753797512501478, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.7} + 100%|█████████▉| 29890/30000 [13:52:36<03:03, 1.66s/it] 100%|█████████▉| 29891/30000 [13:52:38<03:01, 1.66s/it] 100%|█████████▉| 29892/30000 [13:52:39<02:59, 1.67s/it] 100%|█████████▉| 29893/30000 [13:52:41<02:58, 1.67s/it] 100%|█████████▉| 29894/30000 [13:52:43<02:56, 1.67s/it] 100%|█████████▉| 29895/30000 [13:52:44<02:55, 1.67s/it] 100%|█████████▉| 29896/30000 [13:52:46<02:53, 1.67s/it] 100%|█████████▉| 29897/30000 [13:52:48<02:51, 1.66s/it] 100%|█████████▉| 29898/30000 [13:52:49<02:49, 1.67s/it] 100%|█████████▉| 29899/30000 [13:52:51<02:48, 1.66s/it] 100%|█████████▉| 29900/30000 [13:52:53<02:46, 1.66s/it] {'loss': 0.0173, 'grad_norm': 0.0841277688741684, 'learning_rate': 9.296287585042196e-10, 'flow_matching_loss': 0.01728819590061903, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.7} + 100%|█████████▉| 29900/30000 [13:52:53<02:46, 1.66s/it] 100%|█████████▉| 29901/30000 [13:52:54<02:44, 1.67s/it] 100%|█████████▉| 29902/30000 [13:52:56<02:43, 1.67s/it] 100%|█████████▉| 29903/30000 [13:52:58<02:41, 1.67s/it] 100%|█████████▉| 29904/30000 [13:52:59<02:40, 1.67s/it] 100%|█████████▉| 29905/30000 [13:53:01<02:38, 1.66s/it] 100%|█████████▉| 29906/30000 [13:53:03<02:36, 1.66s/it] 100%|█████████▉| 29907/30000 [13:53:04<02:34, 1.66s/it] 100%|█████████▉| 29908/30000 [13:53:06<02:33, 1.66s/it] 100%|█████████▉| 29909/30000 [13:53:08<02:31, 1.67s/it] 100%|█████████▉| 29910/30000 [13:53:09<02:30, 1.67s/it] {'loss': 0.0167, 'grad_norm': 0.09148367494344711, 'learning_rate': 7.546584369960697e-10, 'flow_matching_loss': 0.016726281307637692, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.7} + 100%|█████████▉| 29910/30000 [13:53:09<02:30, 1.67s/it] 100%|█████████▉| 29911/30000 [13:53:11<02:28, 1.67s/it] 100%|█████████▉| 29912/30000 [13:53:13<02:26, 1.67s/it] 100%|█████████▉| 29913/30000 [13:53:14<02:24, 1.67s/it] 100%|█████████▉| 29914/30000 [13:53:16<02:23, 1.66s/it] 100%|█████████▉| 29915/30000 [13:53:18<02:21, 1.66s/it] 100%|█████████▉| 29916/30000 [13:53:19<02:19, 1.67s/it] 100%|█████████▉| 29917/30000 [13:53:21<02:18, 1.67s/it] 100%|█████████▉| 29918/30000 [13:53:23<02:16, 1.67s/it] 100%|█████████▉| 29919/30000 [13:53:24<02:15, 1.67s/it] 100%|█████████▉| 29920/30000 [13:53:26<02:13, 1.67s/it] {'loss': 0.0178, 'grad_norm': 0.08901511132717133, 'learning_rate': 5.97913612912504e-10, 'flow_matching_loss': 0.017773915361613036, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.71} + 100%|█████████▉| 29920/30000 [13:53:26<02:13, 1.67s/it] 100%|█████████▉| 29921/30000 [13:53:28<02:11, 1.67s/it] 100%|█████████▉| 29922/30000 [13:53:29<02:09, 1.66s/it] 100%|█████████▉| 29923/30000 [13:53:31<02:08, 1.66s/it] 100%|█████████▉| 29924/30000 [13:53:33<02:06, 1.66s/it] 100%|█████████▉| 29925/30000 [13:53:34<02:04, 1.67s/it] 100%|█████████▉| 29926/30000 [13:53:36<02:03, 1.67s/it] 100%|█████████▉| 29927/30000 [13:53:38<02:01, 1.67s/it] 100%|█████████▉| 29928/30000 [13:53:39<02:00, 1.67s/it] 100%|█████████▉| 29929/30000 [13:53:41<01:58, 1.67s/it] 100%|█████████▉| 29930/30000 [13:53:43<01:56, 1.66s/it] {'loss': 0.0196, 'grad_norm': 0.1527182161808014, 'learning_rate': 4.593944767161684e-10, 'flow_matching_loss': 0.01960284197703004, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.71} + 100%|█████████▉| 29930/30000 [13:53:43<01:56, 1.66s/it] 100%|█████████▉| 29931/30000 [13:53:44<01:54, 1.66s/it] 100%|█████████▉| 29932/30000 [13:53:46<01:53, 1.67s/it] 100%|█████████▉| 29933/30000 [13:53:48<01:51, 1.67s/it] 100%|█████████▉| 29934/30000 [13:53:49<01:50, 1.67s/it] 100%|█████████▉| 29935/30000 [13:53:51<01:48, 1.67s/it] 100%|█████████▉| 29936/30000 [13:53:53<01:47, 1.67s/it] 100%|█████████▉| 29937/30000 [13:53:54<01:45, 1.67s/it] 100%|█████████▉| 29938/30000 [13:53:56<01:43, 1.66s/it] 100%|█████████▉| 29939/30000 [13:53:58<01:41, 1.66s/it] 100%|█████████▉| 29940/30000 [13:53:59<01:39, 1.67s/it] {'loss': 0.0173, 'grad_norm': 0.09716194123029709, 'learning_rate': 3.391011967207591e-10, 'flow_matching_loss': 0.017332135792821647, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.71} + 100%|█████████▉| 29940/30000 [13:53:59<01:39, 1.67s/it] 100%|█████████▉| 29941/30000 [13:54:01<01:38, 1.67s/it] 100%|█████████▉| 29942/30000 [13:54:03<01:36, 1.67s/it] 100%|█████████▉| 29943/30000 [13:54:04<01:35, 1.67s/it] 100%|█████████▉| 29944/30000 [13:54:06<01:33, 1.67s/it] 100%|█████████▉| 29945/30000 [13:54:08<01:31, 1.67s/it] 100%|█████████▉| 29946/30000 [13:54:09<01:29, 1.66s/it] 100%|█████████▉| 29947/30000 [13:54:11<01:28, 1.66s/it] 100%|█████████▉| 29948/30000 [13:54:13<01:26, 1.67s/it] 100%|█████████▉| 29949/30000 [13:54:14<01:24, 1.67s/it] 100%|█████████▉| 29950/30000 [13:54:16<01:23, 1.67s/it] {'loss': 0.0177, 'grad_norm': 0.11446421593427658, 'learning_rate': 2.370339190910231e-10, 'flow_matching_loss': 0.017678470350801945, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.71} + 100%|█████████▉| 29950/30000 [13:54:16<01:23, 1.67s/it] 100%|█████████▉| 29951/30000 [13:54:18<01:21, 1.67s/it] 100%|█████████▉| 29952/30000 [13:54:19<01:20, 1.67s/it] 100%|█████████▉| 29953/30000 [13:54:21<01:18, 1.66s/it] 100%|█████████▉| 29954/30000 [13:54:23<01:16, 1.67s/it] 100%|█████████▉| 29955/30000 [13:54:24<01:14, 1.66s/it] 100%|█████████▉| 29956/30000 [13:54:26<01:13, 1.66s/it] 100%|█████████▉| 29957/30000 [13:54:28<01:11, 1.66s/it] 100%|█████████▉| 29958/30000 [13:54:29<01:09, 1.66s/it] 100%|█████████▉| 29959/30000 [13:54:31<01:08, 1.67s/it] 100%|█████████▉| 29960/30000 [13:54:33<01:06, 1.67s/it] {'loss': 0.0159, 'grad_norm': 0.10953482985496521, 'learning_rate': 1.531927678510847e-10, 'flow_matching_loss': 0.015884632337838413, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.72} + 100%|█████████▉| 29960/30000 [13:54:33<01:06, 1.67s/it] 100%|█████████▉| 29961/30000 [13:54:34<01:05, 1.67s/it] 100%|█████████▉| 29962/30000 [13:54:36<01:03, 1.66s/it] 100%|█████████▉| 29963/30000 [13:54:38<01:01, 1.66s/it] 100%|█████████▉| 29964/30000 [13:54:39<00:59, 1.67s/it] 100%|█████████▉| 29965/30000 [13:54:41<00:58, 1.67s/it] 100%|█████████▉| 29966/30000 [13:54:43<00:56, 1.67s/it] 100%|█████████▉| 29967/30000 [13:54:44<00:55, 1.67s/it] 100%|█████████▉| 29968/30000 [13:54:46<00:53, 1.67s/it] 100%|█████████▉| 29969/30000 [13:54:48<00:51, 1.67s/it] 100%|█████████▉| 29970/30000 [13:54:49<00:50, 1.67s/it] {'loss': 0.0169, 'grad_norm': 0.12641780078411102, 'learning_rate': 8.757784487611886e-11, 'flow_matching_loss': 0.01693425131961703, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.72} + 100%|█████████▉| 29970/30000 [13:54:49<00:50, 1.67s/it] 100%|█████████▉| 29971/30000 [13:54:51<00:48, 1.66s/it] 100%|█████████▉| 29972/30000 [13:54:53<00:46, 1.66s/it] 100%|█████████▉| 29973/30000 [13:54:54<00:44, 1.66s/it] 100%|█████████▉| 29974/30000 [13:54:56<00:43, 1.67s/it] 100%|█████████▉| 29975/30000 [13:54:58<00:41, 1.66s/it] 100%|█████████▉| 29976/30000 [13:54:59<00:39, 1.67s/it] 100%|█████████▉| 29977/30000 [13:55:01<00:38, 1.67s/it] 100%|█████████▉| 29978/30000 [13:55:03<00:36, 1.66s/it] 100%|█████████▉| 29979/30000 [13:55:04<00:34, 1.66s/it] 100%|█████████▉| 29980/30000 [13:55:06<00:33, 1.67s/it] {'loss': 0.0158, 'grad_norm': 0.11047668755054474, 'learning_rate': 4.018922989235119e-11, 'flow_matching_loss': 0.015845102537423373, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.72} + 100%|█████████▉| 29980/30000 [13:55:06<00:33, 1.67s/it] 100%|█████████▉| 29981/30000 [13:55:08<00:31, 1.67s/it] 100%|█████████▉| 29982/30000 [13:55:09<00:30, 1.67s/it] 100%|█████████▉| 29983/30000 [13:55:11<00:28, 1.67s/it] 100%|█████████▉| 29984/30000 [13:55:13<00:26, 1.67s/it] 100%|█████████▉| 29985/30000 [13:55:14<00:25, 1.67s/it] 100%|█████████▉| 29986/30000 [13:55:16<00:23, 1.67s/it] 100%|█████████▉| 29987/30000 [13:55:18<00:21, 1.66s/it] 100%|█████████▉| 29988/30000 [13:55:19<00:20, 1.67s/it] 100%|█████████▉| 29989/30000 [13:55:21<00:18, 1.67s/it] 100%|█████████▉| 29990/30000 [13:55:23<00:16, 1.67s/it] {'loss': 0.0155, 'grad_norm': 0.10562677681446075, 'learning_rate': 1.1026980482053972e-11, 'flow_matching_loss': 0.015486717782914638, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.73} + 100%|█████████▉| 29990/30000 [13:55:23<00:16, 1.67s/it] 100%|█████████▉| 29991/30000 [13:55:24<00:15, 1.67s/it] 100%|█████████▉| 29992/30000 [13:55:26<00:13, 1.67s/it] 100%|█████████▉| 29993/30000 [13:55:28<00:11, 1.67s/it] 100%|█████████▉| 29994/30000 [13:55:29<00:09, 1.66s/it] 100%|█████████▉| 29995/30000 [13:55:31<00:08, 1.66s/it] 100%|█████████▉| 29996/30000 [13:55:33<00:06, 1.66s/it] 100%|█████████▉| 29997/30000 [13:55:34<00:04, 1.66s/it] 100%|█████████▉| 29998/30000 [13:55:36<00:03, 1.66s/it] 100%|█████████▉| 29999/30000 [13:55:38<00:01, 1.67s/it] 100%|██████████| 30000/30000 [13:55:39<00:00, 1.67s/it] {'loss': 0.0147, 'grad_norm': 0.11666766554117203, 'learning_rate': 9.113208188082922e-14, 'flow_matching_loss': 0.01473097112029791, 'rkd_loss': 0.0, 'rkd_action_temp': 0.05000000074505806, 'rkd_vlm_temp': 0.05000000074505806, 'rkd_relation_mode_id': 0.0, 'epoch': 8.73} + 100%|██████████| 30000/30000 [13:55:39<00:00, 1.67s/it] {'train_runtime': 50144.8439, 'train_samples_per_second': 76.578, 'train_steps_per_second': 0.598, 'train_loss': 0.02200689406643311, 'epoch': 8.73} + 100%|██████████| 30000/30000 [13:55:39<00:00, 1.67s/it] 100%|██████████| 30000/30000 [13:55:39<00:00, 1.67s/it] +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/distributed_c10d.py:4631: UserWarning: No device id is provided via `init_process_group` or `barrier `. Using the current device set by the user. + warnings.warn( # warn only once +Saved final phase model to: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.05/phase3 +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/distributed_c10d.py:4631: UserWarning: No device id is provided via `init_process_group` or `barrier `. Using the current device set by the user. + warnings.warn( # warn only once + +================================================================================ +Starting sweep branch: rkd_temp_0.1 +Sweep vars: {'rkd_temp': 0.1} +================================================================================ + +-------------------------------------------------------------------------------- +Running phase 1: phase3_rkd_fm +Policy type: groot_rkd +Base model path: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +Output dir: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/dit_core_only/rkd_temp_0.1/phase3 +Trainable preset: freeze_processing_line +Policy overrides: {'rkd_enabled': False, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 0.0, 'rkd_action_temp': 0.1, 'rkd_vlm_temp': 0.1, 'rkd_relation_mode': 'token_pair_mean'} +-------------------------------------------------------------------------------- + +[{'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}] +Using 100 subset demos for filter_key: 100_demos +/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor). + self.statistics[key] = torch.tensor(value) +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Using 100 subset demos for filter_key: 100_demos +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644 + 0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692 + 0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684 + 0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856 + 0.75517122 0.7973985 ] +Loaded 26 datasets +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +Tune backbone vision tower: False +Tune backbone LLM: False +Tune action head projector: True +Tune action head DiT: True +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +Tune backbone llm: False +Tune backbone visual: True +Total number of DiT parameters: 550386688 +wandb: updating run metadata +wandb: uploading output.log; uploading wandb-summary.json; uploading config.yaml +wandb: uploading output.log; uploading config.yaml; uploading summary, console lines 3003-3005 +wandb: uploading output.log +Total number of SelfAttentionTransformer parameters: 201433088 +Tune action head projector: True +Tune action head diffusion model: True + Loading checkpoint shards: 0%| | 0/2 [00:00", line 198, in _run_module_as_main + File "", line 88, in _run_code + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in + main() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper + return f(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main + run(args) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run + elastic_launch( + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__ + return launch_agent(self._config, self._entrypoint, list(args)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent + raise ChildFailedError( +torch.distributed.elastic.multiprocessing.errors.ChildFailedError: +============================================================ +/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED +------------------------------------------------------------ +Failures: + +------------------------------------------------------------ +Root Cause (first observed failure): +[0]: + time : 2026-06-03_20:08:27 + host : worker1 + rank : 0 (local_rank: 0) + exitcode : -15 (pid: 1777010) + error_file: + traceback : Signal 15 (SIGTERM) received by PID 1777010 +============================================================ +WARNING: mimicgen environments not imported since mimicgen is not installed! + +================================================== +GR00T FINE-TUNING CONFIGURATION: +================================================== +config: /home/seonho/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only/rkd_dit_core_only.yaml +dataset_soup: None +output_dir: /tmp/gr00t +output_root: None +data_config: panda_omron +batch_size: 64 +max_steps: 300000 +num_gpus: 2 +save_steps: 20000 +run_name: None +save_total_limit: 100 +seed: 42 +base_model_path: nvidia/GR00T-N1.5-3B +tune_llm: False +tune_visual: False +tune_projector: True +tune_diffusion_model: True +resume: False +learning_rate: 3e-05 +weight_decay: 1e-05 +warmup_ratio: 0.05 +lora_rank: 0 +lora_alpha: 16 +lora_dropout: 0.1 +lora_full_model: False +dataloader_num_workers: 8 +report_to: wandb +embodiment_tag: new_embodiment +video_backend: opencv +balance_dataset_weights: True +balance_trajectory_weights: True +ds_weights_alpha: 0.4 +================================================== + +Using 2 GPUs +Running torchrun command: ['/home/seonho/miniconda3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', '/home/seonho/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only/rkd_dit_core_only.yaml', '--batch-size', '64', '--num-gpus', '2'] diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/mgd_phase3_aux_fixed_0p5.yaml b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/mgd_phase3_aux_fixed_0p5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a4cf1ab300c179bc454e92e0eab1bff30e908218 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/mgd_phase3_aux_fixed_0p5.yaml @@ -0,0 +1,31 @@ +experiment_name: mgd_phase3_aux_fixed_0p5 +policy_type: groot_mgd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_${sweep.mgd_token_mask_ratio}/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/mgd +sweep: + loss_strategy: + - aux_fixed_0p5 + mgd_token_mask_ratio: + - 0.3 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_mgd_fixed_0p5 + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 0.5 + mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio} + mgd_use_cosine_loss: true + mgd_use_mse_loss: false diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/config.json b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/config.json new file mode 100644 index 0000000000000000000000000000000000000000..7cea8327586cf3313960fbaf0e7fb3119a8e43c6 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/config.json @@ -0,0 +1,78 @@ +{ + "action_dim": 32, + "action_head_cfg": { + "action_dim": 32, + "action_horizon": 16, + "add_pos_embed": true, + "backbone_embedding_dim": 2048, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "cross_attention_dim": 2048, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 16, + "output_dim": 1024, + "positional_embeddings": null + }, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "max_action_dim": 32, + "max_state_dim": 64, + "model_dtype": "float32", + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_inference_timesteps": 4, + "num_target_vision_tokens": 32, + "num_timestep_buckets": 1000, + "tune_diffusion_model": true, + "tune_projector": true, + "use_vlln": true, + "vl_self_attention_cfg": { + "attention_head_dim": 64, + "dropout": 0.2, + "final_dropout": true, + "num_attention_heads": 32, + "num_layers": 4, + "positional_embeddings": null + } + }, + "action_horizon": 16, + "architectures": [ + "GR00T_N1_5_MGD" + ], + "attn_implementation": null, + "backbone_cfg": { + "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops", + "load_bf16": false, + "project_to_dim": null, + "reproject_vision": false, + "select_layer": 12, + "tune_llm": false, + "tune_visual": true, + "use_flash_attention": true + }, + "compute_dtype": "bfloat16", + "hidden_size": 2048, + "mgd_enabled": true, + "mgd_fm_loss_weight": 1.0, + "mgd_loss_weight": 0.5, + "mgd_loss_weight_end": 0.0, + "mgd_loss_weight_schedule": null, + "mgd_loss_weight_start": 0.05, + "mgd_pretrained_projector_path": null, + "mgd_sequence_hidden_dim": 512, + "mgd_target_dim": 512, + "mgd_target_pooling": "flatten", + "mgd_target_projection": "frozen_random", + "mgd_token_mask_ratio": 0.3, + "mgd_use_cosine_loss": true, + "mgd_use_mse_loss": false, + "model_dtype": "float32", + "model_type": "gr00t_n1_5", + "torch_dtype": "bfloat16", + "transformers_version": "4.51.3" +} diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/experiment_cfg/metadata.json b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/experiment_cfg/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..300eb070963337016e16465f50ba8351ea2eb25c --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/experiment_cfg/metadata.json @@ -0,0 +1,431 @@ +{ + "new_embodiment": { + "statistics": { + "state": { + "base_position": { + "max": [ + 7.3139495849609375, + 0.4876587688922882, + 0.7196521759033203 + ], + "min": [ + -4.94293737411499, + -6.890198230743408, + 0.6996827125549316 + ], + "mean": [ + 2.749288365724937, + -2.0455216239909983, + 0.700532551020533 + ], + "std": [ + 1.6786295897046262, + 1.312897969434244, + 0.00133751758906258 + ], + "q01": [ + -1.4241907881148037, + -5.1716547935950885, + 0.6999670898768614 + ], + "q99": [ + 6.198111545831555, + -0.5873531334104489, + 0.7038833014242587 + ] + }, + "base_rotation": { + "max": [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + "min": [ + 0.0, + 0.0, + -1.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0, + 0.23084999587450247, + 0.6238431088581847 + ], + "std": [ + 0.0, + 0.0, + 0.6556404371644047, + 0.3572252105732042 + ], + "q01": [ + 0.0, + 0.0, + -0.9999999999999999, + 1.7482354593273349e-06 + ], + "q99": [ + 0.0, + 0.0, + 0.9999999999999999, + 0.9999999999999999 + ] + }, + "end_effector_position_relative": { + "max": [ + 0.9014528393745422, + 0.8003877401351929, + 0.9829942584037781 + ], + "min": [ + -0.37471598386764526, + -0.8472502827644348, + -0.25070279836654663 + ], + "mean": [ + 0.28667332601863704, + -0.038315473170876704, + 0.45974658906777444 + ], + "std": [ + 0.17067058828305154, + 0.23569952037784195, + 0.21950702354181487 + ], + "q01": [ + 0.015172948963784228, + -0.44450502063220615, + 0.23314444103329338 + ], + "q99": [ + 0.5609069689572412, + 0.38454179128009547, + 0.7028102736473852 + ] + }, + "end_effector_rotation_relative": { + "max": [ + 0.9999998807907104, + 0.9984455108642578, + 0.9434727430343628, + 0.9062229990959167 + ], + "min": [ + -0.9999930262565613, + -0.9988337755203247, + -0.9618149995803833, + 2.1872274658107926e-07 + ], + "mean": [ + -0.25672297401336, + 0.024425335806687216, + -0.08740977164483847, + 0.16608739644018397 + ], + "std": [ + 0.7932585208392383, + 0.3102260195580416, + 0.3772472576315148, + 0.17451959300158773 + ], + "q01": [ + -0.99379006987882, + -0.5478102050038828, + -0.6101777952971636, + 0.002274085014134748 + ], + "q99": [ + 0.8804856038896288, + 0.5910611092873037, + 0.5216058042993562, + 0.5231965974012255 + ] + }, + "gripper_qpos": { + "max": [ + 0.055869169533252716, + 0.010916369967162609 + ], + "min": [ + -0.011436971835792065, + -0.05664053186774254 + ], + "mean": [ + 0.031651551516052555, + -0.03161481387920421 + ], + "std": [ + 0.013119769222217526, + 0.01306078225192402 + ], + "q01": [ + 0.0060999246446777336, + -0.04062601653964198 + ], + "q99": [ + 0.04054891621517283, + -0.0059163567113456345 + ] + } + }, + "action": { + "base_motion": { + "max": [ + 1.0, + 1.0, + 1.0, + 0.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0 + ], + "mean": [ + 0.008144896753718373, + -0.00018893135146078263, + -0.0008739062727221845, + 0.0 + ], + "std": [ + 0.11030045424364411, + 0.10148082570313594, + 0.08975698373467506, + 0.0 + ], + "q01": [ + -0.07287373067581518, + -0.09446994199569948, + -0.07702818259249572, + 0.0 + ], + "q99": [ + 0.04485485414407898, + 0.09626941605965177, + 0.07610665906122742, + 0.0 + ] + }, + "control_mode": { + "max": [ + 1.0 + ], + "min": [ + -1.0 + ], + "mean": [ + -0.9221974313425939 + ], + "std": [ + 0.38670194342612674 + ], + "q01": [ + -1.0 + ], + "q99": [ + -0.384693946883099 + ] + }, + "end_effector_position": { + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "mean": [ + 0.01976129923017491, + -0.020870631344490034, + -0.05993476517349181 + ], + "std": [ + 0.4347024990804053, + 0.4221662976569997, + 0.3845506843044066 + ], + "q01": [ + -0.8835792939767807, + -0.9280919251713778, + -0.783361071470956 + ], + "q99": [ + 0.7622084438449307, + 0.8625125252609077, + 0.7470974753250706 + ] + }, + "end_effector_rotation": { + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "mean": [ + 0.008089673068544335, + -0.026498254627927348, + 0.0029083551743059005 + ], + "std": [ + 0.11216734503733773, + 0.13206002613798629, + 0.12615870412692864 + ], + "q01": [ + -0.2814627972846672, + -0.4342386516115439, + -0.34489755628340574 + ], + "q99": [ + 0.31879353266939386, + 0.28411797683220563, + 0.3597718671669894 + ] + }, + "gripper_close": { + "max": [ + 1.0 + ], + "min": [ + -1.0 + ], + "mean": [ + -0.3824228874769045 + ], + "std": [ + 0.9240015096469786 + ], + "q01": [ + -1.0 + ], + "q99": [ + 0.5597272305813592 + ] + } + } + }, + "modalities": { + "video": { + "robot0_eye_in_hand": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + }, + "robot0_agentview_left": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + }, + "robot0_agentview_right": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + } + }, + "state": { + "base_position": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "base_rotation": { + "absolute": true, + "rotation_type": "quaternion", + "shape": [ + 4 + ], + "continuous": true + }, + "end_effector_position_relative": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "end_effector_rotation_relative": { + "absolute": true, + "rotation_type": "quaternion", + "shape": [ + 4 + ], + "continuous": true + }, + "gripper_qpos": { + "absolute": true, + "rotation_type": null, + "shape": [ + 2 + ], + "continuous": true + } + }, + "action": { + "base_motion": { + "absolute": true, + "rotation_type": null, + "shape": [ + 4 + ], + "continuous": true + }, + "control_mode": { + "absolute": true, + "rotation_type": null, + "shape": [ + 1 + ], + "continuous": true + }, + "end_effector_position": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "end_effector_rotation": { + "absolute": true, + "rotation_type": "axis_angle", + "shape": [ + 3 + ], + "continuous": true + }, + "gripper_close": { + "absolute": true, + "rotation_type": null, + "shape": [ + 1 + ], + "continuous": true + } + } + }, + "embodiment_tag": "new_embodiment" + } +} \ No newline at end of file diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model-00001-of-00002.safetensors b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model-00001-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..0512c25972f95d4557b178acf833e1159109212e --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model-00001-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76c377f814ae8e41c7804e0ed36c459ba43e8966dd1655e3fe74f2e1acec7dc4 +size 4999367032 diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model-00002-of-00002.safetensors b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model-00002-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..2648f52514d42f0cbbed93b2da9ff1ec33432cad --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model-00002-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1722c727da7551c72efed1c4b7246e5d0adf87f85a30c1957c0aae452e421fb +size 2643339748 diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model.safetensors.index.json b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model.safetensors.index.json new file mode 100644 index 0000000000000000000000000000000000000000..579ccf56b744c24c73f571cce697c12343122f56 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/model.safetensors.index.json @@ -0,0 +1,916 @@ +{ + "metadata": { + "total_size": 7642572676 + }, + "weight_map": { + "action_head.action_decoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.b": "model-00002-of-00002.safetensors", + "action_head.future_tokens.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.weight": "model-00002-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.weight": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.position_embedding.weight": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vlln.bias": "model-00002-of-00002.safetensors", + "action_head.vlln.weight": "model-00002-of-00002.safetensors", + "action_target_projector.projector.bias": "model-00002-of-00002.safetensors", + "action_target_projector.projector.weight": "model-00002-of-00002.safetensors", + "backbone.eagle_model.language_model.lm_head.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.embed_tokens.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.position_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.probe": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.weight": "model-00001-of-00002.safetensors", + "sequence_mgd_head.attn_score.bias": "model-00002-of-00002.safetensors", + "sequence_mgd_head.attn_score.weight": "model-00002-of-00002.safetensors", + "sequence_mgd_head.out_proj.bias": "model-00002-of-00002.safetensors", + "sequence_mgd_head.out_proj.weight": "model-00002-of-00002.safetensors", + "sequence_mgd_head.token_mlp.0.bias": "model-00002-of-00002.safetensors", + "sequence_mgd_head.token_mlp.0.weight": "model-00002-of-00002.safetensors", + "sequence_mgd_head.token_mlp.2.bias": "model-00002-of-00002.safetensors", + "sequence_mgd_head.token_mlp.2.weight": "model-00002-of-00002.safetensors" + } +} diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/trainer_state.json b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/trainer_state.json new file mode 100644 index 0000000000000000000000000000000000000000..4c0d4e79b77c9e8d3fdba2f84bb96872f87efb35 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/trainer_state.json @@ -0,0 +1,60043 @@ +{ + "best_global_step": null, + "best_metric": null, + "best_model_checkpoint": null, + "epoch": 8.728542333430317, + "eval_steps": 500, + "global_step": 30000, + "is_hyper_param_search": false, + "is_local_process_zero": true, + "is_world_process_zero": true, + "log_history": [ + { + "actual_token_mask_ratio": 0.29861474335193633, + "epoch": 0.002909514111143439, + "flow_matching_loss": 0.12611329033970833, + "grad_norm": 0.8359991312026978, + "kept_token_count": 574.103125, + "learning_rate": 1.8e-07, + "loss": 0.1302, + "mgd_cos_sim": 0.9918260872364044, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008173913788050413, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.24371643066405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.23419189453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10, + "valid_token_count": 818.525 + }, + { + "actual_token_mask_ratio": 0.300568500161171, + "epoch": 0.005819028222286878, + "flow_matching_loss": 0.11472943127155304, + "grad_norm": 0.7007207274436951, + "kept_token_count": 572.3640625, + "learning_rate": 3.8e-07, + "loss": 0.1184, + "mgd_cos_sim": 0.992647361755371, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007352626603096724, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.2641082763672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.19190673828126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20, + "valid_token_count": 818.33125 + }, + { + "actual_token_mask_ratio": 0.29994507133960724, + "epoch": 0.008728542333430317, + "flow_matching_loss": 0.10951485261321067, + "grad_norm": 0.7361974716186523, + "kept_token_count": 572.903125, + "learning_rate": 5.800000000000001e-07, + "loss": 0.1133, + "mgd_cos_sim": 0.9924882113933563, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075117917731404305, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.98105773925784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.7582977294922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 30, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.2992320328950882, + "epoch": 0.011638056444573755, + "flow_matching_loss": 0.08736572712659836, + "grad_norm": 0.4851709306240082, + "kept_token_count": 573.590625, + "learning_rate": 7.799999999999999e-07, + "loss": 0.091, + "mgd_cos_sim": 0.9926575303077698, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007342477142810821, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.5674530029297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.9851593017578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 40, + "valid_token_count": 818.521875 + }, + { + "actual_token_mask_ratio": 0.30005078911781313, + "epoch": 0.014547570555717195, + "flow_matching_loss": 0.08134866803884507, + "grad_norm": 0.43642905354499817, + "kept_token_count": 572.7359375, + "learning_rate": 9.8e-07, + "loss": 0.0849, + "mgd_cos_sim": 0.992853969335556, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071460256353020665, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.07037048339845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.9750274658203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 50, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.30025090277194977, + "epoch": 0.017457084666860634, + "flow_matching_loss": 0.06913487240672112, + "grad_norm": 0.41406217217445374, + "kept_token_count": 572.4890625, + "learning_rate": 1.18e-06, + "loss": 0.0731, + "mgd_cos_sim": 0.9920178830623627, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007982129789888858, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 375.2907684326172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.1408966064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 60, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.30025394558906554, + "epoch": 0.020366598778004074, + "flow_matching_loss": 0.06322985775768757, + "grad_norm": 0.5293406248092651, + "kept_token_count": 572.678125, + "learning_rate": 1.38e-06, + "loss": 0.0671, + "mgd_cos_sim": 0.992232871055603, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007767132762819528, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.7703796386719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.31365966796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 70, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.30041784346103667, + "epoch": 0.02327611288914751, + "flow_matching_loss": 0.04743697233498097, + "grad_norm": 0.307976633310318, + "kept_token_count": 572.4640625, + "learning_rate": 1.5800000000000001e-06, + "loss": 0.0511, + "mgd_cos_sim": 0.9926362335681915, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007363768666982651, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.42140808105466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.46143493652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 80, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.29882457852363586, + "epoch": 0.02618562700029095, + "flow_matching_loss": 0.047204677015542984, + "grad_norm": 0.2953796684741974, + "kept_token_count": 573.640625, + "learning_rate": 1.7800000000000001e-06, + "loss": 0.0515, + "mgd_cos_sim": 0.9914863765239715, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008513613231480121, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 331.8356964111328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.1117767333984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 90, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.3003698617219925, + "epoch": 0.02909514111143439, + "flow_matching_loss": 0.039906250685453414, + "grad_norm": 0.22671055793762207, + "kept_token_count": 572.559375, + "learning_rate": 1.98e-06, + "loss": 0.044, + "mgd_cos_sim": 0.9918620109558105, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008137989789247513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.391455078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.3568054199219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 100, + "valid_token_count": 818.375 + }, + { + "actual_token_mask_ratio": 0.300407937169075, + "epoch": 0.03200465522257783, + "flow_matching_loss": 0.042556768655776976, + "grad_norm": 0.23392607271671295, + "kept_token_count": 572.3265625, + "learning_rate": 2.1800000000000003e-06, + "loss": 0.0468, + "mgd_cos_sim": 0.9916031837463379, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008396816719323397, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 295.89479675292966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.9049865722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 110, + "valid_token_count": 818.0890625 + }, + { + "actual_token_mask_ratio": 0.3005237102508545, + "epoch": 0.03491416933372127, + "flow_matching_loss": 0.034382535703480245, + "grad_norm": 0.20940162241458893, + "kept_token_count": 572.29375, + "learning_rate": 2.38e-06, + "loss": 0.0387, + "mgd_cos_sim": 0.9913687705993652, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008631229773163796, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 276.1315460205078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.19228515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 120, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.29920447468757627, + "epoch": 0.037823683444864704, + "flow_matching_loss": 0.03156468104571104, + "grad_norm": 0.21463821828365326, + "kept_token_count": 573.18125, + "learning_rate": 2.58e-06, + "loss": 0.0358, + "mgd_cos_sim": 0.9914979755878448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00850203214213252, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 257.4833023071289, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.8519287109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 130, + "valid_token_count": 817.9 + }, + { + "actual_token_mask_ratio": 0.2993192344903946, + "epoch": 0.04073319755600815, + "flow_matching_loss": 0.03188713956624269, + "grad_norm": 0.2217198610305786, + "kept_token_count": 573.4015625, + "learning_rate": 2.78e-06, + "loss": 0.0363, + "mgd_cos_sim": 0.9911822378635406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008817742951214314, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 236.00295867919922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.30425415039065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 140, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.30067590773105624, + "epoch": 0.043642711667151585, + "flow_matching_loss": 0.031542420759797095, + "grad_norm": 0.21388013660907745, + "kept_token_count": 572.18125, + "learning_rate": 2.98e-06, + "loss": 0.036, + "mgd_cos_sim": 0.9910070598125458, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008992944285273552, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 221.91653594970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.466650390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 150, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.3000741422176361, + "epoch": 0.04655222577829502, + "flow_matching_loss": 0.02730113249272108, + "grad_norm": 0.20141573250293732, + "kept_token_count": 572.7796875, + "learning_rate": 3.18e-06, + "loss": 0.0322, + "mgd_cos_sim": 0.9902666330337524, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009733377397060395, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 200.06180572509766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.5879760742188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 160, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.2999145835638046, + "epoch": 0.049461739889438465, + "flow_matching_loss": 0.023973177000880242, + "grad_norm": 0.17259465157985687, + "kept_token_count": 572.6546875, + "learning_rate": 3.38e-06, + "loss": 0.029, + "mgd_cos_sim": 0.990040522813797, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009959471691399813, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 191.58355102539062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.5694915771484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 170, + "valid_token_count": 817.978125 + }, + { + "actual_token_mask_ratio": 0.3002263009548187, + "epoch": 0.0523712540005819, + "flow_matching_loss": 0.02126609589904547, + "grad_norm": 0.17612841725349426, + "kept_token_count": 572.7140625, + "learning_rate": 3.58e-06, + "loss": 0.0259, + "mgd_cos_sim": 0.9906712114810944, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00932877855375409, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 181.24163055419922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.07887878417966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 180, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.3003869980573654, + "epoch": 0.055280768111725345, + "flow_matching_loss": 0.021754609048366548, + "grad_norm": 0.17766521871089935, + "kept_token_count": 572.6109375, + "learning_rate": 3.7800000000000002e-06, + "loss": 0.0268, + "mgd_cos_sim": 0.9899303615093231, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01006964361295104, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 172.86408081054688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.39356994628906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 190, + "valid_token_count": 818.4671875 + }, + { + "actual_token_mask_ratio": 0.2999288201332092, + "epoch": 0.05819028222286878, + "flow_matching_loss": 0.022305006720125677, + "grad_norm": 0.15757785737514496, + "kept_token_count": 572.796875, + "learning_rate": 3.98e-06, + "loss": 0.0273, + "mgd_cos_sim": 0.9899447500705719, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010055250488221645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 168.53545684814452, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 358.905712890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 200, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.29890665113925935, + "epoch": 0.06109979633401222, + "flow_matching_loss": 0.02243877751752734, + "grad_norm": 0.14643403887748718, + "kept_token_count": 573.9203125, + "learning_rate": 4.18e-06, + "loss": 0.028, + "mgd_cos_sim": 0.9889201581478119, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.011079832632094621, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 159.82897491455077, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.13161315917966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 210, + "valid_token_count": 818.6046875 + }, + { + "actual_token_mask_ratio": 0.30033319890499116, + "epoch": 0.06400931044515566, + "flow_matching_loss": 0.02082366291433573, + "grad_norm": 0.13101327419281006, + "kept_token_count": 572.215625, + "learning_rate": 4.3799999999999996e-06, + "loss": 0.0259, + "mgd_cos_sim": 0.9897485256195069, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010251471865922212, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 164.49773406982422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.19892578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 220, + "valid_token_count": 817.84375 + }, + { + "actual_token_mask_ratio": 0.29963326156139375, + "epoch": 0.06691882455629909, + "flow_matching_loss": 0.023133943788707256, + "grad_norm": 0.14841361343860626, + "kept_token_count": 572.840625, + "learning_rate": 4.58e-06, + "loss": 0.0285, + "mgd_cos_sim": 0.9891686916351319, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010831318981945514, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 163.02179870605468, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.80259399414064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 230, + "valid_token_count": 817.9171875 + }, + { + "actual_token_mask_ratio": 0.2992518484592438, + "epoch": 0.06982833866744254, + "flow_matching_loss": 0.0248500382527709, + "grad_norm": 0.14635305106639862, + "kept_token_count": 573.1890625, + "learning_rate": 4.78e-06, + "loss": 0.0301, + "mgd_cos_sim": 0.9894747495651245, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010525252390652894, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 159.0016082763672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.7812133789063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 240, + "valid_token_count": 817.9625 + }, + { + "actual_token_mask_ratio": 0.2995978981256485, + "epoch": 0.07273785277858598, + "flow_matching_loss": 0.020820209011435508, + "grad_norm": 0.13984309136867523, + "kept_token_count": 573.3171875, + "learning_rate": 4.980000000000001e-06, + "loss": 0.0261, + "mgd_cos_sim": 0.9894528567790986, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01054714722558856, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 151.37947692871094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.73354187011716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 250, + "valid_token_count": 818.5546875 + }, + { + "actual_token_mask_ratio": 0.30087141692638397, + "epoch": 0.07564736688972941, + "flow_matching_loss": 0.019448528811335564, + "grad_norm": 0.13841558992862701, + "kept_token_count": 572.0921875, + "learning_rate": 5.18e-06, + "loss": 0.0245, + "mgd_cos_sim": 0.9899008095264434, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010099193081259727, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 158.57317657470702, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.6634582519531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 260, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.3005953520536423, + "epoch": 0.07855688100087285, + "flow_matching_loss": 0.020993002969771624, + "grad_norm": 0.1392429918050766, + "kept_token_count": 572.1921875, + "learning_rate": 5.38e-06, + "loss": 0.0264, + "mgd_cos_sim": 0.9891815900802612, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010818398464471102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 154.09327545166016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.9785461425781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 270, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.3004117637872696, + "epoch": 0.0814663951120163, + "flow_matching_loss": 0.018700137082487345, + "grad_norm": 0.13259151577949524, + "kept_token_count": 572.340625, + "learning_rate": 5.58e-06, + "loss": 0.0237, + "mgd_cos_sim": 0.9900375366210937, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009962440188974141, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 159.29297637939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.88067016601565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 280, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.3009315937757492, + "epoch": 0.08437590922315973, + "flow_matching_loss": 0.018102322705090046, + "grad_norm": 0.12177610397338867, + "kept_token_count": 571.9234375, + "learning_rate": 5.7800000000000006e-06, + "loss": 0.023, + "mgd_cos_sim": 0.9902142345905304, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009785770811140538, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 156.84439086914062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.68211059570314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 290, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.29988266825675963, + "epoch": 0.08728542333430317, + "flow_matching_loss": 0.021391189098358153, + "grad_norm": 0.13412849605083466, + "kept_token_count": 572.6828125, + "learning_rate": 5.98e-06, + "loss": 0.0267, + "mgd_cos_sim": 0.9893724262714386, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01062757968902588, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 153.5939712524414, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.9567169189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 300, + "valid_token_count": 817.9859375 + }, + { + "actual_token_mask_ratio": 0.2990699976682663, + "epoch": 0.09019493744544661, + "flow_matching_loss": 0.022049803752452135, + "grad_norm": 0.11683347076177597, + "kept_token_count": 573.5984375, + "learning_rate": 6.18e-06, + "loss": 0.027, + "mgd_cos_sim": 0.990010279417038, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009989713784307241, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 160.14884185791016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.52635803222654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 310, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.2991314947605133, + "epoch": 0.09310445155659004, + "flow_matching_loss": 0.016024210955947638, + "grad_norm": 0.1324010044336319, + "kept_token_count": 573.4625, + "learning_rate": 6.38e-06, + "loss": 0.0209, + "mgd_cos_sim": 0.9902553558349609, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009744644723832607, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 159.31054229736327, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.6567687988281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 320, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.30076790452003477, + "epoch": 0.09601396566773349, + "flow_matching_loss": 0.020417198073118925, + "grad_norm": 0.1401732712984085, + "kept_token_count": 572.05625, + "learning_rate": 6.58e-06, + "loss": 0.0257, + "mgd_cos_sim": 0.9894834816455841, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010516532137989998, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 158.87242736816407, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.6988861083984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 330, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.2996584057807922, + "epoch": 0.09892347977887693, + "flow_matching_loss": 0.023663394059985875, + "grad_norm": 0.1407005339860916, + "kept_token_count": 573.1, + "learning_rate": 6.78e-06, + "loss": 0.0289, + "mgd_cos_sim": 0.9896041631698609, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010395836737006902, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 151.2910629272461, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.10064392089845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 340, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.2997130542993546, + "epoch": 0.10183299389002037, + "flow_matching_loss": 0.01910004150122404, + "grad_norm": 0.1339777112007141, + "kept_token_count": 572.821875, + "learning_rate": 6.98e-06, + "loss": 0.0239, + "mgd_cos_sim": 0.9904268562793732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009573141857981683, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 156.65210418701173, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.8224151611328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 350, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.29932459592819216, + "epoch": 0.1047425080011638, + "flow_matching_loss": 0.021395315043628217, + "grad_norm": 0.11507228016853333, + "kept_token_count": 573.521875, + "learning_rate": 7.180000000000001e-06, + "loss": 0.0263, + "mgd_cos_sim": 0.9902272462844849, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009772749897092581, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 152.8229736328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1068634033203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 360, + "valid_token_count": 818.5265625 + }, + { + "actual_token_mask_ratio": 0.30039571821689603, + "epoch": 0.10765202211230725, + "flow_matching_loss": 0.018328433390706778, + "grad_norm": 0.10259353369474411, + "kept_token_count": 572.58125, + "learning_rate": 7.3800000000000005e-06, + "loss": 0.0235, + "mgd_cos_sim": 0.9896981060504914, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010301896557211875, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 155.62506408691405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.25014343261716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 370, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.3009997606277466, + "epoch": 0.11056153622345069, + "flow_matching_loss": 0.017976950109004974, + "grad_norm": 0.12658892571926117, + "kept_token_count": 571.9234375, + "learning_rate": 7.5799999999999994e-06, + "loss": 0.0234, + "mgd_cos_sim": 0.9890616595745086, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010938349459320307, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 158.77639923095703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.3046051025391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 380, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.3000940829515457, + "epoch": 0.11347105033459412, + "flow_matching_loss": 0.017304184660315514, + "grad_norm": 0.09812821447849274, + "kept_token_count": 572.590625, + "learning_rate": 7.780000000000002e-06, + "loss": 0.0225, + "mgd_cos_sim": 0.9896462440490723, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010353747010231017, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 155.62838134765624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 358.81398315429686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 390, + "valid_token_count": 818.0953125 + }, + { + "actual_token_mask_ratio": 0.3006135135889053, + "epoch": 0.11638056444573756, + "flow_matching_loss": 0.018359711207449437, + "grad_norm": 0.11804687976837158, + "kept_token_count": 572.2375, + "learning_rate": 7.98e-06, + "loss": 0.0232, + "mgd_cos_sim": 0.9903313517570496, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00966864386573434, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 163.19434204101563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.8397735595703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 400, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.30034646987915037, + "epoch": 0.11929007855688101, + "flow_matching_loss": 0.01939245192334056, + "grad_norm": 0.1069694384932518, + "kept_token_count": 572.3453125, + "learning_rate": 8.18e-06, + "loss": 0.0242, + "mgd_cos_sim": 0.9904794096946716, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009520586859434844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 165.65399017333985, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.6904815673828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 410, + "valid_token_count": 818.03125 + }, + { + "actual_token_mask_ratio": 0.29918642342090607, + "epoch": 0.12219959266802444, + "flow_matching_loss": 0.017911571264266967, + "grad_norm": 0.0933409258723259, + "kept_token_count": 573.4640625, + "learning_rate": 8.38e-06, + "loss": 0.0228, + "mgd_cos_sim": 0.9902397215366363, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00976026626303792, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 161.8169372558594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.45949096679686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 420, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.29940618872642516, + "epoch": 0.12510910677916787, + "flow_matching_loss": 0.021637221984565257, + "grad_norm": 0.1665702909231186, + "kept_token_count": 573.1984375, + "learning_rate": 8.58e-06, + "loss": 0.0271, + "mgd_cos_sim": 0.9890756070613861, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010924395546317101, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 157.0745422363281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.2319763183594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 430, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.3006904125213623, + "epoch": 0.12801862089031132, + "flow_matching_loss": 0.018069394771009682, + "grad_norm": 0.12323326617479324, + "kept_token_count": 572.43125, + "learning_rate": 8.78e-06, + "loss": 0.023, + "mgd_cos_sim": 0.9900546848773957, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009945315308868885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 160.0585708618164, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.6730255126953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 440, + "valid_token_count": 818.5625 + }, + { + "actual_token_mask_ratio": 0.300125727057457, + "epoch": 0.13092813500145475, + "flow_matching_loss": 0.017227153386920692, + "grad_norm": 0.10475602000951767, + "kept_token_count": 572.6046875, + "learning_rate": 8.98e-06, + "loss": 0.0219, + "mgd_cos_sim": 0.9906078994274139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009392103552818299, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 158.29073333740234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.46861572265624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 450, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.300143826007843, + "epoch": 0.13383764911259818, + "flow_matching_loss": 0.01695335879921913, + "grad_norm": 0.10910218954086304, + "kept_token_count": 572.6625, + "learning_rate": 9.18e-06, + "loss": 0.0217, + "mgd_cos_sim": 0.9905839622020721, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009416051581501961, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 162.90167999267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.14381713867186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 460, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.3000409543514252, + "epoch": 0.13674716322374164, + "flow_matching_loss": 0.016890199016779663, + "grad_norm": 0.10899747163057327, + "kept_token_count": 572.8078125, + "learning_rate": 9.38e-06, + "loss": 0.022, + "mgd_cos_sim": 0.9898302853107452, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010169724002480507, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 164.92282257080078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.0706420898438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 470, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.2990784883499146, + "epoch": 0.13965667733488507, + "flow_matching_loss": 0.018152945954352618, + "grad_norm": 0.14214271306991577, + "kept_token_count": 573.65625, + "learning_rate": 9.580000000000001e-06, + "loss": 0.0231, + "mgd_cos_sim": 0.990076333284378, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009923675190657377, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 163.69519805908203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.18178100585936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 480, + "valid_token_count": 818.4234375 + }, + { + "actual_token_mask_ratio": 0.30011009275913236, + "epoch": 0.1425661914460285, + "flow_matching_loss": 0.017562193516641855, + "grad_norm": 0.12915746867656708, + "kept_token_count": 572.7828125, + "learning_rate": 9.780000000000001e-06, + "loss": 0.0224, + "mgd_cos_sim": 0.9902367949485779, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009763200115412474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 163.6425582885742, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.0115997314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 490, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.29960916340351107, + "epoch": 0.14547570555717196, + "flow_matching_loss": 0.017114803474396468, + "grad_norm": 0.10082418471574783, + "kept_token_count": 572.9015625, + "learning_rate": 9.980000000000001e-06, + "loss": 0.0217, + "mgd_cos_sim": 0.9908338010311126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009166203904896975, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 164.00147552490233, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.7314514160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 500, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.3008320689201355, + "epoch": 0.1483852196683154, + "flow_matching_loss": 0.014735331013798713, + "grad_norm": 0.1257944256067276, + "kept_token_count": 572.0625, + "learning_rate": 1.0179999999999999e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9908613085746765, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00913869058713317, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 168.68753662109376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.63910522460935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 510, + "valid_token_count": 818.196875 + }, + { + "actual_token_mask_ratio": 0.30012530982494356, + "epoch": 0.15129473377945882, + "flow_matching_loss": 0.018432129919528962, + "grad_norm": 0.12346786260604858, + "kept_token_count": 572.759375, + "learning_rate": 1.0379999999999999e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9903165996074677, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009683403465896846, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 174.17574005126954, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.42347412109376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 520, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.2998683929443359, + "epoch": 0.15420424789060228, + "flow_matching_loss": 0.01781455110758543, + "grad_norm": 0.12600673735141754, + "kept_token_count": 572.846875, + "learning_rate": 1.058e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9901822030544281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009817775525152683, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 168.8430908203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.6160095214844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 530, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.30005150437355044, + "epoch": 0.1571137620017457, + "flow_matching_loss": 0.01943703219294548, + "grad_norm": 0.12717875838279724, + "kept_token_count": 572.684375, + "learning_rate": 1.078e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.9901935577392578, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009806446824222803, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 174.10994415283204, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.83417358398435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 540, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.29973108172416685, + "epoch": 0.16002327611288913, + "flow_matching_loss": 0.015663613379001618, + "grad_norm": 0.1344749629497528, + "kept_token_count": 573.1984375, + "learning_rate": 1.098e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9898113965988159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010188611503690482, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 175.70350341796876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.5225494384766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 550, + "valid_token_count": 818.5453125 + }, + { + "actual_token_mask_ratio": 0.29996989369392396, + "epoch": 0.1629327902240326, + "flow_matching_loss": 0.019194934424012898, + "grad_norm": 0.1264248937368393, + "kept_token_count": 572.671875, + "learning_rate": 1.118e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9905632138252258, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009436790365725756, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 176.25388793945314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.9763610839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 560, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.29887217581272124, + "epoch": 0.16584230433517602, + "flow_matching_loss": 0.018637829460203648, + "grad_norm": 0.12226232141256332, + "kept_token_count": 573.6609375, + "learning_rate": 1.1380000000000001e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9913213789463043, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00867862170562148, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 174.54921112060546, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.5571655273437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 570, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.29946407675743103, + "epoch": 0.16875181844631945, + "flow_matching_loss": 0.018108873162418604, + "grad_norm": 0.1289210021495819, + "kept_token_count": 573.0640625, + "learning_rate": 1.1580000000000001e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9909478604793549, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009052144456654787, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 172.38994293212892, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.7667602539062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 580, + "valid_token_count": 818.034375 + }, + { + "actual_token_mask_ratio": 0.2999726623296738, + "epoch": 0.1716613325574629, + "flow_matching_loss": 0.018394018709659576, + "grad_norm": 0.10689228773117065, + "kept_token_count": 572.8, + "learning_rate": 1.178e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9903012871742248, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009698707610368729, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 175.65318756103517, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.33368225097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 590, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.29969131052494047, + "epoch": 0.17457084666860634, + "flow_matching_loss": 0.018114875815808774, + "grad_norm": 0.11376935243606567, + "kept_token_count": 573.1, + "learning_rate": 1.198e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9912575125694275, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008742464892566203, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 178.5854034423828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.2704284667969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 600, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.30001686215400697, + "epoch": 0.17748036077974977, + "flow_matching_loss": 0.016536618769168853, + "grad_norm": 0.12625814974308014, + "kept_token_count": 572.6765625, + "learning_rate": 1.2180000000000002e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9905016720294952, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009498328808695078, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 175.5709487915039, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.10956420898435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 610, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.30020990371704104, + "epoch": 0.18038987489089323, + "flow_matching_loss": 0.017198295798152685, + "grad_norm": 0.1025436669588089, + "kept_token_count": 572.4609375, + "learning_rate": 1.238e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9905129611492157, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009487026277929545, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 174.63220672607423, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.6738525390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 620, + "valid_token_count": 818.053125 + }, + { + "actual_token_mask_ratio": 0.300502148270607, + "epoch": 0.18329938900203666, + "flow_matching_loss": 0.019445989932864904, + "grad_norm": 0.08580656349658966, + "kept_token_count": 572.453125, + "learning_rate": 1.258e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.9903289377689362, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009671055525541306, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 178.84073638916016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.92967224121094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 630, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.3001162141561508, + "epoch": 0.18620890311318009, + "flow_matching_loss": 0.018917613197118044, + "grad_norm": 0.11676228791475296, + "kept_token_count": 572.6296875, + "learning_rate": 1.278e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9911033511161804, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008896645251661539, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 189.80767211914062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.51255493164064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 640, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.30013062357902526, + "epoch": 0.18911841722432354, + "flow_matching_loss": 0.01695996867492795, + "grad_norm": 0.12180151045322418, + "kept_token_count": 572.575, + "learning_rate": 1.298e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9914521932601928, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008547789417207241, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 189.80811920166016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.9114562988281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 650, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.3007644057273865, + "epoch": 0.19202793133546697, + "flow_matching_loss": 0.01830595191568136, + "grad_norm": 0.11812518537044525, + "kept_token_count": 572.115625, + "learning_rate": 1.3180000000000001e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9909934997558594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0090064967982471, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 178.68209686279297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.46046752929686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 660, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.2995691657066345, + "epoch": 0.1949374454466104, + "flow_matching_loss": 0.016607547365128993, + "grad_norm": 0.13091309368610382, + "kept_token_count": 573.228125, + "learning_rate": 1.338e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9911278665065766, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008872132934629916, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 188.28156127929688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.4903198242188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 670, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.2992744654417038, + "epoch": 0.19784695955775386, + "flow_matching_loss": 0.016446773242205382, + "grad_norm": 0.13992422819137573, + "kept_token_count": 573.3359375, + "learning_rate": 1.358e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9911879479885102, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00881204977631569, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 186.76881713867186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.0817932128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 680, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.29973390102386477, + "epoch": 0.2007564736688973, + "flow_matching_loss": 0.014860569685697555, + "grad_norm": 0.1029619500041008, + "kept_token_count": 573.0671875, + "learning_rate": 1.378e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9912410318851471, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008758974820375442, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 178.1775100708008, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.96302185058596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 690, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.30091370046138766, + "epoch": 0.20366598778004075, + "flow_matching_loss": 0.016709163691848515, + "grad_norm": 0.13980479538440704, + "kept_token_count": 572.215625, + "learning_rate": 1.3980000000000002e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9909271895885468, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00907280808314681, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 191.09656372070313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.67197570800784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 700, + "valid_token_count": 818.5140625 + }, + { + "actual_token_mask_ratio": 0.2991113871335983, + "epoch": 0.20657550189118418, + "flow_matching_loss": 0.017064909916371107, + "grad_norm": 0.11093643307685852, + "kept_token_count": 573.75, + "learning_rate": 1.4180000000000001e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.990630978345871, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009369015786796808, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 186.97071380615233, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.53809509277346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 710, + "valid_token_count": 818.6 + }, + { + "actual_token_mask_ratio": 0.2999574333429337, + "epoch": 0.2094850160023276, + "flow_matching_loss": 0.016328177787363528, + "grad_norm": 0.09574243426322937, + "kept_token_count": 572.6453125, + "learning_rate": 1.438e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9906492471694947, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009350766520947218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 193.0730178833008, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.3408935546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 720, + "valid_token_count": 818.0171875 + }, + { + "actual_token_mask_ratio": 0.3000538289546967, + "epoch": 0.21239453011347106, + "flow_matching_loss": 0.01613206332549453, + "grad_norm": 0.09732968360185623, + "kept_token_count": 572.8046875, + "learning_rate": 1.458e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9911321878433228, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008867818303406239, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 189.4648406982422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.85956115722655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 730, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.30041956901550293, + "epoch": 0.2153040442246145, + "flow_matching_loss": 0.018917269166558982, + "grad_norm": 0.11709938198328018, + "kept_token_count": 572.4046875, + "learning_rate": 1.4779999999999999e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9906073331832885, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00939265415072441, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 183.15414276123047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.1373626708984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 740, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.2988370984792709, + "epoch": 0.21821355833575792, + "flow_matching_loss": 0.018949281238019467, + "grad_norm": 0.14742428064346313, + "kept_token_count": 573.8265625, + "learning_rate": 1.498e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9907696604728699, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009230339247733355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 185.44498596191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.0753662109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 750, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.2989182144403458, + "epoch": 0.22112307244690138, + "flow_matching_loss": 0.017946837283670903, + "grad_norm": 0.14823561906814575, + "kept_token_count": 573.5734375, + "learning_rate": 1.518e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9913532793521881, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008646718319505453, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 184.65792846679688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.03193359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 760, + "valid_token_count": 818.13125 + }, + { + "actual_token_mask_ratio": 0.2994613766670227, + "epoch": 0.2240325865580448, + "flow_matching_loss": 0.020510261319577693, + "grad_norm": 0.15574796497821808, + "kept_token_count": 573.0765625, + "learning_rate": 1.5380000000000002e-05, + "loss": 0.0252, + "mgd_cos_sim": 0.9905439972877502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009455994423478841, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 186.30916595458984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.3408447265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 770, + "valid_token_count": 818.053125 + }, + { + "actual_token_mask_ratio": 0.3002647817134857, + "epoch": 0.22694210066918824, + "flow_matching_loss": 0.01743845297023654, + "grad_norm": 0.12197314947843552, + "kept_token_count": 572.4390625, + "learning_rate": 1.558e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9910510420799256, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00894895726814866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 191.64564208984376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.8629577636719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 780, + "valid_token_count": 818.0796875 + }, + { + "actual_token_mask_ratio": 0.2995858073234558, + "epoch": 0.2298516147803317, + "flow_matching_loss": 0.015341508388519286, + "grad_norm": 0.14163485169410706, + "kept_token_count": 572.80625, + "learning_rate": 1.578e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9916077256202698, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008392275776714087, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 193.71590728759764, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.09474792480466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 790, + "valid_token_count": 817.809375 + }, + { + "actual_token_mask_ratio": 0.2997112959623337, + "epoch": 0.23276112889147513, + "flow_matching_loss": 0.017859498411417006, + "grad_norm": 0.12279494851827621, + "kept_token_count": 572.803125, + "learning_rate": 1.598e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9909029841423035, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009097015764564276, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 191.64656677246094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.99749755859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 800, + "valid_token_count": 817.9609375 + }, + { + "actual_token_mask_ratio": 0.29949976205825807, + "epoch": 0.23567064300261856, + "flow_matching_loss": 0.01436979863792658, + "grad_norm": 0.09336111694574356, + "kept_token_count": 573.128125, + "learning_rate": 1.618e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9909830629825592, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009016950614750385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 193.24793395996093, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.54937438964845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 810, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.2997587710618973, + "epoch": 0.23858015711376201, + "flow_matching_loss": 0.016647524759173395, + "grad_norm": 0.1252709925174713, + "kept_token_count": 572.8453125, + "learning_rate": 1.6380000000000002e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9909934997558594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009006495680660009, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 190.4166473388672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.32196350097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 820, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.30021896958351135, + "epoch": 0.24148967122490544, + "flow_matching_loss": 0.01623174324631691, + "grad_norm": 0.09076567739248276, + "kept_token_count": 572.3890625, + "learning_rate": 1.658e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9910675883293152, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008932421728968621, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 193.7495864868164, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.5867126464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 830, + "valid_token_count": 817.95625 + }, + { + "actual_token_mask_ratio": 0.30022197365760805, + "epoch": 0.24439918533604887, + "flow_matching_loss": 0.01814504126086831, + "grad_norm": 0.11430850625038147, + "kept_token_count": 572.6328125, + "learning_rate": 1.6780000000000002e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.99113250374794, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00886750565841794, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 190.63461151123047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.97137145996095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 840, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.2997033715248108, + "epoch": 0.24730869944719233, + "flow_matching_loss": 0.01845870604738593, + "grad_norm": 0.1208098754286766, + "kept_token_count": 572.978125, + "learning_rate": 1.698e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9903139114379883, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009686089958995581, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 192.28929138183594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.1139678955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 850, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.29936706721782685, + "epoch": 0.25021821355833573, + "flow_matching_loss": 0.01807712996378541, + "grad_norm": 0.13650257885456085, + "kept_token_count": 573.5109375, + "learning_rate": 1.718e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9909700095653534, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009029985312372446, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 195.87991027832032, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.20986022949216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 860, + "valid_token_count": 818.55625 + }, + { + "actual_token_mask_ratio": 0.300441375374794, + "epoch": 0.2531277276694792, + "flow_matching_loss": 0.017885314114391804, + "grad_norm": 0.11720941960811615, + "kept_token_count": 572.1875, + "learning_rate": 1.7380000000000003e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9898853302001953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010114672500640154, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 193.27733612060547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.1140472412109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 870, + "valid_token_count": 817.9234375 + }, + { + "actual_token_mask_ratio": 0.30084926784038546, + "epoch": 0.25603724178062265, + "flow_matching_loss": 0.01866688672453165, + "grad_norm": 0.10728026181459427, + "kept_token_count": 572.2859375, + "learning_rate": 1.758e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.990434318780899, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009565690997987986, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 196.42281188964844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.49463806152346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 880, + "valid_token_count": 818.546875 + }, + { + "actual_token_mask_ratio": 0.2995675057172775, + "epoch": 0.2589467558917661, + "flow_matching_loss": 0.016515571903437377, + "grad_norm": 0.12493032217025757, + "kept_token_count": 572.9703125, + "learning_rate": 1.778e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9911370038986206, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00886298567056656, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 200.5941192626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.90907897949216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 890, + "valid_token_count": 818.021875 + }, + { + "actual_token_mask_ratio": 0.2997311860322952, + "epoch": 0.2618562700029095, + "flow_matching_loss": 0.01866389149799943, + "grad_norm": 0.09191153198480606, + "kept_token_count": 572.9375, + "learning_rate": 1.798e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9910098731517791, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008990117348730564, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 192.34582977294923, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.4998413085938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 900, + "valid_token_count": 818.1671875 + }, + { + "actual_token_mask_ratio": 0.3008278369903564, + "epoch": 0.26476578411405294, + "flow_matching_loss": 0.017506964225322007, + "grad_norm": 0.1100597083568573, + "kept_token_count": 571.9765625, + "learning_rate": 1.818e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9903841257095337, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00961588378995657, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 197.0173767089844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.06988220214845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 910, + "valid_token_count": 818.0796875 + }, + { + "actual_token_mask_ratio": 0.2990183889865875, + "epoch": 0.26767529822519637, + "flow_matching_loss": 0.015784360561519863, + "grad_norm": 0.11905395239591599, + "kept_token_count": 573.675, + "learning_rate": 1.838e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9910474836826324, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008952517062425613, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 190.62978973388672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.648095703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 920, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.3005524784326553, + "epoch": 0.27058481233633985, + "flow_matching_loss": 0.019288593251258136, + "grad_norm": 0.10811322182416916, + "kept_token_count": 572.44375, + "learning_rate": 1.8579999999999998e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9904886245727539, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009511370584368706, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 199.01534118652344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.3408721923828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 930, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.2999930024147034, + "epoch": 0.2734943264474833, + "flow_matching_loss": 0.017324553336948156, + "grad_norm": 0.11484222114086151, + "kept_token_count": 572.7953125, + "learning_rate": 1.878e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9899379491806031, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010062049422413111, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 197.31622161865235, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.88043212890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 940, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.2991655945777893, + "epoch": 0.2764038405586267, + "flow_matching_loss": 0.016596963070333003, + "grad_norm": 0.1271190494298935, + "kept_token_count": 573.7578125, + "learning_rate": 1.898e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9912386894226074, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008761303313076497, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 198.79559020996095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.9689666748047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 950, + "valid_token_count": 818.671875 + }, + { + "actual_token_mask_ratio": 0.3001699298620224, + "epoch": 0.27931335466977014, + "flow_matching_loss": 0.01758908908814192, + "grad_norm": 0.13184067606925964, + "kept_token_count": 572.8546875, + "learning_rate": 1.918e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9912832915782929, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008716710191220046, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 202.34698486328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.5457458496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 960, + "valid_token_count": 818.5515625 + }, + { + "actual_token_mask_ratio": 0.30047344863414766, + "epoch": 0.28222286878091357, + "flow_matching_loss": 0.017964887619018554, + "grad_norm": 0.12937422096729279, + "kept_token_count": 572.4, + "learning_rate": 1.938e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9906629800796509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009337032586336136, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 208.28565368652343, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.5402770996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 970, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.30032175183296206, + "epoch": 0.285132382892057, + "flow_matching_loss": 0.014651498757302761, + "grad_norm": 0.09767899662256241, + "kept_token_count": 572.3921875, + "learning_rate": 1.958e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9917596876621246, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008240318484604358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 201.22232055664062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.4665252685547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 980, + "valid_token_count": 818.0734375 + }, + { + "actual_token_mask_ratio": 0.299647119641304, + "epoch": 0.2880418970032005, + "flow_matching_loss": 0.02158254897221923, + "grad_norm": 0.14693568646907806, + "kept_token_count": 573.325, + "learning_rate": 1.978e-05, + "loss": 0.0262, + "mgd_cos_sim": 0.990688270330429, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009311728179454803, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 199.3384567260742, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.68182983398435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 990, + "valid_token_count": 818.6203125 + }, + { + "actual_token_mask_ratio": 0.29908527731895446, + "epoch": 0.2909514111143439, + "flow_matching_loss": 0.016166881658136845, + "grad_norm": 0.12972931563854218, + "kept_token_count": 573.590625, + "learning_rate": 1.9980000000000002e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9906366169452667, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009363375883549453, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 211.74373474121094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.0700164794922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1000, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.2991934448480606, + "epoch": 0.29386092522548735, + "flow_matching_loss": 0.017153442744165658, + "grad_norm": 0.13845667243003845, + "kept_token_count": 573.4515625, + "learning_rate": 2.018e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9905640006065368, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009435989893972874, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 204.7720199584961, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.26611328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1010, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.2997673094272614, + "epoch": 0.2967704393366308, + "flow_matching_loss": 0.021314474381506444, + "grad_norm": 0.15563417971134186, + "kept_token_count": 572.93125, + "learning_rate": 2.038e-05, + "loss": 0.0261, + "mgd_cos_sim": 0.9904222011566162, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009577795024961233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 195.09314880371093, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.41477661132814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1020, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.3002774268388748, + "epoch": 0.2996799534477742, + "flow_matching_loss": 0.01649657925590873, + "grad_norm": 0.144413560628891, + "kept_token_count": 572.6828125, + "learning_rate": 2.0580000000000003e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9909684538841248, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009031544160097837, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 206.4087127685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 358.2759948730469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1030, + "valid_token_count": 818.4484375 + }, + { + "actual_token_mask_ratio": 0.3000492453575134, + "epoch": 0.30258946755891764, + "flow_matching_loss": 0.015417685266584158, + "grad_norm": 0.12644316256046295, + "kept_token_count": 572.840625, + "learning_rate": 2.078e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.99005246758461, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00994754433631897, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 196.30102996826173, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.0432373046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1040, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.3005062073469162, + "epoch": 0.3054989816700611, + "flow_matching_loss": 0.01664362959563732, + "grad_norm": 0.13607054948806763, + "kept_token_count": 572.6625, + "learning_rate": 2.0980000000000002e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9908713400363922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009128654468804598, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 208.72585906982422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.03916625976564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1050, + "valid_token_count": 818.6859375 + }, + { + "actual_token_mask_ratio": 0.3000993669033051, + "epoch": 0.30840849578120455, + "flow_matching_loss": 0.014285235200077295, + "grad_norm": 0.12979641556739807, + "kept_token_count": 572.609375, + "learning_rate": 2.118e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.990791791677475, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009208207204937934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 202.98425903320313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.04461364746095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1060, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.30054719746112823, + "epoch": 0.311318009892348, + "flow_matching_loss": 0.017186199128627778, + "grad_norm": 0.13771624863147736, + "kept_token_count": 572.4671875, + "learning_rate": 2.1380000000000002e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9905213415622711, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009478659182786942, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 211.48211364746095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.51507873535155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1070, + "valid_token_count": 818.45 + }, + { + "actual_token_mask_ratio": 0.30058123767375944, + "epoch": 0.3142275240034914, + "flow_matching_loss": 0.01811608821153641, + "grad_norm": 0.17836043238639832, + "kept_token_count": 572.36875, + "learning_rate": 2.1580000000000003e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9906605064868927, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009339493792504072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 198.6932815551758, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.9409576416016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1080, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.2986455887556076, + "epoch": 0.31713703811463484, + "flow_matching_loss": 0.015882133226841687, + "grad_norm": 0.13936591148376465, + "kept_token_count": 573.875, + "learning_rate": 2.178e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.991311001777649, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00868901452049613, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 212.11396331787108, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.93043518066406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1090, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.30060299932956697, + "epoch": 0.32004655222577827, + "flow_matching_loss": 0.01620205631479621, + "grad_norm": 0.1043829470872879, + "kept_token_count": 572.25625, + "learning_rate": 2.198e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9908572673797608, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00914272703230381, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 216.0949966430664, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.78440246582034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1100, + "valid_token_count": 818.2125 + }, + { + "actual_token_mask_ratio": 0.3007912963628769, + "epoch": 0.32295606633692175, + "flow_matching_loss": 0.015217439085245133, + "grad_norm": 0.1303788274526596, + "kept_token_count": 572.178125, + "learning_rate": 2.2179999999999998e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9909466624259948, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009053327236324548, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 220.0268524169922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.89856872558596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1110, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.2995819509029388, + "epoch": 0.3258655804480652, + "flow_matching_loss": 0.015521058905869722, + "grad_norm": 0.1017242968082428, + "kept_token_count": 573.234375, + "learning_rate": 2.238e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9910108864307403, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00898912101984024, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 210.8569107055664, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.16774291992186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1120, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.29943064153194426, + "epoch": 0.3287750945592086, + "flow_matching_loss": 0.01838845955207944, + "grad_norm": 0.15101075172424316, + "kept_token_count": 573.340625, + "learning_rate": 2.258e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9910675168037415, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008932483661919833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 215.29654541015626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.57752380371096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1130, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.29998252391815183, + "epoch": 0.33168460867035204, + "flow_matching_loss": 0.018696727696806192, + "grad_norm": 0.14631570875644684, + "kept_token_count": 572.9796875, + "learning_rate": 2.278e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9901635348796844, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00983648020774126, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 211.46294097900392, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.8200653076172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1140, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.30049416422843933, + "epoch": 0.3345941227814955, + "flow_matching_loss": 0.014745575655251742, + "grad_norm": 0.12273620069026947, + "kept_token_count": 572.2703125, + "learning_rate": 2.298e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9909673154354095, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00903267776593566, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 211.0219741821289, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.0944030761719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1150, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.29993900954723357, + "epoch": 0.3375036368926389, + "flow_matching_loss": 0.018060058262199162, + "grad_norm": 0.14185506105422974, + "kept_token_count": 572.8625, + "learning_rate": 2.3179999999999998e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9907144427299499, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009285545349121094, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 209.76254425048828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.3857360839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1160, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.30024024844169617, + "epoch": 0.3404131510037824, + "flow_matching_loss": 0.019388794153928756, + "grad_norm": 0.11950800567865372, + "kept_token_count": 572.3640625, + "learning_rate": 2.338e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9904684007167817, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009531591273844241, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 210.37342987060546, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.11456909179685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1170, + "valid_token_count": 817.9453125 + }, + { + "actual_token_mask_ratio": 0.29921217262744904, + "epoch": 0.3433226651149258, + "flow_matching_loss": 0.01835082834586501, + "grad_norm": 0.13361896574497223, + "kept_token_count": 573.5515625, + "learning_rate": 2.358e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.990106725692749, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009893284644931555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 212.39496459960938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.66168823242185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1180, + "valid_token_count": 818.425 + }, + { + "actual_token_mask_ratio": 0.29946932196617126, + "epoch": 0.34623217922606925, + "flow_matching_loss": 0.01552399229258299, + "grad_norm": 0.14149443805217743, + "kept_token_count": 573.2828125, + "learning_rate": 2.378e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9905521869659424, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009447813127189874, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 217.10028533935548, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.9221588134766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1190, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.2987325370311737, + "epoch": 0.3491416933372127, + "flow_matching_loss": 0.019027835689485073, + "grad_norm": 0.16532646119594574, + "kept_token_count": 573.9765625, + "learning_rate": 2.398e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9901066541671752, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009893337730318308, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 215.47441711425782, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.9730712890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1200, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.2996218532323837, + "epoch": 0.3520512074483561, + "flow_matching_loss": 0.015916512254625557, + "grad_norm": 0.11462998390197754, + "kept_token_count": 572.85, + "learning_rate": 2.4180000000000002e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9908821642398834, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009117820393294096, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 227.0902359008789, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.9907501220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1210, + "valid_token_count": 817.9078125 + }, + { + "actual_token_mask_ratio": 0.3002124309539795, + "epoch": 0.35496072155949954, + "flow_matching_loss": 0.015856022760272027, + "grad_norm": 0.1297655999660492, + "kept_token_count": 572.6015625, + "learning_rate": 2.438e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9908403933048249, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009159611817449332, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 213.2980499267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1792358398437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1220, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.2996974796056747, + "epoch": 0.357870235670643, + "flow_matching_loss": 0.017613932210952043, + "grad_norm": 0.1717369556427002, + "kept_token_count": 572.6765625, + "learning_rate": 2.4580000000000002e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9903884887695312, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009611491486430168, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 228.25422210693358, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.187548828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1230, + "valid_token_count": 817.75625 + }, + { + "actual_token_mask_ratio": 0.3001063078641891, + "epoch": 0.36077974978178645, + "flow_matching_loss": 0.01696916585788131, + "grad_norm": 0.13657724857330322, + "kept_token_count": 572.690625, + "learning_rate": 2.478e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9907358884811401, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009264111332595349, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 227.90811462402343, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.3712615966797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1240, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.30077705085277556, + "epoch": 0.3636892638929299, + "flow_matching_loss": 0.016367830242961644, + "grad_norm": 0.25962960720062256, + "kept_token_count": 572.090625, + "learning_rate": 2.498e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.990569406747818, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009430585708469153, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 219.4609802246094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.43793029785155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1250, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.2985852837562561, + "epoch": 0.3665987780040733, + "flow_matching_loss": 0.017146552354097365, + "grad_norm": 0.11931604892015457, + "kept_token_count": 574.0421875, + "learning_rate": 2.5180000000000003e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9912286520004272, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008771343529224396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 223.30801849365236, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.8874053955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1260, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.29966589212417605, + "epoch": 0.36950829211521674, + "flow_matching_loss": 0.015908125974237918, + "grad_norm": 0.11497540026903152, + "kept_token_count": 573.03125, + "learning_rate": 2.538e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9909037411212921, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00909624844789505, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 217.01424255371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.4624053955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1270, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.3007175445556641, + "epoch": 0.37241780622636017, + "flow_matching_loss": 0.017951123882085085, + "grad_norm": 0.12407669425010681, + "kept_token_count": 572.215625, + "learning_rate": 2.5580000000000002e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9910686671733856, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00893132770434022, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 227.05515899658204, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.83697204589845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1280, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.2998242437839508, + "epoch": 0.37532732033750366, + "flow_matching_loss": 0.017263616994023324, + "grad_norm": 0.1279052048921585, + "kept_token_count": 572.68125, + "learning_rate": 2.578e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9905444025993347, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0094555901363492, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 218.74581451416014, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1768310546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1290, + "valid_token_count": 817.909375 + }, + { + "actual_token_mask_ratio": 0.30048237442970277, + "epoch": 0.3782368344486471, + "flow_matching_loss": 0.01670194771140814, + "grad_norm": 0.13046894967556, + "kept_token_count": 572.2765625, + "learning_rate": 2.5980000000000002e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9904197514057159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009580252319574356, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 240.09237213134764, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.67778930664065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1300, + "valid_token_count": 818.0984375 + }, + { + "actual_token_mask_ratio": 0.300679674744606, + "epoch": 0.3811463485597905, + "flow_matching_loss": 0.014990766532719135, + "grad_norm": 0.1263217031955719, + "kept_token_count": 572.2796875, + "learning_rate": 2.618e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9906014025211334, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009398586116731167, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 218.28610076904297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.6438873291016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1310, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.299919393658638, + "epoch": 0.38405586267093395, + "flow_matching_loss": 0.014606559183448553, + "grad_norm": 0.14677175879478455, + "kept_token_count": 572.8375, + "learning_rate": 2.6379999999999998e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9905859053134918, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009414092171937227, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 241.48125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 359.5657653808594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1320, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.29961993992328645, + "epoch": 0.3869653767820774, + "flow_matching_loss": 0.020221173856407405, + "grad_norm": 0.13033826649188995, + "kept_token_count": 573.21875, + "learning_rate": 2.658e-05, + "loss": 0.0252, + "mgd_cos_sim": 0.990016883611679, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009983119554817677, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 219.42027587890624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.20155029296876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1330, + "valid_token_count": 818.4390625 + }, + { + "actual_token_mask_ratio": 0.3013006836175919, + "epoch": 0.3898748908932208, + "flow_matching_loss": 0.018645361345261336, + "grad_norm": 0.1609695851802826, + "kept_token_count": 571.9515625, + "learning_rate": 2.678e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9895233809947968, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010476609505712987, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 229.2769317626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.04420471191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1340, + "valid_token_count": 818.5953125 + }, + { + "actual_token_mask_ratio": 0.3002269685268402, + "epoch": 0.3927844050043643, + "flow_matching_loss": 0.017013000417500736, + "grad_norm": 0.13160425424575806, + "kept_token_count": 572.6109375, + "learning_rate": 2.698e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9906977415084839, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009302247688174248, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 224.6907730102539, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.46216735839846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1350, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.29934667348861693, + "epoch": 0.3956939191155077, + "flow_matching_loss": 0.01723194858059287, + "grad_norm": 0.12234113365411758, + "kept_token_count": 573.2921875, + "learning_rate": 2.718e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9907788693904876, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00922112762928009, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 227.7564727783203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.1512512207031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1360, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.3000524193048477, + "epoch": 0.39860343322665115, + "flow_matching_loss": 0.01835545552894473, + "grad_norm": 0.1333724856376648, + "kept_token_count": 572.840625, + "learning_rate": 2.738e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9902350664138794, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009764922596514226, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 223.63690490722655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.2433349609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1370, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.3007178455591202, + "epoch": 0.4015129473377946, + "flow_matching_loss": 0.015412261337041855, + "grad_norm": 0.10015901923179626, + "kept_token_count": 572.3640625, + "learning_rate": 2.758e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.991323709487915, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008676299639046193, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 225.3640396118164, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.0384155273438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1380, + "valid_token_count": 818.5 + }, + { + "actual_token_mask_ratio": 0.299382883310318, + "epoch": 0.404422461448938, + "flow_matching_loss": 0.017336270306259394, + "grad_norm": 0.11310555040836334, + "kept_token_count": 573.2015625, + "learning_rate": 2.778e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.990233963727951, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009766040649265052, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 241.67017822265626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.3226806640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1390, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.29928942024707794, + "epoch": 0.4073319755600815, + "flow_matching_loss": 0.01619128752499819, + "grad_norm": 0.14769136905670166, + "kept_token_count": 573.53125, + "learning_rate": 2.798e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9908538341522217, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009146160911768675, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 224.2074417114258, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.2505615234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1400, + "valid_token_count": 818.5 + }, + { + "actual_token_mask_ratio": 0.2998581796884537, + "epoch": 0.4102414896712249, + "flow_matching_loss": 0.016649350896477698, + "grad_norm": 0.2398458868265152, + "kept_token_count": 572.959375, + "learning_rate": 2.818e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9894810378551483, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010518960282206535, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 237.1246124267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.2515014648437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1410, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.29935629665851593, + "epoch": 0.41315100378236835, + "flow_matching_loss": 0.017520339414477348, + "grad_norm": 0.10878332704305649, + "kept_token_count": 573.24375, + "learning_rate": 2.838e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9897052884101868, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010294695943593979, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 220.01873931884765, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.1165771484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1420, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.29961307942867277, + "epoch": 0.4160605178935118, + "flow_matching_loss": 0.016396788647398353, + "grad_norm": 0.11807273328304291, + "kept_token_count": 573.0328125, + "learning_rate": 2.858e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9909656345844269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00903436690568924, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 232.5314697265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.96799621582034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1430, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.300286078453064, + "epoch": 0.4189700320046552, + "flow_matching_loss": 0.0155257448554039, + "grad_norm": 0.10724461078643799, + "kept_token_count": 572.4859375, + "learning_rate": 2.8780000000000002e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9906997799873352, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00930021796375513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 244.06009979248046, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.64454956054686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1440, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.3006762474775314, + "epoch": 0.42187954611579864, + "flow_matching_loss": 0.015611943509429693, + "grad_norm": 0.12050197273492813, + "kept_token_count": 572.275, + "learning_rate": 2.898e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9907841384410858, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009215870313346386, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 238.94641571044923, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.96873779296874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1450, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.3003896355628967, + "epoch": 0.42478906022694213, + "flow_matching_loss": 0.021192983072251082, + "grad_norm": 0.13983838260173798, + "kept_token_count": 572.359375, + "learning_rate": 2.9180000000000002e-05, + "loss": 0.0263, + "mgd_cos_sim": 0.989736533164978, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010263484343886376, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 257.39048461914064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.0062652587891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1460, + "valid_token_count": 818.10625 + }, + { + "actual_token_mask_ratio": 0.3003167450428009, + "epoch": 0.42769857433808556, + "flow_matching_loss": 0.017092817462980747, + "grad_norm": 0.10083682090044022, + "kept_token_count": 572.56875, + "learning_rate": 2.938e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9903753280639649, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009624659735709428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 227.52710418701173, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.0453582763672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1470, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.2999399185180664, + "epoch": 0.430608088449229, + "flow_matching_loss": 0.018890197016298772, + "grad_norm": 0.11117130517959595, + "kept_token_count": 572.98125, + "learning_rate": 2.958e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9905178546905518, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00948215750977397, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 229.42727508544922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.44749145507814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1480, + "valid_token_count": 818.4703125 + }, + { + "actual_token_mask_ratio": 0.2991121977567673, + "epoch": 0.4335176025603724, + "flow_matching_loss": 0.0181253457441926, + "grad_norm": 0.17085017263889313, + "kept_token_count": 573.4875, + "learning_rate": 2.9780000000000003e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9905033648014069, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009496624581515789, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 218.03243103027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.4731964111328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1490, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.3000966399908066, + "epoch": 0.43642711667151585, + "flow_matching_loss": 0.016634954884648324, + "grad_norm": 0.1507563591003418, + "kept_token_count": 572.8421875, + "learning_rate": 2.998e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9903230369091034, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009676969703286886, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 219.09927062988282, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.9039276123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1500, + "valid_token_count": 818.4625 + }, + { + "actual_token_mask_ratio": 0.3003915578126907, + "epoch": 0.4393366307826593, + "flow_matching_loss": 0.017791070509701967, + "grad_norm": 0.13224871456623077, + "kept_token_count": 572.1484375, + "learning_rate": 2.9999992618302022e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9901678562164307, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00983213260769844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 237.59042358398438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.6168579101562, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1510, + "valid_token_count": 817.809375 + }, + { + "actual_token_mask_ratio": 0.29991304874420166, + "epoch": 0.44224614489380276, + "flow_matching_loss": 0.015394636057317257, + "grad_norm": 0.13302169740200043, + "kept_token_count": 572.7828125, + "learning_rate": 2.999996710133069e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9901115775108338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00988841038197279, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 229.78797302246093, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.5806030273437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1520, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.30014065504074094, + "epoch": 0.4451556590049462, + "flow_matching_loss": 0.017807411774992944, + "grad_norm": 0.12206938862800598, + "kept_token_count": 572.8421875, + "learning_rate": 2.9999923357984923e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9909058451652527, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00909415390342474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 235.8833740234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.4754608154297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1530, + "valid_token_count": 818.5140625 + }, + { + "actual_token_mask_ratio": 0.29975709319114685, + "epoch": 0.4480651731160896, + "flow_matching_loss": 0.018186972197145223, + "grad_norm": 0.15320508182048798, + "kept_token_count": 573.0328125, + "learning_rate": 2.9999861388317874e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.990647941827774, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00935204504057765, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 232.5900405883789, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.5394561767578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1540, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.3004143059253693, + "epoch": 0.45097468722723305, + "flow_matching_loss": 0.018309108167886733, + "grad_norm": 0.14139723777770996, + "kept_token_count": 572.771875, + "learning_rate": 2.9999781192404847e-05, + "loss": 0.023, + "mgd_cos_sim": 0.990620243549347, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009379750117659569, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 258.4566116333008, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.2300231933594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1550, + "valid_token_count": 818.7328125 + }, + { + "actual_token_mask_ratio": 0.30034820437431337, + "epoch": 0.4538842013383765, + "flow_matching_loss": 0.018838577438145876, + "grad_norm": 0.10499124974012375, + "kept_token_count": 572.35625, + "learning_rate": 2.9999682770343283e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.990215677022934, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009784321114420892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 235.1628616333008, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.4954040527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1560, + "valid_token_count": 818.0640625 + }, + { + "actual_token_mask_ratio": 0.3000228315591812, + "epoch": 0.4567937154495199, + "flow_matching_loss": 0.01941541340202093, + "grad_norm": 0.12474413216114044, + "kept_token_count": 572.8234375, + "learning_rate": 2.9999566122252777e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.990218597650528, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009781408682465553, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 244.39148864746093, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.1589752197266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1570, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.2993821054697037, + "epoch": 0.4597032295606634, + "flow_matching_loss": 0.0175196117721498, + "grad_norm": 0.13397052884101868, + "kept_token_count": 573.140625, + "learning_rate": 2.9999431248275065e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9899616479873657, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010038345772773027, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 246.6893524169922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.7089569091797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1580, + "valid_token_count": 818.0453125 + }, + { + "actual_token_mask_ratio": 0.3001670718193054, + "epoch": 0.4626127436718068, + "flow_matching_loss": 0.01800011396408081, + "grad_norm": 0.10773130506277084, + "kept_token_count": 572.8078125, + "learning_rate": 2.9999278148574027e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9896803438663483, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010319673083722591, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 226.6142776489258, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.55719299316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1590, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.29929962158203127, + "epoch": 0.46552225778295026, + "flow_matching_loss": 0.018910324200987816, + "grad_norm": 0.1220562532544136, + "kept_token_count": 573.425, + "learning_rate": 2.9999106823335705e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9905530214309692, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009446985274553298, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 243.315966796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1159332275391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1600, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.30020821988582613, + "epoch": 0.4684317718940937, + "flow_matching_loss": 0.018230374436825514, + "grad_norm": 0.10754857212305069, + "kept_token_count": 572.60625, + "learning_rate": 2.999891727276827e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9899303257465363, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010069661401212215, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 246.62012634277343, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.6075378417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1610, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.2997290253639221, + "epoch": 0.4713412860052371, + "flow_matching_loss": 0.01641855789348483, + "grad_norm": 0.11531489342451096, + "kept_token_count": 572.75625, + "learning_rate": 2.9998709497102037e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9900993764400482, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00990063650533557, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 244.25951385498047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.1459899902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1620, + "valid_token_count": 817.9109375 + }, + { + "actual_token_mask_ratio": 0.3005290776491165, + "epoch": 0.47425080011638054, + "flow_matching_loss": 0.020230906922370194, + "grad_norm": 0.1265302300453186, + "kept_token_count": 572.209375, + "learning_rate": 2.9998483496589485e-05, + "loss": 0.0252, + "mgd_cos_sim": 0.9900405704975128, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009959436673671006, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 233.51587829589843, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.79494018554686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1630, + "valid_token_count": 818.0515625 + }, + { + "actual_token_mask_ratio": 0.3006167560815811, + "epoch": 0.47716031422752403, + "flow_matching_loss": 0.01598141938447952, + "grad_norm": 0.1396094411611557, + "kept_token_count": 572.3515625, + "learning_rate": 2.9998239271505217e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9900819659233093, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009918027464300394, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 226.8531280517578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.11545715332034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1640, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.30047534704208373, + "epoch": 0.48006982833866746, + "flow_matching_loss": 0.017288947943598032, + "grad_norm": 0.13120992481708527, + "kept_token_count": 572.309375, + "learning_rate": 2.9997976822145995e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9894607424736023, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01053925147280097, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 227.9639450073242, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.7333068847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1650, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.2996360182762146, + "epoch": 0.4829793424498109, + "flow_matching_loss": 0.016000116895884275, + "grad_norm": 0.12810519337654114, + "kept_token_count": 573.0671875, + "learning_rate": 2.9997696148830714e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9903353810310364, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009664608258754015, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 248.7138244628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.61753540039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1660, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.301080322265625, + "epoch": 0.4858888565609543, + "flow_matching_loss": 0.018723181542009117, + "grad_norm": 0.1112026795744896, + "kept_token_count": 572.1515625, + "learning_rate": 2.9997397251900423e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.990500146150589, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009499856270849705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 257.14381408691406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.7418579101562, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1670, + "valid_token_count": 818.621875 + }, + { + "actual_token_mask_ratio": 0.2988768994808197, + "epoch": 0.48879837067209775, + "flow_matching_loss": 0.018758593872189522, + "grad_norm": 0.1536528319120407, + "kept_token_count": 573.7578125, + "learning_rate": 2.999708013171831e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9901462316513061, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009853761550039053, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 237.50151824951172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.1888916015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1680, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.3003523677587509, + "epoch": 0.4917078847832412, + "flow_matching_loss": 0.020204761531203985, + "grad_norm": 0.1436835378408432, + "kept_token_count": 572.3984375, + "learning_rate": 2.9996744788669705e-05, + "loss": 0.0251, + "mgd_cos_sim": 0.9901530086994171, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0098469995893538, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 258.9413009643555, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.4010925292969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1690, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.29947859346866607, + "epoch": 0.49461739889438466, + "flow_matching_loss": 0.02096437430009246, + "grad_norm": 0.12648582458496094, + "kept_token_count": 573.2515625, + "learning_rate": 2.999639122316208e-05, + "loss": 0.0257, + "mgd_cos_sim": 0.990521889925003, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009478103928267955, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 247.4850280761719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.72046813964846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1700, + "valid_token_count": 818.3234375 + }, + { + "actual_token_mask_ratio": 0.2992993235588074, + "epoch": 0.4975269130055281, + "flow_matching_loss": 0.018059537280350924, + "grad_norm": 0.1444651484489441, + "kept_token_count": 573.334375, + "learning_rate": 2.999601943562505e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.990435516834259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009564474038779736, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 259.50934143066405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.6885650634766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1710, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.29997639656066893, + "epoch": 0.5004364271166715, + "flow_matching_loss": 0.018097679316997527, + "grad_norm": 0.1576065719127655, + "kept_token_count": 572.6984375, + "learning_rate": 2.9995629426510377e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9904239416122437, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009576073195785285, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 255.0404296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.72161865234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1720, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.2999011218547821, + "epoch": 0.503345941227815, + "flow_matching_loss": 0.017235102504491805, + "grad_norm": 0.12628673017024994, + "kept_token_count": 572.796875, + "learning_rate": 2.9995221196291952e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9903301477432251, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00966984611004591, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 252.364111328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.518701171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1730, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.30005930066108705, + "epoch": 0.5062554553389584, + "flow_matching_loss": 0.01760019538924098, + "grad_norm": 0.1276543289422989, + "kept_token_count": 572.75, + "learning_rate": 2.999479474546582e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9900296688079834, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00997033789753914, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 256.3495376586914, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.62229309082034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1740, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.2995916843414307, + "epoch": 0.5091649694501018, + "flow_matching_loss": 0.019183243066072463, + "grad_norm": 0.1378406286239624, + "kept_token_count": 573.1296875, + "learning_rate": 2.9994350074550153e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.989805406332016, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01019459469243884, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 247.340185546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.90867004394534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1750, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.30057517886161805, + "epoch": 0.5120744835612453, + "flow_matching_loss": 0.016496330220252275, + "grad_norm": 0.13626016676425934, + "kept_token_count": 572.4421875, + "learning_rate": 2.9993887184085273e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9906869947910308, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00931299924850464, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 254.22183227539062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 360.80933532714846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1760, + "valid_token_count": 818.45 + }, + { + "actual_token_mask_ratio": 0.3005957692861557, + "epoch": 0.5149839976723887, + "flow_matching_loss": 0.019806365575641395, + "grad_norm": 0.1623115986585617, + "kept_token_count": 572.0796875, + "learning_rate": 2.9993406074633628e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9906161606311799, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009383832477033139, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 248.371484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.6809936523438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1770, + "valid_token_count": 817.9515625 + }, + { + "actual_token_mask_ratio": 0.2997490853071213, + "epoch": 0.5178935117835322, + "flow_matching_loss": 0.01709413221105933, + "grad_norm": 0.11672629415988922, + "kept_token_count": 573.028125, + "learning_rate": 2.9992906746779824e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9903420567512512, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009657938592135906, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 244.4706283569336, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8088775634766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1780, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.3000136911869049, + "epoch": 0.5208030258946756, + "flow_matching_loss": 0.018786979932338, + "grad_norm": 0.18029741942882538, + "kept_token_count": 572.7046875, + "learning_rate": 2.9992389201130576e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9911145567893982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008885453827679158, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 257.69718170166016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.3262237548828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1790, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.30009452998638153, + "epoch": 0.523712540005819, + "flow_matching_loss": 0.01896887319162488, + "grad_norm": 0.14924593269824982, + "kept_token_count": 572.715625, + "learning_rate": 2.999185343831476e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9898929417133331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010107063036412001, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 259.08777618408203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.55796813964844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1800, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.3002817243337631, + "epoch": 0.5266220541169625, + "flow_matching_loss": 0.016557110659778117, + "grad_norm": 0.13943065702915192, + "kept_token_count": 572.4859375, + "learning_rate": 2.999129945898338e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9903148412704468, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009685164503753185, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 250.41385955810546, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.3992889404297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1810, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.30030458569526675, + "epoch": 0.5295315682281059, + "flow_matching_loss": 0.018198316264897586, + "grad_norm": 0.1218254342675209, + "kept_token_count": 572.5515625, + "learning_rate": 2.999072726380957e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9904356241226197, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0095643550157547, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 246.79598236083984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.07867126464845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1820, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.29960410892963407, + "epoch": 0.5324410823392494, + "flow_matching_loss": 0.016461335215717555, + "grad_norm": 0.14515437185764313, + "kept_token_count": 573.36875, + "learning_rate": 2.9990136853488603e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.990320497751236, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009679495263844729, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 265.4560821533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.0093719482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1830, + "valid_token_count": 818.6390625 + }, + { + "actual_token_mask_ratio": 0.30037048161029817, + "epoch": 0.5353505964503927, + "flow_matching_loss": 0.02000267691910267, + "grad_norm": 0.13296626508235931, + "kept_token_count": 572.553125, + "learning_rate": 2.9989528228737878e-05, + "loss": 0.0252, + "mgd_cos_sim": 0.9895711004734039, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010428904183208942, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 244.74642486572264, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.95237426757814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1840, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.2998535603284836, + "epoch": 0.5382601105615362, + "flow_matching_loss": 0.018240970838814975, + "grad_norm": 0.1395077258348465, + "kept_token_count": 572.7546875, + "learning_rate": 2.9988901390296935e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9902649283409118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009735074453055858, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 259.15740356445315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.81919555664064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1850, + "valid_token_count": 818.0484375 + }, + { + "actual_token_mask_ratio": 0.3000787734985352, + "epoch": 0.5411696246726797, + "flow_matching_loss": 0.01904235277324915, + "grad_norm": 0.13637296855449677, + "kept_token_count": 572.571875, + "learning_rate": 2.9988256338927442e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9902067005634307, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009793305397033691, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 263.9394897460937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.2430389404297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1860, + "valid_token_count": 818.05625 + }, + { + "actual_token_mask_ratio": 0.300685653090477, + "epoch": 0.5440791387838231, + "flow_matching_loss": 0.017670529056340457, + "grad_norm": 0.09512432664632797, + "kept_token_count": 572.2671875, + "learning_rate": 2.9987593075413198e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.99033163189888, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009668364655226469, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 259.3957458496094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.21668395996096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1870, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.30138199031352997, + "epoch": 0.5469886528949666, + "flow_matching_loss": 0.017242720536887645, + "grad_norm": 0.13208191096782684, + "kept_token_count": 571.7640625, + "learning_rate": 2.9986911600560128e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9907086968421936, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009291313402354718, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 267.1094207763672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.35889587402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1880, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.2996022790670395, + "epoch": 0.5498981670061099, + "flow_matching_loss": 0.01990026580169797, + "grad_norm": 0.14054061472415924, + "kept_token_count": 573.271875, + "learning_rate": 2.998621191519629e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9905409693717957, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009459037519991397, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 247.40972442626952, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.9074645996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1890, + "valid_token_count": 818.4953125 + }, + { + "actual_token_mask_ratio": 0.2990962713956833, + "epoch": 0.5528076811172534, + "flow_matching_loss": 0.01799837490543723, + "grad_norm": 0.14234521985054016, + "kept_token_count": 573.5921875, + "learning_rate": 2.9985494020171873e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9900440573692322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009955938998609781, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 262.7908340454102, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.4958770751953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1900, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.29937402009963987, + "epoch": 0.5557171952283969, + "flow_matching_loss": 0.01806866778060794, + "grad_norm": 0.1317671239376068, + "kept_token_count": 573.3203125, + "learning_rate": 2.9984757916359176e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.989546263217926, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01045373287051916, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 252.4641540527344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.9031219482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1910, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.29988237619400027, + "epoch": 0.5586267093395403, + "flow_matching_loss": 0.017730826511979103, + "grad_norm": 0.1253044307231903, + "kept_token_count": 572.7625, + "learning_rate": 2.998400360465264e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9901540696620941, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0098459436558187, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 253.0598937988281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.69614868164064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1920, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.30016522407531737, + "epoch": 0.5615362234506838, + "flow_matching_loss": 0.018306514620780943, + "grad_norm": 0.12284035980701447, + "kept_token_count": 572.415625, + "learning_rate": 2.998323108596883e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9901283740997314, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0098716308362782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 254.72166442871094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.4065002441406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1930, + "valid_token_count": 817.9265625 + }, + { + "actual_token_mask_ratio": 0.3000144213438034, + "epoch": 0.5644457375618271, + "flow_matching_loss": 0.019597992394119503, + "grad_norm": 0.10281647741794586, + "kept_token_count": 572.7890625, + "learning_rate": 2.9982440361246422e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9901541352272034, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009845868404954671, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 238.86473693847657, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.9946807861328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1940, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.2990323483943939, + "epoch": 0.5673552516729706, + "flow_matching_loss": 0.017333456315100193, + "grad_norm": 0.15288805961608887, + "kept_token_count": 573.575, + "learning_rate": 2.998163143144622e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9906423091888428, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00935769835487008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 263.68417205810545, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.0583251953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1950, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.2990981459617615, + "epoch": 0.570264765784114, + "flow_matching_loss": 0.017014704644680023, + "grad_norm": 0.12781575322151184, + "kept_token_count": 573.58125, + "learning_rate": 2.9980804297551155e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9911796987056732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008820307347923518, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 274.2001983642578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.85996398925784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1960, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.3010513842105865, + "epoch": 0.5731742798952575, + "flow_matching_loss": 0.01968257809057832, + "grad_norm": 0.17677246034145355, + "kept_token_count": 571.9609375, + "learning_rate": 2.997995896056627e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9901007115840912, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009899290092289448, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 279.1430267333984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.5400756835937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1970, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.2996784269809723, + "epoch": 0.576083794006401, + "flow_matching_loss": 0.018260220158845188, + "grad_norm": 0.12414053082466125, + "kept_token_count": 573.2140625, + "learning_rate": 2.997909542151873e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9904772341251373, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009522774070501328, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 274.6544677734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.3971435546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1980, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.2992655009031296, + "epoch": 0.5789933081175443, + "flow_matching_loss": 0.01985358530655503, + "grad_norm": 0.09936844557523727, + "kept_token_count": 573.41875, + "learning_rate": 2.9978213681457823e-05, + "loss": 0.025, + "mgd_cos_sim": 0.9896077990531922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010392195079475641, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 253.75677337646485, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.47552185058595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 1990, + "valid_token_count": 818.30625 + }, + { + "actual_token_mask_ratio": 0.2997048169374466, + "epoch": 0.5819028222286878, + "flow_matching_loss": 0.016671908553689718, + "grad_norm": 0.13270647823810577, + "kept_token_count": 573.028125, + "learning_rate": 2.9977313741454933e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9903335392475128, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009666452836245298, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 268.1383453369141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.18305053710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2000, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.3001808226108551, + "epoch": 0.5848123363398312, + "flow_matching_loss": 0.01758171683177352, + "grad_norm": 0.14368337392807007, + "kept_token_count": 572.4875, + "learning_rate": 2.997639560260358e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9906964361667633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00930356178432703, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 261.9945785522461, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.9415344238281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2010, + "valid_token_count": 818.046875 + }, + { + "actual_token_mask_ratio": 0.3009602248668671, + "epoch": 0.5877218504509747, + "flow_matching_loss": 0.019685564935207366, + "grad_norm": 0.1248982772231102, + "kept_token_count": 571.9484375, + "learning_rate": 2.9975459266019387e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9902699232101441, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009730083029717207, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 276.40313110351565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.23985290527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2020, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.2994983226060867, + "epoch": 0.5906313645621182, + "flow_matching_loss": 0.01814425392076373, + "grad_norm": 0.14135439693927765, + "kept_token_count": 573.0984375, + "learning_rate": 2.9974504732840092e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9903656601905823, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009634330589324235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 278.50807800292966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.72177734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2030, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.2993212819099426, + "epoch": 0.5935408786732616, + "flow_matching_loss": 0.01718537611886859, + "grad_norm": 0.10786546766757965, + "kept_token_count": 573.2640625, + "learning_rate": 2.997353200422555e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9905607223510742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009439263306558133, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 263.3634857177734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.58954467773435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2040, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.3001344382762909, + "epoch": 0.596450392784405, + "flow_matching_loss": 0.018888338468968868, + "grad_norm": 0.14314040541648865, + "kept_token_count": 572.6640625, + "learning_rate": 2.99725410813577e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9909079253673554, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009092075191438198, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 266.85692138671874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.1124572753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2050, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.30033210217952727, + "epoch": 0.5993599068955484, + "flow_matching_loss": 0.018613834492862226, + "grad_norm": 0.12246665358543396, + "kept_token_count": 572.5140625, + "learning_rate": 2.997153196544063e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9903671979904175, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00963280415162444, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 260.3952270507813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.38645629882814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2060, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.3002815693616867, + "epoch": 0.6022694210066919, + "flow_matching_loss": 0.020531782135367393, + "grad_norm": 0.1217183843255043, + "kept_token_count": 572.446875, + "learning_rate": 2.997050465770049e-05, + "loss": 0.0258, + "mgd_cos_sim": 0.9894792079925537, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010520788654685021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 262.574284362793, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.8271057128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2070, + "valid_token_count": 818.109375 + }, + { + "actual_token_mask_ratio": 0.29957151114940644, + "epoch": 0.6051789351178353, + "flow_matching_loss": 0.01714044427499175, + "grad_norm": 0.14329004287719727, + "kept_token_count": 573.1859375, + "learning_rate": 2.9969459159385562e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9895844459533691, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010415551159530878, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 249.5616714477539, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.709521484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2080, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.298609060049057, + "epoch": 0.6080884492289788, + "flow_matching_loss": 0.01900898963212967, + "grad_norm": 0.13607685267925262, + "kept_token_count": 573.7328125, + "learning_rate": 2.9968395471766237e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9906364858150483, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009363506082445383, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 278.5921142578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.3703094482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2090, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.29884508848190305, + "epoch": 0.6109979633401222, + "flow_matching_loss": 0.01815569829195738, + "grad_norm": 0.1445959508419037, + "kept_token_count": 573.8703125, + "learning_rate": 2.996731359613498e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9905294299125671, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009470570646226407, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 270.42254638671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.81104736328126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2100, + "valid_token_count": 818.4625 + }, + { + "actual_token_mask_ratio": 0.3008542835712433, + "epoch": 0.6139074774512656, + "flow_matching_loss": 0.016318918112665413, + "grad_norm": 0.14881141483783722, + "kept_token_count": 572.146875, + "learning_rate": 2.996621353380638e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9895758092403412, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01042419597506523, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 257.415998840332, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.13934020996095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2110, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.301345694065094, + "epoch": 0.6168169915624091, + "flow_matching_loss": 0.01739219492301345, + "grad_norm": 0.15776486694812775, + "kept_token_count": 571.75, + "learning_rate": 2.9965095286117113e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.990515410900116, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009484575130045414, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 283.2588775634766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.6664306640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2120, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.3000164061784744, + "epoch": 0.6197265056735525, + "flow_matching_loss": 0.021326323226094245, + "grad_norm": 0.11726871877908707, + "kept_token_count": 572.90625, + "learning_rate": 2.996395885442596e-05, + "loss": 0.0266, + "mgd_cos_sim": 0.9894223511219025, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010577640030533075, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 266.1755035400391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.93828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2130, + "valid_token_count": 818.4578125 + }, + { + "actual_token_mask_ratio": 0.3005957961082458, + "epoch": 0.622636019784696, + "flow_matching_loss": 0.016507789399474858, + "grad_norm": 0.13998882472515106, + "kept_token_count": 572.171875, + "learning_rate": 2.996280424011379e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9907224774360657, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009277518931776285, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 273.20796966552734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.675732421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2140, + "valid_token_count": 818.0796875 + }, + { + "actual_token_mask_ratio": 0.2993177860975266, + "epoch": 0.6255455338958394, + "flow_matching_loss": 0.016792088560760022, + "grad_norm": 0.12428788840770721, + "kept_token_count": 573.46875, + "learning_rate": 2.9961631444583565e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9904061079025268, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009593912307173014, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 270.92674255371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.38905944824216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2150, + "valid_token_count": 818.4484375 + }, + { + "actual_token_mask_ratio": 0.3016852766275406, + "epoch": 0.6284550480069828, + "flow_matching_loss": 0.01659506754949689, + "grad_norm": 0.1177479475736618, + "kept_token_count": 571.4890625, + "learning_rate": 2.9960440469260347e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9903742253780365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009625766705721617, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 252.210986328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 361.5414154052734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2160, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.2999396026134491, + "epoch": 0.6313645621181263, + "flow_matching_loss": 0.015397248696535826, + "grad_norm": 0.16032394766807556, + "kept_token_count": 572.7265625, + "learning_rate": 2.995923131559128e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9909545063972474, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00904548643156886, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 278.13636779785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.9543182373047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2170, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.3000690460205078, + "epoch": 0.6342740762292697, + "flow_matching_loss": 0.017756540700793265, + "grad_norm": 0.14379669725894928, + "kept_token_count": 572.7984375, + "learning_rate": 2.99580039850456e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9894733667373657, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010526631493121386, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 245.30547637939452, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.10966796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2180, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.3003836303949356, + "epoch": 0.6371835903404132, + "flow_matching_loss": 0.016165386140346526, + "grad_norm": 0.12004034966230392, + "kept_token_count": 572.328125, + "learning_rate": 2.9956758479114635e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9906830847263336, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009316910710185766, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 288.1140106201172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.6334716796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2190, + "valid_token_count": 818.0625 + }, + { + "actual_token_mask_ratio": 0.30086955726146697, + "epoch": 0.6400931044515565, + "flow_matching_loss": 0.02121957940980792, + "grad_norm": 0.18842174112796783, + "kept_token_count": 572.2625, + "learning_rate": 2.9955494799311787e-05, + "loss": 0.0258, + "mgd_cos_sim": 0.9907936453819275, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00920634837821126, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 263.1366455078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.31981201171874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2200, + "valid_token_count": 818.534375 + }, + { + "actual_token_mask_ratio": 0.2994951128959656, + "epoch": 0.6430026185627, + "flow_matching_loss": 0.019446440413594245, + "grad_norm": 0.14859412610530853, + "kept_token_count": 573.4296875, + "learning_rate": 2.995421294717254e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9906045854091644, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009395425021648408, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 271.28411254882815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.08916625976565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2210, + "valid_token_count": 818.590625 + }, + { + "actual_token_mask_ratio": 0.29997539818286895, + "epoch": 0.6459121326738435, + "flow_matching_loss": 0.01962501285597682, + "grad_norm": 0.12686605751514435, + "kept_token_count": 572.93125, + "learning_rate": 2.995291292425448e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9909097194671631, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009090289566665887, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 282.5609832763672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.2166229248047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2220, + "valid_token_count": 818.44375 + }, + { + "actual_token_mask_ratio": 0.30060167610645294, + "epoch": 0.6488216467849869, + "flow_matching_loss": 0.01723293513059616, + "grad_norm": 0.12598727643489838, + "kept_token_count": 572.453125, + "learning_rate": 2.9951594732137248e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9906486928462982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009351315535604953, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 284.6655212402344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.6213104248047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2230, + "valid_token_count": 818.49375 + }, + { + "actual_token_mask_ratio": 0.3001558780670166, + "epoch": 0.6517311608961304, + "flow_matching_loss": 0.01756956186145544, + "grad_norm": 0.1495431512594223, + "kept_token_count": 572.81875, + "learning_rate": 2.995025837242257e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9904419779777527, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0095580218359828, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 279.94199829101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8255249023438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2240, + "valid_token_count": 818.4953125 + }, + { + "actual_token_mask_ratio": 0.29998689591884614, + "epoch": 0.6546406750072737, + "flow_matching_loss": 0.018644577451050283, + "grad_norm": 0.13616172969341278, + "kept_token_count": 572.79375, + "learning_rate": 2.994890384673426e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9899024367332458, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010097575094550847, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 278.39716186523435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.1921417236328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2250, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.30070303976535795, + "epoch": 0.6575501891184172, + "flow_matching_loss": 0.01924267616122961, + "grad_norm": 0.10498052835464478, + "kept_token_count": 572.196875, + "learning_rate": 2.9947531156718174e-05, + "loss": 0.024, + "mgd_cos_sim": 0.990400642156601, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009599353373050689, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 274.6440856933594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.4816589355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2260, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.3005128264427185, + "epoch": 0.6604597032295607, + "flow_matching_loss": 0.01795734977349639, + "grad_norm": 0.12047550082206726, + "kept_token_count": 572.24375, + "learning_rate": 2.994614030404228e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9905437111854554, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009456297103315591, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 255.65926818847657, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.0951782226563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2270, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.30063513815402987, + "epoch": 0.6633692173407041, + "flow_matching_loss": 0.015605579782277345, + "grad_norm": 0.12155671417713165, + "kept_token_count": 572.2609375, + "learning_rate": 2.994473129039659e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.990505164861679, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009494838397949934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 276.8841583251953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.353759765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2280, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.3003144204616547, + "epoch": 0.6662787314518476, + "flow_matching_loss": 0.0178620420396328, + "grad_norm": 0.11032959818840027, + "kept_token_count": 572.4828125, + "learning_rate": 2.9943304117493183e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9905976891517639, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009402301628142595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 269.29269256591795, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.7871337890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2290, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.30071198046207426, + "epoch": 0.669188245562991, + "flow_matching_loss": 0.01773748518899083, + "grad_norm": 0.13184097409248352, + "kept_token_count": 571.9765625, + "learning_rate": 2.9941858787066207e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9900076687335968, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009992325864732265, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 288.1589080810547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.9632598876953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2300, + "valid_token_count": 817.940625 + }, + { + "actual_token_mask_ratio": 0.30003742277622225, + "epoch": 0.6720977596741344, + "flow_matching_loss": 0.019592280313372613, + "grad_norm": 0.1734989583492279, + "kept_token_count": 572.978125, + "learning_rate": 2.9940395300871888e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9901079118251801, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00989208547398448, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 265.4060287475586, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.562744140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2310, + "valid_token_count": 818.58125 + }, + { + "actual_token_mask_ratio": 0.30049399137496946, + "epoch": 0.6750072737852778, + "flow_matching_loss": 0.018358221091330052, + "grad_norm": 0.1474650800228119, + "kept_token_count": 572.3734375, + "learning_rate": 2.993891366068849e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9898069262504577, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010193079337477684, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 270.41485290527345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.43585205078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2320, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.29964849054813386, + "epoch": 0.6779167878964213, + "flow_matching_loss": 0.020099718030542134, + "grad_norm": 0.11796647310256958, + "kept_token_count": 573.0203125, + "learning_rate": 2.993741386831634e-05, + "loss": 0.0251, + "mgd_cos_sim": 0.9900806367397308, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009919369965791703, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 269.8737457275391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.5794677734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2330, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.2998682111501694, + "epoch": 0.6808263020075648, + "flow_matching_loss": 0.016861639637500047, + "grad_norm": 0.11756327748298645, + "kept_token_count": 573.059375, + "learning_rate": 2.9935895925577837e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9899080634117127, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01009191870689392, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 270.1364501953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.82764892578126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2340, + "valid_token_count": 818.503125 + }, + { + "actual_token_mask_ratio": 0.2987920939922333, + "epoch": 0.6837358161187082, + "flow_matching_loss": 0.02127268398180604, + "grad_norm": 0.10450585186481476, + "kept_token_count": 573.6140625, + "learning_rate": 2.9934359834317425e-05, + "loss": 0.0264, + "mgd_cos_sim": 0.9897315680980683, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010268428921699524, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 277.29896240234376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.59251708984374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2350, + "valid_token_count": 818.040625 + }, + { + "actual_token_mask_ratio": 0.2993723154067993, + "epoch": 0.6866453302298516, + "flow_matching_loss": 0.01895383559167385, + "grad_norm": 0.13397552073001862, + "kept_token_count": 573.290625, + "learning_rate": 2.993280559640159e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9898817121982575, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010118299443274737, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 276.7202209472656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.65320739746096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2360, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.30045910775661466, + "epoch": 0.689554844340995, + "flow_matching_loss": 0.017859691474586725, + "grad_norm": 0.12657395005226135, + "kept_token_count": 572.403125, + "learning_rate": 2.9931233213718887e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9899600327014924, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010039953514933586, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 285.5864196777344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.6563232421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2370, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.30024502575397494, + "epoch": 0.6924643584521385, + "flow_matching_loss": 0.017475573625415564, + "grad_norm": 0.14892631769180298, + "kept_token_count": 572.6765625, + "learning_rate": 2.992964268817991e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9911893606185913, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008810654748231173, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 278.1213806152344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8180633544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2380, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.2996518164873123, + "epoch": 0.695373872563282, + "flow_matching_loss": 0.01876365952193737, + "grad_norm": 0.13829922676086426, + "kept_token_count": 573.3703125, + "learning_rate": 2.9928034021717286e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9905684888362885, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009431508556008338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 286.0555114746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.5736389160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2390, + "valid_token_count": 818.6921875 + }, + { + "actual_token_mask_ratio": 0.29979282021522524, + "epoch": 0.6982833866744254, + "flow_matching_loss": 0.019394710287451745, + "grad_norm": 0.13574811816215515, + "kept_token_count": 573.1734375, + "learning_rate": 2.9926407216285707e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9900666952133179, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009933308977633715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 277.1698974609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.44373474121096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2400, + "valid_token_count": 818.578125 + }, + { + "actual_token_mask_ratio": 0.3003216922283173, + "epoch": 0.7011929007855688, + "flow_matching_loss": 0.016167838871479035, + "grad_norm": 0.1433590054512024, + "kept_token_count": 572.5578125, + "learning_rate": 2.9924762273861894e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9907017350196838, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009298266842961311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 281.8087921142578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.30018615722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2410, + "valid_token_count": 818.3125 + }, + { + "actual_token_mask_ratio": 0.2996482402086258, + "epoch": 0.7041024148967122, + "flow_matching_loss": 0.022117576096206903, + "grad_norm": 0.11374763399362564, + "kept_token_count": 572.9296875, + "learning_rate": 2.992309919644461e-05, + "loss": 0.0269, + "mgd_cos_sim": 0.9904164910316468, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009583501424640418, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 287.26695709228517, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.29259338378904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2420, + "valid_token_count": 818.059375 + }, + { + "actual_token_mask_ratio": 0.29982700645923616, + "epoch": 0.7070119290078557, + "flow_matching_loss": 0.018656325340270997, + "grad_norm": 0.1613481491804123, + "kept_token_count": 572.7453125, + "learning_rate": 2.9921417986054633e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9894208312034607, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010579171869903804, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 268.9537292480469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.6862091064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2430, + "valid_token_count": 818.00625 + }, + { + "actual_token_mask_ratio": 0.3000150263309479, + "epoch": 0.7099214431189991, + "flow_matching_loss": 0.01946261655539274, + "grad_norm": 0.12059920281171799, + "kept_token_count": 572.9203125, + "learning_rate": 2.9919718644734815e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9905899405479431, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009410062432289123, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 285.8956329345703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.7337127685547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2440, + "valid_token_count": 818.4734375 + }, + { + "actual_token_mask_ratio": 0.3004046559333801, + "epoch": 0.7128309572301426, + "flow_matching_loss": 0.01950212111696601, + "grad_norm": 0.12617596983909607, + "kept_token_count": 572.659375, + "learning_rate": 2.991800117455e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9900218963623046, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009978094976395369, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 263.441943359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.5424438476563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2450, + "valid_token_count": 818.5625 + }, + { + "actual_token_mask_ratio": 0.3008372336626053, + "epoch": 0.715740471341286, + "flow_matching_loss": 0.0164495556615293, + "grad_norm": 0.11996403336524963, + "kept_token_count": 572.4546875, + "learning_rate": 2.9916265577587085e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9899373173713684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010062676761299372, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 287.19476013183595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.4897827148437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2460, + "valid_token_count": 818.771875 + }, + { + "actual_token_mask_ratio": 0.2997002422809601, + "epoch": 0.7186499854524294, + "flow_matching_loss": 0.019558401312679052, + "grad_norm": 0.14930962026119232, + "kept_token_count": 573.4, + "learning_rate": 2.9914511855954986e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.990274041891098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009725969284772873, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 272.78771820068357, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.27403869628904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2470, + "valid_token_count": 818.7953125 + }, + { + "actual_token_mask_ratio": 0.2991443336009979, + "epoch": 0.7215594995635729, + "flow_matching_loss": 0.01660883268341422, + "grad_norm": 0.11754930764436722, + "kept_token_count": 573.5078125, + "learning_rate": 2.9912740011784626e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9904216229915619, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009578374866396188, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.14674682617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1529937744141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2480, + "valid_token_count": 818.2984375 + }, + { + "actual_token_mask_ratio": 0.3005495220422745, + "epoch": 0.7244690136747163, + "flow_matching_loss": 0.021252581477165224, + "grad_norm": 0.13414359092712402, + "kept_token_count": 572.478125, + "learning_rate": 2.991095004722898e-05, + "loss": 0.0257, + "mgd_cos_sim": 0.9911170840263367, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00888290898874402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 277.5693084716797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.07506408691404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2490, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.30017416179180145, + "epoch": 0.7273785277858598, + "flow_matching_loss": 0.01906579378992319, + "grad_norm": 0.12955869734287262, + "kept_token_count": 572.65625, + "learning_rate": 2.9909141964463017e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.9895655274391174, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010434497427195311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 291.0942687988281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.32518005371094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2500, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.2997656911611557, + "epoch": 0.7302880418970032, + "flow_matching_loss": 0.01892604734748602, + "grad_norm": 0.1170768067240715, + "kept_token_count": 573.15625, + "learning_rate": 2.990731576568372e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9897035956382751, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010296397842466831, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 270.6560913085938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1801055908203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2510, + "valid_token_count": 818.515625 + }, + { + "actual_token_mask_ratio": 0.2994685560464859, + "epoch": 0.7331975560081466, + "flow_matching_loss": 0.01866575377061963, + "grad_norm": 0.12342473119497299, + "kept_token_count": 573.1546875, + "learning_rate": 2.99054714531101e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9905177175998687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00948227932676673, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 296.36419067382815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.46787719726564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2520, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.2989888101816177, + "epoch": 0.7361070701192901, + "flow_matching_loss": 0.017895905673503874, + "grad_norm": 0.1097259670495987, + "kept_token_count": 573.6890625, + "learning_rate": 2.9903609028983178e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9909061014652252, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009093891829252243, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 277.41209106445314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.62810668945315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2530, + "valid_token_count": 818.3796875 + }, + { + "actual_token_mask_ratio": 0.30026874542236326, + "epoch": 0.7390165842304335, + "flow_matching_loss": 0.017888479586690664, + "grad_norm": 0.16037723422050476, + "kept_token_count": 572.4453125, + "learning_rate": 2.990172849556596e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9901996731758118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009800335764884949, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 280.665283203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.57997436523436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2540, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.29996303021907805, + "epoch": 0.741926098341577, + "flow_matching_loss": 0.0197654714807868, + "grad_norm": 0.11822757869958878, + "kept_token_count": 572.5953125, + "learning_rate": 2.989982985514348e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9898678600788117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010132146440446377, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 284.5901580810547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.4122344970703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2550, + "valid_token_count": 817.946875 + }, + { + "actual_token_mask_ratio": 0.30077953934669494, + "epoch": 0.7448356124527203, + "flow_matching_loss": 0.019482387229800224, + "grad_norm": 0.17312155663967133, + "kept_token_count": 572.1640625, + "learning_rate": 2.9897913110022766e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9895697832107544, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010430220887064934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 292.30763549804686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.3267486572266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2560, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.29933708608150483, + "epoch": 0.7477451265638638, + "flow_matching_loss": 0.01700835330411792, + "grad_norm": 0.17164848744869232, + "kept_token_count": 573.4640625, + "learning_rate": 2.989597826253284e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9906206548213958, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009379346668720246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 276.20786743164064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.8844390869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2570, + "valid_token_count": 818.4640625 + }, + { + "actual_token_mask_ratio": 0.2997824549674988, + "epoch": 0.7506546406750073, + "flow_matching_loss": 0.018906557746231557, + "grad_norm": 0.11498922109603882, + "kept_token_count": 573.1609375, + "learning_rate": 2.989402531502473e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9902840256690979, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009715985134243965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.7153839111328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.53330688476564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2580, + "valid_token_count": 818.5453125 + }, + { + "actual_token_mask_ratio": 0.3000083327293396, + "epoch": 0.7535641547861507, + "flow_matching_loss": 0.015043010096997022, + "grad_norm": 0.10269173979759216, + "kept_token_count": 572.71875, + "learning_rate": 2.989205426987144e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9902491092681884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009750899951905012, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 282.4577392578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.9170837402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2590, + "valid_token_count": 818.18125 + }, + { + "actual_token_mask_ratio": 0.29967465698719026, + "epoch": 0.7564736688972942, + "flow_matching_loss": 0.019686030689626932, + "grad_norm": 0.12258069217205048, + "kept_token_count": 573.096875, + "learning_rate": 2.9890065129467988e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9909615457057953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009038451872766019, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 306.2550994873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.9374633789063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2600, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.3005633920431137, + "epoch": 0.7593831830084375, + "flow_matching_loss": 0.018959052953869106, + "grad_norm": 0.12344422936439514, + "kept_token_count": 572.284375, + "learning_rate": 2.9888057896231364e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9905347406864167, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009465257357805967, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 273.9430389404297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.6109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2610, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.30017467141151427, + "epoch": 0.762292697119581, + "flow_matching_loss": 0.01921211462467909, + "grad_norm": 0.13081054389476776, + "kept_token_count": 572.44375, + "learning_rate": 2.988603257260054e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9901687800884247, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009831209387630224, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 297.4077575683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.9822540283203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2620, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.3001000702381134, + "epoch": 0.7652022112307245, + "flow_matching_loss": 0.01763772601261735, + "grad_norm": 0.132393479347229, + "kept_token_count": 572.659375, + "learning_rate": 2.988398916103648e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9905608057975769, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009439198393374681, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 273.0628997802734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.2173217773437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2630, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.2991839170455933, + "epoch": 0.7681117253418679, + "flow_matching_loss": 0.019657019153237344, + "grad_norm": 0.14571277797222137, + "kept_token_count": 573.696875, + "learning_rate": 2.988192766402212e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9900980889797211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009901913814246655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 291.06744995117185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.6695953369141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2640, + "valid_token_count": 818.6171875 + }, + { + "actual_token_mask_ratio": 0.3010301887989044, + "epoch": 0.7710212394530114, + "flow_matching_loss": 0.019681406393647193, + "grad_norm": 0.14442764222621918, + "kept_token_count": 571.8671875, + "learning_rate": 2.9879848084062378e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9903748989105224, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009625105280429124, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 262.33176879882814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.7052490234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2650, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.3006019562482834, + "epoch": 0.7739307535641547, + "flow_matching_loss": 0.0188028902746737, + "grad_norm": 0.13503669202327728, + "kept_token_count": 572.21875, + "learning_rate": 2.9877750423684132e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9900166630744934, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00998333441093564, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 283.67155303955076, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.35108642578126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2660, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.3000429689884186, + "epoch": 0.7768402676752982, + "flow_matching_loss": 0.019212828762829304, + "grad_norm": 0.14761632680892944, + "kept_token_count": 572.5796875, + "learning_rate": 2.987563468543624e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9896257638931274, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010374231357127428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.33423767089846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.3904083251953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2670, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.2995481312274933, + "epoch": 0.7797497817864416, + "flow_matching_loss": 0.02036753436550498, + "grad_norm": 0.1535721719264984, + "kept_token_count": 573.13125, + "learning_rate": 2.9873500871889533e-05, + "loss": 0.0253, + "mgd_cos_sim": 0.9900895178318023, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009910471737384796, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 254.50230255126954, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.1367919921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2680, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.29917662739753725, + "epoch": 0.7826592958975851, + "flow_matching_loss": 0.01883253240957856, + "grad_norm": 0.12627285718917847, + "kept_token_count": 573.61875, + "learning_rate": 2.9871348985636778e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9903603255748749, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009639688394963741, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 339.25452880859376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.9916687011719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2690, + "valid_token_count": 818.4921875 + }, + { + "actual_token_mask_ratio": 0.3002978593111038, + "epoch": 0.7855688100087286, + "flow_matching_loss": 0.01944478238001466, + "grad_norm": 0.1367502510547638, + "kept_token_count": 572.35625, + "learning_rate": 2.986917902929273e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9894506514072419, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010549358278512954, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 257.992724609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.78892211914064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2700, + "valid_token_count": 817.99375 + }, + { + "actual_token_mask_ratio": 0.29885373413562777, + "epoch": 0.788478324119872, + "flow_matching_loss": 0.017404847126454116, + "grad_norm": 0.1381336748600006, + "kept_token_count": 573.8109375, + "learning_rate": 2.9866991005494095e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9900363266468049, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00996367884799838, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 318.3290557861328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.24717407226564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2710, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.298947674036026, + "epoch": 0.7913878382310154, + "flow_matching_loss": 0.01825013626366854, + "grad_norm": 0.17689992487430573, + "kept_token_count": 573.51875, + "learning_rate": 2.986478491689952e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9899652361869812, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01003476968035102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 284.70351257324216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.24925842285154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2720, + "valid_token_count": 818.0875 + }, + { + "actual_token_mask_ratio": 0.299894180893898, + "epoch": 0.7942973523421588, + "flow_matching_loss": 0.01837325291708112, + "grad_norm": 0.14695137739181519, + "kept_token_count": 572.8609375, + "learning_rate": 2.986256076618961e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9903886198997498, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00961138429120183, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 293.5221405029297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.1863159179687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2730, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.2991007030010223, + "epoch": 0.7972068664533023, + "flow_matching_loss": 0.01720705395564437, + "grad_norm": 0.1741972416639328, + "kept_token_count": 573.3125, + "learning_rate": 2.986031855606692e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9901998817920685, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009800117556005716, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 286.3654479980469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.7063385009766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2740, + "valid_token_count": 817.9703125 + }, + { + "actual_token_mask_ratio": 0.3006491720676422, + "epoch": 0.8001163805644458, + "flow_matching_loss": 0.01792582143098116, + "grad_norm": 0.14690111577510834, + "kept_token_count": 572.1171875, + "learning_rate": 2.9858058289255954e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.989578366279602, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010421636141836643, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 299.0281707763672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.49602661132815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2750, + "valid_token_count": 818.0734375 + }, + { + "actual_token_mask_ratio": 0.2995342701673508, + "epoch": 0.8030258946755892, + "flow_matching_loss": 0.016880720295011996, + "grad_norm": 0.12646937370300293, + "kept_token_count": 573.2515625, + "learning_rate": 2.985577996850314e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9906103253364563, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009389670845121146, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 289.81919250488284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.7423370361328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2760, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.29896354079246523, + "epoch": 0.8059354087867326, + "flow_matching_loss": 0.021069772914052008, + "grad_norm": 0.15201736986637115, + "kept_token_count": 573.3828125, + "learning_rate": 2.9853483596576856e-05, + "loss": 0.0258, + "mgd_cos_sim": 0.9905693113803864, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009430675860494375, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 285.7711669921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.09332885742185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2770, + "valid_token_count": 817.9015625 + }, + { + "actual_token_mask_ratio": 0.3004766762256622, + "epoch": 0.808844922897876, + "flow_matching_loss": 0.01773212952539325, + "grad_norm": 0.14891815185546875, + "kept_token_count": 572.084375, + "learning_rate": 2.9851169176267412e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9903750360012055, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009624968189746142, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 289.2859741210938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.2549285888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2780, + "valid_token_count": 817.8203125 + }, + { + "actual_token_mask_ratio": 0.2989380359649658, + "epoch": 0.8117544370090195, + "flow_matching_loss": 0.0184461566619575, + "grad_norm": 0.13053813576698303, + "kept_token_count": 573.553125, + "learning_rate": 2.9848836710387044e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.989615398645401, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010384600143879652, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 274.8245819091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.14141235351565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2790, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.2989553540945053, + "epoch": 0.814663951120163, + "flow_matching_loss": 0.019370716717094182, + "grad_norm": 0.17975880205631256, + "kept_token_count": 573.4234375, + "learning_rate": 2.9846486201769917e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9909526109695435, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0090474016033113, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 298.5732482910156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.2826904296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2800, + "valid_token_count": 817.95625 + }, + { + "actual_token_mask_ratio": 0.30098783075809477, + "epoch": 0.8175734652313064, + "flow_matching_loss": 0.02105016503483057, + "grad_norm": 0.15071196854114532, + "kept_token_count": 572.1203125, + "learning_rate": 2.9844117653272122e-05, + "loss": 0.0261, + "mgd_cos_sim": 0.9899379193782807, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010062082298099994, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 286.8245086669922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.09967346191405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2810, + "valid_token_count": 818.4734375 + }, + { + "actual_token_mask_ratio": 0.30126091539859773, + "epoch": 0.8204829793424498, + "flow_matching_loss": 0.019005290046334267, + "grad_norm": 0.12379544973373413, + "kept_token_count": 571.8140625, + "learning_rate": 2.9841731067771676e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9900313198566437, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00996868247166276, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 285.67641296386716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.3941955566406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2820, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.2996456414461136, + "epoch": 0.8233924934535932, + "flow_matching_loss": 0.016498319432139398, + "grad_norm": 0.1153162270784378, + "kept_token_count": 573.2546875, + "learning_rate": 2.9839326448168492e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9907306015491486, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009269422758370638, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 284.7381652832031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.2512939453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2830, + "valid_token_count": 818.5234375 + }, + { + "actual_token_mask_ratio": 0.30025793313980104, + "epoch": 0.8263020075647367, + "flow_matching_loss": 0.016912415996193884, + "grad_norm": 0.0942114070057869, + "kept_token_count": 572.6046875, + "learning_rate": 2.983690379738442e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9908243238925933, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00917567452415824, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 309.4849060058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.2420288085938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2840, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.2995491623878479, + "epoch": 0.8292115216758801, + "flow_matching_loss": 0.016516965162009, + "grad_norm": 0.12379193305969238, + "kept_token_count": 573.2078125, + "learning_rate": 2.9834463118363204e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9910175621509552, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008982438500970602, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 277.17633361816405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.71534118652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2850, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.299423810839653, + "epoch": 0.8321210357870236, + "flow_matching_loss": 0.020531195774674417, + "grad_norm": 0.11865448951721191, + "kept_token_count": 573.43125, + "learning_rate": 2.98320044140705e-05, + "loss": 0.0249, + "mgd_cos_sim": 0.9911794424057007, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008820560947060584, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 318.6260528564453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.7179443359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2860, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.2994837015867233, + "epoch": 0.835030549898167, + "flow_matching_loss": 0.019271775800734758, + "grad_norm": 0.12383215129375458, + "kept_token_count": 573.05625, + "learning_rate": 2.9829527687493868e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9910558223724365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008944187685847283, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 305.53758544921874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.67844848632814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2870, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.29976303279399874, + "epoch": 0.8379400640093104, + "flow_matching_loss": 0.018315200880169868, + "grad_norm": 0.11488594114780426, + "kept_token_count": 572.8765625, + "learning_rate": 2.9827032941642765e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9901324212551117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009867592807859182, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 288.4671325683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.5778564453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2880, + "valid_token_count": 818.125 + }, + { + "actual_token_mask_ratio": 0.29971725046634673, + "epoch": 0.8408495781204539, + "flow_matching_loss": 0.01974296160042286, + "grad_norm": 0.12725701928138733, + "kept_token_count": 573.021875, + "learning_rate": 2.9824520179548535e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9897872328758239, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0102127599529922, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 301.45940856933595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.16814880371095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2890, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.2990907222032547, + "epoch": 0.8437590922315973, + "flow_matching_loss": 0.017780317831784485, + "grad_norm": 0.11368361860513687, + "kept_token_count": 573.3453125, + "learning_rate": 2.9821989404264428e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9905274212360382, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009472582396119833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 264.6512481689453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.71669311523436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2900, + "valid_token_count": 818.003125 + }, + { + "actual_token_mask_ratio": 0.29930259883403776, + "epoch": 0.8466686063427408, + "flow_matching_loss": 0.017370444908738136, + "grad_norm": 0.15835008025169373, + "kept_token_count": 573.528125, + "learning_rate": 2.9819440618865572e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9904867887496949, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009513218328356743, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 328.01905517578126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.61206970214846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2910, + "valid_token_count": 818.50625 + }, + { + "actual_token_mask_ratio": 0.300349822640419, + "epoch": 0.8495781204538843, + "flow_matching_loss": 0.020363673847168685, + "grad_norm": 0.1342797577381134, + "kept_token_count": 572.3734375, + "learning_rate": 2.981687382644898e-05, + "loss": 0.0256, + "mgd_cos_sim": 0.9895264267921448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010473569203168154, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 298.4054718017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.0187133789062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2920, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.2993274986743927, + "epoch": 0.8524876345650276, + "flow_matching_loss": 0.01921399598941207, + "grad_norm": 0.14304345846176147, + "kept_token_count": 573.5921875, + "learning_rate": 2.9814289030133556e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9899323344230652, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010067667439579963, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 300.82041015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.46995239257814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2930, + "valid_token_count": 818.6234375 + }, + { + "actual_token_mask_ratio": 0.29993259310722353, + "epoch": 0.8553971486761711, + "flow_matching_loss": 0.021462542936205864, + "grad_norm": 0.15048886835575104, + "kept_token_count": 572.89375, + "learning_rate": 2.9811686233060058e-05, + "loss": 0.0262, + "mgd_cos_sim": 0.9904986321926117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00950137497857213, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 303.66461181640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.5551300048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2940, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.29983174204826357, + "epoch": 0.8583066627873145, + "flow_matching_loss": 0.017773861065506935, + "grad_norm": 0.14247210323810577, + "kept_token_count": 573.14375, + "learning_rate": 2.9809065438391138e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9901917159557343, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009808286186307668, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 301.7146240234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.17515563964844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2950, + "valid_token_count": 818.5734375 + }, + { + "actual_token_mask_ratio": 0.29947091042995455, + "epoch": 0.861216176898458, + "flow_matching_loss": 0.01926621189340949, + "grad_norm": 0.13800877332687378, + "kept_token_count": 573.3546875, + "learning_rate": 2.9806426649311304e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9906862497329711, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009313748404383659, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 306.01943359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.8179473876953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2960, + "valid_token_count": 818.45625 + }, + { + "actual_token_mask_ratio": 0.299652436375618, + "epoch": 0.8641256910096013, + "flow_matching_loss": 0.017567035276442766, + "grad_norm": 0.13744378089904785, + "kept_token_count": 573.075, + "learning_rate": 2.980376986902694e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9902424156665802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009757595881819726, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.41651306152346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.8213409423828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2970, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.29958401918411254, + "epoch": 0.8670352051207448, + "flow_matching_loss": 0.01833971617743373, + "grad_norm": 0.1258673518896103, + "kept_token_count": 573.23125, + "learning_rate": 2.9801095100766276e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9891883611679078, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010811614338308573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 299.69525451660155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.2582489013672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2980, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.2986153572797775, + "epoch": 0.8699447192318883, + "flow_matching_loss": 0.01649193009361625, + "grad_norm": 0.18194808065891266, + "kept_token_count": 573.740625, + "learning_rate": 2.979840234777942e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9899812161922454, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010018783621490002, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 283.76117553710935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.37950439453124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 2990, + "valid_token_count": 818.0046875 + }, + { + "actual_token_mask_ratio": 0.30004737377166746, + "epoch": 0.8728542333430317, + "flow_matching_loss": 0.016796214040368795, + "grad_norm": 0.11814890801906586, + "kept_token_count": 573.053125, + "learning_rate": 2.979569161333831e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9899856686592102, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010014330502599478, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 306.1754638671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.2046844482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3000, + "valid_token_count": 818.7015625 + }, + { + "actual_token_mask_ratio": 0.30023394227027894, + "epoch": 0.8757637474541752, + "flow_matching_loss": 0.01818486610427499, + "grad_norm": 0.195036381483078, + "kept_token_count": 572.6765625, + "learning_rate": 2.9792962900736744e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9904883325099945, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009511682856827974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 285.7321502685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.4167724609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3010, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.3000565230846405, + "epoch": 0.8786732615653186, + "flow_matching_loss": 0.019093706272542477, + "grad_norm": 0.11289740353822708, + "kept_token_count": 573.084375, + "learning_rate": 2.9790216213290372e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9885941982269287, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01140579292550683, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 298.31093444824216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.4896179199219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3020, + "valid_token_count": 818.7578125 + }, + { + "actual_token_mask_ratio": 0.30170239210128785, + "epoch": 0.881582775676462, + "flow_matching_loss": 0.016160445660352706, + "grad_norm": 0.11963970959186554, + "kept_token_count": 571.559375, + "learning_rate": 2.9787451554336672e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9898892343044281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010110752843320369, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 299.10094299316404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.4280731201172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3030, + "valid_token_count": 818.5 + }, + { + "actual_token_mask_ratio": 0.29992635846138, + "epoch": 0.8844922897876055, + "flow_matching_loss": 0.01899608252570033, + "grad_norm": 0.12191884964704514, + "kept_token_count": 572.996875, + "learning_rate": 2.9784668927234972e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9899618744850158, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010038125608116389, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 308.07216491699216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.66759033203124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3040, + "valid_token_count": 818.4828125 + }, + { + "actual_token_mask_ratio": 0.300832125544548, + "epoch": 0.8874018038987489, + "flow_matching_loss": 0.01601793710142374, + "grad_norm": 0.12524420022964478, + "kept_token_count": 571.884375, + "learning_rate": 2.9781868335366418e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9906543076038361, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00934568401426077, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 285.07990112304685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.8590881347656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3050, + "valid_token_count": 817.9484375 + }, + { + "actual_token_mask_ratio": 0.3004564344882965, + "epoch": 0.8903113180098924, + "flow_matching_loss": 0.01876021418720484, + "grad_norm": 0.13462939858436584, + "kept_token_count": 572.1625, + "learning_rate": 2.9779049782134e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9897144734859467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010285525768995284, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 314.42247619628904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.0633605957031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3060, + "valid_token_count": 817.9125 + }, + { + "actual_token_mask_ratio": 0.3007179856300354, + "epoch": 0.8932208321210358, + "flow_matching_loss": 0.01747593069449067, + "grad_norm": 0.1302429735660553, + "kept_token_count": 572.2046875, + "learning_rate": 2.9776213270962523e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9903440237045288, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009655964933335781, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 282.3258056640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.6572204589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3070, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.2996921420097351, + "epoch": 0.8961303462321792, + "flow_matching_loss": 0.01817864887416363, + "grad_norm": 0.1144213005900383, + "kept_token_count": 572.8484375, + "learning_rate": 2.977335880529861e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9906253218650818, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009374679811298848, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 303.47227783203124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.5190063476563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3080, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.3002843052148819, + "epoch": 0.8990398603433226, + "flow_matching_loss": 0.018377636093646288, + "grad_norm": 0.15952397882938385, + "kept_token_count": 572.415625, + "learning_rate": 2.977048638861072e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9910172581672668, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008982737362384797, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 300.53961791992185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.9185455322266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3090, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.29933409988880155, + "epoch": 0.9019493744544661, + "flow_matching_loss": 0.01984314536675811, + "grad_norm": 0.10915837436914444, + "kept_token_count": 573.1609375, + "learning_rate": 2.97675960243891e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9900960087776184, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009903994202613831, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 297.9333770751953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.0198272705078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3100, + "valid_token_count": 818.0234375 + }, + { + "actual_token_mask_ratio": 0.29953857958316804, + "epoch": 0.9048588885656096, + "flow_matching_loss": 0.017204072419553997, + "grad_norm": 0.10829003155231476, + "kept_token_count": 573.2328125, + "learning_rate": 2.976468771614582e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9908292889595032, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009170707874000072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 310.98731384277346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.3479919433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3110, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.3002043068408966, + "epoch": 0.907768402676753, + "flow_matching_loss": 0.01757825994864106, + "grad_norm": 0.10499406605958939, + "kept_token_count": 572.7359375, + "learning_rate": 2.9761761467414736e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9904693007469177, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009530712943524122, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 310.7416198730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.5428771972656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3120, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.3003817439079285, + "epoch": 0.9106779167878964, + "flow_matching_loss": 0.020337601844221353, + "grad_norm": 0.15481355786323547, + "kept_token_count": 572.3890625, + "learning_rate": 2.9758817281751538e-05, + "loss": 0.0251, + "mgd_cos_sim": 0.9904478073120118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009552191197872161, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.2942810058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.3907104492188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3130, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.30044202208518983, + "epoch": 0.9135874308990398, + "flow_matching_loss": 0.01775026647374034, + "grad_norm": 0.11342467367649078, + "kept_token_count": 572.421875, + "learning_rate": 2.975585516273367e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9907095730304718, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009290432278066873, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 314.71299133300784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.09120178222656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3140, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3008023172616959, + "epoch": 0.9164969450101833, + "flow_matching_loss": 0.017073377221822738, + "grad_norm": 0.09981300681829453, + "kept_token_count": 572.2015625, + "learning_rate": 2.975287511396039e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.990831059217453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009168934542685747, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 291.8937103271484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.22975158691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3150, + "valid_token_count": 818.3796875 + }, + { + "actual_token_mask_ratio": 0.2998405426740646, + "epoch": 0.9194064591213268, + "flow_matching_loss": 0.017429150734096767, + "grad_norm": 0.1489221751689911, + "kept_token_count": 573.0296875, + "learning_rate": 2.9749877139052745e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9900098860263824, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009990112017840147, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.26642456054685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8555114746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3160, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.3001315087080002, + "epoch": 0.9223159732324702, + "flow_matching_loss": 0.01628525061532855, + "grad_norm": 0.09884076565504074, + "kept_token_count": 572.6828125, + "learning_rate": 2.9746861241653555e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9907312512397766, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009268752112984658, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 283.7704193115234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.08497009277346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3170, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.3007418066263199, + "epoch": 0.9252254873436137, + "flow_matching_loss": 0.016864745412021875, + "grad_norm": 0.10792718827724457, + "kept_token_count": 572.2703125, + "learning_rate": 2.9743827425427416e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9902754485607147, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009724538121372462, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.1838897705078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.95912780761716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3180, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.29977133572101594, + "epoch": 0.928135001454757, + "flow_matching_loss": 0.018790862895548342, + "grad_norm": 0.12666432559490204, + "kept_token_count": 572.9140625, + "learning_rate": 2.9740775694060704e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9900061845779419, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009993821196258069, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 287.97284240722655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.34410705566404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3190, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.3006925642490387, + "epoch": 0.9310445155659005, + "flow_matching_loss": 0.017908538319170476, + "grad_norm": 0.10079477727413177, + "kept_token_count": 572.3171875, + "learning_rate": 2.973770605126156e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9900035321712494, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009996473044157028, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 324.7830078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 362.62229919433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3200, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.30066891610622404, + "epoch": 0.9339540296770439, + "flow_matching_loss": 0.017996829561889173, + "grad_norm": 0.11922173202037811, + "kept_token_count": 572.225, + "learning_rate": 2.9734618500759886e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9899343132972718, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010065688285976648, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 274.3381744384766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.07896728515624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3210, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.2991116434335709, + "epoch": 0.9368635437881874, + "flow_matching_loss": 0.016788286995142697, + "grad_norm": 0.1274036318063736, + "kept_token_count": 573.453125, + "learning_rate": 2.9731513046307356e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9905382335186005, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009461763873696327, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.6934844970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.06956787109374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3220, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.3004645764827728, + "epoch": 0.9397730578993309, + "flow_matching_loss": 0.01460483269765973, + "grad_norm": 0.13974957168102264, + "kept_token_count": 572.375, + "learning_rate": 2.972838969167738e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9910664200782776, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008933586347848178, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 281.4966796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.41538696289064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3230, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.3003882497549057, + "epoch": 0.9426825720104742, + "flow_matching_loss": 0.017308019567281008, + "grad_norm": 0.13012997806072235, + "kept_token_count": 572.221875, + "learning_rate": 2.972524844066513e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9910832345485687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008916766941547393, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 325.31321411132814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.95737915039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3240, + "valid_token_count": 817.9109375 + }, + { + "actual_token_mask_ratio": 0.2998496204614639, + "epoch": 0.9455920861216177, + "flow_matching_loss": 0.01711809039115906, + "grad_norm": 0.15934549272060394, + "kept_token_count": 572.9828125, + "learning_rate": 2.9722089297087524e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9901232361793518, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00987676801159978, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 317.90907592773436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.0113861083984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3250, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.29933681190013883, + "epoch": 0.9485016002327611, + "flow_matching_loss": 0.018902256432920695, + "grad_norm": 0.14190071821212769, + "kept_token_count": 573.3, + "learning_rate": 2.971891226478322e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9904535353183747, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009546475764364005, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.7989776611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.4964233398438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3260, + "valid_token_count": 818.21875 + }, + { + "actual_token_mask_ratio": 0.3002332776784897, + "epoch": 0.9514111143439046, + "flow_matching_loss": 0.017275276966392993, + "grad_norm": 0.1125263124704361, + "kept_token_count": 572.8078125, + "learning_rate": 2.9715717347612615e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.99105144739151, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008948556333780288, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 319.8768798828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.9123901367187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3270, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.2998674362897873, + "epoch": 0.9543206284550481, + "flow_matching_loss": 0.018966175988316535, + "grad_norm": 0.12128745019435883, + "kept_token_count": 572.825, + "learning_rate": 2.971250454945783e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9900227904319763, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009977202769368887, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 297.9015411376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.91298217773436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3280, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.2998585909605026, + "epoch": 0.9572301425661914, + "flow_matching_loss": 0.022547249123454093, + "grad_norm": 0.13646413385868073, + "kept_token_count": 572.9265625, + "learning_rate": 2.970927387422272e-05, + "loss": 0.0277, + "mgd_cos_sim": 0.9897336959838867, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010266311094164848, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.77369384765626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.96083374023436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3290, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.29951349794864657, + "epoch": 0.9601396566773349, + "flow_matching_loss": 0.017840387672185896, + "grad_norm": 0.14296479523181915, + "kept_token_count": 573.2828125, + "learning_rate": 2.9706025325832858e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9906165063381195, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009383497945964336, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.3925750732422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.10756530761716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3300, + "valid_token_count": 818.4125 + }, + { + "actual_token_mask_ratio": 0.30009802579879763, + "epoch": 0.9630491707884783, + "flow_matching_loss": 0.017847837693989278, + "grad_norm": 0.12084582448005676, + "kept_token_count": 572.68125, + "learning_rate": 2.9702758908235534e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9909524261951447, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0090475806966424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 312.3553771972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.0339416503906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3310, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.29898045063018797, + "epoch": 0.9659586848996218, + "flow_matching_loss": 0.020717688649892808, + "grad_norm": 0.16482073068618774, + "kept_token_count": 573.6890625, + "learning_rate": 2.9699474625399765e-05, + "loss": 0.0255, + "mgd_cos_sim": 0.9903359949588776, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009664001408964396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 317.1341613769531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.0254730224609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3320, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.29890601336956024, + "epoch": 0.9688681990107652, + "flow_matching_loss": 0.01747744483873248, + "grad_norm": 0.15779231488704681, + "kept_token_count": 573.6390625, + "learning_rate": 2.9696172481316246e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9906206071376801, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009379382338374853, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.52978515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.65724487304686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3330, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.29914245903491976, + "epoch": 0.9717777131219086, + "flow_matching_loss": 0.018266689591109754, + "grad_norm": 0.10554627329111099, + "kept_token_count": 573.2703125, + "learning_rate": 2.9692852479997407e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9904752492904663, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009524747729301453, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 302.0650665283203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8129486083984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3340, + "valid_token_count": 817.959375 + }, + { + "actual_token_mask_ratio": 0.3002750247716904, + "epoch": 0.9746872272330521, + "flow_matching_loss": 0.01758817248046398, + "grad_norm": 0.13186484575271606, + "kept_token_count": 572.4078125, + "learning_rate": 2.9689514625477364e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9902571678161621, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009742838609963656, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 298.2903625488281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.26435546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3350, + "valid_token_count": 818.04375 + }, + { + "actual_token_mask_ratio": 0.2999037176370621, + "epoch": 0.9775967413441955, + "flow_matching_loss": 0.017704950273036958, + "grad_norm": 0.12691880762577057, + "kept_token_count": 572.70625, + "learning_rate": 2.968615892181192e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9900617599487305, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009938238095492125, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.7684600830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.2305053710937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3360, + "valid_token_count": 818.04375 + }, + { + "actual_token_mask_ratio": 0.29932386577129366, + "epoch": 0.980506255455339, + "flow_matching_loss": 0.019133031461387874, + "grad_norm": 0.11899054795503616, + "kept_token_count": 573.3, + "learning_rate": 2.9682785373078567e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9902033269405365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009796679485589266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 287.3190948486328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.5876129150391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3370, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.3002873569726944, + "epoch": 0.9834157695664824, + "flow_matching_loss": 0.01552142333239317, + "grad_norm": 0.11704471707344055, + "kept_token_count": 572.646875, + "learning_rate": 2.9679393983376493e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.990415894985199, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009584094770252705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.90781860351564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.3682464599609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3380, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.3008997917175293, + "epoch": 0.9863252836776258, + "flow_matching_loss": 0.01575710540637374, + "grad_norm": 0.10897890478372574, + "kept_token_count": 571.95625, + "learning_rate": 2.9675984756826545e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9899813175201416, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010018687322735786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 293.9374725341797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.22535400390626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3390, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.29913819432258604, + "epoch": 0.9892347977887693, + "flow_matching_loss": 0.020123587641865014, + "grad_norm": 0.13514293730258942, + "kept_token_count": 573.24375, + "learning_rate": 2.9672557697571273e-05, + "loss": 0.0251, + "mgd_cos_sim": 0.9901287972927093, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009871184546500444, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 303.800927734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.2044342041016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3400, + "valid_token_count": 817.9125 + }, + { + "actual_token_mask_ratio": 0.29901827275753023, + "epoch": 0.9921443118999127, + "flow_matching_loss": 0.016082274727523327, + "grad_norm": 0.1382346898317337, + "kept_token_count": 573.4953125, + "learning_rate": 2.966911280977486e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9903481543064118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009651854541152716, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 282.6113677978516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.3680450439453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3410, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.29942195415496825, + "epoch": 0.9950538260110562, + "flow_matching_loss": 0.015586554910987616, + "grad_norm": 0.16075924038887024, + "kept_token_count": 573.2390625, + "learning_rate": 2.966565009762318e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9899604558944702, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010039546340703965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.54246520996094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8994201660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3420, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.299189692735672, + "epoch": 0.9979633401221996, + "flow_matching_loss": 0.02024290608242154, + "grad_norm": 0.12512589991092682, + "kept_token_count": 573.353125, + "learning_rate": 2.966216956532375e-05, + "loss": 0.0253, + "mgd_cos_sim": 0.9899185299873352, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010081474389880895, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 308.9860443115234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.07029724121094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3430, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.29897684454917905, + "epoch": 1.000872854233343, + "flow_matching_loss": 0.021467454545199872, + "grad_norm": 0.1109338104724884, + "kept_token_count": 573.378125, + "learning_rate": 2.9658671217105744e-05, + "loss": 0.0267, + "mgd_cos_sim": 0.9895996689796448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01040031174197793, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 326.847265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.0737701416016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3440, + "valid_token_count": 817.9140625 + }, + { + "actual_token_mask_ratio": 0.29993063509464263, + "epoch": 1.0037823683444864, + "flow_matching_loss": 0.018844923190772533, + "grad_norm": 0.13003750145435333, + "kept_token_count": 573.0796875, + "learning_rate": 2.965515505721999e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9897074222564697, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010292580723762513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 303.8587646484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.3287750244141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3450, + "valid_token_count": 818.6046875 + }, + { + "actual_token_mask_ratio": 0.29993476867675783, + "epoch": 1.00669188245563, + "flow_matching_loss": 0.019906042888760567, + "grad_norm": 0.13426412642002106, + "kept_token_count": 572.5640625, + "learning_rate": 2.9651621089938948e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.990816181898117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009183804597705602, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 298.9308319091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.6108459472656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3460, + "valid_token_count": 817.875 + }, + { + "actual_token_mask_ratio": 0.3003972738981247, + "epoch": 1.0096013965667734, + "flow_matching_loss": 0.01646851496770978, + "grad_norm": 0.1199224591255188, + "kept_token_count": 572.5859375, + "learning_rate": 2.9648069319556725e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9900296449661254, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00997035000473261, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.51255493164064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.64573974609374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3470, + "valid_token_count": 818.446875 + }, + { + "actual_token_mask_ratio": 0.3000331252813339, + "epoch": 1.0125109106779169, + "flow_matching_loss": 0.019391126465052366, + "grad_norm": 0.15104283392429352, + "kept_token_count": 573.0328125, + "learning_rate": 2.9644499750389057e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9907484650611877, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009251526836305857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.19671936035155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.4464111328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3480, + "valid_token_count": 818.6578125 + }, + { + "actual_token_mask_ratio": 0.299595034122467, + "epoch": 1.0154204247890601, + "flow_matching_loss": 0.016791229136288166, + "grad_norm": 0.14323118329048157, + "kept_token_count": 573.1328125, + "learning_rate": 2.9640912386773305e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9904353857040405, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009564636740833521, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 318.4386505126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.8186309814453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3490, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.3004143476486206, + "epoch": 1.0183299389002036, + "flow_matching_loss": 0.01712633864954114, + "grad_norm": 0.16096432507038116, + "kept_token_count": 572.51875, + "learning_rate": 2.9637307233068455e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9902646660804748, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009735345840454102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 308.02960510253905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.6671844482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3500, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.2995652049779892, + "epoch": 1.021239453011347, + "flow_matching_loss": 0.016947823576629162, + "grad_norm": 0.11573785543441772, + "kept_token_count": 573.0875, + "learning_rate": 2.9633684293655108e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9904072403907775, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009592767618596554, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 318.53591003417966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.85573120117186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3510, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.30085051357746123, + "epoch": 1.0241489671224906, + "flow_matching_loss": 0.01991308620199561, + "grad_norm": 0.1404537558555603, + "kept_token_count": 572.14375, + "learning_rate": 2.963004357293548e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9908548057079315, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00914519177749753, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 298.8601501464844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8382568359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3520, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.29877917766571044, + "epoch": 1.027058481233634, + "flow_matching_loss": 0.019265706557780503, + "grad_norm": 0.11170802265405655, + "kept_token_count": 573.8765625, + "learning_rate": 2.962638507533339e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9908797860145568, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009120205789804459, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 309.04160461425784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.3322326660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3530, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.3012669950723648, + "epoch": 1.0299679953447773, + "flow_matching_loss": 0.017632672656327487, + "grad_norm": 0.12462685257196426, + "kept_token_count": 572.075, + "learning_rate": 2.962270880529425e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9903430759906768, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009656919166445732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 310.17625122070314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.7675415039063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3540, + "valid_token_count": 818.73125 + }, + { + "actual_token_mask_ratio": 0.30038002133369446, + "epoch": 1.0328775094559208, + "flow_matching_loss": 0.017992108408361674, + "grad_norm": 0.14297530055046082, + "kept_token_count": 572.4546875, + "learning_rate": 2.9619014767285084e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9896297991275788, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010370199009776116, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.0292114257812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.5938354492188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3550, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.30081273913383483, + "epoch": 1.0357870235670643, + "flow_matching_loss": 0.018316643591970206, + "grad_norm": 0.1616438627243042, + "kept_token_count": 572.0375, + "learning_rate": 2.9615302965794488e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9900820136070252, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009917982574552297, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 305.30677795410156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.97673950195315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3560, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.30077717900276185, + "epoch": 1.0386965376782078, + "flow_matching_loss": 0.018474970106035472, + "grad_norm": 0.13895761966705322, + "kept_token_count": 572.1, + "learning_rate": 2.961157340533266e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9904636859893798, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009536320343613625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 322.54429016113284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 363.2784423828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3570, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.30115216672420503, + "epoch": 1.0416060517893513, + "flow_matching_loss": 0.019653998874127866, + "grad_norm": 0.1254454106092453, + "kept_token_count": 572.025, + "learning_rate": 2.9607826090431364e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9901224970817566, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009877507761120796, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 295.1824584960938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.8927825927734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3580, + "valid_token_count": 818.528125 + }, + { + "actual_token_mask_ratio": 0.29950237572193145, + "epoch": 1.0445155659004945, + "flow_matching_loss": 0.018135616648942234, + "grad_norm": 0.1251777559518814, + "kept_token_count": 573.2703125, + "learning_rate": 2.9604061025643936e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9902508139610291, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009749186132103205, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.00360107421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.9582916259766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3590, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.30048232078552245, + "epoch": 1.047425080011638, + "flow_matching_loss": 0.019677744898945092, + "grad_norm": 0.15282683074474335, + "kept_token_count": 572.425, + "learning_rate": 2.9600278215545292e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9902128398418426, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00978717189282179, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 305.59205932617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.90650634765626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3600, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.29945031106472014, + "epoch": 1.0503345941227815, + "flow_matching_loss": 0.017099732346832753, + "grad_norm": 0.1353718787431717, + "kept_token_count": 573.059375, + "learning_rate": 2.95964776647319e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9904581665992737, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009541831072419881, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 326.2698669433594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.7980499267578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3610, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.3008485704660416, + "epoch": 1.053244108233925, + "flow_matching_loss": 0.01582943703979254, + "grad_norm": 0.1399046778678894, + "kept_token_count": 571.7859375, + "learning_rate": 2.9592659377821787e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9907754302024842, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009224564023315906, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 310.0683349609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.4642028808594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3620, + "valid_token_count": 817.8328125 + }, + { + "actual_token_mask_ratio": 0.2995575308799744, + "epoch": 1.0561536223450685, + "flow_matching_loss": 0.016845837235450745, + "grad_norm": 0.1435232013463974, + "kept_token_count": 573.0140625, + "learning_rate": 2.9588823359454528e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9903251111507416, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009674894530326128, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 318.03001098632814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.82146606445315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3630, + "valid_token_count": 818.0765625 + }, + { + "actual_token_mask_ratio": 0.30063248574733736, + "epoch": 1.0590631364562118, + "flow_matching_loss": 0.017828450445085763, + "grad_norm": 0.12413384765386581, + "kept_token_count": 572.4828125, + "learning_rate": 2.958496961429126e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9898469746112823, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010153045132756233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 302.2937530517578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.6551544189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3640, + "valid_token_count": 818.571875 + }, + { + "actual_token_mask_ratio": 0.30020134449005126, + "epoch": 1.0619726505673552, + "flow_matching_loss": 0.019770189933478833, + "grad_norm": 0.19208450615406036, + "kept_token_count": 572.5640625, + "learning_rate": 2.9581098147014628e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9898528754711151, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010147120151668788, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 309.8838684082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.323388671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3650, + "valid_token_count": 818.18125 + }, + { + "actual_token_mask_ratio": 0.3001510679721832, + "epoch": 1.0648821646784987, + "flow_matching_loss": 0.018656536377966403, + "grad_norm": 0.1737009882926941, + "kept_token_count": 572.671875, + "learning_rate": 2.9577208962328843e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9902230024337768, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009776990301907063, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.62928161621096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.72935485839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3660, + "valid_token_count": 818.2765625 + }, + { + "actual_token_mask_ratio": 0.30072590708732605, + "epoch": 1.0677916787896422, + "flow_matching_loss": 0.018800105154514312, + "grad_norm": 0.1293163150548935, + "kept_token_count": 572.215625, + "learning_rate": 2.9573302064959633e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.99029061794281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009709376376122236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 321.4449523925781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.203466796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3670, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.30001779496669767, + "epoch": 1.0707011929007855, + "flow_matching_loss": 0.016642030514776706, + "grad_norm": 0.1485670804977417, + "kept_token_count": 573.0296875, + "learning_rate": 2.9569377459654235e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9895609676837921, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010439044237136841, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 319.2154907226562, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.88352966308594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3680, + "valid_token_count": 818.634375 + }, + { + "actual_token_mask_ratio": 0.3000784754753113, + "epoch": 1.073610707011929, + "flow_matching_loss": 0.017422547470778225, + "grad_norm": 0.12097486853599548, + "kept_token_count": 572.7125, + "learning_rate": 2.9565435151181424e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9903223097324372, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009677690453827381, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.7829162597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.21595764160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3690, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.29942719340324403, + "epoch": 1.0765202211230724, + "flow_matching_loss": 0.019210020266473293, + "grad_norm": 0.11293396353721619, + "kept_token_count": 573.4984375, + "learning_rate": 2.9561475144331473e-05, + "loss": 0.024, + "mgd_cos_sim": 0.990431421995163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009568576142191887, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.84638671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.6080322265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3700, + "valid_token_count": 818.6125 + }, + { + "actual_token_mask_ratio": 0.2996268391609192, + "epoch": 1.079429735234216, + "flow_matching_loss": 0.01839535403996706, + "grad_norm": 0.11564436554908752, + "kept_token_count": 573.0296875, + "learning_rate": 2.9557497443916162e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9896515965461731, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01034839851781726, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 327.17438354492185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.9458465576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3710, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.3006468594074249, + "epoch": 1.0823392493453594, + "flow_matching_loss": 0.019565537199378015, + "grad_norm": 0.11884509772062302, + "kept_token_count": 572.346875, + "learning_rate": 2.9553502054768774e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9897132515907288, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010286737419664859, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 326.3923309326172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.4860382080078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3720, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.3011487364768982, + "epoch": 1.0852487634565027, + "flow_matching_loss": 0.018106057215481995, + "grad_norm": 0.0988449677824974, + "kept_token_count": 571.8375, + "learning_rate": 2.954948898174409e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9899812757968902, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01001873854547739, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.8383087158203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.0278289794922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3730, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.2992502093315125, + "epoch": 1.0881582775676462, + "flow_matching_loss": 0.017841384653002022, + "grad_norm": 0.1168820858001709, + "kept_token_count": 573.4453125, + "learning_rate": 2.954545822971836e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9900457799434662, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009954231791198254, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.8724609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.2018249511719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3740, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.29935765266418457, + "epoch": 1.0910677916787896, + "flow_matching_loss": 0.019423131737858056, + "grad_norm": 0.13695892691612244, + "kept_token_count": 573.0171875, + "learning_rate": 2.9541409803589335e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9904764413833618, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009523550886660815, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 335.2089904785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.514501953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3750, + "valid_token_count": 817.840625 + }, + { + "actual_token_mask_ratio": 0.30057176649570466, + "epoch": 1.0939773057899331, + "flow_matching_loss": 0.0182825718075037, + "grad_norm": 0.13944606482982635, + "kept_token_count": 572.31875, + "learning_rate": 2.9537343708276235e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9900639295578003, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00993608022108674, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 297.55739135742186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.65508728027345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3760, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.2989803910255432, + "epoch": 1.0968868199010766, + "flow_matching_loss": 0.01703424025326967, + "grad_norm": 0.09794678539037704, + "kept_token_count": 573.4484375, + "learning_rate": 2.953325994871975e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9904971420764923, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009502854943275452, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.3110412597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.11338195800784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3770, + "valid_token_count": 818.0234375 + }, + { + "actual_token_mask_ratio": 0.2993423044681549, + "epoch": 1.0997963340122199, + "flow_matching_loss": 0.016523742768913507, + "grad_norm": 0.12978632748126984, + "kept_token_count": 573.4234375, + "learning_rate": 2.9529158529882023e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9905285358428955, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009471462666988372, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 302.8608734130859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.1423400878906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3780, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.29919254779815674, + "epoch": 1.1027058481233634, + "flow_matching_loss": 0.01809214074164629, + "grad_norm": 0.1287577897310257, + "kept_token_count": 573.35, + "learning_rate": 2.9525039456746677e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9906541764736175, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009345807507634163, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 337.77386169433595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.9533325195313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3790, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.29983083009719846, + "epoch": 1.1056153622345068, + "flow_matching_loss": 0.01848758403211832, + "grad_norm": 0.15178939700126648, + "kept_token_count": 572.8484375, + "learning_rate": 2.952090273431877e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9903096735477448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009690329059958458, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 308.65748291015626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.26695251464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3800, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.30155782103538514, + "epoch": 1.1085248763456503, + "flow_matching_loss": 0.01645293701440096, + "grad_norm": 0.14193576574325562, + "kept_token_count": 571.3375, + "learning_rate": 2.9516748367624808e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9904445528984069, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009555447660386563, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 300.34201965332034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.74012756347656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3810, + "valid_token_count": 818.0203125 + }, + { + "actual_token_mask_ratio": 0.2987655609846115, + "epoch": 1.1114343904567938, + "flow_matching_loss": 0.0184515873901546, + "grad_norm": 0.12284122407436371, + "kept_token_count": 573.8, + "learning_rate": 2.951257636171274e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9905518651008606, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009448138345032931, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.1237274169922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.7444732666016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3820, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3009074479341507, + "epoch": 1.114343904567937, + "flow_matching_loss": 0.018492656759917736, + "grad_norm": 0.10556749999523163, + "kept_token_count": 572.1734375, + "learning_rate": 2.9508386721651944e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9908803761005401, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00911961765959859, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.61716918945314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.25201721191405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3830, + "valid_token_count": 818.44375 + }, + { + "actual_token_mask_ratio": 0.30038482546806333, + "epoch": 1.1172534186790806, + "flow_matching_loss": 0.017634712811559438, + "grad_norm": 0.09903652966022491, + "kept_token_count": 572.4375, + "learning_rate": 2.9504179452533228e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9905325770378113, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00946741821244359, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.7215179443359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.2592742919922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3840, + "valid_token_count": 818.21875 + }, + { + "actual_token_mask_ratio": 0.29954604506492616, + "epoch": 1.120162932790224, + "flow_matching_loss": 0.01754458053037524, + "grad_norm": 0.13507181406021118, + "kept_token_count": 573.2203125, + "learning_rate": 2.9499954559468826e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9904526710510254, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009547330252826215, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 315.29112854003904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.6165008544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3850, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.30065388381481173, + "epoch": 1.1230724469013675, + "flow_matching_loss": 0.018225923273712398, + "grad_norm": 0.12682047486305237, + "kept_token_count": 572.0625, + "learning_rate": 2.9495712047592378e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.989889943599701, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010110065806657076, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 306.7564758300781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.0837799072266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3860, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.30051869750022886, + "epoch": 1.1259819610125108, + "flow_matching_loss": 0.019704705011099576, + "grad_norm": 0.1341373771429062, + "kept_token_count": 572.3640625, + "learning_rate": 2.949145192205893e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9902238011360168, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009776185173541308, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.28367309570314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.56260070800784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3870, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.29973105192184446, + "epoch": 1.1288914751236543, + "flow_matching_loss": 0.018266568426042795, + "grad_norm": 0.12328826636075974, + "kept_token_count": 572.959375, + "learning_rate": 2.9487174188044953e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9906811773777008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009318821225315332, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 292.6940643310547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.8622802734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3880, + "valid_token_count": 818.2 + }, + { + "actual_token_mask_ratio": 0.29983929097652434, + "epoch": 1.1318009892347978, + "flow_matching_loss": 0.017117377277463673, + "grad_norm": 0.1409553587436676, + "kept_token_count": 572.9234375, + "learning_rate": 2.9482878850748276e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9904156386852264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009584363084286451, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 337.5586334228516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.1315582275391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3890, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.30003821551799775, + "epoch": 1.1347105033459413, + "flow_matching_loss": 0.01891563544049859, + "grad_norm": 0.15030747652053833, + "kept_token_count": 572.8890625, + "learning_rate": 2.9478565915388157e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9894779086112976, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010522096510976553, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 321.9434814453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.2082489013672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3900, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.3003260612487793, + "epoch": 1.1376200174570847, + "flow_matching_loss": 0.02058451743796468, + "grad_norm": 0.12035828828811646, + "kept_token_count": 572.6171875, + "learning_rate": 2.9474235387205207e-05, + "loss": 0.0254, + "mgd_cos_sim": 0.9903134167194366, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00968658532947302, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 334.0896759033203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.1570709228516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3910, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.30035060048103335, + "epoch": 1.140529531568228, + "flow_matching_loss": 0.01977912997826934, + "grad_norm": 0.13850228488445282, + "kept_token_count": 572.4953125, + "learning_rate": 2.946988727146143e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.990630692243576, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00936932573094964, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 312.6799011230469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.41041564941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3920, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.29921679496765136, + "epoch": 1.1434390456793715, + "flow_matching_loss": 0.016206514090299606, + "grad_norm": 0.13297422230243683, + "kept_token_count": 573.071875, + "learning_rate": 2.9465521573440196e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9912310600280761, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008768944442272187, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 314.17844543457034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.1699737548828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3930, + "valid_token_count": 817.759375 + }, + { + "actual_token_mask_ratio": 0.3002989590167999, + "epoch": 1.146348559790515, + "flow_matching_loss": 0.017171513754874468, + "grad_norm": 0.14007209241390228, + "kept_token_count": 572.4578125, + "learning_rate": 2.946113829844624e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9903712749481202, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00962872914969921, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 314.2894989013672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.0844360351563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3940, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.3007091909646988, + "epoch": 1.1492580739016585, + "flow_matching_loss": 0.017095619812607765, + "grad_norm": 0.13034798204898834, + "kept_token_count": 572.165625, + "learning_rate": 2.945673745180566e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9904114544391632, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009588536247611046, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.4610565185547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.1411376953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3950, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.30026757419109346, + "epoch": 1.152167588012802, + "flow_matching_loss": 0.019329074770212173, + "grad_norm": 0.140751913189888, + "kept_token_count": 572.48125, + "learning_rate": 2.945231903886589e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.989530473947525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01046954169869423, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.4417694091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.3184783935547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3960, + "valid_token_count": 818.15 + }, + { + "actual_token_mask_ratio": 0.30000336170196534, + "epoch": 1.1550771021239452, + "flow_matching_loss": 0.017838115245103835, + "grad_norm": 0.13395282626152039, + "kept_token_count": 572.7875, + "learning_rate": 2.9447883064995728e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9904108047485352, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009589193481951952, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.51080017089845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.65435180664065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3970, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.2989711731672287, + "epoch": 1.1579866162350887, + "flow_matching_loss": 0.023757723066955803, + "grad_norm": 0.14547628164291382, + "kept_token_count": 573.728125, + "learning_rate": 2.9443429535585288e-05, + "loss": 0.0285, + "mgd_cos_sim": 0.9905937969684601, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009406194742769002, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 310.0739044189453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.5907745361328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3980, + "valid_token_count": 818.4078125 + }, + { + "actual_token_mask_ratio": 0.30048043727874757, + "epoch": 1.1608961303462322, + "flow_matching_loss": 0.02119531696662307, + "grad_norm": 0.1569616198539734, + "kept_token_count": 572.3296875, + "learning_rate": 2.9438958456046044e-05, + "loss": 0.0261, + "mgd_cos_sim": 0.9902126431465149, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009787346888333558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 338.37953491210936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.60105895996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 3990, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.2991031140089035, + "epoch": 1.1638056444573757, + "flow_matching_loss": 0.018529744911938907, + "grad_norm": 0.10026098787784576, + "kept_token_count": 573.2453125, + "learning_rate": 2.9434469831810765e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9905099689960479, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00949002532288432, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 308.7342254638672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.549267578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4000, + "valid_token_count": 817.878125 + }, + { + "actual_token_mask_ratio": 0.3008780151605606, + "epoch": 1.1667151585685192, + "flow_matching_loss": 0.019953280314803125, + "grad_norm": 0.11786936968564987, + "kept_token_count": 571.971875, + "learning_rate": 2.9429963668333566e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9905925929546356, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009407407883554698, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 335.4200500488281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.5104522705078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4010, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.2993972599506378, + "epoch": 1.1696246726796624, + "flow_matching_loss": 0.016865289025008678, + "grad_norm": 0.1311359852552414, + "kept_token_count": 573.4828125, + "learning_rate": 2.9425439971089845e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9909803926944732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009019625652581454, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 314.0924377441406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.3870513916016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4020, + "valid_token_count": 818.5609375 + }, + { + "actual_token_mask_ratio": 0.30005186796188354, + "epoch": 1.172534186790806, + "flow_matching_loss": 0.016446601413190366, + "grad_norm": 0.12850891053676605, + "kept_token_count": 572.8984375, + "learning_rate": 2.9420898745576336e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.990699726343155, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009300261083990336, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 329.9241485595703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.93836975097656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4030, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.298904624581337, + "epoch": 1.1754437009019494, + "flow_matching_loss": 0.017742379289120435, + "grad_norm": 0.12131331115961075, + "kept_token_count": 573.5046875, + "learning_rate": 2.9416339997311044e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9901103138923645, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009889675583690406, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.32432861328124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.6788848876953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4040, + "valid_token_count": 818.0125 + }, + { + "actual_token_mask_ratio": 0.3010235339403152, + "epoch": 1.1783532150130929, + "flow_matching_loss": 0.016019944660365583, + "grad_norm": 0.12227372825145721, + "kept_token_count": 572.0515625, + "learning_rate": 2.941176373183329e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9907025158405304, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009297492261976004, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 321.18105163574216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.2914703369141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4050, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.2990885555744171, + "epoch": 1.1812627291242364, + "flow_matching_loss": 0.017427146155387162, + "grad_norm": 0.12957781553268433, + "kept_token_count": 573.409375, + "learning_rate": 2.9407169954703653e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9907121241092682, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009287882689386606, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.2103332519531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.4443725585937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4060, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.30067485868930816, + "epoch": 1.1841722432353796, + "flow_matching_loss": 0.017964433878660202, + "grad_norm": 0.12061988562345505, + "kept_token_count": 572.225, + "learning_rate": 2.9402558671504018e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9904142677783966, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009585732035338879, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 337.1296752929687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.66680297851565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4070, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.2997139245271683, + "epoch": 1.187081757346523, + "flow_matching_loss": 0.01786011764779687, + "grad_norm": 0.10443318635225296, + "kept_token_count": 573.171875, + "learning_rate": 2.9397929887837524e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9903647184371949, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009635278955101967, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 324.2805908203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.4124389648438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4080, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.29952630698680877, + "epoch": 1.1899912714576666, + "flow_matching_loss": 0.017643692344427107, + "grad_norm": 0.18279865384101868, + "kept_token_count": 572.8921875, + "learning_rate": 2.939328360932858e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9901584982872009, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009841500036418437, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 329.3002502441406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.1361145019531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4090, + "valid_token_count": 817.8609375 + }, + { + "actual_token_mask_ratio": 0.3006470263004303, + "epoch": 1.19290078556881, + "flow_matching_loss": 0.018548727501183748, + "grad_norm": 0.12519533932209015, + "kept_token_count": 572.209375, + "learning_rate": 2.938861984162285e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9901704728603363, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009829526394605636, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 306.7802734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.26137084960936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4100, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.3007981479167938, + "epoch": 1.1958102996799536, + "flow_matching_loss": 0.01826406680047512, + "grad_norm": 0.11918742209672928, + "kept_token_count": 572.43125, + "learning_rate": 2.938393859038726e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9900128901004791, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00998711483553052, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 329.60072631835936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.22405395507815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4110, + "valid_token_count": 818.690625 + }, + { + "actual_token_mask_ratio": 0.30033630430698394, + "epoch": 1.1987198137910968, + "flow_matching_loss": 0.017237648647278548, + "grad_norm": 0.13290266692638397, + "kept_token_count": 572.4515625, + "learning_rate": 2.9379239861309964e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9905820965766907, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009417917113751173, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.20994567871094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.3452850341797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4120, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.29975531101226804, + "epoch": 1.2016293279022403, + "flow_matching_loss": 0.015585491433739662, + "grad_norm": 0.11762959510087967, + "kept_token_count": 572.9453125, + "learning_rate": 2.937452366010036e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9907218217849731, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009278173185884952, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.38059387207034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.08563842773435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4130, + "valid_token_count": 818.2015625 + }, + { + "actual_token_mask_ratio": 0.3001595139503479, + "epoch": 1.2045388420133838, + "flow_matching_loss": 0.021214115712791682, + "grad_norm": 0.10478848218917847, + "kept_token_count": 572.7328125, + "learning_rate": 2.936978999248908e-05, + "loss": 0.0259, + "mgd_cos_sim": 0.9906512498855591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009348750393837691, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 343.3561614990234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.1080627441406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4140, + "valid_token_count": 818.3703125 + }, + { + "actual_token_mask_ratio": 0.2999875247478485, + "epoch": 1.2074483561245273, + "flow_matching_loss": 0.017572447750717403, + "grad_norm": 0.14095516502857208, + "kept_token_count": 572.678125, + "learning_rate": 2.936503886422798e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.98965705037117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01034296303987503, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 325.4072631835937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.9223236083984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4150, + "valid_token_count": 818.096875 + }, + { + "actual_token_mask_ratio": 0.29936380684375763, + "epoch": 1.2103578702356708, + "flow_matching_loss": 0.019822752848267556, + "grad_norm": 0.11204126477241516, + "kept_token_count": 573.265625, + "learning_rate": 2.9360270281090122e-05, + "loss": 0.025, + "mgd_cos_sim": 0.9896830737590789, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010316924937069417, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 311.3759307861328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 365.1415313720703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4160, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.30004059672355654, + "epoch": 1.213267384346814, + "flow_matching_loss": 0.01854516500607133, + "grad_norm": 0.10313759744167328, + "kept_token_count": 572.56875, + "learning_rate": 2.935548424886979e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9900789737701416, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009921027068048715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 315.61737365722655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.8861145019531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4170, + "valid_token_count": 818.0125 + }, + { + "actual_token_mask_ratio": 0.2999467760324478, + "epoch": 1.2161768984579575, + "flow_matching_loss": 0.017717053927481175, + "grad_norm": 0.11741188168525696, + "kept_token_count": 572.803125, + "learning_rate": 2.935068077338246e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9904305875301361, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009569401573389768, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 330.6942474365234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 364.3998565673828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4180, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.30120340287685393, + "epoch": 1.219086412569101, + "flow_matching_loss": 0.016838497668504714, + "grad_norm": 0.10056400299072266, + "kept_token_count": 572.009375, + "learning_rate": 2.934585986046481e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9897233843803406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010276618972420692, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.8347869873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.9834808349609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4190, + "valid_token_count": 818.565625 + }, + { + "actual_token_mask_ratio": 0.30113903284072874, + "epoch": 1.2219959266802445, + "flow_matching_loss": 0.016498137451708316, + "grad_norm": 0.1491430252790451, + "kept_token_count": 571.76875, + "learning_rate": 2.93410215159747e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9898939669132233, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010106029827147723, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.9541809082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.7121063232422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4200, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.29928161203861237, + "epoch": 1.2249054407913877, + "flow_matching_loss": 0.016909065283834936, + "grad_norm": 0.12607039511203766, + "kept_token_count": 573.3203125, + "learning_rate": 2.933616574579118e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9903029680252076, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009697028435766697, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.1090911865234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.5605712890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4210, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.30064347088336946, + "epoch": 1.2278149549025312, + "flow_matching_loss": 0.016244816686958076, + "grad_norm": 0.1407780945301056, + "kept_token_count": 572.4078125, + "learning_rate": 2.933129255581447e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9896193087100983, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010380684025585651, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.6365539550781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.0972869873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4220, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.29974319636821745, + "epoch": 1.2307244690136747, + "flow_matching_loss": 0.01667171260342002, + "grad_norm": 0.13811692595481873, + "kept_token_count": 573.2625, + "learning_rate": 2.9326401951965954e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9899284839630127, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010071513056755067, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.0113983154297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.87608337402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4230, + "valid_token_count": 818.65 + }, + { + "actual_token_mask_ratio": 0.2990212798118591, + "epoch": 1.2336339831248182, + "flow_matching_loss": 0.0191759736277163, + "grad_norm": 0.139059379696846, + "kept_token_count": 573.6390625, + "learning_rate": 2.9321493940188165e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.99103342294693, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008966564945876599, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 331.7753601074219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 366.3542236328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4240, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.300291109085083, + "epoch": 1.2365434972359617, + "flow_matching_loss": 0.016778324637562035, + "grad_norm": 0.12732712924480438, + "kept_token_count": 572.55625, + "learning_rate": 2.931656852644482e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9909678339958191, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009032156690955162, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 306.5870025634766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.3719116210938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4250, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.29938009679317473, + "epoch": 1.239453011347105, + "flow_matching_loss": 0.01650925287976861, + "grad_norm": 0.11665743589401245, + "kept_token_count": 573.3046875, + "learning_rate": 2.9311625716720748e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.990759813785553, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00924018444493413, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 336.18626403808594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.4897979736328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4260, + "valid_token_count": 818.2828125 + }, + { + "actual_token_mask_ratio": 0.300034499168396, + "epoch": 1.2423625254582484, + "flow_matching_loss": 0.014757416304200887, + "grad_norm": 0.12434287369251251, + "kept_token_count": 572.70625, + "learning_rate": 2.9306665517021927e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.99040567278862, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009594342205673456, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 300.10520324707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.6307373046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4270, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.2990832805633545, + "epoch": 1.245272039569392, + "flow_matching_loss": 0.01856450838968158, + "grad_norm": 0.17348231375217438, + "kept_token_count": 573.58125, + "learning_rate": 2.9301687933375483e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9900830090045929, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00991698568686843, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 343.2422760009766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.1901031494141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4280, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.3005359321832657, + "epoch": 1.2481815536805354, + "flow_matching_loss": 0.01865398669615388, + "grad_norm": 0.12552112340927124, + "kept_token_count": 572.4203125, + "learning_rate": 2.929669297182963e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9902002155780792, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009799791406840086, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.3002990722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.77939453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4290, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.30056828558444976, + "epoch": 1.2510910677916787, + "flow_matching_loss": 0.018058184627443553, + "grad_norm": 0.12249130010604858, + "kept_token_count": 572.2265625, + "learning_rate": 2.929168063845373e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9905157268047333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009484275616705418, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.75474548339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.04152221679686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4300, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.2993205636739731, + "epoch": 1.2540005819028222, + "flow_matching_loss": 0.01849758755415678, + "grad_norm": 0.12741373479366302, + "kept_token_count": 573.5171875, + "learning_rate": 2.9286650939338236e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9894148111343384, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010585185512900353, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 325.7023223876953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.2300048828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4310, + "valid_token_count": 818.515625 + }, + { + "actual_token_mask_ratio": 0.30087166726589204, + "epoch": 1.2569100960139656, + "flow_matching_loss": 0.016318746376782656, + "grad_norm": 0.10461992770433426, + "kept_token_count": 572.0, + "learning_rate": 2.9281603880594706e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9902387380599975, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009761288948357105, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 319.0789825439453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.0733917236328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4320, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.2998732358217239, + "epoch": 1.2598196101251091, + "flow_matching_loss": 0.018756631575524808, + "grad_norm": 0.14282715320587158, + "kept_token_count": 572.8578125, + "learning_rate": 2.9276539468355796e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9902148306369781, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009785166196525096, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 308.1549468994141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.8977844238281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4330, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.3013285666704178, + "epoch": 1.2627291242362526, + "flow_matching_loss": 0.019354016333818436, + "grad_norm": 0.1440560221672058, + "kept_token_count": 571.390625, + "learning_rate": 2.9271457708775244e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9898773789405823, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010122606810182334, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.2458068847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.3393615722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4340, + "valid_token_count": 817.8328125 + }, + { + "actual_token_mask_ratio": 0.30016725361347196, + "epoch": 1.2656386383473959, + "flow_matching_loss": 0.017446067091077565, + "grad_norm": 0.10538264364004135, + "kept_token_count": 572.6, + "learning_rate": 2.9266358608027863e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9901810109615325, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009819000214338302, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 341.8502655029297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.3291412353516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4350, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2986159771680832, + "epoch": 1.2685481524585394, + "flow_matching_loss": 0.017275378201156856, + "grad_norm": 0.12473223358392715, + "kept_token_count": 573.771875, + "learning_rate": 2.9261242172309543e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9903142511844635, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00968576418235898, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 310.28359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.58009338378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4360, + "valid_token_count": 818.05625 + }, + { + "actual_token_mask_ratio": 0.3001565903425217, + "epoch": 1.2714576665696828, + "flow_matching_loss": 0.017914135940372944, + "grad_norm": 0.14365768432617188, + "kept_token_count": 572.69375, + "learning_rate": 2.925610840783723e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9909007549285889, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009099251683801412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 335.5391479492188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.5991943359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4370, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.3000291854143143, + "epoch": 1.2743671806808263, + "flow_matching_loss": 0.019532753434032202, + "grad_norm": 0.141863152384758, + "kept_token_count": 572.73125, + "learning_rate": 2.9250957320848946e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9897444844245911, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010255530569702387, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 317.01669921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.8246795654297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4380, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.29971869885921476, + "epoch": 1.2772766947919698, + "flow_matching_loss": 0.01874939715489745, + "grad_norm": 0.130522683262825, + "kept_token_count": 573.1875, + "learning_rate": 2.924578891760374e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9901774644851684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009822543058544398, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.79201049804686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.7349334716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4390, + "valid_token_count": 818.5046875 + }, + { + "actual_token_mask_ratio": 0.2988283604383469, + "epoch": 1.280186208903113, + "flow_matching_loss": 0.01927233226597309, + "grad_norm": 0.14845646917819977, + "kept_token_count": 573.959375, + "learning_rate": 2.924060320438171e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9901221752166748, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009877818077802658, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 326.29632263183595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.0626617431641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4400, + "valid_token_count": 818.571875 + }, + { + "actual_token_mask_ratio": 0.29928006827831266, + "epoch": 1.2830957230142566, + "flow_matching_loss": 0.020601394306868314, + "grad_norm": 0.18175986409187317, + "kept_token_count": 573.6015625, + "learning_rate": 2.9235400187483978e-05, + "loss": 0.0254, + "mgd_cos_sim": 0.9904314756393433, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009568527061492204, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 331.03758239746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.5415069580078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4410, + "valid_token_count": 818.58125 + }, + { + "actual_token_mask_ratio": 0.3000995606184006, + "epoch": 1.2860052371254, + "flow_matching_loss": 0.018871698062866926, + "grad_norm": 0.10870683193206787, + "kept_token_count": 572.978125, + "learning_rate": 2.9230179873232716e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9903193414211273, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009680668916553259, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 314.20750732421874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.86090087890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4420, + "valid_token_count": 818.65625 + }, + { + "actual_token_mask_ratio": 0.3001690298318863, + "epoch": 1.2889147512365435, + "flow_matching_loss": 0.019152030162513257, + "grad_norm": 0.16841597855091095, + "kept_token_count": 572.6453125, + "learning_rate": 2.922494226797108e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9899626612663269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010037332773208618, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.87139282226565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.9031036376953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4430, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.2999700725078583, + "epoch": 1.291824265347687, + "flow_matching_loss": 0.018222196865826844, + "grad_norm": 0.11704499274492264, + "kept_token_count": 573.0109375, + "learning_rate": 2.9219687378063275e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9897344827651977, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01026553064584732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 327.79994812011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.02398681640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4440, + "valid_token_count": 818.5546875 + }, + { + "actual_token_mask_ratio": 0.2997166395187378, + "epoch": 1.2947337794588303, + "flow_matching_loss": 0.01763538457453251, + "grad_norm": 0.12541548907756805, + "kept_token_count": 572.9921875, + "learning_rate": 2.921441520989447e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9901621162891387, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009837865829467773, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 334.52337036132815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.5625518798828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4450, + "valid_token_count": 818.228125 + }, + { + "actual_token_mask_ratio": 0.2997316807508469, + "epoch": 1.2976432935699738, + "flow_matching_loss": 0.015890463162213563, + "grad_norm": 0.11001083254814148, + "kept_token_count": 572.690625, + "learning_rate": 2.9209125769870854e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.990767240524292, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009232753328979016, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.33587951660155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.9652893066406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4460, + "valid_token_count": 817.81875 + }, + { + "actual_token_mask_ratio": 0.29951401948928835, + "epoch": 1.3005528076811173, + "flow_matching_loss": 0.01625341670587659, + "grad_norm": 0.10686124116182327, + "kept_token_count": 573.1359375, + "learning_rate": 2.92038190644196e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9906894862651825, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009310513269156218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.9449157714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.14402465820314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4470, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.2994395613670349, + "epoch": 1.3034623217922607, + "flow_matching_loss": 0.01879332810640335, + "grad_norm": 0.16055092215538025, + "kept_token_count": 573.2390625, + "learning_rate": 2.9198495099988843e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9902855515480041, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00971446093171835, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 305.0352416992188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.7877258300781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4480, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.29918733835220335, + "epoch": 1.3063718359034042, + "flow_matching_loss": 0.01849999064579606, + "grad_norm": 0.14878639578819275, + "kept_token_count": 573.290625, + "learning_rate": 2.9193153883047712e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9902981400489808, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009701841231435537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 351.4962646484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.60955810546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4490, + "valid_token_count": 818.04375 + }, + { + "actual_token_mask_ratio": 0.3000029891729355, + "epoch": 1.3092813500145475, + "flow_matching_loss": 0.01963231461122632, + "grad_norm": 0.15476681292057037, + "kept_token_count": 572.6703125, + "learning_rate": 2.9187795420086287e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.9906393527984619, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009360651019960642, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.53395690917966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.89458618164065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4500, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.29959180057048795, + "epoch": 1.312190864125691, + "flow_matching_loss": 0.014766537211835384, + "grad_norm": 0.12075801193714142, + "kept_token_count": 573.1921875, + "learning_rate": 2.9182419717615602e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9901949524879455, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009805045183748006, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 339.2543029785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.3068054199219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4510, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.2997283607721329, + "epoch": 1.3151003782368345, + "flow_matching_loss": 0.016526470053941013, + "grad_norm": 0.12107180804014206, + "kept_token_count": 572.9359375, + "learning_rate": 2.917702678216765e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9899438321590424, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010056153498589992, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 334.2608276367188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.2522033691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4520, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.3009373933076859, + "epoch": 1.318009892347978, + "flow_matching_loss": 0.016679171845316886, + "grad_norm": 0.12470942735671997, + "kept_token_count": 571.8484375, + "learning_rate": 2.9171616620295347e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9900214314460755, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009978588856756686, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.56861267089846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.90196228027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4530, + "valid_token_count": 818.0171875 + }, + { + "actual_token_mask_ratio": 0.2999787777662277, + "epoch": 1.3209194064591214, + "flow_matching_loss": 0.01792102660983801, + "grad_norm": 0.11867625266313553, + "kept_token_count": 572.7640625, + "learning_rate": 2.9166189238572554e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9896182775497436, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010381734278053046, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 338.35207214355466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.95716857910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4540, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.30069233775138854, + "epoch": 1.3238289205702647, + "flow_matching_loss": 0.0181935990229249, + "grad_norm": 0.12178238481283188, + "kept_token_count": 572.234375, + "learning_rate": 2.9160744643594052e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.990276163816452, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00972382901236415, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 343.035986328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.6670715332031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4550, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.29996086955070494, + "epoch": 1.3267384346814082, + "flow_matching_loss": 0.0185165629722178, + "grad_norm": 0.11714603751897812, + "kept_token_count": 572.73125, + "learning_rate": 2.915528284197554e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.990236622095108, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009763382375240326, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 337.0706359863281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.37291259765624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4560, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.2997430056333542, + "epoch": 1.3296479487925517, + "flow_matching_loss": 0.016160659585148097, + "grad_norm": 0.12944884598255157, + "kept_token_count": 572.9828125, + "learning_rate": 2.914980384035362e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9901093542575836, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009890642389655114, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 322.7815185546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.739111328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4570, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.29776924550533296, + "epoch": 1.3325574629036951, + "flow_matching_loss": 0.01965286284685135, + "grad_norm": 0.11281819641590118, + "kept_token_count": 574.3828125, + "learning_rate": 2.9144307645385787e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9904921472072601, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009507863596081734, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.7046356201172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.40899658203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4580, + "valid_token_count": 817.9390625 + }, + { + "actual_token_mask_ratio": 0.2996219038963318, + "epoch": 1.3354669770148386, + "flow_matching_loss": 0.020596981141716243, + "grad_norm": 0.1481626331806183, + "kept_token_count": 573.184375, + "learning_rate": 2.9138794263750454e-05, + "loss": 0.0256, + "mgd_cos_sim": 0.9900140643119812, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009985949285328389, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 326.28761291503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.56150817871094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4590, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.2994832366704941, + "epoch": 1.338376491125982, + "flow_matching_loss": 0.0162374772131443, + "grad_norm": 0.13151241838932037, + "kept_token_count": 573.0203125, + "learning_rate": 2.913326370214688e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.99084392786026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009156070835888385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 329.2986755371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.3768341064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4600, + "valid_token_count": 817.996875 + }, + { + "actual_token_mask_ratio": 0.2994826972484589, + "epoch": 1.3412860052371254, + "flow_matching_loss": 0.01995575977489352, + "grad_norm": 0.1320241093635559, + "kept_token_count": 573.190625, + "learning_rate": 2.9127715967295234e-05, + "loss": 0.0249, + "mgd_cos_sim": 0.990153682231903, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009846320189535619, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.45078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.04454040527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4610, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.30045489966869354, + "epoch": 1.3441955193482689, + "flow_matching_loss": 0.01771941762417555, + "grad_norm": 0.15330944955348969, + "kept_token_count": 572.2765625, + "learning_rate": 2.912215106593653e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9900614738464355, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009938526898622513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.8712219238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.3766265869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4620, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.3006542086601257, + "epoch": 1.3471050334594123, + "flow_matching_loss": 0.017373027559369803, + "grad_norm": 0.11346681416034698, + "kept_token_count": 572.3359375, + "learning_rate": 2.911656900483265e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9904349207878113, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009565079491585493, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.4036529541016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.4056854248047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4630, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.2999148488044739, + "epoch": 1.3500145475705558, + "flow_matching_loss": 0.01583495009690523, + "grad_norm": 0.11814355850219727, + "kept_token_count": 572.9171875, + "learning_rate": 2.9110969790766322e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9907880663871765, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009211931843310595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 327.0917572021484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.79234619140624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4640, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.30017614364624023, + "epoch": 1.352924061681699, + "flow_matching_loss": 0.017424681317061187, + "grad_norm": 0.11971826106309891, + "kept_token_count": 572.5640625, + "learning_rate": 2.910535343054112e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9902889192104339, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009711080323904752, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.6072998046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.34222106933595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4650, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.2994462639093399, + "epoch": 1.3558335757928426, + "flow_matching_loss": 0.016625251341611146, + "grad_norm": 0.1231582909822464, + "kept_token_count": 573.403125, + "learning_rate": 2.909971993098145e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9911170840263367, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00888291783630848, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 336.25733642578126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.7004028320313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4660, + "valid_token_count": 818.5 + }, + { + "actual_token_mask_ratio": 0.2999796152114868, + "epoch": 1.358743089903986, + "flow_matching_loss": 0.018272695410996676, + "grad_norm": 0.12147938460111618, + "kept_token_count": 572.7546875, + "learning_rate": 2.9094069298932552e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9914905309677124, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008509457670152187, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.9624542236328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.2270172119141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4670, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.30032452642917634, + "epoch": 1.3616526040151296, + "flow_matching_loss": 0.017166657093912362, + "grad_norm": 0.14579536020755768, + "kept_token_count": 572.646875, + "learning_rate": 2.908840154126047e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9906784653663635, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009321518801152706, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 336.8929718017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.61866760253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4680, + "valid_token_count": 818.4421875 + }, + { + "actual_token_mask_ratio": 0.3003810852766037, + "epoch": 1.364562118126273, + "flow_matching_loss": 0.019575375132262707, + "grad_norm": 0.13166141510009766, + "kept_token_count": 572.5078125, + "learning_rate": 2.9082716664852063e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.9904731929302215, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009526809677481651, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 329.85173950195315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.48363342285154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4690, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.3002078324556351, + "epoch": 1.3674716322374163, + "flow_matching_loss": 0.019700100738555194, + "grad_norm": 0.11747639626264572, + "kept_token_count": 572.5015625, + "learning_rate": 2.9077014676615e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9899555683135987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010044427867978812, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.96514282226565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.18907775878904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4700, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.3006947457790375, + "epoch": 1.3703811463485598, + "flow_matching_loss": 0.01827245932072401, + "grad_norm": 0.1551925390958786, + "kept_token_count": 572.2484375, + "learning_rate": 2.9071295583477724e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9895256340503693, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010474374052137136, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 307.1564910888672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.367138671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4710, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.29964605867862704, + "epoch": 1.3732906604597033, + "flow_matching_loss": 0.018818873353302477, + "grad_norm": 0.1680871844291687, + "kept_token_count": 573.409375, + "learning_rate": 2.906555939238948e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9894590556621552, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010540941823273897, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.99553833007815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.1671539306641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4720, + "valid_token_count": 818.75 + }, + { + "actual_token_mask_ratio": 0.29972783029079436, + "epoch": 1.3762001745708465, + "flow_matching_loss": 0.018004072085022926, + "grad_norm": 0.133412703871727, + "kept_token_count": 572.8453125, + "learning_rate": 2.905980611032028e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9910769164562225, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008923073206096888, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 331.45531311035154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.57908020019534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4730, + "valid_token_count": 818.03125 + }, + { + "actual_token_mask_ratio": 0.2997718572616577, + "epoch": 1.3791096886819902, + "flow_matching_loss": 0.017482163850218058, + "grad_norm": 0.08163280040025711, + "kept_token_count": 572.946875, + "learning_rate": 2.9054035744260904e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9904224038124084, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009577581845223903, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.3701934814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.0979797363281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4740, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.2995843827724457, + "epoch": 1.3820192027931335, + "flow_matching_loss": 0.020273415092378854, + "grad_norm": 0.15567275881767273, + "kept_token_count": 573.284375, + "learning_rate": 2.9048248301222885e-05, + "loss": 0.0254, + "mgd_cos_sim": 0.9898008525371551, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010199141316115856, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 342.3906768798828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.2179656982422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4750, + "valid_token_count": 818.4859375 + }, + { + "actual_token_mask_ratio": 0.30099170804023745, + "epoch": 1.384928716904277, + "flow_matching_loss": 0.018252717889845373, + "grad_norm": 0.13186641037464142, + "kept_token_count": 571.8546875, + "learning_rate": 2.904244378823852e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9906180739402771, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00938192242756486, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 316.34295349121095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.311376953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4760, + "valid_token_count": 818.096875 + }, + { + "actual_token_mask_ratio": 0.2989684075117111, + "epoch": 1.3878382310154205, + "flow_matching_loss": 0.018697096966207027, + "grad_norm": 0.14044737815856934, + "kept_token_count": 573.5046875, + "learning_rate": 2.9036622212360836e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9898241817951202, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010175822302699089, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.10186462402345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.154052734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4770, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.29999094605445864, + "epoch": 1.3907477451265637, + "flow_matching_loss": 0.020240532606840132, + "grad_norm": 0.12811453640460968, + "kept_token_count": 572.85, + "learning_rate": 2.9030783580663596e-05, + "loss": 0.0252, + "mgd_cos_sim": 0.9901124119758606, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009887581318616867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 313.8987548828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.34241943359376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4780, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.3012510150671005, + "epoch": 1.3936572592377072, + "flow_matching_loss": 0.019611348398029804, + "grad_norm": 0.11505600810050964, + "kept_token_count": 571.834375, + "learning_rate": 2.902492790024129e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9895892977714539, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010410704463720322, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 352.2310455322266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.43675842285154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4790, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.30020634531974794, + "epoch": 1.3965667733488507, + "flow_matching_loss": 0.015980434510856865, + "grad_norm": 0.1454840898513794, + "kept_token_count": 572.8640625, + "learning_rate": 2.901905517820912e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9910921394824982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008907847572118044, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.8612457275391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.5841857910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4800, + "valid_token_count": 818.621875 + }, + { + "actual_token_mask_ratio": 0.2994160592556, + "epoch": 1.3994762874599942, + "flow_matching_loss": 0.020353075955063103, + "grad_norm": 0.16839493811130524, + "kept_token_count": 573.36875, + "learning_rate": 2.9013165421703e-05, + "loss": 0.0249, + "mgd_cos_sim": 0.9908390998840332, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00916089117527008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.4731201171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.67882385253904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4810, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.3006753921508789, + "epoch": 1.4023858015711377, + "flow_matching_loss": 0.018253887351602317, + "grad_norm": 0.1505671888589859, + "kept_token_count": 572.2796875, + "learning_rate": 2.9007258637879534e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9909577190876007, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00904228026047349, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 326.07070007324216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.0412963867187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4820, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.30028662383556365, + "epoch": 1.405295315682281, + "flow_matching_loss": 0.01884734369814396, + "grad_norm": 0.12395473569631577, + "kept_token_count": 572.6921875, + "learning_rate": 2.9001334833916025e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9903002798557281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009699712134897709, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.44579162597654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.44956359863284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4830, + "valid_token_count": 818.4734375 + }, + { + "actual_token_mask_ratio": 0.30002698600292205, + "epoch": 1.4082048297934244, + "flow_matching_loss": 0.018903811927884817, + "grad_norm": 0.111402228474617, + "kept_token_count": 572.790625, + "learning_rate": 2.899539401701046e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9905137121677399, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00948627693578601, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.1761749267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.0410919189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4840, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.2996128350496292, + "epoch": 1.411114343904568, + "flow_matching_loss": 0.016989976912736893, + "grad_norm": 0.10416620224714279, + "kept_token_count": 573.1984375, + "learning_rate": 2.8989436194381474e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9908618986606598, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009138098917901516, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 339.42665710449216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.9700927734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4850, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.30022495090961454, + "epoch": 1.4140238580157114, + "flow_matching_loss": 0.019143254868686198, + "grad_norm": 0.11749240010976791, + "kept_token_count": 572.69375, + "learning_rate": 2.8983461373268404e-05, + "loss": 0.024, + "mgd_cos_sim": 0.9902544498443604, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009745547082275152, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 336.0088684082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.93723754882814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4860, + "valid_token_count": 818.3921875 + }, + { + "actual_token_mask_ratio": 0.30073895752429963, + "epoch": 1.4169333721268549, + "flow_matching_loss": 0.01880790963768959, + "grad_norm": 0.11134938895702362, + "kept_token_count": 572.2046875, + "learning_rate": 2.8977469560931205e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9906161308288575, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00938387243077159, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 341.1119079589844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.1394409179687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4870, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30029991567134856, + "epoch": 1.4198428862379981, + "flow_matching_loss": 0.01790464799851179, + "grad_norm": 0.11595878005027771, + "kept_token_count": 572.434375, + "learning_rate": 2.8971460764650502e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9903759837150574, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009624017030000686, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.8446075439453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.6179168701172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4880, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.3003033518791199, + "epoch": 1.4227524003491416, + "flow_matching_loss": 0.01713344044983387, + "grad_norm": 0.09244482219219208, + "kept_token_count": 572.4609375, + "learning_rate": 2.8965434991727545e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9903004765510559, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009699529316276313, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 324.8379791259766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.9768798828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4890, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.29908743500709534, + "epoch": 1.4256619144602851, + "flow_matching_loss": 0.017340829130262136, + "grad_norm": 0.10457747429609299, + "kept_token_count": 573.628125, + "learning_rate": 2.895939224948422e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9906810939311981, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009318903647363186, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 327.6305358886719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.15354614257814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4900, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.30046719312667847, + "epoch": 1.4285714285714286, + "flow_matching_loss": 0.016853238735347987, + "grad_norm": 0.12912704050540924, + "kept_token_count": 572.2328125, + "learning_rate": 2.895333254526303e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9908585727214814, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009141414891928434, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 335.73093872070314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.6204895019531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4910, + "valid_token_count": 818.028125 + }, + { + "actual_token_mask_ratio": 0.3001776337623596, + "epoch": 1.431480942682572, + "flow_matching_loss": 0.021949773374944925, + "grad_norm": 0.12702280282974243, + "kept_token_count": 572.44375, + "learning_rate": 2.8947255886427084e-05, + "loss": 0.0271, + "mgd_cos_sim": 0.9897021293640137, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010297869797796011, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.41884460449216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.01722412109376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4920, + "valid_token_count": 817.9828125 + }, + { + "actual_token_mask_ratio": 0.3005896806716919, + "epoch": 1.4343904567937154, + "flow_matching_loss": 0.019619232788681985, + "grad_norm": 0.13507665693759918, + "kept_token_count": 572.3578125, + "learning_rate": 2.8941162280360095e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9913640797138215, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008635929133743048, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.23365478515626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 368.7170013427734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4930, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.3008946657180786, + "epoch": 1.4372999709048588, + "flow_matching_loss": 0.018661962915211917, + "grad_norm": 0.1613263636827469, + "kept_token_count": 572.184375, + "learning_rate": 2.8935051734466368e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.989522272348404, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010477719176560641, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 341.15769348144534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.12608337402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4940, + "valid_token_count": 818.4484375 + }, + { + "actual_token_mask_ratio": 0.30006212890148165, + "epoch": 1.4402094850160023, + "flow_matching_loss": 0.017984123062342407, + "grad_norm": 0.11399275809526443, + "kept_token_count": 572.7140625, + "learning_rate": 2.8928924256170792e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9908914148807526, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00910858977586031, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.55498046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.20212707519534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4950, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.29969179034233095, + "epoch": 1.4431189991271458, + "flow_matching_loss": 0.01731503400951624, + "grad_norm": 0.12039568275213242, + "kept_token_count": 573.2015625, + "learning_rate": 2.8922779852918836e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9905559718608856, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009444034472107888, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 339.62147216796876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.75530700683595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4960, + "valid_token_count": 818.490625 + }, + { + "actual_token_mask_ratio": 0.29943373799324036, + "epoch": 1.4460285132382893, + "flow_matching_loss": 0.018129211943596603, + "grad_norm": 0.11523263901472092, + "kept_token_count": 573.2375, + "learning_rate": 2.8916618532176526e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9906857788562775, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009314208477735519, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.27191467285155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.51117553710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4970, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.2996140718460083, + "epoch": 1.4489380273494326, + "flow_matching_loss": 0.018525535054504872, + "grad_norm": 0.12252010405063629, + "kept_token_count": 573.028125, + "learning_rate": 2.891044030143045e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9909144937992096, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00908549977466464, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 321.48108825683596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.9033447265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4980, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.30079189538955686, + "epoch": 1.451847541460576, + "flow_matching_loss": 0.01814342774450779, + "grad_norm": 0.1289164125919342, + "kept_token_count": 572.075, + "learning_rate": 2.890424516818774e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9911099016666413, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008890090603381395, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.9941009521484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.24326782226564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 4990, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.30023607015609743, + "epoch": 1.4547570555717195, + "flow_matching_loss": 0.017935102619230748, + "grad_norm": 0.09835483878850937, + "kept_token_count": 572.796875, + "learning_rate": 2.8898033139976057e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9909460127353669, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009053985215723514, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.7214111328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.15228881835935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5000, + "valid_token_count": 818.559375 + }, + { + "actual_token_mask_ratio": 0.3002867609262466, + "epoch": 1.457666569682863, + "flow_matching_loss": 0.018916479498147964, + "grad_norm": 0.12435049563646317, + "kept_token_count": 572.665625, + "learning_rate": 2.889180422434362e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9908409595489502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00915904026478529, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 346.7491851806641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.06476135253905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5010, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.3006465435028076, + "epoch": 1.4605760837940065, + "flow_matching_loss": 0.019247380457818507, + "grad_norm": 0.16903795301914215, + "kept_token_count": 572.2453125, + "learning_rate": 2.8885558428859136e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9908073782920838, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009192605502903461, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.52685546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.2693115234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5020, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.3008287936449051, + "epoch": 1.4634855979051498, + "flow_matching_loss": 0.018497035186737776, + "grad_norm": 0.14554363489151, + "kept_token_count": 572.321875, + "learning_rate": 2.8879295761111835e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9907329261302948, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009267077315598726, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.30918579101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.4275207519531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5030, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.30101770758628843, + "epoch": 1.4663951120162932, + "flow_matching_loss": 0.01764397220686078, + "grad_norm": 0.1149919331073761, + "kept_token_count": 572.0875, + "learning_rate": 2.8873016228711452e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9908660054206848, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009134006313979625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.33193359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.9000549316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5040, + "valid_token_count": 818.459375 + }, + { + "actual_token_mask_ratio": 0.3003077059984207, + "epoch": 1.4693046261274367, + "flow_matching_loss": 0.016875311639159916, + "grad_norm": 0.12499909847974777, + "kept_token_count": 572.775, + "learning_rate": 2.8866719839288215e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9906667709350586, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009333229809999465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 334.7861724853516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.7641265869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5050, + "valid_token_count": 818.6046875 + }, + { + "actual_token_mask_ratio": 0.2990415632724762, + "epoch": 1.4722141402385802, + "flow_matching_loss": 0.0166403841227293, + "grad_norm": 0.17303624749183655, + "kept_token_count": 573.43125, + "learning_rate": 2.886040660049283e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9907288968563079, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00927111329510808, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.67922058105466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.81581726074216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5060, + "valid_token_count": 818.0734375 + }, + { + "actual_token_mask_ratio": 0.30011496841907503, + "epoch": 1.4751236543497237, + "flow_matching_loss": 0.016496175061911346, + "grad_norm": 0.14113888144493103, + "kept_token_count": 572.8515625, + "learning_rate": 2.8854076519996467e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9908156633377075, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009184322040528058, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 323.61826477050784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.6506774902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5070, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.2992299973964691, + "epoch": 1.478033168460867, + "flow_matching_loss": 0.017308901343494654, + "grad_norm": 0.11686159670352936, + "kept_token_count": 573.55625, + "learning_rate": 2.884772960549078e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9905814886093139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009418501984328032, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.5369537353516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.4286865234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5080, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.29899208843708036, + "epoch": 1.4809426825720104, + "flow_matching_loss": 0.01799658117815852, + "grad_norm": 0.1408831626176834, + "kept_token_count": 573.565625, + "learning_rate": 2.8841365864687867e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.990995341539383, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009004645515233278, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.8451171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.7404449462891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5090, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2993929356336594, + "epoch": 1.483852196683154, + "flow_matching_loss": 0.01758537832647562, + "grad_norm": 0.12496432662010193, + "kept_token_count": 573.1078125, + "learning_rate": 2.8834985305320276e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9905113101005554, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009488683100789786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.16803588867185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.1020965576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5100, + "valid_token_count": 818.0109375 + }, + { + "actual_token_mask_ratio": 0.29968384802341463, + "epoch": 1.4867617107942974, + "flow_matching_loss": 0.019404541421681642, + "grad_norm": 0.1358543038368225, + "kept_token_count": 573.0484375, + "learning_rate": 2.882858793514098e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9900983989238739, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009901594463735819, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.7733459472656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.547705078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5110, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.29962779879570006, + "epoch": 1.489671224905441, + "flow_matching_loss": 0.018228312395513056, + "grad_norm": 0.1533738374710083, + "kept_token_count": 573.015625, + "learning_rate": 2.8822173761923398e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9899238765239715, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010076142940670251, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 337.7368560791016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.6526672363281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5120, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.29930412471294404, + "epoch": 1.4925807390165842, + "flow_matching_loss": 0.017978143226355315, + "grad_norm": 0.12267916649580002, + "kept_token_count": 573.4984375, + "learning_rate": 2.8815742793461343e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9907304406166076, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009269548952579499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.4594299316406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.07713623046874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5130, + "valid_token_count": 818.475 + }, + { + "actual_token_mask_ratio": 0.300054994225502, + "epoch": 1.4954902531277277, + "flow_matching_loss": 0.021448471862822772, + "grad_norm": 0.132869690656662, + "kept_token_count": 572.7765625, + "learning_rate": 2.880929503756906e-05, + "loss": 0.0265, + "mgd_cos_sim": 0.9899924993515015, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01000750744715333, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.88518981933595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.5796600341797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5140, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.2991742730140686, + "epoch": 1.4983997672388711, + "flow_matching_loss": 0.01946400860324502, + "grad_norm": 0.10898901522159576, + "kept_token_count": 573.246875, + "learning_rate": 2.880283050208117e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9904906809329986, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009509323816746473, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 347.9777862548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.49513854980466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5150, + "valid_token_count": 817.9578125 + }, + { + "actual_token_mask_ratio": 0.30006469786167145, + "epoch": 1.5013092813500144, + "flow_matching_loss": 0.019219396356493234, + "grad_norm": 0.10950832068920135, + "kept_token_count": 572.9296875, + "learning_rate": 2.8796349194852704e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9901583373546601, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00984167456626892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.3934600830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.4870330810547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5160, + "valid_token_count": 818.5375 + }, + { + "actual_token_mask_ratio": 0.30044529139995574, + "epoch": 1.504218795461158, + "flow_matching_loss": 0.0173247248865664, + "grad_norm": 0.12921281158924103, + "kept_token_count": 572.428125, + "learning_rate": 2.8789851123759052e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.991011255979538, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008988735545426608, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 346.58294982910155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.56226501464846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5170, + "valid_token_count": 818.2828125 + }, + { + "actual_token_mask_ratio": 0.2990719318389893, + "epoch": 1.5071283095723014, + "flow_matching_loss": 0.015724714286625384, + "grad_norm": 0.08271206170320511, + "kept_token_count": 573.5484375, + "learning_rate": 2.8783336296695985e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9904768347740174, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009523170348256827, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 325.32289428710936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.2363342285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5180, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.2997171193361282, + "epoch": 1.5100378236834449, + "flow_matching_loss": 0.01950967386364937, + "grad_norm": 0.11292590200901031, + "kept_token_count": 573.0546875, + "learning_rate": 2.877680472157964e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9907352685928345, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009264752641320229, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 335.64104614257815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.0865203857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5190, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.3000087678432465, + "epoch": 1.5129473377945883, + "flow_matching_loss": 0.016939823422580956, + "grad_norm": 0.11413240432739258, + "kept_token_count": 572.8234375, + "learning_rate": 2.8770256406346483e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.990689891576767, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009310119599103928, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 342.24945068359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.2602905273437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5200, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.29892840683460237, + "epoch": 1.5158568519057316, + "flow_matching_loss": 0.017435945756733417, + "grad_norm": 0.1252058744430542, + "kept_token_count": 573.54375, + "learning_rate": 2.8763691358953348e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9909733772277832, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009026632737368345, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 347.7805206298828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.21556396484374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5210, + "valid_token_count": 818.0953125 + }, + { + "actual_token_mask_ratio": 0.2991575330495834, + "epoch": 1.5187663660168753, + "flow_matching_loss": 0.017489736154675483, + "grad_norm": 0.140925332903862, + "kept_token_count": 573.49375, + "learning_rate": 2.8757109587377377e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9909189641475677, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009081033989787102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.5586456298828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.2378784179688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5220, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30003235638141634, + "epoch": 1.5216758801280186, + "flow_matching_loss": 0.01804590681567788, + "grad_norm": 0.13558293879032135, + "kept_token_count": 572.70625, + "learning_rate": 2.8750511099616047e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9906943619251252, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009305627830326558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.55030517578126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.43352966308595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5230, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.30127098858356477, + "epoch": 1.524585394239162, + "flow_matching_loss": 0.016995058767497538, + "grad_norm": 0.19091129302978516, + "kept_token_count": 571.746875, + "learning_rate": 2.8743895903687143e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9901266515254974, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009873355273157358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 315.10533752441404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.8201568603516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5240, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.2998753696680069, + "epoch": 1.5274949083503055, + "flow_matching_loss": 0.01778039326891303, + "grad_norm": 0.10137835890054703, + "kept_token_count": 573.153125, + "learning_rate": 2.8737264007628753e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9909706950187683, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009029312711209058, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.4712371826172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.81080627441406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5250, + "valid_token_count": 818.646875 + }, + { + "actual_token_mask_ratio": 0.2986324310302734, + "epoch": 1.5304044224614488, + "flow_matching_loss": 0.020319697074592115, + "grad_norm": 0.17602546513080597, + "kept_token_count": 573.9609375, + "learning_rate": 2.8730615419499247e-05, + "loss": 0.0253, + "mgd_cos_sim": 0.9900492846965789, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009950695559382439, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 343.38624572753906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.3259338378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5260, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.2997500091791153, + "epoch": 1.5333139365725925, + "flow_matching_loss": 0.017778745107352733, + "grad_norm": 0.13807499408721924, + "kept_token_count": 573.171875, + "learning_rate": 2.8723950147377303e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.991027557849884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008972439728677273, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 346.47974548339846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.0662475585938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5270, + "valid_token_count": 818.5265625 + }, + { + "actual_token_mask_ratio": 0.3005548745393753, + "epoch": 1.5362234506837358, + "flow_matching_loss": 0.017996954452246427, + "grad_norm": 0.12627281248569489, + "kept_token_count": 572.128125, + "learning_rate": 2.871726819936184e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9905278265476227, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009472167678177356, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.11695251464846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.59840698242186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5280, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.30085049867630004, + "epoch": 1.5391329647948793, + "flow_matching_loss": 0.01661002719774842, + "grad_norm": 0.10705681145191193, + "kept_token_count": 572.0421875, + "learning_rate": 2.8710569583572068e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9904034674167633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009596533700823784, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 375.296435546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.00941772460936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5290, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.3006409704685211, + "epoch": 1.5420424789060228, + "flow_matching_loss": 0.017286667227745058, + "grad_norm": 0.11164798587560654, + "kept_token_count": 572.45625, + "learning_rate": 2.870385430814742e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9902642011642456, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009735813364386559, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 336.3758605957031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.89820861816406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5300, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.2990510821342468, + "epoch": 1.544951993017166, + "flow_matching_loss": 0.017097524367272854, + "grad_norm": 0.09828978776931763, + "kept_token_count": 573.4625, + "learning_rate": 2.8697122381247605e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9908413708209991, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009158630110323428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.45355834960935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.33017578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5310, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.2987488001585007, + "epoch": 1.5478615071283097, + "flow_matching_loss": 0.018484404683113097, + "grad_norm": 0.11985137313604355, + "kept_token_count": 574.0125, + "learning_rate": 2.8690373811052545e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.990331894159317, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009668110124766826, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.3784698486328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.9362426757813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5320, + "valid_token_count": 818.5578125 + }, + { + "actual_token_mask_ratio": 0.2989017516374588, + "epoch": 1.550771021239453, + "flow_matching_loss": 0.016593401692807673, + "grad_norm": 0.12242401391267776, + "kept_token_count": 573.821875, + "learning_rate": 2.8683608605762378e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9905909776687623, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00940903127193451, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.8104217529297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.7261566162109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5330, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.29954926669597626, + "epoch": 1.5536805353505965, + "flow_matching_loss": 0.016661153733730318, + "grad_norm": 0.14169518649578094, + "kept_token_count": 573.1515625, + "learning_rate": 2.8676826773597485e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9906194090843201, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009380597993731499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.0917175292969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.0898742675781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5340, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.2994417488574982, + "epoch": 1.55659004946174, + "flow_matching_loss": 0.01640184773132205, + "grad_norm": 0.1095115914940834, + "kept_token_count": 573.3671875, + "learning_rate": 2.8670028322798413e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9909180700778961, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009081920422613621, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 342.87502136230466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.4912384033203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5350, + "valid_token_count": 818.4421875 + }, + { + "actual_token_mask_ratio": 0.300160625576973, + "epoch": 1.5594995635728832, + "flow_matching_loss": 0.01734300935640931, + "grad_norm": 0.13282711803913116, + "kept_token_count": 572.5671875, + "learning_rate": 2.8663213261625932e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9897090017795562, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01029100939631462, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 342.9326690673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.38617553710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5360, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.3000792533159256, + "epoch": 1.562409077684027, + "flow_matching_loss": 0.016305859852582216, + "grad_norm": 0.11288696527481079, + "kept_token_count": 572.6359375, + "learning_rate": 2.865638159836098e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9904475748538971, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009552423283457756, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 330.72845458984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.55445556640626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5370, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.30017090439796446, + "epoch": 1.5653185917951702, + "flow_matching_loss": 0.017602645978331565, + "grad_norm": 0.11639488488435745, + "kept_token_count": 572.56875, + "learning_rate": 2.8649533341304677e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9909162223339081, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009083782322704792, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 343.63184814453126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.3390350341797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5380, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.3003769636154175, + "epoch": 1.5682281059063137, + "flow_matching_loss": 0.01878221584483981, + "grad_norm": 0.13340367376804352, + "kept_token_count": 572.371875, + "learning_rate": 2.8642668498778297e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9902622103691101, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009737784415483475, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 321.96315307617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.7705902099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5390, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.3013247400522232, + "epoch": 1.5711376200174572, + "flow_matching_loss": 0.018352894019335507, + "grad_norm": 0.13007768988609314, + "kept_token_count": 571.9671875, + "learning_rate": 2.8635787079123268e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9905428528785706, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009457158762961626, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 352.7717712402344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.8627990722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5400, + "valid_token_count": 818.6484375 + }, + { + "actual_token_mask_ratio": 0.3000499665737152, + "epoch": 1.5740471341286004, + "flow_matching_loss": 0.0174202679656446, + "grad_norm": 0.11004742980003357, + "kept_token_count": 572.7390625, + "learning_rate": 2.8628889090701175e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9903320848941803, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0096679100766778, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 304.7454345703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.42738647460936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5410, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.2996451616287231, + "epoch": 1.576956648239744, + "flow_matching_loss": 0.018328745383769274, + "grad_norm": 0.11171749979257584, + "kept_token_count": 572.9765625, + "learning_rate": 2.862197454189371e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9906302511692047, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009369755256921053, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.9179992675781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.6916229248047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5420, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.29988565742969514, + "epoch": 1.5798661623508874, + "flow_matching_loss": 0.016569080483168363, + "grad_norm": 0.13522177934646606, + "kept_token_count": 572.846875, + "learning_rate": 2.8615043441102708e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9905665040016174, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009433500282466412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 335.0680694580078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.40887145996095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5430, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.2998733580112457, + "epoch": 1.5827756764620309, + "flow_matching_loss": 0.015591939259320498, + "grad_norm": 0.13765452802181244, + "kept_token_count": 572.88125, + "learning_rate": 2.860809579675011e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9912353515625, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008764640148729085, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 364.8587280273438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 367.78923950195315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5440, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.30150870978832245, + "epoch": 1.5856851905731744, + "flow_matching_loss": 0.01603060644119978, + "grad_norm": 0.1735200732946396, + "kept_token_count": 571.5203125, + "learning_rate": 2.860113161727796e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.990606427192688, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00939356992021203, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.67725524902346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.3421142578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5450, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.29993021190166474, + "epoch": 1.5885947046843176, + "flow_matching_loss": 0.01616403665393591, + "grad_norm": 0.13918451964855194, + "kept_token_count": 572.9234375, + "learning_rate": 2.8594150911148393e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9902847409248352, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009715246502310038, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.4711608886719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.32203979492186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5460, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.2998546749353409, + "epoch": 1.5915042187954611, + "flow_matching_loss": 0.017853012215346097, + "grad_norm": 0.10143481194972992, + "kept_token_count": 572.8296875, + "learning_rate": 2.8587153686843626e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9901725888252259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009827415458858013, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.5727020263672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.2941070556641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5470, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.29987322688102724, + "epoch": 1.5944137329066046, + "flow_matching_loss": 0.017183863278478383, + "grad_norm": 0.11559714376926422, + "kept_token_count": 572.9078125, + "learning_rate": 2.858013995286594e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9905049800872803, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009495018236339092, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.10875244140624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.22320556640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5480, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.2987110763788223, + "epoch": 1.597323247017748, + "flow_matching_loss": 0.017647172324359417, + "grad_norm": 0.15012043714523315, + "kept_token_count": 573.9375, + "learning_rate": 2.857310971773769e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9905505180358887, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009449477214366198, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.9106506347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.90814819335935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5490, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.3007714182138443, + "epoch": 1.6002327611288916, + "flow_matching_loss": 0.02057938165962696, + "grad_norm": 0.09688553214073181, + "kept_token_count": 572.290625, + "learning_rate": 2.8566062990001274e-05, + "loss": 0.0254, + "mgd_cos_sim": 0.9903831362724305, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009616857022047042, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.4888610839844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.4776275634766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5500, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.3004773586988449, + "epoch": 1.6031422752400348, + "flow_matching_loss": 0.015947468020021914, + "grad_norm": 0.1262666881084442, + "kept_token_count": 572.2953125, + "learning_rate": 2.8558999778219126e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9907556354999543, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009244370274245739, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.2360534667969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.5476440429687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5510, + "valid_token_count": 818.125 + }, + { + "actual_token_mask_ratio": 0.3007769465446472, + "epoch": 1.6060517893511783, + "flow_matching_loss": 0.01721806889399886, + "grad_norm": 0.10363639146089554, + "kept_token_count": 572.0703125, + "learning_rate": 2.8551920090973722e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9909321904182434, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009067806601524352, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 334.4403411865234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.37843017578126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5520, + "valid_token_count": 818.1515625 + }, + { + "actual_token_mask_ratio": 0.2998971790075302, + "epoch": 1.6089613034623218, + "flow_matching_loss": 0.015190245863050223, + "grad_norm": 0.14094024896621704, + "kept_token_count": 572.821875, + "learning_rate": 2.854482393686754e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9906774759292603, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00932252686470747, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.8355255126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.7326965332031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5530, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.3004112482070923, + "epoch": 1.6118708175734653, + "flow_matching_loss": 0.01965866917744279, + "grad_norm": 0.16978605091571808, + "kept_token_count": 572.6203125, + "learning_rate": 2.8537711324523086e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9898884475231171, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01011156002059579, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 340.27039794921876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.5297485351563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5540, + "valid_token_count": 818.503125 + }, + { + "actual_token_mask_ratio": 0.3001143753528595, + "epoch": 1.6147803316846088, + "flow_matching_loss": 0.017912929225713015, + "grad_norm": 0.13036008179187775, + "kept_token_count": 572.5609375, + "learning_rate": 2.8530582262582845e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9907559394836426, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009244064614176751, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 336.4886779785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.78746032714844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5550, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.30027262270450594, + "epoch": 1.617689845795752, + "flow_matching_loss": 0.020851175021380185, + "grad_norm": 0.110593780875206, + "kept_token_count": 572.8328125, + "learning_rate": 2.8523436759709306e-05, + "loss": 0.0255, + "mgd_cos_sim": 0.9906881630420685, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009311839379370213, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.9158081054687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.10694885253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5560, + "valid_token_count": 818.65 + }, + { + "actual_token_mask_ratio": 0.30115391612052916, + "epoch": 1.6205993599068955, + "flow_matching_loss": 0.017853803187608718, + "grad_norm": 0.11862574517726898, + "kept_token_count": 572.0921875, + "learning_rate": 2.8516274824584926e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9909357845783233, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009064224921166897, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.0561157226563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.3281219482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5570, + "valid_token_count": 818.6265625 + }, + { + "actual_token_mask_ratio": 0.3001635253429413, + "epoch": 1.623508874018039, + "flow_matching_loss": 0.021199309267103672, + "grad_norm": 0.11273965984582901, + "kept_token_count": 572.9140625, + "learning_rate": 2.8509096465912136e-05, + "loss": 0.026, + "mgd_cos_sim": 0.990345174074173, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009654821455478668, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.5588806152344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.3288879394531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5580, + "valid_token_count": 818.6390625 + }, + { + "actual_token_mask_ratio": 0.2988693743944168, + "epoch": 1.6264183881291823, + "flow_matching_loss": 0.017646586429327725, + "grad_norm": 0.11155936866998672, + "kept_token_count": 573.64375, + "learning_rate": 2.8501901692413315e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9907611012458801, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00923890843987465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 321.58933410644534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.13257751464846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5590, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.300324347615242, + "epoch": 1.629327902240326, + "flow_matching_loss": 0.020405843388289213, + "grad_norm": 0.1187325119972229, + "kept_token_count": 572.7015625, + "learning_rate": 2.8494690512830788e-05, + "loss": 0.025, + "mgd_cos_sim": 0.9908935070037842, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009106493461877108, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.0486785888672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.52960510253905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5600, + "valid_token_count": 818.5328125 + }, + { + "actual_token_mask_ratio": 0.3001594543457031, + "epoch": 1.6322374163514692, + "flow_matching_loss": 0.01943266000598669, + "grad_norm": 0.11050989478826523, + "kept_token_count": 572.79375, + "learning_rate": 2.8487462935926823e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9899371206760407, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01006288267672062, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 337.88831481933596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.0705596923828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5610, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.2998056560754776, + "epoch": 1.6351469304626127, + "flow_matching_loss": 0.017064306419342756, + "grad_norm": 0.0952899232506752, + "kept_token_count": 572.8078125, + "learning_rate": 2.8480218970483606e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.990967309474945, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009032693691551685, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 330.3940002441406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.03224792480466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5620, + "valid_token_count": 818.08125 + }, + { + "actual_token_mask_ratio": 0.300619637966156, + "epoch": 1.6380564445737562, + "flow_matching_loss": 0.020720131136476992, + "grad_norm": 0.11479642242193222, + "kept_token_count": 572.3171875, + "learning_rate": 2.847295862530324e-05, + "loss": 0.0253, + "mgd_cos_sim": 0.9907418251037597, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009258189238607883, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.9876007080078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.4016357421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5630, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.299165216088295, + "epoch": 1.6409659586848995, + "flow_matching_loss": 0.0161745629273355, + "grad_norm": 0.12382775545120239, + "kept_token_count": 573.4421875, + "learning_rate": 2.846568190920773e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9906086266040802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00939137227833271, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.49990234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.67640075683596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5640, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.30012203454971315, + "epoch": 1.6438754727960432, + "flow_matching_loss": 0.019668800011277198, + "grad_norm": 0.12135634571313858, + "kept_token_count": 572.8859375, + "learning_rate": 2.8458388831038965e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9897755980491638, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010224402975291013, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.3931854248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.52825622558595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5650, + "valid_token_count": 818.5515625 + }, + { + "actual_token_mask_ratio": 0.3000014632940292, + "epoch": 1.6467849869071864, + "flow_matching_loss": 0.017119382601231338, + "grad_norm": 0.1199735477566719, + "kept_token_count": 572.646875, + "learning_rate": 2.8451079399658725e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9898839652538299, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.010116032976657151, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.66649169921874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.786669921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5660, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.2996125191450119, + "epoch": 1.64969450101833, + "flow_matching_loss": 0.019868306629359723, + "grad_norm": 0.15472939610481262, + "kept_token_count": 572.959375, + "learning_rate": 2.8443753623948665e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9905330538749695, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009466953482478857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 333.70192565917966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.215478515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5670, + "valid_token_count": 818.0640625 + }, + { + "actual_token_mask_ratio": 0.30058397352695465, + "epoch": 1.6526040151294734, + "flow_matching_loss": 0.015755299758166075, + "grad_norm": 0.14025114476680756, + "kept_token_count": 572.3, + "learning_rate": 2.8436411512810288e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9906740546226501, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009325944632291795, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.2742126464844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.751708984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5680, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.2989567518234253, + "epoch": 1.6555135292406167, + "flow_matching_loss": 0.01946790302172303, + "grad_norm": 0.13535816967487335, + "kept_token_count": 573.5359375, + "learning_rate": 2.842905307516495e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9900391340255738, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009960860386490822, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 339.2731994628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.29937744140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5690, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.30048471689224243, + "epoch": 1.6584230433517604, + "flow_matching_loss": 0.014730076864361763, + "grad_norm": 0.11172457784414291, + "kept_token_count": 572.459375, + "learning_rate": 2.8421678319953854e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9903725922107697, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009627403132617474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 342.08667907714846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.9352600097656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5700, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.3012326925992966, + "epoch": 1.6613325574629036, + "flow_matching_loss": 0.01969218337908387, + "grad_norm": 0.10321062058210373, + "kept_token_count": 571.9921875, + "learning_rate": 2.841428725613801e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.990746819972992, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009253174252808093, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 343.6968048095703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.1254089355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5710, + "valid_token_count": 818.5796875 + }, + { + "actual_token_mask_ratio": 0.29997257590293885, + "epoch": 1.6642420715740471, + "flow_matching_loss": 0.01848205430433154, + "grad_norm": 0.12817561626434326, + "kept_token_count": 572.8453125, + "learning_rate": 2.8406879892698272e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9908671379089355, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00913287727162242, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.4056915283203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.52611389160154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5720, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.30031619369983675, + "epoch": 1.6671515856851906, + "flow_matching_loss": 0.02256210846826434, + "grad_norm": 0.13640695810317993, + "kept_token_count": 572.3828125, + "learning_rate": 2.8399456238635274e-05, + "loss": 0.0274, + "mgd_cos_sim": 0.9903641223907471, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009635875839740038, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.5885467529297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.04205322265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5730, + "valid_token_count": 818.0625 + }, + { + "actual_token_mask_ratio": 0.30105907618999483, + "epoch": 1.6700610997963339, + "flow_matching_loss": 0.018322994373738764, + "grad_norm": 0.13911668956279755, + "kept_token_count": 571.809375, + "learning_rate": 2.8392016302969457e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9906749248504638, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0093250909820199, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.5651153564453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.3264617919922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5740, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.3009893625974655, + "epoch": 1.6729706139074776, + "flow_matching_loss": 0.016761167254298926, + "grad_norm": 0.10867299884557724, + "kept_token_count": 572.0921875, + "learning_rate": 2.8384560094741055e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9909233510494232, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009076646436005831, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.97425537109376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.4449798583984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5750, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.3007175445556641, + "epoch": 1.6758801280186209, + "flow_matching_loss": 0.015873831044882537, + "grad_norm": 0.11541386693716049, + "kept_token_count": 572.0078125, + "learning_rate": 2.8377087623010054e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.991019344329834, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008980666380375623, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.7179840087891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.3119384765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5760, + "valid_token_count": 817.9921875 + }, + { + "actual_token_mask_ratio": 0.2990126132965088, + "epoch": 1.6787896421297643, + "flow_matching_loss": 0.017261795327067377, + "grad_norm": 0.08989173918962479, + "kept_token_count": 573.4828125, + "learning_rate": 2.8369598896856213e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9913793802261353, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00862061558291316, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.39418640136716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.01417846679686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5770, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.2996205657720566, + "epoch": 1.6816991562409078, + "flow_matching_loss": 0.019345392193645238, + "grad_norm": 0.12758374214172363, + "kept_token_count": 573.0375, + "learning_rate": 2.836209392537904e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9907968223094941, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009203173965215684, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.71612243652345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.3585998535156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5780, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.30102831721305845, + "epoch": 1.684608670352051, + "flow_matching_loss": 0.01538918847218156, + "grad_norm": 0.09469316899776459, + "kept_token_count": 572.14375, + "learning_rate": 2.8354572717697787e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.991037267446518, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008962745033204555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.9143371582031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.69725036621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5790, + "valid_token_count": 818.5421875 + }, + { + "actual_token_mask_ratio": 0.3001087725162506, + "epoch": 1.6875181844631948, + "flow_matching_loss": 0.015978285018354653, + "grad_norm": 0.12653818726539612, + "kept_token_count": 572.5859375, + "learning_rate": 2.8347035282951428e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9907797336578369, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009220258891582489, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.20508728027346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.52056884765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5800, + "valid_token_count": 818.109375 + }, + { + "actual_token_mask_ratio": 0.29961870312690736, + "epoch": 1.690427698574338, + "flow_matching_loss": 0.016551051009446382, + "grad_norm": 0.12101174145936966, + "kept_token_count": 572.99375, + "learning_rate": 2.8339481630298653e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9906373500823975, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009362653736025095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 341.5031768798828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 369.7228698730469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5810, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.30014089643955233, + "epoch": 1.6933372126854815, + "flow_matching_loss": 0.015785045735538007, + "grad_norm": 0.08938455581665039, + "kept_token_count": 572.5984375, + "learning_rate": 2.833191176891787e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9908356130123138, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009164384566247463, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.56372985839846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.2522766113281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5820, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.30181980729103086, + "epoch": 1.696246726796625, + "flow_matching_loss": 0.017285325843840838, + "grad_norm": 0.1107276901602745, + "kept_token_count": 571.171875, + "learning_rate": 2.832432570800717e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9910671174526214, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008932884875684976, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.33986511230466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.75927734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5830, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.2999316453933716, + "epoch": 1.6991562409077683, + "flow_matching_loss": 0.01628624014556408, + "grad_norm": 0.1370374858379364, + "kept_token_count": 572.85, + "learning_rate": 2.8316723456784332e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9910065174102783, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008993488736450672, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.24595031738284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.74817810058596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5840, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.30039018094539643, + "epoch": 1.702065755018912, + "flow_matching_loss": 0.01711244462057948, + "grad_norm": 0.11284533143043518, + "kept_token_count": 572.3625, + "learning_rate": 2.8309105024486808e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9906877398490905, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009312248229980469, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.9669952392578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.9928283691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5850, + "valid_token_count": 818.1125 + }, + { + "actual_token_mask_ratio": 0.30003631114959717, + "epoch": 1.7049752691300553, + "flow_matching_loss": 0.016677258349955083, + "grad_norm": 0.10145533084869385, + "kept_token_count": 572.53125, + "learning_rate": 2.830147042037172e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9910728931427002, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008927108626812697, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 351.42979431152344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.63880310058596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5860, + "valid_token_count": 817.953125 + }, + { + "actual_token_mask_ratio": 0.2998082101345062, + "epoch": 1.7078847832411987, + "flow_matching_loss": 0.016355786193162202, + "grad_norm": 0.11384882777929306, + "kept_token_count": 572.8515625, + "learning_rate": 2.8293819653715816e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9907345473766327, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009265446476638317, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.68433532714846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.0918365478516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5870, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.29944828152656555, + "epoch": 1.7107942973523422, + "flow_matching_loss": 0.01761382296681404, + "grad_norm": 0.110943503677845, + "kept_token_count": 573.13125, + "learning_rate": 2.828615273381551e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9907111406326294, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009288856387138366, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 325.42713623046876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.428955078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5880, + "valid_token_count": 818.1171875 + }, + { + "actual_token_mask_ratio": 0.30079701244831086, + "epoch": 1.7137038114634855, + "flow_matching_loss": 0.014797736145555972, + "grad_norm": 0.11278294026851654, + "kept_token_count": 572.296875, + "learning_rate": 2.827846966998683e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9909918427467346, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009008151944726706, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.0401245117188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.581689453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5890, + "valid_token_count": 818.503125 + }, + { + "actual_token_mask_ratio": 0.29882630705833435, + "epoch": 1.7166133255746292, + "flow_matching_loss": 0.016689573787152766, + "grad_norm": 0.09282354265451431, + "kept_token_count": 573.7703125, + "learning_rate": 2.8270770471565422e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9908301591873169, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009169840905815362, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.12745666503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.2211395263672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5900, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.2994475126266479, + "epoch": 1.7195228396857725, + "flow_matching_loss": 0.016642531473189594, + "grad_norm": 0.11508306860923767, + "kept_token_count": 573.0515625, + "learning_rate": 2.826305514790654e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9913433909416198, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00865659099072218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.16094360351565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.9147644042969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5910, + "valid_token_count": 817.990625 + }, + { + "actual_token_mask_ratio": 0.2986413836479187, + "epoch": 1.722432353796916, + "flow_matching_loss": 0.01707299519330263, + "grad_norm": 0.13443437218666077, + "kept_token_count": 573.96875, + "learning_rate": 2.825532370838503e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9903607428073883, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009639247227460146, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.47833862304685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.1314697265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5920, + "valid_token_count": 818.365625 + }, + { + "actual_token_mask_ratio": 0.2994120389223099, + "epoch": 1.7253418679080594, + "flow_matching_loss": 0.019778297748416662, + "grad_norm": 0.16263754665851593, + "kept_token_count": 573.3703125, + "learning_rate": 2.824757616239532e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9901786327362061, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009821359626948833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 357.8130249023437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.10447082519534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5930, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.3004165828227997, + "epoch": 1.7282513820192027, + "flow_matching_loss": 0.01828618859872222, + "grad_norm": 0.12314057350158691, + "kept_token_count": 572.428125, + "learning_rate": 2.8239812519351404e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9905099689960479, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009490023646503688, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.8442138671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.1852294921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5940, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.3007275551557541, + "epoch": 1.7311608961303462, + "flow_matching_loss": 0.01981219919398427, + "grad_norm": 0.1473812758922577, + "kept_token_count": 572.271875, + "learning_rate": 2.823203278868685e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9904223799705505, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009577635489404202, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.57639770507814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.0735626220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5950, + "valid_token_count": 818.3859375 + }, + { + "actual_token_mask_ratio": 0.2997151345014572, + "epoch": 1.7340704102414897, + "flow_matching_loss": 0.016790551226586105, + "grad_norm": 0.1378895342350006, + "kept_token_count": 573.2265625, + "learning_rate": 2.8224236979854752e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9909168720245362, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009083142690360545, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 346.80546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.5876495361328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5960, + "valid_token_count": 818.5578125 + }, + { + "actual_token_mask_ratio": 0.29926627278327944, + "epoch": 1.7369799243526332, + "flow_matching_loss": 0.016941992659121753, + "grad_norm": 0.1611664891242981, + "kept_token_count": 573.378125, + "learning_rate": 2.821642510232776e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9913955450057983, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00860445098951459, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.7905517578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.7015777587891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5970, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.29951147437095643, + "epoch": 1.7398894384637766, + "flow_matching_loss": 0.01573228817433119, + "grad_norm": 0.12508612871170044, + "kept_token_count": 573.3796875, + "learning_rate": 2.8208597165598046e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9913811147212982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008618888072669506, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 358.7459228515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.40838623046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5980, + "valid_token_count": 818.5375 + }, + { + "actual_token_mask_ratio": 0.29933987855911254, + "epoch": 1.74279895257492, + "flow_matching_loss": 0.01757529266178608, + "grad_norm": 0.1226503923535347, + "kept_token_count": 573.4671875, + "learning_rate": 2.8200753179177285e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9914590537548065, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008540922962129115, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.40375366210935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.28322448730466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 5990, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.2997803002595901, + "epoch": 1.7457084666860634, + "flow_matching_loss": 0.016168985702097415, + "grad_norm": 0.14130650460720062, + "kept_token_count": 573.2078125, + "learning_rate": 2.819289315259666e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.990691876411438, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009308141842484473, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.63498840332034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.8096893310547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6000, + "valid_token_count": 818.6140625 + }, + { + "actual_token_mask_ratio": 0.2993167668581009, + "epoch": 1.7486179807972069, + "flow_matching_loss": 0.01881375638768077, + "grad_norm": 0.1320662945508957, + "kept_token_count": 573.1421875, + "learning_rate": 2.8185017095406845e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9907717823982238, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009228217136114835, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 344.165283203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.52134399414064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6010, + "valid_token_count": 817.978125 + }, + { + "actual_token_mask_ratio": 0.29978619515895844, + "epoch": 1.7515274949083504, + "flow_matching_loss": 0.017152854613959788, + "grad_norm": 0.12153833359479904, + "kept_token_count": 572.9625, + "learning_rate": 2.8177125017177998e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9910508990287781, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008949092961847782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 364.40533447265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5504669189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6020, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.29991759061813356, + "epoch": 1.7544370090194938, + "flow_matching_loss": 0.01953781396150589, + "grad_norm": 0.12731893360614777, + "kept_token_count": 572.7640625, + "learning_rate": 2.8169216927499727e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.990796810388565, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009203186724334955, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 344.45152893066404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.89561157226564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6030, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.2996554285287857, + "epoch": 1.757346523130637, + "flow_matching_loss": 0.015524479188024997, + "grad_norm": 0.15460079908370972, + "kept_token_count": 572.7953125, + "learning_rate": 2.816129283598112e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9906665205955505, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009333476703613997, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.8957244873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 370.6799743652344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6040, + "valid_token_count": 817.86875 + }, + { + "actual_token_mask_ratio": 0.3004126787185669, + "epoch": 1.7602560372417806, + "flow_matching_loss": 0.017954549472779035, + "grad_norm": 0.11193834990262985, + "kept_token_count": 572.5421875, + "learning_rate": 2.815335275225068e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9907274663448333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00927255665883422, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.7984161376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.03965759277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6050, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.2992179185152054, + "epoch": 1.763165551352924, + "flow_matching_loss": 0.01681967070326209, + "grad_norm": 0.12984490394592285, + "kept_token_count": 573.5296875, + "learning_rate": 2.8145396685956374e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9903129816055298, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009687020350247622, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.1767333984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.25632629394534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6060, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.2996954172849655, + "epoch": 1.7660750654640673, + "flow_matching_loss": 0.01679739998653531, + "grad_norm": 0.09218595921993256, + "kept_token_count": 573.2390625, + "learning_rate": 2.813742464676556e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9904460489749909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009553952049463988, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.1925567626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.59019165039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6070, + "valid_token_count": 818.5578125 + }, + { + "actual_token_mask_ratio": 0.3001905918121338, + "epoch": 1.768984579575211, + "flow_matching_loss": 0.02115951832383871, + "grad_norm": 0.1099165603518486, + "kept_token_count": 572.4109375, + "learning_rate": 2.8129436644365025e-05, + "loss": 0.0256, + "mgd_cos_sim": 0.9910467267036438, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008953272085636853, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.9188537597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.9980529785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6080, + "valid_token_count": 817.9515625 + }, + { + "actual_token_mask_ratio": 0.2995231866836548, + "epoch": 1.7718940936863543, + "flow_matching_loss": 0.018092438112944365, + "grad_norm": 0.1646149903535843, + "kept_token_count": 573.0546875, + "learning_rate": 2.8121432688460938e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9907519936561584, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009248001500964165, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.2925170898437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2043182373047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6090, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.2992581188678741, + "epoch": 1.7748036077974978, + "flow_matching_loss": 0.01722580911591649, + "grad_norm": 0.13036540150642395, + "kept_token_count": 573.534375, + "learning_rate": 2.8113412788778867e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.991186261177063, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008813737612217664, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 324.8016326904297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.19495849609376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6100, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.2987915962934494, + "epoch": 1.7777131219086413, + "flow_matching_loss": 0.019977683480829, + "grad_norm": 0.14601248502731323, + "kept_token_count": 574.2375, + "learning_rate": 2.8105376955063744e-05, + "loss": 0.0249, + "mgd_cos_sim": 0.9900611996650696, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009938793163746596, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 341.3104766845703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.6036895751953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6110, + "valid_token_count": 818.9234375 + }, + { + "actual_token_mask_ratio": 0.29875433146953584, + "epoch": 1.7806226360197845, + "flow_matching_loss": 0.01868496909737587, + "grad_norm": 0.12669244408607483, + "kept_token_count": 573.8546875, + "learning_rate": 2.8097325197079862e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9908252239227295, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009174775052815675, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.5409637451172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.17772216796874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6120, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.29938400983810426, + "epoch": 1.7835321501309283, + "flow_matching_loss": 0.01873451555147767, + "grad_norm": 0.1176389753818512, + "kept_token_count": 573.1109375, + "learning_rate": 2.808925752461087e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.9906205892562866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009379389137029648, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.81255493164065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.4868103027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6130, + "valid_token_count": 818.0140625 + }, + { + "actual_token_mask_ratio": 0.29976227283477785, + "epoch": 1.7864416642420715, + "flow_matching_loss": 0.018444902170449494, + "grad_norm": 0.16961634159088135, + "kept_token_count": 572.8453125, + "learning_rate": 2.808117394745975e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9910811722278595, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00891882861033082, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.5863800048828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.1346771240234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6140, + "valid_token_count": 818.078125 + }, + { + "actual_token_mask_ratio": 0.30096707344055174, + "epoch": 1.789351178353215, + "flow_matching_loss": 0.01554220002144575, + "grad_norm": 0.10550897568464279, + "kept_token_count": 572.01875, + "learning_rate": 2.807307447544881e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9906945705413819, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009305440448224544, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.7626922607422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.75914611816404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6150, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.30048381388187406, + "epoch": 1.7922606924643585, + "flow_matching_loss": 0.017718240898102523, + "grad_norm": 0.1592797189950943, + "kept_token_count": 572.2625, + "learning_rate": 2.806495911841967e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9902143239974975, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009785676188766957, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.0852020263672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.2341735839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6160, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.2992261439561844, + "epoch": 1.7951702065755017, + "flow_matching_loss": 0.01556612653657794, + "grad_norm": 0.1166275143623352, + "kept_token_count": 573.4125, + "learning_rate": 2.8056827886233255e-05, + "loss": 0.02, + "mgd_cos_sim": 0.991146856546402, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008853122033178807, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.4979644775391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.39634399414064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6170, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.3006232500076294, + "epoch": 1.7980797206866455, + "flow_matching_loss": 0.01651266422122717, + "grad_norm": 0.14085210859775543, + "kept_token_count": 572.378125, + "learning_rate": 2.8048680788769783e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9900273382663727, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009972670674324035, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.20636596679685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.5981781005859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6180, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.3008348286151886, + "epoch": 1.8009892347977887, + "flow_matching_loss": 0.016948571987450124, + "grad_norm": 0.12492679059505463, + "kept_token_count": 572.0171875, + "learning_rate": 2.8040517835928742e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9911470413208008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008852962497621774, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.43678283691406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.14014587402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6190, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.3013379335403442, + "epoch": 1.8038987489089322, + "flow_matching_loss": 0.017302410397678613, + "grad_norm": 0.13807713985443115, + "kept_token_count": 571.753125, + "learning_rate": 2.803233903762889e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.991112357378006, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008887639828026294, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.97034606933596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.66876525878905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6200, + "valid_token_count": 818.35625 + }, + { + "actual_token_mask_ratio": 0.29994654655456543, + "epoch": 1.8068082630200757, + "flow_matching_loss": 0.017210694402456282, + "grad_norm": 0.0938895121216774, + "kept_token_count": 572.7375, + "learning_rate": 2.8024144403808235e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9909982860088349, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009001711942255497, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 347.5809387207031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.92649536132814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6210, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.29923575520515444, + "epoch": 1.809717777131219, + "flow_matching_loss": 0.016131735127419233, + "grad_norm": 0.0978740006685257, + "kept_token_count": 573.39375, + "learning_rate": 2.8015933944424037e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9909722626209259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009027734864503145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 347.84307250976565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.6424163818359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6220, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.3007140845060349, + "epoch": 1.8126272912423627, + "flow_matching_loss": 0.016615275666117667, + "grad_norm": 0.14775489270687103, + "kept_token_count": 572.3015625, + "learning_rate": 2.800770766945277e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9902175784111023, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009782414883375168, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 342.1527954101563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 371.76800231933595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6230, + "valid_token_count": 818.4125 + }, + { + "actual_token_mask_ratio": 0.3001448690891266, + "epoch": 1.815536805353506, + "flow_matching_loss": 0.017439381778240205, + "grad_norm": 0.13273291289806366, + "kept_token_count": 572.4609375, + "learning_rate": 2.7999465588890135e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9914136707782746, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00858633192256093, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.67043151855466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.7674041748047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6240, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.29969177544116976, + "epoch": 1.8184463194646494, + "flow_matching_loss": 0.016476399078965188, + "grad_norm": 0.13190612196922302, + "kept_token_count": 573.1328125, + "learning_rate": 2.799120771275105e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9914613246917725, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008538663480430841, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 331.65561828613284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.97931518554685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6250, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.2999165803194046, + "epoch": 1.821355833575793, + "flow_matching_loss": 0.016694381833076477, + "grad_norm": 0.132770374417305, + "kept_token_count": 572.93125, + "learning_rate": 2.7982934051069597e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9911082684993744, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00889171976596117, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.1697662353516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.5068389892578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6260, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.2996803045272827, + "epoch": 1.8242653476869362, + "flow_matching_loss": 0.015822390094399452, + "grad_norm": 0.12904901802539825, + "kept_token_count": 572.9484375, + "learning_rate": 2.7974644613899063e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9910620331764222, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008937965147197247, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.8001403808594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.04412841796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6270, + "valid_token_count": 818.13125 + }, + { + "actual_token_mask_ratio": 0.30097604393959043, + "epoch": 1.8271748617980799, + "flow_matching_loss": 0.01508927084505558, + "grad_norm": 0.11485017091035843, + "kept_token_count": 571.8125, + "learning_rate": 2.796633941131189e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9909716010093689, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009028405416756868, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.98096923828126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.04090576171876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6280, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.3012881696224213, + "epoch": 1.8300843759092231, + "flow_matching_loss": 0.01832818556576967, + "grad_norm": 0.12144909799098969, + "kept_token_count": 571.9625, + "learning_rate": 2.795801845339969e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9904139041900635, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009586101863533258, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.98044738769534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.0550537109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6290, + "valid_token_count": 818.596875 + }, + { + "actual_token_mask_ratio": 0.29932667315006256, + "epoch": 1.8329938900203666, + "flow_matching_loss": 0.016847300715744494, + "grad_norm": 0.10691439360380173, + "kept_token_count": 573.29375, + "learning_rate": 2.7949681750273208e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9911437690258026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008856241311877965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.93617248535156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.8610900878906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6300, + "valid_token_count": 818.196875 + }, + { + "actual_token_mask_ratio": 0.29966392517089846, + "epoch": 1.83590340413151, + "flow_matching_loss": 0.01569599090144038, + "grad_norm": 0.09571050852537155, + "kept_token_count": 573.1375, + "learning_rate": 2.7941329312062322e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9912693202495575, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008730664011090994, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 375.4228271484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.1549987792969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6310, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.30042214691638947, + "epoch": 1.8388129182426534, + "flow_matching_loss": 0.017016604263335466, + "grad_norm": 0.11420085281133652, + "kept_token_count": 572.4515625, + "learning_rate": 2.7932961148916037e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9908611655235291, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009138837922364473, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.31382446289064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.6044219970703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6320, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.2996592402458191, + "epoch": 1.841722432353797, + "flow_matching_loss": 0.01915109297260642, + "grad_norm": 0.1355699896812439, + "kept_token_count": 572.90625, + "learning_rate": 2.7924577271002456e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9904022812843323, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009597718436270952, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.4059295654297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.5830902099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6330, + "valid_token_count": 818.0421875 + }, + { + "actual_token_mask_ratio": 0.30051239430904386, + "epoch": 1.8446319464649403, + "flow_matching_loss": 0.016316809132695197, + "grad_norm": 0.1345105618238449, + "kept_token_count": 572.5578125, + "learning_rate": 2.7916177688508782e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.990914112329483, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009085898566991091, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 358.8193817138672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.82176818847654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6340, + "valid_token_count": 818.5375 + }, + { + "actual_token_mask_ratio": 0.2997923731803894, + "epoch": 1.8475414605760838, + "flow_matching_loss": 0.02019179901108146, + "grad_norm": 0.11287915706634521, + "kept_token_count": 572.915625, + "learning_rate": 2.7907762411641302e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9912288844585418, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008771121874451638, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.3959503173828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.93382568359374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6350, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.29862593710422514, + "epoch": 1.8504509746872273, + "flow_matching_loss": 0.015715676825493574, + "grad_norm": 0.11253730952739716, + "kept_token_count": 573.9234375, + "learning_rate": 2.7899331450625367e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.990814471244812, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00918552465736866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.1080017089844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.0666809082031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6360, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.30092678368091585, + "epoch": 1.8533604887983706, + "flow_matching_loss": 0.01644566226750612, + "grad_norm": 0.13419455289840698, + "kept_token_count": 571.9875, + "learning_rate": 2.7890884815705397e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9913186430931091, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00868136966601014, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 348.45335693359374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.4564544677734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6370, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.29988229274749756, + "epoch": 1.8562700029095143, + "flow_matching_loss": 0.016678563598543406, + "grad_norm": 0.14114898443222046, + "kept_token_count": 573.225, + "learning_rate": 2.788242251714484e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9901536226272583, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009846370946615935, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.2601287841797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.2891815185547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6380, + "valid_token_count": 818.7484375 + }, + { + "actual_token_mask_ratio": 0.29993757605552673, + "epoch": 1.8591795170206575, + "flow_matching_loss": 0.01795796789228916, + "grad_norm": 0.12113439291715622, + "kept_token_count": 572.8125, + "learning_rate": 2.787394456522619e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9910282075405121, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00897179488092661, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 320.9682922363281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5133819580078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6390, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.30015426874160767, + "epoch": 1.862089031131801, + "flow_matching_loss": 0.019940046593546867, + "grad_norm": 0.14184555411338806, + "kept_token_count": 572.6109375, + "learning_rate": 2.7865450970250965e-05, + "loss": 0.0248, + "mgd_cos_sim": 0.9902095794677734, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009790404979139567, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.2483184814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.7460571289063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6400, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.3003461003303528, + "epoch": 1.8649985452429445, + "flow_matching_loss": 0.019124772492796184, + "grad_norm": 0.18628236651420593, + "kept_token_count": 572.496875, + "learning_rate": 2.7856941742539676e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9911765992641449, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00882339645177126, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 357.29603271484376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.94988403320315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6410, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.30023870170116423, + "epoch": 1.8679080593540878, + "flow_matching_loss": 0.01797741064801812, + "grad_norm": 0.11247904598712921, + "kept_token_count": 572.4734375, + "learning_rate": 2.784841689243184e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9910191655158996, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00898081213235855, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.5089630126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.4486572265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6420, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.3000772088766098, + "epoch": 1.8708175734652313, + "flow_matching_loss": 0.016753020882606506, + "grad_norm": 0.12614071369171143, + "kept_token_count": 572.6671875, + "learning_rate": 2.783987643028595e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9905705392360687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009429458063095808, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.1626678466797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.09804382324216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6430, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.2996763437986374, + "epoch": 1.8737270875763747, + "flow_matching_loss": 0.018739488907158375, + "grad_norm": 0.11634981632232666, + "kept_token_count": 573.0, + "learning_rate": 2.783132036647948e-05, + "loss": 0.0234, + "mgd_cos_sim": 0.990590649843216, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009409350622445346, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.9451843261719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.52478942871096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6440, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.3003671824932098, + "epoch": 1.8766366016875182, + "flow_matching_loss": 0.01779533429071307, + "grad_norm": 0.11649078875780106, + "kept_token_count": 572.4109375, + "learning_rate": 2.7822748711408852e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.991036856174469, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008963147457689048, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.64552001953126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.2380004882813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6450, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.29968538582324983, + "epoch": 1.8795461157986617, + "flow_matching_loss": 0.018004497233778238, + "grad_norm": 0.17181994020938873, + "kept_token_count": 573.009375, + "learning_rate": 2.7814161475489428e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9909828007221222, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009017208125442266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.88824462890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.31653747558596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6460, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.3007659941911697, + "epoch": 1.882455629909805, + "flow_matching_loss": 0.015732337720692158, + "grad_norm": 0.1295536756515503, + "kept_token_count": 572.271875, + "learning_rate": 2.780555866915552e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9912998676300049, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00870013451203704, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.4616760253906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.64978942871096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6470, + "valid_token_count": 818.4296875 + }, + { + "actual_token_mask_ratio": 0.3009713888168335, + "epoch": 1.8853651440209485, + "flow_matching_loss": 0.016603696160018444, + "grad_norm": 0.14190566539764404, + "kept_token_count": 572.13125, + "learning_rate": 2.7796940302860338e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9914715588092804, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008528440725058317, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.11162109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5881408691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6480, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.2997476577758789, + "epoch": 1.888274658132092, + "flow_matching_loss": 0.019324459321796893, + "grad_norm": 0.11325853317975998, + "kept_token_count": 573.021875, + "learning_rate": 2.7788306387076018e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9909527182579041, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009047287702560424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 352.9550476074219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.03160705566404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6490, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.2998370110988617, + "epoch": 1.8911841722432354, + "flow_matching_loss": 0.018067486211657525, + "grad_norm": 0.12859421968460083, + "kept_token_count": 572.771875, + "learning_rate": 2.7779656932293584e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9907280147075653, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009271989390254021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.7511688232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.501953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6500, + "valid_token_count": 818.053125 + }, + { + "actual_token_mask_ratio": 0.2997841387987137, + "epoch": 1.894093686354379, + "flow_matching_loss": 0.019033961184322833, + "grad_norm": 0.10103748738765717, + "kept_token_count": 572.9609375, + "learning_rate": 2.777099194902293e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9907306492328644, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009269351791590452, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 347.37257385253906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.29542236328126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6510, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.2992656290531158, + "epoch": 1.8970032004655222, + "flow_matching_loss": 0.017395175993442535, + "grad_norm": 0.09511906653642654, + "kept_token_count": 573.4125, + "learning_rate": 2.776231144779283e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9905376017093659, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009462389722466468, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 365.52648010253904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.9783935546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6520, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.30086567997932434, + "epoch": 1.8999127145766657, + "flow_matching_loss": 0.01747762281447649, + "grad_norm": 0.12852223217487335, + "kept_token_count": 571.7765625, + "learning_rate": 2.775361543915091e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9907898902893066, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009210122376680374, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 339.7252899169922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.54803161621095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6530, + "valid_token_count": 817.8359375 + }, + { + "actual_token_mask_ratio": 0.29994580149650574, + "epoch": 1.9028222286878091, + "flow_matching_loss": 0.01511345524340868, + "grad_norm": 0.11896753311157227, + "kept_token_count": 572.8234375, + "learning_rate": 2.774490393366365e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9908078670501709, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009192132484167814, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.8364685058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.026416015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6540, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.29994092881679535, + "epoch": 1.9057317427989524, + "flow_matching_loss": 0.017012157198041677, + "grad_norm": 0.11288197338581085, + "kept_token_count": 572.5609375, + "learning_rate": 2.7736176941916346e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9910699188709259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00893006967380643, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.39916076660154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.34352416992186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6550, + "valid_token_count": 817.8734375 + }, + { + "actual_token_mask_ratio": 0.300235915184021, + "epoch": 1.9086412569100961, + "flow_matching_loss": 0.017189417872577904, + "grad_norm": 0.12887342274188995, + "kept_token_count": 572.6890625, + "learning_rate": 2.772743447451311e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9906342089176178, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009365770779550076, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.41261291503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.8149169921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6560, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.29977634847164153, + "epoch": 1.9115507710212394, + "flow_matching_loss": 0.017811189591884612, + "grad_norm": 0.0997844859957695, + "kept_token_count": 573.0125, + "learning_rate": 2.7718676542076872e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9907374799251556, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009262522310018539, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.2918670654297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.2279968261719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6570, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.30007449686527254, + "epoch": 1.9144602851323829, + "flow_matching_loss": 0.01521881129592657, + "grad_norm": 0.10416244715452194, + "kept_token_count": 572.7296875, + "learning_rate": 2.770990315524934e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9902146279811859, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009785380959510804, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.02288208007815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.6355255126953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6580, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.2993221551179886, + "epoch": 1.9173697992435264, + "flow_matching_loss": 0.017782238498330116, + "grad_norm": 0.09776962548494339, + "kept_token_count": 573.103125, + "learning_rate": 2.7701114324691015e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9912705183029175, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008729475922882557, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.0364044189453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2919128417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6590, + "valid_token_count": 817.9234375 + }, + { + "actual_token_mask_ratio": 0.3009174257516861, + "epoch": 1.9202793133546696, + "flow_matching_loss": 0.01889848792925477, + "grad_norm": 0.14605575799942017, + "kept_token_count": 572.121875, + "learning_rate": 2.7692310061081145e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9902369678020477, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009763049986213445, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.3458526611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.9265563964844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6600, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.30141696631908416, + "epoch": 1.9231888274658133, + "flow_matching_loss": 0.017882723547518253, + "grad_norm": 0.10561957210302353, + "kept_token_count": 571.534375, + "learning_rate": 2.7683490375117742e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9910889148712159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008911076281219722, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.80164489746096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.3447723388672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6610, + "valid_token_count": 818.1375 + }, + { + "actual_token_mask_ratio": 0.3006103128194809, + "epoch": 1.9260983415769566, + "flow_matching_loss": 0.01994109284132719, + "grad_norm": 0.1420752853155136, + "kept_token_count": 572.246875, + "learning_rate": 2.7674655277517556e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9904120802879334, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00958792669698596, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.3292663574219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.3877014160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6620, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.2993089586496353, + "epoch": 1.9290078556881, + "flow_matching_loss": 0.01965520912781358, + "grad_norm": 0.12830188870429993, + "kept_token_count": 573.315625, + "learning_rate": 2.7665804779016072e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9911618113517762, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008838196378201246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.35008239746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.4854309082031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6630, + "valid_token_count": 818.2140625 + }, + { + "actual_token_mask_ratio": 0.2994257152080536, + "epoch": 1.9319173697992436, + "flow_matching_loss": 0.019346440304070713, + "grad_norm": 0.11991684883832932, + "kept_token_count": 573.515625, + "learning_rate": 2.765693889036747e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9908076167106629, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009192390739917755, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 358.9156463623047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.6881805419922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6640, + "valid_token_count": 818.6390625 + }, + { + "actual_token_mask_ratio": 0.2995551824569702, + "epoch": 1.9348268839103868, + "flow_matching_loss": 0.021514301281422378, + "grad_norm": 0.12068792432546616, + "kept_token_count": 573.1609375, + "learning_rate": 2.764805762234465e-05, + "loss": 0.0262, + "mgd_cos_sim": 0.9906943678855896, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00930562699213624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.5431793212891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.73536376953126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6650, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.2996688961982727, + "epoch": 1.9377363980215305, + "flow_matching_loss": 0.01586942616850138, + "grad_norm": 0.14432133734226227, + "kept_token_count": 573.0078125, + "learning_rate": 2.7639160985739182e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9906560838222503, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009343915432691575, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 358.3527496337891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.92323608398436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6660, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.3005636423826218, + "epoch": 1.9406459121326738, + "flow_matching_loss": 0.01909159226343036, + "grad_norm": 0.11949913203716278, + "kept_token_count": 572.3015625, + "learning_rate": 2.7630248991361317e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9908149182796478, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009185096062719823, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 347.0287170410156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.1804138183594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6670, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.2992686003446579, + "epoch": 1.9435554262438173, + "flow_matching_loss": 0.014662337023764849, + "grad_norm": 0.1084509864449501, + "kept_token_count": 573.3046875, + "learning_rate": 2.762132165003998e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.991026884317398, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008973109535872936, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.22394409179685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.78847045898436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6680, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.2995673269033432, + "epoch": 1.9464649403549608, + "flow_matching_loss": 0.01600975785404444, + "grad_norm": 0.12387887388467789, + "kept_token_count": 573.0265625, + "learning_rate": 2.7612378972622722e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9913317680358886, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00866822237148881, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.35194091796876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.5502990722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6690, + "valid_token_count": 818.1046875 + }, + { + "actual_token_mask_ratio": 0.30019180178642274, + "epoch": 1.949374454466104, + "flow_matching_loss": 0.017257953900843857, + "grad_norm": 0.11156174540519714, + "kept_token_count": 572.734375, + "learning_rate": 2.7603420969975743e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9908680081367492, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009132000710815191, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.8033447265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.3785827636719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6700, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.30034550130367277, + "epoch": 1.9522839685772477, + "flow_matching_loss": 0.019333901535719632, + "grad_norm": 0.11644011735916138, + "kept_token_count": 572.6421875, + "learning_rate": 2.7594447652983862e-05, + "loss": 0.0242, + "mgd_cos_sim": 0.9901823937892914, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009817596152424812, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 338.71233825683595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.50575561523436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6710, + "valid_token_count": 818.4671875 + }, + { + "actual_token_mask_ratio": 0.3007228136062622, + "epoch": 1.955193482688391, + "flow_matching_loss": 0.02083687772974372, + "grad_norm": 0.11752899736166, + "kept_token_count": 572.453125, + "learning_rate": 2.7585459032550497e-05, + "loss": 0.0255, + "mgd_cos_sim": 0.9907720625400543, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009227936994284392, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 358.2606597900391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.99970092773435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6720, + "valid_token_count": 818.6375 + }, + { + "actual_token_mask_ratio": 0.3009447783231735, + "epoch": 1.9581029967995345, + "flow_matching_loss": 0.018238725233823062, + "grad_norm": 0.11796240508556366, + "kept_token_count": 572.03125, + "learning_rate": 2.7576455119597684e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9912145912647248, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008785408083349466, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.9224548339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.35191040039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6730, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.29977516233921053, + "epoch": 1.961012510910678, + "flow_matching_loss": 0.01686148187145591, + "grad_norm": 0.10962584614753723, + "kept_token_count": 572.753125, + "learning_rate": 2.7567435925066012e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9908396661281585, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009160319808870554, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.3392669677734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.7637878417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6740, + "valid_token_count": 817.9640625 + }, + { + "actual_token_mask_ratio": 0.2989421248435974, + "epoch": 1.9639220250218212, + "flow_matching_loss": 0.020009040646255017, + "grad_norm": 0.1259307861328125, + "kept_token_count": 573.8015625, + "learning_rate": 2.7558401459914665e-05, + "loss": 0.0247, + "mgd_cos_sim": 0.9906610131263733, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009338982123881578, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.5965057373047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.1534027099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6750, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.299048525094986, + "epoch": 1.966831539132965, + "flow_matching_loss": 0.018843366485089063, + "grad_norm": 0.14501093327999115, + "kept_token_count": 573.5453125, + "learning_rate": 2.7549351735121362e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9910096406936646, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008990348037332296, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.46100463867185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5576904296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6760, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.2998627692461014, + "epoch": 1.9697410532441082, + "flow_matching_loss": 0.018060513585805894, + "grad_norm": 0.1277858167886734, + "kept_token_count": 572.8921875, + "learning_rate": 2.7540286761682377e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9906401097774505, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009359889943152667, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.5259674072266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.9898284912109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6770, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.30135727524757383, + "epoch": 1.9726505673552517, + "flow_matching_loss": 0.018485138285905124, + "grad_norm": 0.13548149168491364, + "kept_token_count": 571.51875, + "learning_rate": 2.75312065506125e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9910859584808349, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008914045710116624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.60765686035154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.6112335205078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6780, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.3004312634468079, + "epoch": 1.9755600814663952, + "flow_matching_loss": 0.01789070721715689, + "grad_norm": 0.13202795386314392, + "kept_token_count": 572.446875, + "learning_rate": 2.7522111112945052e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9906217873096466, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009378220699727536, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.12388610839844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.49517517089845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6790, + "valid_token_count": 818.2859375 + }, + { + "actual_token_mask_ratio": 0.2998672604560852, + "epoch": 1.9784695955775384, + "flow_matching_loss": 0.0176827915944159, + "grad_norm": 0.14496120810508728, + "kept_token_count": 572.8234375, + "learning_rate": 2.751300045973184e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9907593250274658, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00924069369211793, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.95818786621095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.8392303466797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6800, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.3002560406923294, + "epoch": 1.9813791096886821, + "flow_matching_loss": 0.01886601308360696, + "grad_norm": 0.1190570667386055, + "kept_token_count": 572.8140625, + "learning_rate": 2.750387460204317e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9907988369464874, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009201151691377163, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.7339813232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.11333923339845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6810, + "valid_token_count": 818.6046875 + }, + { + "actual_token_mask_ratio": 0.3003658950328827, + "epoch": 1.9842886237998254, + "flow_matching_loss": 0.01992537286132574, + "grad_norm": 0.12355022132396698, + "kept_token_count": 572.3703125, + "learning_rate": 2.7494733550967827e-05, + "loss": 0.0249, + "mgd_cos_sim": 0.9900510370731354, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009948963578790427, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 352.50184631347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.6438751220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6820, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.30009046792984007, + "epoch": 1.9871981379109689, + "flow_matching_loss": 0.016018915828317402, + "grad_norm": 0.1014087051153183, + "kept_token_count": 572.540625, + "learning_rate": 2.748557731761304e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9912414848804474, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008758515771478414, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.235107421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.4442657470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6830, + "valid_token_count": 818.0203125 + }, + { + "actual_token_mask_ratio": 0.3005534827709198, + "epoch": 1.9901076520221124, + "flow_matching_loss": 0.01808814238756895, + "grad_norm": 0.11326159536838531, + "kept_token_count": 572.4140625, + "learning_rate": 2.74764059131045e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9905004680156708, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009499516803771257, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.6685485839844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.7965850830078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6840, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.3005062371492386, + "epoch": 1.9930171661332556, + "flow_matching_loss": 0.016785672027617694, + "grad_norm": 0.11417025327682495, + "kept_token_count": 572.28125, + "learning_rate": 2.7467219348586322e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9909126460552216, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009087357856333255, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.01494140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.8237243652344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6850, + "valid_token_count": 818.1421875 + }, + { + "actual_token_mask_ratio": 0.29969923496246337, + "epoch": 1.9959266802443993, + "flow_matching_loss": 0.01683683367446065, + "grad_norm": 0.11999440938234329, + "kept_token_count": 573.0875, + "learning_rate": 2.7458017635221056e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9906918287277222, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009308165498077869, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.9759857177734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2065093994141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6860, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.2998922735452652, + "epoch": 1.9988361943555426, + "flow_matching_loss": 0.01697945948690176, + "grad_norm": 0.13968601822853088, + "kept_token_count": 572.85625, + "learning_rate": 2.7448800784189652e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.991196084022522, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008803918864578009, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.3314544677734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.7967926025391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6870, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.2987165510654449, + "epoch": 2.001745708466686, + "flow_matching_loss": 0.01781560881063342, + "grad_norm": 0.15196630358695984, + "kept_token_count": 573.84375, + "learning_rate": 2.7439568806691448e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9912442684173584, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008755724597722291, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 364.55693359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2705474853516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6880, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.29962645173072816, + "epoch": 2.0046552225778296, + "flow_matching_loss": 0.016902842465788125, + "grad_norm": 0.09281141310930252, + "kept_token_count": 572.9546875, + "learning_rate": 2.7430321713944167e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9910297632217407, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008970246650278568, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.20887756347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.19435119628906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6890, + "valid_token_count": 818.075 + }, + { + "actual_token_mask_ratio": 0.2992529958486557, + "epoch": 2.007564736688973, + "flow_matching_loss": 0.01780986487865448, + "grad_norm": 0.11660682410001755, + "kept_token_count": 573.5, + "learning_rate": 2.7421059517183906e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9913083374500274, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008691664319485426, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 357.26198120117186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2946838378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6900, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.30029489994049074, + "epoch": 2.0104742508001165, + "flow_matching_loss": 0.018347565457224844, + "grad_norm": 0.12541159987449646, + "kept_token_count": 572.4453125, + "learning_rate": 2.7411782227665097e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9902840793132782, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009715921338647604, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.04034729003905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.47093505859374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6910, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.3002765566110611, + "epoch": 2.01338376491126, + "flow_matching_loss": 0.01728184223175049, + "grad_norm": 0.11003021150827408, + "kept_token_count": 572.453125, + "learning_rate": 2.7402489856660528e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.991458123922348, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00854188259691, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 359.7673767089844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.9005065917969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6920, + "valid_token_count": 818.1171875 + }, + { + "actual_token_mask_ratio": 0.2998268485069275, + "epoch": 2.016293279022403, + "flow_matching_loss": 0.01853205803781748, + "grad_norm": 0.14007891714572906, + "kept_token_count": 573.04375, + "learning_rate": 2.7393182415461307e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9911259233951568, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008874070178717375, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 379.17653503417966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.81590881347654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6930, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.2993210881948471, + "epoch": 2.019202793133547, + "flow_matching_loss": 0.016489919926971196, + "grad_norm": 0.10238616913557053, + "kept_token_count": 573.478125, + "learning_rate": 2.7383859915376853e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9903953909873963, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009604606963694095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.10858154296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.2494201660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6940, + "valid_token_count": 818.4625 + }, + { + "actual_token_mask_ratio": 0.2995805859565735, + "epoch": 2.02211230724469, + "flow_matching_loss": 0.018862607888877392, + "grad_norm": 0.13016852736473083, + "kept_token_count": 573.2359375, + "learning_rate": 2.7374522367734875e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9913720905780792, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008627911843359471, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.89256591796874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.86342468261716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6950, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.29950055480003357, + "epoch": 2.0250218213558338, + "flow_matching_loss": 0.01810337556526065, + "grad_norm": 0.13079431653022766, + "kept_token_count": 573.16875, + "learning_rate": 2.7365169783881378e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9910581111907959, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008941888436675071, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 350.76380920410156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.78388061523435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6960, + "valid_token_count": 818.2375 + }, + { + "actual_token_mask_ratio": 0.3007261365652084, + "epoch": 2.027931335466977, + "flow_matching_loss": 0.017854839190840723, + "grad_norm": 0.09656788408756256, + "kept_token_count": 572.2359375, + "learning_rate": 2.735580217518064e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9908015310764313, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009198475815355777, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 375.07989807128905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.745849609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6970, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.3005599409341812, + "epoch": 2.0308408495781203, + "flow_matching_loss": 0.018695707991719247, + "grad_norm": 0.10561870783567429, + "kept_token_count": 572.5171875, + "learning_rate": 2.7346419553015175e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9912586092948914, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008741378970444202, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.0149688720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.7564239501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6980, + "valid_token_count": 818.534375 + }, + { + "actual_token_mask_ratio": 0.30032148361206057, + "epoch": 2.033750363689264, + "flow_matching_loss": 0.017523619718849658, + "grad_norm": 0.12171217054128647, + "kept_token_count": 572.4796875, + "learning_rate": 2.733702192878577e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9908835589885712, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009116449020802974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.69244995117185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.0878570556641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 6990, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.30029453337192535, + "epoch": 2.0366598778004072, + "flow_matching_loss": 0.016523319669067858, + "grad_norm": 0.10057436674833298, + "kept_token_count": 572.7, + "learning_rate": 2.732760931391141e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9901744186878204, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009825585409998894, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.9174041748047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.9714660644531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7000, + "valid_token_count": 818.4921875 + }, + { + "actual_token_mask_ratio": 0.3002226144075394, + "epoch": 2.039569391911551, + "flow_matching_loss": 0.018628842197358608, + "grad_norm": 0.11751077324151993, + "kept_token_count": 572.4953125, + "learning_rate": 2.731818171982932e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9907940089702606, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009205992240458727, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.7451538085937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.4472625732422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7010, + "valid_token_count": 818.109375 + }, + { + "actual_token_mask_ratio": 0.3002372235059738, + "epoch": 2.042478906022694, + "flow_matching_loss": 0.01621897183358669, + "grad_norm": 0.08898459374904633, + "kept_token_count": 572.65625, + "learning_rate": 2.730873915799491e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.991003406047821, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008996591065078973, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.08624877929685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.3121765136719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7020, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.2993008613586426, + "epoch": 2.0453884201338375, + "flow_matching_loss": 0.01579560711979866, + "grad_norm": 0.13811273872852325, + "kept_token_count": 573.40625, + "learning_rate": 2.7299281639881783e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9905763506889343, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009423642139881849, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.9582061767578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.43365478515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7030, + "valid_token_count": 818.3234375 + }, + { + "actual_token_mask_ratio": 0.30020020008087156, + "epoch": 2.048297934244981, + "flow_matching_loss": 0.017653971910476685, + "grad_norm": 0.10179127752780914, + "kept_token_count": 572.55625, + "learning_rate": 2.728980917698172e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9909848749637604, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009015118051320315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 365.75282592773436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.63233337402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7040, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.2989465057849884, + "epoch": 2.0512074483561245, + "flow_matching_loss": 0.017562013864517213, + "grad_norm": 0.13195420801639557, + "kept_token_count": 573.4546875, + "learning_rate": 2.7280321780804655e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9908813118934632, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009118690341711044, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.3509948730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.7296539306641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7050, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.2998164236545563, + "epoch": 2.054116962467268, + "flow_matching_loss": 0.01606922009959817, + "grad_norm": 0.1692105233669281, + "kept_token_count": 572.8453125, + "learning_rate": 2.7270819462878666e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9911691725254059, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008830817975103855, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.9772583007813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.10581665039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7060, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.3007645756006241, + "epoch": 2.0570264765784114, + "flow_matching_loss": 0.019165282510221003, + "grad_norm": 0.12044639885425568, + "kept_token_count": 572.259375, + "learning_rate": 2.7261302234749965e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9902097284793854, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00979027645662427, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 365.48228149414064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.4269165039062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7070, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.2998556911945343, + "epoch": 2.0599359906895547, + "flow_matching_loss": 0.016082080360502005, + "grad_norm": 0.11658817529678345, + "kept_token_count": 572.7078125, + "learning_rate": 2.7251770107982888e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9911250948905945, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008874904457479715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.81700744628904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.8321838378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7080, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.30030800998210905, + "epoch": 2.0628455048006984, + "flow_matching_loss": 0.01701261606067419, + "grad_norm": 0.15013718605041504, + "kept_token_count": 572.6625, + "learning_rate": 2.7242223094159856e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9913074433803558, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008692560903728008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.94054260253904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.5242401123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7090, + "valid_token_count": 818.4453125 + }, + { + "actual_token_mask_ratio": 0.29960002899169924, + "epoch": 2.0657550189118417, + "flow_matching_loss": 0.01664753593504429, + "grad_norm": 0.11603482067584991, + "kept_token_count": 573.0421875, + "learning_rate": 2.7232661204881408e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9905239939689636, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00947601068764925, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 357.1068969726563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.4714294433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7100, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.30028883218765257, + "epoch": 2.0686645330229854, + "flow_matching_loss": 0.018139810115098954, + "grad_norm": 0.09001874178647995, + "kept_token_count": 572.415625, + "learning_rate": 2.7223084451766123e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9914321720600128, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008567821327596903, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.9204162597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.747802734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7110, + "valid_token_count": 818.075 + }, + { + "actual_token_mask_ratio": 0.3000081866979599, + "epoch": 2.0715740471341286, + "flow_matching_loss": 0.017663030698895455, + "grad_norm": 0.12426627427339554, + "kept_token_count": 572.6890625, + "learning_rate": 2.721349284645067e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9907862782478333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009213729947805404, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 332.79510192871095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.23097839355466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7120, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.30105489790439605, + "epoch": 2.074483561245272, + "flow_matching_loss": 0.017889253236353396, + "grad_norm": 0.10564218461513519, + "kept_token_count": 571.815625, + "learning_rate": 2.7203886400589752e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9912892282009125, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008710772823542356, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.6129943847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.9995880126953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7130, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.29869653284549713, + "epoch": 2.0773930753564156, + "flow_matching_loss": 0.016703097615391016, + "grad_norm": 0.13039129972457886, + "kept_token_count": 573.775, + "learning_rate": 2.7194265125856105e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9910365760326385, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008963428530842065, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.9952026367188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.4276153564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7140, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.30030094981193545, + "epoch": 2.080302589467559, + "flow_matching_loss": 0.0149665049277246, + "grad_norm": 0.11890953779220581, + "kept_token_count": 572.4953125, + "learning_rate": 2.718462903394049e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9908913850784302, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009108608588576317, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.76454772949216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.10010681152346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7150, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.29966832995414733, + "epoch": 2.0832121035787026, + "flow_matching_loss": 0.017596186138689518, + "grad_norm": 0.1285037249326706, + "kept_token_count": 573.1125, + "learning_rate": 2.7174978136551662e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9910329878330231, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008967005088925362, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.79612426757814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5409637451172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7160, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.30016204714775085, + "epoch": 2.086121617689846, + "flow_matching_loss": 0.01884147273376584, + "grad_norm": 0.12391883134841919, + "kept_token_count": 572.840625, + "learning_rate": 2.716531244541637e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.991241180896759, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008758812118321658, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.3201629638672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.9764801025391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7170, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.2997863799333572, + "epoch": 2.089031131800989, + "flow_matching_loss": 0.017631311994045974, + "grad_norm": 0.1285024881362915, + "kept_token_count": 573.0046875, + "learning_rate": 2.715563197227934e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.991046541929245, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008953447733074427, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 345.2290344238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 372.29432373046876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7180, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.29910134673118594, + "epoch": 2.091940645912133, + "flow_matching_loss": 0.017623230535537004, + "grad_norm": 0.10440459102392197, + "kept_token_count": 573.796875, + "learning_rate": 2.714593672890327e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9906797230243682, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009320285730063915, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 379.25425109863284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.63990783691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7190, + "valid_token_count": 818.659375 + }, + { + "actual_token_mask_ratio": 0.2998481124639511, + "epoch": 2.094850160023276, + "flow_matching_loss": 0.01651297537609935, + "grad_norm": 0.09670390188694, + "kept_token_count": 572.95625, + "learning_rate": 2.7136226727068783e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9907041192054749, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009295873995870351, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 354.22850341796874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.77174987792966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7200, + "valid_token_count": 818.3265625 + }, + { + "actual_token_mask_ratio": 0.29983367323875426, + "epoch": 2.0977596741344193, + "flow_matching_loss": 0.017008322943001985, + "grad_norm": 0.11061376333236694, + "kept_token_count": 572.846875, + "learning_rate": 2.712650197857445e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9908167839050293, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009183226618915796, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.825341796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.38499755859374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7210, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.30084505379199983, + "epoch": 2.100669188245563, + "flow_matching_loss": 0.015548551082611084, + "grad_norm": 0.11124736070632935, + "kept_token_count": 572.2640625, + "learning_rate": 2.7116762495236763e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9903426110744477, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00965740429237485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.89661560058596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.1941741943359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7220, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.2999247223138809, + "epoch": 2.1035787023567063, + "flow_matching_loss": 0.018189667630940674, + "grad_norm": 0.11180072277784348, + "kept_token_count": 572.734375, + "learning_rate": 2.7107008288890106e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9914292871952057, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008570713363587857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.34287109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5404998779297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7230, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.2992357790470123, + "epoch": 2.10648821646785, + "flow_matching_loss": 0.019409450143575667, + "grad_norm": 0.11817577481269836, + "kept_token_count": 573.48125, + "learning_rate": 2.709723937138676e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9912980735301972, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008701927401125431, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.37529296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.87323303222655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7240, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.30128195881843567, + "epoch": 2.1093977305789933, + "flow_matching_loss": 0.01508860383182764, + "grad_norm": 0.09069053828716278, + "kept_token_count": 571.85, + "learning_rate": 2.7087455754596883e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.991700428724289, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008299569692462682, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.1894256591797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.39252319335935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7250, + "valid_token_count": 818.4328125 + }, + { + "actual_token_mask_ratio": 0.2997494041919708, + "epoch": 2.112307244690137, + "flow_matching_loss": 0.015566220879554749, + "grad_norm": 0.12270504981279373, + "kept_token_count": 572.984375, + "learning_rate": 2.7077657450408498e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9913091897964478, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008690815791487694, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 357.5059112548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.0360473632812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7260, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.30008080303668977, + "epoch": 2.1152167588012802, + "flow_matching_loss": 0.017976355087012053, + "grad_norm": 0.11866051703691483, + "kept_token_count": 572.596875, + "learning_rate": 2.7067844470727456e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9907549858093262, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009245004691183566, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.8687042236328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.6877746582031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7270, + "valid_token_count": 818.0875 + }, + { + "actual_token_mask_ratio": 0.29982411563396455, + "epoch": 2.1181262729124235, + "flow_matching_loss": 0.017754427809268235, + "grad_norm": 0.1359642595052719, + "kept_token_count": 573.0046875, + "learning_rate": 2.7058016827477455e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9906842947006226, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009315708000212908, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.28428039550784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2309600830078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7280, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.29853902459144593, + "epoch": 2.121035787023567, + "flow_matching_loss": 0.018970908131450415, + "grad_norm": 0.11188257485628128, + "kept_token_count": 573.8953125, + "learning_rate": 2.7048174532600018e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9905275285243988, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009472474455833435, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.28798217773436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2866577148437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7290, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.300214147567749, + "epoch": 2.1239453011347105, + "flow_matching_loss": 0.01698074508458376, + "grad_norm": 0.11157145351171494, + "kept_token_count": 572.571875, + "learning_rate": 2.7038317598054455e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9913962125778198, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008603780902922154, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.537353515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.5325653076172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7300, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.2994201749563217, + "epoch": 2.1268548152458537, + "flow_matching_loss": 0.01842006789520383, + "grad_norm": 0.13568228483200073, + "kept_token_count": 573.403125, + "learning_rate": 2.702844603581787e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9908590197563172, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009140993654727935, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.94232177734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.0189239501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7310, + "valid_token_count": 818.4734375 + }, + { + "actual_token_mask_ratio": 0.29934931695461275, + "epoch": 2.1297643293569974, + "flow_matching_loss": 0.01940888287499547, + "grad_norm": 0.11714088916778564, + "kept_token_count": 573.234375, + "learning_rate": 2.701855985788514e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9912437081336976, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008756278082728386, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.4015411376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5860595703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7320, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.2999861389398575, + "epoch": 2.1326738434681407, + "flow_matching_loss": 0.01622999208047986, + "grad_norm": 0.09800366312265396, + "kept_token_count": 572.534375, + "learning_rate": 2.7008659076268912e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.990957748889923, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009042256884276867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.02471923828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.98780822753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7330, + "valid_token_count": 817.8875 + }, + { + "actual_token_mask_ratio": 0.30037895739078524, + "epoch": 2.1355833575792844, + "flow_matching_loss": 0.017870464455336334, + "grad_norm": 0.1211969330906868, + "kept_token_count": 572.621875, + "learning_rate": 2.6998743702999562e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9902307093143463, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009769293293356896, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.1090972900391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.9154968261719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7340, + "valid_token_count": 818.4671875 + }, + { + "actual_token_mask_ratio": 0.30041339099407194, + "epoch": 2.1384928716904277, + "flow_matching_loss": 0.016301033645868303, + "grad_norm": 0.10831920802593231, + "kept_token_count": 572.5625, + "learning_rate": 2.6988813750125202e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9908571124076844, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009142875764518976, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.57709045410155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.5752838134766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7350, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.30010223388671875, + "epoch": 2.141402385801571, + "flow_matching_loss": 0.021501407027244568, + "grad_norm": 0.13230672478675842, + "kept_token_count": 572.671875, + "learning_rate": 2.6978869229711668e-05, + "loss": 0.0266, + "mgd_cos_sim": 0.9898800075054168, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01011999174952507, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 357.22748107910155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.6723297119141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7360, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.3004471570253372, + "epoch": 2.1443118999127146, + "flow_matching_loss": 0.020895210839807988, + "grad_norm": 0.13163264095783234, + "kept_token_count": 572.4796875, + "learning_rate": 2.6968910153842484e-05, + "loss": 0.0257, + "mgd_cos_sim": 0.990298080444336, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009701908007264138, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 380.87706604003904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.8474609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7370, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.29965412616729736, + "epoch": 2.147221414023858, + "flow_matching_loss": 0.01756090987473726, + "grad_norm": 0.13330696523189545, + "kept_token_count": 573.178125, + "learning_rate": 2.6958936534618874e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9907867193222046, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009213275928050279, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 380.39484252929685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.6829772949219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7380, + "valid_token_count": 818.4234375 + }, + { + "actual_token_mask_ratio": 0.2998152494430542, + "epoch": 2.1501309281350016, + "flow_matching_loss": 0.019440369959920645, + "grad_norm": 0.15820106863975525, + "kept_token_count": 573.09375, + "learning_rate": 2.694894838415971e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.991110908985138, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00888910349458456, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.1868865966797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.7797424316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7390, + "valid_token_count": 818.4859375 + }, + { + "actual_token_mask_ratio": 0.3002436518669128, + "epoch": 2.153040442246145, + "flow_matching_loss": 0.01617576219141483, + "grad_norm": 0.1284618377685547, + "kept_token_count": 572.6390625, + "learning_rate": 2.6938945714601555e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9907733559608459, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009226644411683083, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.57396240234374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.81365966796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7400, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.30099889934062957, + "epoch": 2.155949956357288, + "flow_matching_loss": 0.016446908004581928, + "grad_norm": 0.11551640927791595, + "kept_token_count": 571.8640625, + "learning_rate": 2.6928928538098587e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9918006002902985, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00819940697401762, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.19537048339845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.7468231201172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7410, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.2996888518333435, + "epoch": 2.158859470468432, + "flow_matching_loss": 0.016415051743388177, + "grad_norm": 0.11113666743040085, + "kept_token_count": 573.0890625, + "learning_rate": 2.6918896866822615e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9914937734603881, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008506224490702152, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.5360107421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.59022827148436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7420, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.29974085092544556, + "epoch": 2.161768984579575, + "flow_matching_loss": 0.01712744850665331, + "grad_norm": 0.09903586655855179, + "kept_token_count": 573.1515625, + "learning_rate": 2.690885071296308e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.990941971540451, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009058022126555442, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.69028625488284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.9515747070312, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7430, + "valid_token_count": 818.4828125 + }, + { + "actual_token_mask_ratio": 0.3005801737308502, + "epoch": 2.164678498690719, + "flow_matching_loss": 0.017014757450670003, + "grad_norm": 0.14002178609371185, + "kept_token_count": 572.26875, + "learning_rate": 2.6898790088726993e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9914125263690948, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008587481640279292, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.0416229248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.3106414794922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7440, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.29957498610019684, + "epoch": 2.167588012801862, + "flow_matching_loss": 0.01715875156223774, + "grad_norm": 0.11377769708633423, + "kept_token_count": 573.196875, + "learning_rate": 2.6888715006338968e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9904522836208344, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009547714237123727, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.57152099609374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.6320495605469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7450, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.3004676342010498, + "epoch": 2.1704975269130053, + "flow_matching_loss": 0.01882637608796358, + "grad_norm": 0.134148970246315, + "kept_token_count": 572.1671875, + "learning_rate": 2.6878625478041172e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9911589443683624, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00884104548022151, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 334.1778594970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.4417327880859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7460, + "valid_token_count": 817.925 + }, + { + "actual_token_mask_ratio": 0.3001465916633606, + "epoch": 2.173407041024149, + "flow_matching_loss": 0.017661298997700213, + "grad_norm": 0.10292839258909225, + "kept_token_count": 572.51875, + "learning_rate": 2.6868521516093342e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9912278473377227, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00877215526998043, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.9453063964844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.79852600097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7470, + "valid_token_count": 818.0515625 + }, + { + "actual_token_mask_ratio": 0.3012863308191299, + "epoch": 2.1763165551352923, + "flow_matching_loss": 0.01627143509685993, + "grad_norm": 0.1260964423418045, + "kept_token_count": 571.9453125, + "learning_rate": 2.6858403132772745e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9910058617591858, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008994113188236952, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.5036193847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.37441101074216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7480, + "valid_token_count": 818.5609375 + }, + { + "actual_token_mask_ratio": 0.30033419132232664, + "epoch": 2.179226069246436, + "flow_matching_loss": 0.015259507019072771, + "grad_norm": 0.08902691304683685, + "kept_token_count": 572.503125, + "learning_rate": 2.6848270340374162e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9909610629081727, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009038922749459744, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.64380798339846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.1786224365234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7490, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.30008457899093627, + "epoch": 2.1821355833575793, + "flow_matching_loss": 0.01911588488146663, + "grad_norm": 0.11772273480892181, + "kept_token_count": 572.7234375, + "learning_rate": 2.68381231512099e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9900980651378631, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00990194296464324, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.0339721679687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.7998291015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7500, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.29993808567523955, + "epoch": 2.1850450974687226, + "flow_matching_loss": 0.01602985952049494, + "grad_norm": 0.12284990400075912, + "kept_token_count": 572.8296875, + "learning_rate": 2.6827961577609745e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9903788685798645, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009621137566864491, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.56248474121094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.1665008544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7510, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.2999284744262695, + "epoch": 2.1879546115798663, + "flow_matching_loss": 0.01912226602435112, + "grad_norm": 0.14374825358390808, + "kept_token_count": 572.8109375, + "learning_rate": 2.681778563192097e-05, + "loss": 0.024, + "mgd_cos_sim": 0.990158861875534, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009841127973049878, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 360.17522583007815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.00591735839845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7520, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.30057630240917205, + "epoch": 2.1908641256910095, + "flow_matching_loss": 0.016408108361065387, + "grad_norm": 0.12901845574378967, + "kept_token_count": 572.1390625, + "learning_rate": 2.6807595326508308e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9909963369369507, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00900365663692355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.8732971191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.60491943359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7530, + "valid_token_count": 818.0171875 + }, + { + "actual_token_mask_ratio": 0.29960030913352964, + "epoch": 2.1937736398021532, + "flow_matching_loss": 0.015857453178614377, + "grad_norm": 0.10833437740802765, + "kept_token_count": 573.328125, + "learning_rate": 2.679739067375394e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.991115391254425, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00888460073620081, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.41148986816404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.277734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7540, + "valid_token_count": 818.575 + }, + { + "actual_token_mask_ratio": 0.30014811754226683, + "epoch": 2.1966831539132965, + "flow_matching_loss": 0.015689758025109767, + "grad_norm": 0.12249822914600372, + "kept_token_count": 572.984375, + "learning_rate": 2.6787171686057487e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9909973084926605, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009002686664462089, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.6631256103516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.17177429199216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7550, + "valid_token_count": 818.71875 + }, + { + "actual_token_mask_ratio": 0.30139324963092806, + "epoch": 2.1995926680244398, + "flow_matching_loss": 0.019681315682828427, + "grad_norm": 0.1416679322719574, + "kept_token_count": 571.6140625, + "learning_rate": 2.677693837583597e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.990822947025299, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009177056420594455, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.63560180664064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.23809509277345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7560, + "valid_token_count": 818.21875 + }, + { + "actual_token_mask_ratio": 0.30087604820728303, + "epoch": 2.2025021821355835, + "flow_matching_loss": 0.015506675466895103, + "grad_norm": 0.12541767954826355, + "kept_token_count": 572.203125, + "learning_rate": 2.6766690755523836e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9910641670227051, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008935836888849736, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.5972503662109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.24749755859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7570, + "valid_token_count": 818.446875 + }, + { + "actual_token_mask_ratio": 0.29966704845428466, + "epoch": 2.2054116962467267, + "flow_matching_loss": 0.015110248234122992, + "grad_norm": 0.1154593974351883, + "kept_token_count": 572.7046875, + "learning_rate": 2.675642883757291e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9911222398281098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0088777725584805, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 380.38396911621095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2783660888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7580, + "valid_token_count": 817.7609375 + }, + { + "actual_token_mask_ratio": 0.3001809507608414, + "epoch": 2.2083212103578704, + "flow_matching_loss": 0.01638124752789736, + "grad_norm": 0.10567545145750046, + "kept_token_count": 572.7375, + "learning_rate": 2.674615263445239e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9910889625549316, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008911051601171494, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.69904174804685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.62158203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7590, + "valid_token_count": 818.4078125 + }, + { + "actual_token_mask_ratio": 0.3000236749649048, + "epoch": 2.2112307244690137, + "flow_matching_loss": 0.017915483005344866, + "grad_norm": 0.12703561782836914, + "kept_token_count": 572.7609375, + "learning_rate": 2.673586215864882e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9908827543258667, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009117235150188207, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.60972290039064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.50941772460936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7600, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.29956528842449187, + "epoch": 2.214140238580157, + "flow_matching_loss": 0.01614164998754859, + "grad_norm": 0.11744305491447449, + "kept_token_count": 573.2125, + "learning_rate": 2.6725557422666113e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.990726912021637, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009273090679198504, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 365.52220764160154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.74017944335935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7610, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.2994926065206528, + "epoch": 2.2170497526913007, + "flow_matching_loss": 0.01615194994956255, + "grad_norm": 0.08829830586910248, + "kept_token_count": 573.2640625, + "learning_rate": 2.6715238439025493e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9916250050067902, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008374994341284036, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.1612976074219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.44471130371096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7620, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.2994380384683609, + "epoch": 2.219959266802444, + "flow_matching_loss": 0.01715060668066144, + "grad_norm": 0.11304734647274017, + "kept_token_count": 573.3109375, + "learning_rate": 2.6704905220265493e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.991008585691452, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008991413190960884, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.8655944824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.71063537597655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7630, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.29923240542411805, + "epoch": 2.2228687809135876, + "flow_matching_loss": 0.017436062265187503, + "grad_norm": 0.12424945831298828, + "kept_token_count": 573.7171875, + "learning_rate": 2.6694557778941947e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9912294149398804, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00877058757469058, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.7948791503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.30816955566405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7640, + "valid_token_count": 818.7 + }, + { + "actual_token_mask_ratio": 0.30032039880752565, + "epoch": 2.225778295024731, + "flow_matching_loss": 0.01733989967033267, + "grad_norm": 0.11745376139879227, + "kept_token_count": 572.3984375, + "learning_rate": 2.6684196127627977e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9904749870300293, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009525000303983688, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.75693359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.66065368652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7650, + "valid_token_count": 818.078125 + }, + { + "actual_token_mask_ratio": 0.3003486156463623, + "epoch": 2.228687809135874, + "flow_matching_loss": 0.020910719502717258, + "grad_norm": 0.1237337663769722, + "kept_token_count": 572.5890625, + "learning_rate": 2.6673820278913963e-05, + "loss": 0.0257, + "mgd_cos_sim": 0.9904339671134949, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00956602869555354, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.35365905761716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.1388671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7660, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.29974873661994933, + "epoch": 2.231597323247018, + "flow_matching_loss": 0.017492031585425137, + "grad_norm": 0.1800326704978943, + "kept_token_count": 573.1015625, + "learning_rate": 2.6663430245407544e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9910305619239808, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008969445992261172, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 363.3307586669922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.6689971923828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7670, + "valid_token_count": 818.4234375 + }, + { + "actual_token_mask_ratio": 0.30033931136131287, + "epoch": 2.234506837358161, + "flow_matching_loss": 0.016609913017600775, + "grad_norm": 0.10955030471086502, + "kept_token_count": 572.5828125, + "learning_rate": 2.6653026039733585e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.991856825351715, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008143184892833232, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.9599578857422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.154931640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7680, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.3006883680820465, + "epoch": 2.237416351469305, + "flow_matching_loss": 0.015264538675546646, + "grad_norm": 0.13668683171272278, + "kept_token_count": 572.21875, + "learning_rate": 2.6642607674534176e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9910085558891296, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008991443645209074, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.92334899902346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.64618225097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7690, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.2998808264732361, + "epoch": 2.240325865580448, + "flow_matching_loss": 0.020951373036950827, + "grad_norm": 0.10845664888620377, + "kept_token_count": 572.775, + "learning_rate": 2.663217516246862e-05, + "loss": 0.0258, + "mgd_cos_sim": 0.9902864217758178, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00971356276422739, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.24152221679685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.46717529296876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7700, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.3006184011697769, + "epoch": 2.2432353796915914, + "flow_matching_loss": 0.017820422537624836, + "grad_norm": 0.12841689586639404, + "kept_token_count": 572.1578125, + "learning_rate": 2.66217285162134e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9904498815536499, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009550117328763008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.82952575683595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.2623596191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7710, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.3001044303178787, + "epoch": 2.246144893802735, + "flow_matching_loss": 0.015957145020365715, + "grad_norm": 0.12229833006858826, + "kept_token_count": 572.7765625, + "learning_rate": 2.6611267748462175e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9906817436218261, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009318258706480264, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.343505859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.7796234130859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7720, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.3009951293468475, + "epoch": 2.2490544079138783, + "flow_matching_loss": 0.018646896723657845, + "grad_norm": 0.12999531626701355, + "kept_token_count": 571.9359375, + "learning_rate": 2.6600792871925764e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9912794351577758, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008720576670020819, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.7896453857422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5948852539062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7730, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.29965258836746217, + "epoch": 2.2519639220250216, + "flow_matching_loss": 0.015933760814368723, + "grad_norm": 0.1451653093099594, + "kept_token_count": 573.3765625, + "learning_rate": 2.659030389933213e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9913512825965881, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008648702688515187, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.88474426269534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.75510864257814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7740, + "valid_token_count": 818.7015625 + }, + { + "actual_token_mask_ratio": 0.2991327404975891, + "epoch": 2.2548734361361653, + "flow_matching_loss": 0.0167784265242517, + "grad_norm": 0.11785202473402023, + "kept_token_count": 573.60625, + "learning_rate": 2.6579800843426358e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9911720633506775, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00882793515920639, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.85084533691406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.23143615722654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7750, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.30002923011779786, + "epoch": 2.2577829502473086, + "flow_matching_loss": 0.0170241741463542, + "grad_norm": 0.11429149657487869, + "kept_token_count": 572.7046875, + "learning_rate": 2.656928371697067e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9903208315372467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009679175913333893, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.0136474609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.67548828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7760, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.29943851828575135, + "epoch": 2.2606924643584523, + "flow_matching_loss": 0.021910670958459378, + "grad_norm": 0.13789580762386322, + "kept_token_count": 573.4375, + "learning_rate": 2.6558752532744346e-05, + "loss": 0.0264, + "mgd_cos_sim": 0.9910010397434235, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008998957835137844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 364.4312438964844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.16126403808596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7770, + "valid_token_count": 818.5328125 + }, + { + "actual_token_mask_ratio": 0.29991099834442136, + "epoch": 2.2636019784695955, + "flow_matching_loss": 0.016448601428419352, + "grad_norm": 0.10335992276668549, + "kept_token_count": 572.9953125, + "learning_rate": 2.654820730354377e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9903124332427978, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00968757290393114, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.1615356445312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.8191314697266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7780, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.2994400173425674, + "epoch": 2.2665114925807393, + "flow_matching_loss": 0.016064104437828065, + "grad_norm": 0.13411596417427063, + "kept_token_count": 573.134375, + "learning_rate": 2.6537648042182406e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9906618118286132, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009338183980435132, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.1968505859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.1116088867187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7790, + "valid_token_count": 818.109375 + }, + { + "actual_token_mask_ratio": 0.299430787563324, + "epoch": 2.2694210066918825, + "flow_matching_loss": 0.01504835681989789, + "grad_norm": 0.13193216919898987, + "kept_token_count": 573.1640625, + "learning_rate": 2.6527074761490735e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9912012279033661, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008798759244382382, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.1654052734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.9478271484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7800, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.300016850233078, + "epoch": 2.2723305208030258, + "flow_matching_loss": 0.01696534138172865, + "grad_norm": 0.11222148686647415, + "kept_token_count": 572.8734375, + "learning_rate": 2.6516487474316303e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9899873852729797, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.01001260858029127, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.61365966796876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.41211853027346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7810, + "valid_token_count": 818.4125 + }, + { + "actual_token_mask_ratio": 0.3000055342912674, + "epoch": 2.2752400349141695, + "flow_matching_loss": 0.014677049592137337, + "grad_norm": 0.10788960754871368, + "kept_token_count": 572.8796875, + "learning_rate": 2.650588619352365e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9912986934185029, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008701295219361782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.50530395507815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.55762939453126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7820, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.29926508069038393, + "epoch": 2.2781495490253127, + "flow_matching_loss": 0.018516719993203878, + "grad_norm": 0.11999190598726273, + "kept_token_count": 573.453125, + "learning_rate": 2.649527093199434e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9910293996334076, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008970599249005317, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.8373107910156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.0844390869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7830, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.299618735909462, + "epoch": 2.281059063136456, + "flow_matching_loss": 0.01640832293778658, + "grad_norm": 0.1156044751405716, + "kept_token_count": 573.35625, + "learning_rate": 2.6484641702626914e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9915999233722687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008400063496083021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.8118591308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.0653594970703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7840, + "valid_token_count": 818.646875 + }, + { + "actual_token_mask_ratio": 0.30038722455501554, + "epoch": 2.2839685772475997, + "flow_matching_loss": 0.016313482914119957, + "grad_norm": 0.15213581919670105, + "kept_token_count": 572.4484375, + "learning_rate": 2.647399851833689e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9907278478145599, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009272163640707732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.5378692626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.69928588867185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7850, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.3004970222711563, + "epoch": 2.286878091358743, + "flow_matching_loss": 0.017443340457975864, + "grad_norm": 0.12299835681915283, + "kept_token_count": 572.3703125, + "learning_rate": 2.6463341392056735e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9912951171398163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008704872615635396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.1057983398438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.1052978515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7860, + "valid_token_count": 818.2484375 + }, + { + "actual_token_mask_ratio": 0.29941571354866026, + "epoch": 2.2897876054698867, + "flow_matching_loss": 0.01574622904881835, + "grad_norm": 0.14494310319423676, + "kept_token_count": 573.1640625, + "learning_rate": 2.6452670336735867e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9908719897270203, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00912799797952175, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 379.36953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.66822204589846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7870, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.301183620095253, + "epoch": 2.29269711958103, + "flow_matching_loss": 0.017346539162099363, + "grad_norm": 0.12682625651359558, + "kept_token_count": 571.7328125, + "learning_rate": 2.644198536534063e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9912273108959198, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008772687707096338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.71705932617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.4634704589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7880, + "valid_token_count": 818.1453125 + }, + { + "actual_token_mask_ratio": 0.30019381642341614, + "epoch": 2.295606633692173, + "flow_matching_loss": 0.018025237880647183, + "grad_norm": 0.12777970731258392, + "kept_token_count": 572.4921875, + "learning_rate": 2.6431286490854255e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9909545361995697, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009045465942472219, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.85228576660154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.89866027832034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7890, + "valid_token_count": 818.0671875 + }, + { + "actual_token_mask_ratio": 0.30049446821212766, + "epoch": 2.298516147803317, + "flow_matching_loss": 0.017739763390272854, + "grad_norm": 0.1416693776845932, + "kept_token_count": 572.26875, + "learning_rate": 2.6420573726276903e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9906535744667053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009346431586891413, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.33185424804685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.6865600585937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7900, + "valid_token_count": 818.1078125 + }, + { + "actual_token_mask_ratio": 0.29964151680469514, + "epoch": 2.30142566191446, + "flow_matching_loss": 0.017423817608505487, + "grad_norm": 0.10728834569454193, + "kept_token_count": 573.084375, + "learning_rate": 2.6409847084625575e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9916001617908478, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00839984780177474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 362.5376708984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.54383239746096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7910, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.29974326193332673, + "epoch": 2.304335176025604, + "flow_matching_loss": 0.016389936581254004, + "grad_norm": 0.09233547747135162, + "kept_token_count": 572.9515625, + "learning_rate": 2.6399106578934167e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.99163259267807, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008367403596639632, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.8238464355469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.1503082275391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7920, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.2992518573999405, + "epoch": 2.307244690136747, + "flow_matching_loss": 0.017077650222927333, + "grad_norm": 0.11379562318325043, + "kept_token_count": 573.453125, + "learning_rate": 2.63883522222534e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9915698051452637, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008430194575339556, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.61464233398436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.76963500976564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7930, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.3004341691732407, + "epoch": 2.3101542042478904, + "flow_matching_loss": 0.017393614165484905, + "grad_norm": 0.12255513668060303, + "kept_token_count": 572.259375, + "learning_rate": 2.6377584027650827e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9907912850379944, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009208715055137873, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.34345703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.07627563476564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7940, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.29957345128059387, + "epoch": 2.313063718359034, + "flow_matching_loss": 0.017789631336927413, + "grad_norm": 0.14361275732517242, + "kept_token_count": 573.1140625, + "learning_rate": 2.636680200821083e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9912862420082093, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008713767491281032, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.3806671142578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.4648162841797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7950, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.30025817155838014, + "epoch": 2.3159732324701774, + "flow_matching_loss": 0.0189787027426064, + "grad_norm": 0.11725211888551712, + "kept_token_count": 572.5171875, + "learning_rate": 2.635600617703457e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9916573584079742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008342638891190291, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.6162139892578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.77735290527346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7960, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.3011104941368103, + "epoch": 2.318882746581321, + "flow_matching_loss": 0.019597585778683424, + "grad_norm": 0.10893765091896057, + "kept_token_count": 571.8375, + "learning_rate": 2.6345196547240007e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9910380661487579, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008961943816393614, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.8944152832031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.1595428466797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7970, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.30090884268283846, + "epoch": 2.3217922606924644, + "flow_matching_loss": 0.01715149451047182, + "grad_norm": 0.1230277419090271, + "kept_token_count": 571.9078125, + "learning_rate": 2.6334373131961854e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.99149289727211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008507103286683559, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.8285217285156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.1846160888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7980, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.300080743432045, + "epoch": 2.3247017748036076, + "flow_matching_loss": 0.018793682754039764, + "grad_norm": 0.1246766522526741, + "kept_token_count": 572.753125, + "learning_rate": 2.6323535944351583e-05, + "loss": 0.0237, + "mgd_cos_sim": 0.9901417553424835, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009858253132551908, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.7906005859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.36948547363284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 7990, + "valid_token_count": 818.3171875 + }, + { + "actual_token_mask_ratio": 0.300170361995697, + "epoch": 2.3276112889147513, + "flow_matching_loss": 0.0169962958432734, + "grad_norm": 0.1105041354894638, + "kept_token_count": 572.6515625, + "learning_rate": 2.63126849975774e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9902994573116303, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009700552560389042, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.5302337646484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.1461242675781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8000, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.3001988857984543, + "epoch": 2.3305208030258946, + "flow_matching_loss": 0.01510812183842063, + "grad_norm": 0.11294544488191605, + "kept_token_count": 572.646875, + "learning_rate": 2.6301820304824234e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9912429511547088, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00875704912468791, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.9078430175781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.1017181396484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8010, + "valid_token_count": 818.2984375 + }, + { + "actual_token_mask_ratio": 0.29879908859729765, + "epoch": 2.3334303171370383, + "flow_matching_loss": 0.016101543419063093, + "grad_norm": 0.1188492402434349, + "kept_token_count": 573.84375, + "learning_rate": 2.6290941879293703e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9914480566978454, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008551954571157695, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.5921325683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.22862548828124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8020, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.29900469779968264, + "epoch": 2.3363398312481816, + "flow_matching_loss": 0.01704449485987425, + "grad_norm": 0.10885065048933029, + "kept_token_count": 573.703125, + "learning_rate": 2.628004973420412e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9911706030368805, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00882938178256154, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.3979553222656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.40673828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8030, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.30008488297462466, + "epoch": 2.339249345359325, + "flow_matching_loss": 0.01831864081323147, + "grad_norm": 0.11977609992027283, + "kept_token_count": 572.990625, + "learning_rate": 2.626914388279047e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9907654643058776, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009234529361128807, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.345947265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.2523895263672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8040, + "valid_token_count": 818.665625 + }, + { + "actual_token_mask_ratio": 0.29944959580898284, + "epoch": 2.3421588594704685, + "flow_matching_loss": 0.018049794435501098, + "grad_norm": 0.14233103394508362, + "kept_token_count": 573.321875, + "learning_rate": 2.6258224338304394e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.990840619802475, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009159372840076684, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.1593841552734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.46644287109376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8050, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.30060664415359495, + "epoch": 2.345068373581612, + "flow_matching_loss": 0.017422578763216734, + "grad_norm": 0.13281194865703583, + "kept_token_count": 572.3359375, + "learning_rate": 2.6247291114014166e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9909871280193329, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009012881014496089, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.9642822265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.4328216552734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8060, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.3005858510732651, + "epoch": 2.347977887692755, + "flow_matching_loss": 0.016595987509936093, + "grad_norm": 0.12635113298892975, + "kept_token_count": 572.1890625, + "learning_rate": 2.6236344223204683e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9913048803806305, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008695117570459843, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.34486083984376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.4698181152344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8070, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.29991053938865664, + "epoch": 2.3508874018038988, + "flow_matching_loss": 0.018369309324771165, + "grad_norm": 0.15118762850761414, + "kept_token_count": 572.9328125, + "learning_rate": 2.6225383679177453e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9910992205142974, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00890078665688634, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.40614318847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.0923187255859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8080, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.29901280999183655, + "epoch": 2.353796915915042, + "flow_matching_loss": 0.0162552485242486, + "grad_norm": 0.11524888128042221, + "kept_token_count": 573.5953125, + "learning_rate": 2.6214409495250568e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9912222802639008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008777709770947694, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.55165405273436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.8315826416016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8090, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.29991107285022733, + "epoch": 2.3567064300261857, + "flow_matching_loss": 0.0201166819781065, + "grad_norm": 0.12005271762609482, + "kept_token_count": 572.765625, + "learning_rate": 2.620342168475869e-05, + "loss": 0.0251, + "mgd_cos_sim": 0.990042382478714, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009957631025463343, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.59326171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.0503814697266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8100, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.30001671314239503, + "epoch": 2.359615944137329, + "flow_matching_loss": 0.01601445721462369, + "grad_norm": 0.13711126148700714, + "kept_token_count": 572.884375, + "learning_rate": 2.619242026105306e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9910536408424377, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008946347795426846, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.979833984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.61744384765626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8110, + "valid_token_count": 818.4265625 + }, + { + "actual_token_mask_ratio": 0.29971724152565005, + "epoch": 2.3625254582484727, + "flow_matching_loss": 0.01892614010721445, + "grad_norm": 0.14534728229045868, + "kept_token_count": 572.746875, + "learning_rate": 2.618140523750143e-05, + "loss": 0.0236, + "mgd_cos_sim": 0.9907074809074402, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009292518906295299, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 349.5714508056641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.6853790283203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8120, + "valid_token_count": 817.8734375 + }, + { + "actual_token_mask_ratio": 0.29960982501506805, + "epoch": 2.365434972359616, + "flow_matching_loss": 0.0184096185490489, + "grad_norm": 0.13695114850997925, + "kept_token_count": 572.9984375, + "learning_rate": 2.6170376627488103e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9910904347896576, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008909561950713397, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.96445922851564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.70550231933595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8130, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.3005439192056656, + "epoch": 2.3683444864707592, + "flow_matching_loss": 0.015375664737075568, + "grad_norm": 0.09648210555315018, + "kept_token_count": 572.2515625, + "learning_rate": 2.6159334444413873e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9909133017063141, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009086697921156883, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.1255676269531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.7668884277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8140, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.30135454535484313, + "epoch": 2.371254000581903, + "flow_matching_loss": 0.01813348289579153, + "grad_norm": 0.1394498199224472, + "kept_token_count": 571.6484375, + "learning_rate": 2.614827870169604e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9915741443634033, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00842585638165474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.9462829589844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.92027893066404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8150, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.2994381844997406, + "epoch": 2.374163514693046, + "flow_matching_loss": 0.018022174201905727, + "grad_norm": 0.09861408919095993, + "kept_token_count": 573.3359375, + "learning_rate": 2.6137209412768367e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9908145546913147, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009185438882559538, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.4190307617188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.0929260253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8160, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.29996815621852874, + "epoch": 2.3770730288041895, + "flow_matching_loss": 0.01681577293202281, + "grad_norm": 0.09893842786550522, + "kept_token_count": 573.028125, + "learning_rate": 2.612612659108109e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9911574959754944, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008842507936060428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 355.58176574707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.7595550537109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8170, + "valid_token_count": 818.58125 + }, + { + "actual_token_mask_ratio": 0.29999635815620423, + "epoch": 2.379982542915333, + "flow_matching_loss": 0.015527619887143374, + "grad_norm": 0.10337115079164505, + "kept_token_count": 572.5046875, + "learning_rate": 2.611503025010088e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9915145576000214, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008485439606010914, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.6602783203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 374.45289001464846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8180, + "valid_token_count": 817.8578125 + }, + { + "actual_token_mask_ratio": 0.3000611662864685, + "epoch": 2.3828920570264764, + "flow_matching_loss": 0.019704701751470564, + "grad_norm": 0.12527763843536377, + "kept_token_count": 572.75625, + "learning_rate": 2.6103920403310832e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9904190540313721, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009580951277166605, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.34888610839846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.0786163330078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8190, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.30066837966442106, + "epoch": 2.38580157113762, + "flow_matching_loss": 0.01627025082707405, + "grad_norm": 0.09854211658239365, + "kept_token_count": 572.1875, + "learning_rate": 2.6092797064210465e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9910603940486908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008939586393535138, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.01380615234376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.2444641113281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8200, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.29966476261615754, + "epoch": 2.3887110852487634, + "flow_matching_loss": 0.01694535380229354, + "grad_norm": 0.1222841665148735, + "kept_token_count": 572.95, + "learning_rate": 2.6081660246315685e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.990694272518158, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009305721428245307, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.9734710693359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.0088195800781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8210, + "valid_token_count": 818.1078125 + }, + { + "actual_token_mask_ratio": 0.30023919641971586, + "epoch": 2.391620599359907, + "flow_matching_loss": 0.016172830760478974, + "grad_norm": 0.10269557684659958, + "kept_token_count": 572.6375, + "learning_rate": 2.6070509963158774e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9911438882350921, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008856106642633676, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 361.0825531005859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 373.68154296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8220, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.2994582235813141, + "epoch": 2.3945301134710504, + "flow_matching_loss": 0.016249725967645644, + "grad_norm": 0.1311979442834854, + "kept_token_count": 573.3828125, + "learning_rate": 2.6059346228288375e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9910077691078186, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008992232102900743, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.6131256103516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.5697082519531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8230, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.30054031014442445, + "epoch": 2.3974396275821936, + "flow_matching_loss": 0.016709694173187017, + "grad_norm": 0.11448201537132263, + "kept_token_count": 572.4265625, + "learning_rate": 2.604816905526948e-05, + "loss": 0.021, + "mgd_cos_sim": 0.991325169801712, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008674825076013803, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.9736633300781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.5064666748047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8240, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.3008326470851898, + "epoch": 2.4003491416933374, + "flow_matching_loss": 0.017662812490016222, + "grad_norm": 0.12019406259059906, + "kept_token_count": 572.184375, + "learning_rate": 2.603697845768341e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9915175259113311, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008482481446117162, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.7652923583984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.3090545654297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8250, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.29980129897594454, + "epoch": 2.4032586558044806, + "flow_matching_loss": 0.01643197303637862, + "grad_norm": 0.15286722779273987, + "kept_token_count": 572.6359375, + "learning_rate": 2.6025774449127792e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9910891592502594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008910840842872858, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.2012878417969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.4507110595703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8260, + "valid_token_count": 817.8125 + }, + { + "actual_token_mask_ratio": 0.2996375322341919, + "epoch": 2.406168169915624, + "flow_matching_loss": 0.016304147243499757, + "grad_norm": 0.10621785372495651, + "kept_token_count": 573.1859375, + "learning_rate": 2.6014557043216562e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9917459845542907, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008254008274525404, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.7322662353516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.2252899169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8270, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.29959006905555724, + "epoch": 2.4090776840267676, + "flow_matching_loss": 0.01832490973174572, + "grad_norm": 0.08537857234477997, + "kept_token_count": 573.2390625, + "learning_rate": 2.6003326253579913e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9913372457027435, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008662751689553261, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.7310760498047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.84229736328126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8280, + "valid_token_count": 818.4328125 + }, + { + "actual_token_mask_ratio": 0.2994464308023453, + "epoch": 2.411987198137911, + "flow_matching_loss": 0.018078151717782022, + "grad_norm": 0.16487473249435425, + "kept_token_count": 573.5125, + "learning_rate": 2.599208209386432e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9908705711364746, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009129425697028636, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.5000915527344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.7268768310547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8290, + "valid_token_count": 818.65625 + }, + { + "actual_token_mask_ratio": 0.30132718980312345, + "epoch": 2.4148967122490546, + "flow_matching_loss": 0.016618883330374958, + "grad_norm": 0.12727199494838715, + "kept_token_count": 571.7296875, + "learning_rate": 2.5980824577732502e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9911865592002869, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008813435211777687, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.11497192382814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.2545135498047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8300, + "valid_token_count": 818.30625 + }, + { + "actual_token_mask_ratio": 0.2993972718715668, + "epoch": 2.417806226360198, + "flow_matching_loss": 0.018663550540804864, + "grad_norm": 0.13440561294555664, + "kept_token_count": 573.3609375, + "learning_rate": 2.5969553718863395e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9913949728012085, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008605045266449451, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.5413116455078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.69190673828126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8310, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.29991271793842317, + "epoch": 2.4207157404713415, + "flow_matching_loss": 0.01685116896405816, + "grad_norm": 0.1429898738861084, + "kept_token_count": 572.80625, + "learning_rate": 2.595826953095216e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9902399241924286, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009760067984461784, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.4980743408203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.9307434082031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8320, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.300984126329422, + "epoch": 2.423625254582485, + "flow_matching_loss": 0.017596929240971802, + "grad_norm": 0.124431312084198, + "kept_token_count": 571.7484375, + "learning_rate": 2.594697202771014e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9911975502967835, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008802448865026236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.4559814453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.87083740234374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8330, + "valid_token_count": 817.9390625 + }, + { + "actual_token_mask_ratio": 0.3008982419967651, + "epoch": 2.426534768693628, + "flow_matching_loss": 0.016942351963371037, + "grad_norm": 0.11988738179206848, + "kept_token_count": 571.959375, + "learning_rate": 2.5935661222864888e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9906900942325592, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009309909027069806, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.8761932373047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.63332214355466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8340, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.299594047665596, + "epoch": 2.4294442828047718, + "flow_matching_loss": 0.0191309136338532, + "grad_norm": 0.14257265627384186, + "kept_token_count": 572.9953125, + "learning_rate": 2.592433713016008e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9905674576759338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00943255154415965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.6028991699219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7454315185547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8350, + "valid_token_count": 818.0890625 + }, + { + "actual_token_mask_ratio": 0.3004858911037445, + "epoch": 2.432353796915915, + "flow_matching_loss": 0.0166761945001781, + "grad_norm": 0.14490845799446106, + "kept_token_count": 572.4140625, + "learning_rate": 2.5912999763355553e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9910947322845459, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008905265852808953, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.15033264160155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.29246826171874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8360, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.2990195691585541, + "epoch": 2.4352633110270583, + "flow_matching_loss": 0.014608659781515598, + "grad_norm": 0.09335819631814957, + "kept_token_count": 573.375, + "learning_rate": 2.590164913622729e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9908765077590942, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009123485721647739, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.44944458007814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.9082305908203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8370, + "valid_token_count": 817.9578125 + }, + { + "actual_token_mask_ratio": 0.30024394094944, + "epoch": 2.438172825138202, + "flow_matching_loss": 0.017175982333719732, + "grad_norm": 0.11513793468475342, + "kept_token_count": 572.5671875, + "learning_rate": 2.589028526256737e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9909849643707276, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009015025198459625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.00230712890624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.26812438964845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8380, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.2985456079244614, + "epoch": 2.4410823392493453, + "flow_matching_loss": 0.016699759848415853, + "grad_norm": 0.09695438295602798, + "kept_token_count": 573.8703125, + "learning_rate": 2.587890815618397e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9915942847728729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008405720256268978, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.5111511230469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.57012634277345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8390, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.3009283900260925, + "epoch": 2.443991853360489, + "flow_matching_loss": 0.015964781725779177, + "grad_norm": 0.1042475625872612, + "kept_token_count": 571.965625, + "learning_rate": 2.5867517830901343e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9916990339756012, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008300950936973094, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.54970397949216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.3515686035156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8400, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.2997672617435455, + "epoch": 2.4469013674716322, + "flow_matching_loss": 0.01842609839513898, + "grad_norm": 0.12770983576774597, + "kept_token_count": 572.98125, + "learning_rate": 2.5856114300559812e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9914095342159271, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008590472862124443, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.3404907226562, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.5139221191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8410, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.30051379799842837, + "epoch": 2.4498108815827755, + "flow_matching_loss": 0.01715097026899457, + "grad_norm": 0.15794049203395844, + "kept_token_count": 572.3203125, + "learning_rate": 2.584469757901574e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9911086082458496, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008891379553824663, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.7677459716797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.8797149658203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8420, + "valid_token_count": 818.2 + }, + { + "actual_token_mask_ratio": 0.29983149468898773, + "epoch": 2.452720395693919, + "flow_matching_loss": 0.015419969335198402, + "grad_norm": 0.11708623915910721, + "kept_token_count": 573.0578125, + "learning_rate": 2.5833267680141526e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9910499036312104, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008950091246515513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.29400634765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5898468017578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8430, + "valid_token_count": 818.4546875 + }, + { + "actual_token_mask_ratio": 0.299272483587265, + "epoch": 2.4556299098050625, + "flow_matching_loss": 0.016724805254489182, + "grad_norm": 0.1139058992266655, + "kept_token_count": 573.41875, + "learning_rate": 2.5821824617825564e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9912814974784852, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00871849013492465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.98557739257814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.4128143310547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8440, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.30104056000709534, + "epoch": 2.458539423916206, + "flow_matching_loss": 0.020243440102785826, + "grad_norm": 0.12653031945228577, + "kept_token_count": 572.13125, + "learning_rate": 2.5810368405972265e-05, + "loss": 0.0245, + "mgd_cos_sim": 0.9914004862308502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008599516935646534, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 353.99671936035156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.13988037109374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8450, + "valid_token_count": 818.5484375 + }, + { + "actual_token_mask_ratio": 0.30024094581604005, + "epoch": 2.4614489380273494, + "flow_matching_loss": 0.016834710910916328, + "grad_norm": 0.1131516695022583, + "kept_token_count": 572.6375, + "learning_rate": 2.5798899058501996e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9911262273788453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008873777277767659, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.5106567382812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.6062377929687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8460, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.30075023174285886, + "epoch": 2.4643584521384927, + "flow_matching_loss": 0.017632998898625372, + "grad_norm": 0.12499900907278061, + "kept_token_count": 571.9265625, + "learning_rate": 2.578741658935111e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9913699209690094, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008630082104355096, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.0836517333984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.37976989746096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8470, + "valid_token_count": 817.9171875 + }, + { + "actual_token_mask_ratio": 0.3013390123844147, + "epoch": 2.4672679662496364, + "flow_matching_loss": 0.0161084970459342, + "grad_norm": 0.12021775543689728, + "kept_token_count": 571.753125, + "learning_rate": 2.5775921012471875e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9915486991405487, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00845129732042551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.4122650146484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.41173095703124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8480, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.29945493340492246, + "epoch": 2.4701774803607797, + "flow_matching_loss": 0.01703975722193718, + "grad_norm": 0.13894490897655487, + "kept_token_count": 573.0796875, + "learning_rate": 2.5764412341832505e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9914707124233246, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008529277052730322, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.4616271972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.7646484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8490, + "valid_token_count": 818.046875 + }, + { + "actual_token_mask_ratio": 0.30086599886417387, + "epoch": 2.4730869944719234, + "flow_matching_loss": 0.018025852739810944, + "grad_norm": 0.15596701204776764, + "kept_token_count": 571.9578125, + "learning_rate": 2.5752890591417125e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9910702228546142, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008929780591279269, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.5335418701172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.42722473144534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8500, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.300109001994133, + "epoch": 2.4759965085830666, + "flow_matching_loss": 0.01637087929993868, + "grad_norm": 0.1446666717529297, + "kept_token_count": 572.6265625, + "learning_rate": 2.5741355775225744e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.991401219367981, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008598773553967477, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.8095275878906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.07492980957034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8510, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.30018181502819063, + "epoch": 2.47890602269421, + "flow_matching_loss": 0.016149925254285335, + "grad_norm": 0.11676651239395142, + "kept_token_count": 572.7046875, + "learning_rate": 2.5729807907274254e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9908260107040405, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009173989947885274, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.7554046630859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.34607849121096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8520, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.29964573085308077, + "epoch": 2.4818155368053536, + "flow_matching_loss": 0.016794406250119208, + "grad_norm": 0.14219841361045837, + "kept_token_count": 573.16875, + "learning_rate": 2.5718247001594403e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.991399884223938, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00860011512413621, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.34766540527346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.97487182617186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8530, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.3006525307893753, + "epoch": 2.484725050916497, + "flow_matching_loss": 0.018165222276002167, + "grad_norm": 0.12371553480625153, + "kept_token_count": 572.0484375, + "learning_rate": 2.5706673072233776e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9915096044540406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008490393497049808, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.9005554199219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.2162353515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8540, + "valid_token_count": 817.9703125 + }, + { + "actual_token_mask_ratio": 0.2995960354804993, + "epoch": 2.4876345650276406, + "flow_matching_loss": 0.015091236494481564, + "grad_norm": 0.11909259110689163, + "kept_token_count": 573.2484375, + "learning_rate": 2.5695086133255795e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9916268825531006, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008373114187270403, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.628515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.17041931152346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8550, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.3004625618457794, + "epoch": 2.490544079138784, + "flow_matching_loss": 0.018796628154814244, + "grad_norm": 0.11861538141965866, + "kept_token_count": 572.35625, + "learning_rate": 2.5683486198739687e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9910682797431946, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008931710291653872, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.1065399169922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.0406097412109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8560, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.3009075552225113, + "epoch": 2.493453593249927, + "flow_matching_loss": 0.020887768361717463, + "grad_norm": 0.09488576650619507, + "kept_token_count": 572.11875, + "learning_rate": 2.5671873282780452e-05, + "loss": 0.0255, + "mgd_cos_sim": 0.9908668279647828, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00913315275683999, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.0945220947266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.13141174316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8570, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.2997437447309494, + "epoch": 2.496363107361071, + "flow_matching_loss": 0.018018079176545142, + "grad_norm": 0.14131081104278564, + "kept_token_count": 573.1515625, + "learning_rate": 2.5660247399488887e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9912644505500794, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008735555317252874, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 370.2116424560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.8004425048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8580, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.30119627714157104, + "epoch": 2.499272621472214, + "flow_matching_loss": 0.016844665724784137, + "grad_norm": 0.16578608751296997, + "kept_token_count": 571.8625, + "learning_rate": 2.564860856299154e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9910136520862579, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008986340276896954, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.4331970214844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.92137451171874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8590, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.2994964629411697, + "epoch": 2.5021821355833573, + "flow_matching_loss": 0.015767195913940667, + "grad_norm": 0.1367524266242981, + "kept_token_count": 573.36875, + "learning_rate": 2.5636956787430693e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9910371124744415, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008962883520871401, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.4027862548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.03509826660155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8600, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.30074198842048644, + "epoch": 2.505091649694501, + "flow_matching_loss": 0.018462418764829635, + "grad_norm": 0.12554135918617249, + "kept_token_count": 572.4234375, + "learning_rate": 2.5625292086964346e-05, + "loss": 0.023, + "mgd_cos_sim": 0.990982735157013, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009017257113009691, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.4807098388672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.2423095703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8610, + "valid_token_count": 818.6078125 + }, + { + "actual_token_mask_ratio": 0.30005123317241666, + "epoch": 2.5080011638056443, + "flow_matching_loss": 0.016393629647791386, + "grad_norm": 0.11239410191774368, + "kept_token_count": 572.7484375, + "learning_rate": 2.5613614475766212e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9904573023319244, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009542690590023994, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.9033142089844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.0229156494141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8620, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.30086706578731537, + "epoch": 2.510910677916788, + "flow_matching_loss": 0.018303151614964007, + "grad_norm": 0.13835372030735016, + "kept_token_count": 572.09375, + "learning_rate": 2.5601923968025694e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.991727739572525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00827226061373949, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.4146484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.88612060546876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8630, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.29968788027763366, + "epoch": 2.5138201920279313, + "flow_matching_loss": 0.01844334937632084, + "grad_norm": 0.16029807925224304, + "kept_token_count": 573.0734375, + "learning_rate": 2.5590220577947862e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9909520864486694, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009047908335924148, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.2090759277344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.3719940185547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8640, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.2994149476289749, + "epoch": 2.516729706139075, + "flow_matching_loss": 0.017063922341912986, + "grad_norm": 0.13179799914360046, + "kept_token_count": 573.1859375, + "learning_rate": 2.5578504319753427e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9918493151664733, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008150672912597657, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.83546752929686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.20082397460936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8650, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.29971546232700347, + "epoch": 2.5196392202502182, + "flow_matching_loss": 0.01623513251543045, + "grad_norm": 0.12439123541116714, + "kept_token_count": 572.9796875, + "learning_rate": 2.556677520767876e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9915385365486145, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008461454883217812, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.8622253417969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.2605804443359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8660, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.30031167566776273, + "epoch": 2.5225487343613615, + "flow_matching_loss": 0.01829819120466709, + "grad_norm": 0.13396508991718292, + "kept_token_count": 572.409375, + "learning_rate": 2.5555033255975835e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9909412682056427, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009058735240250826, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 365.5334228515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8562042236328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8670, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.300658655166626, + "epoch": 2.525458248472505, + "flow_matching_loss": 0.01865066485479474, + "grad_norm": 0.1485217660665512, + "kept_token_count": 572.1921875, + "learning_rate": 2.5543278478912228e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9909049034118652, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009095095098018646, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.8194549560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.41279296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8680, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.30073236525058744, + "epoch": 2.5283677625836485, + "flow_matching_loss": 0.015889523923397063, + "grad_norm": 0.1256711184978485, + "kept_token_count": 572.009375, + "learning_rate": 2.55315108907711e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9912170827388763, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00878292666748166, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.9974853515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.6070526123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8690, + "valid_token_count": 818.0109375 + }, + { + "actual_token_mask_ratio": 0.30072673261165617, + "epoch": 2.5312772766947917, + "flow_matching_loss": 0.014938153699040413, + "grad_norm": 0.10915989428758621, + "kept_token_count": 572.2421875, + "learning_rate": 2.551973050585119e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9914396464824676, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008560360688716174, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.2892791748047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7579010009766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8700, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.30109919905662536, + "epoch": 2.5341867908059355, + "flow_matching_loss": 0.019017459824681282, + "grad_norm": 0.1601586788892746, + "kept_token_count": 571.7828125, + "learning_rate": 2.5507937338466768e-05, + "loss": 0.0235, + "mgd_cos_sim": 0.9909588515758514, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009041155595332384, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 356.8788543701172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.86509704589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8710, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.30032913088798524, + "epoch": 2.5370963049170787, + "flow_matching_loss": 0.016690601781010627, + "grad_norm": 0.11862468719482422, + "kept_token_count": 572.6625, + "learning_rate": 2.549613140294764e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9908905863761902, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009109399002045392, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.7479736328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5300231933594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8720, + "valid_token_count": 818.475 + }, + { + "actual_token_mask_ratio": 0.29988616704940796, + "epoch": 2.5400058190282224, + "flow_matching_loss": 0.01612112931907177, + "grad_norm": 0.13620631396770477, + "kept_token_count": 573.203125, + "learning_rate": 2.548431271363914e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9910802245140076, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008919768780469895, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.5186370849609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.65968322753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8730, + "valid_token_count": 818.7296875 + }, + { + "actual_token_mask_ratio": 0.3002599090337753, + "epoch": 2.5429153331393657, + "flow_matching_loss": 0.01643515396863222, + "grad_norm": 0.12718075513839722, + "kept_token_count": 572.596875, + "learning_rate": 2.5472481284902092e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9917431890964508, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008256811555474997, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.63010864257814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.17771911621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8740, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.29932396709918974, + "epoch": 2.5458248472505094, + "flow_matching_loss": 0.014893626607954503, + "grad_norm": 0.13201117515563965, + "kept_token_count": 573.23125, + "learning_rate": 2.5460637131112788e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9907664477825164, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009233549982309342, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.85931091308595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.3018035888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8750, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.2993918865919113, + "epoch": 2.5487343613616527, + "flow_matching_loss": 0.015601623058319091, + "grad_norm": 0.10964085906744003, + "kept_token_count": 573.4765625, + "learning_rate": 2.5448780266662995e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9917901933193207, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008209803979843855, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.2894348144531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.5345520019531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8760, + "valid_token_count": 818.5375 + }, + { + "actual_token_mask_ratio": 0.3004456788301468, + "epoch": 2.551643875472796, + "flow_matching_loss": 0.018982932437211275, + "grad_norm": 0.10755527764558792, + "kept_token_count": 572.296875, + "learning_rate": 2.5436910705959926e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9915489971637725, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00845099901780486, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.0061889648438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.61414794921876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8770, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.30000199377536774, + "epoch": 2.5545533895839396, + "flow_matching_loss": 0.017704145051538944, + "grad_norm": 0.14740315079689026, + "kept_token_count": 572.90625, + "learning_rate": 2.542502846342621e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9911122918128967, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00888771964237094, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.02317199707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.92255249023435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8780, + "valid_token_count": 818.4375 + }, + { + "actual_token_mask_ratio": 0.2996252626180649, + "epoch": 2.557462903695083, + "flow_matching_loss": 0.01714295633137226, + "grad_norm": 0.13759055733680725, + "kept_token_count": 573.0796875, + "learning_rate": 2.5413133553499892e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9909181892871857, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00908179758116603, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 371.9794921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.52879638671874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8790, + "valid_token_count": 818.2484375 + }, + { + "actual_token_mask_ratio": 0.299496191740036, + "epoch": 2.560372417806226, + "flow_matching_loss": 0.014084749110043048, + "grad_norm": 0.12942790985107422, + "kept_token_count": 573.2578125, + "learning_rate": 2.540122599063442e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9911594390869141, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008840570412576198, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4625518798828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.6224700927734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8800, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.2998447507619858, + "epoch": 2.56328193191737, + "flow_matching_loss": 0.015367448888719082, + "grad_norm": 0.11392313241958618, + "kept_token_count": 573.0109375, + "learning_rate": 2.538930578929859e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9904066562652588, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009593351185321808, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.8352111816406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3529022216797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8810, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.30013352632522583, + "epoch": 2.566191446028513, + "flow_matching_loss": 0.016692807991057636, + "grad_norm": 0.11641285568475723, + "kept_token_count": 572.7375, + "learning_rate": 2.537737296397658e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9916721284389496, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008327861595898867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.3338104248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.367724609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8820, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.29898928105831146, + "epoch": 2.569100960139657, + "flow_matching_loss": 0.018134757317602633, + "grad_norm": 0.12410399317741394, + "kept_token_count": 573.725, + "learning_rate": 2.5365427529167903e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9912646174430847, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008735398389399051, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.4832824707031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.3570556640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8830, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.29981099963188174, + "epoch": 2.5720104742508, + "flow_matching_loss": 0.019713878631591797, + "grad_norm": 0.11025841534137726, + "kept_token_count": 572.9453125, + "learning_rate": 2.5353469499387375e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9912727832794189, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008727207500487565, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 364.60596923828126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.48717346191404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8840, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.29948248863220217, + "epoch": 2.574919988361944, + "flow_matching_loss": 0.01855527414008975, + "grad_norm": 0.10239432752132416, + "kept_token_count": 573.1765625, + "learning_rate": 2.534149888916514e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9910658955574035, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008934103697538377, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.6575897216797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.85535583496096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8850, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.30014601051807405, + "epoch": 2.577829502473087, + "flow_matching_loss": 0.017120270803570748, + "grad_norm": 0.1279153972864151, + "kept_token_count": 572.6890625, + "learning_rate": 2.5329515713046616e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9913724660873413, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008627542573958636, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.4752563476562, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.93394165039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8860, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30004594624042513, + "epoch": 2.5807390165842303, + "flow_matching_loss": 0.019161205366253854, + "grad_norm": 0.15597420930862427, + "kept_token_count": 572.71875, + "learning_rate": 2.531751998559249e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9906807363033294, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009319273103028537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.955029296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.69964599609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8870, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.3012107044458389, + "epoch": 2.583648530695374, + "flow_matching_loss": 0.015474837739020586, + "grad_norm": 0.13396762311458588, + "kept_token_count": 571.86875, + "learning_rate": 2.5305511721378703e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9910562932491302, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008943701535463333, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.86863098144534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.169287109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8880, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.29968676865100863, + "epoch": 2.5865580448065173, + "flow_matching_loss": 0.018037905637174844, + "grad_norm": 0.12357514351606369, + "kept_token_count": 573.1125, + "learning_rate": 2.529349093499642e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9913371860980987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008662807010114192, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 375.6808837890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.95668640136716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8890, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.3000792026519775, + "epoch": 2.5894675589176606, + "flow_matching_loss": 0.01714768325909972, + "grad_norm": 0.10675986111164093, + "kept_token_count": 572.7390625, + "learning_rate": 2.528145764105205e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9909987449645996, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009001260157674551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.0645751953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.4667907714844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8900, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.3005355894565582, + "epoch": 2.5923770730288043, + "flow_matching_loss": 0.015683180000633002, + "grad_norm": 0.13162945210933685, + "kept_token_count": 572.44375, + "learning_rate": 2.5269411854167166e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9912434458732605, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008756560273468494, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.710400390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.9783966064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8910, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.3018741339445114, + "epoch": 2.5952865871399475, + "flow_matching_loss": 0.01703806482255459, + "grad_norm": 0.11575420945882797, + "kept_token_count": 571.1046875, + "learning_rate": 2.5257353588978534e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9909159481525421, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009084033593535424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.1790374755859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.2283203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8920, + "valid_token_count": 818.053125 + }, + { + "actual_token_mask_ratio": 0.2996789664030075, + "epoch": 2.598196101251091, + "flow_matching_loss": 0.02131222952157259, + "grad_norm": 0.13460533320903778, + "kept_token_count": 573.0078125, + "learning_rate": 2.5245282860138083e-05, + "loss": 0.0261, + "mgd_cos_sim": 0.9904160857200622, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009583917539566755, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.7228302001953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.50661315917966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8930, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.30067821145057677, + "epoch": 2.6011056153622345, + "flow_matching_loss": 0.018692051526159048, + "grad_norm": 0.1426352709531784, + "kept_token_count": 572.3859375, + "learning_rate": 2.5233199682312894e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9911980926990509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008801908884197473, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.2532470703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.62903747558596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8940, + "valid_token_count": 818.484375 + }, + { + "actual_token_mask_ratio": 0.30011754631996157, + "epoch": 2.604015129473378, + "flow_matching_loss": 0.016275728587061167, + "grad_norm": 0.10401254892349243, + "kept_token_count": 572.9078125, + "learning_rate": 2.5221104070185163e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9913075685501098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008692441042512655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.7825225830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.7644012451172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8950, + "valid_token_count": 818.5796875 + }, + { + "actual_token_mask_ratio": 0.30041069686412813, + "epoch": 2.6069246435845215, + "flow_matching_loss": 0.018634592555463313, + "grad_norm": 0.1254955381155014, + "kept_token_count": 572.359375, + "learning_rate": 2.5208996038452204e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.991422152519226, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00857785576954484, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.5225524902344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.9814483642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8960, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.29986563622951506, + "epoch": 2.6098341576956647, + "flow_matching_loss": 0.0194104578346014, + "grad_norm": 0.1285811811685562, + "kept_token_count": 572.7953125, + "learning_rate": 2.5196875601826403e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9911675691604614, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008832436800003052, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.0402862548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.1562225341797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8970, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.2990287184715271, + "epoch": 2.6127436718068084, + "flow_matching_loss": 0.016664807125926016, + "grad_norm": 0.13235792517662048, + "kept_token_count": 573.471875, + "learning_rate": 2.518474277503525e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9911582708358765, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008841721527278423, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.47996215820314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.88373107910155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8980, + "valid_token_count": 818.10625 + }, + { + "actual_token_mask_ratio": 0.2995084375143051, + "epoch": 2.6156531859179517, + "flow_matching_loss": 0.01796229975298047, + "grad_norm": 0.11656974256038666, + "kept_token_count": 573.2609375, + "learning_rate": 2.5172597572821266e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9911937773227691, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008806234318763017, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.1154327392578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.8251129150391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 8990, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.29964197874069215, + "epoch": 2.618562700029095, + "flow_matching_loss": 0.01705606225878, + "grad_norm": 0.11106621474027634, + "kept_token_count": 573.0203125, + "learning_rate": 2.5160440009942015e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9915575861930848, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008442414924502373, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.5303680419922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.32897033691404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9000, + "valid_token_count": 818.1796875 + }, + { + "actual_token_mask_ratio": 0.2993840128183365, + "epoch": 2.6214722141402387, + "flow_matching_loss": 0.01809373516589403, + "grad_norm": 0.14863617718219757, + "kept_token_count": 573.5125, + "learning_rate": 2.514827010117009e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.991202574968338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008797429595142603, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 379.4012725830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.4956329345703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9010, + "valid_token_count": 818.578125 + }, + { + "actual_token_mask_ratio": 0.3001720428466797, + "epoch": 2.624381728251382, + "flow_matching_loss": 0.018551829922944307, + "grad_norm": 0.1595381498336792, + "kept_token_count": 572.61875, + "learning_rate": 2.5136087861293068e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9909802317619324, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009019752778112889, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.5641174316406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.5536407470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9020, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.30108446478843687, + "epoch": 2.627291242362525, + "flow_matching_loss": 0.01914623435586691, + "grad_norm": 0.1672845482826233, + "kept_token_count": 571.94375, + "learning_rate": 2.5123893305113525e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.9907282829284668, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009271734766662121, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.9762298583984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.7565216064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9030, + "valid_token_count": 818.33125 + }, + { + "actual_token_mask_ratio": 0.29967111349105835, + "epoch": 2.630200756473669, + "flow_matching_loss": 0.016259085293859242, + "grad_norm": 0.1159500777721405, + "kept_token_count": 573.0234375, + "learning_rate": 2.5111686447448997e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9908859193325043, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009114092029631139, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.7209411621094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.0962799072266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9040, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.2996930718421936, + "epoch": 2.633110270584812, + "flow_matching_loss": 0.015607430785894393, + "grad_norm": 0.09675373882055283, + "kept_token_count": 573.3, + "learning_rate": 2.5099467303131966e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9911966502666474, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008803342189639806, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.2371826171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.3109191894531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9050, + "valid_token_count": 818.6390625 + }, + { + "actual_token_mask_ratio": 0.3007426768541336, + "epoch": 2.636019784695956, + "flow_matching_loss": 0.017334971018135546, + "grad_norm": 0.12366949021816254, + "kept_token_count": 572.3890625, + "learning_rate": 2.508723588700984e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9915723621845245, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008427641820162535, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.7682373046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1896514892578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9060, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.30031668245792387, + "epoch": 2.638929298807099, + "flow_matching_loss": 0.017979015409946442, + "grad_norm": 0.12274547666311264, + "kept_token_count": 572.5265625, + "learning_rate": 2.5074992213944952e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9905969977378846, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009403009805828333, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.25538940429686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.16151123046876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9070, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.30010542571544646, + "epoch": 2.641838812918243, + "flow_matching_loss": 0.016854626778513192, + "grad_norm": 0.10295473784208298, + "kept_token_count": 572.9625, + "learning_rate": 2.506273629881451e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9909922122955322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009007783513516188, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.13426513671874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.5219299316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9080, + "valid_token_count": 818.6375 + }, + { + "actual_token_mask_ratio": 0.30024253726005556, + "epoch": 2.644748327029386, + "flow_matching_loss": 0.016787473019212483, + "grad_norm": 0.1403062641620636, + "kept_token_count": 572.7296875, + "learning_rate": 2.5050468156510617e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9910096406936646, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008990352600812912, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.5001953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.6896636962891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9090, + "valid_token_count": 818.471875 + }, + { + "actual_token_mask_ratio": 0.3000383049249649, + "epoch": 2.6476578411405294, + "flow_matching_loss": 0.017502307798713444, + "grad_norm": 0.1081986203789711, + "kept_token_count": 572.778125, + "learning_rate": 2.5038187801940215e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9910851240158081, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008914863411337137, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.96144714355466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.91668090820315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9100, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.3000437796115875, + "epoch": 2.650567355251673, + "flow_matching_loss": 0.015129989851266146, + "grad_norm": 0.14002329111099243, + "kept_token_count": 572.7984375, + "learning_rate": 2.5025895250025088e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9908145070075989, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009185486380010844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.04443359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.5291015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9110, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.3007287114858627, + "epoch": 2.6534768693628163, + "flow_matching_loss": 0.01701429169625044, + "grad_norm": 0.12054062634706497, + "kept_token_count": 572.178125, + "learning_rate": 2.501359051570186e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.991290283203125, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008709701523184777, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.07952880859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.0525146484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9120, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.3008897632360458, + "epoch": 2.6563863834739596, + "flow_matching_loss": 0.01597641473636031, + "grad_norm": 0.10794096440076828, + "kept_token_count": 572.16875, + "learning_rate": 2.500127361392193e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9920090913772583, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007990913279354573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.86353454589846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7895446777344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9130, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.2999486804008484, + "epoch": 2.6592958975851033, + "flow_matching_loss": 0.015725810127332807, + "grad_norm": 0.10436492413282394, + "kept_token_count": 572.9140625, + "learning_rate": 2.49889445596515e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9913528859615326, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008647103607654572, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.9121948242188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.77870788574216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9140, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.2996627360582352, + "epoch": 2.6622054116962466, + "flow_matching_loss": 0.019741630461066962, + "grad_norm": 0.126677468419075, + "kept_token_count": 573.128125, + "learning_rate": 2.497660336787154e-05, + "loss": 0.0243, + "mgd_cos_sim": 0.9909092366695404, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00909075690433383, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.11065063476565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.4061676025391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9150, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.29894435703754424, + "epoch": 2.6651149258073903, + "flow_matching_loss": 0.01538481255993247, + "grad_norm": 0.10168885439634323, + "kept_token_count": 573.61875, + "learning_rate": 2.496425005357775e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.99119131565094, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008808665070682764, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 380.3929840087891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.4190155029297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9160, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.299745973944664, + "epoch": 2.6680244399185336, + "flow_matching_loss": 0.01733419857919216, + "grad_norm": 0.14703388512134552, + "kept_token_count": 572.971875, + "learning_rate": 2.4951884631780578e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9912178337574005, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008782169595360757, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.9569976806641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.0369476318359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9170, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.3009145587682724, + "epoch": 2.6709339540296773, + "flow_matching_loss": 0.016216599475592376, + "grad_norm": 0.09774716943502426, + "kept_token_count": 571.8359375, + "learning_rate": 2.493950711750518e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9906965494155884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009303445182740688, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.1180053710938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5304443359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9180, + "valid_token_count": 817.98125 + }, + { + "actual_token_mask_ratio": 0.2991106122732162, + "epoch": 2.6738434681408205, + "flow_matching_loss": 0.018361784424632786, + "grad_norm": 0.1895502209663391, + "kept_token_count": 573.628125, + "learning_rate": 2.49271175257914e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9910714805126191, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008928519207984209, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.75807189941406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.7349151611328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9190, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.30027511715888977, + "epoch": 2.676752982251964, + "flow_matching_loss": 0.017732353508472444, + "grad_norm": 0.20717695355415344, + "kept_token_count": 572.496875, + "learning_rate": 2.4914715871693757e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9912514567375184, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008748546801507473, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.03822937011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.1530822753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9200, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.29913762509822844, + "epoch": 2.6796624963631075, + "flow_matching_loss": 0.018434864282608033, + "grad_norm": 0.14679819345474243, + "kept_token_count": 573.3703125, + "learning_rate": 2.4902302170281438e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9911774873733521, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008822504337877035, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.5764556884766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.6942108154297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9210, + "valid_token_count": 818.096875 + }, + { + "actual_token_mask_ratio": 0.3001939028501511, + "epoch": 2.6825720104742508, + "flow_matching_loss": 0.017621525470167397, + "grad_norm": 0.14606113731861115, + "kept_token_count": 572.571875, + "learning_rate": 2.4889876436638252e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.990817767381668, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009182244632393121, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.5030059814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.8969299316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9220, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.29993531107902527, + "epoch": 2.685481524585394, + "flow_matching_loss": 0.01770669212564826, + "grad_norm": 0.12416967004537582, + "kept_token_count": 572.98125, + "learning_rate": 2.4877438685862643e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9907764494419098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009223549067974091, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.66533813476565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.9311462402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9230, + "valid_token_count": 818.4625 + }, + { + "actual_token_mask_ratio": 0.29925097823143004, + "epoch": 2.6883910386965377, + "flow_matching_loss": 0.015531656891107559, + "grad_norm": 0.12835976481437683, + "kept_token_count": 573.459375, + "learning_rate": 2.486498893306765e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9907501697540283, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009249820467084646, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.85211486816405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.6755615234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9240, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.2993412882089615, + "epoch": 2.691300552807681, + "flow_matching_loss": 0.017663495056331156, + "grad_norm": 0.1206282377243042, + "kept_token_count": 573.3953125, + "learning_rate": 2.485252719338089e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9916277348995208, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008372278418391943, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 376.8923736572266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1291168212891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9250, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.2992497444152832, + "epoch": 2.6942100669188247, + "flow_matching_loss": 0.017964420933276416, + "grad_norm": 0.12521977722644806, + "kept_token_count": 573.328125, + "learning_rate": 2.4840053481944563e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9913663685321807, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008633638173341751, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.11512145996096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.534814453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9260, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.30008222460746764, + "epoch": 2.697119581029968, + "flow_matching_loss": 0.020119171030819415, + "grad_norm": 0.139359250664711, + "kept_token_count": 573.0671875, + "learning_rate": 2.4827567813915398e-05, + "loss": 0.0244, + "mgd_cos_sim": 0.9913483619689941, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00865165116265416, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.0978942871094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.74168090820314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9270, + "valid_token_count": 818.765625 + }, + { + "actual_token_mask_ratio": 0.3004299610853195, + "epoch": 2.7000290951411117, + "flow_matching_loss": 0.01826496822759509, + "grad_norm": 0.1657305359840393, + "kept_token_count": 572.603125, + "learning_rate": 2.481507020446466e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.9913718700408936, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008628132939338683, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.1067840576172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.21051330566405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9280, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.2996469378471375, + "epoch": 2.702938609252255, + "flow_matching_loss": 0.01617769580334425, + "grad_norm": 0.1389082670211792, + "kept_token_count": 572.9984375, + "learning_rate": 2.4802560668778122e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9917217910289764, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008278210274875164, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 379.14366455078124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.23846435546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9290, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.2988789141178131, + "epoch": 2.705848123363398, + "flow_matching_loss": 0.01799702551215887, + "grad_norm": 0.1285836100578308, + "kept_token_count": 573.6375, + "learning_rate": 2.479003922205605e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9920413553714752, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007958647795021534, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.46490783691405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.72117004394534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9300, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.30039978623390196, + "epoch": 2.708757637474542, + "flow_matching_loss": 0.01620481638237834, + "grad_norm": 0.14176045358181, + "kept_token_count": 572.2265625, + "learning_rate": 2.4777505879513183e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9912922441959381, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008707755338400602, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.5744995117187, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8411041259766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9310, + "valid_token_count": 817.9375 + }, + { + "actual_token_mask_ratio": 0.30017822086811063, + "epoch": 2.711667151585685, + "flow_matching_loss": 0.015305369812995195, + "grad_norm": 0.10045774281024933, + "kept_token_count": 572.8046875, + "learning_rate": 2.4764960656378714e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9909330904483795, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009066915884613991, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.42852478027345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.49303283691404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9320, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.3001708835363388, + "epoch": 2.7145766656968284, + "flow_matching_loss": 0.01649689432233572, + "grad_norm": 0.15204083919525146, + "kept_token_count": 572.678125, + "learning_rate": 2.4752403567896274e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9912485659122467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008751438837498427, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.0986267089844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.87737731933595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9330, + "valid_token_count": 818.315625 + }, + { + "actual_token_mask_ratio": 0.2993904709815979, + "epoch": 2.717486179807972, + "flow_matching_loss": 0.021230418141931294, + "grad_norm": 0.12924116849899292, + "kept_token_count": 573.3390625, + "learning_rate": 2.47398346293239e-05, + "loss": 0.0255, + "mgd_cos_sim": 0.9914782285690308, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008521770872175694, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.9055511474609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.6227569580078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9340, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.3002658635377884, + "epoch": 2.7203956939191154, + "flow_matching_loss": 0.0176847524009645, + "grad_norm": 0.10702228546142578, + "kept_token_count": 572.6109375, + "learning_rate": 2.4727253855934055e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9913171827793121, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008682807069271803, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 365.82289733886716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.4665283203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9350, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.3001402199268341, + "epoch": 2.723305208030259, + "flow_matching_loss": 0.016483855340629815, + "grad_norm": 0.16251035034656525, + "kept_token_count": 572.7421875, + "learning_rate": 2.4714661263013548e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9912511110305786, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008748897910118103, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.74708251953126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.3604309082031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9360, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.30023460984230044, + "epoch": 2.7262147221414024, + "flow_matching_loss": 0.015847100410610437, + "grad_norm": 0.14330214262008667, + "kept_token_count": 572.59375, + "learning_rate": 2.4702056865863575e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9909409403800964, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009059071447700262, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.57312927246096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.1942657470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9370, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.2998435527086258, + "epoch": 2.729124236252546, + "flow_matching_loss": 0.014235792960971595, + "grad_norm": 0.0925450250506401, + "kept_token_count": 572.8921875, + "learning_rate": 2.4689440679799672e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9916586995124816, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008341309614479542, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.6588989257813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 376.9005584716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9380, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.30130836367607117, + "epoch": 2.7320337503636893, + "flow_matching_loss": 0.016623397916555406, + "grad_norm": 0.1471240073442459, + "kept_token_count": 571.8546875, + "learning_rate": 2.4676812720151678e-05, + "loss": 0.021, + "mgd_cos_sim": 0.991192239522934, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008807758707553149, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.04197998046874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.0012481689453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9390, + "valid_token_count": 818.4703125 + }, + { + "actual_token_mask_ratio": 0.300517800450325, + "epoch": 2.7349432644748326, + "flow_matching_loss": 0.017359916772693395, + "grad_norm": 0.1121462807059288, + "kept_token_count": 572.4015625, + "learning_rate": 2.466417300226377e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9909561753273011, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009043824207037688, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.63104858398435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.8568542480469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9400, + "valid_token_count": 818.315625 + }, + { + "actual_token_mask_ratio": 0.3003301441669464, + "epoch": 2.7378527785859763, + "flow_matching_loss": 0.018217314779758454, + "grad_norm": 0.11509518325328827, + "kept_token_count": 572.6859375, + "learning_rate": 2.4651521541494394e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9909857213497162, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00901429122313857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.53346252441406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.97564392089845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9410, + "valid_token_count": 818.5109375 + }, + { + "actual_token_mask_ratio": 0.3008485347032547, + "epoch": 2.7407622926971196, + "flow_matching_loss": 0.01491783894598484, + "grad_norm": 0.10842332988977432, + "kept_token_count": 572.1296875, + "learning_rate": 2.4638858353216267e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9921006739139557, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007899332139641047, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.50323181152345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 375.567578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9420, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.2997241079807281, + "epoch": 2.743671806808263, + "flow_matching_loss": 0.01559820044785738, + "grad_norm": 0.11251097917556763, + "kept_token_count": 573.3296875, + "learning_rate": 2.4626183452816355e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9918499767780304, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00815002415329218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.3003814697266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.32765808105466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9430, + "valid_token_count": 818.7234375 + }, + { + "actual_token_mask_ratio": 0.2997283130884171, + "epoch": 2.7465813209194065, + "flow_matching_loss": 0.016457927878946066, + "grad_norm": 0.11701338738203049, + "kept_token_count": 573.028125, + "learning_rate": 2.4613496855695855e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9913916766643525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008608331624418496, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.17235412597654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.49713134765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9440, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.3006085455417633, + "epoch": 2.74949083503055, + "flow_matching_loss": 0.017202500347048046, + "grad_norm": 0.1707366555929184, + "kept_token_count": 572.0953125, + "learning_rate": 2.4600798577270183e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9915209114551544, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00847906144335866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.1211761474609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.23173828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9450, + "valid_token_count": 817.9890625 + }, + { + "actual_token_mask_ratio": 0.2996625751256943, + "epoch": 2.752400349141693, + "flow_matching_loss": 0.0179129084572196, + "grad_norm": 0.1578250229358673, + "kept_token_count": 573.0109375, + "learning_rate": 2.4588088632968944e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9903579592704773, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009642040636390448, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.3195861816406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.1974761962891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9460, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.3007423341274261, + "epoch": 2.7553098632528368, + "flow_matching_loss": 0.017855044361203908, + "grad_norm": 0.12274134904146194, + "kept_token_count": 572.365625, + "learning_rate": 2.4575367038235916e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9908979952335357, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00910200709477067, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 379.65985107421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.26572265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9470, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.300095808506012, + "epoch": 2.7582193773639805, + "flow_matching_loss": 0.016823528800159693, + "grad_norm": 0.11882126331329346, + "kept_token_count": 572.6265625, + "learning_rate": 2.4562633808529043e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9909748375415802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009025172144174576, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.1577117919922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.6988098144531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9480, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.3004061311483383, + "epoch": 2.7611288914751237, + "flow_matching_loss": 0.01637707753106952, + "grad_norm": 0.10644035041332245, + "kept_token_count": 572.3296875, + "learning_rate": 2.4549888959320396e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9915642380714417, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008435768727213144, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.6414093017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.74571228027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9490, + "valid_token_count": 818.0890625 + }, + { + "actual_token_mask_ratio": 0.2997245639562607, + "epoch": 2.764038405586267, + "flow_matching_loss": 0.014338100049644708, + "grad_norm": 0.11060114204883575, + "kept_token_count": 572.990625, + "learning_rate": 2.4537132506096162e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9914527416229248, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0085472559556365, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.58754577636716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.18902282714845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9500, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.3005047470331192, + "epoch": 2.7669479196974107, + "flow_matching_loss": 0.01676502004265785, + "grad_norm": 0.13389691710472107, + "kept_token_count": 572.4390625, + "learning_rate": 2.452436446435664e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.991649079322815, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00835092244669795, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.0831359863281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.75682678222654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9510, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.29904082119464875, + "epoch": 2.769857433808554, + "flow_matching_loss": 0.018392063118517397, + "grad_norm": 0.11873894929885864, + "kept_token_count": 573.2609375, + "learning_rate": 2.451158484961621e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9906287610530853, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009371238574385644, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.24976501464846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7333557128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9520, + "valid_token_count": 817.828125 + }, + { + "actual_token_mask_ratio": 0.2992209941148758, + "epoch": 2.7727669479196972, + "flow_matching_loss": 0.01366955991834402, + "grad_norm": 0.1074482649564743, + "kept_token_count": 573.428125, + "learning_rate": 2.4498793677403304e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9912147760391236, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008785209525376559, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.42491149902344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.7412994384766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9530, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.300309881567955, + "epoch": 2.775676462030841, + "flow_matching_loss": 0.01614046059548855, + "grad_norm": 0.09105538576841354, + "kept_token_count": 572.6109375, + "learning_rate": 2.4485990963260398e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9914205729961395, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008579427003860473, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.1375366210938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.83656921386716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9540, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.3001255840063095, + "epoch": 2.778585976141984, + "flow_matching_loss": 0.01588655700907111, + "grad_norm": 0.11427764594554901, + "kept_token_count": 572.7796875, + "learning_rate": 2.4473176722744e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9915025234222412, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008497477509081364, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.5428100585938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.1559173583984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9550, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.2998927295207977, + "epoch": 2.7814954902531275, + "flow_matching_loss": 0.014312250632792711, + "grad_norm": 0.09301747381687164, + "kept_token_count": 572.9625, + "learning_rate": 2.446035097142463e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9918365836143493, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008163424208760262, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.75250549316405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.38096008300784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9560, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.29946318864822385, + "epoch": 2.784405004364271, + "flow_matching_loss": 0.01693939520046115, + "grad_norm": 0.11636580526828766, + "kept_token_count": 573.0625, + "learning_rate": 2.444751372488677e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9914777338504791, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008522283006459474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.5302001953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.56484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9570, + "valid_token_count": 818.0296875 + }, + { + "actual_token_mask_ratio": 0.30024216175079343, + "epoch": 2.7873145184754144, + "flow_matching_loss": 0.01825596485286951, + "grad_norm": 0.1380588412284851, + "kept_token_count": 572.859375, + "learning_rate": 2.443466499872889e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9909261345863343, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009073868487030267, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.8945007324219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.94617614746096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9580, + "valid_token_count": 818.64375 + }, + { + "actual_token_mask_ratio": 0.3000999420881271, + "epoch": 2.790224032586558, + "flow_matching_loss": 0.017419591452926396, + "grad_norm": 0.15891596674919128, + "kept_token_count": 572.6390625, + "learning_rate": 2.4421804808563413e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.990961354970932, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009038637299090624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.60016174316405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.9003204345703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9590, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.2995665013790131, + "epoch": 2.7931335466977014, + "flow_matching_loss": 0.0171815219335258, + "grad_norm": 0.11655406653881073, + "kept_token_count": 573.2515625, + "learning_rate": 2.440893317001667e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9915120005607605, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008488007821142673, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.1509704589844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.31553649902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9600, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.30018098950386046, + "epoch": 2.796043060808845, + "flow_matching_loss": 0.01530126091092825, + "grad_norm": 0.10171650350093842, + "kept_token_count": 572.4859375, + "learning_rate": 2.4396050098728925e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9912674486637115, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008732562325894833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.243994140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.87621154785154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9610, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.3003271073102951, + "epoch": 2.7989525749199884, + "flow_matching_loss": 0.01639035576954484, + "grad_norm": 0.10838965326547623, + "kept_token_count": 572.5, + "learning_rate": 2.4383155610354314e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9910308957099915, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008969101402908564, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.4490692138672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.1149047851562, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9620, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.2995649755001068, + "epoch": 2.8018620890311317, + "flow_matching_loss": 0.016348885465413333, + "grad_norm": 0.10465918481349945, + "kept_token_count": 573.125, + "learning_rate": 2.437024972056087e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.991628247499466, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008371745515614749, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.75556640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.95733947753905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9630, + "valid_token_count": 818.2375 + }, + { + "actual_token_mask_ratio": 0.30057071447372435, + "epoch": 2.8047716031422754, + "flow_matching_loss": 0.016594449058175087, + "grad_norm": 0.1196386069059372, + "kept_token_count": 572.2328125, + "learning_rate": 2.4357332445030452e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9912735104560852, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00872650258243084, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.02794494628904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.04108276367185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9640, + "valid_token_count": 818.15 + }, + { + "actual_token_mask_ratio": 0.3001653403043747, + "epoch": 2.8076811172534186, + "flow_matching_loss": 0.016117587499320508, + "grad_norm": 0.1071648895740509, + "kept_token_count": 572.7609375, + "learning_rate": 2.434440379945878e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9913125216960907, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008687475044280291, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.8076690673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.67442932128904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9650, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.2999151170253754, + "epoch": 2.810590631364562, + "flow_matching_loss": 0.015025280602276325, + "grad_norm": 0.12494895607233047, + "kept_token_count": 573.0671875, + "learning_rate": 2.4331463799555366e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.99168461561203, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008315399195998907, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.51331481933596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.3882629394531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9660, + "valid_token_count": 818.575 + }, + { + "actual_token_mask_ratio": 0.3007410794496536, + "epoch": 2.8135001454757056, + "flow_matching_loss": 0.015892935916781425, + "grad_norm": 0.10173635184764862, + "kept_token_count": 572.2296875, + "learning_rate": 2.4318512461043544e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9917140245437622, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008285981416702271, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.90880126953124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.25661010742186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9670, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.3003163903951645, + "epoch": 2.816409659586849, + "flow_matching_loss": 0.01527055148035288, + "grad_norm": 0.1017126813530922, + "kept_token_count": 572.5390625, + "learning_rate": 2.4305549799660397e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.991916161775589, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008083832077682018, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.55226745605466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.82362365722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9680, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.30012080669403074, + "epoch": 2.8193191736979926, + "flow_matching_loss": 0.015678700990974903, + "grad_norm": 0.10198615491390228, + "kept_token_count": 572.5625, + "learning_rate": 2.429257583115679e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9913156569004059, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00868433341383934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.2155456542969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.7649291992187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9690, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.3011352300643921, + "epoch": 2.822228687809136, + "flow_matching_loss": 0.017641553562134503, + "grad_norm": 0.12417000532150269, + "kept_token_count": 571.8734375, + "learning_rate": 2.4279590571297316e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9911274909973145, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008872509561479091, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.6753356933594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.1400451660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9700, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.2997604787349701, + "epoch": 2.8251382019202795, + "flow_matching_loss": 0.01705860495567322, + "grad_norm": 0.14031223952770233, + "kept_token_count": 572.9984375, + "learning_rate": 2.4266594035860288e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9912229597568512, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00877704992890358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.2680145263672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.3591644287109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9710, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30000644624233247, + "epoch": 2.828047716031423, + "flow_matching_loss": 0.017016189824789762, + "grad_norm": 0.11812737584114075, + "kept_token_count": 572.9, + "learning_rate": 2.425358624063773e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9919163107872009, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008083689864724875, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.02276611328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.8116485595703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9720, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.29997970461845397, + "epoch": 2.830957230142566, + "flow_matching_loss": 0.01404833309352398, + "grad_norm": 0.11427893489599228, + "kept_token_count": 572.8375, + "learning_rate": 2.424056720143532e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9916406750679017, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008359323348850011, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.52374877929685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.77989807128904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9730, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.3005490243434906, + "epoch": 2.8338667442537098, + "flow_matching_loss": 0.018734999652951955, + "grad_norm": 0.14984972774982452, + "kept_token_count": 572.2109375, + "learning_rate": 2.422753693407244e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9911647260189056, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008835272770375014, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.5914733886719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 377.8319458007812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9740, + "valid_token_count": 818.0875 + }, + { + "actual_token_mask_ratio": 0.3004589080810547, + "epoch": 2.836776258364853, + "flow_matching_loss": 0.018070646049454808, + "grad_norm": 0.13252872228622437, + "kept_token_count": 572.43125, + "learning_rate": 2.421449545438209e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9914307773113251, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008569213841110469, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.5288421630859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.0532470703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9750, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.30000136196613314, + "epoch": 2.8396857724759963, + "flow_matching_loss": 0.01616583624854684, + "grad_norm": 0.1120113879442215, + "kept_token_count": 572.675, + "learning_rate": 2.4201442778210887e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9913376092910766, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00866237310692668, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 372.5571563720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.1513916015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9760, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.29987933337688444, + "epoch": 2.84259528658714, + "flow_matching_loss": 0.015557162277400494, + "grad_norm": 0.09169089049100876, + "kept_token_count": 573.053125, + "learning_rate": 2.418837892141907e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9913204908370972, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008679521083831788, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.3785705566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.9543762207031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9770, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.29957843720912936, + "epoch": 2.8455048006982833, + "flow_matching_loss": 0.01857333304360509, + "grad_norm": 0.12196481227874756, + "kept_token_count": 572.9484375, + "learning_rate": 2.4175303899880458e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.9913698196411133, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008630184642970561, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.3244140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.18556213378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9780, + "valid_token_count": 818.003125 + }, + { + "actual_token_mask_ratio": 0.2992836326360703, + "epoch": 2.848414314809427, + "flow_matching_loss": 0.01868777796626091, + "grad_norm": 0.10497301071882248, + "kept_token_count": 573.4578125, + "learning_rate": 2.4162217729482427e-05, + "loss": 0.0232, + "mgd_cos_sim": 0.9909387171268463, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009061281383037568, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.3531524658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.3816741943359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9790, + "valid_token_count": 818.3921875 + }, + { + "actual_token_mask_ratio": 0.29908539056777955, + "epoch": 2.8513238289205702, + "flow_matching_loss": 0.015144611336290836, + "grad_norm": 0.097970150411129, + "kept_token_count": 573.703125, + "learning_rate": 2.4149120426125918e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9917600095272064, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008239998854696751, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.767822265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.09169616699216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9800, + "valid_token_count": 818.5125 + }, + { + "actual_token_mask_ratio": 0.3003456234931946, + "epoch": 2.854233343031714, + "flow_matching_loss": 0.01477851658128202, + "grad_norm": 0.10842916369438171, + "kept_token_count": 572.3, + "learning_rate": 2.413601200572538e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9911819815635681, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008818010147660971, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.2776123046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.5296691894531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9810, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.2996376663446426, + "epoch": 2.857142857142857, + "flow_matching_loss": 0.015290748700499535, + "grad_norm": 0.10630535334348679, + "kept_token_count": 573.0796875, + "learning_rate": 2.4122892484208794e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9912121176719666, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008787870593369006, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.10036315917966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7936981201172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9820, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.29994170665740966, + "epoch": 2.8600523712540005, + "flow_matching_loss": 0.016590071842074394, + "grad_norm": 0.1499999463558197, + "kept_token_count": 572.85, + "learning_rate": 2.4109761877517603e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9914201915264129, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008579821232706309, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.5117950439453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.90343017578124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9830, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.2985030829906464, + "epoch": 2.862961885365144, + "flow_matching_loss": 0.016912027448415756, + "grad_norm": 0.10060638189315796, + "kept_token_count": 573.8640625, + "learning_rate": 2.4096620201606737e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9910722553730011, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00892773037776351, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.47800598144534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.1226440429688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9840, + "valid_token_count": 818.0578125 + }, + { + "actual_token_mask_ratio": 0.3001808226108551, + "epoch": 2.8658713994762874, + "flow_matching_loss": 0.01741499537602067, + "grad_norm": 0.13707385957241058, + "kept_token_count": 572.3390625, + "learning_rate": 2.4083467472444573e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9914984405040741, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008501563407480716, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.898876953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.2173095703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9850, + "valid_token_count": 817.8421875 + }, + { + "actual_token_mask_ratio": 0.30013037025928496, + "epoch": 2.8687809135874307, + "flow_matching_loss": 0.01631936812773347, + "grad_norm": 0.1241317093372345, + "kept_token_count": 572.4734375, + "learning_rate": 2.4070303706012912e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9912324845790863, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00876752007752657, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.768212890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.0727172851563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9860, + "valid_token_count": 817.9703125 + }, + { + "actual_token_mask_ratio": 0.29998519122600553, + "epoch": 2.8716904276985744, + "flow_matching_loss": 0.016988799255341292, + "grad_norm": 0.12453334033489227, + "kept_token_count": 573.175, + "learning_rate": 2.4057128918306975e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9917617976665497, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008238215278834105, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.2511749267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.97149353027345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9870, + "valid_token_count": 818.803125 + }, + { + "actual_token_mask_ratio": 0.29996755719184875, + "epoch": 2.8745999418097177, + "flow_matching_loss": 0.016935752984136344, + "grad_norm": 0.13441471755504608, + "kept_token_count": 572.8125, + "learning_rate": 2.4043943125335373e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9910819172859192, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008918074052780866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.30372619628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.7365386962891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9880, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.2997527033090591, + "epoch": 2.8775094559208614, + "flow_matching_loss": 0.01728032501414418, + "grad_norm": 0.14613308012485504, + "kept_token_count": 573.0234375, + "learning_rate": 2.403074634312008e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.991230434179306, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008769567497074604, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.11895446777345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.93309020996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9890, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.3003211170434952, + "epoch": 2.8804189700320046, + "flow_matching_loss": 0.016338712815195323, + "grad_norm": 0.11917368322610855, + "kept_token_count": 572.4796875, + "learning_rate": 2.4017538587696442e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9916273474693298, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008372652716934681, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.7119659423828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.97020263671874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9900, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.2994009256362915, + "epoch": 2.8833284841431484, + "flow_matching_loss": 0.016227950155735017, + "grad_norm": 0.1545245498418808, + "kept_token_count": 573.4734375, + "learning_rate": 2.4004319875113118e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9915967583656311, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008403238374739885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.10858154296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.1704406738281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9910, + "valid_token_count": 818.546875 + }, + { + "actual_token_mask_ratio": 0.30026443004608155, + "epoch": 2.8862379982542916, + "flow_matching_loss": 0.019090450275689362, + "grad_norm": 0.11625362932682037, + "kept_token_count": 572.4265625, + "learning_rate": 2.3991090221432096e-05, + "loss": 0.0231, + "mgd_cos_sim": 0.9919490218162537, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0080509839579463, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.3540740966797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6964477539062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9920, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.30072005093097687, + "epoch": 2.889147512365435, + "flow_matching_loss": 0.018829362560063602, + "grad_norm": 0.13425037264823914, + "kept_token_count": 572.2328125, + "learning_rate": 2.397784964272865e-05, + "loss": 0.0229, + "mgd_cos_sim": 0.991777777671814, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008222217485308648, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.46062622070315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.94859008789064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9930, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.29954189658164976, + "epoch": 2.8920570264765786, + "flow_matching_loss": 0.016262965835630895, + "grad_norm": 0.11846892535686493, + "kept_token_count": 573.284375, + "learning_rate": 2.3964598155091335e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.991860544681549, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008139454945921897, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.8140441894531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.21299438476564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9940, + "valid_token_count": 818.4390625 + }, + { + "actual_token_mask_ratio": 0.2983731716871262, + "epoch": 2.894966540587722, + "flow_matching_loss": 0.015926578920334576, + "grad_norm": 0.11021347343921661, + "kept_token_count": 573.990625, + "learning_rate": 2.3951335774621952e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9920274615287781, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00797255290672183, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.9670715332031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.4313140869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9950, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.3004987746477127, + "epoch": 2.897876054698865, + "flow_matching_loss": 0.015159929264336824, + "grad_norm": 0.09110158681869507, + "kept_token_count": 572.315625, + "learning_rate": 2.3938062517435548e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9913349151611328, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00866508623585105, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.5796630859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.3318634033203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9960, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.29983026087284087, + "epoch": 2.900785568810009, + "flow_matching_loss": 0.015507569909095765, + "grad_norm": 0.11726277321577072, + "kept_token_count": 573.1046875, + "learning_rate": 2.392477839966038e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9911172330379486, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008882770501077174, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.80519714355466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.01813049316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9970, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.3007389694452286, + "epoch": 2.903695082921152, + "flow_matching_loss": 0.01650432301685214, + "grad_norm": 0.1240706816315651, + "kept_token_count": 572.415625, + "learning_rate": 2.3911483437437904e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9914431750774384, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008556822314858437, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.9347351074219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7696838378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9980, + "valid_token_count": 818.603125 + }, + { + "actual_token_mask_ratio": 0.29973678290843964, + "epoch": 2.9066045970322953, + "flow_matching_loss": 0.01552002802491188, + "grad_norm": 0.11285141110420227, + "kept_token_count": 573.00625, + "learning_rate": 2.3898177646922757e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9919197201728821, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008080286998301744, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.09075622558595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.41004333496096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 9990, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.3004750370979309, + "epoch": 2.909514111143439, + "flow_matching_loss": 0.01639208188280463, + "grad_norm": 0.10802195966243744, + "kept_token_count": 572.2984375, + "learning_rate": 2.3884861044282722e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9911943018436432, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008805713057518006, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.1698944091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.39549255371094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10000, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.3002373903989792, + "epoch": 2.9124236252545828, + "flow_matching_loss": 0.014924400206655263, + "grad_norm": 0.12622655928134918, + "kept_token_count": 572.7671875, + "learning_rate": 2.3871533645698732e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.991258442401886, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008741567563265561, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.75299377441405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.79701538085936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10010, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.2988483101129532, + "epoch": 2.915333139365726, + "flow_matching_loss": 0.017158468998968602, + "grad_norm": 0.12053108215332031, + "kept_token_count": 573.78125, + "learning_rate": 2.3858195467364833e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.991987657546997, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008012338262051343, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.8024169921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.79864501953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10020, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.3002473533153534, + "epoch": 2.9182426534768693, + "flow_matching_loss": 0.017348643392324448, + "grad_norm": 0.1231696754693985, + "kept_token_count": 572.85, + "learning_rate": 2.3844846525488166e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9909991502761841, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009000859688967466, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 375.43597412109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.54259033203124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10030, + "valid_token_count": 818.6421875 + }, + { + "actual_token_mask_ratio": 0.299712136387825, + "epoch": 2.921152167588013, + "flow_matching_loss": 0.015902745816856623, + "grad_norm": 0.11473744362592697, + "kept_token_count": 572.9484375, + "learning_rate": 2.3831486836288957e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9922444760799408, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007755524292588234, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.5486541748047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.15028381347656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10040, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.3004055380821228, + "epoch": 2.9240616816991563, + "flow_matching_loss": 0.014688971731811763, + "grad_norm": 0.1153421550989151, + "kept_token_count": 572.3546875, + "learning_rate": 2.381811641600048e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.991870766878128, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008129239082336426, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.9991424560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.283544921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10050, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.30034900903701783, + "epoch": 2.9269711958102995, + "flow_matching_loss": 0.015313919074833393, + "grad_norm": 0.11589779704809189, + "kept_token_count": 572.55625, + "learning_rate": 2.3804735280869073e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9915691614151001, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00843083867803216, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 382.68487854003905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.8877716064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10060, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.29903280138969424, + "epoch": 2.9298807099214432, + "flow_matching_loss": 0.01636544493958354, + "grad_norm": 0.13723605871200562, + "kept_token_count": 573.6234375, + "learning_rate": 2.3791343447154064e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9911363899707795, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00886360751464963, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 385.7440582275391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.4909942626953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10070, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.2989163130521774, + "epoch": 2.9327902240325865, + "flow_matching_loss": 0.017247928772121668, + "grad_norm": 0.124766506254673, + "kept_token_count": 573.49375, + "learning_rate": 2.37779409311278e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9914565980434418, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008543399814516305, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.1200744628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.7539093017578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10080, + "valid_token_count": 818.0078125 + }, + { + "actual_token_mask_ratio": 0.2997791886329651, + "epoch": 2.9356997381437298, + "flow_matching_loss": 0.015476422943174839, + "grad_norm": 0.09479529410600662, + "kept_token_count": 572.909375, + "learning_rate": 2.3764527749075596e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.991250467300415, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008749546296894551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.6169128417969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.16663513183596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10090, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.2997150182723999, + "epoch": 2.9386092522548735, + "flow_matching_loss": 0.01745887827128172, + "grad_norm": 0.11963021755218506, + "kept_token_count": 573.1171875, + "learning_rate": 2.3751103917295735e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9920491755008698, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007950828783214093, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.2549133300781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7491851806641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10100, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.2999724805355072, + "epoch": 2.9415187663660167, + "flow_matching_loss": 0.01762088118121028, + "grad_norm": 0.1458699256181717, + "kept_token_count": 572.625, + "learning_rate": 2.373766945209944e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9909595429897309, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009040434192866088, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.8986022949219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.3432220458984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10110, + "valid_token_count": 818.0046875 + }, + { + "actual_token_mask_ratio": 0.29949136078357697, + "epoch": 2.9444282804771604, + "flow_matching_loss": 0.01634837221354246, + "grad_norm": 0.1622643768787384, + "kept_token_count": 573.2703125, + "learning_rate": 2.3724224369810856e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9916925549507141, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008307444863021374, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.4919708251953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.64837951660155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10120, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.2998106449842453, + "epoch": 2.9473377945883037, + "flow_matching_loss": 0.014991948660463095, + "grad_norm": 0.11526786535978317, + "kept_token_count": 572.7578125, + "learning_rate": 2.3710768686767015e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9920472264289856, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007952766586095094, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.6577911376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.30413818359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10130, + "valid_token_count": 818.0046875 + }, + { + "actual_token_mask_ratio": 0.2997915357351303, + "epoch": 2.9502473086994474, + "flow_matching_loss": 0.016724601201713086, + "grad_norm": 0.15716393291950226, + "kept_token_count": 573.29375, + "learning_rate": 2.3697302419317856e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9915251851081848, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008474817685782909, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.319384765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.6986145019531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10140, + "valid_token_count": 818.7421875 + }, + { + "actual_token_mask_ratio": 0.3005096107721329, + "epoch": 2.9531568228105907, + "flow_matching_loss": 0.014070369116961957, + "grad_norm": 0.09431693702936172, + "kept_token_count": 572.4, + "learning_rate": 2.3683825583826146e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9919200003147125, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008080000896006823, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.2109771728516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.8377227783203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10150, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.3013851284980774, + "epoch": 2.956066336921734, + "flow_matching_loss": 0.015069181565195322, + "grad_norm": 0.140156552195549, + "kept_token_count": 571.609375, + "learning_rate": 2.3670338196667528e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9908774614334106, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009122530464082956, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.27648010253904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.09723510742185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10160, + "valid_token_count": 818.2 + }, + { + "actual_token_mask_ratio": 0.29975993037223814, + "epoch": 2.9589758510328776, + "flow_matching_loss": 0.018660565558820962, + "grad_norm": 0.11135473847389221, + "kept_token_count": 573.096875, + "learning_rate": 2.3656840274230443e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9918383717536926, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008161639422178268, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 373.93914184570315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.26695861816404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10170, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.2991961628198624, + "epoch": 2.961885365144021, + "flow_matching_loss": 0.015717220958322287, + "grad_norm": 0.1173749715089798, + "kept_token_count": 573.43125, + "learning_rate": 2.3643331832916133e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9914239168167114, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00857609948143363, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.95928344726565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.6975372314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10180, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.3004736125469208, + "epoch": 2.964794879255164, + "flow_matching_loss": 0.013585534784942866, + "grad_norm": 0.10716915130615234, + "kept_token_count": 572.375, + "learning_rate": 2.362981288913863e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9918444752693176, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008155517093837262, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.22190551757814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.5332824707031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10190, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.30081126391887664, + "epoch": 2.967704393366308, + "flow_matching_loss": 0.01568810744211078, + "grad_norm": 0.11468211561441422, + "kept_token_count": 572.334375, + "learning_rate": 2.3616283459324737e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9909166693687439, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009083348792046309, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.49326477050784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 378.9319091796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10200, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.3002021938562393, + "epoch": 2.970613907477451, + "flow_matching_loss": 0.015582858771085738, + "grad_norm": 0.11141960322856903, + "kept_token_count": 572.6875, + "learning_rate": 2.3602743559913973e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9916723966598511, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008327602688223124, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.7759674072266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.4633361816406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10210, + "valid_token_count": 818.365625 + }, + { + "actual_token_mask_ratio": 0.2993353813886642, + "epoch": 2.973523421588595, + "flow_matching_loss": 0.018014613911509512, + "grad_norm": 0.12557415664196014, + "kept_token_count": 573.309375, + "learning_rate": 2.35891932073586e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9919026732444763, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008097328152507544, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.4134063720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.10805358886716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10220, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.2999859720468521, + "epoch": 2.976432935699738, + "flow_matching_loss": 0.015378519985824823, + "grad_norm": 0.08633749186992645, + "kept_token_count": 572.6046875, + "learning_rate": 2.357563241812357e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.991738760471344, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00826123720034957, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.3526916503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.35625610351565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10230, + "valid_token_count": 817.99375 + }, + { + "actual_token_mask_ratio": 0.2987584710121155, + "epoch": 2.979342449810882, + "flow_matching_loss": 0.015066311042755843, + "grad_norm": 0.0939408466219902, + "kept_token_count": 573.89375, + "learning_rate": 2.3562061208686522e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9913247764110565, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00867522619664669, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.08416137695315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.23866271972656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10240, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.3008843719959259, + "epoch": 2.982251963922025, + "flow_matching_loss": 0.014602492842823268, + "grad_norm": 0.14007458090782166, + "kept_token_count": 571.9875, + "learning_rate": 2.354847959553776e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9915429651737213, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008457038644701242, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.95989379882815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.0754089355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10250, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.29979070127010343, + "epoch": 2.9851614780331683, + "flow_matching_loss": 0.016828829329460858, + "grad_norm": 0.11299829930067062, + "kept_token_count": 572.91875, + "learning_rate": 2.353488759518022e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9913774251937866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008622565586119891, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.7824737548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.560791015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10260, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.2997764855623245, + "epoch": 2.988070992144312, + "flow_matching_loss": 0.016922331508249046, + "grad_norm": 0.1270914077758789, + "kept_token_count": 572.9609375, + "learning_rate": 2.352128522412946e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9921593546867371, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007840655371546745, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.9948455810547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.72950439453126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10270, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.300702965259552, + "epoch": 2.9909805062554553, + "flow_matching_loss": 0.017333767004311086, + "grad_norm": 0.11986622959375381, + "kept_token_count": 571.978125, + "learning_rate": 2.3507672498913653e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9911712825298309, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008828720822930337, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.95314331054686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.43206481933595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10280, + "valid_token_count": 817.91875 + }, + { + "actual_token_mask_ratio": 0.30053991377353667, + "epoch": 2.9938900203665986, + "flow_matching_loss": 0.015571222640573978, + "grad_norm": 0.13501715660095215, + "kept_token_count": 572.228125, + "learning_rate": 2.3494049436073537e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.992084014415741, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00791596807539463, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.27651062011716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10290, + "valid_token_count": 818.103125 + }, + { + "actual_token_mask_ratio": 0.29976366758346557, + "epoch": 2.9967995344777423, + "flow_matching_loss": 0.01678740754723549, + "grad_norm": 0.11922477930784225, + "kept_token_count": 573.0265625, + "learning_rate": 2.348041605216242e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9916702032089233, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008329803962260485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.7979675292969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.37021789550784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10300, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.3002407312393188, + "epoch": 2.9997090485888855, + "flow_matching_loss": 0.016933057364076375, + "grad_norm": 0.12002796679735184, + "kept_token_count": 572.465625, + "learning_rate": 2.3466772363746146e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9910066425800323, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008993356488645077, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.1039978027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.295166015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10310, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.2998313337564468, + "epoch": 3.0026185627000292, + "flow_matching_loss": 0.014795014448463917, + "grad_norm": 0.12868596613407135, + "kept_token_count": 572.8046875, + "learning_rate": 2.345311838740309e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9910635888576508, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008936406951397658, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.21636352539065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.51808776855466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10320, + "valid_token_count": 818.103125 + }, + { + "actual_token_mask_ratio": 0.3006409019231796, + "epoch": 3.0055280768111725, + "flow_matching_loss": 0.016852475795894863, + "grad_norm": 0.11110438406467438, + "kept_token_count": 572.3640625, + "learning_rate": 2.343945413972411e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9915196001529694, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008480384293943644, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.28309936523436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.95184936523435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10330, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.300684654712677, + "epoch": 3.0084375909223158, + "flow_matching_loss": 0.015662765316665172, + "grad_norm": 0.1236565038561821, + "kept_token_count": 571.9296875, + "learning_rate": 2.3425779637312568e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9906284630298614, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009371543489396571, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.5133850097656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7088653564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10340, + "valid_token_count": 817.84375 + }, + { + "actual_token_mask_ratio": 0.301052588224411, + "epoch": 3.0113471050334595, + "flow_matching_loss": 0.016210012417286635, + "grad_norm": 0.132878378033638, + "kept_token_count": 571.875, + "learning_rate": 2.3412094896784264e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9910165071487427, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008983498718589545, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.5314910888672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6810729980469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10350, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.30004689991474154, + "epoch": 3.0142566191446027, + "flow_matching_loss": 0.017217101342976094, + "grad_norm": 0.1205485388636589, + "kept_token_count": 572.9125, + "learning_rate": 2.339839993476745e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9916865348815918, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008313476759940385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.2212799072266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.50640869140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10360, + "valid_token_count": 818.5046875 + }, + { + "actual_token_mask_ratio": 0.2992660850286484, + "epoch": 3.0171661332557465, + "flow_matching_loss": 0.01588822342455387, + "grad_norm": 0.10128272324800491, + "kept_token_count": 573.6125, + "learning_rate": 2.3384694767902804e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9916754543781281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008324548695236444, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.96185913085935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6861572265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10370, + "valid_token_count": 818.5828125 + }, + { + "actual_token_mask_ratio": 0.29979307651519777, + "epoch": 3.0200756473668897, + "flow_matching_loss": 0.015597490034997464, + "grad_norm": 0.13130943477153778, + "kept_token_count": 572.98125, + "learning_rate": 2.3370979412843384e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9910852313041687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008914766274392605, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.6492401123047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.97943420410155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10380, + "valid_token_count": 818.3046875 + }, + { + "actual_token_mask_ratio": 0.3006935328245163, + "epoch": 3.022985161478033, + "flow_matching_loss": 0.01773443929851055, + "grad_norm": 0.11122062057256699, + "kept_token_count": 572.221875, + "learning_rate": 2.3357253886254648e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9920064568519592, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007993535045534373, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.219091796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.94269104003905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10390, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3012943536043167, + "epoch": 3.0258946755891767, + "flow_matching_loss": 0.016020497865974904, + "grad_norm": 0.10563808679580688, + "kept_token_count": 572.0328125, + "learning_rate": 2.3343518204814407e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9916414618492126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008358531259000301, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.81224670410154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.15561828613284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10400, + "valid_token_count": 818.6984375 + }, + { + "actual_token_mask_ratio": 0.3014865696430206, + "epoch": 3.02880418970032, + "flow_matching_loss": 0.01621804405003786, + "grad_norm": 0.10458757728338242, + "kept_token_count": 571.584375, + "learning_rate": 2.3329772385212798e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9915135443210602, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008486460335552693, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.858740234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4211364746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10410, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.2993736952543259, + "epoch": 3.0317137038114637, + "flow_matching_loss": 0.016134977247565983, + "grad_norm": 0.14152459800243378, + "kept_token_count": 573.140625, + "learning_rate": 2.3316016444152296e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9914346396923065, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008565364312380553, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.23439025878906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.71022033691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10420, + "valid_token_count": 818.0375 + }, + { + "actual_token_mask_ratio": 0.29958653450012207, + "epoch": 3.034623217922607, + "flow_matching_loss": 0.014474856574088335, + "grad_norm": 0.10302400588989258, + "kept_token_count": 573.1578125, + "learning_rate": 2.3302250398347668e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9918337941169739, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008166209422051906, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.6023864746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4682647705078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10430, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.2995403170585632, + "epoch": 3.03753273203375, + "flow_matching_loss": 0.015363720618188382, + "grad_norm": 0.13185474276542664, + "kept_token_count": 573.19375, + "learning_rate": 2.328847426452595e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9918302118778228, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008169785793870687, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.41669921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.3846069335938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10440, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.30034799575805665, + "epoch": 3.040442246144894, + "flow_matching_loss": 0.01626733411103487, + "grad_norm": 0.12109159678220749, + "kept_token_count": 572.4, + "learning_rate": 2.3274688059426456e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9917071998119354, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008292801212519407, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.01842041015624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9537414550781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10450, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.2987836390733719, + "epoch": 3.043351760256037, + "flow_matching_loss": 0.017097623832523823, + "grad_norm": 0.10973824560642242, + "kept_token_count": 573.625, + "learning_rate": 2.3260891799800715e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9922473967075348, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007752603851258755, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.0394256591797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5148651123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10460, + "valid_token_count": 818.0359375 + }, + { + "actual_token_mask_ratio": 0.3001501619815826, + "epoch": 3.046261274367181, + "flow_matching_loss": 0.015500815398991109, + "grad_norm": 0.1371767818927765, + "kept_token_count": 572.675, + "learning_rate": 2.3247085502412482e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9918294429779053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008170556928962468, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.0121612548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.0754089355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10470, + "valid_token_count": 818.2765625 + }, + { + "actual_token_mask_ratio": 0.29966295659542086, + "epoch": 3.049170788478324, + "flow_matching_loss": 0.015426790341734886, + "grad_norm": 0.1308756321668625, + "kept_token_count": 573.403125, + "learning_rate": 2.3233269184037717e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9912858247756958, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008714172895997763, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.8172088623047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.02350463867185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10480, + "valid_token_count": 818.753125 + }, + { + "actual_token_mask_ratio": 0.30030049085617067, + "epoch": 3.0520803025894674, + "flow_matching_loss": 0.016638921666890384, + "grad_norm": 0.1108749508857727, + "kept_token_count": 572.4984375, + "learning_rate": 2.3219442861464547e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9914109349250794, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008589045889675618, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.82005920410154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5170135498047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10490, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.3005920767784119, + "epoch": 3.054989816700611, + "flow_matching_loss": 0.019495404418557884, + "grad_norm": 0.10939136147499084, + "kept_token_count": 572.3140625, + "learning_rate": 2.3205606551493255e-05, + "loss": 0.0238, + "mgd_cos_sim": 0.991334056854248, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008665948640555143, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.8737060546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.51734619140626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10500, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.3006427675485611, + "epoch": 3.0578993308117544, + "flow_matching_loss": 0.014465650729835033, + "grad_norm": 0.10498558729887009, + "kept_token_count": 572.0890625, + "learning_rate": 2.319176027093627e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9913172960281372, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008682697359472514, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 368.24791259765624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.2964324951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10510, + "valid_token_count": 818.021875 + }, + { + "actual_token_mask_ratio": 0.3010755926370621, + "epoch": 3.060808844922898, + "flow_matching_loss": 0.0150261253118515, + "grad_norm": 0.12722858786582947, + "kept_token_count": 572.0046875, + "learning_rate": 2.3177904036618117e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9919215917587281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008078416809439659, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.92311401367186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.30353088378905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10520, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.300005179643631, + "epoch": 3.0637183590340413, + "flow_matching_loss": 0.018488875962793826, + "grad_norm": 0.12511198222637177, + "kept_token_count": 572.8109375, + "learning_rate": 2.316403786537544e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.991406387090683, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008593611139804124, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.39617309570315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8897766113281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10530, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.2995137482881546, + "epoch": 3.0666278731451846, + "flow_matching_loss": 0.016800929326564074, + "grad_norm": 0.12253594398498535, + "kept_token_count": 573.0609375, + "learning_rate": 2.3150161774056933e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9916076958179474, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008392314333468676, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.5089996337891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.3170989990234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10540, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.29995101392269136, + "epoch": 3.0695373872563283, + "flow_matching_loss": 0.018012097384780646, + "grad_norm": 0.12220051139593124, + "kept_token_count": 572.58125, + "learning_rate": 2.313627577952336e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9911061286926269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008893880154937505, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.12656555175784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.8840087890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10550, + "valid_token_count": 817.915625 + }, + { + "actual_token_mask_ratio": 0.3013474941253662, + "epoch": 3.0724469013674716, + "flow_matching_loss": 0.014906922075897455, + "grad_norm": 0.10768583416938782, + "kept_token_count": 571.5625, + "learning_rate": 2.312237989864752e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9920662760734558, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007933729980140924, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.00604248046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.94794006347655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10560, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.300329852104187, + "epoch": 3.0753564154786153, + "flow_matching_loss": 0.01620313907042146, + "grad_norm": 0.11264602839946747, + "kept_token_count": 572.6921875, + "learning_rate": 2.3108474148314205e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9916923582553864, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008307637553662062, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.51372985839845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.29969177246096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10570, + "valid_token_count": 818.5125 + }, + { + "actual_token_mask_ratio": 0.2993424475193024, + "epoch": 3.0782659295897585, + "flow_matching_loss": 0.014426309335976838, + "grad_norm": 0.12382111698389053, + "kept_token_count": 573.0796875, + "learning_rate": 2.309455854542023e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9916296899318695, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008370300568640233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.0489959716797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.29967346191404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10580, + "valid_token_count": 817.925 + }, + { + "actual_token_mask_ratio": 0.29937856197357177, + "epoch": 3.081175443700902, + "flow_matching_loss": 0.015824185498058797, + "grad_norm": 0.11124986410140991, + "kept_token_count": 573.3, + "learning_rate": 2.308063310687435e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9909524857997895, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009047522768378257, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.7580810546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.0382354736328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10590, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.2985075831413269, + "epoch": 3.0840849578120455, + "flow_matching_loss": 0.015180824976414441, + "grad_norm": 0.10612978041172028, + "kept_token_count": 574.2, + "learning_rate": 2.306669784959729e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9914477109909058, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00855229189619422, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.1873474121094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.16708984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10600, + "valid_token_count": 818.5375 + }, + { + "actual_token_mask_ratio": 0.29935279190540315, + "epoch": 3.0869944719231888, + "flow_matching_loss": 0.014268641546368598, + "grad_norm": 0.0993824154138565, + "kept_token_count": 573.5796875, + "learning_rate": 2.3052752790521703e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9920586168766021, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007941381726413965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.75018920898435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8319519042969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10610, + "valid_token_count": 818.6390625 + }, + { + "actual_token_mask_ratio": 0.29933984875679015, + "epoch": 3.0899039860343325, + "flow_matching_loss": 0.016961111687123775, + "grad_norm": 0.1178860068321228, + "kept_token_count": 573.3921875, + "learning_rate": 2.3038797946592152e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9917449116706848, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00825509475544095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.7309295654297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.59619140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10620, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.30110798478126527, + "epoch": 3.0928135001454757, + "flow_matching_loss": 0.016359932348132135, + "grad_norm": 0.10251960158348083, + "kept_token_count": 571.7171875, + "learning_rate": 2.3024833334765087e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9920780837535859, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007921929378062487, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.2378265380859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.52553405761716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10630, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.30006611049175264, + "epoch": 3.095723014256619, + "flow_matching_loss": 0.018652346357703208, + "grad_norm": 0.10794734209775925, + "kept_token_count": 572.784375, + "learning_rate": 2.301085897200883e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9912800192832947, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00871999217197299, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.9298889160156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.1070251464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10640, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.29992271661758424, + "epoch": 3.0986325283677627, + "flow_matching_loss": 0.016503988951444625, + "grad_norm": 0.09661059081554413, + "kept_token_count": 572.9109375, + "learning_rate": 2.299687487530354e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9920834422111511, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007916546799242497, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.3172119140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.1725128173828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10650, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.30061462223529817, + "epoch": 3.101542042478906, + "flow_matching_loss": 0.012811825331300496, + "grad_norm": 0.10456589609384537, + "kept_token_count": 572.209375, + "learning_rate": 2.2982881061641228e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9917023837566376, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0082976208999753, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7591125488281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.8967315673828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10660, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.2999201834201813, + "epoch": 3.1044515565900497, + "flow_matching_loss": 0.015377755742520094, + "grad_norm": 0.0926659107208252, + "kept_token_count": 572.6875, + "learning_rate": 2.296887754802569e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9915327310562134, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00846726419404149, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.47540588378905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.14548645019534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10670, + "valid_token_count": 818.03125 + }, + { + "actual_token_mask_ratio": 0.3010630398988724, + "epoch": 3.107361070701193, + "flow_matching_loss": 0.0172378933057189, + "grad_norm": 0.14350533485412598, + "kept_token_count": 571.8359375, + "learning_rate": 2.295486435147251e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9913322567939759, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0086677523329854, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.6310729980469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.68870239257814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10680, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.3015032529830933, + "epoch": 3.110270584812336, + "flow_matching_loss": 0.01635372592136264, + "grad_norm": 0.11280040442943573, + "kept_token_count": 571.875, + "learning_rate": 2.294084148900905e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9909846305847168, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009015357960015536, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.8033935546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.54234619140624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10690, + "valid_token_count": 818.728125 + }, + { + "actual_token_mask_ratio": 0.29939356744289397, + "epoch": 3.11318009892348, + "flow_matching_loss": 0.016760208830237388, + "grad_norm": 0.0991249829530716, + "kept_token_count": 573.3953125, + "learning_rate": 2.292680897767441e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9916733980178833, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008326606638729573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.91832275390624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.7718505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10700, + "valid_token_count": 818.4234375 + }, + { + "actual_token_mask_ratio": 0.29993348121643065, + "epoch": 3.116089613034623, + "flow_matching_loss": 0.01641861442476511, + "grad_norm": 0.11733754724264145, + "kept_token_count": 572.7546875, + "learning_rate": 2.291276683451941e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9921634078025818, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00783659601584077, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.3800109863281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.94407348632814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10710, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.3012054651975632, + "epoch": 3.1189991271457664, + "flow_matching_loss": 0.018148223124444484, + "grad_norm": 0.11990062892436981, + "kept_token_count": 571.5546875, + "learning_rate": 2.2898715076606584e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9917033433914184, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008296659495681525, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.2897186279297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6839202880859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10720, + "valid_token_count": 817.91875 + }, + { + "actual_token_mask_ratio": 0.2988485902547836, + "epoch": 3.12190864125691, + "flow_matching_loss": 0.016510696057230233, + "grad_norm": 0.14161187410354614, + "kept_token_count": 573.5921875, + "learning_rate": 2.2884653721010135e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9918452858924866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008154712710529565, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.33619384765626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.22083435058596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10730, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.29942320585250853, + "epoch": 3.1248181553680534, + "flow_matching_loss": 0.017026850208640098, + "grad_norm": 0.10543905943632126, + "kept_token_count": 573.2015625, + "learning_rate": 2.2870582784815946e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.99225212931633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007747874222695827, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 366.0591766357422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.4216339111328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10740, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.29929288029670714, + "epoch": 3.127727669479197, + "flow_matching_loss": 0.01678343117237091, + "grad_norm": 0.13587352633476257, + "kept_token_count": 573.4015625, + "learning_rate": 2.2856502285121525e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9917333602905274, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008266622945666314, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.8944915771484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.0796813964844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10750, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.29947521090507506, + "epoch": 3.1306371835903404, + "flow_matching_loss": 0.01642897380515933, + "grad_norm": 0.10630732774734497, + "kept_token_count": 573.115625, + "learning_rate": 2.2842412239036004e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9912397861480713, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008760206773877144, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.77105407714845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.92071838378905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10760, + "valid_token_count": 818.1171875 + }, + { + "actual_token_mask_ratio": 0.3006287306547165, + "epoch": 3.133546697701484, + "flow_matching_loss": 0.015382022131234407, + "grad_norm": 0.11045587807893753, + "kept_token_count": 572.0453125, + "learning_rate": 2.2828312663680125e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9914543449878692, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008545634895563125, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.8786315917969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.05707092285155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10770, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.29917588233947756, + "epoch": 3.1364562118126273, + "flow_matching_loss": 0.013266768027096986, + "grad_norm": 0.06914810091257095, + "kept_token_count": 573.60625, + "learning_rate": 2.2814203576186194e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9916785478591919, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00832146117463708, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7950164794922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.76085510253904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10780, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.3003407210111618, + "epoch": 3.1393657259237706, + "flow_matching_loss": 0.014762701001018286, + "grad_norm": 0.14370045065879822, + "kept_token_count": 572.4609375, + "learning_rate": 2.2800084993698093e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9917618632316589, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008238135650753976, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.0775970458984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.7815246582031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10790, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.29953100979328157, + "epoch": 3.1422752400349143, + "flow_matching_loss": 0.0177849892526865, + "grad_norm": 0.14821140468120575, + "kept_token_count": 573.2203125, + "learning_rate": 2.2785956933371224e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9908959746360779, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009104019124060869, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.09979553222655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4676818847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10800, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.29935040771961213, + "epoch": 3.1451847541460576, + "flow_matching_loss": 0.015773378871381284, + "grad_norm": 0.10170580446720123, + "kept_token_count": 573.434375, + "learning_rate": 2.2771819412372505e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9919147789478302, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008085201680660247, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3952270507813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.40915832519534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10810, + "valid_token_count": 818.4265625 + }, + { + "actual_token_mask_ratio": 0.3002215176820755, + "epoch": 3.148094268257201, + "flow_matching_loss": 0.015929408371448517, + "grad_norm": 0.11476320028305054, + "kept_token_count": 572.575, + "learning_rate": 2.2757672447880374e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9916646540164947, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008335347473621368, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.2750946044922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6734313964844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10820, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.30118913650512696, + "epoch": 3.1510037823683446, + "flow_matching_loss": 0.015201709792017936, + "grad_norm": 0.10259436070919037, + "kept_token_count": 572.05, + "learning_rate": 2.2743516057084712e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9918655633926392, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008134455606341361, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.95806274414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0567138671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10830, + "valid_token_count": 818.6015625 + }, + { + "actual_token_mask_ratio": 0.299773371219635, + "epoch": 3.153913296479488, + "flow_matching_loss": 0.015338599588721991, + "grad_norm": 0.09589410573244095, + "kept_token_count": 573.053125, + "learning_rate": 2.2729350257186877e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9911523461341858, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008847649861127137, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.6236236572266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.97645263671876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10840, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.30027020871639254, + "epoch": 3.1568228105906315, + "flow_matching_loss": 0.01712877806276083, + "grad_norm": 0.10764472931623459, + "kept_token_count": 572.690625, + "learning_rate": 2.2715175065399655e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.992086398601532, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007913618814200163, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.0322265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 379.5342193603516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10850, + "valid_token_count": 818.4421875 + }, + { + "actual_token_mask_ratio": 0.29911785423755644, + "epoch": 3.159732324701775, + "flow_matching_loss": 0.015451692510396242, + "grad_norm": 0.10869365930557251, + "kept_token_count": 573.61875, + "learning_rate": 2.270099049894723e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9917686641216278, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008231323771178722, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.2948791503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.9150848388672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10860, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.3001207411289215, + "epoch": 3.162641838812918, + "flow_matching_loss": 0.015829560719430445, + "grad_norm": 0.10301472246646881, + "kept_token_count": 572.759375, + "learning_rate": 2.268679657506519e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.991558963060379, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008441042713820934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.8610870361328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.4985412597656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10870, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.3003366678953171, + "epoch": 3.1655513529240618, + "flow_matching_loss": 0.01588791375979781, + "grad_norm": 0.11942191421985626, + "kept_token_count": 572.7109375, + "learning_rate": 2.2672593311000498e-05, + "loss": 0.02, + "mgd_cos_sim": 0.991761577129364, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008238420076668262, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.41435546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.59742736816406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10880, + "valid_token_count": 818.5484375 + }, + { + "actual_token_mask_ratio": 0.3007933974266052, + "epoch": 3.168460867035205, + "flow_matching_loss": 0.014710824470967054, + "grad_norm": 0.11012639850378036, + "kept_token_count": 572.221875, + "learning_rate": 2.2658380724011452e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9918359518051147, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008164036460220814, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.749169921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.54388122558595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10890, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.30118730664253235, + "epoch": 3.1713703811463487, + "flow_matching_loss": 0.01579266181215644, + "grad_norm": 0.11569177359342575, + "kept_token_count": 571.7875, + "learning_rate": 2.264415883136769e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9906932055950165, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00930679589509964, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.465185546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.4332336425781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10900, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.3002408742904663, + "epoch": 3.174279895257492, + "flow_matching_loss": 0.01554917749017477, + "grad_norm": 0.11677942425012589, + "kept_token_count": 572.484375, + "learning_rate": 2.262992765035015e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9917164385318756, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008283555693924426, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 384.6752105712891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6184478759766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10910, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.29937309622764585, + "epoch": 3.1771894093686353, + "flow_matching_loss": 0.015329280868172646, + "grad_norm": 0.11400984227657318, + "kept_token_count": 573.4796875, + "learning_rate": 2.2615687198251062e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9918690919876099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008130919374525546, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.3914489746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6907928466797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10920, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.29924132525920866, + "epoch": 3.180098923479779, + "flow_matching_loss": 0.016531037259846927, + "grad_norm": 0.11442048102617264, + "kept_token_count": 573.4234375, + "learning_rate": 2.2601437492373914e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9910473048686981, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008952675573527812, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.6261840820313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.3788604736328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10930, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.29988610446453096, + "epoch": 3.1830084375909222, + "flow_matching_loss": 0.01532244123518467, + "grad_norm": 0.1349766105413437, + "kept_token_count": 573.140625, + "learning_rate": 2.2587178550033444e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.992412132024765, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007587866857647896, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.84056091308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.85780334472656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10940, + "valid_token_count": 818.6453125 + }, + { + "actual_token_mask_ratio": 0.29973346590995786, + "epoch": 3.185917951702066, + "flow_matching_loss": 0.014763390552252531, + "grad_norm": 0.11143293231725693, + "kept_token_count": 573.103125, + "learning_rate": 2.2572910388555615e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9912733852863311, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008726609498262405, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.1466766357422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.169287109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10950, + "valid_token_count": 818.4078125 + }, + { + "actual_token_mask_ratio": 0.29912875294685365, + "epoch": 3.188827465813209, + "flow_matching_loss": 0.014790770318359136, + "grad_norm": 0.10550849884748459, + "kept_token_count": 573.7109375, + "learning_rate": 2.255863302527758e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9906026482582092, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009397335816174746, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.0322784423828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.544775390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10960, + "valid_token_count": 818.5640625 + }, + { + "actual_token_mask_ratio": 0.2993695944547653, + "epoch": 3.1917369799243525, + "flow_matching_loss": 0.01872442215681076, + "grad_norm": 0.1149427741765976, + "kept_token_count": 573.3, + "learning_rate": 2.2544346477547685e-05, + "loss": 0.0228, + "mgd_cos_sim": 0.9918273329734802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008172671590000392, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.14977111816404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.37745361328126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10970, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.29989573657512664, + "epoch": 3.194646494035496, + "flow_matching_loss": 0.015042756125330925, + "grad_norm": 0.10277605056762695, + "kept_token_count": 572.8953125, + "learning_rate": 2.253005076272544e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9913101434707642, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008689843863248826, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.9137359619141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6975158691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10980, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.3003554046154022, + "epoch": 3.1975560081466394, + "flow_matching_loss": 0.017469655349850656, + "grad_norm": 0.10863839834928513, + "kept_token_count": 572.5328125, + "learning_rate": 2.2515745898181477e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9909726142883301, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009027385525405407, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 369.2433288574219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5220977783203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 10990, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.30056250393390654, + "epoch": 3.200465522257783, + "flow_matching_loss": 0.01525746788829565, + "grad_norm": 0.11850487440824509, + "kept_token_count": 572.3765625, + "learning_rate": 2.250143190129756e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9919165551662446, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00808346103876829, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.43186950683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.7145965576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11000, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.29888194501399995, + "epoch": 3.2033750363689264, + "flow_matching_loss": 0.016500414814800024, + "grad_norm": 0.10406173020601273, + "kept_token_count": 573.653125, + "learning_rate": 2.2487108789466547e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9914499223232269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00855007916688919, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.0118347167969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.4833709716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11010, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.2999336063861847, + "epoch": 3.2062845504800697, + "flow_matching_loss": 0.016020339075475933, + "grad_norm": 0.1103181391954422, + "kept_token_count": 572.9859375, + "learning_rate": 2.247277658009236e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9917651593685151, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008234830759465694, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.873779296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4600067138672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11020, + "valid_token_count": 818.475 + }, + { + "actual_token_mask_ratio": 0.2999224692583084, + "epoch": 3.2091940645912134, + "flow_matching_loss": 0.015781781915575267, + "grad_norm": 0.09957759827375412, + "kept_token_count": 572.8578125, + "learning_rate": 2.245843529059e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.99123774766922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008762260712683202, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.54942321777344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.86339416503904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11030, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.2989990234375, + "epoch": 3.2121035787023566, + "flow_matching_loss": 0.014124120585620403, + "grad_norm": 0.12212586402893066, + "kept_token_count": 573.6171875, + "learning_rate": 2.244408493838547e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9913581609725952, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008641846850514412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.6469482421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.73077392578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11040, + "valid_token_count": 818.278125 + }, + { + "actual_token_mask_ratio": 0.2988781094551086, + "epoch": 3.2150130928135003, + "flow_matching_loss": 0.016203444544225933, + "grad_norm": 0.11229631304740906, + "kept_token_count": 573.7046875, + "learning_rate": 2.242972554091581e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9913821399211884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008617854956537486, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.87538146972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.30870056152344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11050, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.3004739671945572, + "epoch": 3.2179226069246436, + "flow_matching_loss": 0.016520219389349222, + "grad_norm": 0.09925514459609985, + "kept_token_count": 572.6046875, + "learning_rate": 2.2415357115629045e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.991547805070877, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008452212251722813, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.15313720703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.230615234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11060, + "valid_token_count": 818.5625 + }, + { + "actual_token_mask_ratio": 0.29918335676193236, + "epoch": 3.220832121035787, + "flow_matching_loss": 0.014256208296865224, + "grad_norm": 0.125586599111557, + "kept_token_count": 573.390625, + "learning_rate": 2.2400979679984162e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9916151821613312, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008384814485907555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.77930603027346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3776397705078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11070, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.2997895866632462, + "epoch": 3.2237416351469306, + "flow_matching_loss": 0.016527558956295253, + "grad_norm": 0.14848555624485016, + "kept_token_count": 572.7953125, + "learning_rate": 2.2386593251451096e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9920996308326722, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007900376617908478, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.7855621337891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.9998382568359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11080, + "valid_token_count": 818.0296875 + }, + { + "actual_token_mask_ratio": 0.3001507431268692, + "epoch": 3.226651149258074, + "flow_matching_loss": 0.014852804876863957, + "grad_norm": 0.11616310477256775, + "kept_token_count": 572.5875, + "learning_rate": 2.2372197847510722e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9914212048053741, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008578791469335555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.5461730957031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.78517761230466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11090, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.29883733689785, + "epoch": 3.2295606633692175, + "flow_matching_loss": 0.015076450537890196, + "grad_norm": 0.09508929401636124, + "kept_token_count": 573.515625, + "learning_rate": 2.2357793485654813e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9918065667152405, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008193420805037021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.9652893066406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4502471923828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11100, + "valid_token_count": 817.9515625 + }, + { + "actual_token_mask_ratio": 0.3006179004907608, + "epoch": 3.232470177480361, + "flow_matching_loss": 0.015729913860559462, + "grad_norm": 0.10185522586107254, + "kept_token_count": 572.203125, + "learning_rate": 2.2343380183386017e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9916319608688354, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008368044160306454, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.92865295410155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.11810607910155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11110, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.29956458806991576, + "epoch": 3.235379691591504, + "flow_matching_loss": 0.016750389616936444, + "grad_norm": 0.1308123618364334, + "kept_token_count": 573.1140625, + "learning_rate": 2.232895795821787e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.991731733083725, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008268266543745994, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 454.9868469238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.06337890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11120, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.29890632033348086, + "epoch": 3.2382892057026478, + "flow_matching_loss": 0.017531964369118212, + "grad_norm": 0.10375932604074478, + "kept_token_count": 573.45, + "learning_rate": 2.2314526827674723e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9908097624778748, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009190256427973508, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 374.7627716064453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4466491699219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11130, + "valid_token_count": 817.9375 + }, + { + "actual_token_mask_ratio": 0.29956434965133666, + "epoch": 3.241198719813791, + "flow_matching_loss": 0.015017538424581289, + "grad_norm": 0.09557058662176132, + "kept_token_count": 573.01875, + "learning_rate": 2.230008680929177e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9918697416782379, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008130258601158857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.79050903320314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1044677734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11140, + "valid_token_count": 818.096875 + }, + { + "actual_token_mask_ratio": 0.3014989227056503, + "epoch": 3.2441082339249343, + "flow_matching_loss": 0.01354442285373807, + "grad_norm": 0.09023425728082657, + "kept_token_count": 571.5546875, + "learning_rate": 2.2285637920614987e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9921809077262879, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00781908854842186, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.4192413330078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.00194091796874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11150, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.30073691010475156, + "epoch": 3.247017748036078, + "flow_matching_loss": 0.017324061412364245, + "grad_norm": 0.1379610151052475, + "kept_token_count": 572.1703125, + "learning_rate": 2.2271180179201143e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9919297635555268, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008070227783173322, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.7276641845703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7267547607422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11160, + "valid_token_count": 818.2484375 + }, + { + "actual_token_mask_ratio": 0.3003507196903229, + "epoch": 3.2499272621472213, + "flow_matching_loss": 0.016596405766904354, + "grad_norm": 0.11038212478160858, + "kept_token_count": 572.2515625, + "learning_rate": 2.225671360261775e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9918714046478272, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008128589671105146, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.34552307128905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.0183624267578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11170, + "valid_token_count": 817.9140625 + }, + { + "actual_token_mask_ratio": 0.30080512166023254, + "epoch": 3.252836776258365, + "flow_matching_loss": 0.014014538563787936, + "grad_norm": 0.1252223551273346, + "kept_token_count": 572.09375, + "learning_rate": 2.2242238208443068e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9917271554470062, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008272845204919577, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.1631164550781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.8864715576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11180, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.29975024461746214, + "epoch": 3.2557462903695082, + "flow_matching_loss": 0.018765750993043184, + "grad_norm": 0.08571397513151169, + "kept_token_count": 572.9921875, + "learning_rate": 2.2227754014266063e-05, + "loss": 0.023, + "mgd_cos_sim": 0.991629821062088, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008370171021670102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.43006286621096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.14194946289064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11190, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.3003917932510376, + "epoch": 3.258655804480652, + "flow_matching_loss": 0.0163631372153759, + "grad_norm": 0.10702124983072281, + "kept_token_count": 572.4140625, + "learning_rate": 2.22132610376864e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9916793048381806, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008320706989616155, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.9805938720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.06540832519534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11200, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.3002120852470398, + "epoch": 3.261565318591795, + "flow_matching_loss": 0.01710653631016612, + "grad_norm": 0.10016116499900818, + "kept_token_count": 572.4578125, + "learning_rate": 2.219875929631441e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9916308701038361, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008369133807718754, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.3612396240234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.5464263916016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11210, + "valid_token_count": 818.05 + }, + { + "actual_token_mask_ratio": 0.3004039466381073, + "epoch": 3.2644748327029385, + "flow_matching_loss": 0.014084535278379917, + "grad_norm": 0.1161196231842041, + "kept_token_count": 572.465625, + "learning_rate": 2.2184248807771074e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9920960783958435, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007903918065130711, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.76015014648436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.5469116210937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11220, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.30026785135269163, + "epoch": 3.267384346814082, + "flow_matching_loss": 0.020202972739934922, + "grad_norm": 0.12280626595020294, + "kept_token_count": 572.2796875, + "learning_rate": 2.216972958968801e-05, + "loss": 0.0246, + "mgd_cos_sim": 0.9912211477756501, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00877885390073061, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.9175262451172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.06243591308595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11230, + "valid_token_count": 817.8609375 + }, + { + "actual_token_mask_ratio": 0.3006889522075653, + "epoch": 3.2702938609252254, + "flow_matching_loss": 0.015408638678491116, + "grad_norm": 0.10751476138830185, + "kept_token_count": 572.053125, + "learning_rate": 2.215520165970743e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.990458858013153, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009541130904108287, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.5170196533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.76125183105466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11240, + "valid_token_count": 818.021875 + }, + { + "actual_token_mask_ratio": 0.30019587874412534, + "epoch": 3.2732033750363687, + "flow_matching_loss": 0.016649098508059977, + "grad_norm": 0.10983647406101227, + "kept_token_count": 572.35625, + "learning_rate": 2.2140665035482143e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9912039399147033, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00879606008529663, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 367.02915649414064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.45795288085935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11250, + "valid_token_count": 817.875 + }, + { + "actual_token_mask_ratio": 0.29936419129371644, + "epoch": 3.2761128891475124, + "flow_matching_loss": 0.015344440937042236, + "grad_norm": 0.10845524817705154, + "kept_token_count": 573.3921875, + "learning_rate": 2.2126119734675518e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9915881395339966, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008411867823451758, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.90599365234374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3109924316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11260, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.30028568804264066, + "epoch": 3.2790224032586557, + "flow_matching_loss": 0.015195254608988762, + "grad_norm": 0.10260557383298874, + "kept_token_count": 572.4828125, + "learning_rate": 2.2111565774961463e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9913984000682831, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008601600397378206, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.54091796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0400787353516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11270, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.29975411891937254, + "epoch": 3.2819319173697994, + "flow_matching_loss": 0.01396612711250782, + "grad_norm": 0.11609087139368057, + "kept_token_count": 573.2390625, + "learning_rate": 2.2097003174024417e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9915931940078735, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008406800404191016, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.01280517578124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.63018493652345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11280, + "valid_token_count": 818.6203125 + }, + { + "actual_token_mask_ratio": 0.29955093264579774, + "epoch": 3.2848414314809427, + "flow_matching_loss": 0.013143111625686288, + "grad_norm": 0.10758712142705917, + "kept_token_count": 573.2015625, + "learning_rate": 2.2082431949559315e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9920292854309082, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007970726303756236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.74230041503904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.4880889892578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11290, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.29956123530864714, + "epoch": 3.2877509455920864, + "flow_matching_loss": 0.015109833609312773, + "grad_norm": 0.09903570264577866, + "kept_token_count": 573.2609375, + "learning_rate": 2.2067852119271558e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9916777074337005, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0083222895860672, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.0288116455078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.77428283691404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11300, + "valid_token_count": 818.4265625 + }, + { + "actual_token_mask_ratio": 0.2995390444993973, + "epoch": 3.2906604597032296, + "flow_matching_loss": 0.01585506983101368, + "grad_norm": 0.1216120719909668, + "kept_token_count": 573.4046875, + "learning_rate": 2.2053263700877026e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9913383245468139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008661675453186034, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.1233337402344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.58307189941405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11310, + "valid_token_count": 818.6109375 + }, + { + "actual_token_mask_ratio": 0.3001006990671158, + "epoch": 3.293569973814373, + "flow_matching_loss": 0.015055966936051846, + "grad_norm": 0.10500666499137878, + "kept_token_count": 572.8484375, + "learning_rate": 2.2038666712102015e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9917675614356994, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008232429716736078, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.057958984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.28541870117186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11320, + "valid_token_count": 818.4703125 + }, + { + "actual_token_mask_ratio": 0.30044437646865846, + "epoch": 3.2964794879255166, + "flow_matching_loss": 0.015253630187362432, + "grad_norm": 0.09128646552562714, + "kept_token_count": 572.8609375, + "learning_rate": 2.2024061170683246e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9921681821346283, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007831814419478177, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.82054138183594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7896453857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11330, + "valid_token_count": 818.890625 + }, + { + "actual_token_mask_ratio": 0.2998004585504532, + "epoch": 3.29938900203666, + "flow_matching_loss": 0.017467579059302806, + "grad_norm": 0.11710184812545776, + "kept_token_count": 572.8109375, + "learning_rate": 2.200944709436783e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9908314943313599, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00916851069778204, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.53968811035156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.64612731933596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11340, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.299666765332222, + "epoch": 3.302298516147803, + "flow_matching_loss": 0.016500427201390267, + "grad_norm": 0.11984918266534805, + "kept_token_count": 573.0234375, + "learning_rate": 2.1994824500913246e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9917917609214782, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00820824522525072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.33594665527346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.54168701171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11350, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.2993845134973526, + "epoch": 3.305208030258947, + "flow_matching_loss": 0.016493189428001643, + "grad_norm": 0.1319434940814972, + "kept_token_count": 573.2515625, + "learning_rate": 2.1980193408087322e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9907814681529998, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009218528494238853, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.43768920898435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.26849975585935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11360, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.29921052753925326, + "epoch": 3.30811754437009, + "flow_matching_loss": 0.0158824672922492, + "grad_norm": 0.09058088809251785, + "kept_token_count": 573.7984375, + "learning_rate": 2.1965553833668224e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9916301071643829, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008369902987033129, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.6979034423828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.03697204589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11370, + "valid_token_count": 818.778125 + }, + { + "actual_token_mask_ratio": 0.2999073714017868, + "epoch": 3.311027058481234, + "flow_matching_loss": 0.01624150900170207, + "grad_norm": 0.11693642288446426, + "kept_token_count": 572.984375, + "learning_rate": 2.195090579544441e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.991497802734375, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008502203971147537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.8246368408203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9610534667969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11380, + "valid_token_count": 818.4390625 + }, + { + "actual_token_mask_ratio": 0.3002681493759155, + "epoch": 3.313936572592377, + "flow_matching_loss": 0.017368630785495043, + "grad_norm": 0.1134437620639801, + "kept_token_count": 572.6984375, + "learning_rate": 2.193624931121462e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9912647485733033, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008735254313796759, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.70994873046874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.36376037597654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11390, + "valid_token_count": 818.4546875 + }, + { + "actual_token_mask_ratio": 0.2999640077352524, + "epoch": 3.3168460867035203, + "flow_matching_loss": 0.016587791498750448, + "grad_norm": 0.1203249916434288, + "kept_token_count": 572.8890625, + "learning_rate": 2.1921584398787872e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.992086136341095, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007913883868604898, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.5990844726563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.5845886230469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11400, + "valid_token_count": 818.375 + }, + { + "actual_token_mask_ratio": 0.3007019102573395, + "epoch": 3.319755600814664, + "flow_matching_loss": 0.016811247915029526, + "grad_norm": 0.1109531968832016, + "kept_token_count": 572.4453125, + "learning_rate": 2.1906911075983418e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9911931037902832, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008806908782571555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.73606872558594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.2492309570313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11410, + "valid_token_count": 818.6015625 + }, + { + "actual_token_mask_ratio": 0.3000158965587616, + "epoch": 3.3226651149258073, + "flow_matching_loss": 0.013944640848785638, + "grad_norm": 0.1242329329252243, + "kept_token_count": 572.740625, + "learning_rate": 2.1892229360630728e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9919786214828491, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008021385502070188, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.6568237304688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6277679443359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11420, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.29962285459041593, + "epoch": 3.325574629036951, + "flow_matching_loss": 0.01432001069188118, + "grad_norm": 0.09437380731105804, + "kept_token_count": 572.8765625, + "learning_rate": 2.187753927056947e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9920728504657745, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007927155960351229, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.46918029785155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.5763732910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11430, + "valid_token_count": 817.9546875 + }, + { + "actual_token_mask_ratio": 0.3002887636423111, + "epoch": 3.3284841431480943, + "flow_matching_loss": 0.013488768693059682, + "grad_norm": 0.10414356738328934, + "kept_token_count": 572.7265625, + "learning_rate": 2.186284082364949e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9919989049434662, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008001096546649933, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.8021697998047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.47138671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11440, + "valid_token_count": 818.5140625 + }, + { + "actual_token_mask_ratio": 0.2991573989391327, + "epoch": 3.3313936572592375, + "flow_matching_loss": 0.015371985919773578, + "grad_norm": 0.08440900593996048, + "kept_token_count": 573.33125, + "learning_rate": 2.1848134037730786e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9919040441513062, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00809595761820674, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 378.6692779541016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1163391113281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11450, + "valid_token_count": 818.05625 + }, + { + "actual_token_mask_ratio": 0.29935785233974455, + "epoch": 3.3343031713703812, + "flow_matching_loss": 0.015811636624857784, + "grad_norm": 0.14263619482517242, + "kept_token_count": 573.3328125, + "learning_rate": 2.183341893068349e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9913514375686645, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0086485605686903, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.97051696777345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.77508239746095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11460, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.2992528200149536, + "epoch": 3.3372126854815245, + "flow_matching_loss": 0.014054892119020224, + "grad_norm": 0.11819764226675034, + "kept_token_count": 573.515625, + "learning_rate": 2.1818695520387842e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9919514298439026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008048577327281236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.20726013183594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.0317779541016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11470, + "valid_token_count": 818.4375 + }, + { + "actual_token_mask_ratio": 0.299629870057106, + "epoch": 3.340122199592668, + "flow_matching_loss": 0.014929211419075727, + "grad_norm": 0.12146303802728653, + "kept_token_count": 572.825, + "learning_rate": 2.1803963824734173e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9917095363140106, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008290477562695742, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.40587463378904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.77142028808595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11480, + "valid_token_count": 817.8890625 + }, + { + "actual_token_mask_ratio": 0.2997423827648163, + "epoch": 3.3430317137038115, + "flow_matching_loss": 0.015731437876820565, + "grad_norm": 0.12000430375337601, + "kept_token_count": 573.0796875, + "learning_rate": 2.1789223861622887e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9920540392398834, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007945968303829432, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.20070495605466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6868591308594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11490, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.29929372370243074, + "epoch": 3.3459412278149547, + "flow_matching_loss": 0.015153353102505207, + "grad_norm": 0.127599835395813, + "kept_token_count": 573.3359375, + "learning_rate": 2.1774475648964428e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9916663885116577, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00833362890407443, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.97443237304685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.43169555664065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11500, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.3003763765096664, + "epoch": 3.3488507419260984, + "flow_matching_loss": 0.016252915561199188, + "grad_norm": 0.13460443913936615, + "kept_token_count": 572.4796875, + "learning_rate": 2.1759719204679267e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9916452407836914, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008354754745960235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.8640594482422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.45, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11510, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.30050039291381836, + "epoch": 3.3517602560372417, + "flow_matching_loss": 0.01767213735729456, + "grad_norm": 0.10603922605514526, + "kept_token_count": 572.4890625, + "learning_rate": 2.174495454669787e-05, + "loss": 0.022, + "mgd_cos_sim": 0.9914267063140869, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00857330709695816, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.1090148925781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6012420654297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11520, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.29955604672431946, + "epoch": 3.3546697701483854, + "flow_matching_loss": 0.018122983723878862, + "grad_norm": 0.10715866088867188, + "kept_token_count": 573.1625, + "learning_rate": 2.1730181692960692e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.992109876871109, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007890103850513697, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.4819732666016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.53020935058595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11530, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.30008252859115603, + "epoch": 3.3575792842595287, + "flow_matching_loss": 0.017753595393151043, + "grad_norm": 0.20154514908790588, + "kept_token_count": 572.81875, + "learning_rate": 2.171540066141814e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9918200731277466, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008179925661534072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.5897979736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1167449951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11540, + "valid_token_count": 818.4125 + }, + { + "actual_token_mask_ratio": 0.2999603748321533, + "epoch": 3.360488798370672, + "flow_matching_loss": 0.017719400487840174, + "grad_norm": 0.10437323153018951, + "kept_token_count": 572.859375, + "learning_rate": 2.170061147003056e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.991667640209198, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008332355134189128, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.98643798828124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7339294433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11550, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.30062021911144254, + "epoch": 3.3633983124818156, + "flow_matching_loss": 0.016776034608483315, + "grad_norm": 0.11222594231367111, + "kept_token_count": 572.521875, + "learning_rate": 2.1685814136768225e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9920678555965423, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007932142447680235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.4592651367187, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.47645568847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11560, + "valid_token_count": 818.6171875 + }, + { + "actual_token_mask_ratio": 0.3005745679140091, + "epoch": 3.366307826592959, + "flow_matching_loss": 0.015387332718819379, + "grad_norm": 0.1240440160036087, + "kept_token_count": 572.346875, + "learning_rate": 2.167100867961128e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9917295336723327, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008270460367202758, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.66917724609374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.98212890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11570, + "valid_token_count": 818.3171875 + }, + { + "actual_token_mask_ratio": 0.3004000723361969, + "epoch": 3.369217340704102, + "flow_matching_loss": 0.017425748333334923, + "grad_norm": 0.09153872728347778, + "kept_token_count": 572.3890625, + "learning_rate": 2.1656195116549756e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9920401751995087, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007959807477891444, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.2645202636719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.5037536621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11580, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.30045951902866364, + "epoch": 3.372126854815246, + "flow_matching_loss": 0.01766439713537693, + "grad_norm": 0.08965037763118744, + "kept_token_count": 572.265625, + "learning_rate": 2.1641373465583527e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9923961699008942, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007603832799941301, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.20396728515624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4784301757812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11590, + "valid_token_count": 818.05625 + }, + { + "actual_token_mask_ratio": 0.299535396695137, + "epoch": 3.375036368926389, + "flow_matching_loss": 0.015546965319663287, + "grad_norm": 0.117195725440979, + "kept_token_count": 573.3171875, + "learning_rate": 2.1626543744722292e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9914772033691406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008522795606404543, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.44468994140624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.2964599609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11600, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.2997638463973999, + "epoch": 3.377945883037533, + "flow_matching_loss": 0.01856147442013025, + "grad_norm": 0.13750408589839935, + "kept_token_count": 573.2375, + "learning_rate": 2.161170597198557e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9911085426807403, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008891447074711322, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.23102416992185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2843444824219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11610, + "valid_token_count": 818.63125 + }, + { + "actual_token_mask_ratio": 0.2995868712663651, + "epoch": 3.380855397148676, + "flow_matching_loss": 0.019442342594265936, + "grad_norm": 0.11794614046812057, + "kept_token_count": 573.1796875, + "learning_rate": 2.1596860165402645e-05, + "loss": 0.0241, + "mgd_cos_sim": 0.9907453298568726, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009254671446979047, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.6391296386719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2910583496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11620, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.29973643720149995, + "epoch": 3.38376491125982, + "flow_matching_loss": 0.0196668921969831, + "grad_norm": 0.15726354718208313, + "kept_token_count": 573.028125, + "learning_rate": 2.1582006343012576e-05, + "loss": 0.0239, + "mgd_cos_sim": 0.9915792882442475, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008420712221413851, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.0403747558594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.8965576171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11630, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.29925858974456787, + "epoch": 3.386674425370963, + "flow_matching_loss": 0.015739239193499087, + "grad_norm": 0.13227133452892303, + "kept_token_count": 573.3015625, + "learning_rate": 2.156714452286416e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9919712841510773, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008028724137693644, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 453.4685424804687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6982147216797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11640, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.29975667893886565, + "epoch": 3.3895839394821063, + "flow_matching_loss": 0.0169421031139791, + "grad_norm": 0.1143394261598587, + "kept_token_count": 573.13125, + "learning_rate": 2.155227472301591e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9917136013507843, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00828640004619956, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 377.15361938476565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.00249938964845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11650, + "valid_token_count": 818.478125 + }, + { + "actual_token_mask_ratio": 0.29934623539447786, + "epoch": 3.39249345359325, + "flow_matching_loss": 0.015015773382037878, + "grad_norm": 0.11009705066680908, + "kept_token_count": 573.35625, + "learning_rate": 2.1537396961536027e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9920423686504364, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007957643270492554, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.0714935302734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.9680572509766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11660, + "valid_token_count": 818.3171875 + }, + { + "actual_token_mask_ratio": 0.2998930126428604, + "epoch": 3.3954029677043933, + "flow_matching_loss": 0.01574108814820647, + "grad_norm": 0.12368070334196091, + "kept_token_count": 572.8234375, + "learning_rate": 2.1522511256502403e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9918446063995361, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00815541036427021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.9884948730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2260009765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11670, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.2998808443546295, + "epoch": 3.3983124818155366, + "flow_matching_loss": 0.014563029911369086, + "grad_norm": 0.11576761305332184, + "kept_token_count": 572.86875, + "learning_rate": 2.1507617626002566e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.991716867685318, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008283137157559396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.6704437255859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1815124511719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11680, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.3003726631402969, + "epoch": 3.4012219959266803, + "flow_matching_loss": 0.015054481476545334, + "grad_norm": 0.1462668627500534, + "kept_token_count": 572.5328125, + "learning_rate": 2.1492716088133685e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9919289469718933, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008071058336645365, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.4034729003906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.53826599121095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11690, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.2991951256990433, + "epoch": 3.4041315100378235, + "flow_matching_loss": 0.017766176629811524, + "grad_norm": 0.13458460569381714, + "kept_token_count": 573.396875, + "learning_rate": 2.1477806661002536e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9919401407241821, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008059860672801733, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.7227294921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.2419952392578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11700, + "valid_token_count": 818.196875 + }, + { + "actual_token_mask_ratio": 0.30100647509098055, + "epoch": 3.4070410241489673, + "flow_matching_loss": 0.015358123276382685, + "grad_norm": 0.1140134334564209, + "kept_token_count": 571.759375, + "learning_rate": 2.146288936272548e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9920103549957275, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007989660743623972, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.5959777832031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.14185485839846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11710, + "valid_token_count": 817.9828125 + }, + { + "actual_token_mask_ratio": 0.2994614034891129, + "epoch": 3.4099505382601105, + "flow_matching_loss": 0.014953759685158729, + "grad_norm": 0.1129055768251419, + "kept_token_count": 573.153125, + "learning_rate": 2.1447964211428433e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9918650388717651, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00813496122136712, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.63840942382814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.6702514648438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11720, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.2997983455657959, + "epoch": 3.4128600523712542, + "flow_matching_loss": 0.017142999824136494, + "grad_norm": 0.14199531078338623, + "kept_token_count": 573.0640625, + "learning_rate": 2.1433031225246865e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9916150033473968, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008384991064667701, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.53729248046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6825897216797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11730, + "valid_token_count": 818.4296875 + }, + { + "actual_token_mask_ratio": 0.300245863199234, + "epoch": 3.4157695664823975, + "flow_matching_loss": 0.01689451336860657, + "grad_norm": 0.09432906657457352, + "kept_token_count": 572.6453125, + "learning_rate": 2.1418090422325766e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9916431963443756, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008356786798685789, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.1496643066406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3165618896484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11740, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.2989154726266861, + "epoch": 3.4186790805935408, + "flow_matching_loss": 0.018078514095395803, + "grad_norm": 0.11214281618595123, + "kept_token_count": 573.6234375, + "learning_rate": 2.1403141820819623e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9915437400341034, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00845626313239336, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6282684326172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6543823242188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11750, + "valid_token_count": 818.2078125 + }, + { + "actual_token_mask_ratio": 0.29957474768161774, + "epoch": 3.4215885947046845, + "flow_matching_loss": 0.017475447058677672, + "grad_norm": 0.11775903403759003, + "kept_token_count": 573.240625, + "learning_rate": 2.1388185438892377e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9913683474063874, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008631651755422354, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.4952667236328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.13381042480466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11760, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.3000587821006775, + "epoch": 3.4244981088158277, + "flow_matching_loss": 0.015781615674495698, + "grad_norm": 0.12572233378887177, + "kept_token_count": 572.709375, + "learning_rate": 2.1373221294717465e-05, + "loss": 0.02, + "mgd_cos_sim": 0.991556602716446, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008443400263786316, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.6169036865234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1776519775391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11770, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.29965007305145264, + "epoch": 3.427407622926971, + "flow_matching_loss": 0.013233741652220488, + "grad_norm": 0.11420510709285736, + "kept_token_count": 573.246875, + "learning_rate": 2.1358249406477724e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9921346962451935, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00786529304459691, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.65224304199216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.34812927246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11780, + "valid_token_count": 818.5109375 + }, + { + "actual_token_mask_ratio": 0.3001164346933365, + "epoch": 3.4303171370381147, + "flow_matching_loss": 0.016262551583349705, + "grad_norm": 0.10500171780586243, + "kept_token_count": 572.7, + "learning_rate": 2.1343269792365408e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.991294264793396, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008705728780478239, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3801330566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0767852783203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11790, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.30065628588199617, + "epoch": 3.433226651149258, + "flow_matching_loss": 0.01710660932585597, + "grad_norm": 0.12291444092988968, + "kept_token_count": 572.3734375, + "learning_rate": 2.132828247058217e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9914781630039216, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008521821722388268, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.6678009033203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2708282470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11800, + "valid_token_count": 818.446875 + }, + { + "actual_token_mask_ratio": 0.30021131336688994, + "epoch": 3.4361361652604017, + "flow_matching_loss": 0.01650918610394001, + "grad_norm": 0.12894085049629211, + "kept_token_count": 572.64375, + "learning_rate": 2.1313287459339004e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9920590460300446, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007940954342484475, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.08165588378904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.31958923339846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11810, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.3006840318441391, + "epoch": 3.439045679371545, + "flow_matching_loss": 0.0166067473590374, + "grad_norm": 0.12522152066230774, + "kept_token_count": 572.1515625, + "learning_rate": 2.1298284776856276e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9917538583278656, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008246156200766564, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.4114654541016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2550811767578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11820, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.30002056062221527, + "epoch": 3.4419551934826886, + "flow_matching_loss": 0.016857878491282462, + "grad_norm": 0.11076803505420685, + "kept_token_count": 572.8734375, + "learning_rate": 2.128327444136365e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9912158489227295, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008784148376435041, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.58159790039065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0143341064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11830, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.29960086941719055, + "epoch": 3.444864707593832, + "flow_matching_loss": 0.01757418569177389, + "grad_norm": 0.13233426213264465, + "kept_token_count": 572.9515625, + "learning_rate": 2.1268256471100105e-05, + "loss": 0.0218, + "mgd_cos_sim": 0.9915774822235107, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00842252429574728, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.2930847167969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.55865173339845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11840, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.29938014447689054, + "epoch": 3.447774221704975, + "flow_matching_loss": 0.016141249891370536, + "grad_norm": 0.1345154345035553, + "kept_token_count": 573.3046875, + "learning_rate": 2.1253230884313893e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9913546442985535, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008645347692072392, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.8598388671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1774200439453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11850, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.3003205418586731, + "epoch": 3.450683735816119, + "flow_matching_loss": 0.015056143794208766, + "grad_norm": 0.11386615037918091, + "kept_token_count": 572.575, + "learning_rate": 2.123819769926251e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9917587220668793, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008241288922727108, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.9740936279297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.17589111328124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11860, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.29971186220645907, + "epoch": 3.453593249927262, + "flow_matching_loss": 0.01658813692629337, + "grad_norm": 0.11451950669288635, + "kept_token_count": 573.2390625, + "learning_rate": 2.1223156934212702e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9919239521026612, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008076039794832467, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.6053131103516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.88067626953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11870, + "valid_token_count": 818.5859375 + }, + { + "actual_token_mask_ratio": 0.3005160421133041, + "epoch": 3.4565027640384054, + "flow_matching_loss": 0.016286039911210536, + "grad_norm": 0.14379696547985077, + "kept_token_count": 572.34375, + "learning_rate": 2.1208108607440418e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9919317483901977, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008068246394395828, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 381.67360229492186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6678497314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11880, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.3000268667936325, + "epoch": 3.459412278149549, + "flow_matching_loss": 0.01623970763757825, + "grad_norm": 0.13565516471862793, + "kept_token_count": 572.853125, + "learning_rate": 2.119305273723078e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9914792358875275, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008520764857530594, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.4848297119141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8593475341797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11890, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.30036213994026184, + "epoch": 3.4623217922606924, + "flow_matching_loss": 0.01568462373688817, + "grad_norm": 0.13679726421833038, + "kept_token_count": 572.5890625, + "learning_rate": 2.1177989341878106e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9915842354297638, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008415754605084657, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.5408508300781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.98468017578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11900, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.2999108225107193, + "epoch": 3.465231306371836, + "flow_matching_loss": 0.016530219558626415, + "grad_norm": 0.1205807775259018, + "kept_token_count": 572.83125, + "learning_rate": 2.116291843968583e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.99164018034935, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008359823934733867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.3453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.036962890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11910, + "valid_token_count": 818.228125 + }, + { + "actual_token_mask_ratio": 0.29924688339233396, + "epoch": 3.4681408204829793, + "flow_matching_loss": 0.016237365454435347, + "grad_norm": 0.11935525387525558, + "kept_token_count": 573.45625, + "learning_rate": 2.114784004896653e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9915003418922425, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008499651681631804, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.6491302490234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.06072998046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11920, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.2994630217552185, + "epoch": 3.4710503345941226, + "flow_matching_loss": 0.018938664346933365, + "grad_norm": 0.13640445470809937, + "kept_token_count": 573.021875, + "learning_rate": 2.113275418804187e-05, + "loss": 0.023, + "mgd_cos_sim": 0.9919221341609955, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008077864442020655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.562060546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7237823486328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11930, + "valid_token_count": 817.96875 + }, + { + "actual_token_mask_ratio": 0.30094010233879087, + "epoch": 3.4739598487052663, + "flow_matching_loss": 0.019040490873157977, + "grad_norm": 0.12444689124822617, + "kept_token_count": 572.0234375, + "learning_rate": 2.1117660875242583e-05, + "loss": 0.0233, + "mgd_cos_sim": 0.9915018081665039, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00849819639697671, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.618701171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.9555969238281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11940, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.30094931125640867, + "epoch": 3.4768693628164096, + "flow_matching_loss": 0.01576348775997758, + "grad_norm": 0.09952843934297562, + "kept_token_count": 572.1015625, + "learning_rate": 2.1102560128908478e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9918106079101563, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008189397491514682, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.1950653076172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.85528564453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11950, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.30043603777885436, + "epoch": 3.4797788769275533, + "flow_matching_loss": 0.018029480148106812, + "grad_norm": 0.12628117203712463, + "kept_token_count": 572.3328125, + "learning_rate": 2.1087451967388384e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9918691217899323, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008130890130996705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.8458740234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0181457519531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11960, + "valid_token_count": 818.13125 + }, + { + "actual_token_mask_ratio": 0.29982813000679015, + "epoch": 3.4826883910386965, + "flow_matching_loss": 0.015658296179026365, + "grad_norm": 0.1261066198348999, + "kept_token_count": 573.0546875, + "learning_rate": 2.1072336409040135e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9916975736618042, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008302417024970055, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.52448120117185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.9406677246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11970, + "valid_token_count": 818.45 + }, + { + "actual_token_mask_ratio": 0.30061326920986176, + "epoch": 3.48559790514984, + "flow_matching_loss": 0.01622327445074916, + "grad_norm": 0.17014838755130768, + "kept_token_count": 572.5109375, + "learning_rate": 2.1057213472230573e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9918222606182099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008177737519145013, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.9958190917969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.53163757324216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11980, + "valid_token_count": 818.5921875 + }, + { + "actual_token_mask_ratio": 0.3000487148761749, + "epoch": 3.4885074192609835, + "flow_matching_loss": 0.014207094255834819, + "grad_norm": 0.12423364073038101, + "kept_token_count": 572.621875, + "learning_rate": 2.1042083175335478e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9920203268527985, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00797967305406928, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.9767120361328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6039978027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 11990, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.3004543036222458, + "epoch": 3.4914169333721268, + "flow_matching_loss": 0.01652216101065278, + "grad_norm": 0.11134524643421173, + "kept_token_count": 572.5171875, + "learning_rate": 2.1026945536739595e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9919138669967651, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008086135052144528, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.17139892578126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.15663146972656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12000, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.3019290596246719, + "epoch": 3.4943264474832705, + "flow_matching_loss": 0.018223781045526265, + "grad_norm": 0.13407586514949799, + "kept_token_count": 571.13125, + "learning_rate": 2.1011800574836586e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9916416764259338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008358328696340322, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.316650390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2772247314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12010, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.30126773416996, + "epoch": 3.4972359615944137, + "flow_matching_loss": 0.014021975407376885, + "grad_norm": 0.12254764884710312, + "kept_token_count": 571.746875, + "learning_rate": 2.0996648308028992e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9918764710426331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008123524766415358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.54722290039064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1098876953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12020, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.3000759303569794, + "epoch": 3.500145475705557, + "flow_matching_loss": 0.015330195054411888, + "grad_norm": 0.1110687255859375, + "kept_token_count": 572.4734375, + "learning_rate": 2.0981488754728266e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9912303209304809, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008769657649099826, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.0058288574219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.23533020019534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12030, + "valid_token_count": 817.909375 + }, + { + "actual_token_mask_ratio": 0.3000799953937531, + "epoch": 3.5030549898167007, + "flow_matching_loss": 0.01557066971436143, + "grad_norm": 0.10185767710208893, + "kept_token_count": 572.653125, + "learning_rate": 2.0966321933354685e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9919637143611908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008036288525909185, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.87379455566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.92432861328126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12040, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.2996348559856415, + "epoch": 3.505964503927844, + "flow_matching_loss": 0.016646913439035415, + "grad_norm": 0.08590991050004959, + "kept_token_count": 573.1796875, + "learning_rate": 2.095114786233736e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9917608439922333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008239145018160343, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 380.22333068847655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.03954162597654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12050, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.2992256969213486, + "epoch": 3.5088740180389877, + "flow_matching_loss": 0.017944690026342868, + "grad_norm": 0.11651889234781265, + "kept_token_count": 573.5484375, + "learning_rate": 2.0935966560114236e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.9915705442428588, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008429456129670143, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.7138732910156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1553039550781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12060, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.3004664868116379, + "epoch": 3.511783532150131, + "flow_matching_loss": 0.014180762134492398, + "grad_norm": 0.09890689700841904, + "kept_token_count": 572.278125, + "learning_rate": 2.092077804513201e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9918314576148987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008168541546911, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.4446716308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.43910217285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12070, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.2998585432767868, + "epoch": 3.514693046261274, + "flow_matching_loss": 0.015055924467742444, + "grad_norm": 0.08845654129981995, + "kept_token_count": 573.0578125, + "learning_rate": 2.0905582335846167e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9914000809192658, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008599914330989122, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.77890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.84735717773435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12080, + "valid_token_count": 818.490625 + }, + { + "actual_token_mask_ratio": 0.3009417146444321, + "epoch": 3.517602560372418, + "flow_matching_loss": 0.014224587753415108, + "grad_norm": 0.0992288663983345, + "kept_token_count": 572.065625, + "learning_rate": 2.0890379450720927e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9915456116199494, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008454377669841051, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.17425842285155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5138732910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12090, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.29899649918079374, + "epoch": 3.520512074483561, + "flow_matching_loss": 0.01637302627786994, + "grad_norm": 0.08552155643701553, + "kept_token_count": 573.6296875, + "learning_rate": 2.087516940822923e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9916280567646026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008371954411268234, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 383.72572021484376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7044219970703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12100, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.29964258074760436, + "epoch": 3.5234215885947044, + "flow_matching_loss": 0.01625523380935192, + "grad_norm": 0.10382139682769775, + "kept_token_count": 572.8390625, + "learning_rate": 2.085995222685271e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9916605889797211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008339409157633782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.27186584472656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5975830078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12110, + "valid_token_count": 817.9328125 + }, + { + "actual_token_mask_ratio": 0.29949310421943665, + "epoch": 3.526331102705848, + "flow_matching_loss": 0.01564385900273919, + "grad_norm": 0.1345778852701187, + "kept_token_count": 573.365625, + "learning_rate": 2.084472792508167e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9917415142059326, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008258482348173857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.59356994628905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.4734222412109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12120, + "valid_token_count": 818.4953125 + }, + { + "actual_token_mask_ratio": 0.29965661466121674, + "epoch": 3.5292406168169914, + "flow_matching_loss": 0.016137618757784366, + "grad_norm": 0.1500052809715271, + "kept_token_count": 573.1796875, + "learning_rate": 2.082949652141508e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.991261887550354, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00873810974881053, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.15806274414064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0452484130859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12130, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.300528347492218, + "epoch": 3.532150130928135, + "flow_matching_loss": 0.01552639463916421, + "grad_norm": 0.12421173602342606, + "kept_token_count": 572.3953125, + "learning_rate": 2.081425803436054e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.991403865814209, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00859612924978137, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.96669921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6979034423828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12140, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.2997024029493332, + "epoch": 3.5350596450392784, + "flow_matching_loss": 0.015037648286670447, + "grad_norm": 0.09286076575517654, + "kept_token_count": 573.04375, + "learning_rate": 2.079901248243423e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9924315750598908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007568443194031715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.8528289794922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.23175354003905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12150, + "valid_token_count": 818.2828125 + }, + { + "actual_token_mask_ratio": 0.3003588318824768, + "epoch": 3.537969159150422, + "flow_matching_loss": 0.01637554122135043, + "grad_norm": 0.10886241495609283, + "kept_token_count": 572.3953125, + "learning_rate": 2.078375988416095e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9921373844146728, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007862612791359424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.0179870605469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.15436096191405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12160, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.3008242607116699, + "epoch": 3.5408786732615654, + "flow_matching_loss": 0.014988679066300392, + "grad_norm": 0.11084475368261337, + "kept_token_count": 571.9390625, + "learning_rate": 2.076850025807404e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9918016016483306, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00819840356707573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.4099548339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8082244873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12170, + "valid_token_count": 818.0171875 + }, + { + "actual_token_mask_ratio": 0.300029057264328, + "epoch": 3.5437881873727086, + "flow_matching_loss": 0.017617090605199337, + "grad_norm": 0.10995977371931076, + "kept_token_count": 572.825, + "learning_rate": 2.0753233622715374e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9921041250228881, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007895883452147246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.4871337890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1038482666016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12180, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.29999615252017975, + "epoch": 3.5466977014838523, + "flow_matching_loss": 0.014661302696913481, + "grad_norm": 0.17123514413833618, + "kept_token_count": 572.8625, + "learning_rate": 2.073795999663536e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9911330044269562, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008866994548588992, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.0588653564453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3206359863281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12190, + "valid_token_count": 818.3796875 + }, + { + "actual_token_mask_ratio": 0.3006435513496399, + "epoch": 3.5496072155949956, + "flow_matching_loss": 0.01681907018646598, + "grad_norm": 0.09929267317056656, + "kept_token_count": 572.2046875, + "learning_rate": 2.07226793983929e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9919324696063996, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008067537564784288, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.06859436035154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0757629394531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12200, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.299884295463562, + "epoch": 3.552516729706139, + "flow_matching_loss": 0.01851611491292715, + "grad_norm": 0.16475313901901245, + "kept_token_count": 572.8328125, + "learning_rate": 2.070739184655536e-05, + "loss": 0.0226, + "mgd_cos_sim": 0.991852980852127, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00814701346680522, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.5327514648437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.76605834960935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12210, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.3003612220287323, + "epoch": 3.5554262438172826, + "flow_matching_loss": 0.014601320866495371, + "grad_norm": 0.13979613780975342, + "kept_token_count": 572.509375, + "learning_rate": 2.069209735969855e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9920814096927643, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007918587792664767, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.8336517333984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2928833007812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12220, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.3002526044845581, + "epoch": 3.558335757928426, + "flow_matching_loss": 0.01623458517715335, + "grad_norm": 0.10434483736753464, + "kept_token_count": 572.5515625, + "learning_rate": 2.067679595640672e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9920665323734283, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007933471258729697, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.75523681640624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5354797363281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12230, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.2989234119653702, + "epoch": 3.5612452720395695, + "flow_matching_loss": 0.016592760384082795, + "grad_norm": 0.13441818952560425, + "kept_token_count": 573.575, + "learning_rate": 2.066148765527252e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9917743325233459, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008225692994892597, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.5215209960937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.5965850830078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12240, + "valid_token_count": 818.1375 + }, + { + "actual_token_mask_ratio": 0.2994948625564575, + "epoch": 3.564154786150713, + "flow_matching_loss": 0.014355406258255243, + "grad_norm": 0.10097780078649521, + "kept_token_count": 573.2359375, + "learning_rate": 2.0646172474896976e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9922218084335327, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077782003208994865, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.05201416015626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7817657470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12250, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.30038489401340485, + "epoch": 3.5670643002618565, + "flow_matching_loss": 0.016321492753922938, + "grad_norm": 0.12705397605895996, + "kept_token_count": 572.4921875, + "learning_rate": 2.063085043388947e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9907277762889862, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.009272222500294447, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.4730499267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.8052459716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12260, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.299610635638237, + "epoch": 3.5699738143729998, + "flow_matching_loss": 0.01788869220763445, + "grad_norm": 0.09826292097568512, + "kept_token_count": 573.35, + "learning_rate": 2.0615521550867732e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9914857804775238, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008514223713427782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.9967559814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.91655883789065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12270, + "valid_token_count": 818.6140625 + }, + { + "actual_token_mask_ratio": 0.2989208251237869, + "epoch": 3.572883328484143, + "flow_matching_loss": 0.014093162771314383, + "grad_norm": 0.1096588671207428, + "kept_token_count": 573.9515625, + "learning_rate": 2.0600185844457803e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9918196737766266, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008180317375808955, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.35992736816405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9614288330078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12280, + "valid_token_count": 818.6703125 + }, + { + "actual_token_mask_ratio": 0.3006758809089661, + "epoch": 3.5757928425952867, + "flow_matching_loss": 0.01340207876637578, + "grad_norm": 0.09624902158975601, + "kept_token_count": 572.434375, + "learning_rate": 2.058484333329401e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9919288039207459, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008071190491318703, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7531677246094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.01268005371094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12290, + "valid_token_count": 818.5578125 + }, + { + "actual_token_mask_ratio": 0.30054360032081606, + "epoch": 3.57870235670643, + "flow_matching_loss": 0.01813077451661229, + "grad_norm": 0.13036666810512543, + "kept_token_count": 572.5375, + "learning_rate": 2.0569494036018955e-05, + "loss": 0.0221, + "mgd_cos_sim": 0.9920762538909912, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007923736330121755, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.7380035400391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.52353820800784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12300, + "valid_token_count": 818.54375 + }, + { + "actual_token_mask_ratio": 0.2995952934026718, + "epoch": 3.5816118708175733, + "flow_matching_loss": 0.01667216615751386, + "grad_norm": 0.1264331042766571, + "kept_token_count": 573.1078125, + "learning_rate": 2.055413797128347e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9916383802890778, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008361627720296383, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.27634887695314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2362091064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12310, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.2997483849525452, + "epoch": 3.584521384928717, + "flow_matching_loss": 0.015531119517982006, + "grad_norm": 0.10336285084486008, + "kept_token_count": 572.796875, + "learning_rate": 2.0538775157746634e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.991771525144577, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00822846805676818, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.8558746337891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7533752441406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12320, + "valid_token_count": 817.9859375 + }, + { + "actual_token_mask_ratio": 0.29824152290821077, + "epoch": 3.5874308990398602, + "flow_matching_loss": 0.014402325265109539, + "grad_norm": 0.1691264510154724, + "kept_token_count": 574.4765625, + "learning_rate": 2.0523405614075706e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9916942954063416, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008305720798671246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.2963500976563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.02313842773435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12330, + "valid_token_count": 818.6359375 + }, + { + "actual_token_mask_ratio": 0.2998869359493256, + "epoch": 3.590340413151004, + "flow_matching_loss": 0.015750622469931842, + "grad_norm": 0.10632909089326859, + "kept_token_count": 572.775, + "learning_rate": 2.0508029358946132e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9916560590267182, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008343927655369043, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.3799652099609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.38373107910155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12340, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.30065802335739134, + "epoch": 3.593249927262147, + "flow_matching_loss": 0.01692401021718979, + "grad_norm": 0.10164432972669601, + "kept_token_count": 572.209375, + "learning_rate": 2.0492646411041515e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9920899927616119, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007909998018294572, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7836120605469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.42627868652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12350, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.300084725022316, + "epoch": 3.596159441373291, + "flow_matching_loss": 0.01592827243730426, + "grad_norm": 0.10133662819862366, + "kept_token_count": 572.9984375, + "learning_rate": 2.0477256789053587e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9916410386562348, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008358963951468467, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.2161499023438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2300964355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12360, + "valid_token_count": 818.671875 + }, + { + "actual_token_mask_ratio": 0.2989909052848816, + "epoch": 3.599068955484434, + "flow_matching_loss": 0.014389870036393405, + "grad_norm": 0.1029900461435318, + "kept_token_count": 573.6765625, + "learning_rate": 2.0461860511682194e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9912809729576111, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008719028066843748, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 386.46579895019534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.8073394775391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12370, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.30001832246780397, + "epoch": 3.6019784695955774, + "flow_matching_loss": 0.013855753233656287, + "grad_norm": 0.08474932610988617, + "kept_token_count": 572.9828125, + "learning_rate": 2.0446457597635254e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9919105470180511, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008089450187981129, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.6902709960938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3055725097656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12380, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.30059194266796113, + "epoch": 3.604887983706721, + "flow_matching_loss": 0.015202220994979143, + "grad_norm": 0.1035882979631424, + "kept_token_count": 572.3125, + "learning_rate": 2.0431048065628763e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9921308577060699, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00786914536729455, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.62854919433596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.84145202636716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12390, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.3006098806858063, + "epoch": 3.6077974978178644, + "flow_matching_loss": 0.015022842027246953, + "grad_norm": 0.1564922332763672, + "kept_token_count": 572.5859375, + "learning_rate": 2.0415631934386764e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9921363830566406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007863611541688442, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.20298156738284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.79807434082034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12400, + "valid_token_count": 818.690625 + }, + { + "actual_token_mask_ratio": 0.2999127507209778, + "epoch": 3.6107070119290077, + "flow_matching_loss": 0.013610826153308154, + "grad_norm": 0.11562702059745789, + "kept_token_count": 573.1734375, + "learning_rate": 2.04002092226413e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9918392956256866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008160689286887646, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7610565185547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1172302246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12410, + "valid_token_count": 818.7171875 + }, + { + "actual_token_mask_ratio": 0.29918144047260287, + "epoch": 3.6136165260401514, + "flow_matching_loss": 0.014310148358345032, + "grad_norm": 0.11517398804426193, + "kept_token_count": 573.3578125, + "learning_rate": 2.038477994913242e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9924708783626557, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007529124990105629, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.7863525390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9276916503906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12420, + "valid_token_count": 818.13125 + }, + { + "actual_token_mask_ratio": 0.30007428824901583, + "epoch": 3.6165260401512946, + "flow_matching_loss": 0.018336172122508286, + "grad_norm": 0.10648611932992935, + "kept_token_count": 572.5984375, + "learning_rate": 2.036934413260816e-05, + "loss": 0.0225, + "mgd_cos_sim": 0.9916869461536407, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008313050400465727, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.1150421142578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.30885925292966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12430, + "valid_token_count": 818.078125 + }, + { + "actual_token_mask_ratio": 0.30091145634651184, + "epoch": 3.619435554262438, + "flow_matching_loss": 0.013433415628969669, + "grad_norm": 0.11135338991880417, + "kept_token_count": 572.2921875, + "learning_rate": 2.0353901791824473e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9923628568649292, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007637144066393375, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.57933349609374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 380.62355041503906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12440, + "valid_token_count": 818.6328125 + }, + { + "actual_token_mask_ratio": 0.29881325662136077, + "epoch": 3.6223450683735816, + "flow_matching_loss": 0.014303689822554588, + "grad_norm": 0.12521480023860931, + "kept_token_count": 573.8859375, + "learning_rate": 2.0338452945545275e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9916880369186402, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008311972487717867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.226708984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.3598693847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12450, + "valid_token_count": 818.45 + }, + { + "actual_token_mask_ratio": 0.301125231385231, + "epoch": 3.6252545824847253, + "flow_matching_loss": 0.01310144728049636, + "grad_norm": 0.08286354690790176, + "kept_token_count": 572.00625, + "learning_rate": 2.0322997612542366e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9921674072742462, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007832595612853765, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.22731628417966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5453765869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12460, + "valid_token_count": 818.459375 + }, + { + "actual_token_mask_ratio": 0.2987990856170654, + "epoch": 3.6281640965958686, + "flow_matching_loss": 0.01666026618331671, + "grad_norm": 0.12630213797092438, + "kept_token_count": 573.8828125, + "learning_rate": 2.0307535811595427e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9921305000782012, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007869509141892194, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.735791015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8635559082031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12470, + "valid_token_count": 818.425 + }, + { + "actual_token_mask_ratio": 0.30012755692005155, + "epoch": 3.631073610707012, + "flow_matching_loss": 0.013425161503255368, + "grad_norm": 0.11072175204753876, + "kept_token_count": 572.5375, + "learning_rate": 2.0292067561492013e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.991959172487259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008040838036686182, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.0619354248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.78643493652345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12480, + "valid_token_count": 818.0625 + }, + { + "actual_token_mask_ratio": 0.30035367906093596, + "epoch": 3.6339831248181556, + "flow_matching_loss": 0.01631347630172968, + "grad_norm": 0.1045566201210022, + "kept_token_count": 572.53125, + "learning_rate": 2.02765928810275e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9922907054424286, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077092936262488365, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.75126953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.26877746582034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12490, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.30035487115383147, + "epoch": 3.636892638929299, + "flow_matching_loss": 0.014849019143730402, + "grad_norm": 0.1254531741142273, + "kept_token_count": 572.4328125, + "learning_rate": 2.0261111789005087e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9917500853538513, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008249919675290585, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.9259979248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.05198364257814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12500, + "valid_token_count": 818.18125 + }, + { + "actual_token_mask_ratio": 0.2994450777769089, + "epoch": 3.639802153040442, + "flow_matching_loss": 0.016778089571744204, + "grad_norm": 0.13104400038719177, + "kept_token_count": 573.4484375, + "learning_rate": 2.024562430423576e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9916745245456695, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00832548039034009, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.3313690185547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.0334442138672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12510, + "valid_token_count": 818.5625 + }, + { + "actual_token_mask_ratio": 0.3004027813673019, + "epoch": 3.642711667151586, + "flow_matching_loss": 0.013012132700532674, + "grad_norm": 0.10155527293682098, + "kept_token_count": 572.4, + "learning_rate": 2.0230130445538273e-05, + "loss": 0.017, + "mgd_cos_sim": 0.991933923959732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008066064026206732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.09618225097654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.9458801269531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12520, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.29939022064208987, + "epoch": 3.645621181262729, + "flow_matching_loss": 0.0160164644010365, + "grad_norm": 0.13226474821567535, + "kept_token_count": 573.3921875, + "learning_rate": 2.0214630231739127e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.991863238811493, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008136759977787733, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.56127014160154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.13429565429686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12530, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.29948224127292633, + "epoch": 3.6485306953738723, + "flow_matching_loss": 0.014048019424080849, + "grad_norm": 0.12716104090213776, + "kept_token_count": 573.2125, + "learning_rate": 2.0199123681672543e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9918490946292877, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0081509031355381, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.5695007324219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1535400390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12540, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.29914192855358124, + "epoch": 3.651440209485016, + "flow_matching_loss": 0.015529709309339524, + "grad_norm": 0.1265983283519745, + "kept_token_count": 573.35, + "learning_rate": 2.0183610814180437e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9916502833366394, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008349701762199402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.13795776367186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1998596191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12550, + "valid_token_count": 818.06875 + }, + { + "actual_token_mask_ratio": 0.30042328834533694, + "epoch": 3.6543497235961593, + "flow_matching_loss": 0.017532904073596, + "grad_norm": 0.09906523674726486, + "kept_token_count": 572.2828125, + "learning_rate": 2.016809164811241e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9922190070152282, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007780999690294266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.04498901367185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.01319885253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12560, + "valid_token_count": 818.0421875 + }, + { + "actual_token_mask_ratio": 0.3009191393852234, + "epoch": 3.657259237707303, + "flow_matching_loss": 0.015362347196787595, + "grad_norm": 0.1392298936843872, + "kept_token_count": 572.040625, + "learning_rate": 2.015256620232571e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.99191734790802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008082647435367107, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.23340759277346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.56642150878906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12570, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.29990939497947694, + "epoch": 3.6601687518184463, + "flow_matching_loss": 0.017016869224607944, + "grad_norm": 0.13020598888397217, + "kept_token_count": 572.925, + "learning_rate": 2.0137034495685222e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.992627090215683, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007372908480465412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.9539276123047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0825927734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12580, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.30017776787281036, + "epoch": 3.66307826592959, + "flow_matching_loss": 0.014922478795051574, + "grad_norm": 0.11690469831228256, + "kept_token_count": 572.69375, + "learning_rate": 2.012149654706343e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9921245574951172, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007875438313931227, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.6404968261719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.893359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12590, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.30042983293533326, + "epoch": 3.6659877800407332, + "flow_matching_loss": 0.013957552425563336, + "grad_norm": 0.12624986469745636, + "kept_token_count": 572.49375, + "learning_rate": 2.010595237534041e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9918547093868255, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00814529052004218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.4500671386719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.2205108642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12600, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.2990332096815109, + "epoch": 3.6688972941518765, + "flow_matching_loss": 0.012876942101866008, + "grad_norm": 0.13114041090011597, + "kept_token_count": 573.5203125, + "learning_rate": 2.0090401999403793e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9921804368495941, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00781957320868969, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.4823974609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8742614746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12610, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.30024886727333067, + "epoch": 3.67180680826302, + "flow_matching_loss": 0.01593009289354086, + "grad_norm": 0.11373186111450195, + "kept_token_count": 572.546875, + "learning_rate": 2.007484543814875e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9914403855800629, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00855961386114359, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.6806884765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8948455810547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12620, + "valid_token_count": 818.2140625 + }, + { + "actual_token_mask_ratio": 0.3009972482919693, + "epoch": 3.6747163223741635, + "flow_matching_loss": 0.016145282611250877, + "grad_norm": 0.1117720752954483, + "kept_token_count": 571.81875, + "learning_rate": 2.0059282710477972e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9924160718917847, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007583937793970108, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.128125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2937286376953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12630, + "valid_token_count": 818.0515625 + }, + { + "actual_token_mask_ratio": 0.29896360337734224, + "epoch": 3.6776258364853067, + "flow_matching_loss": 0.016791574843227863, + "grad_norm": 0.12327247858047485, + "kept_token_count": 573.5015625, + "learning_rate": 2.0043713835301647e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9924154102802276, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007584588136523962, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 453.46709594726565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6299652099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12640, + "valid_token_count": 818.0734375 + }, + { + "actual_token_mask_ratio": 0.3003905177116394, + "epoch": 3.6805353505964504, + "flow_matching_loss": 0.014347009640187026, + "grad_norm": 0.09939232468605042, + "kept_token_count": 572.3390625, + "learning_rate": 2.0028138831537417e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9922564268112183, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007743573561310768, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.43646240234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.21982421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12650, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.2993659347295761, + "epoch": 3.6834448647075937, + "flow_matching_loss": 0.015469958167523145, + "grad_norm": 0.09605331718921661, + "kept_token_count": 573.3046875, + "learning_rate": 2.0012557718110387e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9926813542842865, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007318652886897326, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.4357543945313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7655792236328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12660, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.29876789450645447, + "epoch": 3.6863543788187374, + "flow_matching_loss": 0.015866009797900916, + "grad_norm": 0.10135409981012344, + "kept_token_count": 573.69375, + "learning_rate": 1.9996970513953077e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9919044673442841, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008095527160912752, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.9305694580078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1255584716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12670, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.29980299770832064, + "epoch": 3.6892638929298807, + "flow_matching_loss": 0.014854921214282512, + "grad_norm": 0.09867224097251892, + "kept_token_count": 573.21875, + "learning_rate": 1.9981377238005405e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9921961784362793, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0078038151375949385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.15891418457034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7365966796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12680, + "valid_token_count": 818.65625 + }, + { + "actual_token_mask_ratio": 0.3004689455032349, + "epoch": 3.6921734070410244, + "flow_matching_loss": 0.016626966232433916, + "grad_norm": 0.11437675356864929, + "kept_token_count": 572.6625, + "learning_rate": 1.9965777909214674e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9921834468841553, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007816561777144671, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.0997283935547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8516021728516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12690, + "valid_token_count": 818.6359375 + }, + { + "actual_token_mask_ratio": 0.3009232759475708, + "epoch": 3.6950829211521676, + "flow_matching_loss": 0.014567566942423582, + "grad_norm": 0.10280869156122208, + "kept_token_count": 571.9578125, + "learning_rate": 1.9950172546535545e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9923761546611786, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007623834256082773, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0797149658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.57537841796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12700, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.30059307515621186, + "epoch": 3.697992435263311, + "flow_matching_loss": 0.015613917261362076, + "grad_norm": 0.0996834933757782, + "kept_token_count": 572.4015625, + "learning_rate": 1.9934561168930002e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9920340836048126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007965915091335773, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.4885009765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4799346923828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12710, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.30247622132301333, + "epoch": 3.7009019493744546, + "flow_matching_loss": 0.017428775038570165, + "grad_norm": 0.11050091683864594, + "kept_token_count": 570.6203125, + "learning_rate": 1.991894379536734e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9919257938861847, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008074197731912137, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.4147521972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.48383178710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12720, + "valid_token_count": 818.0671875 + }, + { + "actual_token_mask_ratio": 0.3005413293838501, + "epoch": 3.703811463485598, + "flow_matching_loss": 0.017622014880180357, + "grad_norm": 0.11838728934526443, + "kept_token_count": 572.234375, + "learning_rate": 1.9903320444824137e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.991808944940567, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00819105887785554, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.311474609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.22235107421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12730, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.30004661679267886, + "epoch": 3.706720977596741, + "flow_matching_loss": 0.014345439709722995, + "grad_norm": 0.1014103963971138, + "kept_token_count": 572.765625, + "learning_rate": 1.9887691136284245e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9925492942333222, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00745070381090045, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 463.1485198974609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8776580810547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12740, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.299447163939476, + "epoch": 3.709630491707885, + "flow_matching_loss": 0.015437473729252815, + "grad_norm": 0.0877763107419014, + "kept_token_count": 573.1125, + "learning_rate": 1.9872055888738745e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9923648655414581, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007635138276964426, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.78745727539064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5965301513672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12750, + "valid_token_count": 818.0828125 + }, + { + "actual_token_mask_ratio": 0.300622895359993, + "epoch": 3.712540005819028, + "flow_matching_loss": 0.016481532761827112, + "grad_norm": 0.08058474957942963, + "kept_token_count": 572.375, + "learning_rate": 1.985641472118593e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9919835090637207, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00801649447530508, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.89068908691405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9861114501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12760, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.3000191956758499, + "epoch": 3.715449519930172, + "flow_matching_loss": 0.01738419011235237, + "grad_norm": 0.1206728145480156, + "kept_token_count": 572.74375, + "learning_rate": 1.9840767652631294e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9920531570911407, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00794685147702694, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.0891387939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.50294189453126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12770, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.29880746006965636, + "epoch": 3.718359034041315, + "flow_matching_loss": 0.015627663303166627, + "grad_norm": 0.11618682742118835, + "kept_token_count": 573.71875, + "learning_rate": 1.9825114702087513e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9918564021587372, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008143605850636958, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.1291259765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9102722167969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12780, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.29797827899456025, + "epoch": 3.7212685481524588, + "flow_matching_loss": 0.01675446266308427, + "grad_norm": 0.11071086674928665, + "kept_token_count": 574.30625, + "learning_rate": 1.9809455888574388e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9914094924926757, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008590515423566102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.17710266113284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.18471069335936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12790, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.30093005001544954, + "epoch": 3.724178062263602, + "flow_matching_loss": 0.01522958530113101, + "grad_norm": 0.09667042642831802, + "kept_token_count": 571.7921875, + "learning_rate": 1.9793791231118864e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9923769176006317, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007623090222477913, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.46190490722654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9499542236328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12800, + "valid_token_count": 817.9328125 + }, + { + "actual_token_mask_ratio": 0.30083917677402494, + "epoch": 3.7270875763747453, + "flow_matching_loss": 0.014004707150161267, + "grad_norm": 0.0877574011683464, + "kept_token_count": 572.134375, + "learning_rate": 1.9778120748754958e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9921912431716919, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007808769587427378, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.96381225585935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.1203552246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12810, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.2987295001745224, + "epoch": 3.729997090485889, + "flow_matching_loss": 0.015710118971765042, + "grad_norm": 0.09466347843408585, + "kept_token_count": 574.01875, + "learning_rate": 1.97624444605238e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9922172129154205, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007782784570008516, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.6245574951172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0939056396484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12820, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.30005972683429716, + "epoch": 3.7329066045970323, + "flow_matching_loss": 0.015401221625506879, + "grad_norm": 0.1145249605178833, + "kept_token_count": 573.0171875, + "learning_rate": 1.9746762385473552e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9917788684368134, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00822112038731575, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.42926025390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8615203857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12830, + "valid_token_count": 818.659375 + }, + { + "actual_token_mask_ratio": 0.3006352841854095, + "epoch": 3.7358161187081755, + "flow_matching_loss": 0.01545812003314495, + "grad_norm": 0.10664760321378708, + "kept_token_count": 572.3796875, + "learning_rate": 1.9731074542659414e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9911486208438873, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008851382229477168, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.67108764648435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.55528259277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12840, + "valid_token_count": 818.425 + }, + { + "actual_token_mask_ratio": 0.3002759963274002, + "epoch": 3.7387256328193192, + "flow_matching_loss": 0.01721090208739042, + "grad_norm": 0.13055799901485443, + "kept_token_count": 572.690625, + "learning_rate": 1.9715380951143603e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9912219285964966, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00877806469798088, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.1541351318359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2359924316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12850, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.2998509883880615, + "epoch": 3.7416351469304625, + "flow_matching_loss": 0.014728821720927954, + "grad_norm": 0.09966208785772324, + "kept_token_count": 572.978125, + "learning_rate": 1.9699681629995295e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9918239533901214, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008176064491271973, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.0292175292969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.00970458984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12860, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.2995315283536911, + "epoch": 3.744544661041606, + "flow_matching_loss": 0.01581020662561059, + "grad_norm": 0.13467635214328766, + "kept_token_count": 573.078125, + "learning_rate": 1.968397659829066e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9920727908611298, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00792720029130578, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.40948181152345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6124237060547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12870, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.29832789599895476, + "epoch": 3.7474541751527495, + "flow_matching_loss": 0.014572363439947366, + "grad_norm": 0.10370497405529022, + "kept_token_count": 574.0015625, + "learning_rate": 1.966826587511279e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9919621884822846, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008037817664444447, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.6993682861328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1468505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12880, + "valid_token_count": 818.0484375 + }, + { + "actual_token_mask_ratio": 0.29989380240440366, + "epoch": 3.750363689263893, + "flow_matching_loss": 0.016667251382023095, + "grad_norm": 0.15315431356430054, + "kept_token_count": 572.7609375, + "learning_rate": 1.965254947955169e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.992336219549179, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007663776725530624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.48735961914065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0822814941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12890, + "valid_token_count": 818.103125 + }, + { + "actual_token_mask_ratio": 0.3004226118326187, + "epoch": 3.7532732033750364, + "flow_matching_loss": 0.013660968746989965, + "grad_norm": 0.10022678226232529, + "kept_token_count": 572.425, + "learning_rate": 1.963682743070427e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9921663761138916, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007833635713905097, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.5084503173828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.93455200195314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12900, + "valid_token_count": 818.2484375 + }, + { + "actual_token_mask_ratio": 0.30020058453083037, + "epoch": 3.7561827174861797, + "flow_matching_loss": 0.014441321138292551, + "grad_norm": 0.11500977724790573, + "kept_token_count": 572.6328125, + "learning_rate": 1.962109974767429e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9920723855495452, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007927628885954618, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.91942443847654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8302703857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12910, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.30025256872177125, + "epoch": 3.7590922315973234, + "flow_matching_loss": 0.015834715217351913, + "grad_norm": 0.1293303370475769, + "kept_token_count": 572.55625, + "learning_rate": 1.960536644957238e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.992612898349762, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007387110032141209, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.7912231445313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.48475952148436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12920, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.298812472820282, + "epoch": 3.7620017457084667, + "flow_matching_loss": 0.01732732029631734, + "grad_norm": 0.12710385024547577, + "kept_token_count": 573.8484375, + "learning_rate": 1.9589627555515974e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9918529331684113, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008147076983004809, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.4963012695313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1026306152344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12930, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.3009339809417725, + "epoch": 3.76491125981961, + "flow_matching_loss": 0.014918310567736626, + "grad_norm": 0.1270837038755417, + "kept_token_count": 572.125, + "learning_rate": 1.9573883084629317e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9920340359210968, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007965973764657974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.3396057128906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.93784790039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12940, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.2993704825639725, + "epoch": 3.7678207739307537, + "flow_matching_loss": 0.016515407618135212, + "grad_norm": 0.11572926491498947, + "kept_token_count": 573.5078125, + "learning_rate": 1.9558133056043422e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9916829228401184, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008317093830555677, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3308349609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5331695556641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12950, + "valid_token_count": 818.5609375 + }, + { + "actual_token_mask_ratio": 0.3007645934820175, + "epoch": 3.770730288041897, + "flow_matching_loss": 0.015519203711301088, + "grad_norm": 0.0923447459936142, + "kept_token_count": 572.1265625, + "learning_rate": 1.9542377488896062e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9916062653064728, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008393731992691755, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.56610412597655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1200744628906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12960, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.2989831119775772, + "epoch": 3.77363980215304, + "flow_matching_loss": 0.014154524262994527, + "grad_norm": 0.11561006307601929, + "kept_token_count": 573.4234375, + "learning_rate": 1.9526616402331733e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9919940829277039, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008005919493734836, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.1210906982422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8496978759766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12970, + "valid_token_count": 817.984375 + }, + { + "actual_token_mask_ratio": 0.29963307082653046, + "epoch": 3.776549316264184, + "flow_matching_loss": 0.014815186709165573, + "grad_norm": 0.11769729107618332, + "kept_token_count": 573.178125, + "learning_rate": 1.9510849815501638e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9920362412929535, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007963759638369084, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.27638854980466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5528625488281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12980, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.29951665103435515, + "epoch": 3.7794588303753276, + "flow_matching_loss": 0.014753229264169932, + "grad_norm": 0.14183712005615234, + "kept_token_count": 573.2171875, + "learning_rate": 1.949507774756368e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9919033825397492, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008096625190228223, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.52491455078126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.30141296386716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 12990, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.29892379641532896, + "epoch": 3.782368344486471, + "flow_matching_loss": 0.01745353192090988, + "grad_norm": 0.1199495941400528, + "kept_token_count": 573.615625, + "learning_rate": 1.9479300217682394e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9917237818241119, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008276218827813864, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.60955505371095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8157196044922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13000, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.2993874788284302, + "epoch": 3.785277858597614, + "flow_matching_loss": 0.014922521822154523, + "grad_norm": 0.1195087656378746, + "kept_token_count": 573.371875, + "learning_rate": 1.946351724502898e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9920194089412689, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00798058109357953, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.1831512451172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4674407958984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13010, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.2986845105886459, + "epoch": 3.788187372708758, + "flow_matching_loss": 0.01511087166145444, + "grad_norm": 0.1063835397362709, + "kept_token_count": 573.95625, + "learning_rate": 1.9447728848781227e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9916574478149414, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008342550974339247, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.66026000976564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.53643493652345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13020, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.2992861449718475, + "epoch": 3.791096886819901, + "flow_matching_loss": 0.014572675805538893, + "grad_norm": 0.12160288542509079, + "kept_token_count": 573.365625, + "learning_rate": 1.943193504812353e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9923868477344513, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076131531037390236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.6618988037109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.0502960205078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13030, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.3004318714141846, + "epoch": 3.7940064009310444, + "flow_matching_loss": 0.014274781569838524, + "grad_norm": 0.07533948123455048, + "kept_token_count": 572.3453125, + "learning_rate": 1.9416135862246846e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.991878217458725, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008121779561042786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.49964599609376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1568634033203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13040, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.2991083115339279, + "epoch": 3.796915915042188, + "flow_matching_loss": 0.016571162547916175, + "grad_norm": 0.14818862080574036, + "kept_token_count": 573.5984375, + "learning_rate": 1.9400331310348673e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9922685980796814, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007731404900550842, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.7088989257812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.42344970703124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13050, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.29929222762584684, + "epoch": 3.7998254291533313, + "flow_matching_loss": 0.014301010500639677, + "grad_norm": 0.11873816698789597, + "kept_token_count": 573.3359375, + "learning_rate": 1.9384521411633033e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9925176799297333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00748232314363122, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.15850830078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1206756591797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13060, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.2996779590845108, + "epoch": 3.8027349432644746, + "flow_matching_loss": 0.012959099654108287, + "grad_norm": 0.09838300943374634, + "kept_token_count": 573.240625, + "learning_rate": 1.936870618531045e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9921428203582764, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007857192028313875, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.4515777587891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9512908935547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13070, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.29967857599258424, + "epoch": 3.8056444573756183, + "flow_matching_loss": 0.016661030985414983, + "grad_norm": 0.1337261199951172, + "kept_token_count": 573.0984375, + "learning_rate": 1.9352885650597904e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.992054694890976, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007945298030972481, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.3356475830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.16258239746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13080, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.29977707862854003, + "epoch": 3.8085539714867616, + "flow_matching_loss": 0.016662428621202707, + "grad_norm": 0.13744883239269257, + "kept_token_count": 573.325, + "learning_rate": 1.9337059826718847e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9925964295864105, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007403564173728228, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.6977294921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3997497558594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13090, + "valid_token_count": 818.7703125 + }, + { + "actual_token_mask_ratio": 0.3004073679447174, + "epoch": 3.8114634855979053, + "flow_matching_loss": 0.014405874069780111, + "grad_norm": 0.13411343097686768, + "kept_token_count": 572.409375, + "learning_rate": 1.932122873290314e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9921141803264618, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007885824888944626, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.5962738037109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.9619659423828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13100, + "valid_token_count": 818.2 + }, + { + "actual_token_mask_ratio": 0.29989070296287534, + "epoch": 3.8143729997090485, + "flow_matching_loss": 0.016801580879837276, + "grad_norm": 0.12680232524871826, + "kept_token_count": 572.76875, + "learning_rate": 1.9305392388387054e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9918322086334228, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008167796209454537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.7657196044922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5266998291016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13110, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.2997684061527252, + "epoch": 3.8172825138201922, + "flow_matching_loss": 0.013879647105932235, + "grad_norm": 0.09314624220132828, + "kept_token_count": 573.071875, + "learning_rate": 1.928955081241325e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.992452722787857, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00754727739840746, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 392.26494140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.48471984863284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13120, + "valid_token_count": 818.4078125 + }, + { + "actual_token_mask_ratio": 0.30053685903549193, + "epoch": 3.8201920279313355, + "flow_matching_loss": 0.015862809121608736, + "grad_norm": 0.11724250763654709, + "kept_token_count": 572.446875, + "learning_rate": 1.9273704024230725e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9915966033935547, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008403388503938913, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.62127075195315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8978729248047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13130, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.3007803618907928, + "epoch": 3.8231015420424788, + "flow_matching_loss": 0.014019806776195765, + "grad_norm": 0.10539165139198303, + "kept_token_count": 572.20625, + "learning_rate": 1.925785204309483e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9921710312366485, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007828979939222335, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.60910949707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.62656860351564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13140, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.30044485330581666, + "epoch": 3.8260110561536225, + "flow_matching_loss": 0.015221787337213754, + "grad_norm": 0.11254385113716125, + "kept_token_count": 572.390625, + "learning_rate": 1.9241994888267212e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9919536590576172, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008046336006373167, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.24834899902345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.38043823242185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13150, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.30025657415390017, + "epoch": 3.8289205702647657, + "flow_matching_loss": 0.013774351123720408, + "grad_norm": 0.10402446985244751, + "kept_token_count": 572.703125, + "learning_rate": 1.9226132579015815e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9921632051467896, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007836784608662129, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 389.49546203613284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.666064453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13160, + "valid_token_count": 818.453125 + }, + { + "actual_token_mask_ratio": 0.30105532705783844, + "epoch": 3.831830084375909, + "flow_matching_loss": 0.016143913753330706, + "grad_norm": 0.09586060792207718, + "kept_token_count": 572.03125, + "learning_rate": 1.9210265134614832e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9921757698059082, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007824239321053028, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.8439880371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2828308105469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13170, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.2998282492160797, + "epoch": 3.8347395984870527, + "flow_matching_loss": 0.014370345417410136, + "grad_norm": 0.09749850630760193, + "kept_token_count": 572.8, + "learning_rate": 1.9194392574344712e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9917418658733368, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008258126396685838, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.2992309570312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0163970947266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13180, + "valid_token_count": 818.0890625 + }, + { + "actual_token_mask_ratio": 0.30032719373703004, + "epoch": 3.837649112598196, + "flow_matching_loss": 0.01737224841490388, + "grad_norm": 0.11115121841430664, + "kept_token_count": 572.428125, + "learning_rate": 1.9178514917492103e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9913363754749298, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008663619309663773, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.22556762695314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5523284912109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13190, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.2998230904340744, + "epoch": 3.8405586267093397, + "flow_matching_loss": 0.013750273920595645, + "grad_norm": 0.11991479247808456, + "kept_token_count": 572.74375, + "learning_rate": 1.9162632183349866e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9918661296367646, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008133867755532265, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.835546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3074432373047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13200, + "valid_token_count": 818.0 + }, + { + "actual_token_mask_ratio": 0.30037967562675477, + "epoch": 3.843468140820483, + "flow_matching_loss": 0.01555914394557476, + "grad_norm": 0.09281067550182343, + "kept_token_count": 572.45625, + "learning_rate": 1.914674439121701e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9922234892845154, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007776526175439358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.67238464355466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4702972412109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13210, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.29999018609523775, + "epoch": 3.8463776549316266, + "flow_matching_loss": 0.014953033160418272, + "grad_norm": 0.10074928402900696, + "kept_token_count": 572.49375, + "learning_rate": 1.9130851560398715e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9918932735919952, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008106711879372596, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.03346252441406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.50257873535156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13220, + "valid_token_count": 817.846875 + }, + { + "actual_token_mask_ratio": 0.2993631064891815, + "epoch": 3.84928716904277, + "flow_matching_loss": 0.015644406620413064, + "grad_norm": 0.10614147782325745, + "kept_token_count": 573.35625, + "learning_rate": 1.911495371020625e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9924505591392517, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007549454178661108, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.35374450683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.77496337890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13230, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.29954556524753573, + "epoch": 3.852196683153913, + "flow_matching_loss": 0.013650270644575357, + "grad_norm": 0.09467516094446182, + "kept_token_count": 573.0109375, + "learning_rate": 1.909905085995702e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9921397387981414, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007860259246081113, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.00531616210935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4902862548828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13240, + "valid_token_count": 818.053125 + }, + { + "actual_token_mask_ratio": 0.2998565465211868, + "epoch": 3.855106197265057, + "flow_matching_loss": 0.015508288890123368, + "grad_norm": 0.09804149717092514, + "kept_token_count": 572.9234375, + "learning_rate": 1.908314302897448e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9918333768844605, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008166639693081379, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.599169921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3300415039063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13250, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.2992294430732727, + "epoch": 3.8580157113762, + "flow_matching_loss": 0.01778506888076663, + "grad_norm": 0.10562854260206223, + "kept_token_count": 573.66875, + "learning_rate": 1.9067230236588142e-05, + "loss": 0.0217, + "mgd_cos_sim": 0.9921176254749298, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00788236502557993, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.1217071533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.0481903076172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13260, + "valid_token_count": 818.6234375 + }, + { + "actual_token_mask_ratio": 0.3014345794916153, + "epoch": 3.8609252254873434, + "flow_matching_loss": 0.014492473565042019, + "grad_norm": 0.09271271526813507, + "kept_token_count": 571.1625, + "learning_rate": 1.905131250213355e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9924424052238464, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007557603716850281, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.4212127685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7264434814453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13270, + "valid_token_count": 817.621875 + }, + { + "actual_token_mask_ratio": 0.29933707118034364, + "epoch": 3.863834739598487, + "flow_matching_loss": 0.015061699226498604, + "grad_norm": 0.10419729351997375, + "kept_token_count": 573.509375, + "learning_rate": 1.9035389844952256e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9922242999076843, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077756944112479685, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.0966552734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.77874450683595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13280, + "valid_token_count": 818.5203125 + }, + { + "actual_token_mask_ratio": 0.2997914254665375, + "epoch": 3.8667442537096304, + "flow_matching_loss": 0.01606965223327279, + "grad_norm": 0.11941059678792953, + "kept_token_count": 572.9140625, + "learning_rate": 1.901946228439179e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9916025638580322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008397443685680628, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.37017822265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1215576171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13290, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.29949577450752257, + "epoch": 3.869653767820774, + "flow_matching_loss": 0.014356966223567724, + "grad_norm": 0.12388457357883453, + "kept_token_count": 573.08125, + "learning_rate": 1.9003529839805637e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9925710797309876, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007428919244557619, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.0810119628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3732086181641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13300, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.29989221692085266, + "epoch": 3.8725632819319173, + "flow_matching_loss": 0.015060647297650576, + "grad_norm": 0.11391651630401611, + "kept_token_count": 572.7296875, + "learning_rate": 1.8987592530553217e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9913182735443116, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008681738842278719, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.26099853515626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4905944824219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13310, + "valid_token_count": 818.0640625 + }, + { + "actual_token_mask_ratio": 0.29989258348941805, + "epoch": 3.875472796043061, + "flow_matching_loss": 0.018710467033088207, + "grad_norm": 0.16301950812339783, + "kept_token_count": 573.0578125, + "learning_rate": 1.897165037599987e-05, + "loss": 0.0227, + "mgd_cos_sim": 0.9920928537845611, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007907133363187314, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.3669036865234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7155303955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13320, + "valid_token_count": 818.521875 + }, + { + "actual_token_mask_ratio": 0.30056422352790835, + "epoch": 3.8783823101542043, + "flow_matching_loss": 0.016411862801760435, + "grad_norm": 0.09957205504179001, + "kept_token_count": 572.3421875, + "learning_rate": 1.8955703395516814e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9920066177845002, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007993384450674056, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.6432800292969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7964660644531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13330, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.30144181549549104, + "epoch": 3.8812918242653476, + "flow_matching_loss": 0.014556498732417822, + "grad_norm": 0.11122925579547882, + "kept_token_count": 571.5359375, + "learning_rate": 1.8939751608481134e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9923777520656586, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076222486793994905, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.68842163085935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.97414245605466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13340, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.29990818798542024, + "epoch": 3.8842013383764913, + "flow_matching_loss": 0.014508845191448927, + "grad_norm": 0.1326616257429123, + "kept_token_count": 572.546875, + "learning_rate": 1.892379503427575e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9923905313014985, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007609483692795039, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.7402069091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9080413818359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13350, + "valid_token_count": 817.8140625 + }, + { + "actual_token_mask_ratio": 0.30046434700489044, + "epoch": 3.8871108524876345, + "flow_matching_loss": 0.017653352208435537, + "grad_norm": 0.12870512902736664, + "kept_token_count": 572.4953125, + "learning_rate": 1.8907833692289412e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9920923352241516, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007907643634825944, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.3389831542969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.55690002441406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13360, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.2983142852783203, + "epoch": 3.890020366598778, + "flow_matching_loss": 0.012664644001051783, + "grad_norm": 0.09598811715841293, + "kept_token_count": 574.16875, + "learning_rate": 1.889186760191666e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9929876327514648, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007012360449880362, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.1371826171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.28826293945315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13370, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.2999226897954941, + "epoch": 3.8929298807099215, + "flow_matching_loss": 0.01466802777722478, + "grad_norm": 0.11244460940361023, + "kept_token_count": 573.19375, + "learning_rate": 1.887589678255779e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9923726439476013, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007627356052398682, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.71331787109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.19597778320315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13380, + "valid_token_count": 818.7625 + }, + { + "actual_token_mask_ratio": 0.2996483027935028, + "epoch": 3.895839394821065, + "flow_matching_loss": 0.014692095946520567, + "grad_norm": 0.16256555914878845, + "kept_token_count": 573.209375, + "learning_rate": 1.8859921253618852e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9920933187007904, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007906674314290285, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.8431091308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3937957763672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13390, + "valid_token_count": 818.4546875 + }, + { + "actual_token_mask_ratio": 0.30010915398597715, + "epoch": 3.898748908932208, + "flow_matching_loss": 0.015738453716039658, + "grad_norm": 0.17787525057792664, + "kept_token_count": 572.6734375, + "learning_rate": 1.884394103451163e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9919258058071136, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008074201736599207, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.04063110351564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7714019775391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13400, + "valid_token_count": 818.2375 + }, + { + "actual_token_mask_ratio": 0.29936922788619996, + "epoch": 3.9016584230433518, + "flow_matching_loss": 0.017035062611103057, + "grad_norm": 0.12456488609313965, + "kept_token_count": 573.4171875, + "learning_rate": 1.8827956144653583e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9915914058685302, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008408602140843869, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 391.9370941162109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5179443359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13410, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.29951576590538026, + "epoch": 3.9045679371544955, + "flow_matching_loss": 0.017242487333714963, + "grad_norm": 0.12704020738601685, + "kept_token_count": 573.284375, + "learning_rate": 1.8811966603467874e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9920854330062866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007914579659700393, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.0195343017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4191864013672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13420, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.3005205154418945, + "epoch": 3.9074774512656387, + "flow_matching_loss": 0.01701980344951153, + "grad_norm": 0.15435945987701416, + "kept_token_count": 572.5828125, + "learning_rate": 1.8795972430383293e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9927984774112701, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007201517652720213, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.4800170898437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.3981903076172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13430, + "valid_token_count": 818.5859375 + }, + { + "actual_token_mask_ratio": 0.2995729446411133, + "epoch": 3.910386965376782, + "flow_matching_loss": 0.01590391108766198, + "grad_norm": 0.12776979804039001, + "kept_token_count": 573.1625, + "learning_rate": 1.8779973644834273e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9921162068843842, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00788378519937396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.88079528808595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.0126708984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13440, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.2998658210039139, + "epoch": 3.9132964794879257, + "flow_matching_loss": 0.01431462550535798, + "grad_norm": 0.1815936118364334, + "kept_token_count": 572.93125, + "learning_rate": 1.876397026626085e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9923273205757142, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076726718805730345, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7141052246094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7592468261719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13450, + "valid_token_count": 818.30625 + }, + { + "actual_token_mask_ratio": 0.2999576270580292, + "epoch": 3.916205993599069, + "flow_matching_loss": 0.014242502860724926, + "grad_norm": 0.1158452183008194, + "kept_token_count": 572.6984375, + "learning_rate": 1.8747962314108633e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9925504565238953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007449563220143318, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.7106597900391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.36485290527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13460, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.29909059703350066, + "epoch": 3.919115507710212, + "flow_matching_loss": 0.015992497466504572, + "grad_norm": 0.14062519371509552, + "kept_token_count": 573.4953125, + "learning_rate": 1.873194980782879e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9916232943534851, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008376702945679427, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 393.25194396972654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7622009277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13470, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.3002980947494507, + "epoch": 3.922025021821356, + "flow_matching_loss": 0.015636570053175092, + "grad_norm": 0.09170317649841309, + "kept_token_count": 572.6046875, + "learning_rate": 1.871593276687804e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9923526287078858, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007647370919585228, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3378479003906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.609765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13480, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.29919859766960144, + "epoch": 3.924934535932499, + "flow_matching_loss": 0.014026640355587006, + "grad_norm": 0.09447108209133148, + "kept_token_count": 573.36875, + "learning_rate": 1.869991121071858e-05, + "loss": 0.018, + "mgd_cos_sim": 0.992119562625885, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007880434673279525, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.42811889648436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.18842163085935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13490, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.3007379651069641, + "epoch": 3.9278440500436425, + "flow_matching_loss": 0.01565552419051528, + "grad_norm": 0.09646773338317871, + "kept_token_count": 572.084375, + "learning_rate": 1.8683885158818117e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9924331724643707, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007566827815026045, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.8860717773438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7289276123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13500, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.3007906496524811, + "epoch": 3.930753564154786, + "flow_matching_loss": 0.01725763650611043, + "grad_norm": 0.11375457793474197, + "kept_token_count": 572.0140625, + "learning_rate": 1.8667854630649825e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9915217399597168, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008478250913321972, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.77308044433596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5278350830078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13510, + "valid_token_count": 818.08125 + }, + { + "actual_token_mask_ratio": 0.299674054980278, + "epoch": 3.9336630782659294, + "flow_matching_loss": 0.013284616265445947, + "grad_norm": 0.13111832737922668, + "kept_token_count": 573.0046875, + "learning_rate": 1.86518196456923e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9923709690570831, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076290290802717205, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.2940185546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.36768493652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13520, + "valid_token_count": 818.2 + }, + { + "actual_token_mask_ratio": 0.3007078468799591, + "epoch": 3.936572592377073, + "flow_matching_loss": 0.014194676093757153, + "grad_norm": 0.09784389287233353, + "kept_token_count": 572.2140625, + "learning_rate": 1.8635780223429565e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9920513689517975, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007948614470660687, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9630584716797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.18873596191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13530, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.2998286455869675, + "epoch": 3.9394821064882164, + "flow_matching_loss": 0.01515798382461071, + "grad_norm": 0.11933671683073044, + "kept_token_count": 572.703125, + "learning_rate": 1.8619736383351017e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9922461688518525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007753833010792732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.7378662109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.32342834472655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13540, + "valid_token_count": 817.95 + }, + { + "actual_token_mask_ratio": 0.30037400126457214, + "epoch": 3.94239162059936, + "flow_matching_loss": 0.016114705661311745, + "grad_norm": 0.07949874550104141, + "kept_token_count": 572.534375, + "learning_rate": 1.8603688144951454e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9926929354667664, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007307092472910881, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.48256530761716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5020294189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13550, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.2999803364276886, + "epoch": 3.9453011347105034, + "flow_matching_loss": 0.016821821220219135, + "grad_norm": 0.11792847514152527, + "kept_token_count": 572.8640625, + "learning_rate": 1.8587635527730983e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9919189810752869, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008081016223877668, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.650390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.38133239746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13560, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.3010870158672333, + "epoch": 3.9482106488216466, + "flow_matching_loss": 0.016247484274208544, + "grad_norm": 0.08155237138271332, + "kept_token_count": 571.946875, + "learning_rate": 1.8571578551195056e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.99193474650383, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008065280690789222, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.6716033935547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1133178710937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13570, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.2993558496236801, + "epoch": 3.9511201629327903, + "flow_matching_loss": 0.016018510423600675, + "grad_norm": 0.10286737978458405, + "kept_token_count": 573.3546875, + "learning_rate": 1.855551723485441e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9919603645801545, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008039649110287428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.61619567871094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.84649658203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13580, + "valid_token_count": 818.3265625 + }, + { + "actual_token_mask_ratio": 0.30018588304519656, + "epoch": 3.9540296770439336, + "flow_matching_loss": 0.017342749703675508, + "grad_norm": 0.1140209436416626, + "kept_token_count": 572.4796875, + "learning_rate": 1.8539451598225066e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9919229626655579, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00807703696191311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.5686309814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4774932861328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13590, + "valid_token_count": 818.05 + }, + { + "actual_token_mask_ratio": 0.2989065945148468, + "epoch": 3.956939191155077, + "flow_matching_loss": 0.014912470895797014, + "grad_norm": 0.13887399435043335, + "kept_token_count": 573.5609375, + "learning_rate": 1.8523381660828276e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.992440265417099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007559726480394602, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.6181884765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.06109619140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13600, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.30019234120845795, + "epoch": 3.9598487052662206, + "flow_matching_loss": 0.013222542125731707, + "grad_norm": 0.12161757051944733, + "kept_token_count": 572.7578125, + "learning_rate": 1.850730744219054e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.991488265991211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008511734940111638, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.44818725585935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0364654541016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13610, + "valid_token_count": 818.4421875 + }, + { + "actual_token_mask_ratio": 0.29991187155246735, + "epoch": 3.962758219377364, + "flow_matching_loss": 0.014777605142444371, + "grad_norm": 0.11646059900522232, + "kept_token_count": 572.725, + "learning_rate": 1.849122896184354e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9917348563671112, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008265145123004913, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.76100463867186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.05739440917966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13620, + "valid_token_count": 818.0765625 + }, + { + "actual_token_mask_ratio": 0.2996000647544861, + "epoch": 3.9656677334885075, + "flow_matching_loss": 0.014402117673307657, + "grad_norm": 0.1207578256726265, + "kept_token_count": 573.321875, + "learning_rate": 1.8475146239324146e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9921864748001099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007813522964715958, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.8107666015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.27012634277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13630, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.29974921345710753, + "epoch": 3.968577247599651, + "flow_matching_loss": 0.013875924749299884, + "grad_norm": 0.11999303102493286, + "kept_token_count": 573.1078125, + "learning_rate": 1.8459059294174396e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9922378957271576, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00776210855692625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.10121154785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.70563049316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13640, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.30072297155857086, + "epoch": 3.9714867617107945, + "flow_matching_loss": 0.01646094135940075, + "grad_norm": 0.12946799397468567, + "kept_token_count": 572.271875, + "learning_rate": 1.844296814594143e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9920517981052399, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00794820124283433, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.99436340332034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7275054931641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13650, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.2998137205839157, + "epoch": 3.9743962758219378, + "flow_matching_loss": 0.013613610062748194, + "grad_norm": 0.11929565668106079, + "kept_token_count": 572.9875, + "learning_rate": 1.8426872814177516e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9926102936267853, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007389708701521158, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.94044494628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.26685791015626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13660, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.29887874722480773, + "epoch": 3.977305789933081, + "flow_matching_loss": 0.01541414726525545, + "grad_norm": 0.11735542118549347, + "kept_token_count": 573.9390625, + "learning_rate": 1.8410773318440003e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.991792094707489, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008207912184298038, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.13597412109374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.69390869140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13670, + "valid_token_count": 818.6 + }, + { + "actual_token_mask_ratio": 0.3004304379224777, + "epoch": 3.9802153040442247, + "flow_matching_loss": 0.018257554806768894, + "grad_norm": 0.16701650619506836, + "kept_token_count": 572.325, + "learning_rate": 1.839466967829129e-05, + "loss": 0.0223, + "mgd_cos_sim": 0.9920039594173431, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007996035553514958, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.82666931152346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.03408203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13680, + "valid_token_count": 818.1046875 + }, + { + "actual_token_mask_ratio": 0.2997924298048019, + "epoch": 3.983124818155368, + "flow_matching_loss": 0.015908720996230842, + "grad_norm": 0.10982086509466171, + "kept_token_count": 572.971875, + "learning_rate": 1.8378561913298822e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9912499368190766, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008750070165842772, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.83580627441404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.28290100097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13690, + "valid_token_count": 818.2828125 + }, + { + "actual_token_mask_ratio": 0.3004689961671829, + "epoch": 3.9860343322665113, + "flow_matching_loss": 0.016514630615711214, + "grad_norm": 0.10534396767616272, + "kept_token_count": 572.3171875, + "learning_rate": 1.8362450043035053e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9921525001525879, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00784749649465084, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.1122802734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9955108642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13700, + "valid_token_count": 818.1515625 + }, + { + "actual_token_mask_ratio": 0.30000407695770265, + "epoch": 3.988943846377655, + "flow_matching_loss": 0.01624585771933198, + "grad_norm": 0.14737102389335632, + "kept_token_count": 572.6484375, + "learning_rate": 1.834633408707742e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9918515026569367, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008148506749421358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.093017578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6307312011719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13710, + "valid_token_count": 818.0671875 + }, + { + "actual_token_mask_ratio": 0.2998075246810913, + "epoch": 3.9918533604887982, + "flow_matching_loss": 0.013890377059578896, + "grad_norm": 0.10396288335323334, + "kept_token_count": 573.203125, + "learning_rate": 1.8330214065008336e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9918584108352662, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008141604624688626, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.50220947265626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.36546630859374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13720, + "valid_token_count": 818.6375 + }, + { + "actual_token_mask_ratio": 0.30046271085739135, + "epoch": 3.994762874599942, + "flow_matching_loss": 0.01825062735006213, + "grad_norm": 0.12956027686595917, + "kept_token_count": 572.16875, + "learning_rate": 1.831408999641514e-05, + "loss": 0.0222, + "mgd_cos_sim": 0.992144501209259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007855476345866919, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.02003173828126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.22686462402345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13730, + "valid_token_count": 817.9265625 + }, + { + "actual_token_mask_ratio": 0.3002845346927643, + "epoch": 3.997672388711085, + "flow_matching_loss": 0.014059843961149454, + "grad_norm": 0.10581626743078232, + "kept_token_count": 572.7859375, + "learning_rate": 1.8297961900890107e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9927618980407715, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072381081990897655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.0259155273437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8546081542969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13740, + "valid_token_count": 818.59375 + }, + { + "actual_token_mask_ratio": 0.3002565324306488, + "epoch": 4.000581902822229, + "flow_matching_loss": 0.01762294750660658, + "grad_norm": 0.12656667828559875, + "kept_token_count": 572.646875, + "learning_rate": 1.8281829798030385e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9925390183925629, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074609947390854355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.29229431152345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5351867675781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13750, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.3007340312004089, + "epoch": 4.003491416933372, + "flow_matching_loss": 0.016738226264715196, + "grad_norm": 0.11825966089963913, + "kept_token_count": 572.1546875, + "learning_rate": 1.8265693707438002e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9915678322315216, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008432149607688188, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.10972595214844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.50035400390624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13760, + "valid_token_count": 818.21875 + }, + { + "actual_token_mask_ratio": 0.2997938275337219, + "epoch": 4.0064009310445154, + "flow_matching_loss": 0.012917825067415834, + "grad_norm": 0.10851222276687622, + "kept_token_count": 573.3140625, + "learning_rate": 1.824955364871982e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9926149129867554, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007385078724473715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.3026153564453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.50507202148435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13770, + "valid_token_count": 818.7765625 + }, + { + "actual_token_mask_ratio": 0.3000303119421005, + "epoch": 4.009310445155659, + "flow_matching_loss": 0.013436722755432128, + "grad_norm": 0.11277320981025696, + "kept_token_count": 572.834375, + "learning_rate": 1.8233409641487553e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9922326266765594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007767358794808388, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.0198150634766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5020263671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13780, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.2996834069490433, + "epoch": 4.012219959266803, + "flow_matching_loss": 0.01419453825801611, + "grad_norm": 0.09814197570085526, + "kept_token_count": 572.8625, + "learning_rate": 1.8217261705357677e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9923308849334717, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007669119723141193, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.9180969238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2671661376953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13790, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.2988452672958374, + "epoch": 4.015129473377946, + "flow_matching_loss": 0.013843446038663387, + "grad_norm": 0.10065317898988724, + "kept_token_count": 573.6421875, + "learning_rate": 1.8201109859951462e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9921035289764404, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007896479777991771, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.6875762939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2162841796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13800, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.2992389380931854, + "epoch": 4.018038987489089, + "flow_matching_loss": 0.014121217839419841, + "grad_norm": 0.11649512499570847, + "kept_token_count": 573.571875, + "learning_rate": 1.818495412489492e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9918551445007324, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008144848328083754, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.8486846923828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.5753936767578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13810, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.29992270171642305, + "epoch": 4.020948501600233, + "flow_matching_loss": 0.016264406219124793, + "grad_norm": 0.11486299335956573, + "kept_token_count": 572.7515625, + "learning_rate": 1.8168794519818802e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9917241096496582, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008275886811316014, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 390.52996520996095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6672729492187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13820, + "valid_token_count": 818.125 + }, + { + "actual_token_mask_ratio": 0.3000406801700592, + "epoch": 4.023858015711376, + "flow_matching_loss": 0.017024338245391846, + "grad_norm": 0.12183720618486404, + "kept_token_count": 572.8359375, + "learning_rate": 1.8152631064358537e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9917944073677063, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008205593377351762, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.5007720947266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0920471191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13830, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.29978591203689575, + "epoch": 4.02676752982252, + "flow_matching_loss": 0.01672551752999425, + "grad_norm": 0.09823770821094513, + "kept_token_count": 573.0828125, + "learning_rate": 1.8136463778154258e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9922082126140594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077917991206049916, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.58168029785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0743743896484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13840, + "valid_token_count": 818.4390625 + }, + { + "actual_token_mask_ratio": 0.2995584487915039, + "epoch": 4.029677043933663, + "flow_matching_loss": 0.015038506593555212, + "grad_norm": 0.11940331012010574, + "kept_token_count": 573.003125, + "learning_rate": 1.812029268085074e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9920916795730591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00790831595659256, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.09119873046876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.79627685546876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13850, + "valid_token_count": 818.059375 + }, + { + "actual_token_mask_ratio": 0.30012365281581876, + "epoch": 4.032586558044806, + "flow_matching_loss": 0.012811162136495113, + "grad_norm": 0.10069403797388077, + "kept_token_count": 572.8453125, + "learning_rate": 1.8104117792097387e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9925105631351471, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007489446084946394, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.5173065185547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.9029052734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13860, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.30028277039527895, + "epoch": 4.03549607215595, + "flow_matching_loss": 0.01610286608338356, + "grad_norm": 0.08613904565572739, + "kept_token_count": 572.6796875, + "learning_rate": 1.808793913154822e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9922093033790589, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007790700625628233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.7302215576172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7733856201172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13870, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.299809330701828, + "epoch": 4.038405586267094, + "flow_matching_loss": 0.016104326862841845, + "grad_norm": 0.10097896307706833, + "kept_token_count": 573.1015625, + "learning_rate": 1.8071756718861838e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9922668993473053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007733080256730318, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1604858398438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.53704223632815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13880, + "valid_token_count": 818.49375 + }, + { + "actual_token_mask_ratio": 0.3005446881055832, + "epoch": 4.041315100378237, + "flow_matching_loss": 0.015658501349389554, + "grad_norm": 0.10265716910362244, + "kept_token_count": 572.0984375, + "learning_rate": 1.805557057370139e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9920841693878174, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007915808912366628, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.2411712646484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.74192199707034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13890, + "valid_token_count": 817.9140625 + }, + { + "actual_token_mask_ratio": 0.29937795996665956, + "epoch": 4.04422461448938, + "flow_matching_loss": 0.014723216649144888, + "grad_norm": 0.10806269198656082, + "kept_token_count": 573.2765625, + "learning_rate": 1.8039380715734574e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9919347167015076, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008065287210047244, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.27239379882815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3975402832031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13900, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.2994386196136475, + "epoch": 4.047134128600524, + "flow_matching_loss": 0.014773548860102893, + "grad_norm": 0.13124646246433258, + "kept_token_count": 573.1203125, + "learning_rate": 1.802318716463359e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9928431868553161, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00715682739391923, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 450.35292358398436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.97144470214846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13910, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.30126226544380186, + "epoch": 4.0500436427116675, + "flow_matching_loss": 0.01372716878540814, + "grad_norm": 0.11265262216329575, + "kept_token_count": 571.6203125, + "learning_rate": 1.8006989940075138e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9922750294208527, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007724976632744074, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.6361450195312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7788452148437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13920, + "valid_token_count": 818.075 + }, + { + "actual_token_mask_ratio": 0.3000111699104309, + "epoch": 4.05295315682281, + "flow_matching_loss": 0.013362811971455812, + "grad_norm": 0.12883146107196808, + "kept_token_count": 572.615625, + "learning_rate": 1.7990789061740368e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.992897880077362, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007102124113589525, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.34349060058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9438812255859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13930, + "valid_token_count": 818.0296875 + }, + { + "actual_token_mask_ratio": 0.29928906857967374, + "epoch": 4.055862670933954, + "flow_matching_loss": 0.01340679293498397, + "grad_norm": 0.10325667262077332, + "kept_token_count": 573.5515625, + "learning_rate": 1.7974584549314875e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9918594181537628, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008140577375888825, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.1860015869141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7721832275391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13940, + "valid_token_count": 818.53125 + }, + { + "actual_token_mask_ratio": 0.29941981434822085, + "epoch": 4.058772185045098, + "flow_matching_loss": 0.015487064328044652, + "grad_norm": 0.09617999196052551, + "kept_token_count": 573.159375, + "learning_rate": 1.7958376422488672e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9921806335449219, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007819369900971651, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.0515533447266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1966156005859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13950, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.30010099411010743, + "epoch": 4.0616816991562406, + "flow_matching_loss": 0.015200922545045615, + "grad_norm": 0.11497148126363754, + "kept_token_count": 572.79375, + "learning_rate": 1.7942164700956156e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9927359521389008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007264035567641258, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.59503784179685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6522216796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13960, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.30021404325962064, + "epoch": 4.064591213267384, + "flow_matching_loss": 0.017345973663032054, + "grad_norm": 0.10378912836313248, + "kept_token_count": 572.4171875, + "learning_rate": 1.79259494044161e-05, + "loss": 0.021, + "mgd_cos_sim": 0.9925947308540344, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007405264675617218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.1687286376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2264038085938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13970, + "valid_token_count": 817.9890625 + }, + { + "actual_token_mask_ratio": 0.29951352477073667, + "epoch": 4.067500727378528, + "flow_matching_loss": 0.013720230665057898, + "grad_norm": 0.11650367826223373, + "kept_token_count": 572.9171875, + "learning_rate": 1.7909730552571617e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9926619708538056, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007338032126426697, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.3781799316406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.90947875976565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13980, + "valid_token_count": 817.8828125 + }, + { + "actual_token_mask_ratio": 0.3008503168821335, + "epoch": 4.070410241489671, + "flow_matching_loss": 0.014693094044923782, + "grad_norm": 0.11034547537565231, + "kept_token_count": 571.9078125, + "learning_rate": 1.7893508165130143e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9920916795730591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007908319029957056, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.69447631835936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.02093505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 13990, + "valid_token_count": 818.0078125 + }, + { + "actual_token_mask_ratio": 0.301482355594635, + "epoch": 4.0733197556008145, + "flow_matching_loss": 0.01283716196194291, + "grad_norm": 0.09452562779188156, + "kept_token_count": 571.659375, + "learning_rate": 1.787728226180341e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9919214725494385, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008078525215387345, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.4000305175781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4654968261719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14000, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.30003797113895414, + "epoch": 4.076229269711958, + "flow_matching_loss": 0.01493480745702982, + "grad_norm": 0.12730523943901062, + "kept_token_count": 572.365625, + "learning_rate": 1.786105286230742e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9922423779964447, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007757637649774551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.8382171630859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.65399475097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14010, + "valid_token_count": 817.7140625 + }, + { + "actual_token_mask_ratio": 0.29984393119812014, + "epoch": 4.079138783823102, + "flow_matching_loss": 0.01580535457469523, + "grad_norm": 0.09382863342761993, + "kept_token_count": 572.9234375, + "learning_rate": 1.784481998636242e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9924563288688659, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007543666567653417, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.3403564453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.2703521728516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14020, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.2998395025730133, + "epoch": 4.082048297934245, + "flow_matching_loss": 0.013311384385451675, + "grad_norm": 0.07045560330152512, + "kept_token_count": 572.81875, + "learning_rate": 1.782858365369289e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9922230482101441, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077769489958882335, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.77826538085935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.72596740722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14030, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.30044379234313967, + "epoch": 4.084957812045388, + "flow_matching_loss": 0.012414788641035557, + "grad_norm": 0.09624224901199341, + "kept_token_count": 572.4171875, + "learning_rate": 1.78123438840275e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.992470246553421, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007529749535024166, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.32383117675784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.31854553222655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14040, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.30042438507080077, + "epoch": 4.087867326156532, + "flow_matching_loss": 0.01733958087861538, + "grad_norm": 0.11869364976882935, + "kept_token_count": 572.5390625, + "learning_rate": 1.779610069709911e-05, + "loss": 0.0212, + "mgd_cos_sim": 0.9923591554164887, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007640833966434002, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.43170776367185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.14910278320315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14050, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.30048092305660246, + "epoch": 4.090776840267675, + "flow_matching_loss": 0.015114723518490792, + "grad_norm": 0.09804768860340118, + "kept_token_count": 572.290625, + "learning_rate": 1.7779854112644713e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9917756080627441, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008224381413310767, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.91318359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.715771484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14060, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.30037765204906464, + "epoch": 4.093686354378819, + "flow_matching_loss": 0.011719119641929865, + "grad_norm": 0.10659971833229065, + "kept_token_count": 572.88125, + "learning_rate": 1.7763604150405446e-05, + "loss": 0.0157, + "mgd_cos_sim": 0.9920189678668976, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00798102207481861, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.57415771484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.49415588378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14070, + "valid_token_count": 818.8453125 + }, + { + "actual_token_mask_ratio": 0.2994635015726089, + "epoch": 4.096595868489962, + "flow_matching_loss": 0.013826553616672755, + "grad_norm": 0.1110079437494278, + "kept_token_count": 573.14375, + "learning_rate": 1.7747350830126548e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9916935324668884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008306463155895472, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.98301696777344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.72791442871096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14080, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.3001344293355942, + "epoch": 4.099505382601105, + "flow_matching_loss": 0.014162212889641524, + "grad_norm": 0.09494327008724213, + "kept_token_count": 572.4046875, + "learning_rate": 1.7731094171557332e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9915106058120727, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0084894017316401, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.23570861816404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.1969421386719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14090, + "valid_token_count": 817.878125 + }, + { + "actual_token_mask_ratio": 0.2993751734495163, + "epoch": 4.102414896712249, + "flow_matching_loss": 0.014021192118525505, + "grad_norm": 0.10434340685606003, + "kept_token_count": 573.346875, + "learning_rate": 1.771483419445117e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9921886265277863, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007811360154300928, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 388.7934844970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5815155029297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14100, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.300131157040596, + "epoch": 4.105324410823393, + "flow_matching_loss": 0.014209169242531062, + "grad_norm": 0.144239604473114, + "kept_token_count": 572.4125, + "learning_rate": 1.7698570918565474e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9923893451690674, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076106622815132145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.17607421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.12510986328124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14110, + "valid_token_count": 817.8859375 + }, + { + "actual_token_mask_ratio": 0.29892506301403043, + "epoch": 4.108233924934536, + "flow_matching_loss": 0.01587680811062455, + "grad_norm": 0.0914098247885704, + "kept_token_count": 573.71875, + "learning_rate": 1.768230436366165e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9921121001243591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007887909840792417, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.5854797363281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.80499877929685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14120, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.2992202877998352, + "epoch": 4.111143439045679, + "flow_matching_loss": 0.014719809126108884, + "grad_norm": 0.08201910555362701, + "kept_token_count": 573.409375, + "learning_rate": 1.7666034549505102e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9926778018474579, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073222010396420956, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.6189361572266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3923706054687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14130, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.3005932092666626, + "epoch": 4.114052953156823, + "flow_matching_loss": 0.013152963202446698, + "grad_norm": 0.10093042254447937, + "kept_token_count": 572.3296875, + "learning_rate": 1.7649761495865185e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9927479028701782, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007252100575715304, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0552276611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.25029907226565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14140, + "valid_token_count": 818.3046875 + }, + { + "actual_token_mask_ratio": 0.30056374669075014, + "epoch": 4.1169624672679666, + "flow_matching_loss": 0.012669302523136139, + "grad_norm": 0.12608948349952698, + "kept_token_count": 572.5828125, + "learning_rate": 1.7633485222515188e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9926988363265992, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007301176059991121, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.4494110107422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5518493652344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14150, + "valid_token_count": 818.640625 + }, + { + "actual_token_mask_ratio": 0.29967956244945526, + "epoch": 4.119871981379109, + "flow_matching_loss": 0.01520657055079937, + "grad_norm": 0.11614090204238892, + "kept_token_count": 573.0125, + "learning_rate": 1.761720574923233e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.991650539636612, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008349455334246159, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7937744140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1164306640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14160, + "valid_token_count": 818.2125 + }, + { + "actual_token_mask_ratio": 0.299125674366951, + "epoch": 4.122781495490253, + "flow_matching_loss": 0.014793418999761342, + "grad_norm": 0.12775586545467377, + "kept_token_count": 573.55625, + "learning_rate": 1.7600923095797704e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9924814343452454, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007518576178699732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.9563781738281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.67001953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14170, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.3006756126880646, + "epoch": 4.125691009601397, + "flow_matching_loss": 0.014782029110938311, + "grad_norm": 0.12368117272853851, + "kept_token_count": 572.2484375, + "learning_rate": 1.758463728199626e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9922760725021362, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077239260077476505, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.8137512207031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6093688964844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14180, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.30059391260147095, + "epoch": 4.12860052371254, + "flow_matching_loss": 0.015831044223159552, + "grad_norm": 0.12484288960695267, + "kept_token_count": 572.2734375, + "learning_rate": 1.7568348327616803e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9917899370193481, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008210068754851817, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.6679229736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.27508850097655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14190, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.3007154673337936, + "epoch": 4.131510037823683, + "flow_matching_loss": 0.015120073314756155, + "grad_norm": 0.10028495639562607, + "kept_token_count": 572.1484375, + "learning_rate": 1.755205625245195e-05, + "loss": 0.019, + "mgd_cos_sim": 0.992308747768402, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007691240962594747, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.9496612548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.82265014648436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14200, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.3010466009378433, + "epoch": 4.134419551934827, + "flow_matching_loss": 0.015644044894725085, + "grad_norm": 0.1282966285943985, + "kept_token_count": 572.05, + "learning_rate": 1.7535761076298104e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9919414937496185, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008058506157249212, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.4578155517578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.3474182128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14210, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.2997220456600189, + "epoch": 4.137329066045971, + "flow_matching_loss": 0.016715450398623943, + "grad_norm": 0.0959138423204422, + "kept_token_count": 572.8328125, + "learning_rate": 1.7519462818955448e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9923940062522888, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007605989463627338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.8960479736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.19154357910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14220, + "valid_token_count": 817.9984375 + }, + { + "actual_token_mask_ratio": 0.30072118937969206, + "epoch": 4.1402385801571135, + "flow_matching_loss": 0.01553751202300191, + "grad_norm": 0.15409009158611298, + "kept_token_count": 572.2640625, + "learning_rate": 1.7503161500227896e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9923931777477264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007606816757470369, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.7967071533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.05442504882814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14230, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.29931764900684354, + "epoch": 4.143148094268257, + "flow_matching_loss": 0.014319170080125333, + "grad_norm": 0.11957082897424698, + "kept_token_count": 573.1, + "learning_rate": 1.7486857139923093e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9923375725746155, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007662409823387862, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4086181640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0605499267578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14240, + "valid_token_count": 817.9171875 + }, + { + "actual_token_mask_ratio": 0.30014878511428833, + "epoch": 4.146057608379401, + "flow_matching_loss": 0.016379116289317607, + "grad_norm": 0.11564315110445023, + "kept_token_count": 572.4765625, + "learning_rate": 1.747054975785236e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9920067310333252, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007993278559297323, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.3375732421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6134826660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14250, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.3005766421556473, + "epoch": 4.148967122490544, + "flow_matching_loss": 0.014097836799919605, + "grad_norm": 0.08726272732019424, + "kept_token_count": 572.3984375, + "learning_rate": 1.745423937383072e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9919450223445893, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008054991718381643, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.47182006835936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.98619079589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14260, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.3002455919981003, + "epoch": 4.1518766366016875, + "flow_matching_loss": 0.01585674425587058, + "grad_norm": 0.14286702871322632, + "kept_token_count": 572.5296875, + "learning_rate": 1.7437926007676825e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9926916301250458, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007308392412960529, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.1855743408203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.33648681640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14270, + "valid_token_count": 818.1796875 + }, + { + "actual_token_mask_ratio": 0.2993399441242218, + "epoch": 4.154786150712831, + "flow_matching_loss": 0.014715692773461343, + "grad_norm": 0.1411934494972229, + "kept_token_count": 573.5046875, + "learning_rate": 1.742160967921294e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9915116965770722, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008488312643021346, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.232275390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.18872985839846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14280, + "valid_token_count": 818.515625 + }, + { + "actual_token_mask_ratio": 0.3014284402132034, + "epoch": 4.157695664823974, + "flow_matching_loss": 0.01395805566571653, + "grad_norm": 0.09391779452562332, + "kept_token_count": 571.671875, + "learning_rate": 1.7405290408264954e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9925269842147827, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007473015785217285, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.8444030761719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.56422119140626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14290, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.3000989526510239, + "epoch": 4.160605178935118, + "flow_matching_loss": 0.016107632033526897, + "grad_norm": 0.08193590492010117, + "kept_token_count": 572.703125, + "learning_rate": 1.738896821466232e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9920301795005798, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007969806529581546, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.7254272460938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3812530517578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14300, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.30051508247852327, + "epoch": 4.163514693046261, + "flow_matching_loss": 0.01785227069631219, + "grad_norm": 0.09250577539205551, + "kept_token_count": 572.26875, + "learning_rate": 1.737264311823804e-05, + "loss": 0.0219, + "mgd_cos_sim": 0.9919484317302704, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008051585406064987, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.9453155517578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5388580322266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14310, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.30050782263278963, + "epoch": 4.166424207157405, + "flow_matching_loss": 0.015185947436839342, + "grad_norm": 0.12087129056453705, + "kept_token_count": 572.5203125, + "learning_rate": 1.7356315138828645e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9925065517425538, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00749345850199461, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.69688720703124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.96811828613284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14320, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.2985380321741104, + "epoch": 4.169333721268548, + "flow_matching_loss": 0.013449092395603657, + "grad_norm": 0.13193367421627045, + "kept_token_count": 574.0203125, + "learning_rate": 1.7339984296274174e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9918830692768097, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008116933703422546, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.70765380859376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.35536193847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14330, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.3006534963846207, + "epoch": 4.172243235379692, + "flow_matching_loss": 0.01789240390062332, + "grad_norm": 0.08537722378969193, + "kept_token_count": 571.9921875, + "learning_rate": 1.7323650610418134e-05, + "loss": 0.0216, + "mgd_cos_sim": 0.9925891041755677, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007410892192274332, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.6998352050781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.5735260009766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14340, + "valid_token_count": 817.8984375 + }, + { + "actual_token_mask_ratio": 0.3001121371984482, + "epoch": 4.175152749490835, + "flow_matching_loss": 0.012700386857613922, + "grad_norm": 0.08242622762918472, + "kept_token_count": 572.6609375, + "learning_rate": 1.730731410110749e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9928374767303467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00716253612190485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.7773895263672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9418884277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14350, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.299539515376091, + "epoch": 4.178062263601978, + "flow_matching_loss": 0.014690656587481499, + "grad_norm": 0.08716614544391632, + "kept_token_count": 573.0953125, + "learning_rate": 1.7290974788192655e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9923018753528595, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007698144111782312, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.7154144287109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.87755432128904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14360, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.29976987838745117, + "epoch": 4.180971777713122, + "flow_matching_loss": 0.013103445898741484, + "grad_norm": 0.07293231785297394, + "kept_token_count": 573.2578125, + "learning_rate": 1.727463269152743e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9923689126968384, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007631084136664868, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 448.6597412109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3796112060547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14370, + "valid_token_count": 818.6671875 + }, + { + "actual_token_mask_ratio": 0.3005550891160965, + "epoch": 4.183881291824266, + "flow_matching_loss": 0.014646712504327298, + "grad_norm": 0.11869211494922638, + "kept_token_count": 572.546875, + "learning_rate": 1.7258287830968996e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9925449609756469, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007455035299062729, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.2404846191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.14397583007815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14380, + "valid_token_count": 818.5765625 + }, + { + "actual_token_mask_ratio": 0.3005236029624939, + "epoch": 4.186790805935408, + "flow_matching_loss": 0.01589732160791755, + "grad_norm": 0.10264687985181808, + "kept_token_count": 572.2203125, + "learning_rate": 1.7241940226377908e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9918246150016785, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008175374008715153, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.96827392578126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0126251220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14390, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.2996312081813812, + "epoch": 4.189700320046552, + "flow_matching_loss": 0.013752348814159631, + "grad_norm": 0.10124297440052032, + "kept_token_count": 573.046875, + "learning_rate": 1.7225589897618043e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9926362276077271, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007363770063966513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 468.8304077148438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1305786132813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14400, + "valid_token_count": 818.2015625 + }, + { + "actual_token_mask_ratio": 0.2998222321271896, + "epoch": 4.192609834157696, + "flow_matching_loss": 0.013761844113469123, + "grad_norm": 0.10612492263317108, + "kept_token_count": 572.85, + "learning_rate": 1.7209236864556588e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9924881756305695, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007511813752353191, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.489306640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.120166015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14410, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.30022871792316436, + "epoch": 4.195519348268839, + "flow_matching_loss": 0.012661122344434261, + "grad_norm": 0.06643622368574142, + "kept_token_count": 572.471875, + "learning_rate": 1.719288114706403e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9922950863838196, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007704906724393367, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.43389892578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.80275573730466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14420, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.3005896985530853, + "epoch": 4.198428862379982, + "flow_matching_loss": 0.014306244254112244, + "grad_norm": 0.11277857422828674, + "kept_token_count": 572.1296875, + "learning_rate": 1.7176522765014104e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9917492568492889, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00825073393061757, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.8142578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.4501647949219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14430, + "valid_token_count": 818.0109375 + }, + { + "actual_token_mask_ratio": 0.30010342597961426, + "epoch": 4.201338376491126, + "flow_matching_loss": 0.016195883695036172, + "grad_norm": 0.11763140559196472, + "kept_token_count": 572.68125, + "learning_rate": 1.7160161738283782e-05, + "loss": 0.0199, + "mgd_cos_sim": 0.9925869584083558, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007413056213408709, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.07854919433595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.82392578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14440, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.3007338374853134, + "epoch": 4.20424789060227, + "flow_matching_loss": 0.01300276517868042, + "grad_norm": 0.12069660425186157, + "kept_token_count": 572.2703125, + "learning_rate": 1.714379808675326e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9928920567035675, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007107945624738932, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.2796600341797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3926300048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14450, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.2998352497816086, + "epoch": 4.207157404713413, + "flow_matching_loss": 0.013622470386326312, + "grad_norm": 0.11092379689216614, + "kept_token_count": 572.63125, + "learning_rate": 1.712743183030592e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9928312063217163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071687974967062475, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.8139221191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.92051391601564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14460, + "valid_token_count": 817.8609375 + }, + { + "actual_token_mask_ratio": 0.2981801688671112, + "epoch": 4.210066918824556, + "flow_matching_loss": 0.013971211761236191, + "grad_norm": 0.11162127554416656, + "kept_token_count": 574.44375, + "learning_rate": 1.7111062988828294e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9922973334789276, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007702671736478805, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.839990234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8093017578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14470, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.2994658946990967, + "epoch": 4.2129764329357, + "flow_matching_loss": 0.01238849787041545, + "grad_norm": 0.11904386430978775, + "kept_token_count": 573.434375, + "learning_rate": 1.709469158221008e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9926115274429321, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007388459704816342, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.69598083496095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7657165527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14480, + "valid_token_count": 818.571875 + }, + { + "actual_token_mask_ratio": 0.3003057986497879, + "epoch": 4.215885947046843, + "flow_matching_loss": 0.014697658177465201, + "grad_norm": 0.07489123195409775, + "kept_token_count": 572.4828125, + "learning_rate": 1.7078317630344083e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9916814506053925, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008318551629781724, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.3420654296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.75269775390626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14490, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.2997052013874054, + "epoch": 4.2187954611579865, + "flow_matching_loss": 0.013559076935052872, + "grad_norm": 0.08195782452821732, + "kept_token_count": 573.1765625, + "learning_rate": 1.706194115312618e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.992285180091858, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077148090116679665, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.0456237792969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.19158630371095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14500, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.2994188219308853, + "epoch": 4.22170497526913, + "flow_matching_loss": 0.01622803071513772, + "grad_norm": 0.11816626042127609, + "kept_token_count": 573.278125, + "learning_rate": 1.704556217045536e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9923488199710846, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076511790044605735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.63426208496094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5313720703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14510, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.2989898532629013, + "epoch": 4.224614489380274, + "flow_matching_loss": 0.014502452034503222, + "grad_norm": 0.11491052806377411, + "kept_token_count": 573.784375, + "learning_rate": 1.7029180702233612e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9922140955924987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007785905525088311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.6357940673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.999755859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14520, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.29973383247852325, + "epoch": 4.227524003491417, + "flow_matching_loss": 0.014692846592515707, + "grad_norm": 0.09855674207210541, + "kept_token_count": 572.6796875, + "learning_rate": 1.7012796768365975e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9922566056251526, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007743378076702357, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.24542846679685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6026153564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14530, + "valid_token_count": 817.80625 + }, + { + "actual_token_mask_ratio": 0.30022192001342773, + "epoch": 4.2304335176025605, + "flow_matching_loss": 0.013434580806642771, + "grad_norm": 0.10755234211683273, + "kept_token_count": 572.63125, + "learning_rate": 1.6996410388760465e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9925260543823242, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007473955303430558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.2322570800781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.8355346679688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14540, + "valid_token_count": 818.3046875 + }, + { + "actual_token_mask_ratio": 0.2996846854686737, + "epoch": 4.233343031713704, + "flow_matching_loss": 0.015454652346670627, + "grad_norm": 0.09669231623411179, + "kept_token_count": 573.0359375, + "learning_rate": 1.698002158332809e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9920885562896729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007911445666104555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.2873565673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4977111816406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14550, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.2996888428926468, + "epoch": 4.236252545824847, + "flow_matching_loss": 0.015153436362743378, + "grad_norm": 0.09640432149171829, + "kept_token_count": 572.940625, + "learning_rate": 1.6963630371982783e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9923510670661926, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007648929860442877, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.7302490234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0295654296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14560, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.30049424171447753, + "epoch": 4.239162059935991, + "flow_matching_loss": 0.014294366259127856, + "grad_norm": 0.08182549476623535, + "kept_token_count": 572.3703125, + "learning_rate": 1.6947236774641416e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9921064078807831, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00789360087364912, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.95233154296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6449249267578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14570, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.29981144666671755, + "epoch": 4.242071574047134, + "flow_matching_loss": 0.014205119712278247, + "grad_norm": 0.10655512660741806, + "kept_token_count": 572.91875, + "learning_rate": 1.6930840811223755e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9919426262378692, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008057370409369468, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.80760498046874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2861572265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14580, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.30051096975803376, + "epoch": 4.244981088158277, + "flow_matching_loss": 0.014363393746316433, + "grad_norm": 0.15227632224559784, + "kept_token_count": 572.3546875, + "learning_rate": 1.6914442501652448e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9920500099658967, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007949985098093748, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.1965606689453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.48374633789064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14590, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.3010831087827682, + "epoch": 4.247890602269421, + "flow_matching_loss": 0.013221648056060076, + "grad_norm": 0.07846444100141525, + "kept_token_count": 571.878125, + "learning_rate": 1.6898041865852974e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.993010151386261, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006989858578890562, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 463.3660034179687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.02867126464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14600, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.29886373579502107, + "epoch": 4.250800116380565, + "flow_matching_loss": 0.014817484095692635, + "grad_norm": 0.09727071225643158, + "kept_token_count": 573.5296875, + "learning_rate": 1.6881638923753663e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9921611189842224, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00783887766301632, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.4923828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1424194335938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14610, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.29975988864898684, + "epoch": 4.2537096304917075, + "flow_matching_loss": 0.013453328330069781, + "grad_norm": 0.12341643869876862, + "kept_token_count": 572.859375, + "learning_rate": 1.6865233695285632e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9922822773456573, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007717728149145842, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 397.64378967285154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9745147705078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14620, + "valid_token_count": 818.0953125 + }, + { + "actual_token_mask_ratio": 0.3003368675708771, + "epoch": 4.256619144602851, + "flow_matching_loss": 0.013642904162406922, + "grad_norm": 0.10250288993120193, + "kept_token_count": 572.55, + "learning_rate": 1.6848826200382782e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9924933969974518, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007506599929183721, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.44841918945315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.69733276367185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14630, + "valid_token_count": 818.3265625 + }, + { + "actual_token_mask_ratio": 0.30016996562480924, + "epoch": 4.259528658713995, + "flow_matching_loss": 0.014372058119624853, + "grad_norm": 0.11280183494091034, + "kept_token_count": 572.603125, + "learning_rate": 1.6832416458981762e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9925261378288269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007473869808018207, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.5183959960938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.43385925292966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14640, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.2999161660671234, + "epoch": 4.262438172825139, + "flow_matching_loss": 0.01356651559472084, + "grad_norm": 0.13119640946388245, + "kept_token_count": 572.925, + "learning_rate": 1.681600449102196e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.991573053598404, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008426949847489595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.0306335449219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3069183349609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14650, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.2998171538114548, + "epoch": 4.265347686936281, + "flow_matching_loss": 0.014280120935291052, + "grad_norm": 0.12620128691196442, + "kept_token_count": 572.978125, + "learning_rate": 1.6799590316445468e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9922000348567963, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007799960859119892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.88779296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.04523315429685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14660, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.29908588230609895, + "epoch": 4.268257201047425, + "flow_matching_loss": 0.017202277574688195, + "grad_norm": 0.10012120008468628, + "kept_token_count": 573.6296875, + "learning_rate": 1.678317395519705e-05, + "loss": 0.0213, + "mgd_cos_sim": 0.9918116807937623, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008188312686979771, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.8521362304688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.39789428710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14670, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.2993606597185135, + "epoch": 4.271166715158569, + "flow_matching_loss": 0.015404739044606685, + "grad_norm": 0.10448139905929565, + "kept_token_count": 573.5125, + "learning_rate": 1.676675542722413e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9919502437114716, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008049763832241296, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.949462890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2069366455078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14680, + "valid_token_count": 818.55 + }, + { + "actual_token_mask_ratio": 0.2994419127702713, + "epoch": 4.274076229269712, + "flow_matching_loss": 0.013521583005785941, + "grad_norm": 0.10662433505058289, + "kept_token_count": 573.203125, + "learning_rate": 1.6750334752476776e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9926780700683594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007321931049227714, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.6752990722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8525848388672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14690, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.29910852015018463, + "epoch": 4.276985743380855, + "flow_matching_loss": 0.016440661624073982, + "grad_norm": 0.1251906305551529, + "kept_token_count": 573.621875, + "learning_rate": 1.673391195090765e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9925287544727326, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007471240311861038, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.95488891601565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.81084899902345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14700, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.30001831650733946, + "epoch": 4.279895257491999, + "flow_matching_loss": 0.013160082325339318, + "grad_norm": 0.10443022847175598, + "kept_token_count": 572.93125, + "learning_rate": 1.6717487042472006e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9922175943851471, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007782406080514193, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.1471466064453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.4388366699219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14710, + "valid_token_count": 818.5 + }, + { + "actual_token_mask_ratio": 0.30059848427772523, + "epoch": 4.282804771603142, + "flow_matching_loss": 0.014866403117775918, + "grad_norm": 0.12031621485948563, + "kept_token_count": 572.6234375, + "learning_rate": 1.6701060047127655e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9921096920967102, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007890314515680074, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.939013671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.54114990234376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14720, + "valid_token_count": 818.740625 + }, + { + "actual_token_mask_ratio": 0.30018773674964905, + "epoch": 4.285714285714286, + "flow_matching_loss": 0.016892490349709986, + "grad_norm": 0.13163211941719055, + "kept_token_count": 572.709375, + "learning_rate": 1.6684630984834947e-05, + "loss": 0.0207, + "mgd_cos_sim": 0.9923708260059356, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00762918870896101, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.36736755371095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.56251831054686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14730, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.30071812570095063, + "epoch": 4.288623799825429, + "flow_matching_loss": 0.013671771017834544, + "grad_norm": 0.09697563201189041, + "kept_token_count": 572.0109375, + "learning_rate": 1.666819987555675e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9927158653736115, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007284131646156311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.8443206787109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1210876464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14740, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.3001632660627365, + "epoch": 4.291533313936573, + "flow_matching_loss": 0.01320466846227646, + "grad_norm": 0.11438874900341034, + "kept_token_count": 572.50625, + "learning_rate": 1.6651766739258392e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9925966382026672, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007403362262994051, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.3791564941406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5702270507812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14750, + "valid_token_count": 818.0578125 + }, + { + "actual_token_mask_ratio": 0.30024164021015165, + "epoch": 4.294442828047716, + "flow_matching_loss": 0.015335288271307946, + "grad_norm": 0.11046501994132996, + "kept_token_count": 572.9109375, + "learning_rate": 1.6635331595907704e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9926783919334412, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007321603037416935, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.28063049316404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.53675842285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14760, + "valid_token_count": 818.7328125 + }, + { + "actual_token_mask_ratio": 0.30097473561763766, + "epoch": 4.2973523421588595, + "flow_matching_loss": 0.01416056789457798, + "grad_norm": 0.09775843471288681, + "kept_token_count": 572.29375, + "learning_rate": 1.6618894465474923e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9928896963596344, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007110321521759033, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.4622497558594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.07489318847655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14770, + "valid_token_count": 818.7078125 + }, + { + "actual_token_mask_ratio": 0.3007712662220001, + "epoch": 4.300261856270003, + "flow_matching_loss": 0.014211794920265674, + "grad_norm": 0.10937221348285675, + "kept_token_count": 572.109375, + "learning_rate": 1.660245536793271e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9921541810035706, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007845817133784294, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.33612670898435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.42230529785155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14780, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.3010705322027206, + "epoch": 4.303171370381146, + "flow_matching_loss": 0.013888429943472147, + "grad_norm": 0.13185104727745056, + "kept_token_count": 571.909375, + "learning_rate": 1.6586014323256126e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9919290721416474, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008070908300578595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.43578186035154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1721954345703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14790, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.30023784637451173, + "epoch": 4.30608088449229, + "flow_matching_loss": 0.015348926186561584, + "grad_norm": 0.09971679002046585, + "kept_token_count": 572.49375, + "learning_rate": 1.656957135142259e-05, + "loss": 0.019, + "mgd_cos_sim": 0.992630010843277, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007369987014681101, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.52513427734374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.01197814941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14800, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.3001603037118912, + "epoch": 4.3089903986034335, + "flow_matching_loss": 0.01511661298573017, + "grad_norm": 0.09589391201734543, + "kept_token_count": 572.8875, + "learning_rate": 1.655312647241186e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9923309803009033, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076690252870321276, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.9570251464844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.66981811523436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14810, + "valid_token_count": 818.5984375 + }, + { + "actual_token_mask_ratio": 0.30045532882213594, + "epoch": 4.311899912714576, + "flow_matching_loss": 0.012322686053812504, + "grad_norm": 0.08475257456302643, + "kept_token_count": 572.571875, + "learning_rate": 1.6536679706206015e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9927075505256653, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007292437646538019, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.2940734863281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3792419433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14820, + "valid_token_count": 818.4921875 + }, + { + "actual_token_mask_ratio": 0.30073406398296354, + "epoch": 4.31480942682572, + "flow_matching_loss": 0.016041260678321123, + "grad_norm": 0.08910907804965973, + "kept_token_count": 572.2921875, + "learning_rate": 1.6520231072789427e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9915643334388733, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00843565771356225, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.5302459716797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1859497070312, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14830, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.2993137717247009, + "epoch": 4.317718940936864, + "flow_matching_loss": 0.015002095699310302, + "grad_norm": 0.11297912895679474, + "kept_token_count": 573.1921875, + "learning_rate": 1.6503780592148737e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9923195958137512, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076804087497293946, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.48671569824216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.16432189941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14840, + "valid_token_count": 818.0484375 + }, + { + "actual_token_mask_ratio": 0.2997874528169632, + "epoch": 4.320628455048007, + "flow_matching_loss": 0.012126873340457677, + "grad_norm": 0.0770798921585083, + "kept_token_count": 572.9546875, + "learning_rate": 1.648732828427283e-05, + "loss": 0.0159, + "mgd_cos_sim": 0.9924019813537598, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007597997412085533, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.23304138183596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9629638671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14850, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.30036700963974, + "epoch": 4.32353796915915, + "flow_matching_loss": 0.014915048517286778, + "grad_norm": 0.1045181080698967, + "kept_token_count": 572.5828125, + "learning_rate": 1.647087416915281e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9923685193061829, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007631466258317232, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.99244079589846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.06163635253904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14860, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.3006304293870926, + "epoch": 4.326447483270294, + "flow_matching_loss": 0.014762770850211382, + "grad_norm": 0.09985187649726868, + "kept_token_count": 572.3046875, + "learning_rate": 1.6454418266781987e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.992108964920044, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007891025952994823, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.85552673339845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8158660888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14870, + "valid_token_count": 818.315625 + }, + { + "actual_token_mask_ratio": 0.3006743282079697, + "epoch": 4.329356997381438, + "flow_matching_loss": 0.01588472379371524, + "grad_norm": 0.13347342610359192, + "kept_token_count": 572.2046875, + "learning_rate": 1.6437960597155824e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9921137511730194, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00788623746484518, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.6225341796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0782989501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14880, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.3002876043319702, + "epoch": 4.3322665114925805, + "flow_matching_loss": 0.01441992623731494, + "grad_norm": 0.10357462614774704, + "kept_token_count": 572.715625, + "learning_rate": 1.642150118027194e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9923655748367309, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007634425722062588, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.2269561767578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7818908691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14890, + "valid_token_count": 818.4984375 + }, + { + "actual_token_mask_ratio": 0.29975695013999937, + "epoch": 4.335176025603724, + "flow_matching_loss": 0.017099079955369235, + "grad_norm": 0.14449404180049896, + "kept_token_count": 573.1578125, + "learning_rate": 1.640504003613009e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9923335671424866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007666425313800573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.68113708496094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0897186279297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14900, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.29993989765644075, + "epoch": 4.338085539714868, + "flow_matching_loss": 0.01570558939129114, + "grad_norm": 0.10794312506914139, + "kept_token_count": 572.7296875, + "learning_rate": 1.6388577184732107e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9923381805419922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007661822717636824, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.69471130371096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9046295166016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14910, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.2999744683504105, + "epoch": 4.340995053826011, + "flow_matching_loss": 0.013771733175963164, + "grad_norm": 0.08876538276672363, + "kept_token_count": 572.8, + "learning_rate": 1.6372112646081907e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.992813116312027, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007186883222311735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 387.8105194091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8222991943359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14920, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.3002903938293457, + "epoch": 4.343904567937154, + "flow_matching_loss": 0.016961565148085354, + "grad_norm": 0.15726487338542938, + "kept_token_count": 572.55625, + "learning_rate": 1.6355646440185464e-05, + "loss": 0.0209, + "mgd_cos_sim": 0.9921734571456909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007826538663357497, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.93152770996096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.05650329589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14930, + "valid_token_count": 818.2765625 + }, + { + "actual_token_mask_ratio": 0.299527582526207, + "epoch": 4.346814082048298, + "flow_matching_loss": 0.015461582690477371, + "grad_norm": 0.1033560261130333, + "kept_token_count": 573.2609375, + "learning_rate": 1.6339178587050764e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9923395454883576, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007660455070436001, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.2489929199219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4234222412109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14940, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.2999296814203262, + "epoch": 4.349723596159441, + "flow_matching_loss": 0.013791596377268433, + "grad_norm": 0.12704072892665863, + "kept_token_count": 572.8625, + "learning_rate": 1.632270910668781e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9924485445022583, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00755144776776433, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.4881103515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.60894470214845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14950, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.3009100705385208, + "epoch": 4.352633110270585, + "flow_matching_loss": 0.012586050294339656, + "grad_norm": 0.08429988473653793, + "kept_token_count": 572.228125, + "learning_rate": 1.6306238019108562e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9925993263721467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074006784707307816, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.3459869384766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8199798583984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14960, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.299432760477066, + "epoch": 4.355542624381728, + "flow_matching_loss": 0.014821689762175082, + "grad_norm": 0.09171834588050842, + "kept_token_count": 573.6, + "learning_rate": 1.6289765344326952e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9923897206783294, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007610275596380234, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.59397583007814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.48443298339845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14970, + "valid_token_count": 818.7609375 + }, + { + "actual_token_mask_ratio": 0.29932203590869905, + "epoch": 4.358452138492872, + "flow_matching_loss": 0.014418069319799543, + "grad_norm": 0.07411608844995499, + "kept_token_count": 573.1671875, + "learning_rate": 1.6273291102358833e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9929135262966156, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00708647295832634, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.4279083251953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.30438232421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14980, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.2986560523509979, + "epoch": 4.361361652604015, + "flow_matching_loss": 0.014134076423943043, + "grad_norm": 0.12168348580598831, + "kept_token_count": 573.8453125, + "learning_rate": 1.6256815313221963e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9926039457321167, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007396044861525297, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.9471862792969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.48284301757815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 14990, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.30085036158561707, + "epoch": 4.364271166715159, + "flow_matching_loss": 0.01468268372118473, + "grad_norm": 0.12307729572057724, + "kept_token_count": 572.1734375, + "learning_rate": 1.6240337996935972e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9925879836082458, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007412008475512266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.2886138916016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1387481689453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15000, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.30044602751731875, + "epoch": 4.367180680826302, + "flow_matching_loss": 0.016370963118970395, + "grad_norm": 0.1161617860198021, + "kept_token_count": 572.5828125, + "learning_rate": 1.6223859173522367e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9926193535327912, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007380649726837873, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.2961883544922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.77301635742185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15010, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.29984337091445923, + "epoch": 4.370090194937445, + "flow_matching_loss": 0.015423752088099717, + "grad_norm": 0.11883898079395294, + "kept_token_count": 573.003125, + "learning_rate": 1.6207378863004455e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9927438139915467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007256192713975906, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.76927185058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2737152099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15020, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.30053567588329316, + "epoch": 4.372999709048589, + "flow_matching_loss": 0.013300835993140936, + "grad_norm": 0.11669885367155075, + "kept_token_count": 572.3859375, + "learning_rate": 1.6190897085407382e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9924106419086456, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007589364517480135, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.4652160644531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0620574951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15030, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.299970817565918, + "epoch": 4.3759092231597325, + "flow_matching_loss": 0.013210808858275414, + "grad_norm": 0.09581097960472107, + "kept_token_count": 572.875, + "learning_rate": 1.617441386075805e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9923485577106476, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007651441730558872, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3675476074219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1043701171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15040, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.29935153424739835, + "epoch": 4.378818737270876, + "flow_matching_loss": 0.013888117298483849, + "grad_norm": 0.12305018305778503, + "kept_token_count": 573.44375, + "learning_rate": 1.6157929209085142e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9928327023983001, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071672964841127396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.0983367919922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.459228515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15050, + "valid_token_count": 818.44375 + }, + { + "actual_token_mask_ratio": 0.2995411902666092, + "epoch": 4.381728251382019, + "flow_matching_loss": 0.01427125851623714, + "grad_norm": 0.0787581279873848, + "kept_token_count": 573.2875, + "learning_rate": 1.614144315041906e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9934659719467163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065340218134224415, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.67461547851565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9465026855469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15060, + "valid_token_count": 818.4375 + }, + { + "actual_token_mask_ratio": 0.3000000476837158, + "epoch": 4.384637765493163, + "flow_matching_loss": 0.015409307554364204, + "grad_norm": 0.11099664121866226, + "kept_token_count": 572.6453125, + "learning_rate": 1.612495570479192e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9927856743335723, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007214319240301847, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.3231719970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7474029541016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15070, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.3000532925128937, + "epoch": 4.3875472796043065, + "flow_matching_loss": 0.01734794620424509, + "grad_norm": 0.13052557408809662, + "kept_token_count": 572.8234375, + "learning_rate": 1.6108466892237517e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9924549281597137, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007545076590031385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.0371978759766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2656311035156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15080, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.3006899684667587, + "epoch": 4.390456793715449, + "flow_matching_loss": 0.016613923385739325, + "grad_norm": 0.12143905460834503, + "kept_token_count": 572.1234375, + "learning_rate": 1.609197673279132e-05, + "loss": 0.0203, + "mgd_cos_sim": 0.9925644099712372, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007435581926256418, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.9466186523438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5799072265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15090, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.29912050664424894, + "epoch": 4.393366307826593, + "flow_matching_loss": 0.015094748325645923, + "grad_norm": 0.10764104127883911, + "kept_token_count": 573.4078125, + "learning_rate": 1.6075485246490428e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9924870252609252, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007512977253645659, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.267041015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4663116455078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15100, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.29953467547893525, + "epoch": 4.396275821937737, + "flow_matching_loss": 0.015941360546275974, + "grad_norm": 0.09479706734418869, + "kept_token_count": 572.9890625, + "learning_rate": 1.605899245337355e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9922375380992889, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007762447837740183, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.03224792480466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.4043426513672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15110, + "valid_token_count": 818.0203125 + }, + { + "actual_token_mask_ratio": 0.2992706924676895, + "epoch": 4.3991853360488795, + "flow_matching_loss": 0.014497958216816187, + "grad_norm": 0.13955742120742798, + "kept_token_count": 573.5453125, + "learning_rate": 1.6042498373480983e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9927637100219726, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007236295286566019, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 456.1442840576172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8157043457031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15120, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.3007060021162033, + "epoch": 4.402094850160023, + "flow_matching_loss": 0.01256695226766169, + "grad_norm": 0.08631281554698944, + "kept_token_count": 572.4140625, + "learning_rate": 1.602600302685459e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.99224893450737, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007751083187758923, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.1926696777344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2805114746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15130, + "valid_token_count": 818.553125 + }, + { + "actual_token_mask_ratio": 0.2998866498470306, + "epoch": 4.405004364271167, + "flow_matching_loss": 0.015647246222943067, + "grad_norm": 0.13863664865493774, + "kept_token_count": 573.040625, + "learning_rate": 1.6009506433537774e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9918217420578003, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008178251981735229, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.9234588623047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0229797363281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15140, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.29911175072193147, + "epoch": 4.40791387838231, + "flow_matching_loss": 0.013642536383122206, + "grad_norm": 0.09394628554582596, + "kept_token_count": 573.334375, + "learning_rate": 1.599300861357545e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9925715982913971, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007428411114960909, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.3702819824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.89117126464845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15150, + "valid_token_count": 818.0125 + }, + { + "actual_token_mask_ratio": 0.3001770079135895, + "epoch": 4.4108233924934535, + "flow_matching_loss": 0.01362896035425365, + "grad_norm": 0.13413786888122559, + "kept_token_count": 572.428125, + "learning_rate": 1.5976509587014032e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9918044209480286, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008195577282458543, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.97364807128906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.24427795410156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15160, + "valid_token_count": 817.965625 + }, + { + "actual_token_mask_ratio": 0.2999032586812973, + "epoch": 4.413732906604597, + "flow_matching_loss": 0.015309754200279713, + "grad_norm": 0.10016129165887833, + "kept_token_count": 572.74375, + "learning_rate": 1.5960009373901384e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9922665894031525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007733394019305706, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.1763549804688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5071502685547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15170, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.29977419078350065, + "epoch": 4.416642420715741, + "flow_matching_loss": 0.015047561563551425, + "grad_norm": 0.11412863433361053, + "kept_token_count": 573.1203125, + "learning_rate": 1.5943507994286823e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9921715557575226, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007828438188880682, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 401.0687561035156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2364135742188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15180, + "valid_token_count": 818.4796875 + }, + { + "actual_token_mask_ratio": 0.2998787581920624, + "epoch": 4.419551934826884, + "flow_matching_loss": 0.016857370361685754, + "grad_norm": 0.10829568654298782, + "kept_token_count": 572.8640625, + "learning_rate": 1.5927005468221082e-05, + "loss": 0.0208, + "mgd_cos_sim": 0.9920248806476593, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007975124847143888, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.12843322753906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8170166015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15190, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.30014537274837494, + "epoch": 4.422461448938027, + "flow_matching_loss": 0.014662875328212976, + "grad_norm": 0.10816586017608643, + "kept_token_count": 572.5203125, + "learning_rate": 1.5910501815756285e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9926226794719696, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007377327606081963, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.3346771240234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.64435424804685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15200, + "valid_token_count": 818.0640625 + }, + { + "actual_token_mask_ratio": 0.2989520341157913, + "epoch": 4.425370963049171, + "flow_matching_loss": 0.013579557184129953, + "grad_norm": 0.10885093361139297, + "kept_token_count": 573.7796875, + "learning_rate": 1.589399705694593e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9925717771053314, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074282286688685415, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3166900634766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0908538818359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15210, + "valid_token_count": 818.45625 + }, + { + "actual_token_mask_ratio": 0.29973816573619844, + "epoch": 4.428280477160314, + "flow_matching_loss": 0.01445267666131258, + "grad_norm": 0.10133900493383408, + "kept_token_count": 572.8109375, + "learning_rate": 1.587749121184485e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9924689948558807, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007531011197715998, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 454.27040100097656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2626617431641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15220, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.29955786764621734, + "epoch": 4.431189991271458, + "flow_matching_loss": 0.015620166528970003, + "grad_norm": 0.10662586987018585, + "kept_token_count": 573.1578125, + "learning_rate": 1.5860984300509206e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9924691140651702, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007530903909355402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.1619934082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.62201538085935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15230, + "valid_token_count": 818.278125 + }, + { + "actual_token_mask_ratio": 0.3004949301481247, + "epoch": 4.434099505382601, + "flow_matching_loss": 0.015578771475702524, + "grad_norm": 0.13287638127803802, + "kept_token_count": 572.4640625, + "learning_rate": 1.5844476342996453e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9922197222709656, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007780297193676233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.3645538330078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6676879882813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15240, + "valid_token_count": 818.3859375 + }, + { + "actual_token_mask_ratio": 0.30022388994693755, + "epoch": 4.437009019493744, + "flow_matching_loss": 0.014554322510957719, + "grad_norm": 0.12385722994804382, + "kept_token_count": 572.4296875, + "learning_rate": 1.5827967359365306e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9924938321113587, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075061704032123085, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.17957763671876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0902404785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15250, + "valid_token_count": 818.0203125 + }, + { + "actual_token_mask_ratio": 0.29940518736839294, + "epoch": 4.439918533604888, + "flow_matching_loss": 0.01375831663608551, + "grad_norm": 0.10996191203594208, + "kept_token_count": 573.19375, + "learning_rate": 1.5811457369675758e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9925467610359192, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00745322871953249, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.0359832763672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.8476989746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15260, + "valid_token_count": 818.15 + }, + { + "actual_token_mask_ratio": 0.30017862021923064, + "epoch": 4.442828047716032, + "flow_matching_loss": 0.017615333572030066, + "grad_norm": 0.09611036628484726, + "kept_token_count": 572.590625, + "learning_rate": 1.5794946393988982e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.9923586487770081, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007641348335891962, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.4133636474609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.9374145507812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15270, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2999581754207611, + "epoch": 4.445737561827175, + "flow_matching_loss": 0.015279412176460028, + "grad_norm": 0.08310406655073166, + "kept_token_count": 572.903125, + "learning_rate": 1.5778434452367382e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9928995788097381, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007100413367152214, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.4241638183594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0596527099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15280, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.3007281571626663, + "epoch": 4.448647075938318, + "flow_matching_loss": 0.01388333085924387, + "grad_norm": 0.09779991209506989, + "kept_token_count": 572.153125, + "learning_rate": 1.576192156487452e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9928084135055542, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007191571500152349, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9841827392578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2964233398437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15290, + "valid_token_count": 818.2140625 + }, + { + "actual_token_mask_ratio": 0.2997405558824539, + "epoch": 4.451556590049462, + "flow_matching_loss": 0.015507826255634427, + "grad_norm": 0.12600946426391602, + "kept_token_count": 573.0109375, + "learning_rate": 1.574540775157511e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.992145711183548, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007854295428842306, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.6892578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1209442138672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15300, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.30020143985748293, + "epoch": 4.4544661041606055, + "flow_matching_loss": 0.013488346012309194, + "grad_norm": 0.10004706680774689, + "kept_token_count": 572.6421875, + "learning_rate": 1.5728893032534998e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9918030798435211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008196913544088602, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.36463317871096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3413970947266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15310, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30001345574855803, + "epoch": 4.457375618271748, + "flow_matching_loss": 0.012113430351018906, + "grad_norm": 0.07566496729850769, + "kept_token_count": 572.8421875, + "learning_rate": 1.571237742782112e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9919546782970429, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00804530903697014, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.3338317871094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.34108276367186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15320, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.2993882864713669, + "epoch": 4.460285132382892, + "flow_matching_loss": 0.01421825010329485, + "grad_norm": 0.0873519703745842, + "kept_token_count": 573.084375, + "learning_rate": 1.569586095750149e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9927359282970428, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072640590369701385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 461.0497192382812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.32178649902346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15330, + "valid_token_count": 817.975 + }, + { + "actual_token_mask_ratio": 0.3001154690980911, + "epoch": 4.463194646494036, + "flow_matching_loss": 0.01282150149345398, + "grad_norm": 0.10314568877220154, + "kept_token_count": 572.68125, + "learning_rate": 1.5679343641645193e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9929602146148682, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007039783615618944, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.71748046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4062896728516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15340, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.29990221858024596, + "epoch": 4.466104160605179, + "flow_matching_loss": 0.014462570426985621, + "grad_norm": 0.1094488725066185, + "kept_token_count": 572.7921875, + "learning_rate": 1.5662825500322304e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9928012132644654, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071987809613347055, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.02044067382815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2777557373047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15350, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.29985177516937256, + "epoch": 4.469013674716322, + "flow_matching_loss": 0.015081777051091195, + "grad_norm": 0.10554231703281403, + "kept_token_count": 573.1140625, + "learning_rate": 1.5646306553603932e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.992801696062088, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007198305521160364, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.57318115234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6799072265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15360, + "valid_token_count": 818.5578125 + }, + { + "actual_token_mask_ratio": 0.30080742835998536, + "epoch": 4.471923188827466, + "flow_matching_loss": 0.016249637957662343, + "grad_norm": 0.11503110826015472, + "kept_token_count": 572.2046875, + "learning_rate": 1.5629786821562154e-05, + "loss": 0.0202, + "mgd_cos_sim": 0.9921412348747254, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007858773972839118, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.99109802246096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6979583740234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15370, + "valid_token_count": 818.3796875 + }, + { + "actual_token_mask_ratio": 0.29917085766792295, + "epoch": 4.47483270293861, + "flow_matching_loss": 0.013865818083286286, + "grad_norm": 0.1136484369635582, + "kept_token_count": 573.3828125, + "learning_rate": 1.561326632427001e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9922531247138977, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007746876683086157, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.87819519042966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.6346405029297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15380, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.29965207278728484, + "epoch": 4.4777422170497525, + "flow_matching_loss": 0.015739076770842075, + "grad_norm": 0.12408748269081116, + "kept_token_count": 573.05625, + "learning_rate": 1.5596745081801447e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9923052906990051, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007694709580391645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.23211669921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2447143554688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15390, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.30069742500782015, + "epoch": 4.480651731160896, + "flow_matching_loss": 0.014250777568668127, + "grad_norm": 0.10831863433122635, + "kept_token_count": 572.428125, + "learning_rate": 1.5580223114231348e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9924422025680542, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007557800970971584, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.34437866210936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.66383666992186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15400, + "valid_token_count": 818.5765625 + }, + { + "actual_token_mask_ratio": 0.29973365664482116, + "epoch": 4.48356124527204, + "flow_matching_loss": 0.012443752493709326, + "grad_norm": 0.09932821989059448, + "kept_token_count": 572.978125, + "learning_rate": 1.5563700441635445e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9924926340579987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007507364545017481, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.56189880371096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.52699279785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15410, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.30060455203056335, + "epoch": 4.486470759383183, + "flow_matching_loss": 0.016073065157979727, + "grad_norm": 0.11448024213314056, + "kept_token_count": 572.390625, + "learning_rate": 1.5547177084090358e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9925686061382294, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007431410066783428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.1420837402344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9565826416016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15420, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.2995735138654709, + "epoch": 4.4893802734943264, + "flow_matching_loss": 0.013865324202924967, + "grad_norm": 0.12158579379320145, + "kept_token_count": 573.2078125, + "learning_rate": 1.5530653061673514e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9921098291873932, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007890181057155133, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.85263671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.83208923339845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15430, + "valid_token_count": 818.365625 + }, + { + "actual_token_mask_ratio": 0.2989783376455307, + "epoch": 4.49228978760547, + "flow_matching_loss": 0.016387847438454627, + "grad_norm": 0.12002356350421906, + "kept_token_count": 573.75, + "learning_rate": 1.5514128394463167e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9920613408088684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00793865965679288, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.7906097412109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.49147338867186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15440, + "valid_token_count": 818.4484375 + }, + { + "actual_token_mask_ratio": 0.3002736508846283, + "epoch": 4.495199301716613, + "flow_matching_loss": 0.013492867723107338, + "grad_norm": 0.09464439749717712, + "kept_token_count": 572.6609375, + "learning_rate": 1.549760310253834e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9920793294906616, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00792066939175129, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.1249664306641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3830505371094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15450, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.299662384390831, + "epoch": 4.498108815827757, + "flow_matching_loss": 0.013894177041947842, + "grad_norm": 0.09601566195487976, + "kept_token_count": 572.959375, + "learning_rate": 1.5481077205978816e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9922676920890808, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007732312101870776, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.90966796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6751953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15460, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.2996172785758972, + "epoch": 4.5010183299389, + "flow_matching_loss": 0.012159225530922413, + "grad_norm": 0.09795569628477097, + "kept_token_count": 573.1609375, + "learning_rate": 1.5464550724865135e-05, + "loss": 0.0159, + "mgd_cos_sim": 0.9925297558307647, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007470231037586927, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.82042236328124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7538238525391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15470, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.3005701839923859, + "epoch": 4.503927844050043, + "flow_matching_loss": 0.015758058708161115, + "grad_norm": 0.09455441683530807, + "kept_token_count": 571.9296875, + "learning_rate": 1.5448023679278517e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9923042893409729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007695696223527193, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.0684295654297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.01703186035155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15480, + "valid_token_count": 817.709375 + }, + { + "actual_token_mask_ratio": 0.2991244286298752, + "epoch": 4.506837358161187, + "flow_matching_loss": 0.014980187360197305, + "grad_norm": 0.08469071239233017, + "kept_token_count": 573.40625, + "learning_rate": 1.543149608930088e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.992443734407425, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007556255720555782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 395.65683898925784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9370544433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15490, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.299924299120903, + "epoch": 4.509746872272331, + "flow_matching_loss": 0.01587697835639119, + "grad_norm": 0.0983923003077507, + "kept_token_count": 572.7484375, + "learning_rate": 1.5414967975014805e-05, + "loss": 0.0198, + "mgd_cos_sim": 0.9921756744384765, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007824327237904072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.2769500732422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7244537353516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15500, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.299905052781105, + "epoch": 4.512656386383474, + "flow_matching_loss": 0.013570490758866072, + "grad_norm": 0.0994056761264801, + "kept_token_count": 573.0296875, + "learning_rate": 1.539843935650351e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9922502696514129, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007749743852764368, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.505908203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.4789337158203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15510, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.29960761666297914, + "epoch": 4.515565900494617, + "flow_matching_loss": 0.015482755936682224, + "grad_norm": 0.12670734524726868, + "kept_token_count": 572.9890625, + "learning_rate": 1.5381910253850834e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9924468100070953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007553182262927294, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.8021606445312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.42942810058594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15520, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.299142187833786, + "epoch": 4.518475414605761, + "flow_matching_loss": 0.012878069607540964, + "grad_norm": 0.13561716675758362, + "kept_token_count": 573.3984375, + "learning_rate": 1.5365380687141183e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.993183559179306, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006816454976797104, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.59642028808594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0885711669922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15530, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.3006513148546219, + "epoch": 4.521384928716905, + "flow_matching_loss": 0.014453946519643069, + "grad_norm": 0.1094997450709343, + "kept_token_count": 571.95, + "learning_rate": 1.5348850676459544e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9918561697006225, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008143838588148355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.10802307128904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.04510192871095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15540, + "valid_token_count": 817.8328125 + }, + { + "actual_token_mask_ratio": 0.2992620557546616, + "epoch": 4.524294442828047, + "flow_matching_loss": 0.015301765687763692, + "grad_norm": 0.07774165272712708, + "kept_token_count": 573.6296875, + "learning_rate": 1.5332320241891438e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9926146984100341, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007385316304862499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4975524902344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8014770507813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15550, + "valid_token_count": 818.6125 + }, + { + "actual_token_mask_ratio": 0.29977172911167144, + "epoch": 4.527203956939191, + "flow_matching_loss": 0.015614437870681286, + "grad_norm": 0.0959862694144249, + "kept_token_count": 572.840625, + "learning_rate": 1.5315789403522908e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9922867178916931, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077132944017648695, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.67417602539064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1221466064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15560, + "valid_token_count": 818.0828125 + }, + { + "actual_token_mask_ratio": 0.3000242382287979, + "epoch": 4.530113471050335, + "flow_matching_loss": 0.01670896019786596, + "grad_norm": 0.12423556298017502, + "kept_token_count": 572.7921875, + "learning_rate": 1.529925818144047e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9921943366527557, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007805665209889412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.8032684326172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.78936767578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15570, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.300598081946373, + "epoch": 4.5330229851614785, + "flow_matching_loss": 0.01520648691803217, + "grad_norm": 0.08429567515850067, + "kept_token_count": 572.6890625, + "learning_rate": 1.5282726595731126e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9925469279289245, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007453079242259264, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 396.677099609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3427734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15580, + "valid_token_count": 818.815625 + }, + { + "actual_token_mask_ratio": 0.3011515259742737, + "epoch": 4.535932499272621, + "flow_matching_loss": 0.01364902975037694, + "grad_norm": 0.11023584753274918, + "kept_token_count": 571.89375, + "learning_rate": 1.5266194666482304e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9921211183071137, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00787888914346695, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.20005187988284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4106475830078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15590, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.30028128027915957, + "epoch": 4.538842013383765, + "flow_matching_loss": 0.015391938202083112, + "grad_norm": 0.10289561748504639, + "kept_token_count": 572.8140625, + "learning_rate": 1.5249662413781866e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9918490469455719, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008150945603847503, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.24591064453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4658905029297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15600, + "valid_token_count": 818.628125 + }, + { + "actual_token_mask_ratio": 0.30001904964447024, + "epoch": 4.541751527494909, + "flow_matching_loss": 0.014462433429434896, + "grad_norm": 0.12456627190113068, + "kept_token_count": 573.046875, + "learning_rate": 1.5233129857718054e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9924138963222504, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007586109917610884, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.64234313964846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7470733642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15610, + "valid_token_count": 818.6640625 + }, + { + "actual_token_mask_ratio": 0.29932118356227877, + "epoch": 4.5446610416060516, + "flow_matching_loss": 0.012821518909186124, + "grad_norm": 0.11435766518115997, + "kept_token_count": 573.36875, + "learning_rate": 1.521659701837948e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9922217011451722, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007778288424015045, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.4563293457031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3359405517578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15620, + "valid_token_count": 818.30625 + }, + { + "actual_token_mask_ratio": 0.3012382835149765, + "epoch": 4.547570555717195, + "flow_matching_loss": 0.012799860816448927, + "grad_norm": 0.10666613280773163, + "kept_token_count": 571.8046875, + "learning_rate": 1.5200063915855107e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9926074028015137, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007392609398812056, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.46105041503904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7458801269531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15630, + "valid_token_count": 818.3125 + }, + { + "actual_token_mask_ratio": 0.30083896219730377, + "epoch": 4.550480069828339, + "flow_matching_loss": 0.014808185305446387, + "grad_norm": 0.1008734181523323, + "kept_token_count": 572.26875, + "learning_rate": 1.5183530570234212e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9921575784683228, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007842411100864411, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.4108489990234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.50672912597656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15640, + "valid_token_count": 818.50625 + }, + { + "actual_token_mask_ratio": 0.3000171631574631, + "epoch": 4.553389583939482, + "flow_matching_loss": 0.0133742889855057, + "grad_norm": 0.10667458921670914, + "kept_token_count": 572.771875, + "learning_rate": 1.5166997001606361e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9923670887947083, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007632899470627308, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7175323486328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3418029785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15650, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.29969883263111113, + "epoch": 4.5562990980506255, + "flow_matching_loss": 0.015300865843892097, + "grad_norm": 0.10882793366909027, + "kept_token_count": 573.2203125, + "learning_rate": 1.5150463230061417e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9922299444675445, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007770065031945705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4981292724609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2175262451172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15660, + "valid_token_count": 818.5328125 + }, + { + "actual_token_mask_ratio": 0.30155143737792967, + "epoch": 4.559208612161769, + "flow_matching_loss": 0.012764030322432517, + "grad_norm": 0.1058371365070343, + "kept_token_count": 571.703125, + "learning_rate": 1.5133929275689455e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9924131989479065, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007586784660816193, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.2257354736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5107147216797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15670, + "valid_token_count": 818.525 + }, + { + "actual_token_mask_ratio": 0.29968812465667727, + "epoch": 4.562118126272912, + "flow_matching_loss": 0.01321069342084229, + "grad_norm": 0.11007427424192429, + "kept_token_count": 573.0140625, + "learning_rate": 1.5117395158580795e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9923303306102753, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00766969034448266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 404.6362609863281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7224151611328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15680, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.30029930770397184, + "epoch": 4.565027640384056, + "flow_matching_loss": 0.012818669341504574, + "grad_norm": 0.10852907598018646, + "kept_token_count": 572.515625, + "learning_rate": 1.510086089882595e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9924966752529144, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075033271685242655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.86720581054686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.64476318359374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15690, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.30018719732761384, + "epoch": 4.567937154495199, + "flow_matching_loss": 0.013973976019769907, + "grad_norm": 0.10057417303323746, + "kept_token_count": 572.5203125, + "learning_rate": 1.5084326516515599e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9917457640171051, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008254235051572323, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.9841613769531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.81939697265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15700, + "valid_token_count": 818.103125 + }, + { + "actual_token_mask_ratio": 0.301267147064209, + "epoch": 4.570846668606343, + "flow_matching_loss": 0.014371596975252032, + "grad_norm": 0.09836003929376602, + "kept_token_count": 571.55, + "learning_rate": 1.5067792031740582e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9923247814178466, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00767522044479847, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.12282409667966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.35631408691404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15710, + "valid_token_count": 817.975 + }, + { + "actual_token_mask_ratio": 0.3003739476203918, + "epoch": 4.573756182717486, + "flow_matching_loss": 0.013292242586612702, + "grad_norm": 0.137665793299675, + "kept_token_count": 572.534375, + "learning_rate": 1.505125746459185e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9926030039787292, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007397007755935192, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7743743896484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8201446533203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15720, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.29921476542949677, + "epoch": 4.57666569682863, + "flow_matching_loss": 0.014439649134874343, + "grad_norm": 0.10795748233795166, + "kept_token_count": 573.4828125, + "learning_rate": 1.5034722835160466e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9921526551246643, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007847352977842092, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.4604064941406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3430603027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15730, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.2994280785322189, + "epoch": 4.579575210939773, + "flow_matching_loss": 0.013529180083423853, + "grad_norm": 0.13064251840114594, + "kept_token_count": 573.134375, + "learning_rate": 1.5018188163537566e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9922417640686035, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007758242543786764, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.759765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.19676818847654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15740, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.30071231424808503, + "epoch": 4.582484725050916, + "flow_matching_loss": 0.015115001332014799, + "grad_norm": 0.1014128029346466, + "kept_token_count": 571.975, + "learning_rate": 1.5001653469814331e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9928616106510162, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007138381712138653, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.0227447509766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2966064453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15750, + "valid_token_count": 817.9421875 + }, + { + "actual_token_mask_ratio": 0.3002340942621231, + "epoch": 4.58539423916206, + "flow_matching_loss": 0.014433102123439312, + "grad_norm": 0.14058496057987213, + "kept_token_count": 572.553125, + "learning_rate": 1.4985118774081978e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9918715119361877, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008128504920750856, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.59043273925784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7599822998047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15760, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.2998701184988022, + "epoch": 4.588303753273204, + "flow_matching_loss": 0.015089854598045349, + "grad_norm": 0.0988234281539917, + "kept_token_count": 572.834375, + "learning_rate": 1.4968584096431708e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9928110063076019, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007188991457223892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.4762817382813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.501513671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15770, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.3002390444278717, + "epoch": 4.591213267384346, + "flow_matching_loss": 0.014915289031341672, + "grad_norm": 0.13750572502613068, + "kept_token_count": 572.38125, + "learning_rate": 1.4952049456954731e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9923512041568756, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007648794259876013, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.827734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.37432250976565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15780, + "valid_token_count": 817.9671875 + }, + { + "actual_token_mask_ratio": 0.2998800456523895, + "epoch": 4.59412278149549, + "flow_matching_loss": 0.014952172245830297, + "grad_norm": 0.09681081771850586, + "kept_token_count": 572.86875, + "learning_rate": 1.4935514875742182e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9926967084407806, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007303285039961338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.36903991699216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.86269226074216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15790, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.2999283760786057, + "epoch": 4.597032295606634, + "flow_matching_loss": 0.015373382437974214, + "grad_norm": 0.1233614832162857, + "kept_token_count": 573.053125, + "learning_rate": 1.4918980372885143e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.992584103345871, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007415889203548432, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.3520263671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.7889862060547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15800, + "valid_token_count": 818.5625 + }, + { + "actual_token_mask_ratio": 0.3004757821559906, + "epoch": 4.599941809717777, + "flow_matching_loss": 0.014271805062890053, + "grad_norm": 0.1002606451511383, + "kept_token_count": 572.2671875, + "learning_rate": 1.4902445968474591e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9922295868396759, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007770405709743499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2455780029297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3601135253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15810, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.2991515815258026, + "epoch": 4.60285132382892, + "flow_matching_loss": 0.01432986492291093, + "grad_norm": 0.138618603348732, + "kept_token_count": 573.3828125, + "learning_rate": 1.4885911682601378e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.992281174659729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007718830648809671, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.48876953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.95050659179685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15820, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.2998274952173233, + "epoch": 4.605760837940064, + "flow_matching_loss": 0.013198403734713792, + "grad_norm": 0.13376164436340332, + "kept_token_count": 572.9484375, + "learning_rate": 1.4869377535356235e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9929350972175598, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00706490920856595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0555114746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7577392578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15830, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.299578058719635, + "epoch": 4.608670352051208, + "flow_matching_loss": 0.013968686386942864, + "grad_norm": 0.13205689191818237, + "kept_token_count": 573.1453125, + "learning_rate": 1.4852843546829704e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9920125067234039, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007987493928521872, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.10852966308596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6759399414062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15840, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.30110354721546173, + "epoch": 4.611579866162351, + "flow_matching_loss": 0.015462290961295366, + "grad_norm": 0.0964173749089241, + "kept_token_count": 571.840625, + "learning_rate": 1.483630973711214e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9925246179103852, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007475385535508394, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.73009033203124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9572723388672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15850, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.30039496123790743, + "epoch": 4.614489380273494, + "flow_matching_loss": 0.01773257409222424, + "grad_norm": 0.11109472066164017, + "kept_token_count": 572.509375, + "learning_rate": 1.4819776126293677e-05, + "loss": 0.0215, + "mgd_cos_sim": 0.9924234509468078, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075765523128211495, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.49415893554686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.44769897460935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15860, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.30074010491371156, + "epoch": 4.617398894384638, + "flow_matching_loss": 0.014584817644208669, + "grad_norm": 0.10522133111953735, + "kept_token_count": 572.115625, + "learning_rate": 1.4803242734464214e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9926768362522125, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007323174830526113, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.3013031005859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.4330169677734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15870, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.2997846961021423, + "epoch": 4.620308408495781, + "flow_matching_loss": 0.014666569791734219, + "grad_norm": 0.10717693716287613, + "kept_token_count": 572.9765625, + "learning_rate": 1.4786709581713383e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9924928486347199, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007507154624909163, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.88683166503904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.06145935058595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15880, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.2995820134878159, + "epoch": 4.6232179226069245, + "flow_matching_loss": 0.016716000996530055, + "grad_norm": 0.12769734859466553, + "kept_token_count": 572.8703125, + "learning_rate": 1.4770176688130524e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9926697790622712, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007330226339399814, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.34620666503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.52296447753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15890, + "valid_token_count": 817.8984375 + }, + { + "actual_token_mask_ratio": 0.3003128856420517, + "epoch": 4.626127436718068, + "flow_matching_loss": 0.013614249043166637, + "grad_norm": 0.12024736404418945, + "kept_token_count": 572.425, + "learning_rate": 1.475364407380466e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9925251305103302, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007474871166050434, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.11394653320315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9152801513672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15900, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.3000934809446335, + "epoch": 4.629036950829212, + "flow_matching_loss": 0.013866712059825658, + "grad_norm": 0.13805660605430603, + "kept_token_count": 572.934375, + "learning_rate": 1.4737111758824476e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9923880755901336, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007611924596130848, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 450.9579803466797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1816467285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15910, + "valid_token_count": 818.5890625 + }, + { + "actual_token_mask_ratio": 0.30027152597904205, + "epoch": 4.631946464940355, + "flow_matching_loss": 0.01408334681764245, + "grad_norm": 0.1252214014530182, + "kept_token_count": 572.771875, + "learning_rate": 1.4720579763278289e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9922542452812195, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007745754532516002, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.9572509765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4772888183594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15920, + "valid_token_count": 818.55 + }, + { + "actual_token_mask_ratio": 0.3000650018453598, + "epoch": 4.6348559790514985, + "flow_matching_loss": 0.014647573977708817, + "grad_norm": 0.12329471111297607, + "kept_token_count": 572.9, + "learning_rate": 1.4704048107254042e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9916187167167664, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008381276298314333, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.0611206054688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8008270263672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15930, + "valid_token_count": 818.503125 + }, + { + "actual_token_mask_ratio": 0.3008680909872055, + "epoch": 4.637765493162642, + "flow_matching_loss": 0.0132919164840132, + "grad_norm": 0.1130342185497284, + "kept_token_count": 572.240625, + "learning_rate": 1.4687516810839246e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9929364204406739, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007063568849116564, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.8222961425781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0782836914062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15940, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.2999800264835358, + "epoch": 4.640675007273785, + "flow_matching_loss": 0.015981597919017078, + "grad_norm": 0.122376948595047, + "kept_token_count": 572.91875, + "learning_rate": 1.4670985894120997e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9928244292736054, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007175579853355885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.3819549560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.29896850585936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15950, + "valid_token_count": 818.4375 + }, + { + "actual_token_mask_ratio": 0.30002833604812623, + "epoch": 4.643584521384929, + "flow_matching_loss": 0.013368303515017032, + "grad_norm": 0.08425868302583694, + "kept_token_count": 572.915625, + "learning_rate": 1.465445537718591e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9923442363739013, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076557864435017105, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 453.01902465820314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4861785888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15960, + "valid_token_count": 818.4828125 + }, + { + "actual_token_mask_ratio": 0.30025765001773835, + "epoch": 4.646494035496072, + "flow_matching_loss": 0.014156665652990341, + "grad_norm": 0.10880577564239502, + "kept_token_count": 572.7640625, + "learning_rate": 1.463792528012012e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9929981350898742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007001866959035397, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 455.8646667480469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3888854980469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15970, + "valid_token_count": 818.534375 + }, + { + "actual_token_mask_ratio": 0.3002600848674774, + "epoch": 4.649403549607215, + "flow_matching_loss": 0.015695775859057903, + "grad_norm": 0.14526782929897308, + "kept_token_count": 572.5734375, + "learning_rate": 1.4621395623009252e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9923773527145385, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007622660323977471, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.3394714355469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4849884033203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15980, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.3009575068950653, + "epoch": 4.652313063718359, + "flow_matching_loss": 0.014459234569221735, + "grad_norm": 0.1263444572687149, + "kept_token_count": 572.1078125, + "learning_rate": 1.4604866425938407e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.992391973733902, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007608019467443228, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.96140747070314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.11009216308594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 15990, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.3006693869829178, + "epoch": 4.655222577829503, + "flow_matching_loss": 0.013257572706788779, + "grad_norm": 0.1021127849817276, + "kept_token_count": 572.4578125, + "learning_rate": 1.4588337708992115e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.992730838060379, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007269157469272614, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.3633972167969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9310760498047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16000, + "valid_token_count": 818.5828125 + }, + { + "actual_token_mask_ratio": 0.2996604979038239, + "epoch": 4.6581320919406455, + "flow_matching_loss": 0.01248656646348536, + "grad_norm": 0.11446650326251984, + "kept_token_count": 572.90625, + "learning_rate": 1.4571809492254318e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9921642899513244, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007835701759904622, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.575732421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4828826904297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16010, + "valid_token_count": 818.0375 + }, + { + "actual_token_mask_ratio": 0.3007974445819855, + "epoch": 4.661041606051789, + "flow_matching_loss": 0.015251564979553222, + "grad_norm": 0.13382793962955475, + "kept_token_count": 571.99375, + "learning_rate": 1.4555281795808371e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9921569645404815, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007843018602579832, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.1334655761719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6746429443359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16020, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.29901584386825564, + "epoch": 4.663951120162933, + "flow_matching_loss": 0.012451048055663706, + "grad_norm": 0.09072340279817581, + "kept_token_count": 573.7671875, + "learning_rate": 1.4538754639736966e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9924958229064942, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007504176814109087, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.9241668701172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7226043701172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16030, + "valid_token_count": 818.5109375 + }, + { + "actual_token_mask_ratio": 0.29993564188480376, + "epoch": 4.666860634274077, + "flow_matching_loss": 0.01394539438188076, + "grad_norm": 0.08532191812992096, + "kept_token_count": 572.89375, + "learning_rate": 1.4522228044122174e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9926707446575165, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00732924910262227, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.64003295898436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.12070922851564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16040, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.2990288108587265, + "epoch": 4.669770148385219, + "flow_matching_loss": 0.014863272570073605, + "grad_norm": 0.11194190382957458, + "kept_token_count": 573.4828125, + "learning_rate": 1.4505702029045359e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9925914764404297, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007408523373305798, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.1369354248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7346130371094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16050, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.3006717026233673, + "epoch": 4.672679662496363, + "flow_matching_loss": 0.01571420324034989, + "grad_norm": 0.20690298080444336, + "kept_token_count": 572.0234375, + "learning_rate": 1.4489176614587189e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9926259458065033, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073740512132644655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.5048065185547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.24042053222655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16060, + "valid_token_count": 817.953125 + }, + { + "actual_token_mask_ratio": 0.30047090351581573, + "epoch": 4.675589176607507, + "flow_matching_loss": 0.0137641332577914, + "grad_norm": 0.11603784561157227, + "kept_token_count": 572.51875, + "learning_rate": 1.4472651820827595e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9923235297203064, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007676465623080731, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.84490966796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4835571289062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16070, + "valid_token_count": 818.4265625 + }, + { + "actual_token_mask_ratio": 0.3013408899307251, + "epoch": 4.67849869071865, + "flow_matching_loss": 0.015141741745173931, + "grad_norm": 0.09517840296030045, + "kept_token_count": 571.5359375, + "learning_rate": 1.4456127667845766e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9924392938613892, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007560697663575411, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.9723724365234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.01770935058596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16080, + "valid_token_count": 818.046875 + }, + { + "actual_token_mask_ratio": 0.3002528190612793, + "epoch": 4.681408204829793, + "flow_matching_loss": 0.017635063920170068, + "grad_norm": 0.09542959183454514, + "kept_token_count": 572.3671875, + "learning_rate": 1.4439604175720104e-05, + "loss": 0.0214, + "mgd_cos_sim": 0.992492139339447, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075078759342432026, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.19500122070315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0352478027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16090, + "valid_token_count": 817.9625 + }, + { + "actual_token_mask_ratio": 0.30034353733062746, + "epoch": 4.684317718940937, + "flow_matching_loss": 0.011507936147972941, + "grad_norm": 0.10930635780096054, + "kept_token_count": 572.496875, + "learning_rate": 1.4423081364528212e-05, + "loss": 0.0154, + "mgd_cos_sim": 0.9921719253063201, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007828070223331452, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.2834777832031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.28754272460935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16100, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.29940530359745027, + "epoch": 4.687227233052081, + "flow_matching_loss": 0.01341116102412343, + "grad_norm": 0.0880073681473732, + "kept_token_count": 573.1296875, + "learning_rate": 1.4406559254346863e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9925767183303833, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007423280272632837, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.2165588378906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.80394287109374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16110, + "valid_token_count": 818.0578125 + }, + { + "actual_token_mask_ratio": 0.29998342990875243, + "epoch": 4.690136747163224, + "flow_matching_loss": 0.013571511302143336, + "grad_norm": 0.09586546570062637, + "kept_token_count": 572.8375, + "learning_rate": 1.4390037865251978e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9924429833889008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007557003293186426, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.8760284423828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.44561767578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16120, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.30079675912857057, + "epoch": 4.693046261274367, + "flow_matching_loss": 0.013750949501991272, + "grad_norm": 0.12500667572021484, + "kept_token_count": 572.0671875, + "learning_rate": 1.4373517217318597e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9923825204372406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00761747807264328, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.54701232910156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.00608825683594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16130, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.2983655512332916, + "epoch": 4.69595577538551, + "flow_matching_loss": 0.014524123631417751, + "grad_norm": 0.09590471535921097, + "kept_token_count": 574.071875, + "learning_rate": 1.4356997330620875e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9924295961856842, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007570401579141617, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.0985961914063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5139678955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16140, + "valid_token_count": 818.196875 + }, + { + "actual_token_mask_ratio": 0.300255286693573, + "epoch": 4.698865289496654, + "flow_matching_loss": 0.014066600054502488, + "grad_norm": 0.12490668892860413, + "kept_token_count": 572.2234375, + "learning_rate": 1.434047822523203e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9926110744476319, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007388938218355179, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.1460296630859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2200439453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16150, + "valid_token_count": 817.7609375 + }, + { + "actual_token_mask_ratio": 0.3010007292032242, + "epoch": 4.7017748036077975, + "flow_matching_loss": 0.012804372236132622, + "grad_norm": 0.10758166015148163, + "kept_token_count": 571.74375, + "learning_rate": 1.4323959921224322e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.99272900223732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00727100046351552, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.9128692626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6516479492187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16160, + "valid_token_count": 817.946875 + }, + { + "actual_token_mask_ratio": 0.2999379485845566, + "epoch": 4.704684317718941, + "flow_matching_loss": 0.013864228874444962, + "grad_norm": 0.11525839567184448, + "kept_token_count": 572.9703125, + "learning_rate": 1.4307442438669066e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9924625813961029, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007537418510764837, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.202783203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4304168701172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16170, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.3003209292888641, + "epoch": 4.707593831830084, + "flow_matching_loss": 0.01506696194410324, + "grad_norm": 0.13275668025016785, + "kept_token_count": 572.575, + "learning_rate": 1.4290925797636546e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9922917068004609, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007708303071558476, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.17661437988284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.48985290527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16180, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.3004779189825058, + "epoch": 4.710503345941228, + "flow_matching_loss": 0.014774740021675826, + "grad_norm": 0.15112124383449554, + "kept_token_count": 572.4046875, + "learning_rate": 1.4274410018196039e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9930711328983307, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069288605824112896, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.01446228027345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4127899169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16190, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.29927506148815153, + "epoch": 4.7134128600523715, + "flow_matching_loss": 0.016384842339903116, + "grad_norm": 0.0912879928946495, + "kept_token_count": 573.275, + "learning_rate": 1.4257895120415783e-05, + "loss": 0.0204, + "mgd_cos_sim": 0.9920241057872772, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007975892163813114, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.49615783691405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3633148193359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16200, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.3005691885948181, + "epoch": 4.716322374163514, + "flow_matching_loss": 0.015331856906414032, + "grad_norm": 0.10977144539356232, + "kept_token_count": 572.3234375, + "learning_rate": 1.4241381124362933e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9921612024307251, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007838801946491003, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.11318359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1510894775391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16210, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.299252986907959, + "epoch": 4.719231888274658, + "flow_matching_loss": 0.015196310263127089, + "grad_norm": 0.10772041976451874, + "kept_token_count": 573.340625, + "learning_rate": 1.4224868050103546e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9928670048713684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00713298860937357, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.450048828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0176208496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16220, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.29988532364368437, + "epoch": 4.722141402385802, + "flow_matching_loss": 0.012324562203139067, + "grad_norm": 0.08502089232206345, + "kept_token_count": 572.8390625, + "learning_rate": 1.4208355917702573e-05, + "loss": 0.0159, + "mgd_cos_sim": 0.9927826285362243, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007217363640666008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.95774841308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5702758789063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16230, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.29966873228549956, + "epoch": 4.725050916496945, + "flow_matching_loss": 0.011285584606230258, + "grad_norm": 0.08775074034929276, + "kept_token_count": 573.253125, + "learning_rate": 1.41918447472238e-05, + "loss": 0.0149, + "mgd_cos_sim": 0.9928322672843933, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007167725171893835, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.13775024414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.47227783203124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16240, + "valid_token_count": 818.5453125 + }, + { + "actual_token_mask_ratio": 0.3014658480882645, + "epoch": 4.727960430608088, + "flow_matching_loss": 0.015273561421781778, + "grad_norm": 0.10639779269695282, + "kept_token_count": 571.69375, + "learning_rate": 1.4175334558729869e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9930499732494354, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00695003429427743, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.75059204101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9722503662109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16250, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.3007102757692337, + "epoch": 4.730869944719232, + "flow_matching_loss": 0.014644987182691693, + "grad_norm": 0.10266049206256866, + "kept_token_count": 572.084375, + "learning_rate": 1.4158825372282211e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9923403084278106, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007659683935344219, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.61940307617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.13653564453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16260, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.3001583844423294, + "epoch": 4.733779458830376, + "flow_matching_loss": 0.015892117377370597, + "grad_norm": 0.13456444442272186, + "kept_token_count": 572.8140625, + "learning_rate": 1.4142317207941042e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9926747918128968, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007325209304690361, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.8903381347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.36329345703126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16270, + "valid_token_count": 818.49375 + }, + { + "actual_token_mask_ratio": 0.30080097913742065, + "epoch": 4.7366889729415185, + "flow_matching_loss": 0.01437871577218175, + "grad_norm": 0.0966135635972023, + "kept_token_count": 572.240625, + "learning_rate": 1.4125810085765339e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9922248542308807, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007775139342993498, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.6028747558594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4846649169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16280, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.2995254397392273, + "epoch": 4.739598487052662, + "flow_matching_loss": 0.018569496646523475, + "grad_norm": 0.10457709431648254, + "kept_token_count": 573.140625, + "learning_rate": 1.410930402581281e-05, + "loss": 0.0224, + "mgd_cos_sim": 0.9923043489456177, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007695664279162883, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.3685699462891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9548858642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16290, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.2993963032960892, + "epoch": 4.742508001163806, + "flow_matching_loss": 0.01538291210308671, + "grad_norm": 0.09377482533454895, + "kept_token_count": 573.5328125, + "learning_rate": 1.4092799048139876e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9926485061645508, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007351490668952465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 452.1313812255859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.13694763183594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16300, + "valid_token_count": 818.6171875 + }, + { + "actual_token_mask_ratio": 0.29904845058918, + "epoch": 4.745417515274949, + "flow_matching_loss": 0.013679602695629001, + "grad_norm": 0.1323806643486023, + "kept_token_count": 573.4046875, + "learning_rate": 1.4076295172801647e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9927002489566803, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072997378185391424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.5481781005859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2830108642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16310, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.29925058484077455, + "epoch": 4.748327029386092, + "flow_matching_loss": 0.014459871593862772, + "grad_norm": 0.11795992404222488, + "kept_token_count": 573.5171875, + "learning_rate": 1.4059792419851884e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9924981653690338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007501832768321037, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.02747802734376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.08063049316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16320, + "valid_token_count": 818.4328125 + }, + { + "actual_token_mask_ratio": 0.3010427296161652, + "epoch": 4.751236543497236, + "flow_matching_loss": 0.01315658874809742, + "grad_norm": 0.08939903229475021, + "kept_token_count": 571.984375, + "learning_rate": 1.4043290809342984e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9925586462020874, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074413522146642205, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.36053466796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4885192871094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16330, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.2990671843290329, + "epoch": 4.754146057608379, + "flow_matching_loss": 0.015585376601666211, + "grad_norm": 0.09768672287464142, + "kept_token_count": 573.453125, + "learning_rate": 1.4026790361325958e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9927942216396332, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007205800618976355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.3833923339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.67151794433596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16340, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.2996849626302719, + "epoch": 4.757055571719523, + "flow_matching_loss": 0.013378598261624575, + "grad_norm": 0.12224330753087997, + "kept_token_count": 573.0171875, + "learning_rate": 1.4010291095850415e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9926938831806182, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007306114584207535, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.8821136474609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9411376953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16350, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.2998486489057541, + "epoch": 4.759965085830666, + "flow_matching_loss": 0.015263723861426114, + "grad_norm": 0.14587490260601044, + "kept_token_count": 572.8359375, + "learning_rate": 1.3993793032964515e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9924421370029449, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007557875849306584, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.70904235839845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2611602783203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16360, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.30047749280929564, + "epoch": 4.76287459994181, + "flow_matching_loss": 0.012685520574450493, + "grad_norm": 0.08701415359973907, + "kept_token_count": 572.39375, + "learning_rate": 1.3977296192714956e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9930249810218811, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006975012179464102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.8468536376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0902069091797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16370, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.3004795640707016, + "epoch": 4.765784114052953, + "flow_matching_loss": 0.013607652392238379, + "grad_norm": 0.10820791870355606, + "kept_token_count": 572.353125, + "learning_rate": 1.396080059514696e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9925687253475189, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007431270368397236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.91261291503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0869110107422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16380, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.3006328970193863, + "epoch": 4.768693628164097, + "flow_matching_loss": 0.01609914153814316, + "grad_norm": 0.1109994575381279, + "kept_token_count": 572.234375, + "learning_rate": 1.3944306260304232e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9919150471687317, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00808494295924902, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.57048950195315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7744964599609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16390, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.2989310443401337, + "epoch": 4.77160314227524, + "flow_matching_loss": 0.01303074024617672, + "grad_norm": 0.10530871897935867, + "kept_token_count": 573.58125, + "learning_rate": 1.3927813208228936e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9928850471973419, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007114968448877335, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.4452758789063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.01062927246096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16400, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.2998929798603058, + "epoch": 4.774512656386383, + "flow_matching_loss": 0.013655914645642041, + "grad_norm": 0.09202608466148376, + "kept_token_count": 572.9046875, + "learning_rate": 1.39113214589617e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9929687321186066, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007031269744038582, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.3977081298828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6076141357422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16410, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.2988739997148514, + "epoch": 4.777422170497527, + "flow_matching_loss": 0.013773209508508443, + "grad_norm": 0.08530496060848236, + "kept_token_count": 573.7203125, + "learning_rate": 1.3894831032541545e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9923972606658935, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007602733094245195, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.2489288330078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.45912475585936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16420, + "valid_token_count": 818.278125 + }, + { + "actual_token_mask_ratio": 0.2996893018484116, + "epoch": 4.7803316846086705, + "flow_matching_loss": 0.014429884497076273, + "grad_norm": 0.0935230553150177, + "kept_token_count": 573.2, + "learning_rate": 1.3878341949005895e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9925784528255462, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007421562820672989, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.5771850585937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7336029052734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16430, + "valid_token_count": 818.5 + }, + { + "actual_token_mask_ratio": 0.30010569393634795, + "epoch": 4.783241198719814, + "flow_matching_loss": 0.012669693119823933, + "grad_norm": 0.08341237902641296, + "kept_token_count": 572.8046875, + "learning_rate": 1.3861854228390546e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9932836532592774, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006716342736035585, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.94659423828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.57282104492185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16440, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.30057640075683595, + "epoch": 4.786150712830957, + "flow_matching_loss": 0.014958536066114903, + "grad_norm": 0.10193454474210739, + "kept_token_count": 572.2671875, + "learning_rate": 1.3845367890729621e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9921708226203918, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007829162757843733, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.0227844238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7980712890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16450, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.29875045716762544, + "epoch": 4.789060226942101, + "flow_matching_loss": 0.01193101005628705, + "grad_norm": 0.10197098553180695, + "kept_token_count": 574.0046875, + "learning_rate": 1.3828882956055591e-05, + "loss": 0.0155, + "mgd_cos_sim": 0.992810994386673, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007188985031098128, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.2892547607422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9104949951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16460, + "valid_token_count": 818.5515625 + }, + { + "actual_token_mask_ratio": 0.3004683434963226, + "epoch": 4.7919697410532445, + "flow_matching_loss": 0.012829684093594551, + "grad_norm": 0.08896704763174057, + "kept_token_count": 572.5875, + "learning_rate": 1.38123994443992e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9924968302249908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007503172382712364, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.44855041503905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.86281433105466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16470, + "valid_token_count": 818.5296875 + }, + { + "actual_token_mask_ratio": 0.2997672200202942, + "epoch": 4.794879255164387, + "flow_matching_loss": 0.016783134173601867, + "grad_norm": 0.12681856751441956, + "kept_token_count": 572.95625, + "learning_rate": 1.3795917375789465e-05, + "loss": 0.0206, + "mgd_cos_sim": 0.9922898173332214, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007710190117359161, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.0153778076172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.22734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16480, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.29966357052326204, + "epoch": 4.797788769275531, + "flow_matching_loss": 0.0148212187923491, + "grad_norm": 0.13177931308746338, + "kept_token_count": 573.1640625, + "learning_rate": 1.3779436770253658e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9927470088005066, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007252985052764416, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 454.68971862792966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.30589294433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16490, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.3001121163368225, + "epoch": 4.800698283386675, + "flow_matching_loss": 0.011343097127974034, + "grad_norm": 0.11875669658184052, + "kept_token_count": 572.809375, + "learning_rate": 1.3762957647817258e-05, + "loss": 0.015, + "mgd_cos_sim": 0.9927672028541565, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007232794351875782, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.5165771484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.24395141601565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16500, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.30001147389411925, + "epoch": 4.8036077974978175, + "flow_matching_loss": 0.014361805142834782, + "grad_norm": 0.14351977407932281, + "kept_token_count": 572.9078125, + "learning_rate": 1.374648002850397e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9921395897865295, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00786038851365447, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.11126403808595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1172241210937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16510, + "valid_token_count": 818.459375 + }, + { + "actual_token_mask_ratio": 0.29993173480033875, + "epoch": 4.806517311608961, + "flow_matching_loss": 0.012908073980361224, + "grad_norm": 0.12107420712709427, + "kept_token_count": 572.765625, + "learning_rate": 1.3730003932335642e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9930552959442138, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006944719236344099, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.9917694091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5683074951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16520, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.30028955936431884, + "epoch": 4.809426825720105, + "flow_matching_loss": 0.013921363465487956, + "grad_norm": 0.14677095413208008, + "kept_token_count": 572.5984375, + "learning_rate": 1.3713529379332292e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9926794648170472, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007320545986294747, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 455.335205078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0537811279297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16530, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.3002885550260544, + "epoch": 4.812336339831248, + "flow_matching_loss": 0.012343044346198439, + "grad_norm": 0.09446518868207932, + "kept_token_count": 572.571875, + "learning_rate": 1.3697056389512054e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9920471131801605, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007952889520674944, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.4527313232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4432891845703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16540, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.29907454252243043, + "epoch": 4.8152458539423915, + "flow_matching_loss": 0.014027872076258063, + "grad_norm": 0.09241799265146255, + "kept_token_count": 573.684375, + "learning_rate": 1.3680584982891162e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9927256047725678, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007274382095783949, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.00514221191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.46518859863284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16550, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.3003185272216797, + "epoch": 4.818155368053535, + "flow_matching_loss": 0.013589683454483747, + "grad_norm": 0.11851795017719269, + "kept_token_count": 572.565625, + "learning_rate": 1.3664115179483921e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9926271438598633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00737285865470767, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.5873962402344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9961273193359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16560, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.3002501159906387, + "epoch": 4.821064882164679, + "flow_matching_loss": 0.013850703090429305, + "grad_norm": 0.0851653665304184, + "kept_token_count": 572.7171875, + "learning_rate": 1.364764699930271e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9922012984752655, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077986947260797026, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7282012939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9548095703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16570, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.3001049131155014, + "epoch": 4.823974396275822, + "flow_matching_loss": 0.01508608078584075, + "grad_norm": 0.13901032507419586, + "kept_token_count": 573.2359375, + "learning_rate": 1.363118046235791e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9923622906208038, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007637712080031634, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.30751647949216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2622436523437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16580, + "valid_token_count": 819.025 + }, + { + "actual_token_mask_ratio": 0.30106010735034944, + "epoch": 4.826883910386965, + "flow_matching_loss": 0.014666519686579704, + "grad_norm": 0.09963539987802505, + "kept_token_count": 571.75, + "learning_rate": 1.3614715588657921e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.992764663696289, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007235337886959315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.5602569580078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5069580078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16590, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.29929491579532624, + "epoch": 4.829793424498109, + "flow_matching_loss": 0.01650457610376179, + "grad_norm": 0.09348685294389725, + "kept_token_count": 573.6, + "learning_rate": 1.3598252398209118e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.991986733675003, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008013266138732433, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.3132843017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5163879394531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16600, + "valid_token_count": 818.6125 + }, + { + "actual_token_mask_ratio": 0.30114589631557465, + "epoch": 4.832702938609252, + "flow_matching_loss": 0.01376479105092585, + "grad_norm": 0.14433805644512177, + "kept_token_count": 571.890625, + "learning_rate": 1.358179091101582e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9924392879009247, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007560719549655914, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.26023864746094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.75384826660155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16610, + "valid_token_count": 818.325 + }, + { + "actual_token_mask_ratio": 0.3002963066101074, + "epoch": 4.835612452720396, + "flow_matching_loss": 0.014297929126769304, + "grad_norm": 0.09521624445915222, + "kept_token_count": 572.4390625, + "learning_rate": 1.3565331147080299e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.992353093624115, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076469131745398045, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 448.5751159667969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8104644775391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16620, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.3000465393066406, + "epoch": 4.838521966831539, + "flow_matching_loss": 0.0134158406406641, + "grad_norm": 0.08877794444561005, + "kept_token_count": 572.875, + "learning_rate": 1.3548873126402716e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9928566992282868, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007143301330506802, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.5394622802734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1092864990234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16630, + "valid_token_count": 818.4484375 + }, + { + "actual_token_mask_ratio": 0.2996814578771591, + "epoch": 4.841431480942683, + "flow_matching_loss": 0.016239257343113423, + "grad_norm": 0.13750481605529785, + "kept_token_count": 573.2328125, + "learning_rate": 1.3532416868981117e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9921878635883331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0078121360391378404, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.7958923339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.73639526367185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16640, + "valid_token_count": 818.53125 + }, + { + "actual_token_mask_ratio": 0.29963704347610476, + "epoch": 4.844340995053826, + "flow_matching_loss": 0.013601978775113821, + "grad_norm": 0.13611482083797455, + "kept_token_count": 573.0296875, + "learning_rate": 1.3515962394811401e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9924526810646057, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007547318562865257, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.8299621582031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2543090820312, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16650, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.3001033902168274, + "epoch": 4.84725050916497, + "flow_matching_loss": 0.014599157869815827, + "grad_norm": 0.12895064055919647, + "kept_token_count": 572.7953125, + "learning_rate": 1.3499509723887313e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9927665412425994, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007233458478003741, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.8147399902344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9265411376953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16660, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.2997480034828186, + "epoch": 4.850160023276112, + "flow_matching_loss": 0.016261023376137017, + "grad_norm": 0.09352625161409378, + "kept_token_count": 573.0375, + "learning_rate": 1.3483058876200396e-05, + "loss": 0.0201, + "mgd_cos_sim": 0.9922541677951813, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007745823822915554, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.13067016601565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0889038085937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16670, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.30068071484565734, + "epoch": 4.853069537387256, + "flow_matching_loss": 0.01457748431712389, + "grad_norm": 0.12402631342411041, + "kept_token_count": 572.4265625, + "learning_rate": 1.3466609871739987e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9927378237247467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007262182328850031, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.17943420410154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.82395935058594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16680, + "valid_token_count": 818.54375 + }, + { + "actual_token_mask_ratio": 0.29935469925403596, + "epoch": 4.8559790514984, + "flow_matching_loss": 0.017440972104668617, + "grad_norm": 0.10780252516269684, + "kept_token_count": 573.415625, + "learning_rate": 1.3450162730493172e-05, + "loss": 0.0211, + "mgd_cos_sim": 0.9925899088382721, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007410080824047327, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.82196350097655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4409576416016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16690, + "valid_token_count": 818.4125 + }, + { + "actual_token_mask_ratio": 0.30064129531383516, + "epoch": 4.8588885656095435, + "flow_matching_loss": 0.013439077232033015, + "grad_norm": 0.0892920196056366, + "kept_token_count": 572.4296875, + "learning_rate": 1.3433717472444781e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9926892161369324, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007310776691883803, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.6575653076172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3862640380859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16700, + "valid_token_count": 818.4984375 + }, + { + "actual_token_mask_ratio": 0.29971536099910734, + "epoch": 4.861798079720686, + "flow_matching_loss": 0.012076338473707437, + "grad_norm": 0.10242141038179398, + "kept_token_count": 573.1109375, + "learning_rate": 1.3417274117577343e-05, + "loss": 0.0158, + "mgd_cos_sim": 0.992633318901062, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007366688456386328, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 451.1975921630859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3159942626953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16710, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.2998771071434021, + "epoch": 4.86470759383183, + "flow_matching_loss": 0.013073389511555433, + "grad_norm": 0.10165868699550629, + "kept_token_count": 572.9171875, + "learning_rate": 1.3400832685871102e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9926932394504547, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007306769210845232, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.5787384033203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8173004150391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16720, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.2998208463191986, + "epoch": 4.867617107942974, + "flow_matching_loss": 0.013686228962615132, + "grad_norm": 0.1483279913663864, + "kept_token_count": 572.9234375, + "learning_rate": 1.3384393197303936e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.992267370223999, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007732635550200939, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.6596740722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5871826171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16730, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.30028578639030457, + "epoch": 4.870526622054117, + "flow_matching_loss": 0.012788643874228001, + "grad_norm": 0.09890341013669968, + "kept_token_count": 572.7890625, + "learning_rate": 1.336795567185138e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9929143607616424, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070856180973351, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.6911682128906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5534149169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16740, + "valid_token_count": 818.609375 + }, + { + "actual_token_mask_ratio": 0.30032619535923005, + "epoch": 4.87343613616526, + "flow_matching_loss": 0.015485381241887808, + "grad_norm": 0.10473140329122543, + "kept_token_count": 572.603125, + "learning_rate": 1.3351520129486573e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.992693430185318, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007306564785540104, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.26508178710935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.6329711914062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16750, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.30006697177886965, + "epoch": 4.876345650276404, + "flow_matching_loss": 0.013152970559895038, + "grad_norm": 0.12462599575519562, + "kept_token_count": 573.021875, + "learning_rate": 1.3335086590180252e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9926320731639862, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007367920037359, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.01533203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0841430664062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16760, + "valid_token_count": 818.6890625 + }, + { + "actual_token_mask_ratio": 0.2995196580886841, + "epoch": 4.879255164387548, + "flow_matching_loss": 0.014115839824080467, + "grad_norm": 0.10354378819465637, + "kept_token_count": 573.5234375, + "learning_rate": 1.3318655073900708e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9928175449371338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007182448729872703, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.0712860107422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2170013427734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16770, + "valid_token_count": 818.7546875 + }, + { + "actual_token_mask_ratio": 0.30099910497665405, + "epoch": 4.8821646784986905, + "flow_matching_loss": 0.013793233409523964, + "grad_norm": 0.1153779998421669, + "kept_token_count": 572.0984375, + "learning_rate": 1.3302225600613796e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9930000245571137, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006999978329986334, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.3353515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4736724853516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16780, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.3000823974609375, + "epoch": 4.885074192609834, + "flow_matching_loss": 0.013105547521263361, + "grad_norm": 0.0711987316608429, + "kept_token_count": 572.6453125, + "learning_rate": 1.3285798190282869e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9931153655052185, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006884628813713789, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.1661895751953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6902587890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16790, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.29871146380901337, + "epoch": 4.887983706720978, + "flow_matching_loss": 0.014866940770298242, + "grad_norm": 0.1322050541639328, + "kept_token_count": 573.9484375, + "learning_rate": 1.3269372862868776e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9925479829311371, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007452003005892038, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.1560577392578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4951995849609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16800, + "valid_token_count": 818.41875 + }, + { + "actual_token_mask_ratio": 0.29951465129852295, + "epoch": 4.890893220832121, + "flow_matching_loss": 0.014291642978787423, + "grad_norm": 0.15077342092990875, + "kept_token_count": 573.165625, + "learning_rate": 1.3252949638329845e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9932500839233398, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006749907229095698, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.47145690917966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0912658691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16810, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.2990423977375031, + "epoch": 4.8938027349432645, + "flow_matching_loss": 0.014545142836868762, + "grad_norm": 0.11237102746963501, + "kept_token_count": 573.5078125, + "learning_rate": 1.3236528536621834e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9929774701595306, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007022526860237121, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.49505920410155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2920257568359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16820, + "valid_token_count": 818.1828125 + }, + { + "actual_token_mask_ratio": 0.3006661385297775, + "epoch": 4.896712249054408, + "flow_matching_loss": 0.01568300826475024, + "grad_norm": 0.14321143925189972, + "kept_token_count": 572.196875, + "learning_rate": 1.3220109577697943e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9925794839859009, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007420503720641136, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.32899780273436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0805206298828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16830, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.2997356116771698, + "epoch": 4.899621763165551, + "flow_matching_loss": 0.01249390747398138, + "grad_norm": 0.1160978227853775, + "kept_token_count": 573.315625, + "learning_rate": 1.3203692781508745e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9928378760814667, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007162125781178474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.81987915039065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5532287597656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16840, + "valid_token_count": 818.7078125 + }, + { + "actual_token_mask_ratio": 0.30041159093379977, + "epoch": 4.902531277276695, + "flow_matching_loss": 0.013314242381602526, + "grad_norm": 0.10006468743085861, + "kept_token_count": 572.5390625, + "learning_rate": 1.3187278168002198e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9925592839717865, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00744070690125227, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.7369323730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.57264099121096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16850, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.3003874599933624, + "epoch": 4.905440791387838, + "flow_matching_loss": 0.013481336692348123, + "grad_norm": 0.1296006292104721, + "kept_token_count": 572.440625, + "learning_rate": 1.3170865757123606e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.992228877544403, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007771109789609909, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.8774444580078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9109741210938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16860, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.3001347124576569, + "epoch": 4.908350305498981, + "flow_matching_loss": 0.013862494565546512, + "grad_norm": 0.1299773007631302, + "kept_token_count": 572.7234375, + "learning_rate": 1.3154455568815592e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9926065444946289, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007393433712422848, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1554718017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.36683654785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16870, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.3000716805458069, + "epoch": 4.911259819610125, + "flow_matching_loss": 0.01265267627313733, + "grad_norm": 0.08912879228591919, + "kept_token_count": 572.89375, + "learning_rate": 1.3138047623018087e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9921899855136871, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007810007501393557, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.5904937744141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.77570190429685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16880, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.3007333904504776, + "epoch": 4.914169333721269, + "flow_matching_loss": 0.012689943611621856, + "grad_norm": 0.09155697375535965, + "kept_token_count": 572.340625, + "learning_rate": 1.3121641939668293e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9932930171489716, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006706989463418722, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.90944213867186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4700927734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16890, + "valid_token_count": 818.484375 + }, + { + "actual_token_mask_ratio": 0.30027627348899844, + "epoch": 4.917078847832412, + "flow_matching_loss": 0.014846456283703447, + "grad_norm": 0.1157892495393753, + "kept_token_count": 572.3828125, + "learning_rate": 1.3105238538700659e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.9924268305301667, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075731629505753515, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.85035705566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.506982421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16900, + "valid_token_count": 818.0140625 + }, + { + "actual_token_mask_ratio": 0.29973338544368744, + "epoch": 4.919988361943555, + "flow_matching_loss": 0.012474405858665705, + "grad_norm": 0.09653931111097336, + "kept_token_count": 573.3390625, + "learning_rate": 1.3088837440046866e-05, + "loss": 0.0157, + "mgd_cos_sim": 0.9935106456279754, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00648935791105032, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.2690368652344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.29950256347655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16910, + "valid_token_count": 818.740625 + }, + { + "actual_token_mask_ratio": 0.3003699779510498, + "epoch": 4.922897876054699, + "flow_matching_loss": 0.013345650024712085, + "grad_norm": 0.12127110362052917, + "kept_token_count": 572.521875, + "learning_rate": 1.3072438663635787e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9928982734680176, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007101741991937161, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.82069091796876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.15638732910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16920, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.30059186518192293, + "epoch": 4.925807390165843, + "flow_matching_loss": 0.013077339809387922, + "grad_norm": 0.10532230883836746, + "kept_token_count": 572.396875, + "learning_rate": 1.3056042229393497e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9921644568443299, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007835541479289531, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.37700805664065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.42978820800784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16930, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.2996542930603027, + "epoch": 4.928716904276985, + "flow_matching_loss": 0.012140980362892151, + "grad_norm": 0.1071351021528244, + "kept_token_count": 573.1359375, + "learning_rate": 1.30396481572432e-05, + "loss": 0.0159, + "mgd_cos_sim": 0.9925344884395599, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007465515844523906, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.3119812011719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7406463623047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16940, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.3003659337759018, + "epoch": 4.931626418388129, + "flow_matching_loss": 0.012932697404175996, + "grad_norm": 0.11152749508619308, + "kept_token_count": 572.5296875, + "learning_rate": 1.3023256467105237e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9925990223884582, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007400975283235312, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.4508514404297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4856872558594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16950, + "valid_token_count": 818.3234375 + }, + { + "actual_token_mask_ratio": 0.2991571992635727, + "epoch": 4.934535932499273, + "flow_matching_loss": 0.011433153320103884, + "grad_norm": 0.10284978151321411, + "kept_token_count": 573.4734375, + "learning_rate": 1.3006867178897067e-05, + "loss": 0.015, + "mgd_cos_sim": 0.9927988111972809, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007201202586293221, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.9564910888672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.5741882324219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16960, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.29966062009334565, + "epoch": 4.9374454466104165, + "flow_matching_loss": 0.012837720662355423, + "grad_norm": 0.06961826980113983, + "kept_token_count": 573.215625, + "learning_rate": 1.2990480312533213e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9920273661613465, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007972616981714965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.64222106933596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.96563415527345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16970, + "valid_token_count": 818.4890625 + }, + { + "actual_token_mask_ratio": 0.3002059727907181, + "epoch": 4.940354960721559, + "flow_matching_loss": 0.01428809491917491, + "grad_norm": 0.1233733743429184, + "kept_token_count": 572.4984375, + "learning_rate": 1.2974095887925258e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9924166440963745, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007583355158567428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.7481384277344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.9346069335937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16980, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.2995463818311691, + "epoch": 4.943264474832703, + "flow_matching_loss": 0.014825950423255563, + "grad_norm": 0.10380511730909348, + "kept_token_count": 573.20625, + "learning_rate": 1.2957713924981837e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.992560750246048, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007439245283603668, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.9398712158203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.61036987304686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 16990, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.29998122751712797, + "epoch": 4.946173988943847, + "flow_matching_loss": 0.014503241423517466, + "grad_norm": 0.11300492286682129, + "kept_token_count": 572.7078125, + "learning_rate": 1.2941334443608572e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9929002106189728, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007099783793091774, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0384948730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.84541015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17000, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.30011071264743805, + "epoch": 4.94908350305499, + "flow_matching_loss": 0.01519801840186119, + "grad_norm": 0.10045181214809418, + "kept_token_count": 572.5875, + "learning_rate": 1.2924957463708073e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9922048449516296, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00779515290632844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.1313507080078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.90960388183595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17010, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.30071328282356263, + "epoch": 4.951993017166133, + "flow_matching_loss": 0.013606986962258816, + "grad_norm": 0.11483611911535263, + "kept_token_count": 572.253125, + "learning_rate": 1.2908583005179924e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9921984910964966, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007801509741693735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.72046813964846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.63868103027346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17020, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.2996362805366516, + "epoch": 4.954902531277277, + "flow_matching_loss": 0.012748778332024813, + "grad_norm": 0.09206896275281906, + "kept_token_count": 573.00625, + "learning_rate": 1.2892211087920624e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.992732185125351, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007267801463603974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.9049011230469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.54620971679685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17030, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.299258154630661, + "epoch": 4.95781204538842, + "flow_matching_loss": 0.014174105878919364, + "grad_norm": 0.11433839052915573, + "kept_token_count": 573.3125, + "learning_rate": 1.287584173182361e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9921444654464722, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007855538371950388, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.6468139648438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17040, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.2997062116861343, + "epoch": 4.9607215594995635, + "flow_matching_loss": 0.012972247134894133, + "grad_norm": 0.09958302974700928, + "kept_token_count": 572.978125, + "learning_rate": 1.2859474956779188e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9925777673721313, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074222349561750885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.22044982910154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.43250427246096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17050, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.3002650588750839, + "epoch": 4.963631073610707, + "flow_matching_loss": 0.014389883261173964, + "grad_norm": 0.09178060293197632, + "kept_token_count": 572.4421875, + "learning_rate": 1.2843110782674532e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9924288988113403, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007571112923324108, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.5390167236328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.2049133300781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17060, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.3009155958890915, + "epoch": 4.96654058772185, + "flow_matching_loss": 0.012160916812717915, + "grad_norm": 0.09361134469509125, + "kept_token_count": 572.0, + "learning_rate": 1.2826749229393655e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9920319676399231, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007968020625412464, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 398.4292022705078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.4536895751953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17070, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.29923693239688876, + "epoch": 4.969450101832994, + "flow_matching_loss": 0.014341395907104015, + "grad_norm": 0.10223447531461716, + "kept_token_count": 573.4734375, + "learning_rate": 1.2810390316817381e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9930612504482269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069387475028634075, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.9764434814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.70826110839846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17080, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.29997889399528505, + "epoch": 4.9723596159441374, + "flow_matching_loss": 0.015095517318695784, + "grad_norm": 0.10383930057287216, + "kept_token_count": 572.709375, + "learning_rate": 1.2794034064823346e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.992679488658905, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007320509571582079, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 448.8399230957031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.62913208007814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17090, + "valid_token_count": 818.125 + }, + { + "actual_token_mask_ratio": 0.29962462186813354, + "epoch": 4.975269130055281, + "flow_matching_loss": 0.012846369575709105, + "grad_norm": 0.10870099067687988, + "kept_token_count": 572.9109375, + "learning_rate": 1.277768049328593e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9927334725856781, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007266535889357328, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.956982421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2210662841797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17100, + "valid_token_count": 818.0109375 + }, + { + "actual_token_mask_ratio": 0.29978644847869873, + "epoch": 4.978178644166424, + "flow_matching_loss": 0.01574784843251109, + "grad_norm": 0.1125563457608223, + "kept_token_count": 572.9015625, + "learning_rate": 1.2761329622076269e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9926476597785949, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007352337799966335, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.47328796386716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.24689025878905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17110, + "valid_token_count": 818.1828125 + }, + { + "actual_token_mask_ratio": 0.3001799464225769, + "epoch": 4.981088158277568, + "flow_matching_loss": 0.012015260476619005, + "grad_norm": 0.10236808657646179, + "kept_token_count": 572.7515625, + "learning_rate": 1.274498147106221e-05, + "loss": 0.0156, + "mgd_cos_sim": 0.9928633749485016, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071366244927048685, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.45335083007814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.06142272949216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17120, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.3003514736890793, + "epoch": 4.983997672388711, + "flow_matching_loss": 0.014305222406983375, + "grad_norm": 0.07830075174570084, + "kept_token_count": 572.5890625, + "learning_rate": 1.272863606010829e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9929539442062378, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007046060543507338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6917297363281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5014251708984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17130, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.3003056675195694, + "epoch": 4.986907186499854, + "flow_matching_loss": 0.01505732573568821, + "grad_norm": 0.09696642309427261, + "kept_token_count": 572.253125, + "learning_rate": 1.2712293409075739e-05, + "loss": 0.0186, + "mgd_cos_sim": 0.992904782295227, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007095204666256905, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.71555480957034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8004638671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17140, + "valid_token_count": 817.8640625 + }, + { + "actual_token_mask_ratio": 0.29908703863620756, + "epoch": 4.989816700610998, + "flow_matching_loss": 0.013058522250503302, + "grad_norm": 0.10131462663412094, + "kept_token_count": 573.2859375, + "learning_rate": 1.2695953537822413e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9926249146461487, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007375085167586804, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.9236999511719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3160888671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17150, + "valid_token_count": 817.915625 + }, + { + "actual_token_mask_ratio": 0.2993285357952118, + "epoch": 4.992726214722142, + "flow_matching_loss": 0.013168614963069558, + "grad_norm": 0.08384940028190613, + "kept_token_count": 573.425, + "learning_rate": 1.2679616466202792e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9930165529251098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006983438413590193, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.861962890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1658142089844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17160, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.2999898999929428, + "epoch": 4.995635728833285, + "flow_matching_loss": 0.013247315306216478, + "grad_norm": 0.13392721116542816, + "kept_token_count": 572.690625, + "learning_rate": 1.2663282214067967e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9928535103797913, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007146483939141035, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.7038055419922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5770965576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17170, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.2998857319355011, + "epoch": 4.998545242944428, + "flow_matching_loss": 0.015287887025624513, + "grad_norm": 0.14440573751926422, + "kept_token_count": 572.9453125, + "learning_rate": 1.264695080126559e-05, + "loss": 0.0188, + "mgd_cos_sim": 0.9929122388362884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007087765168398619, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.52024536132814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.19615478515624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17180, + "valid_token_count": 818.35625 + }, + { + "actual_token_mask_ratio": 0.30027045905590055, + "epoch": 5.001454757055572, + "flow_matching_loss": 0.013251986354589462, + "grad_norm": 0.10697680711746216, + "kept_token_count": 572.51875, + "learning_rate": 1.263062224763986e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9929188907146453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007081099320203066, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.30310974121096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.0927978515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17190, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.298857182264328, + "epoch": 5.004364271166716, + "flow_matching_loss": 0.01321470532566309, + "grad_norm": 0.09144666790962219, + "kept_token_count": 573.546875, + "learning_rate": 1.2614296573031522e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9925150513648987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007484942860901356, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.7546905517578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.77605590820315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17200, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.3006143242120743, + "epoch": 5.007273785277858, + "flow_matching_loss": 0.01293269470334053, + "grad_norm": 0.09859803318977356, + "kept_token_count": 572.4078125, + "learning_rate": 1.259797379727781e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9924749255180358, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00752507308498025, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.88751220703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.77800903320315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17210, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.29912649989128115, + "epoch": 5.010183299389002, + "flow_matching_loss": 0.015520719345659018, + "grad_norm": 0.11979258805513382, + "kept_token_count": 573.3578125, + "learning_rate": 1.2581653940212423e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9928084731101989, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007191545143723488, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.13573303222654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2838623046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17220, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.30042579770088196, + "epoch": 5.013092813500146, + "flow_matching_loss": 0.014849035535007715, + "grad_norm": 0.10272762924432755, + "kept_token_count": 572.378125, + "learning_rate": 1.2565337021665537e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9927095651626587, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007290459610521794, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.91587219238284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.174365234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17230, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.3005324572324753, + "epoch": 5.016002327611289, + "flow_matching_loss": 0.013062540860846638, + "grad_norm": 0.10013534128665924, + "kept_token_count": 572.671875, + "learning_rate": 1.2549023061463739e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9929889082908631, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007011081092059612, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.5354400634766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6665374755859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17240, + "valid_token_count": 818.7265625 + }, + { + "actual_token_mask_ratio": 0.3001652419567108, + "epoch": 5.018911841722432, + "flow_matching_loss": 0.014062701910734176, + "grad_norm": 0.10533515363931656, + "kept_token_count": 572.6828125, + "learning_rate": 1.2532712079430038e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9927914798259735, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007208525855094195, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.3054534912109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.80132751464845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17250, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.2999472200870514, + "epoch": 5.021821355833576, + "flow_matching_loss": 0.015332773886620998, + "grad_norm": 0.12588317692279816, + "kept_token_count": 572.6609375, + "learning_rate": 1.2516404095383813e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.9924490094184876, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007550991605967283, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.13840637207034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2998992919922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17260, + "valid_token_count": 818.03125 + }, + { + "actual_token_mask_ratio": 0.30026641488075256, + "epoch": 5.024730869944719, + "flow_matching_loss": 0.012578963302075863, + "grad_norm": 0.1260138303041458, + "kept_token_count": 572.753125, + "learning_rate": 1.2500099129140796e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9925948560237885, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007405134476721286, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 459.13270568847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4831024169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17270, + "valid_token_count": 818.5328125 + }, + { + "actual_token_mask_ratio": 0.29952040016651155, + "epoch": 5.0276403840558626, + "flow_matching_loss": 0.013580526690930128, + "grad_norm": 0.08604186028242111, + "kept_token_count": 573.078125, + "learning_rate": 1.2483797200513065e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9934887170791626, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006511284131556749, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.57701416015624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.71959228515624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17280, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.30009266436100007, + "epoch": 5.030549898167006, + "flow_matching_loss": 0.013157009240239858, + "grad_norm": 0.0866665467619896, + "kept_token_count": 572.3296875, + "learning_rate": 1.2467498329308992e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9924391269683838, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007560876570641995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.9839660644531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8706909179688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17290, + "valid_token_count": 817.721875 + }, + { + "actual_token_mask_ratio": 0.3000422686338425, + "epoch": 5.03345941227815, + "flow_matching_loss": 0.013156405929476023, + "grad_norm": 0.0832028016448021, + "kept_token_count": 572.884375, + "learning_rate": 1.2451202535333253e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9928010284900666, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007198985293507576, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.12762145996095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6820373535156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17300, + "valid_token_count": 818.45625 + }, + { + "actual_token_mask_ratio": 0.2998572617769241, + "epoch": 5.036368926389293, + "flow_matching_loss": 0.015154935792088509, + "grad_norm": 0.11091868579387665, + "kept_token_count": 573.0109375, + "learning_rate": 1.2434909838386768e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9922990500926971, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00770093547180295, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.4206878662109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.28228149414065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17310, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.2997670382261276, + "epoch": 5.0392784405004365, + "flow_matching_loss": 0.014290962554514407, + "grad_norm": 0.10220742225646973, + "kept_token_count": 572.7484375, + "learning_rate": 1.2418620258266703e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9927586376667022, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007241342123597861, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.9518585205078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2549224853516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17320, + "valid_token_count": 817.9421875 + }, + { + "actual_token_mask_ratio": 0.3000756114721298, + "epoch": 5.04218795461158, + "flow_matching_loss": 0.015457439981400967, + "grad_norm": 0.09868466854095459, + "kept_token_count": 572.8046875, + "learning_rate": 1.2402333814766432e-05, + "loss": 0.0193, + "mgd_cos_sim": 0.9923417508602143, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007658250816166401, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 451.9265838623047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.424169921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17330, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.30053857564926145, + "epoch": 5.045097468722723, + "flow_matching_loss": 0.012075853347778321, + "grad_norm": 0.09911854565143585, + "kept_token_count": 572.2921875, + "learning_rate": 1.2386050527675515e-05, + "loss": 0.0158, + "mgd_cos_sim": 0.9924680233001709, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007531970553100109, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.80067443847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.21690979003904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17340, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2990579456090927, + "epoch": 5.048006982833867, + "flow_matching_loss": 0.013331416808068753, + "grad_norm": 0.10177569091320038, + "kept_token_count": 573.521875, + "learning_rate": 1.2369770416779693e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9927309870719909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007269014697521925, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.2639434814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6089752197266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17350, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.2998409777879715, + "epoch": 5.05091649694501, + "flow_matching_loss": 0.011892406130209565, + "grad_norm": 0.11404825747013092, + "kept_token_count": 573.0234375, + "learning_rate": 1.2353493501860828e-05, + "loss": 0.0154, + "mgd_cos_sim": 0.9929101943969727, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00708980169147253, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.0921142578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.91307373046874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17360, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.3006096541881561, + "epoch": 5.053826011056153, + "flow_matching_loss": 0.014392627589404582, + "grad_norm": 0.08828143030405045, + "kept_token_count": 572.4078125, + "learning_rate": 1.2337219802696905e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9926511466503143, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007348849531263113, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.52056274414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.144384765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17370, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.3004720896482468, + "epoch": 5.056735525167297, + "flow_matching_loss": 0.012731092795729638, + "grad_norm": 0.11550293117761612, + "kept_token_count": 572.5671875, + "learning_rate": 1.2320949339062008e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.992636239528656, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007363765686750412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.8705078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.57306213378905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17380, + "valid_token_count": 818.50625 + }, + { + "actual_token_mask_ratio": 0.299289271235466, + "epoch": 5.059645039278441, + "flow_matching_loss": 0.013681265711784362, + "grad_norm": 0.09170293807983398, + "kept_token_count": 573.15, + "learning_rate": 1.2304682130726281e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9927710473537446, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007228951156139374, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.6830322265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1562103271484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17390, + "valid_token_count": 817.9546875 + }, + { + "actual_token_mask_ratio": 0.3000208228826523, + "epoch": 5.0625545533895835, + "flow_matching_loss": 0.01585615323856473, + "grad_norm": 0.11541297286748886, + "kept_token_count": 572.515625, + "learning_rate": 1.2288418197455913e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.9929153263568878, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007084676343947649, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.1590118408203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1201416015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17400, + "valid_token_count": 817.8984375 + }, + { + "actual_token_mask_ratio": 0.3000641971826553, + "epoch": 5.065464067500727, + "flow_matching_loss": 0.013212692411616444, + "grad_norm": 0.09337674081325531, + "kept_token_count": 572.71875, + "learning_rate": 1.2272157559013126e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.992617005109787, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00738299498334527, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.02216186523435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2419128417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17410, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.2990568518638611, + "epoch": 5.068373581611871, + "flow_matching_loss": 0.013156979996711015, + "grad_norm": 0.11813842505216599, + "kept_token_count": 573.3609375, + "learning_rate": 1.2255900235156123e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.992193204164505, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0078067915514111515, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.6316833496094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.55747680664064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17420, + "valid_token_count": 817.99375 + }, + { + "actual_token_mask_ratio": 0.30046825110912323, + "epoch": 5.071283095723015, + "flow_matching_loss": 0.01296926443465054, + "grad_norm": 0.11151739209890366, + "kept_token_count": 572.5828125, + "learning_rate": 1.2239646245639087e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9927047193050385, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007295275665819645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.03501281738284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.85362854003904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17430, + "valid_token_count": 818.5234375 + }, + { + "actual_token_mask_ratio": 0.3005553334951401, + "epoch": 5.074192609834157, + "flow_matching_loss": 0.011090062977746128, + "grad_norm": 0.09611164033412933, + "kept_token_count": 572.428125, + "learning_rate": 1.2223395610212142e-05, + "loss": 0.0147, + "mgd_cos_sim": 0.9927665650844574, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007233428861945867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.34668884277346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.46685485839845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17440, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.30085296034812925, + "epoch": 5.077102123945301, + "flow_matching_loss": 0.011422159243375063, + "grad_norm": 0.11031469702720642, + "kept_token_count": 572.0109375, + "learning_rate": 1.2207148348621348e-05, + "loss": 0.0148, + "mgd_cos_sim": 0.9932575047016143, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006742495857179165, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.59080505371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.25665283203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17450, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.3001271367073059, + "epoch": 5.080011638056445, + "flow_matching_loss": 0.015221045445650816, + "grad_norm": 0.14038389921188354, + "kept_token_count": 572.55625, + "learning_rate": 1.219090448060866e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9927159786224365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072840206325054165, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.24957275390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4499847412109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17460, + "valid_token_count": 818.0828125 + }, + { + "actual_token_mask_ratio": 0.30009197294712064, + "epoch": 5.082921152167588, + "flow_matching_loss": 0.014005544409155846, + "grad_norm": 0.11004050821065903, + "kept_token_count": 572.8421875, + "learning_rate": 1.217466402591191e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9921192109584809, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007880810275673866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.81732788085935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7095489501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17470, + "valid_token_count": 818.453125 + }, + { + "actual_token_mask_ratio": 0.3007529228925705, + "epoch": 5.085830666278731, + "flow_matching_loss": 0.013902805000543594, + "grad_norm": 0.11224187910556793, + "kept_token_count": 572.0515625, + "learning_rate": 1.2158427004264785e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9929515480995178, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007048457488417625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.72625732421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.72686462402345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17480, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.29967966079711916, + "epoch": 5.088740180389875, + "flow_matching_loss": 0.0145792743191123, + "grad_norm": 0.1103430911898613, + "kept_token_count": 572.9921875, + "learning_rate": 1.2142193435396788e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.992885810136795, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007114187348634005, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.8942596435547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.3765167236328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17490, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.299814909696579, + "epoch": 5.091649694501018, + "flow_matching_loss": 0.011863649915903806, + "grad_norm": 0.08823210746049881, + "kept_token_count": 572.859375, + "learning_rate": 1.2125963339033234e-05, + "loss": 0.0153, + "mgd_cos_sim": 0.9931083798408509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006891615595668555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6031555175781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.61438903808596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17500, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.3001924782991409, + "epoch": 5.094559208612162, + "flow_matching_loss": 0.011956153344362975, + "grad_norm": 0.109051913022995, + "kept_token_count": 572.309375, + "learning_rate": 1.2109736734895237e-05, + "loss": 0.0153, + "mgd_cos_sim": 0.9932622015476227, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006737813353538513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.6679718017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7003875732422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17510, + "valid_token_count": 817.8109375 + }, + { + "actual_token_mask_ratio": 0.30003662109375, + "epoch": 5.097468722723305, + "flow_matching_loss": 0.016025904659181835, + "grad_norm": 0.11671490967273712, + "kept_token_count": 573.015625, + "learning_rate": 1.2093513642699634e-05, + "loss": 0.02, + "mgd_cos_sim": 0.9921113193035126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007888678181916475, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.0470703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1270782470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17520, + "valid_token_count": 818.640625 + }, + { + "actual_token_mask_ratio": 0.29939726889133456, + "epoch": 5.100378236834449, + "flow_matching_loss": 0.01585787134245038, + "grad_norm": 0.09469002485275269, + "kept_token_count": 573.1921875, + "learning_rate": 1.2077294082159024e-05, + "loss": 0.0194, + "mgd_cos_sim": 0.992937707901001, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007062295265495777, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7642852783203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3622161865234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17530, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.2998917162418365, + "epoch": 5.103287750945592, + "flow_matching_loss": 0.015086984727531672, + "grad_norm": 0.09207919239997864, + "kept_token_count": 572.8796875, + "learning_rate": 1.2061078072981697e-05, + "loss": 0.0187, + "mgd_cos_sim": 0.9928337216377259, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007166283391416073, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.5466064453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.81756896972655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17540, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.29920909106731414, + "epoch": 5.1061972650567355, + "flow_matching_loss": 0.01382582294754684, + "grad_norm": 0.14351239800453186, + "kept_token_count": 573.1171875, + "learning_rate": 1.2044865634871626e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9928468704223633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007153131067752838, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.8204620361328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.14624938964846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17550, + "valid_token_count": 817.8140625 + }, + { + "actual_token_mask_ratio": 0.3004940390586853, + "epoch": 5.109106779167879, + "flow_matching_loss": 0.013577086105942725, + "grad_norm": 0.08840850740671158, + "kept_token_count": 572.234375, + "learning_rate": 1.2028656787528468e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9925036549568176, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007496353890746832, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.43433532714846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.33478393554685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17560, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.2998523980379105, + "epoch": 5.112016293279022, + "flow_matching_loss": 0.014585051080211997, + "grad_norm": 0.0869167298078537, + "kept_token_count": 573.1328125, + "learning_rate": 1.2012451550647491e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9927848517894745, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007215151283890009, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 456.6124206542969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.78810119628906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17570, + "valid_token_count": 818.5921875 + }, + { + "actual_token_mask_ratio": 0.299375981092453, + "epoch": 5.114925807390166, + "flow_matching_loss": 0.014695204887539148, + "grad_norm": 0.10612055659294128, + "kept_token_count": 573.046875, + "learning_rate": 1.1996249943919589e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9927122712135314, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00728772059082985, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.6430206298828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1856384277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17580, + "valid_token_count": 817.9109375 + }, + { + "actual_token_mask_ratio": 0.2998503834009171, + "epoch": 5.1178353215013095, + "flow_matching_loss": 0.014600830432027579, + "grad_norm": 0.11005367338657379, + "kept_token_count": 572.8625, + "learning_rate": 1.1980051987031237e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9927636802196502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007236328441649675, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.91017456054686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6120849609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17590, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.2999317109584808, + "epoch": 5.120744835612452, + "flow_matching_loss": 0.013431613612920047, + "grad_norm": 0.11660756915807724, + "kept_token_count": 572.75, + "learning_rate": 1.1963857699664483e-05, + "loss": 0.017, + "mgd_cos_sim": 0.99279705286026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00720294788479805, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.26890869140624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9625732421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17600, + "valid_token_count": 818.125 + }, + { + "actual_token_mask_ratio": 0.29998327791690826, + "epoch": 5.123654349723596, + "flow_matching_loss": 0.012760016787797212, + "grad_norm": 0.09238532930612564, + "kept_token_count": 572.903125, + "learning_rate": 1.1947667101496911e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9928419649600982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007158033363521099, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.70238342285154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.65391540527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17610, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.30062359273433686, + "epoch": 5.12656386383474, + "flow_matching_loss": 0.0116387952119112, + "grad_norm": 0.11297737061977386, + "kept_token_count": 572.375, + "learning_rate": 1.1931480212201633e-05, + "loss": 0.0153, + "mgd_cos_sim": 0.992596036195755, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007403972186148166, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.0608276367187, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.99217529296874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17620, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.3001538455486298, + "epoch": 5.129473377945883, + "flow_matching_loss": 0.016554597578942776, + "grad_norm": 0.10587052255868912, + "kept_token_count": 572.8515625, + "learning_rate": 1.1915297051447237e-05, + "loss": 0.0205, + "mgd_cos_sim": 0.9920528590679168, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007947148568928242, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.1305847167969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.34522705078126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17630, + "valid_token_count": 818.54375 + }, + { + "actual_token_mask_ratio": 0.3002193719148636, + "epoch": 5.132382892057026, + "flow_matching_loss": 0.014851595368236303, + "grad_norm": 0.12472856789827347, + "kept_token_count": 572.7046875, + "learning_rate": 1.1899117638897793e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9927330255508423, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007266976032406091, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.6761413574219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9342529296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17640, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.3003504604101181, + "epoch": 5.13529240616817, + "flow_matching_loss": 0.01394838821142912, + "grad_norm": 0.07455170899629593, + "kept_token_count": 572.4765625, + "learning_rate": 1.1882941994212811e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9929384469985962, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00706156762316823, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.58838806152346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1787109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17650, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.30117549300193786, + "epoch": 5.138201920279314, + "flow_matching_loss": 0.014142554253339767, + "grad_norm": 0.07616081088781357, + "kept_token_count": 572.090625, + "learning_rate": 1.1866770137047221e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9919792532920837, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008020755928009748, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.79302673339845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3781036376953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17660, + "valid_token_count": 818.6453125 + }, + { + "actual_token_mask_ratio": 0.3005591154098511, + "epoch": 5.1411114343904565, + "flow_matching_loss": 0.011077773105353118, + "grad_norm": 0.08720643073320389, + "kept_token_count": 572.3203125, + "learning_rate": 1.1850602087051363e-05, + "loss": 0.0148, + "mgd_cos_sim": 0.9926538646221161, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007346141338348389, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.8049591064453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9801422119141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17670, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.299852991104126, + "epoch": 5.1440209485016, + "flow_matching_loss": 0.012545100599527358, + "grad_norm": 0.10602156072854996, + "kept_token_count": 572.7828125, + "learning_rate": 1.183443786387094e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9925538539886475, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007446160819381475, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.1892883300781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.94867553710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17680, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.3001000374555588, + "epoch": 5.146930462612744, + "flow_matching_loss": 0.014735623449087142, + "grad_norm": 0.10630810260772705, + "kept_token_count": 572.871875, + "learning_rate": 1.1818277487147005e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9928269863128663, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071730072610080246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.68089294433594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.29237670898436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17690, + "valid_token_count": 818.5046875 + }, + { + "actual_token_mask_ratio": 0.29977765679359436, + "epoch": 5.149839976723887, + "flow_matching_loss": 0.012967291194945574, + "grad_norm": 0.10033266991376877, + "kept_token_count": 572.909375, + "learning_rate": 1.180212097651594e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9927534639835358, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007246541790664196, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.54714050292966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.97137756347655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17700, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.30005423724651337, + "epoch": 5.15274949083503, + "flow_matching_loss": 0.01246113064698875, + "grad_norm": 0.09092859923839569, + "kept_token_count": 572.6046875, + "learning_rate": 1.1785968351609422e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9924685537815094, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007531456649303436, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3451812744141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.7455200195312, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17710, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.2998173087835312, + "epoch": 5.155659004946174, + "flow_matching_loss": 0.013600704539567233, + "grad_norm": 0.11256072670221329, + "kept_token_count": 573.0984375, + "learning_rate": 1.1769819632054427e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9926010191440582, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007399008236825466, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.4228820800781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.7218841552734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17720, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.30063719153404234, + "epoch": 5.158568519057318, + "flow_matching_loss": 0.013003447651863098, + "grad_norm": 0.08596418052911758, + "kept_token_count": 572.3828125, + "learning_rate": 1.1753674837473165e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9931010484695435, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006898950599133968, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.4509613037109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.5699432373047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17730, + "valid_token_count": 818.4375 + }, + { + "actual_token_mask_ratio": 0.3001562535762787, + "epoch": 5.161478033168461, + "flow_matching_loss": 0.012470539100468159, + "grad_norm": 0.11915487796068192, + "kept_token_count": 572.6578125, + "learning_rate": 1.1737533987483081e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9927707552909851, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072292514145374295, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.54248046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.96572265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17740, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.2991427928209305, + "epoch": 5.164387547279604, + "flow_matching_loss": 0.013944237120449543, + "grad_norm": 0.13285452127456665, + "kept_token_count": 573.6890625, + "learning_rate": 1.1721397101696835e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9929245829582214, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007075417786836624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.1470916748047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.02744140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17750, + "valid_token_count": 818.5484375 + }, + { + "actual_token_mask_ratio": 0.2996429979801178, + "epoch": 5.167297061390748, + "flow_matching_loss": 0.011449492443352938, + "grad_norm": 0.08995071798563004, + "kept_token_count": 573.1609375, + "learning_rate": 1.1705264199722257e-05, + "loss": 0.0151, + "mgd_cos_sim": 0.9926355540752411, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007364452164620161, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.8092864990234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5797485351562, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17760, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.2989360749721527, + "epoch": 5.170206575501891, + "flow_matching_loss": 0.012727044755592942, + "grad_norm": 0.12152955681085587, + "kept_token_count": 573.6375, + "learning_rate": 1.1689135301162356e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9926591336727142, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007340872287750244, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.77288208007815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.11248779296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17770, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.30104524493217466, + "epoch": 5.173116089613035, + "flow_matching_loss": 0.013514578808099031, + "grad_norm": 0.13210199773311615, + "kept_token_count": 572.0015625, + "learning_rate": 1.1673010425615258e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9927507281303406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007249273266643286, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.978125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.82977294921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17780, + "valid_token_count": 818.3703125 + }, + { + "actual_token_mask_ratio": 0.2993942528963089, + "epoch": 5.176025603724178, + "flow_matching_loss": 0.013108072988688945, + "grad_norm": 0.09149276465177536, + "kept_token_count": 573.1953125, + "learning_rate": 1.1656889592674208e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9930172979831695, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006982707791030407, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.9077667236328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5275085449219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17790, + "valid_token_count": 818.1421875 + }, + { + "actual_token_mask_ratio": 0.30075951516628263, + "epoch": 5.178935117835321, + "flow_matching_loss": 0.013163395272567869, + "grad_norm": 0.0895296111702919, + "kept_token_count": 572.2859375, + "learning_rate": 1.1640772821927533e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9927084565162658, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007291537802666425, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.159228515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.68707275390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17800, + "valid_token_count": 818.44375 + }, + { + "actual_token_mask_ratio": 0.30170063078403475, + "epoch": 5.181844631946465, + "flow_matching_loss": 0.013999565783888102, + "grad_norm": 0.10414958745241165, + "kept_token_count": 571.3828125, + "learning_rate": 1.162466013295864e-05, + "loss": 0.0175, + "mgd_cos_sim": 0.9929386377334595, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007061357796192169, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 458.1262908935547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5541625976563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17810, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.3002664834260941, + "epoch": 5.1847541460576085, + "flow_matching_loss": 0.015296082943677902, + "grad_norm": 0.12361158430576324, + "kept_token_count": 572.3671875, + "learning_rate": 1.160855154534595e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9925573348999024, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007442666403949261, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.8708038330078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.94520568847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17820, + "valid_token_count": 817.9796875 + }, + { + "actual_token_mask_ratio": 0.30052714943885805, + "epoch": 5.187663660168752, + "flow_matching_loss": 0.01317494735121727, + "grad_norm": 0.11238497495651245, + "kept_token_count": 572.3421875, + "learning_rate": 1.1592447078662931e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9928706169128418, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007129369862377643, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.1154541015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.01929626464846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17830, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.3002932667732239, + "epoch": 5.190573174279895, + "flow_matching_loss": 0.014257986936718226, + "grad_norm": 0.10226433724164963, + "kept_token_count": 572.5609375, + "learning_rate": 1.1576346752478025e-05, + "loss": 0.0183, + "mgd_cos_sim": 0.9919187307357789, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008081257343292236, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.8046569824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.451904296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17840, + "valid_token_count": 818.2828125 + }, + { + "actual_token_mask_ratio": 0.3006702154874802, + "epoch": 5.193482688391039, + "flow_matching_loss": 0.014507927000522614, + "grad_norm": 0.09362959861755371, + "kept_token_count": 572.0, + "learning_rate": 1.1560250586354643e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9927912056446075, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007208794541656971, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.18853149414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8201049804687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17850, + "valid_token_count": 817.928125 + }, + { + "actual_token_mask_ratio": 0.3009153187274933, + "epoch": 5.1963922025021825, + "flow_matching_loss": 0.013155524153262377, + "grad_norm": 0.11495069414377213, + "kept_token_count": 572.190625, + "learning_rate": 1.1544158599851146e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9931387424468994, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006861246842890978, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.5968902587891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1076690673828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17860, + "valid_token_count": 818.4828125 + }, + { + "actual_token_mask_ratio": 0.3006845355033875, + "epoch": 5.199301716613325, + "flow_matching_loss": 0.014426259323954582, + "grad_norm": 0.11183080822229385, + "kept_token_count": 572.384375, + "learning_rate": 1.1528070812520809e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9929498314857483, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007050176057964564, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.9974090576172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.61121520996096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17870, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.29924165904521943, + "epoch": 5.202211230724469, + "flow_matching_loss": 0.013499365746974945, + "grad_norm": 0.09599539637565613, + "kept_token_count": 573.3171875, + "learning_rate": 1.1511987243911821e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9927185714244843, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007281421218067408, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.46898498535154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2080322265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17880, + "valid_token_count": 818.1375 + }, + { + "actual_token_mask_ratio": 0.3007447421550751, + "epoch": 5.205120744835613, + "flow_matching_loss": 0.01358686271123588, + "grad_norm": 0.10281096398830414, + "kept_token_count": 572.0953125, + "learning_rate": 1.1495907913567228e-05, + "loss": 0.0172, + "mgd_cos_sim": 0.9926891326904297, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007310865074396133, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.2660675048828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.34473571777346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17890, + "valid_token_count": 818.15 + }, + { + "actual_token_mask_ratio": 0.3010033696889877, + "epoch": 5.2080302589467555, + "flow_matching_loss": 0.012673559738323093, + "grad_norm": 0.08527898043394089, + "kept_token_count": 572.1203125, + "learning_rate": 1.1479832841024936e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9931967794895172, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068032156676054, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.06195678710935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.86257019042966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17900, + "valid_token_count": 818.49375 + }, + { + "actual_token_mask_ratio": 0.3007275462150574, + "epoch": 5.210939773057899, + "flow_matching_loss": 0.012267786497250199, + "grad_norm": 0.0863524004817009, + "kept_token_count": 572.2984375, + "learning_rate": 1.1463762045817675e-05, + "loss": 0.0158, + "mgd_cos_sim": 0.9930244565010071, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006975545268505812, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.1690704345703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.90329895019534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17910, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.2992890626192093, + "epoch": 5.213849287169043, + "flow_matching_loss": 0.015435749478638173, + "grad_norm": 0.12011200189590454, + "kept_token_count": 573.0421875, + "learning_rate": 1.1447695547472964e-05, + "loss": 0.0192, + "mgd_cos_sim": 0.9924026370048523, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00759735731408, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.7764373779297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.01075134277346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17920, + "valid_token_count": 817.79375 + }, + { + "actual_token_mask_ratio": 0.29934437572956085, + "epoch": 5.216758801280186, + "flow_matching_loss": 0.012192442035302519, + "grad_norm": 0.08769780397415161, + "kept_token_count": 573.259375, + "learning_rate": 1.1431633365513132e-05, + "loss": 0.0157, + "mgd_cos_sim": 0.9930051565170288, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069948405027389525, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.7792175292969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.56170654296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17930, + "valid_token_count": 818.1671875 + }, + { + "actual_token_mask_ratio": 0.2995161771774292, + "epoch": 5.2196683153913295, + "flow_matching_loss": 0.013493804866448045, + "grad_norm": 0.09905456006526947, + "kept_token_count": 573.1046875, + "learning_rate": 1.1415575519455235e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9922866106033326, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007713383436203003, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.36943359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.88800048828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17940, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.30033777058124544, + "epoch": 5.222577829502473, + "flow_matching_loss": 0.012308254465460777, + "grad_norm": 0.10048278421163559, + "kept_token_count": 572.4234375, + "learning_rate": 1.1399522028811069e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9922813057899476, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007718696538358927, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3324890136719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7919982910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17950, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.29951506555080415, + "epoch": 5.225487343613617, + "flow_matching_loss": 0.012648994196206331, + "grad_norm": 0.11441966146230698, + "kept_token_count": 573.2328125, + "learning_rate": 1.1383472913087143e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9923604786396026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007639528065919876, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.4688446044922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4763641357422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17960, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.30004043877124786, + "epoch": 5.22839685772476, + "flow_matching_loss": 0.0150643200147897, + "grad_norm": 0.09572755545377731, + "kept_token_count": 572.684375, + "learning_rate": 1.1367428191784643e-05, + "loss": 0.019, + "mgd_cos_sim": 0.9922081232070923, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077918718568980696, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.9501983642578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3548522949219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17970, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.2994563728570938, + "epoch": 5.231306371835903, + "flow_matching_loss": 0.011038103373721242, + "grad_norm": 0.11534097790718079, + "kept_token_count": 573.2921875, + "learning_rate": 1.1351387884399413e-05, + "loss": 0.0146, + "mgd_cos_sim": 0.9929215490818024, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007078436482697725, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.17291564941405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.7816986083984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17980, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.2992893934249878, + "epoch": 5.234215885947047, + "flow_matching_loss": 0.01172189200296998, + "grad_norm": 0.10672979056835175, + "kept_token_count": 573.4796875, + "learning_rate": 1.1335352010421953e-05, + "loss": 0.0153, + "mgd_cos_sim": 0.9929403364658356, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00705966604873538, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7644897460938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.38872985839845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 17990, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.29952832460403445, + "epoch": 5.23712540005819, + "flow_matching_loss": 0.013274916633963584, + "grad_norm": 0.14257501065731049, + "kept_token_count": 573.4625, + "learning_rate": 1.1319320589337352e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9927554249763488, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00724456887692213, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.92706604003905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7002807617188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18000, + "valid_token_count": 818.6828125 + }, + { + "actual_token_mask_ratio": 0.299710288643837, + "epoch": 5.240034914169334, + "flow_matching_loss": 0.012620244175195694, + "grad_norm": 0.11719419807195663, + "kept_token_count": 572.9765625, + "learning_rate": 1.1303293640625299e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9929065108299255, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007093481998890638, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.05385437011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.88310546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18010, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.300088968873024, + "epoch": 5.242944428280477, + "flow_matching_loss": 0.012774673150852322, + "grad_norm": 0.08843853324651718, + "kept_token_count": 572.759375, + "learning_rate": 1.1287271183760052e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9929274499416352, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007072555180639028, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.13079528808595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.93126525878904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18020, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.30047099888324735, + "epoch": 5.24585394239162, + "flow_matching_loss": 0.013344121724367141, + "grad_norm": 0.1137930229306221, + "kept_token_count": 572.48125, + "learning_rate": 1.1271253238210398e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9925485968589782, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007451405096799135, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.60508728027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.89442443847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18030, + "valid_token_count": 818.375 + }, + { + "actual_token_mask_ratio": 0.29984056055545805, + "epoch": 5.248763456502764, + "flow_matching_loss": 0.013559074141085148, + "grad_norm": 0.09617843478918076, + "kept_token_count": 572.803125, + "learning_rate": 1.1255239823439663e-05, + "loss": 0.0169, + "mgd_cos_sim": 0.9933850169181824, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006614971626549959, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.2924041748047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.8254150390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18040, + "valid_token_count": 818.10625 + }, + { + "actual_token_mask_ratio": 0.29976747930049896, + "epoch": 5.251672970613908, + "flow_matching_loss": 0.013201912585645913, + "grad_norm": 0.0948260948061943, + "kept_token_count": 572.9734375, + "learning_rate": 1.1239230958905652e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9933983087539673, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006601683609187603, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.2982116699219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 391.8796142578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18050, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.299746036529541, + "epoch": 5.254582484725051, + "flow_matching_loss": 0.012590613216161728, + "grad_norm": 0.12924252450466156, + "kept_token_count": 573.2, + "learning_rate": 1.1223226664060641e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9926468789577484, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00735313119366765, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.83632507324216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1489959716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18060, + "valid_token_count": 818.5609375 + }, + { + "actual_token_mask_ratio": 0.30002132058143616, + "epoch": 5.257491998836194, + "flow_matching_loss": 0.013259531278163195, + "grad_norm": 0.12515677511692047, + "kept_token_count": 572.815625, + "learning_rate": 1.1207226958351362e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9928614258766174, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007138584554195404, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.236279296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0048889160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18070, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.30056575536727903, + "epoch": 5.260401512947338, + "flow_matching_loss": 0.013952703773975372, + "grad_norm": 0.10586374998092651, + "kept_token_count": 572.3109375, + "learning_rate": 1.1191231861218955e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9923624396324158, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007637581788003445, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 453.16328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.52056579589845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18080, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.30020790100097655, + "epoch": 5.2633110270584815, + "flow_matching_loss": 0.014464032277464867, + "grad_norm": 0.10984306037425995, + "kept_token_count": 572.66875, + "learning_rate": 1.1175241392098988e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9927143812179565, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072856063954532145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.9259796142578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9401489257813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18090, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.2990136295557022, + "epoch": 5.266220541169624, + "flow_matching_loss": 0.012549426965415477, + "grad_norm": 0.08748500049114227, + "kept_token_count": 573.528125, + "learning_rate": 1.1159255570421376e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9925480544567108, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007451939024031162, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 406.0585021972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8801971435547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18100, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.30107594430446627, + "epoch": 5.269130055280768, + "flow_matching_loss": 0.013325940165668727, + "grad_norm": 0.1199953630566597, + "kept_token_count": 571.825, + "learning_rate": 1.1143274415610408e-05, + "loss": 0.0171, + "mgd_cos_sim": 0.9923856139183045, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076143908314406875, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.4113403320313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.13072509765624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18110, + "valid_token_count": 818.1515625 + }, + { + "actual_token_mask_ratio": 0.2998594373464584, + "epoch": 5.272039569391912, + "flow_matching_loss": 0.012991307629272341, + "grad_norm": 0.11708897352218628, + "kept_token_count": 572.959375, + "learning_rate": 1.1127297947084692e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9926108539104461, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007389146741479636, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.99224853515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.15879516601564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18120, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.30042884945869447, + "epoch": 5.274949083503055, + "flow_matching_loss": 0.01246958519332111, + "grad_norm": 0.11118772625923157, + "kept_token_count": 572.5546875, + "learning_rate": 1.1111326184257135e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9922228515148163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007777142059057951, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.86741943359374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.29567260742186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18130, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.3000612109899521, + "epoch": 5.277858597614198, + "flow_matching_loss": 0.016117147542536257, + "grad_norm": 0.10026866942644119, + "kept_token_count": 572.7125, + "learning_rate": 1.109535914653495e-05, + "loss": 0.0196, + "mgd_cos_sim": 0.9931112408638001, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006888755317777395, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.2928771972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3731384277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18140, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.3003297209739685, + "epoch": 5.280768111725342, + "flow_matching_loss": 0.012150838505476713, + "grad_norm": 0.09336858242750168, + "kept_token_count": 572.409375, + "learning_rate": 1.1079396853319582e-05, + "loss": 0.0154, + "mgd_cos_sim": 0.9934303879737854, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00656961128115654, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.38929138183596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.10338439941404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18150, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.30055617690086367, + "epoch": 5.283677625836486, + "flow_matching_loss": 0.012423748895525933, + "grad_norm": 0.08291004598140717, + "kept_token_count": 572.1546875, + "learning_rate": 1.1063439324006724e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9928170502185821, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007182956021279096, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.1733001708984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.537451171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18160, + "valid_token_count": 818.0125 + }, + { + "actual_token_mask_ratio": 0.2993344306945801, + "epoch": 5.2865871399476285, + "flow_matching_loss": 0.016119406279176473, + "grad_norm": 0.07112967222929001, + "kept_token_count": 573.321875, + "learning_rate": 1.1047486577986285e-05, + "loss": 0.0197, + "mgd_cos_sim": 0.9927542686462403, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007245736569166184, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.6359893798828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1999450683594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18170, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.2994137227535248, + "epoch": 5.289496654058772, + "flow_matching_loss": 0.013574074395000935, + "grad_norm": 0.08431625366210938, + "kept_token_count": 573.203125, + "learning_rate": 1.1031538634642353e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9925510287284851, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074489636346697806, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.7499481201172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.98387145996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18180, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.2998338669538498, + "epoch": 5.292406168169916, + "flow_matching_loss": 0.013522439962252974, + "grad_norm": 0.1029559001326561, + "kept_token_count": 572.7, + "learning_rate": 1.1015595513353172e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9931362926959991, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006863692682236433, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.3275970458984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.67804260253905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18190, + "valid_token_count": 817.95625 + }, + { + "actual_token_mask_ratio": 0.30053905248641966, + "epoch": 5.295315682281059, + "flow_matching_loss": 0.01161576439626515, + "grad_norm": 0.08149319887161255, + "kept_token_count": 572.5984375, + "learning_rate": 1.0999657233491156e-05, + "loss": 0.0151, + "mgd_cos_sim": 0.9930088579654693, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006991131510585546, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.0648590087891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.50554809570315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18200, + "valid_token_count": 818.628125 + }, + { + "actual_token_mask_ratio": 0.30027173161506654, + "epoch": 5.2982251963922025, + "flow_matching_loss": 0.012326847109943629, + "grad_norm": 0.11535251140594482, + "kept_token_count": 572.5625, + "learning_rate": 1.0983723814422808e-05, + "loss": 0.0159, + "mgd_cos_sim": 0.9927615582942962, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007238435558974743, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.6209411621094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.05255737304685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18210, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.3003857582807541, + "epoch": 5.301134710503346, + "flow_matching_loss": 0.01584622384980321, + "grad_norm": 0.13115763664245605, + "kept_token_count": 572.5890625, + "learning_rate": 1.0967795275508735e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9927378535270691, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007262128777801991, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.5044891357422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8483642578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18220, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.2999589055776596, + "epoch": 5.304044224614489, + "flow_matching_loss": 0.012733928067609668, + "grad_norm": 0.1044912189245224, + "kept_token_count": 572.5828125, + "learning_rate": 1.095187163610361e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9926734626293182, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007326531875878573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.3126953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.406005859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18230, + "valid_token_count": 817.928125 + }, + { + "actual_token_mask_ratio": 0.300016263127327, + "epoch": 5.306953738725633, + "flow_matching_loss": 0.012986786291003227, + "grad_norm": 0.10374995321035385, + "kept_token_count": 572.5609375, + "learning_rate": 1.0935952915556163e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.992900687456131, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007099304627627134, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.4763519287109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.10222778320315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18240, + "valid_token_count": 817.9640625 + }, + { + "actual_token_mask_ratio": 0.2995995610952377, + "epoch": 5.309863252836776, + "flow_matching_loss": 0.013192875683307648, + "grad_norm": 0.10331279784440994, + "kept_token_count": 572.928125, + "learning_rate": 1.0920039133209137e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9930847346782684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006915268395096064, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.86195678710936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.58099975585935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18250, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.29979623556137086, + "epoch": 5.31277276694792, + "flow_matching_loss": 0.01348232002928853, + "grad_norm": 0.12075972557067871, + "kept_token_count": 572.9140625, + "learning_rate": 1.0904130308399283e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9921729087829589, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007827091496437788, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.78940734863284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.68067626953126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18260, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.30037164986133574, + "epoch": 5.315682281059063, + "flow_matching_loss": 0.015243149315938353, + "grad_norm": 0.09190738201141357, + "kept_token_count": 572.478125, + "learning_rate": 1.0888226460457318e-05, + "loss": 0.0191, + "mgd_cos_sim": 0.99230255484581, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007697449345141649, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.4304473876953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.36012268066406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18270, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.3013256102800369, + "epoch": 5.318591795170207, + "flow_matching_loss": 0.012734540458768605, + "grad_norm": 0.11023946106433868, + "kept_token_count": 571.7375, + "learning_rate": 1.087232760870792e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9929606556892395, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007039337046444416, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.3552703857422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5556365966797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18280, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.3007041811943054, + "epoch": 5.32150130928135, + "flow_matching_loss": 0.013645219383761287, + "grad_norm": 0.10283050686120987, + "kept_token_count": 572.0015625, + "learning_rate": 1.0856433772469686e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9926174581050873, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007382538635283709, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.8315765380859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8700286865234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18290, + "valid_token_count": 817.9625 + }, + { + "actual_token_mask_ratio": 0.30032598078250883, + "epoch": 5.324410823392493, + "flow_matching_loss": 0.012601963710039854, + "grad_norm": 0.10702560096979141, + "kept_token_count": 572.4484375, + "learning_rate": 1.0840544971055135e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9929766893386841, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007023302558809519, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.769482421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2416076660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18300, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.300115293264389, + "epoch": 5.327320337503637, + "flow_matching_loss": 0.014585762191563845, + "grad_norm": 0.10859454423189163, + "kept_token_count": 572.7078125, + "learning_rate": 1.0824661223770655e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9927692353725434, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00723077692091465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.8570587158203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9511749267578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18310, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.2994213134050369, + "epoch": 5.330229851614781, + "flow_matching_loss": 0.012471198569983244, + "grad_norm": 0.08349750190973282, + "kept_token_count": 573.278125, + "learning_rate": 1.0808782549916498e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9924085557460784, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007591440714895726, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.2366424560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.3047332763672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18320, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.2987043887376785, + "epoch": 5.333139365725923, + "flow_matching_loss": 0.016249897330999373, + "grad_norm": 0.11031533032655716, + "kept_token_count": 573.734375, + "learning_rate": 1.079290896878675e-05, + "loss": 0.02, + "mgd_cos_sim": 0.992413592338562, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007586403749883175, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.1199188232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4909912109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18330, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.2998009413480759, + "epoch": 5.336048879837067, + "flow_matching_loss": 0.013362011034041643, + "grad_norm": 0.11213511228561401, + "kept_token_count": 573.10625, + "learning_rate": 1.07770404996693e-05, + "loss": 0.0173, + "mgd_cos_sim": 0.9921388387680053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007861154805868863, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.01487731933594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.9091735839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18340, + "valid_token_count": 818.4890625 + }, + { + "actual_token_mask_ratio": 0.29946704506874083, + "epoch": 5.338958393948211, + "flow_matching_loss": 0.011585099156945944, + "grad_norm": 0.10599226504564285, + "kept_token_count": 573.20625, + "learning_rate": 1.0761177161845848e-05, + "loss": 0.015, + "mgd_cos_sim": 0.9932510435581208, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067489675246179106, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3512664794922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.53748779296876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18350, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.3001578688621521, + "epoch": 5.3418679080593545, + "flow_matching_loss": 0.012888407194986939, + "grad_norm": 0.13155078887939453, + "kept_token_count": 572.7140625, + "learning_rate": 1.0745318974591841e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9929344534873963, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007065544184297323, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.11640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4645660400391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18360, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.2997567385435104, + "epoch": 5.344777422170497, + "flow_matching_loss": 0.013151386007666587, + "grad_norm": 0.10851149260997772, + "kept_token_count": 572.9328125, + "learning_rate": 1.0729465957176469e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9929686486721039, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007031359802931547, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.8818817138672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.94774169921874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18370, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.2995713442564011, + "epoch": 5.347686936281641, + "flow_matching_loss": 0.015286774281412363, + "grad_norm": 0.11192171275615692, + "kept_token_count": 573.21875, + "learning_rate": 1.0713618128862642e-05, + "loss": 0.0189, + "mgd_cos_sim": 0.9927993059158325, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007200686074793339, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.91692810058595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5033203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18380, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.2994255661964417, + "epoch": 5.350596450392785, + "flow_matching_loss": 0.011810390232130884, + "grad_norm": 0.09375759214162827, + "kept_token_count": 573.4671875, + "learning_rate": 1.0697775508906969e-05, + "loss": 0.0153, + "mgd_cos_sim": 0.9930165469646454, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069834556430578235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.3744262695312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0077392578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18390, + "valid_token_count": 818.5703125 + }, + { + "actual_token_mask_ratio": 0.3005813419818878, + "epoch": 5.353505964503928, + "flow_matching_loss": 0.014485600218176842, + "grad_norm": 0.14497590065002441, + "kept_token_count": 572.375, + "learning_rate": 1.068193811655972e-05, + "loss": 0.0181, + "mgd_cos_sim": 0.9927772045135498, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007222784124314785, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3935241699219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.82691345214846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18400, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.2998049080371857, + "epoch": 5.356415478615071, + "flow_matching_loss": 0.014708510320633649, + "grad_norm": 0.1077607125043869, + "kept_token_count": 573.31875, + "learning_rate": 1.0666105971064835e-05, + "loss": 0.0184, + "mgd_cos_sim": 0.9925841867923737, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007415812741965055, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 460.3266265869141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.89344787597656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18410, + "valid_token_count": 818.8 + }, + { + "actual_token_mask_ratio": 0.3009495884180069, + "epoch": 5.359324992726215, + "flow_matching_loss": 0.011860889010131359, + "grad_norm": 0.1233900934457779, + "kept_token_count": 572.0265625, + "learning_rate": 1.0650279091659852e-05, + "loss": 0.0152, + "mgd_cos_sim": 0.9933277130126953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066722813993692395, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.4043792724609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2195556640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18420, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.3001044899225235, + "epoch": 5.362234506837358, + "flow_matching_loss": 0.014336147624999285, + "grad_norm": 0.13297773897647858, + "kept_token_count": 572.775, + "learning_rate": 1.0634457497575926e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9929370880126953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007062907144427299, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.0897918701172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5749755859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18430, + "valid_token_count": 818.375 + }, + { + "actual_token_mask_ratio": 0.30134742259979247, + "epoch": 5.3651440209485015, + "flow_matching_loss": 0.012167272809892892, + "grad_norm": 0.09746570885181427, + "kept_token_count": 571.8140625, + "learning_rate": 1.061864120803778e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9923862636089325, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007613749708980322, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.91539611816404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.09421691894534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18440, + "valid_token_count": 818.446875 + }, + { + "actual_token_mask_ratio": 0.2993545889854431, + "epoch": 5.368053535059645, + "flow_matching_loss": 0.012704013148322701, + "grad_norm": 0.12407713383436203, + "kept_token_count": 573.3765625, + "learning_rate": 1.0602830242263701e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9927232682704925, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007276717945933342, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.65399169921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.10125122070315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18450, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.3002175748348236, + "epoch": 5.370963049170788, + "flow_matching_loss": 0.014148396626114845, + "grad_norm": 0.07074262201786041, + "kept_token_count": 572.590625, + "learning_rate": 1.0587024619465506e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9929664433002472, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070335657335817816, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.40650939941406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.38849487304685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18460, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.30021646022796633, + "epoch": 5.373872563281932, + "flow_matching_loss": 0.01243584593757987, + "grad_norm": 0.11051273345947266, + "kept_token_count": 572.6171875, + "learning_rate": 1.0571224358848517e-05, + "loss": 0.0161, + "mgd_cos_sim": 0.9926614344120026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007338572293519974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.04677734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3646209716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18470, + "valid_token_count": 818.275 + }, + { + "actual_token_mask_ratio": 0.29907287657260895, + "epoch": 5.3767820773930755, + "flow_matching_loss": 0.012498619966208935, + "grad_norm": 0.09502822905778885, + "kept_token_count": 573.740625, + "learning_rate": 1.0555429479611537e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9930882751941681, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069117268547415735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.2430786132812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.40073852539064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18480, + "valid_token_count": 818.5484375 + }, + { + "actual_token_mask_ratio": 0.2986166745424271, + "epoch": 5.379691591504219, + "flow_matching_loss": 0.012737448886036873, + "grad_norm": 0.0860685259103775, + "kept_token_count": 573.8765625, + "learning_rate": 1.0539640000946835e-05, + "loss": 0.0164, + "mgd_cos_sim": 0.9926133453845978, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007386666536331177, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.29291381835935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.54681701660155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18490, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.2999112635850906, + "epoch": 5.382601105615362, + "flow_matching_loss": 0.013217275030910969, + "grad_norm": 0.08990659564733505, + "kept_token_count": 572.9234375, + "learning_rate": 1.0523855942040111e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9930161356925964, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006983859557658434, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 451.1022003173828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.52406005859376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18500, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.299867844581604, + "epoch": 5.385510619726506, + "flow_matching_loss": 0.01453370600938797, + "grad_norm": 0.09384115040302277, + "kept_token_count": 573.05, + "learning_rate": 1.0508077322070496e-05, + "loss": 0.0182, + "mgd_cos_sim": 0.9927079916000366, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007292024977505207, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 450.233056640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6883544921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18510, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.3005693107843399, + "epoch": 5.388420133837649, + "flow_matching_loss": 0.014398925006389618, + "grad_norm": 0.11836636811494827, + "kept_token_count": 572.5796875, + "learning_rate": 1.0492304160210495e-05, + "loss": 0.018, + "mgd_cos_sim": 0.9928685426712036, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007131460309028626, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.16455078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.82945861816404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18520, + "valid_token_count": 818.6328125 + }, + { + "actual_token_mask_ratio": 0.30106281042099, + "epoch": 5.391329647948792, + "flow_matching_loss": 0.0116759879514575, + "grad_norm": 0.10645546764135361, + "kept_token_count": 571.9625, + "learning_rate": 1.0476536475625985e-05, + "loss": 0.0151, + "mgd_cos_sim": 0.9932286739349365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006771342270076275, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.6739013671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8779602050781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18530, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.2998180627822876, + "epoch": 5.394239162059936, + "flow_matching_loss": 0.013665736699476839, + "grad_norm": 0.12144672125577927, + "kept_token_count": 573.0859375, + "learning_rate": 1.0460774287476195e-05, + "loss": 0.0174, + "mgd_cos_sim": 0.9926072835922242, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073927266523241995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.98192443847654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6485107421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18540, + "valid_token_count": 818.4828125 + }, + { + "actual_token_mask_ratio": 0.3010676622390747, + "epoch": 5.39714867617108, + "flow_matching_loss": 0.013135212752968074, + "grad_norm": 0.10777179151773453, + "kept_token_count": 571.925, + "learning_rate": 1.044501761491366e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9930440604686737, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006955937761813402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.8968902587891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.88585205078124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18550, + "valid_token_count": 818.2828125 + }, + { + "actual_token_mask_ratio": 0.29877784550189973, + "epoch": 5.400058190282223, + "flow_matching_loss": 0.013015390932559967, + "grad_norm": 0.10338407009840012, + "kept_token_count": 573.6046875, + "learning_rate": 1.0429266477084235e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9930145919322968, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006985406018793583, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9969787597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1950988769531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18560, + "valid_token_count": 818.003125 + }, + { + "actual_token_mask_ratio": 0.2996410459280014, + "epoch": 5.402967704393366, + "flow_matching_loss": 0.01415682602673769, + "grad_norm": 0.10484436899423599, + "kept_token_count": 572.765625, + "learning_rate": 1.0413520893127034e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9926289856433869, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007371004670858383, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.48033447265624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.4954772949219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18570, + "valid_token_count": 817.8171875 + }, + { + "actual_token_mask_ratio": 0.30026071071624755, + "epoch": 5.40587721850451, + "flow_matching_loss": 0.01166358394548297, + "grad_norm": 0.08644148707389832, + "kept_token_count": 572.7609375, + "learning_rate": 1.0397780882174424e-05, + "loss": 0.0154, + "mgd_cos_sim": 0.9925352454185485, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007464755140244961, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.6109558105469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.99819030761716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18580, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.29958140552043916, + "epoch": 5.408786732615654, + "flow_matching_loss": 0.013997080270200968, + "grad_norm": 0.10025252401828766, + "kept_token_count": 573.2234375, + "learning_rate": 1.0382046463351998e-05, + "loss": 0.0176, + "mgd_cos_sim": 0.9928668856620788, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00713311480358243, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.55101013183594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8244140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18590, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.3000267595052719, + "epoch": 5.411696246726796, + "flow_matching_loss": 0.012846320681273938, + "grad_norm": 0.1488686054944992, + "kept_token_count": 572.5953125, + "learning_rate": 1.0366317655778568e-05, + "loss": 0.0163, + "mgd_cos_sim": 0.9931377708911896, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006862248200923205, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.179296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.64942321777346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18600, + "valid_token_count": 818.021875 + }, + { + "actual_token_mask_ratio": 0.29923374354839327, + "epoch": 5.41460576083794, + "flow_matching_loss": 0.014180186996236443, + "grad_norm": 0.10111813992261887, + "kept_token_count": 573.596875, + "learning_rate": 1.035059447856611e-05, + "loss": 0.0177, + "mgd_cos_sim": 0.9930134594440461, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006986540555953979, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.45167846679686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5800720214844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18610, + "valid_token_count": 818.528125 + }, + { + "actual_token_mask_ratio": 0.30085289478302, + "epoch": 5.417515274949084, + "flow_matching_loss": 0.012991333939135074, + "grad_norm": 0.1320096254348755, + "kept_token_count": 571.9171875, + "learning_rate": 1.0334876950819777e-05, + "loss": 0.0165, + "mgd_cos_sim": 0.9929780542850495, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070219519548118114, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 402.1978363037109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.17876892089845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18620, + "valid_token_count": 818.021875 + }, + { + "actual_token_mask_ratio": 0.3005930960178375, + "epoch": 5.420424789060227, + "flow_matching_loss": 0.012618142552673817, + "grad_norm": 0.08719001710414886, + "kept_token_count": 572.4625, + "learning_rate": 1.0319165091637837e-05, + "loss": 0.0162, + "mgd_cos_sim": 0.9928336858749389, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071663128212094305, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.56825256347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.08387145996096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18630, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.300503733754158, + "epoch": 5.42333430317137, + "flow_matching_loss": 0.012326165568083525, + "grad_norm": 0.09016604721546173, + "kept_token_count": 572.6015625, + "learning_rate": 1.0303458920111686e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9926096975803376, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007390306983143091, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.5503662109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.55225524902346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18640, + "valid_token_count": 818.5875 + }, + { + "actual_token_mask_ratio": 0.2998687714338303, + "epoch": 5.426243817282514, + "flow_matching_loss": 0.011730259843170643, + "grad_norm": 0.10838247090578079, + "kept_token_count": 572.903125, + "learning_rate": 1.0287758455325803e-05, + "loss": 0.0152, + "mgd_cos_sim": 0.9929646909236908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00703530628234148, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.99017333984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5919158935547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18650, + "valid_token_count": 818.2859375 + }, + { + "actual_token_mask_ratio": 0.3001488626003265, + "epoch": 5.429153331393657, + "flow_matching_loss": 0.012493423093110323, + "grad_norm": 0.10178192704916, + "kept_token_count": 572.7640625, + "learning_rate": 1.0272063716357729e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9929354250431061, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007064565736800432, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.1640991210937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.79827575683595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18660, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.29956196844577787, + "epoch": 5.432062845504801, + "flow_matching_loss": 0.010142973298206926, + "grad_norm": 0.10544852912425995, + "kept_token_count": 573.1125, + "learning_rate": 1.0256374722278057e-05, + "loss": 0.0138, + "mgd_cos_sim": 0.9927280902862549, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007271894253790379, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.6464874267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3380584716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18670, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.29955486953258514, + "epoch": 5.434972359615944, + "flow_matching_loss": 0.013432821724563837, + "grad_norm": 0.11747535318136215, + "kept_token_count": 573.446875, + "learning_rate": 1.0240691492150388e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9928958654403687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071041322313249115, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.51987609863284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.83103942871094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18680, + "valid_token_count": 818.69375 + }, + { + "actual_token_mask_ratio": 0.2998418062925339, + "epoch": 5.437881873727088, + "flow_matching_loss": 0.01353747034445405, + "grad_norm": 0.10660524666309357, + "kept_token_count": 572.69375, + "learning_rate": 1.0225014045031334e-05, + "loss": 0.017, + "mgd_cos_sim": 0.9931000590324401, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068999407812952995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.72926940917966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0500030517578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18690, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.30031490325927734, + "epoch": 5.440791387838231, + "flow_matching_loss": 0.014243312180042267, + "grad_norm": 0.09637737274169922, + "kept_token_count": 572.4640625, + "learning_rate": 1.0209342399970468e-05, + "loss": 0.0178, + "mgd_cos_sim": 0.9928299427032471, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007170041557401419, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.78351440429685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9845489501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18700, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.299998876452446, + "epoch": 5.4437009019493745, + "flow_matching_loss": 0.013090295623987913, + "grad_norm": 0.10889440029859543, + "kept_token_count": 572.88125, + "learning_rate": 1.019367657601031e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.992578798532486, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007421195600181818, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.023046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1144287109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18710, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.2990685164928436, + "epoch": 5.446610416060518, + "flow_matching_loss": 0.014237101282924413, + "grad_norm": 0.11043740808963776, + "kept_token_count": 573.3609375, + "learning_rate": 1.0178016592186323e-05, + "loss": 0.0179, + "mgd_cos_sim": 0.9927721679210663, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007227834872901439, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.6404632568359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6411987304688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18720, + "valid_token_count": 818.0 + }, + { + "actual_token_mask_ratio": 0.3006330817937851, + "epoch": 5.449519930171661, + "flow_matching_loss": 0.01198864597827196, + "grad_norm": 0.1027965247631073, + "kept_token_count": 572.4171875, + "learning_rate": 1.0162362467526861e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9918883502483368, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008111646305769682, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.74364013671874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.341650390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18730, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.2999222457408905, + "epoch": 5.452429444282805, + "flow_matching_loss": 0.015838235430419446, + "grad_norm": 0.11623381823301315, + "kept_token_count": 573.225, + "learning_rate": 1.0146714221053159e-05, + "loss": 0.0195, + "mgd_cos_sim": 0.9927754640579224, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007224529888480902, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.6647430419922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0543579101562, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18740, + "valid_token_count": 818.8015625 + }, + { + "actual_token_mask_ratio": 0.3001692593097687, + "epoch": 5.4553389583939484, + "flow_matching_loss": 0.013253870187327266, + "grad_norm": 0.0911732167005539, + "kept_token_count": 572.678125, + "learning_rate": 1.0131071871779314e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9933774828910827, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006622502766549587, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.22410888671874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.94170837402345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18750, + "valid_token_count": 818.3046875 + }, + { + "actual_token_mask_ratio": 0.2994076102972031, + "epoch": 5.458248472505091, + "flow_matching_loss": 0.013245886610820889, + "grad_norm": 0.10503441840410233, + "kept_token_count": 573.3203125, + "learning_rate": 1.0115435438712249e-05, + "loss": 0.0168, + "mgd_cos_sim": 0.9928890824317932, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007110923994332552, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.9183288574219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8687713623047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18760, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.29925357401371, + "epoch": 5.461157986616235, + "flow_matching_loss": 0.01320338286459446, + "grad_norm": 0.08849798887968063, + "kept_token_count": 573.471875, + "learning_rate": 1.0099804940851716e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9932429730892182, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00675703352317214, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.2092681884766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3192901611328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18770, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.30006625652313235, + "epoch": 5.464067500727379, + "flow_matching_loss": 0.012520185625180601, + "grad_norm": 0.09220258891582489, + "kept_token_count": 572.8046875, + "learning_rate": 1.0084180397190238e-05, + "loss": 0.0159, + "mgd_cos_sim": 0.9931581079959869, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006841890513896942, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.68910522460936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7293701171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18780, + "valid_token_count": 818.3796875 + }, + { + "actual_token_mask_ratio": 0.30060355067253114, + "epoch": 5.4669770148385215, + "flow_matching_loss": 0.012065835623070597, + "grad_norm": 0.1057371124625206, + "kept_token_count": 572.196875, + "learning_rate": 1.006856182671311e-05, + "loss": 0.0158, + "mgd_cos_sim": 0.9925911903381348, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007408819440752268, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.5111083984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.9642700195312, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18790, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.2997090607881546, + "epoch": 5.469886528949665, + "flow_matching_loss": 0.014623472932726145, + "grad_norm": 0.10688847303390503, + "kept_token_count": 573.340625, + "learning_rate": 1.0052949248398367e-05, + "loss": 0.0185, + "mgd_cos_sim": 0.9923279881477356, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007672020699828863, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2797576904297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0290985107422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18800, + "valid_token_count": 818.721875 + }, + { + "actual_token_mask_ratio": 0.30070637762546537, + "epoch": 5.472796043060809, + "flow_matching_loss": 0.01218653004616499, + "grad_norm": 0.11165481805801392, + "kept_token_count": 572.26875, + "learning_rate": 1.003734268121676e-05, + "loss": 0.016, + "mgd_cos_sim": 0.9923446416854859, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007655353005975485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.4904479980469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1498565673828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18810, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.2998697519302368, + "epoch": 5.475705557171953, + "flow_matching_loss": 0.01333074290305376, + "grad_norm": 0.10649632662534714, + "kept_token_count": 573.096875, + "learning_rate": 1.0021742144131744e-05, + "loss": 0.0167, + "mgd_cos_sim": 0.9931733250617981, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006826665811240673, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.40013427734374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.4016510009766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18820, + "valid_token_count": 818.5546875 + }, + { + "actual_token_mask_ratio": 0.30013165473937986, + "epoch": 5.478615071283095, + "flow_matching_loss": 0.013168158987537027, + "grad_norm": 0.11351616680622101, + "kept_token_count": 572.553125, + "learning_rate": 1.000614765609944e-05, + "loss": 0.0166, + "mgd_cos_sim": 0.9931219518184662, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006878040824085474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.37518310546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5294647216797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18830, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.2994366377592087, + "epoch": 5.481524585394239, + "flow_matching_loss": 0.013285163044929504, + "grad_norm": 0.0910949632525444, + "kept_token_count": 573.225, + "learning_rate": 9.990559236068628e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9928639769554138, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007136018946766853, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.7453308105469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7648895263672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18840, + "valid_token_count": 818.2359375 + }, + { + "actual_token_mask_ratio": 0.30004751980304717, + "epoch": 5.484434099505383, + "flow_matching_loss": 0.014247372560203076, + "grad_norm": 0.13095861673355103, + "kept_token_count": 572.8609375, + "learning_rate": 9.974976902980703e-06, + "loss": 0.0179, + "mgd_cos_sim": 0.9927361488342286, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007263846509158611, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.25360412597655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.57244873046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18850, + "valid_token_count": 818.4296875 + }, + { + "actual_token_mask_ratio": 0.3002193748950958, + "epoch": 5.487343613616526, + "flow_matching_loss": 0.012458939664065838, + "grad_norm": 0.0825323686003685, + "kept_token_count": 572.4375, + "learning_rate": 9.959400675769668e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9926904439926147, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007309558894485235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.42108459472655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.07664184570314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18860, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.30003589391708374, + "epoch": 5.490253127727669, + "flow_matching_loss": 0.012734007649123668, + "grad_norm": 0.12478228658437729, + "kept_token_count": 572.8375, + "learning_rate": 9.943830573362106e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9931983649730682, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006801642756909132, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.7436492919922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.2827423095703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18870, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.29981821179389956, + "epoch": 5.493162641838813, + "flow_matching_loss": 0.011976329144090414, + "grad_norm": 0.0888633206486702, + "kept_token_count": 573.03125, + "learning_rate": 9.928266614677168e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9927572190761567, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00724277961999178, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.9560821533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4131225585937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18880, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.3001133441925049, + "epoch": 5.496072155949957, + "flow_matching_loss": 0.0130341409239918, + "grad_norm": 0.09374912083148956, + "kept_token_count": 572.509375, + "learning_rate": 9.912708818626524e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9933944702148437, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006605546921491623, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.63873291015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4542938232422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18890, + "valid_token_count": 817.996875 + }, + { + "actual_token_mask_ratio": 0.3007448762655258, + "epoch": 5.4989816700611, + "flow_matching_loss": 0.012549617234617472, + "grad_norm": 0.08172602951526642, + "kept_token_count": 572.2109375, + "learning_rate": 9.897157204114369e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9926995515823365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007300433795899152, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.5059020996094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6385162353516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18900, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.2989510715007782, + "epoch": 5.501891184172243, + "flow_matching_loss": 0.011751771811395884, + "grad_norm": 0.09677893668413162, + "kept_token_count": 573.634375, + "learning_rate": 9.881611790037375e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9930416285991669, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00695836516097188, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.85715942382814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2702575683594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18910, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.3007592499256134, + "epoch": 5.504800698283387, + "flow_matching_loss": 0.014092451054602861, + "grad_norm": 0.1311485320329666, + "kept_token_count": 572.2203125, + "learning_rate": 9.866072595284684e-06, + "loss": 0.0177, + "mgd_cos_sim": 0.9928516268730163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007148383185267448, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.66326293945315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7539093017578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18920, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.3000160813331604, + "epoch": 5.50771021239453, + "flow_matching_loss": 0.013851287681609393, + "grad_norm": 0.10610978305339813, + "kept_token_count": 572.7546875, + "learning_rate": 9.850539638737894e-06, + "loss": 0.0177, + "mgd_cos_sim": 0.9922913372516632, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007708656787872315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.3207672119141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.36998596191404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18930, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.2989980161190033, + "epoch": 5.5106197265056736, + "flow_matching_loss": 0.011561151780188083, + "grad_norm": 0.131526917219162, + "kept_token_count": 573.6625, + "learning_rate": 9.835012939271006e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9924385666847229, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007561436109244824, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9009094238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.48662719726565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18940, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.30053366124629977, + "epoch": 5.513529240616817, + "flow_matching_loss": 0.013203008752316236, + "grad_norm": 0.1111859530210495, + "kept_token_count": 572.3734375, + "learning_rate": 9.819492515750418e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9924884676933289, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007511539570987225, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 399.57041320800784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6667999267578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18950, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.30037998855113984, + "epoch": 5.51643875472796, + "flow_matching_loss": 0.012759433500468731, + "grad_norm": 0.09912160038948059, + "kept_token_count": 572.44375, + "learning_rate": 9.803978387034918e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9925259113311767, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007474082987755537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.2962890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5930969238281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18960, + "valid_token_count": 818.228125 + }, + { + "actual_token_mask_ratio": 0.30021811425685885, + "epoch": 5.519348268839104, + "flow_matching_loss": 0.014949284913018345, + "grad_norm": 0.07317256182432175, + "kept_token_count": 572.3953125, + "learning_rate": 9.788470571975624e-06, + "loss": 0.0186, + "mgd_cos_sim": 0.9927151679992676, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00728483209386468, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.75433349609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.4161407470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18970, + "valid_token_count": 817.9640625 + }, + { + "actual_token_mask_ratio": 0.2993845134973526, + "epoch": 5.5222577829502475, + "flow_matching_loss": 0.01383284474723041, + "grad_norm": 0.10085702687501907, + "kept_token_count": 573.284375, + "learning_rate": 9.772969089416008e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9929591596126557, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007040847465395928, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.1053466796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.29192504882815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18980, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.2999952256679535, + "epoch": 5.52516729706139, + "flow_matching_loss": 0.013300216430798173, + "grad_norm": 0.14749281108379364, + "kept_token_count": 572.93125, + "learning_rate": 9.757473958191822e-06, + "loss": 0.017, + "mgd_cos_sim": 0.99250927567482, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007490725256502628, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.98175048828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.92353515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 18990, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.2992973655462265, + "epoch": 5.528076811172534, + "flow_matching_loss": 0.012731035053730012, + "grad_norm": 0.1297098696231842, + "kept_token_count": 573.4015625, + "learning_rate": 9.741985197131118e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9922078490257263, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007792155910283327, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 457.65053100585936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9516204833984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19000, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.30041679441928865, + "epoch": 5.530986325283678, + "flow_matching_loss": 0.01262349560856819, + "grad_norm": 0.10110151767730713, + "kept_token_count": 572.4375, + "learning_rate": 9.726502825054195e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9931126832962036, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006887324713170528, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.2072235107422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.2548126220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19010, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.29995993971824647, + "epoch": 5.533895839394821, + "flow_matching_loss": 0.011768060363829136, + "grad_norm": 0.07876522839069366, + "kept_token_count": 572.684375, + "learning_rate": 9.711026860773595e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9928464710712432, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007153526693582535, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.07818603515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1273712158203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19020, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.29908322393894193, + "epoch": 5.536805353505964, + "flow_matching_loss": 0.014622739236801862, + "grad_norm": 0.12349564582109451, + "kept_token_count": 573.6015625, + "learning_rate": 9.69555732309408e-06, + "loss": 0.018, + "mgd_cos_sim": 0.9931549072265625, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006845100130885839, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.56630554199216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.15431518554686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19030, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.29928408861160277, + "epoch": 5.539714867617108, + "flow_matching_loss": 0.015533050056546926, + "grad_norm": 0.13309592008590698, + "kept_token_count": 573.6203125, + "learning_rate": 9.68009423081259e-06, + "loss": 0.0192, + "mgd_cos_sim": 0.9927601397037507, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007239849027246237, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.5993621826172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3737060546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19040, + "valid_token_count": 818.6203125 + }, + { + "actual_token_mask_ratio": 0.2995947688817978, + "epoch": 5.542624381728252, + "flow_matching_loss": 0.013809108594432472, + "grad_norm": 0.09871099889278412, + "kept_token_count": 572.9765625, + "learning_rate": 9.664637602718249e-06, + "loss": 0.0175, + "mgd_cos_sim": 0.9925927519798279, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007407253235578537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.7897521972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.6227966308594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19050, + "valid_token_count": 818.0625 + }, + { + "actual_token_mask_ratio": 0.3011456996202469, + "epoch": 5.5455338958393945, + "flow_matching_loss": 0.015674810484051706, + "grad_norm": 0.10044609010219574, + "kept_token_count": 571.7953125, + "learning_rate": 9.649187457592313e-06, + "loss": 0.0193, + "mgd_cos_sim": 0.9928116202354431, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007188382651656866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.40179443359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.10633239746096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19060, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.3000843822956085, + "epoch": 5.548443409950538, + "flow_matching_loss": 0.014187459088861942, + "grad_norm": 0.12130999565124512, + "kept_token_count": 572.8359375, + "learning_rate": 9.63374381420816e-06, + "loss": 0.0179, + "mgd_cos_sim": 0.9925612866878509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007438720855861902, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.84169921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2290557861328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19070, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.300652003288269, + "epoch": 5.551352924061682, + "flow_matching_loss": 0.013795979507267474, + "grad_norm": 0.11958302557468414, + "kept_token_count": 572.2546875, + "learning_rate": 9.618306691331279e-06, + "loss": 0.0175, + "mgd_cos_sim": 0.9925577104091644, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007442307937890291, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.16937561035155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1001800537109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19080, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.30056368708610537, + "epoch": 5.554262438172826, + "flow_matching_loss": 0.012746344739571213, + "grad_norm": 0.12355230003595352, + "kept_token_count": 572.20625, + "learning_rate": 9.602876107719228e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9927567601203918, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072432301007211205, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.7793823242188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.64146118164064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19090, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.2997813940048218, + "epoch": 5.557171952283968, + "flow_matching_loss": 0.014188342541456223, + "grad_norm": 0.14002256095409393, + "kept_token_count": 572.9765625, + "learning_rate": 9.587452082121621e-06, + "loss": 0.0177, + "mgd_cos_sim": 0.9929048836231231, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070951213128864765, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.21225891113284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.2145050048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19100, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.29940454065799715, + "epoch": 5.560081466395112, + "flow_matching_loss": 0.01463016988709569, + "grad_norm": 0.09409588575363159, + "kept_token_count": 573.4875, + "learning_rate": 9.57203463328011e-06, + "loss": 0.018, + "mgd_cos_sim": 0.9933485448360443, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006651455722749233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.0702423095703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8491943359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19110, + "valid_token_count": 818.5703125 + }, + { + "actual_token_mask_ratio": 0.29914267659187316, + "epoch": 5.562990980506255, + "flow_matching_loss": 0.01463217604905367, + "grad_norm": 0.12479819357395172, + "kept_token_count": 573.2296875, + "learning_rate": 9.556623779928341e-06, + "loss": 0.0184, + "mgd_cos_sim": 0.9925604224205017, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007439570501446724, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.4302978515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7079315185547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19120, + "valid_token_count": 817.9 + }, + { + "actual_token_mask_ratio": 0.2994254261255264, + "epoch": 5.565900494617399, + "flow_matching_loss": 0.01378535246476531, + "grad_norm": 0.13023880124092102, + "kept_token_count": 573.5359375, + "learning_rate": 9.541219540791949e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9927211701869965, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007278818916529417, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5057861328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.76036376953124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19130, + "valid_token_count": 818.659375 + }, + { + "actual_token_mask_ratio": 0.3008254587650299, + "epoch": 5.568810008728542, + "flow_matching_loss": 0.014462865702807904, + "grad_norm": 0.11787606030702591, + "kept_token_count": 571.934375, + "learning_rate": 9.525821934588551e-06, + "loss": 0.0183, + "mgd_cos_sim": 0.9923558592796325, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0076441500335931774, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.0052215576172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6904571533203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19140, + "valid_token_count": 818.0109375 + }, + { + "actual_token_mask_ratio": 0.29973708689212797, + "epoch": 5.571719522839686, + "flow_matching_loss": 0.013752629701048135, + "grad_norm": 0.10591031610965729, + "kept_token_count": 572.9703125, + "learning_rate": 9.510430980027684e-06, + "loss": 0.0173, + "mgd_cos_sim": 0.9929245233535766, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007075480092316866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.2702575683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.00014038085936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19150, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.30030514895915983, + "epoch": 5.574629036950829, + "flow_matching_loss": 0.014294713083654643, + "grad_norm": 0.09562718123197556, + "kept_token_count": 572.4859375, + "learning_rate": 9.495046695810809e-06, + "loss": 0.018, + "mgd_cos_sim": 0.9925716280937195, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007428359799087047, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.1940460205078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.5971435546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19160, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.29922678172588346, + "epoch": 5.577538551061973, + "flow_matching_loss": 0.010741880862042308, + "grad_norm": 0.08559173345565796, + "kept_token_count": 573.7203125, + "learning_rate": 9.47966910063128e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9929992735385895, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007000728044658899, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.3196044921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.34356689453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19170, + "valid_token_count": 818.69375 + }, + { + "actual_token_mask_ratio": 0.3001915454864502, + "epoch": 5.580448065173116, + "flow_matching_loss": 0.014183649979531764, + "grad_norm": 0.09151621907949448, + "kept_token_count": 572.709375, + "learning_rate": 9.464298213174325e-06, + "loss": 0.0176, + "mgd_cos_sim": 0.993235057592392, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006764945853501558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.8094116210938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.63787841796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19180, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.29993678629398346, + "epoch": 5.583357579284259, + "flow_matching_loss": 0.01358186649158597, + "grad_norm": 0.0851774662733078, + "kept_token_count": 572.98125, + "learning_rate": 9.448934052117024e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.992758846282959, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007241156417876482, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.0010223388672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5239990234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19190, + "valid_token_count": 818.478125 + }, + { + "actual_token_mask_ratio": 0.30016849040985105, + "epoch": 5.586267093395403, + "flow_matching_loss": 0.014961403096094728, + "grad_norm": 0.10901934653520584, + "kept_token_count": 572.553125, + "learning_rate": 9.433576636128284e-06, + "loss": 0.0184, + "mgd_cos_sim": 0.993124783039093, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006875208299607039, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.9580810546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9358856201172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19200, + "valid_token_count": 818.13125 + }, + { + "actual_token_mask_ratio": 0.3008661448955536, + "epoch": 5.5891766075065465, + "flow_matching_loss": 0.012154735624790192, + "grad_norm": 0.09548050165176392, + "kept_token_count": 571.859375, + "learning_rate": 9.41822598386881e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9928918659687043, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007108120527118444, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.56297912597654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5229248046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19210, + "valid_token_count": 817.9484375 + }, + { + "actual_token_mask_ratio": 0.3011713266372681, + "epoch": 5.59208612161769, + "flow_matching_loss": 0.013029198069125414, + "grad_norm": 0.08764954656362534, + "kept_token_count": 571.9328125, + "learning_rate": 9.402882113991094e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9926415264606476, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007358484622091055, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.5181091308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7428955078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19220, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.3008339285850525, + "epoch": 5.594995635728833, + "flow_matching_loss": 0.014016252849251032, + "grad_norm": 0.11469417065382004, + "kept_token_count": 571.80625, + "learning_rate": 9.387545045139381e-06, + "loss": 0.0177, + "mgd_cos_sim": 0.9925725162029266, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007427484355866909, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.6561248779297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6076293945313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19230, + "valid_token_count": 817.8375 + }, + { + "actual_token_mask_ratio": 0.30109787583351133, + "epoch": 5.597905149839977, + "flow_matching_loss": 0.012994982860982418, + "grad_norm": 0.088299959897995, + "kept_token_count": 571.6984375, + "learning_rate": 9.372214795949655e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9932878732681274, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006712132971733809, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.244287109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.32066650390624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19240, + "valid_token_count": 818.0 + }, + { + "actual_token_mask_ratio": 0.30050958395004274, + "epoch": 5.6008146639511205, + "flow_matching_loss": 0.014233359228819608, + "grad_norm": 0.11869918555021286, + "kept_token_count": 572.4546875, + "learning_rate": 9.356891385049618e-06, + "loss": 0.0176, + "mgd_cos_sim": 0.9932012259960175, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006798778939992189, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.7248931884766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7053741455078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19250, + "valid_token_count": 818.3921875 + }, + { + "actual_token_mask_ratio": 0.29938929378986356, + "epoch": 5.603724178062263, + "flow_matching_loss": 0.012908600829541683, + "grad_norm": 0.08667996525764465, + "kept_token_count": 573.33125, + "learning_rate": 9.341574831058664e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.993132883310318, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006867108680307865, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.8089904785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.35687561035155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19260, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.2987340748310089, + "epoch": 5.606633692173407, + "flow_matching_loss": 0.010580950556322933, + "grad_norm": 0.12780000269412994, + "kept_token_count": 574.0484375, + "learning_rate": 9.326265152587844e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9932787418365479, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00672126142308116, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.4063781738281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.25014343261716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19270, + "valid_token_count": 818.584375 + }, + { + "actual_token_mask_ratio": 0.30082741379737854, + "epoch": 5.609543206284551, + "flow_matching_loss": 0.016303542535752058, + "grad_norm": 0.12135609239339828, + "kept_token_count": 571.8, + "learning_rate": 9.310962368239861e-06, + "loss": 0.0198, + "mgd_cos_sim": 0.9929287016391755, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007071303855627775, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.0223754882812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.1546264648438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19280, + "valid_token_count": 817.8203125 + }, + { + "actual_token_mask_ratio": 0.3003454953432083, + "epoch": 5.6124527203956935, + "flow_matching_loss": 0.01185013335198164, + "grad_norm": 0.09899202734231949, + "kept_token_count": 572.4109375, + "learning_rate": 9.295666496609036e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.992615568637848, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073844315484166145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.30079345703126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.85923156738284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19290, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.2990530073642731, + "epoch": 5.615362234506837, + "flow_matching_loss": 0.014648114470764995, + "grad_norm": 0.11375235766172409, + "kept_token_count": 573.5046875, + "learning_rate": 9.280377556281306e-06, + "loss": 0.0185, + "mgd_cos_sim": 0.9923543453216552, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007645642571151257, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.6304626464844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6240661621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19300, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.30019075572490694, + "epoch": 5.618271748617981, + "flow_matching_loss": 0.013369435025379062, + "grad_norm": 0.09266170114278793, + "kept_token_count": 572.778125, + "learning_rate": 9.265095565834172e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9928798913955689, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007120099384337664, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.6784973144531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0857330322266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19310, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.3003017961978912, + "epoch": 5.621181262729124, + "flow_matching_loss": 0.014543733885511756, + "grad_norm": 0.10828521102666855, + "kept_token_count": 572.4609375, + "learning_rate": 9.249820543836688e-06, + "loss": 0.0181, + "mgd_cos_sim": 0.992826110124588, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007173893507570028, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.08152465820314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.5447265625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19320, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.2995529741048813, + "epoch": 5.6240907768402675, + "flow_matching_loss": 0.012216381775215269, + "grad_norm": 0.09580346196889877, + "kept_token_count": 573.2265625, + "learning_rate": 9.234552508849454e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9936175584793091, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006382426898926497, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.9475341796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7793853759766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19330, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.30034866333007815, + "epoch": 5.627000290951411, + "flow_matching_loss": 0.012467456329613925, + "grad_norm": 0.12972486019134521, + "kept_token_count": 572.5375, + "learning_rate": 9.21929147942456e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9931301891803741, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006869796011596918, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.1425720214844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7952178955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19340, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.2985983371734619, + "epoch": 5.629909805062555, + "flow_matching_loss": 0.011441578483209014, + "grad_norm": 0.07596078515052795, + "kept_token_count": 573.9109375, + "learning_rate": 9.204037474105611e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9928116500377655, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007188341487199068, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.01927795410154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0130218505859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19350, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.29996325373649596, + "epoch": 5.632819319173698, + "flow_matching_loss": 0.012506009638309478, + "grad_norm": 0.10413917154073715, + "kept_token_count": 572.75, + "learning_rate": 9.188790511427653e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9927849650382996, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007215037290006876, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.8250671386719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.97857666015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19360, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.299984472990036, + "epoch": 5.635728833284841, + "flow_matching_loss": 0.014956649020314216, + "grad_norm": 0.11584806442260742, + "kept_token_count": 572.7625, + "learning_rate": 9.173550609917186e-06, + "loss": 0.0185, + "mgd_cos_sim": 0.9928375720977783, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007162423152476549, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 448.3833526611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.67820434570314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19370, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.29892646968364717, + "epoch": 5.638638347395985, + "flow_matching_loss": 0.012455378286540508, + "grad_norm": 0.08540963381528854, + "kept_token_count": 573.740625, + "learning_rate": 9.158317788092124e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9929629862308502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007037021778523922, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.43524475097655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.7506469726562, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19380, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.2997501105070114, + "epoch": 5.641547861507128, + "flow_matching_loss": 0.01390819763764739, + "grad_norm": 0.12608294188976288, + "kept_token_count": 573.14375, + "learning_rate": 9.143092064461783e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9929964780807495, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070035215467214584, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.8863067626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.95933837890624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19390, + "valid_token_count": 818.4859375 + }, + { + "actual_token_mask_ratio": 0.30035252273082735, + "epoch": 5.644457375618272, + "flow_matching_loss": 0.01403078162111342, + "grad_norm": 0.08976756036281586, + "kept_token_count": 572.6203125, + "learning_rate": 9.127873457526855e-06, + "loss": 0.0175, + "mgd_cos_sim": 0.993102639913559, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006897351238876581, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.4886810302734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.30723876953124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19400, + "valid_token_count": 818.4453125 + }, + { + "actual_token_mask_ratio": 0.30015126466751096, + "epoch": 5.647366889729415, + "flow_matching_loss": 0.0129828245844692, + "grad_norm": 0.13416467607021332, + "kept_token_count": 572.3375, + "learning_rate": 9.112661985779382e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9935261130332946, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064738810993731025, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.3653564453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4765319824219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19410, + "valid_token_count": 817.803125 + }, + { + "actual_token_mask_ratio": 0.29933003187179563, + "epoch": 5.650276403840559, + "flow_matching_loss": 0.013528755772858858, + "grad_norm": 0.13180136680603027, + "kept_token_count": 573.0875, + "learning_rate": 9.09745766770274e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9926411032676696, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007358887512236833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.92315368652345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.03773803710936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19420, + "valid_token_count": 817.9203125 + }, + { + "actual_token_mask_ratio": 0.2991936832666397, + "epoch": 5.653185917951702, + "flow_matching_loss": 0.011488090874627233, + "grad_norm": 0.15537714958190918, + "kept_token_count": 573.240625, + "learning_rate": 9.082260521771601e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9934155941009521, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006584415398538113, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.6529937744141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4430267333984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19430, + "valid_token_count": 817.978125 + }, + { + "actual_token_mask_ratio": 0.29887485802173613, + "epoch": 5.656095432062846, + "flow_matching_loss": 0.01627361252903938, + "grad_norm": 0.12715484201908112, + "kept_token_count": 573.6421875, + "learning_rate": 9.067070566451936e-06, + "loss": 0.02, + "mgd_cos_sim": 0.9924651920795441, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007534805871546269, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.30556335449216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.02265014648435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19440, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.3019264876842499, + "epoch": 5.659004946173989, + "flow_matching_loss": 0.00976547678001225, + "grad_norm": 0.18527723848819733, + "kept_token_count": 571.25, + "learning_rate": 9.051887820200966e-06, + "loss": 0.0133, + "mgd_cos_sim": 0.9929492592811584, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007050739508122206, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.37183532714846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4479553222656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19450, + "valid_token_count": 818.33125 + }, + { + "actual_token_mask_ratio": 0.30021598637104036, + "epoch": 5.661914460285132, + "flow_matching_loss": 0.012018604762852192, + "grad_norm": 0.08100146800279617, + "kept_token_count": 572.3578125, + "learning_rate": 9.03671230146717e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9930500447750091, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006949955876916647, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.6814788818359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6181610107422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19460, + "valid_token_count": 817.90625 + }, + { + "actual_token_mask_ratio": 0.30015318691730497, + "epoch": 5.664823974396276, + "flow_matching_loss": 0.012204066989943385, + "grad_norm": 0.09789900481700897, + "kept_token_count": 572.5921875, + "learning_rate": 9.021544028690228e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9928233206272126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007176669500768185, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.3213165283203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9295135498047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19470, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.29986409842967987, + "epoch": 5.6677334885074195, + "flow_matching_loss": 0.011989012220874428, + "grad_norm": 0.09737613797187805, + "kept_token_count": 572.775, + "learning_rate": 9.006383020301024e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9931543290615081, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006845668517053127, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.34458312988284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7263549804687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19480, + "valid_token_count": 818.090625 + }, + { + "actual_token_mask_ratio": 0.2997114658355713, + "epoch": 5.670643002618562, + "flow_matching_loss": 0.011959315277636051, + "grad_norm": 0.07814668118953705, + "kept_token_count": 573.3046875, + "learning_rate": 8.991229294721613e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9931204974651336, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006879501882940531, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.86024475097656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.91510314941405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19490, + "valid_token_count": 818.6609375 + }, + { + "actual_token_mask_ratio": 0.30014865696430204, + "epoch": 5.673552516729706, + "flow_matching_loss": 0.011863588308915495, + "grad_norm": 0.07467787712812424, + "kept_token_count": 572.665625, + "learning_rate": 8.976082870365191e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9926248610019683, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007375156879425049, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6822235107422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.4173187255859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19500, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.2991804271936417, + "epoch": 5.67646203084085, + "flow_matching_loss": 0.016354519315063952, + "grad_norm": 0.08875454217195511, + "kept_token_count": 573.390625, + "learning_rate": 8.960943765636105e-06, + "loss": 0.0198, + "mgd_cos_sim": 0.9930451333522796, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006954866740852594, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.4897216796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1532867431641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19510, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.3003265142440796, + "epoch": 5.679371544951993, + "flow_matching_loss": 0.012977356277406215, + "grad_norm": 0.12092459946870804, + "kept_token_count": 572.33125, + "learning_rate": 8.945811998929792e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9928309381008148, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007169066648930311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 400.76434936523435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.40423583984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19520, + "valid_token_count": 818.0 + }, + { + "actual_token_mask_ratio": 0.300573468208313, + "epoch": 5.682281059063136, + "flow_matching_loss": 0.014880300499498844, + "grad_norm": 0.10820721089839935, + "kept_token_count": 572.309375, + "learning_rate": 8.93068758863277e-06, + "loss": 0.0188, + "mgd_cos_sim": 0.9920716285705566, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00792837031185627, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.6748809814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.41351013183595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19530, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.29843064248561857, + "epoch": 5.68519057317428, + "flow_matching_loss": 0.011801697965711355, + "grad_norm": 0.09221312403678894, + "kept_token_count": 574.1828125, + "learning_rate": 8.915570553122628e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9924773395061492, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007522655371576548, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 403.4082855224609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2483703613281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19540, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.30133027136325835, + "epoch": 5.688100087285424, + "flow_matching_loss": 0.013867423962801695, + "grad_norm": 0.1099400669336319, + "kept_token_count": 571.646875, + "learning_rate": 8.900460910767982e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9930090427398681, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00699095344170928, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.70130920410156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.23505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19550, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.3000877439975739, + "epoch": 5.6910096013965665, + "flow_matching_loss": 0.012655994761735201, + "grad_norm": 0.09458421170711517, + "kept_token_count": 572.8515625, + "learning_rate": 8.885358679928486e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9926725864410401, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073274122551083565, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.3393890380859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.448779296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19560, + "valid_token_count": 818.4625 + }, + { + "actual_token_mask_ratio": 0.299945193529129, + "epoch": 5.69391911550771, + "flow_matching_loss": 0.013544273795560002, + "grad_norm": 0.09340903162956238, + "kept_token_count": 573.0171875, + "learning_rate": 8.870263878954767e-06, + "loss": 0.017, + "mgd_cos_sim": 0.992998081445694, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007001926563680172, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.8152587890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.14146728515624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19570, + "valid_token_count": 818.534375 + }, + { + "actual_token_mask_ratio": 0.30195771157741547, + "epoch": 5.696828629618854, + "flow_matching_loss": 0.012439085450023413, + "grad_norm": 0.09395676851272583, + "kept_token_count": 571.1296875, + "learning_rate": 8.855176526188428e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9929863095283509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007013693265616894, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.6981140136719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6614135742187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19580, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.2997920781373978, + "epoch": 5.699738143729997, + "flow_matching_loss": 0.011522729974240064, + "grad_norm": 0.08623247593641281, + "kept_token_count": 573.159375, + "learning_rate": 8.840096639962033e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9931558787822723, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068441184237599375, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.04193115234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.84313049316404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19590, + "valid_token_count": 818.55625 + }, + { + "actual_token_mask_ratio": 0.2999603092670441, + "epoch": 5.7026476578411405, + "flow_matching_loss": 0.013199351634830237, + "grad_norm": 0.12225735932588577, + "kept_token_count": 572.95, + "learning_rate": 8.825024238599056e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.993010550737381, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006989442557096481, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6689697265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4488494873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19600, + "valid_token_count": 818.45 + }, + { + "actual_token_mask_ratio": 0.3002185791730881, + "epoch": 5.705557171952284, + "flow_matching_loss": 0.012257970497012138, + "grad_norm": 0.08488493412733078, + "kept_token_count": 572.6890625, + "learning_rate": 8.809959340413891e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9931008696556092, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006899146176874637, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.2558563232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.0686828613281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19610, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.2995326370000839, + "epoch": 5.708466686063428, + "flow_matching_loss": 0.012465834291651845, + "grad_norm": 0.10358156263828278, + "kept_token_count": 573.0921875, + "learning_rate": 8.79490196371181e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9932396471500397, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006760352104902267, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.6437744140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9564239501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19620, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.29958691000938414, + "epoch": 5.711376200174571, + "flow_matching_loss": 0.013753974251449108, + "grad_norm": 0.09128569066524506, + "kept_token_count": 573.1875, + "learning_rate": 8.779852126788949e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9931349813938141, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006865013297647238, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.4705535888672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.00335693359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19630, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.300419545173645, + "epoch": 5.714285714285714, + "flow_matching_loss": 0.012327275332063436, + "grad_norm": 0.10032657533884048, + "kept_token_count": 572.4390625, + "learning_rate": 8.764809847932277e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9925833702087402, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00741662010550499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.97084655761716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.69757690429685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19640, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.3003705471754074, + "epoch": 5.717195228396857, + "flow_matching_loss": 0.012765388283878566, + "grad_norm": 0.09220979362726212, + "kept_token_count": 572.421875, + "learning_rate": 8.749775145419577e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9929890751838684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007010926865041256, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.51939392089844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.6939208984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19650, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.3001977801322937, + "epoch": 5.720104742508001, + "flow_matching_loss": 0.01522977026179433, + "grad_norm": 0.1020040363073349, + "kept_token_count": 572.5625, + "learning_rate": 8.734748037519427e-06, + "loss": 0.0189, + "mgd_cos_sim": 0.9926194310188293, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073805728927254675, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.35625610351565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.4930694580078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19660, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.30037675201892855, + "epoch": 5.723014256619145, + "flow_matching_loss": 0.015960824303328992, + "grad_norm": 0.11726939678192139, + "kept_token_count": 572.5921875, + "learning_rate": 8.719728542491195e-06, + "loss": 0.0197, + "mgd_cos_sim": 0.9925446927547454, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007455308176577091, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.12030639648435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3750061035156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19670, + "valid_token_count": 818.425 + }, + { + "actual_token_mask_ratio": 0.3007615298032761, + "epoch": 5.725923770730288, + "flow_matching_loss": 0.012528669834136964, + "grad_norm": 0.1043078824877739, + "kept_token_count": 571.9890625, + "learning_rate": 8.704716678584976e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9930399656295776, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006960044894367456, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.85973205566404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.3240692138672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19680, + "valid_token_count": 818.0203125 + }, + { + "actual_token_mask_ratio": 0.2994938433170319, + "epoch": 5.728833284841431, + "flow_matching_loss": 0.012603598181158304, + "grad_norm": 0.09518774598836899, + "kept_token_count": 573.3296875, + "learning_rate": 8.689712464041596e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9926028430461884, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007397156488150358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.35072937011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 392.11309509277345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19690, + "valid_token_count": 818.453125 + }, + { + "actual_token_mask_ratio": 0.2998067229986191, + "epoch": 5.731742798952575, + "flow_matching_loss": 0.012253076815977693, + "grad_norm": 0.10625600814819336, + "kept_token_count": 572.909375, + "learning_rate": 8.674715917092592e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9931064248085022, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006893564760684967, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.86634216308596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.60150756835935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19700, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.2989737629890442, + "epoch": 5.734652313063719, + "flow_matching_loss": 0.010789060173556209, + "grad_norm": 0.07705581188201904, + "kept_token_count": 573.55, + "learning_rate": 8.65972705596018e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.992984163761139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007015853375196457, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9701354980469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.3489105224609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19710, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.30043137073516846, + "epoch": 5.737561827174861, + "flow_matching_loss": 0.012759561371058225, + "grad_norm": 0.08596467971801758, + "kept_token_count": 572.625, + "learning_rate": 8.64474589885725e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9934799909591675, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006520012207329273, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.30246887207034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4368469238281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19720, + "valid_token_count": 818.54375 + }, + { + "actual_token_mask_ratio": 0.2992514193058014, + "epoch": 5.740471341286005, + "flow_matching_loss": 0.01209260830655694, + "grad_norm": 0.08883800357580185, + "kept_token_count": 573.190625, + "learning_rate": 8.629772463987315e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9933314383029938, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006668548937886954, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.22948303222654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4131774902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19730, + "valid_token_count": 817.9625 + }, + { + "actual_token_mask_ratio": 0.29955483973026276, + "epoch": 5.743380855397149, + "flow_matching_loss": 0.012614127155393362, + "grad_norm": 0.12086236476898193, + "kept_token_count": 572.9171875, + "learning_rate": 8.614806769544507e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9933004915714264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006699519604444504, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.79059143066405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6804168701172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19740, + "valid_token_count": 817.9328125 + }, + { + "actual_token_mask_ratio": 0.3004457771778107, + "epoch": 5.7462903695082925, + "flow_matching_loss": 0.012747053289785981, + "grad_norm": 0.08052266389131546, + "kept_token_count": 572.421875, + "learning_rate": 8.59984883371356e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9927896142005921, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072103944607079026, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.6058868408203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8123504638672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19750, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.29929443895816804, + "epoch": 5.749199883619435, + "flow_matching_loss": 0.01502145202830434, + "grad_norm": 0.09789445251226425, + "kept_token_count": 573.2828125, + "learning_rate": 8.584898674669772e-06, + "loss": 0.0188, + "mgd_cos_sim": 0.992422080039978, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007577926944941282, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.9126739501953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8233215332031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19760, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.3004975259304047, + "epoch": 5.752109397730579, + "flow_matching_loss": 0.01157864104025066, + "grad_norm": 0.10861331969499588, + "kept_token_count": 572.321875, + "learning_rate": 8.569956310579001e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9934112906455994, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006588705535978079, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.0275848388672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7045074462891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19770, + "valid_token_count": 818.196875 + }, + { + "actual_token_mask_ratio": 0.30016596913337706, + "epoch": 5.755018911841723, + "flow_matching_loss": 0.012057873653247952, + "grad_norm": 0.10477737337350845, + "kept_token_count": 572.575, + "learning_rate": 8.555021759597627e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932280898094177, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006771905161440372, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.91614685058596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.2292083740234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19780, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.3006024181842804, + "epoch": 5.757928425952866, + "flow_matching_loss": 0.01414840966463089, + "grad_norm": 0.076332688331604, + "kept_token_count": 572.415625, + "learning_rate": 8.54009503987253e-06, + "loss": 0.0177, + "mgd_cos_sim": 0.9929052114486694, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070947960019111635, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.442529296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.296484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19790, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.29930207431316375, + "epoch": 5.760837940064009, + "flow_matching_loss": 0.013965597562491893, + "grad_norm": 0.08534634858369827, + "kept_token_count": 573.4109375, + "learning_rate": 8.525176169541095e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9931784689426422, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006821527611464262, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.4384002685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4206970214844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19800, + "valid_token_count": 818.3390625 + }, + { + "actual_token_mask_ratio": 0.29978967607021334, + "epoch": 5.763747454175153, + "flow_matching_loss": 0.012579532526433467, + "grad_norm": 0.0814662054181099, + "kept_token_count": 573.046875, + "learning_rate": 8.510265166731151e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9932702779769897, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006729737296700478, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 453.21778564453126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0267303466797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19810, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.29931150674819945, + "epoch": 5.766656968286296, + "flow_matching_loss": 0.01122839143499732, + "grad_norm": 0.08635153621435165, + "kept_token_count": 573.284375, + "learning_rate": 8.495362049560964e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.993022745847702, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006977242603898049, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.42518615722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.47047424316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19820, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.3010332375764847, + "epoch": 5.7695664823974395, + "flow_matching_loss": 0.01374584510922432, + "grad_norm": 0.10912559181451797, + "kept_token_count": 571.953125, + "learning_rate": 8.480466836139241e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9931584537029267, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006841546669602394, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.9608154296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.208740234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19830, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.2986396253108978, + "epoch": 5.772475996508583, + "flow_matching_loss": 0.012999116908758879, + "grad_norm": 0.11478693038225174, + "kept_token_count": 573.675, + "learning_rate": 8.465579544565066e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9929319143295288, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007068086788058281, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.9687561035156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4380859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19840, + "valid_token_count": 817.9453125 + }, + { + "actual_token_mask_ratio": 0.2994369328022003, + "epoch": 5.775385510619726, + "flow_matching_loss": 0.012366950139403343, + "grad_norm": 0.09360712766647339, + "kept_token_count": 573.2640625, + "learning_rate": 8.450700192927897e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9928318381309509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007168159261345864, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.2469909667969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3610504150391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19850, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.3003997325897217, + "epoch": 5.77829502473087, + "flow_matching_loss": 0.01279655508697033, + "grad_norm": 0.11706344783306122, + "kept_token_count": 572.434375, + "learning_rate": 8.435828799307551e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9929526090621948, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007047384791076183, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.91880493164064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.161279296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19860, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.29984374940395353, + "epoch": 5.7812045388420135, + "flow_matching_loss": 0.012325034523382784, + "grad_norm": 0.08896539360284805, + "kept_token_count": 572.9171875, + "learning_rate": 8.420965381774172e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932378828525543, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006762122362852096, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.58672790527345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2923309326172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19870, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3000398129224777, + "epoch": 5.784114052953157, + "flow_matching_loss": 0.01391720436513424, + "grad_norm": 0.11920450627803802, + "kept_token_count": 572.9203125, + "learning_rate": 8.406109958388222e-06, + "loss": 0.0176, + "mgd_cos_sim": 0.992548131942749, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007451872620731592, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.5146453857422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.39173278808596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19880, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.299895253777504, + "epoch": 5.7870235670643, + "flow_matching_loss": 0.012984603643417358, + "grad_norm": 0.10809625685214996, + "kept_token_count": 572.75625, + "learning_rate": 8.391262547200434e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9933574140071869, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006642591580748558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.37476806640626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7773406982422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19890, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.3001954615116119, + "epoch": 5.789933081175444, + "flow_matching_loss": 0.011745715606957674, + "grad_norm": 0.091637521982193, + "kept_token_count": 572.3859375, + "learning_rate": 8.376423166251816e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9931644797325134, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006835527159273625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.03619384765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9402618408203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19900, + "valid_token_count": 817.9171875 + }, + { + "actual_token_mask_ratio": 0.30041566491127014, + "epoch": 5.792842595286587, + "flow_matching_loss": 0.014907281659543515, + "grad_norm": 0.1030397117137909, + "kept_token_count": 572.3234375, + "learning_rate": 8.361591833573612e-06, + "loss": 0.019, + "mgd_cos_sim": 0.9918335020542145, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00816649217158556, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.99916687011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.4938995361328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19910, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.29997906684875486, + "epoch": 5.79575210939773, + "flow_matching_loss": 0.013191364146769047, + "grad_norm": 0.12490162253379822, + "kept_token_count": 572.6, + "learning_rate": 8.346768567187287e-06, + "loss": 0.0168, + "mgd_cos_sim": 0.9928329050540924, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007167096436023712, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.62022094726564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 391.1933563232422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19920, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.3018886923789978, + "epoch": 5.798661623508874, + "flow_matching_loss": 0.01740472624078393, + "grad_norm": 0.13032002747058868, + "kept_token_count": 571.240625, + "learning_rate": 8.331953385104516e-06, + "loss": 0.0211, + "mgd_cos_sim": 0.9925582468509674, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007441753149032592, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.7774261474609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4721984863281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19930, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.2991418123245239, + "epoch": 5.801571137620018, + "flow_matching_loss": 0.01198230991140008, + "grad_norm": 0.08893605321645737, + "kept_token_count": 573.565625, + "learning_rate": 8.317146305327134e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9930961310863495, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006903871800750494, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.6984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8227905273437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19940, + "valid_token_count": 818.375 + }, + { + "actual_token_mask_ratio": 0.3006716310977936, + "epoch": 5.804480651731161, + "flow_matching_loss": 0.012972940970212222, + "grad_norm": 0.10538430511951447, + "kept_token_count": 572.0515625, + "learning_rate": 8.302347345847146e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9934343695640564, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006565626151859761, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 451.9106964111328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.2536560058594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19950, + "valid_token_count": 818.0046875 + }, + { + "actual_token_mask_ratio": 0.3001197844743729, + "epoch": 5.807390165842304, + "flow_matching_loss": 0.01552744209766388, + "grad_norm": 0.11871632188558578, + "kept_token_count": 572.678125, + "learning_rate": 8.287556524646683e-06, + "loss": 0.0189, + "mgd_cos_sim": 0.9931977093219757, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006802292168140411, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 461.2199401855469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1619079589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19960, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.3002593368291855, + "epoch": 5.810299679953448, + "flow_matching_loss": 0.011343692149966954, + "grad_norm": 0.12247869372367859, + "kept_token_count": 572.546875, + "learning_rate": 8.272773859697978e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9937275171279907, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006272473186254501, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.90415344238284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.98975524902346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19970, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.29844469726085665, + "epoch": 5.813209194064592, + "flow_matching_loss": 0.012621675757691264, + "grad_norm": 0.09296242147684097, + "kept_token_count": 573.896875, + "learning_rate": 8.257999368963374e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9927360117435455, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007264002785086631, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.93720703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.82684631347655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19980, + "valid_token_count": 818.034375 + }, + { + "actual_token_mask_ratio": 0.3007470369338989, + "epoch": 5.816118708175734, + "flow_matching_loss": 0.01100496044382453, + "grad_norm": 0.0925833135843277, + "kept_token_count": 572.121875, + "learning_rate": 8.243233070395266e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9926099300384521, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007390064280480146, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.29103698730466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2732360839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 19990, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.29995906352996826, + "epoch": 5.819028222286878, + "flow_matching_loss": 0.013459373079240323, + "grad_norm": 0.10327612608671188, + "kept_token_count": 572.65625, + "learning_rate": 8.2284749819361e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9928953588008881, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007104636821895838, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.7871490478516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7696990966797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20000, + "valid_token_count": 818.0359375 + }, + { + "actual_token_mask_ratio": 0.2997604638338089, + "epoch": 5.821937736398022, + "flow_matching_loss": 0.010718305129557848, + "grad_norm": 0.12303824722766876, + "kept_token_count": 572.95, + "learning_rate": 8.213725121518346e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9927025556564331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007297447230666876, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1487731933594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6851440429688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20010, + "valid_token_count": 818.21875 + }, + { + "actual_token_mask_ratio": 0.3006403535604477, + "epoch": 5.824847250509165, + "flow_matching_loss": 0.012328954227268697, + "grad_norm": 0.10860775411128998, + "kept_token_count": 572.178125, + "learning_rate": 8.198983507064469e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9926829695701599, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007317030988633633, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.00157775878904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7582275390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20020, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.3005900174379349, + "epoch": 5.827756764620308, + "flow_matching_loss": 0.013973753806203604, + "grad_norm": 0.11228661239147186, + "kept_token_count": 572.2375, + "learning_rate": 8.18425015648692e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9931552469730377, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006844771560281515, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.1438385009766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7139587402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20030, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.2991517513990402, + "epoch": 5.830666278731452, + "flow_matching_loss": 0.01228837138041854, + "grad_norm": 0.07130787521600723, + "kept_token_count": 573.4609375, + "learning_rate": 8.169525087688122e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.99317387342453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006826127320528031, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.15306091308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6047790527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20040, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.2994502365589142, + "epoch": 5.833575792842595, + "flow_matching_loss": 0.010375811299309135, + "grad_norm": 0.08737927675247192, + "kept_token_count": 573.309375, + "learning_rate": 8.154808318560413e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9931199371814727, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006880067475140095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.6726531982422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.24216613769534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20050, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.30053969025611876, + "epoch": 5.836485306953739, + "flow_matching_loss": 0.011618914315477014, + "grad_norm": 0.10107582807540894, + "kept_token_count": 572.303125, + "learning_rate": 8.140099866986058e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9926532626152038, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007346734590828419, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.09571533203126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.7679931640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20060, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2999526411294937, + "epoch": 5.839394821064882, + "flow_matching_loss": 0.012838094355538487, + "grad_norm": 0.09342211484909058, + "kept_token_count": 572.7359375, + "learning_rate": 8.125399750837202e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9934754490852356, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065245629288256165, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.5268585205078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1127593994141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20070, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.30071897208690646, + "epoch": 5.842304335176026, + "flow_matching_loss": 0.013231102656573058, + "grad_norm": 0.15368029475212097, + "kept_token_count": 572.0796875, + "learning_rate": 8.110707987975888e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.992985600233078, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007014408428221941, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.55321350097654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0118011474609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20080, + "valid_token_count": 818.0953125 + }, + { + "actual_token_mask_ratio": 0.3004112601280212, + "epoch": 5.845213849287169, + "flow_matching_loss": 0.012323083216324448, + "grad_norm": 0.06765343248844147, + "kept_token_count": 572.54375, + "learning_rate": 8.096024596253982e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9934798777103424, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00652012387290597, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.1221038818359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.99189453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20090, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.3002659440040588, + "epoch": 5.8481233633983125, + "flow_matching_loss": 0.011934242257848383, + "grad_norm": 0.09751441329717636, + "kept_token_count": 572.6453125, + "learning_rate": 8.081349593513197e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9930604875087738, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006939506530761719, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.47593078613284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4925994873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20100, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.30036321878433225, + "epoch": 5.851032877509456, + "flow_matching_loss": 0.01410270957276225, + "grad_norm": 0.10542378574609756, + "kept_token_count": 572.490625, + "learning_rate": 8.066682997585045e-06, + "loss": 0.0179, + "mgd_cos_sim": 0.9923183679580688, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007681627385318279, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.6175476074219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3584747314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20110, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.29976312816143036, + "epoch": 5.853942391620599, + "flow_matching_loss": 0.012113431841135025, + "grad_norm": 0.11242899298667908, + "kept_token_count": 573.046875, + "learning_rate": 8.052024826290819e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9928995430469513, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007100463099777699, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.1086090087891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.37299194335935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20120, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.30053756237030027, + "epoch": 5.856851905731743, + "flow_matching_loss": 0.012674520257860422, + "grad_norm": 0.10713759064674377, + "kept_token_count": 572.225, + "learning_rate": 8.037375097441574e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9930938482284546, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00690615838393569, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.8377380371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9341278076172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20130, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.3007537811994553, + "epoch": 5.8597614198428865, + "flow_matching_loss": 0.012587569002062083, + "grad_norm": 0.09439895302057266, + "kept_token_count": 572.1421875, + "learning_rate": 8.022733828838124e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9929958045482635, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00700419470667839, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.4747772216797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.43907470703124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20140, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.29968576729297636, + "epoch": 5.86267093395403, + "flow_matching_loss": 0.012505441252142192, + "grad_norm": 0.07851066440343857, + "kept_token_count": 572.9171875, + "learning_rate": 8.008101038270988e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9926896572113038, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073103361763060095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 447.79034118652345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.01446228027345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20150, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.30050415694713595, + "epoch": 5.865580448065173, + "flow_matching_loss": 0.01351612275466323, + "grad_norm": 0.09707052260637283, + "kept_token_count": 572.25, + "learning_rate": 7.99347674352038e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9929267525672912, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007073251064866781, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.5440155029297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9015380859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20160, + "valid_token_count": 818.09375 + }, + { + "actual_token_mask_ratio": 0.30046737790107725, + "epoch": 5.868489962176317, + "flow_matching_loss": 0.013621816970407962, + "grad_norm": 0.10325165092945099, + "kept_token_count": 572.659375, + "learning_rate": 7.978860962356202e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9931124567985534, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00688754515722394, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.5787292480469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.41575927734374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20170, + "valid_token_count": 818.628125 + }, + { + "actual_token_mask_ratio": 0.29998838901519775, + "epoch": 5.8713994762874595, + "flow_matching_loss": 0.011113540502265096, + "grad_norm": 0.08352353423833847, + "kept_token_count": 572.740625, + "learning_rate": 7.964253712537997e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9929954469203949, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007004556246101856, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.16448364257815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9259826660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20180, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.29950866997241976, + "epoch": 5.874308990398603, + "flow_matching_loss": 0.013018965255469084, + "grad_norm": 0.09199687093496323, + "kept_token_count": 573.2671875, + "learning_rate": 7.949655011814968e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9925444662570954, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00745552945882082, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.93011474609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2054168701172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20190, + "valid_token_count": 818.384375 + }, + { + "actual_token_mask_ratio": 0.2999241232872009, + "epoch": 5.877218504509747, + "flow_matching_loss": 0.012051281705498695, + "grad_norm": 0.10393819212913513, + "kept_token_count": 572.6609375, + "learning_rate": 7.9350648779259e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932725131511688, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006727500911802053, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.6277709960938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9256622314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20200, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.2997554361820221, + "epoch": 5.880128018620891, + "flow_matching_loss": 0.016623253375291823, + "grad_norm": 0.10640108585357666, + "kept_token_count": 572.9265625, + "learning_rate": 7.92048332859919e-06, + "loss": 0.0204, + "mgd_cos_sim": 0.9923723757266998, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007627610769122839, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.54014282226564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.481298828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20210, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.3010401725769043, + "epoch": 5.8830375327320334, + "flow_matching_loss": 0.013839928153902292, + "grad_norm": 0.10581687837839127, + "kept_token_count": 572.040625, + "learning_rate": 7.90591038155278e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9928105711936951, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007189430203288794, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.874072265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.75042419433595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20220, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.299907386302948, + "epoch": 5.885947046843177, + "flow_matching_loss": 0.012696230970323085, + "grad_norm": 0.10252302885055542, + "kept_token_count": 572.8359375, + "learning_rate": 7.891346054494194e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9927045404911041, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007295466586947441, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.1630035400391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4597198486328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20230, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.3008665472269058, + "epoch": 5.888856560954321, + "flow_matching_loss": 0.012601469084620476, + "grad_norm": 0.11727523803710938, + "kept_token_count": 572.05, + "learning_rate": 7.876790365120447e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9931528627872467, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006847136747092008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.55942993164064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3198486328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20240, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.3000044941902161, + "epoch": 5.891766075065464, + "flow_matching_loss": 0.0117453059181571, + "grad_norm": 0.09490548074245453, + "kept_token_count": 572.5578125, + "learning_rate": 7.862243331118088e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9930907547473907, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006909247674047947, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.2820190429687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4881958007812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20250, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.30081315636634826, + "epoch": 5.894675589176607, + "flow_matching_loss": 0.012944881152361632, + "grad_norm": 0.09370788186788559, + "kept_token_count": 572.065625, + "learning_rate": 7.847704970163127e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9933847546577453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006615250650793314, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.9007049560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.0723449707031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20260, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.3000837564468384, + "epoch": 5.897585103287751, + "flow_matching_loss": 0.0127763613127172, + "grad_norm": 0.07980914413928986, + "kept_token_count": 572.7546875, + "learning_rate": 7.833175299921046e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9927299082279205, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072700980119407175, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.5472137451172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4758636474609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20270, + "valid_token_count": 818.315625 + }, + { + "actual_token_mask_ratio": 0.30002327263355255, + "epoch": 5.900494617398895, + "flow_matching_loss": 0.012048436794430017, + "grad_norm": 0.09792157262563705, + "kept_token_count": 572.74375, + "learning_rate": 7.81865433804676e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932002484798431, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067997705191373825, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.34119567871096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9168243408203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20280, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.2998863995075226, + "epoch": 5.903404131510038, + "flow_matching_loss": 0.013107443135231734, + "grad_norm": 0.07799184322357178, + "kept_token_count": 572.8703125, + "learning_rate": 7.80414210218461e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9931122124195099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006887789163738489, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.7530151367188, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.1210601806641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20290, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.30032950043678286, + "epoch": 5.906313645621181, + "flow_matching_loss": 0.014119971403852105, + "grad_norm": 0.06681129336357117, + "kept_token_count": 572.534375, + "learning_rate": 7.789638609968332e-06, + "loss": 0.0179, + "mgd_cos_sim": 0.9924967467784882, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00750324921682477, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.0187622070313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.76328430175784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20300, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.3002932548522949, + "epoch": 5.909223159732325, + "flow_matching_loss": 0.01307170893996954, + "grad_norm": 0.10564238578081131, + "kept_token_count": 572.5953125, + "learning_rate": 7.775143879021037e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9928775370121002, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007122455630451441, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.16761169433596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.23585510253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20310, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.2994914472103119, + "epoch": 5.912132673843468, + "flow_matching_loss": 0.011231568641960621, + "grad_norm": 0.08578027784824371, + "kept_token_count": 573.3046875, + "learning_rate": 7.760657926955187e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9932683646678925, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006731630489230156, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.6942535400391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5653472900391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20320, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.3004719078540802, + "epoch": 5.915042187954612, + "flow_matching_loss": 0.012325999327003956, + "grad_norm": 0.08005861937999725, + "kept_token_count": 572.56875, + "learning_rate": 7.746180771372584e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9934311985969544, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006568796373903752, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.12038269042966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.43836975097656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20330, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.2998018205165863, + "epoch": 5.917951702065755, + "flow_matching_loss": 0.012640177365392446, + "grad_norm": 0.08783843368291855, + "kept_token_count": 573.1109375, + "learning_rate": 7.731712429864325e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9931843459606171, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068156392313539985, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.409814453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.43854370117185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20340, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.2996091842651367, + "epoch": 5.920861216176898, + "flow_matching_loss": 0.012876590620726347, + "grad_norm": 0.10561180859804153, + "kept_token_count": 573.0765625, + "learning_rate": 7.717252920010828e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9926966607570649, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007303342688828707, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.85996398925784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.02289428710935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20350, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.2997646629810333, + "epoch": 5.923770730288042, + "flow_matching_loss": 0.012277543591335417, + "grad_norm": 0.0973580926656723, + "kept_token_count": 572.9546875, + "learning_rate": 7.702802259381742e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9936611771583557, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00633882861584425, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.82045593261716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.57566833496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20360, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.30043081045150755, + "epoch": 5.9266802443991855, + "flow_matching_loss": 0.013325523678213358, + "grad_norm": 0.09701739996671677, + "kept_token_count": 572.134375, + "learning_rate": 7.688360465535999e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9933634042739868, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006636593770235777, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.75867614746096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8312622070313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20370, + "valid_token_count": 817.8390625 + }, + { + "actual_token_mask_ratio": 0.2990052193403244, + "epoch": 5.929589758510328, + "flow_matching_loss": 0.015278341993689538, + "grad_norm": 0.09479959309101105, + "kept_token_count": 573.61875, + "learning_rate": 7.673927556021734e-06, + "loss": 0.0188, + "mgd_cos_sim": 0.9929632842540741, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00703672543168068, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.01905517578126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5933135986328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20380, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.2995910316705704, + "epoch": 5.932499272621472, + "flow_matching_loss": 0.01087724338285625, + "grad_norm": 0.09765209257602692, + "kept_token_count": 573.075, + "learning_rate": 7.659503548376284e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9931989252567291, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006801069155335427, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.256005859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.21746215820315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20390, + "valid_token_count": 818.2 + }, + { + "actual_token_mask_ratio": 0.30004982352256776, + "epoch": 5.935408786732616, + "flow_matching_loss": 0.012953216768801212, + "grad_norm": 0.1050199493765831, + "kept_token_count": 572.6546875, + "learning_rate": 7.645088460126193e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9930915415287018, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00690845288336277, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.92259216308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.88050231933596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20400, + "valid_token_count": 818.1375 + }, + { + "actual_token_mask_ratio": 0.29991625249385834, + "epoch": 5.9383183008437594, + "flow_matching_loss": 0.010885817557573318, + "grad_norm": 0.08756761252880096, + "kept_token_count": 572.81875, + "learning_rate": 7.630682308787145e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9929124116897583, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007087586540728807, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.63147888183596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5697418212891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20410, + "valid_token_count": 818.2140625 + }, + { + "actual_token_mask_ratio": 0.29902231097221377, + "epoch": 5.941227814954902, + "flow_matching_loss": 0.012155017675831914, + "grad_norm": 0.1253773719072342, + "kept_token_count": 573.6734375, + "learning_rate": 7.6162851118639754e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9932207345962525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006779241096228361, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.31806030273435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.7885223388672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20420, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.29955722391605377, + "epoch": 5.944137329066046, + "flow_matching_loss": 0.0113311056047678, + "grad_norm": 0.08336059749126434, + "kept_token_count": 573.0609375, + "learning_rate": 7.601896886850632e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.993163651227951, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068363619036972524, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.2379180908203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8349578857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20430, + "valid_token_count": 818.1421875 + }, + { + "actual_token_mask_ratio": 0.29859026372432707, + "epoch": 5.94704684317719, + "flow_matching_loss": 0.013105388730764389, + "grad_norm": 0.110994353890419, + "kept_token_count": 573.834375, + "learning_rate": 7.587517651230168e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9932308971881867, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006769103277474642, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.13645935058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.34601440429685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20440, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.2992697715759277, + "epoch": 5.9499563572883325, + "flow_matching_loss": 0.0122928018681705, + "grad_norm": 0.07932259142398834, + "kept_token_count": 573.4515625, + "learning_rate": 7.573147422474702e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932811260223389, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006718875374644995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.39390258789064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5283935546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20450, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.2998927623033524, + "epoch": 5.952865871399476, + "flow_matching_loss": 0.011348942993208766, + "grad_norm": 0.09588383138179779, + "kept_token_count": 572.6953125, + "learning_rate": 7.55878621804543e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.992875075340271, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007124917022883892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.5674285888672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4354949951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20460, + "valid_token_count": 818.0078125 + }, + { + "actual_token_mask_ratio": 0.29875310957431794, + "epoch": 5.95577538551062, + "flow_matching_loss": 0.01198199219070375, + "grad_norm": 0.10112609714269638, + "kept_token_count": 573.58125, + "learning_rate": 7.544434055392564e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9926247298717499, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073752875439822676, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.6949798583984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6830261230469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20470, + "valid_token_count": 817.9515625 + }, + { + "actual_token_mask_ratio": 0.2993926078081131, + "epoch": 5.958684899621764, + "flow_matching_loss": 0.01567995399236679, + "grad_norm": 0.09967309236526489, + "kept_token_count": 573.2640625, + "learning_rate": 7.530090951955334e-06, + "loss": 0.0189, + "mgd_cos_sim": 0.9935013890266419, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006498625688254833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.9273345947266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.37034912109374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20480, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.2998763293027878, + "epoch": 5.961594413732906, + "flow_matching_loss": 0.012476102914661169, + "grad_norm": 0.10517426580190659, + "kept_token_count": 572.9984375, + "learning_rate": 7.515756925161959e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9926098823547364, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007390111591666937, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.51381530761716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.3029846191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20490, + "valid_token_count": 818.425 + }, + { + "actual_token_mask_ratio": 0.300539568066597, + "epoch": 5.96450392784405, + "flow_matching_loss": 0.01008837204426527, + "grad_norm": 0.08447099477052689, + "kept_token_count": 572.2296875, + "learning_rate": 7.501431992429643e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9928803503513336, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071196435950696465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4691955566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5159484863281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20500, + "valid_token_count": 818.1046875 + }, + { + "actual_token_mask_ratio": 0.2997003376483917, + "epoch": 5.967413441955194, + "flow_matching_loss": 0.012636714801192283, + "grad_norm": 0.12141585350036621, + "kept_token_count": 572.8171875, + "learning_rate": 7.487116171164519e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9927607655525208, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007239247858524323, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.4052368164063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1223175048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20510, + "valid_token_count": 817.9546875 + }, + { + "actual_token_mask_ratio": 0.30121009051799774, + "epoch": 5.970322956066337, + "flow_matching_loss": 0.010684455558657647, + "grad_norm": 0.08361877501010895, + "kept_token_count": 571.78125, + "learning_rate": 7.472809478761672e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9932827889919281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006717206072062254, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.3488037109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2946807861328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20520, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.3001921236515045, + "epoch": 5.97323247017748, + "flow_matching_loss": 0.013167273346334695, + "grad_norm": 0.09504349529743195, + "kept_token_count": 572.5515625, + "learning_rate": 7.4585119326050775e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9930073082447052, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069927114993333815, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.76527099609376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.09862060546874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20530, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.300964492559433, + "epoch": 5.976141984288624, + "flow_matching_loss": 0.012776637263596059, + "grad_norm": 0.1026267260313034, + "kept_token_count": 571.9765625, + "learning_rate": 7.444223550067599e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9927184164524079, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007281589321792126, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.8909454345703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.730517578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20540, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.3001288026571274, + "epoch": 5.979051498399767, + "flow_matching_loss": 0.012620147177949547, + "grad_norm": 0.1411105841398239, + "kept_token_count": 572.9828125, + "learning_rate": 7.429944348510964e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9932765424251556, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067234584130346775, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.8169464111328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1019256591797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20550, + "valid_token_count": 818.70625 + }, + { + "actual_token_mask_ratio": 0.30040199458599093, + "epoch": 5.981961012510911, + "flow_matching_loss": 0.01131791933439672, + "grad_norm": 0.09699706733226776, + "kept_token_count": 572.434375, + "learning_rate": 7.415674345285763e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9925850927829742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007414913270622492, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.5194976806641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.97919311523435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20560, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.29931787252426145, + "epoch": 5.984870526622054, + "flow_matching_loss": 0.013111975835636258, + "grad_norm": 0.12460745126008987, + "kept_token_count": 573.44375, + "learning_rate": 7.401413557731387e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9929996609687806, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070003681816160675, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.7159423828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3678924560547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20570, + "valid_token_count": 818.4078125 + }, + { + "actual_token_mask_ratio": 0.2996080696582794, + "epoch": 5.987780040733197, + "flow_matching_loss": 0.013819703832268715, + "grad_norm": 0.10203702002763748, + "kept_token_count": 573.00625, + "learning_rate": 7.387162003176037e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9927783668041229, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072216236963868145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.8343475341797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.30572204589845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20580, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.3001021981239319, + "epoch": 5.990689554844341, + "flow_matching_loss": 0.011906630266457796, + "grad_norm": 0.09410304576158524, + "kept_token_count": 572.4640625, + "learning_rate": 7.372919698936697e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9938814103603363, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006118588242679834, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.13059692382814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0492889404297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20590, + "valid_token_count": 817.9265625 + }, + { + "actual_token_mask_ratio": 0.2999601811170578, + "epoch": 5.9935990689554846, + "flow_matching_loss": 0.01247012298554182, + "grad_norm": 0.11583305150270462, + "kept_token_count": 572.7203125, + "learning_rate": 7.358686662319104e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9932754456996917, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00672455569729209, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.1601959228516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4017333984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20600, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.2984468400478363, + "epoch": 5.996508583066628, + "flow_matching_loss": 0.012670858856290578, + "grad_norm": 0.08709889650344849, + "kept_token_count": 574.1515625, + "learning_rate": 7.344462910617752e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9927143096923828, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007285681180655956, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.6643890380859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2163909912109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20610, + "valid_token_count": 818.3921875 + }, + { + "actual_token_mask_ratio": 0.3005112260580063, + "epoch": 5.999418097177771, + "flow_matching_loss": 0.011909901024773717, + "grad_norm": 0.0968017578125, + "kept_token_count": 572.4671875, + "learning_rate": 7.330248461115832e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9930880069732666, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006911991443485021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.34716796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6226287841797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20620, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.2994213253259659, + "epoch": 6.002327611288915, + "flow_matching_loss": 0.013731701578944922, + "grad_norm": 0.09213026612997055, + "kept_token_count": 573.2234375, + "learning_rate": 7.316043331085242e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9929756641387939, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007024332508444786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.03980407714846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3771514892578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20630, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.3014209657907486, + "epoch": 6.0052371254000585, + "flow_matching_loss": 0.012255105841904878, + "grad_norm": 0.12208093702793121, + "kept_token_count": 571.509375, + "learning_rate": 7.30184753778655e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932026028633117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006797413248568774, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.9670471191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.9555145263672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20640, + "valid_token_count": 818.1 + }, + { + "actual_token_mask_ratio": 0.3000175029039383, + "epoch": 6.008146639511201, + "flow_matching_loss": 0.01135252402164042, + "grad_norm": 0.09248215705156326, + "kept_token_count": 572.6859375, + "learning_rate": 7.2876610984689935e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9930403292179107, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006959672272205353, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.3776031494141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4500244140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20650, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.30012000501155855, + "epoch": 6.011056153622345, + "flow_matching_loss": 0.012481076596304774, + "grad_norm": 0.12044987082481384, + "kept_token_count": 572.9390625, + "learning_rate": 7.273484030370423e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9923716843128204, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007628330402076245, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.02723999023436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.75043029785155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20660, + "valid_token_count": 818.628125 + }, + { + "actual_token_mask_ratio": 0.299335914850235, + "epoch": 6.013965667733489, + "flow_matching_loss": 0.011135574243962765, + "grad_norm": 0.07116341590881348, + "kept_token_count": 573.565625, + "learning_rate": 7.259316350717324e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9930392146110535, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006960787903517484, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.6795166015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9723388671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20670, + "valid_token_count": 818.6078125 + }, + { + "actual_token_mask_ratio": 0.3000713914632797, + "epoch": 6.0168751818446315, + "flow_matching_loss": 0.01336615402251482, + "grad_norm": 0.09388274699449539, + "kept_token_count": 572.484375, + "learning_rate": 7.245158076724757e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9928649961948395, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007135004550218582, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 454.2418609619141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.0787780761719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20680, + "valid_token_count": 817.91875 + }, + { + "actual_token_mask_ratio": 0.30048397481441497, + "epoch": 6.019784695955775, + "flow_matching_loss": 0.012978657707571983, + "grad_norm": 0.11220011860132217, + "kept_token_count": 572.60625, + "learning_rate": 7.23100922559636e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9929102778434753, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007089728210121393, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.3139312744141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2611083984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20690, + "valid_token_count": 818.5703125 + }, + { + "actual_token_mask_ratio": 0.2996022909879684, + "epoch": 6.022694210066919, + "flow_matching_loss": 0.014278207067400217, + "grad_norm": 0.0963926762342453, + "kept_token_count": 573.15, + "learning_rate": 7.216869814524323e-06, + "loss": 0.0181, + "mgd_cos_sim": 0.9923634231090546, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007636555191129446, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.89621887207034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0949951171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20700, + "valid_token_count": 818.3234375 + }, + { + "actual_token_mask_ratio": 0.30026518404483793, + "epoch": 6.025603724178063, + "flow_matching_loss": 0.011538298148661853, + "grad_norm": 0.10542421042919159, + "kept_token_count": 572.6125, + "learning_rate": 7.202739860689357e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9929524183273315, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007047584746032953, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.2468994140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8657958984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20710, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.30135825276374817, + "epoch": 6.0285132382892055, + "flow_matching_loss": 0.014599212072789669, + "grad_norm": 0.0920385792851448, + "kept_token_count": 571.7328125, + "learning_rate": 7.188619381260698e-06, + "loss": 0.018, + "mgd_cos_sim": 0.9931241691112518, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00687583377584815, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.7830505371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1045806884766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20720, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.30003391206264496, + "epoch": 6.031422752400349, + "flow_matching_loss": 0.012850584648549556, + "grad_norm": 0.07377602905035019, + "kept_token_count": 572.9078125, + "learning_rate": 7.174508393396057e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9935939073562622, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006406088825315237, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.87688903808595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2534637451172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20730, + "valid_token_count": 818.4765625 + }, + { + "actual_token_mask_ratio": 0.3001353293657303, + "epoch": 6.034332266511493, + "flow_matching_loss": 0.011376515729352832, + "grad_norm": 0.09844654053449631, + "kept_token_count": 572.6796875, + "learning_rate": 7.160406914241615e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9935936689376831, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006406332273036242, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.963037109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.65935974121095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20740, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.29991512298583983, + "epoch": 6.037241780622636, + "flow_matching_loss": 0.012119443435221911, + "grad_norm": 0.1260429471731186, + "kept_token_count": 573.0203125, + "learning_rate": 7.146314960931996e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9933680057525635, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006631983816623688, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.1054229736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.97194213867186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20750, + "valid_token_count": 818.503125 + }, + { + "actual_token_mask_ratio": 0.2993084639310837, + "epoch": 6.040151294733779, + "flow_matching_loss": 0.010441118199378253, + "grad_norm": 0.11912859231233597, + "kept_token_count": 573.290625, + "learning_rate": 7.132232550590247e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9926825821399688, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007317418046295643, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.6435546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.29994201660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20760, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.2999851733446121, + "epoch": 6.043060808844923, + "flow_matching_loss": 0.01248842915520072, + "grad_norm": 0.10009807348251343, + "kept_token_count": 572.859375, + "learning_rate": 7.118159700327839e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9931129693984986, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006887037213891745, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 454.8113494873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.77594299316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20770, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.3003907442092896, + "epoch": 6.045970322956066, + "flow_matching_loss": 0.012635874468833208, + "grad_norm": 0.10559619218111038, + "kept_token_count": 572.7453125, + "learning_rate": 7.104096427244603e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.992945259809494, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007054762821644545, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.27276916503905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1538543701172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20780, + "valid_token_count": 818.6625 + }, + { + "actual_token_mask_ratio": 0.2994565933942795, + "epoch": 6.04887983706721, + "flow_matching_loss": 0.01187525326386094, + "grad_norm": 0.08606444299221039, + "kept_token_count": 573.0734375, + "learning_rate": 7.090042748428737e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9933410704135894, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006658915337175131, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 394.6504638671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5895080566406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20790, + "valid_token_count": 818.0453125 + }, + { + "actual_token_mask_ratio": 0.2998567223548889, + "epoch": 6.051789351178353, + "flow_matching_loss": 0.010319051612168551, + "grad_norm": 0.0857018306851387, + "kept_token_count": 572.7734375, + "learning_rate": 7.075998680956797e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9933331429958343, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006666844431310892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.62168579101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.69923706054686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20800, + "valid_token_count": 818.0796875 + }, + { + "actual_token_mask_ratio": 0.3002079904079437, + "epoch": 6.054698865289497, + "flow_matching_loss": 0.013952914625406265, + "grad_norm": 0.11244247108697891, + "kept_token_count": 572.7421875, + "learning_rate": 7.061964241893639e-06, + "loss": 0.0176, + "mgd_cos_sim": 0.992695540189743, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007304461300373077, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.2718994140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5986785888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20810, + "valid_token_count": 818.4546875 + }, + { + "actual_token_mask_ratio": 0.3005578935146332, + "epoch": 6.05760837940064, + "flow_matching_loss": 0.012430146709084511, + "grad_norm": 0.10634780675172806, + "kept_token_count": 572.1765625, + "learning_rate": 7.047939448292442e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9930681407451629, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006931859813630581, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.3873565673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0916015625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20820, + "valid_token_count": 818.0421875 + }, + { + "actual_token_mask_ratio": 0.29985072910785676, + "epoch": 6.060517893511784, + "flow_matching_loss": 0.01436033621430397, + "grad_norm": 0.09755642712116241, + "kept_token_count": 573.025, + "learning_rate": 7.033924317194644e-06, + "loss": 0.018, + "mgd_cos_sim": 0.9928039908409119, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007196007575839758, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.15053405761716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3738952636719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20830, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.3006405770778656, + "epoch": 6.063427407622927, + "flow_matching_loss": 0.01097962916828692, + "grad_norm": 0.12422823160886765, + "kept_token_count": 572.25625, + "learning_rate": 7.0199188656299524e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9933332204818726, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066667841747403145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0812103271484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.78997192382815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20840, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.30049634873867037, + "epoch": 6.06633692173407, + "flow_matching_loss": 0.012468718271702529, + "grad_norm": 0.10358916968107224, + "kept_token_count": 572.3515625, + "learning_rate": 7.005923110616313e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9930586636066436, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006941340118646622, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.49440307617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7677886962891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20850, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.300269877910614, + "epoch": 6.069246435845214, + "flow_matching_loss": 0.012336349487304688, + "grad_norm": 0.1490536630153656, + "kept_token_count": 572.4390625, + "learning_rate": 6.9919370691598855e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.993562638759613, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006437356304377318, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.95713806152344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.90415954589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20860, + "valid_token_count": 818.0796875 + }, + { + "actual_token_mask_ratio": 0.2994811564683914, + "epoch": 6.0721559499563575, + "flow_matching_loss": 0.012454943545162678, + "grad_norm": 0.08888882398605347, + "kept_token_count": 573.23125, + "learning_rate": 6.977960758255024e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9932091236114502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006790875177830458, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.4963104248047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7292236328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20870, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.29920504689216615, + "epoch": 6.0750654640675, + "flow_matching_loss": 0.010768158035352826, + "grad_norm": 0.08842838555574417, + "kept_token_count": 573.3671875, + "learning_rate": 6.963994194884276e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9936107039451599, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006389302853494883, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.6190124511719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2569274902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20880, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.29906754195690155, + "epoch": 6.077974978178644, + "flow_matching_loss": 0.012707498390227556, + "grad_norm": 0.18875427544116974, + "kept_token_count": 573.6453125, + "learning_rate": 6.950037396018328e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9928814470767975, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071185451932251455, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.97292175292966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7101776123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20890, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.2999752789735794, + "epoch": 6.080884492289788, + "flow_matching_loss": 0.013641685899347066, + "grad_norm": 0.09130015224218369, + "kept_token_count": 573.0203125, + "learning_rate": 6.9360903786160056e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9929316937923431, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007068308815360069, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0387481689453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8206024169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20900, + "valid_token_count": 818.56875 + }, + { + "actual_token_mask_ratio": 0.30068414509296415, + "epoch": 6.083794006400931, + "flow_matching_loss": 0.013135844469070434, + "grad_norm": 0.0879254937171936, + "kept_token_count": 572.2421875, + "learning_rate": 6.9221531596242485e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9930784523487091, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006921548396348953, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7255401611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.00526123046876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20910, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.29963076710700987, + "epoch": 6.086703520512074, + "flow_matching_loss": 0.013998306076973676, + "grad_norm": 0.09242594242095947, + "kept_token_count": 573.1234375, + "learning_rate": 6.908225755978089e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9932215809822083, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067784029990434645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.19884338378904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.26845703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20920, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.29973676800727844, + "epoch": 6.089613034623218, + "flow_matching_loss": 0.011864864360541105, + "grad_norm": 0.26449188590049744, + "kept_token_count": 573.2671875, + "learning_rate": 6.8943081846006466e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9929414629936218, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070585404522716996, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.4750061035156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.32403564453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20930, + "valid_token_count": 818.6484375 + }, + { + "actual_token_mask_ratio": 0.300323149561882, + "epoch": 6.092522548734362, + "flow_matching_loss": 0.013213853538036346, + "grad_norm": 0.11809887737035751, + "kept_token_count": 572.5140625, + "learning_rate": 6.88040046240307e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9930680930614472, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069319033063948154, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.73182373046876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.81219482421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20940, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.29917094111442566, + "epoch": 6.0954320628455045, + "flow_matching_loss": 0.012516927300021052, + "grad_norm": 0.08477707952260971, + "kept_token_count": 573.334375, + "learning_rate": 6.866502606284566e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9931436896324157, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006856313440948725, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.33034057617186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.65577087402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20950, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.2998710423707962, + "epoch": 6.098341576956648, + "flow_matching_loss": 0.013522826973348856, + "grad_norm": 0.10150846093893051, + "kept_token_count": 572.8671875, + "learning_rate": 6.852614633132335e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9931757330894471, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006824255455285311, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.1122711181641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.59515991210935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20960, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.3000605881214142, + "epoch": 6.101251091067792, + "flow_matching_loss": 0.013491719216108321, + "grad_norm": 0.16248492896556854, + "kept_token_count": 572.784375, + "learning_rate": 6.8387365598215665e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.99282865524292, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007171350903809071, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6306640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3387939453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20970, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.29998103678226473, + "epoch": 6.104160605178935, + "flow_matching_loss": 0.013654118776321411, + "grad_norm": 0.11504372954368591, + "kept_token_count": 572.96875, + "learning_rate": 6.82486840321544e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9930412709712982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006958732940256595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.4620330810547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.94203491210936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20980, + "valid_token_count": 818.5140625 + }, + { + "actual_token_mask_ratio": 0.29931910037994386, + "epoch": 6.1070701192900785, + "flow_matching_loss": 0.012757307291030884, + "grad_norm": 0.09854915738105774, + "kept_token_count": 573.2046875, + "learning_rate": 6.811010180165069e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9933332800865173, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006666729506105184, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.3069610595703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.24700317382815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 20990, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.3000063180923462, + "epoch": 6.109979633401222, + "flow_matching_loss": 0.011045456677675248, + "grad_norm": 0.06549656391143799, + "kept_token_count": 572.71875, + "learning_rate": 6.797161907509499e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9933541893959046, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006645797658711672, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.6592315673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5816925048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21000, + "valid_token_count": 818.1828125 + }, + { + "actual_token_mask_ratio": 0.30012614727020265, + "epoch": 6.112889147512365, + "flow_matching_loss": 0.015210348926484586, + "grad_norm": 0.11570119112730026, + "kept_token_count": 572.7125, + "learning_rate": 6.783323602075688e-06, + "loss": 0.0186, + "mgd_cos_sim": 0.9933020770549774, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006697945203632117, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.5868835449219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.21470336914064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21010, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.3002351552248001, + "epoch": 6.115798661623509, + "flow_matching_loss": 0.013692161720246076, + "grad_norm": 0.09682025015354156, + "kept_token_count": 572.365625, + "learning_rate": 6.7694952806784784e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9925349593162537, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007465044129639864, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.4976867675781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.06720581054685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21020, + "valid_token_count": 817.9484375 + }, + { + "actual_token_mask_ratio": 0.30109187960624695, + "epoch": 6.118708175734652, + "flow_matching_loss": 0.012084607686847448, + "grad_norm": 0.11093499511480331, + "kept_token_count": 572.0578125, + "learning_rate": 6.7556769601205944e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9929931461811066, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007006838824599982, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.1077178955078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6577941894531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21030, + "valid_token_count": 818.5046875 + }, + { + "actual_token_mask_ratio": 0.3003721863031387, + "epoch": 6.121617689845796, + "flow_matching_loss": 0.013949867989867925, + "grad_norm": 0.09012573957443237, + "kept_token_count": 572.459375, + "learning_rate": 6.741868657192594e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9931901454925537, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068098573945462705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.293505859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1748443603516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21040, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.30020729303359983, + "epoch": 6.124527203956939, + "flow_matching_loss": 0.013005159795284271, + "grad_norm": 0.08298183232545853, + "kept_token_count": 572.6359375, + "learning_rate": 6.728070388672864e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9928448140621186, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007155192270874977, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6337127685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.27919311523436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21050, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30002333521842955, + "epoch": 6.127436718068083, + "flow_matching_loss": 0.01134099499322474, + "grad_norm": 0.10241290181875229, + "kept_token_count": 572.7578125, + "learning_rate": 6.714282171327604e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.993403148651123, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006596837658435106, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.43670959472655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1419189453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21060, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.30078351497650146, + "epoch": 6.130346232179226, + "flow_matching_loss": 0.010087327472865582, + "grad_norm": 0.08647514879703522, + "kept_token_count": 572.1703125, + "learning_rate": 6.700504021910791e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9932630717754364, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006736919097602367, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.5421569824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.50351867675784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21070, + "valid_token_count": 818.303125 + }, + { + "actual_token_mask_ratio": 0.30058842301368716, + "epoch": 6.133255746290369, + "flow_matching_loss": 0.014369592536240816, + "grad_norm": 0.09577836841344833, + "kept_token_count": 572.3875, + "learning_rate": 6.68673595716419e-06, + "loss": 0.0182, + "mgd_cos_sim": 0.9923581838607788, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007641817256808281, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.9609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.79210510253904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21080, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.3001533716917038, + "epoch": 6.136165260401513, + "flow_matching_loss": 0.01185914659872651, + "grad_norm": 0.09391787648200989, + "kept_token_count": 572.6515625, + "learning_rate": 6.6729779938172856e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9931909918785096, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006809012126177549, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.16656494140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8389404296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21090, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.30014788508415224, + "epoch": 6.139074774512657, + "flow_matching_loss": 0.012393578467890621, + "grad_norm": 0.13657134771347046, + "kept_token_count": 572.71875, + "learning_rate": 6.659230148587311e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9932381093502045, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006761887576431036, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.97589111328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.54615478515626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21100, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.300109925866127, + "epoch": 6.141984288623799, + "flow_matching_loss": 0.011906504863873124, + "grad_norm": 0.08729898929595947, + "kept_token_count": 572.590625, + "learning_rate": 6.645492438179188e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9930305123329163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006969487015157938, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.930810546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.1682403564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21110, + "valid_token_count": 818.1171875 + }, + { + "actual_token_mask_ratio": 0.3010177046060562, + "epoch": 6.144893802734943, + "flow_matching_loss": 0.012673544557765126, + "grad_norm": 0.09775441884994507, + "kept_token_count": 572.0671875, + "learning_rate": 6.631764879285531e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9925939261913299, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00740607650950551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.882958984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.94456176757814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21120, + "valid_token_count": 818.434375 + }, + { + "actual_token_mask_ratio": 0.29965011179447176, + "epoch": 6.147803316846087, + "flow_matching_loss": 0.013395637087523938, + "grad_norm": 0.11318844556808472, + "kept_token_count": 573.184375, + "learning_rate": 6.618047488586614e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9930177390575409, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069822677411139015, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.2735168457031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.2320098876953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21130, + "valid_token_count": 818.425 + }, + { + "actual_token_mask_ratio": 0.30072844922542574, + "epoch": 6.1507128309572305, + "flow_matching_loss": 0.011502712685614824, + "grad_norm": 0.09404190629720688, + "kept_token_count": 571.9859375, + "learning_rate": 6.604340282750371e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9930794656276702, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006920534558594227, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.4357940673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.14593505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21140, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.3009689062833786, + "epoch": 6.153622345068373, + "flow_matching_loss": 0.012055860506370664, + "grad_norm": 0.08607124537229538, + "kept_token_count": 571.85625, + "learning_rate": 6.590643278432342e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9933290302753448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006670968886464834, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.6672607421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.54188842773436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21150, + "valid_token_count": 818.075 + }, + { + "actual_token_mask_ratio": 0.29813616871833803, + "epoch": 6.156531859179517, + "flow_matching_loss": 0.010732409358024598, + "grad_norm": 0.08800812065601349, + "kept_token_count": 574.18125, + "learning_rate": 6.576956492275682e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9932411909103394, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00675880815833807, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.6911926269531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.75905151367186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21160, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.30090391933918, + "epoch": 6.159441373290661, + "flow_matching_loss": 0.012510106060653925, + "grad_norm": 0.10099618881940842, + "kept_token_count": 572.2953125, + "learning_rate": 6.563279940911124e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9930180191993714, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00698199663311243, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.70233154296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9641815185547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21170, + "valid_token_count": 818.615625 + }, + { + "actual_token_mask_ratio": 0.3007213622331619, + "epoch": 6.162350887401804, + "flow_matching_loss": 0.012360301241278649, + "grad_norm": 0.11219597607851028, + "kept_token_count": 572.303125, + "learning_rate": 6.549613640956963e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9926624536514282, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007337543461471796, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.48524475097656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.82850952148436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21180, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.3008826971054077, + "epoch": 6.165260401512947, + "flow_matching_loss": 0.013734891032800078, + "grad_norm": 0.1386229544878006, + "kept_token_count": 571.934375, + "learning_rate": 6.535957609019053e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9930868744850159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006913134921342134, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.27895202636716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.47998046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21190, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.2993637531995773, + "epoch": 6.168169915624091, + "flow_matching_loss": 0.011635226290673017, + "grad_norm": 0.07719940692186356, + "kept_token_count": 573.4578125, + "learning_rate": 6.5223118616907545e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9929757058620453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007024289481341839, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.75693969726564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9389343261719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21200, + "valid_token_count": 818.478125 + }, + { + "actual_token_mask_ratio": 0.301240062713623, + "epoch": 6.171079429735234, + "flow_matching_loss": 0.012771258316934108, + "grad_norm": 0.09773517400026321, + "kept_token_count": 571.653125, + "learning_rate": 6.508676415552939e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9927464783191681, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007253539096564054, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.67018737792966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.9021728515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21210, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.2999396830797195, + "epoch": 6.1739889438463775, + "flow_matching_loss": 0.010524529544636608, + "grad_norm": 0.10598426312208176, + "kept_token_count": 572.8359375, + "learning_rate": 6.495051287173952e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9928833544254303, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007116652838885784, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.81162109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.22821044921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21220, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.300117039680481, + "epoch": 6.176898457957521, + "flow_matching_loss": 0.013210771512240172, + "grad_norm": 0.11017951369285583, + "kept_token_count": 572.4921875, + "learning_rate": 6.481436493109621e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9929787516593933, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007021248992532492, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.89044799804685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5189605712891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21230, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.29960650503635405, + "epoch": 6.179807972068665, + "flow_matching_loss": 0.0124268117826432, + "grad_norm": 0.12578429281711578, + "kept_token_count": 573.209375, + "learning_rate": 6.467832049903194e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9934214234352112, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006578571442514658, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.96152954101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.42389221191405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21240, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.2992231070995331, + "epoch": 6.182717486179808, + "flow_matching_loss": 0.010326176276430487, + "grad_norm": 0.09731540083885193, + "kept_token_count": 573.41875, + "learning_rate": 6.454237974085361e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9932259321212769, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006774066668003798, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.6888916015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7977569580078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21250, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.29982687532901764, + "epoch": 6.1856270002909515, + "flow_matching_loss": 0.010437434026971459, + "grad_norm": 0.10136357694864273, + "kept_token_count": 572.8703125, + "learning_rate": 6.440654282174203e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9929289042949676, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00707108536735177, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.2437286376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.4211029052734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21260, + "valid_token_count": 818.1828125 + }, + { + "actual_token_mask_ratio": 0.30022911429405214, + "epoch": 6.188536514402095, + "flow_matching_loss": 0.011631429940462113, + "grad_norm": 0.10139189660549164, + "kept_token_count": 572.4265625, + "learning_rate": 6.427080990675187e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9934086203575134, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065913724713027476, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.0471221923828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7583892822266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21270, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.2996063619852066, + "epoch": 6.191446028513238, + "flow_matching_loss": 0.011226276447996498, + "grad_norm": 0.118566133081913, + "kept_token_count": 573.03125, + "learning_rate": 6.41351811608114e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9936005592346191, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006399432383477688, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.14854125976564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5753997802734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21280, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.29994374215602876, + "epoch": 6.194355542624382, + "flow_matching_loss": 0.011725972406566143, + "grad_norm": 0.07081320881843567, + "kept_token_count": 572.946875, + "learning_rate": 6.399965674872228e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9933763802051544, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006623619236052036, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.9336181640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1400634765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21290, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.30012943148612975, + "epoch": 6.197265056735525, + "flow_matching_loss": 0.012204996170476079, + "grad_norm": 0.10996830463409424, + "kept_token_count": 572.721875, + "learning_rate": 6.386423683515957e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9931934714317322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006806517485529184, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.599267578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2087890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21300, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.3012323439121246, + "epoch": 6.200174570846668, + "flow_matching_loss": 0.014082767069339752, + "grad_norm": 0.10366079956293106, + "kept_token_count": 571.8, + "learning_rate": 6.372892158467119e-06, + "loss": 0.0175, + "mgd_cos_sim": 0.993225610256195, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006774394307285547, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.58806762695315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4934417724609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21310, + "valid_token_count": 818.2984375 + }, + { + "actual_token_mask_ratio": 0.2997050374746323, + "epoch": 6.203084084957812, + "flow_matching_loss": 0.010760960076004267, + "grad_norm": 0.09927359968423843, + "kept_token_count": 573.0421875, + "learning_rate": 6.359371116167791e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9929851114749908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007014880515635013, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.64658203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.37131958007814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21320, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.29956036508083345, + "epoch": 6.205993599068956, + "flow_matching_loss": 0.011748456861823797, + "grad_norm": 0.08949442207813263, + "kept_token_count": 573.215625, + "learning_rate": 6.345860573047314e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9934296786785126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006570314988493919, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 455.0263275146484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.14544372558595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21330, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.3008533209562302, + "epoch": 6.208903113180099, + "flow_matching_loss": 0.012089167442172765, + "grad_norm": 0.11070182174444199, + "kept_token_count": 571.8625, + "learning_rate": 6.332360545522268e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9931759178638458, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068240751512348655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.9031219482422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.2561004638672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21340, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.2985160738229752, + "epoch": 6.211812627291242, + "flow_matching_loss": 0.014121300913393498, + "grad_norm": 0.11822905391454697, + "kept_token_count": 573.98125, + "learning_rate": 6.31887104999647e-06, + "loss": 0.0179, + "mgd_cos_sim": 0.9925253868103028, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007474609185010195, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.097314453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.6815521240234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21350, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.300667878985405, + "epoch": 6.214722141402386, + "flow_matching_loss": 0.012620223173871636, + "grad_norm": 0.13888788223266602, + "kept_token_count": 572.1140625, + "learning_rate": 6.305392102860924e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9933954656124115, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006604534853249788, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.58140258789064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.22178344726564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21360, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.29898851215839384, + "epoch": 6.21763165551353, + "flow_matching_loss": 0.010754784243181348, + "grad_norm": 0.10329477488994598, + "kept_token_count": 573.546875, + "learning_rate": 6.291923720493814e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9926306664943695, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007369341887533664, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.8531524658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.18060302734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21370, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.3000460773706436, + "epoch": 6.220541169624672, + "flow_matching_loss": 0.011012841574847698, + "grad_norm": 0.13760216534137726, + "kept_token_count": 572.784375, + "learning_rate": 6.278465919260507e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9930325150489807, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006967484299093485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.04322204589846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.65391235351564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21380, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.30136507749557495, + "epoch": 6.223450683735816, + "flow_matching_loss": 0.011296715494245291, + "grad_norm": 0.10888411104679108, + "kept_token_count": 571.5625, + "learning_rate": 6.26501871551349e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9928075015544892, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007192492950707674, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.54266662597655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4941772460937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21390, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.29996722340583803, + "epoch": 6.22636019784696, + "flow_matching_loss": 0.012904316186904907, + "grad_norm": 0.1179136335849762, + "kept_token_count": 572.75625, + "learning_rate": 6.251582125592394e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9919818460941314, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.008018154371529817, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.2802490234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6573028564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21400, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.29962784349918364, + "epoch": 6.229269711958103, + "flow_matching_loss": 0.012262706831097602, + "grad_norm": 0.07755908370018005, + "kept_token_count": 572.9453125, + "learning_rate": 6.2381561658239386e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9928568005561829, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007143183797597885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.4835968017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1310607910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21410, + "valid_token_count": 818.059375 + }, + { + "actual_token_mask_ratio": 0.3011961579322815, + "epoch": 6.232179226069246, + "flow_matching_loss": 0.012377982353791594, + "grad_norm": 0.09659557044506073, + "kept_token_count": 571.64375, + "learning_rate": 6.2247408525219276e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9933002889156342, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066997197456657885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.67946472167966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.37305908203126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21420, + "valid_token_count": 818.028125 + }, + { + "actual_token_mask_ratio": 0.2991896152496338, + "epoch": 6.23508874018039, + "flow_matching_loss": 0.011992532573640347, + "grad_norm": 0.10075385123491287, + "kept_token_count": 573.4953125, + "learning_rate": 6.2113362019872335e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9930393695831299, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069606252014637, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.92466125488284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.02924194335935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21430, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.3002601355314255, + "epoch": 6.237998254291533, + "flow_matching_loss": 0.012427946785464883, + "grad_norm": 0.13149341940879822, + "kept_token_count": 572.5359375, + "learning_rate": 6.197942230507772e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9931254029273987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006874619610607624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0758880615234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.03192749023435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21440, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.30103370547294617, + "epoch": 6.240907768402677, + "flow_matching_loss": 0.010769295413047076, + "grad_norm": 0.11433477699756622, + "kept_token_count": 572.0484375, + "learning_rate": 6.184558954358475e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9935108244419097, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00648917555809021, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.94635620117185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.37062072753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21450, + "valid_token_count": 818.4234375 + }, + { + "actual_token_mask_ratio": 0.300115504860878, + "epoch": 6.24381728251382, + "flow_matching_loss": 0.011853073257952929, + "grad_norm": 0.11025845259428024, + "kept_token_count": 572.6953125, + "learning_rate": 6.1711863898012965e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9934279918670654, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006572007108479739, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.8766662597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3908294677734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21460, + "valid_token_count": 818.2765625 + }, + { + "actual_token_mask_ratio": 0.3006646126508713, + "epoch": 6.246726796624964, + "flow_matching_loss": 0.013021073676645756, + "grad_norm": 0.09238209575414658, + "kept_token_count": 572.29375, + "learning_rate": 6.157824553085155e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9932216882705689, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006778318714350462, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.8426177978516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7764587402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21470, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.29977831840515134, + "epoch": 6.249636310736107, + "flow_matching_loss": 0.012588139157742262, + "grad_norm": 0.09501781314611435, + "kept_token_count": 572.9359375, + "learning_rate": 6.144473460445945e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9929270446300507, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007072937674820423, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.4132537841797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1227264404297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21480, + "valid_token_count": 818.2140625 + }, + { + "actual_token_mask_ratio": 0.2999024271965027, + "epoch": 6.2525458248472505, + "flow_matching_loss": 0.012204420659691096, + "grad_norm": 0.09007525444030762, + "kept_token_count": 572.675, + "learning_rate": 6.131133128106503e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9933920979499817, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006607893947511911, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.84422607421874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9948791503906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21490, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.30123162269592285, + "epoch": 6.255455338958394, + "flow_matching_loss": 0.011105375876650215, + "grad_norm": 0.07830777764320374, + "kept_token_count": 571.7203125, + "learning_rate": 6.117803572276584e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9932451128959656, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00675488943234086, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3862365722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1111114501953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21500, + "valid_token_count": 818.1828125 + }, + { + "actual_token_mask_ratio": 0.2991339176893234, + "epoch": 6.258364853069537, + "flow_matching_loss": 0.012417418928816915, + "grad_norm": 0.12161517143249512, + "kept_token_count": 573.5359375, + "learning_rate": 6.104484809152866e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9933862447738647, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006613748520612717, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.0654541015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2473083496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21510, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.30121508836746214, + "epoch": 6.261274367180681, + "flow_matching_loss": 0.013433357048779727, + "grad_norm": 0.12157636135816574, + "kept_token_count": 571.8515625, + "learning_rate": 6.091176854918892e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9928749978542328, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00712500112131238, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.3122161865234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8601409912109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21520, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.3001989841461182, + "epoch": 6.2641838812918245, + "flow_matching_loss": 0.011178866820409894, + "grad_norm": 0.13685652613639832, + "kept_token_count": 572.8375, + "learning_rate": 6.077879725745092e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9934058785438538, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065941188484430315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.06873474121096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.93532104492186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21530, + "valid_token_count": 818.5765625 + }, + { + "actual_token_mask_ratio": 0.30042760968208315, + "epoch": 6.267093395402968, + "flow_matching_loss": 0.01175520014949143, + "grad_norm": 0.13692742586135864, + "kept_token_count": 572.509375, + "learning_rate": 6.064593437788727e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9924369692802429, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007563022151589394, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7343017578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5115020751953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21540, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.30090897977352143, + "epoch": 6.270002909514111, + "flow_matching_loss": 0.012542738066986202, + "grad_norm": 0.1182599663734436, + "kept_token_count": 571.9671875, + "learning_rate": 6.051318007193881e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9930543959140777, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006945584155619145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.9278533935547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.3537933349609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21550, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.30015788078308103, + "epoch": 6.272912423625255, + "flow_matching_loss": 0.01201338148675859, + "grad_norm": 0.10272731631994247, + "kept_token_count": 572.803125, + "learning_rate": 6.038053450091469e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.993378084897995, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006621920596808195, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.28252868652345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6208099365234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21560, + "valid_token_count": 818.4703125 + }, + { + "actual_token_mask_ratio": 0.29885916113853456, + "epoch": 6.275821937736398, + "flow_matching_loss": 0.01218614112585783, + "grad_norm": 0.11796244978904724, + "kept_token_count": 573.7796875, + "learning_rate": 6.0247997825991705e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9928316235542297, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071683723479509355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.06019287109376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6577178955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21570, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.30055008828639984, + "epoch": 6.278731451847541, + "flow_matching_loss": 0.012535461643710732, + "grad_norm": 0.10244642943143845, + "kept_token_count": 572.3796875, + "learning_rate": 6.011557020821444e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9936694025993347, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006330598890781402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.2313537597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0294250488281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21580, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.30026315450668334, + "epoch": 6.281640965958685, + "flow_matching_loss": 0.011317791230976582, + "grad_norm": 0.09466245025396347, + "kept_token_count": 572.6390625, + "learning_rate": 5.99832518084949e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9934727311134338, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006527266465127468, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.9844512939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.381201171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21590, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.300595822930336, + "epoch": 6.284550480069829, + "flow_matching_loss": 0.011887145973742009, + "grad_norm": 0.12464076280593872, + "kept_token_count": 572.38125, + "learning_rate": 5.98510427876124e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9931568622589111, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006843136064708233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.6968994140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.0421203613281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21600, + "valid_token_count": 818.3875 + }, + { + "actual_token_mask_ratio": 0.30080255270004275, + "epoch": 6.2874599941809715, + "flow_matching_loss": 0.012631865311414003, + "grad_norm": 0.09791253507137299, + "kept_token_count": 571.8921875, + "learning_rate": 5.971894330621344e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9926941096782684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007305893860757351, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3661682128906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.7641906738281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21610, + "valid_token_count": 817.9203125 + }, + { + "actual_token_mask_ratio": 0.3010554939508438, + "epoch": 6.290369508292115, + "flow_matching_loss": 0.011880916357040406, + "grad_norm": 0.09759111702442169, + "kept_token_count": 572.0078125, + "learning_rate": 5.958695352481134e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9932859539985657, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006714035663753748, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.67567749023436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6928741455078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21620, + "valid_token_count": 818.3859375 + }, + { + "actual_token_mask_ratio": 0.3004766583442688, + "epoch": 6.293279022403259, + "flow_matching_loss": 0.011778822122141718, + "grad_norm": 0.10312354564666748, + "kept_token_count": 572.5421875, + "learning_rate": 5.945507360378608e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9933600723743439, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006639935821294784, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.70452575683595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4018798828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21630, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.3000736892223358, + "epoch": 6.296188536514402, + "flow_matching_loss": 0.010959212621673941, + "grad_norm": 0.09087555855512619, + "kept_token_count": 572.58125, + "learning_rate": 5.9323303703384225e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9931143343448638, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006885648146271706, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.21006774902344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8818328857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21640, + "valid_token_count": 818.0578125 + }, + { + "actual_token_mask_ratio": 0.2999584496021271, + "epoch": 6.299098050625545, + "flow_matching_loss": 0.012344595324248076, + "grad_norm": 0.07710953801870346, + "kept_token_count": 573.053125, + "learning_rate": 5.919164398371857e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9931306958198547, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006869309302419424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.25306396484376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5938201904297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21650, + "valid_token_count": 818.590625 + }, + { + "actual_token_mask_ratio": 0.29941903948783877, + "epoch": 6.302007564736689, + "flow_matching_loss": 0.010413062619045376, + "grad_norm": 0.08364741504192352, + "kept_token_count": 573.2921875, + "learning_rate": 5.906009460476818e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9937655627727509, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00623443815857172, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.21221618652345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.42176818847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21660, + "valid_token_count": 818.315625 + }, + { + "actual_token_mask_ratio": 0.30038578510284425, + "epoch": 6.304917078847833, + "flow_matching_loss": 0.012651327811181546, + "grad_norm": 0.1030416414141655, + "kept_token_count": 572.1640625, + "learning_rate": 5.892865572637789e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9932717084884644, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006728288624435664, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3272705078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4515777587891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21670, + "valid_token_count": 817.828125 + }, + { + "actual_token_mask_ratio": 0.29985156655311584, + "epoch": 6.307826592958976, + "flow_matching_loss": 0.013193645514547825, + "grad_norm": 0.0978473499417305, + "kept_token_count": 572.9921875, + "learning_rate": 5.8797327508258396e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9929513454437255, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007048649061471224, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.7041961669922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.9208709716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21680, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.29931296706199645, + "epoch": 6.310736107070119, + "flow_matching_loss": 0.01014895848929882, + "grad_norm": 0.1170186772942543, + "kept_token_count": 573.484375, + "learning_rate": 5.866611010998584e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9932643234729767, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006735673826187849, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.28753356933595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.41258239746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21690, + "valid_token_count": 818.4578125 + }, + { + "actual_token_mask_ratio": 0.2990064650774002, + "epoch": 6.313645621181263, + "flow_matching_loss": 0.013173680333420635, + "grad_norm": 0.096656434237957, + "kept_token_count": 573.69375, + "learning_rate": 5.853500369100172e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.993140983581543, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006859005894511938, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.8077087402344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.90003967285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21700, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.30054865777492523, + "epoch": 6.316555135292406, + "flow_matching_loss": 0.011764352023601533, + "grad_norm": 0.08748239278793335, + "kept_token_count": 572.30625, + "learning_rate": 5.840400841061265e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9927063345909118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007293649669736624, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.63978271484376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.2471862792969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21710, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.2997800916433334, + "epoch": 6.31946464940355, + "flow_matching_loss": 0.012615805538371206, + "grad_norm": 0.11528973281383514, + "kept_token_count": 573.0109375, + "learning_rate": 5.827312442799034e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9933202564716339, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006679738499224186, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.97099609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.15081787109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21720, + "valid_token_count": 818.33125 + }, + { + "actual_token_mask_ratio": 0.29993548691272737, + "epoch": 6.322374163514693, + "flow_matching_loss": 0.012066618166863918, + "grad_norm": 0.12429095804691315, + "kept_token_count": 572.5953125, + "learning_rate": 5.814235190217114e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9930516004562377, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069483939558267595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.63702697753905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5948120117188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21730, + "valid_token_count": 817.9203125 + }, + { + "actual_token_mask_ratio": 0.30046993792057036, + "epoch": 6.325283677625836, + "flow_matching_loss": 0.010335668968036772, + "grad_norm": 0.07896451652050018, + "kept_token_count": 572.390625, + "learning_rate": 5.801169099205599e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.993407154083252, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006592839676886797, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.56451416015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4549865722656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21740, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.29986098110675813, + "epoch": 6.32819319173698, + "flow_matching_loss": 0.013785850955173373, + "grad_norm": 0.16342227160930634, + "kept_token_count": 572.7203125, + "learning_rate": 5.788114185641022e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9933854341506958, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006614566594362259, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.9836120605469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.00128784179685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21750, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.3003766596317291, + "epoch": 6.3311027058481235, + "flow_matching_loss": 0.011830284539610148, + "grad_norm": 0.08870895206928253, + "kept_token_count": 572.578125, + "learning_rate": 5.775070465386328e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.993025952577591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006974053755402565, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.3491729736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7865905761719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21760, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.2997630417346954, + "epoch": 6.334012219959266, + "flow_matching_loss": 0.011647214833647012, + "grad_norm": 0.13950084149837494, + "kept_token_count": 572.9828125, + "learning_rate": 5.7620379542908765e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9934724986553192, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006527496874332428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.0076049804687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.65040283203126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21770, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.29973122775554656, + "epoch": 6.33692173407041, + "flow_matching_loss": 0.013178806100040675, + "grad_norm": 0.10820633172988892, + "kept_token_count": 572.98125, + "learning_rate": 5.749016668190395e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9930923223495484, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006907677464187145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.27208557128904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1975952148438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21780, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.3010156869888306, + "epoch": 6.339831248181554, + "flow_matching_loss": 0.009612911893054844, + "grad_norm": 0.07849247008562088, + "kept_token_count": 571.9953125, + "learning_rate": 5.736006622906973e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9935043096542359, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006495698168873787, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.80504455566404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6900268554688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21790, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.29980946481227877, + "epoch": 6.3427407622926975, + "flow_matching_loss": 0.011911188811063766, + "grad_norm": 0.10142002999782562, + "kept_token_count": 572.865625, + "learning_rate": 5.723007834249034e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9930137634277344, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006986228190362454, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.28363037109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2570465087891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21800, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.29976252019405364, + "epoch": 6.34565027640384, + "flow_matching_loss": 0.013096818467602134, + "grad_norm": 0.11759646236896515, + "kept_token_count": 573.0359375, + "learning_rate": 5.710020318011346e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9931724011898041, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006827599834650755, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.1399230957031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.671923828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21810, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.2995574802160263, + "epoch": 6.348559790514984, + "flow_matching_loss": 0.012132953433319927, + "grad_norm": 0.09664960950613022, + "kept_token_count": 573.2734375, + "learning_rate": 5.697044089974955e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9929640352725982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070359532721340655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.84869689941405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1074188232422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21820, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.29995222091674806, + "epoch": 6.351469304626128, + "flow_matching_loss": 0.012743637012317777, + "grad_norm": 0.09015777707099915, + "kept_token_count": 572.6546875, + "learning_rate": 5.68407916590721e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9934551179409027, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006544888019561768, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.2723358154297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.35634765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21830, + "valid_token_count": 818.028125 + }, + { + "actual_token_mask_ratio": 0.29984464347362516, + "epoch": 6.3543788187372705, + "flow_matching_loss": 0.011403266107663512, + "grad_norm": 0.12814876437187195, + "kept_token_count": 572.7640625, + "learning_rate": 5.671125561561713e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9931963503360748, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006803638674318791, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.7163818359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.3902587890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21840, + "valid_token_count": 818.05625 + }, + { + "actual_token_mask_ratio": 0.30114070177078245, + "epoch": 6.357288332848414, + "flow_matching_loss": 0.013004311453551054, + "grad_norm": 0.08959786593914032, + "kept_token_count": 571.9796875, + "learning_rate": 5.658183292678315e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9935560524463654, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00644394513219595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.4326538085937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.6786865234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21850, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.30017815828323363, + "epoch": 6.360197846959558, + "flow_matching_loss": 0.012474431795999408, + "grad_norm": 0.10880248993635178, + "kept_token_count": 572.5578125, + "learning_rate": 5.645252374983091e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9932194530963898, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067805501632392405, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.83213195800784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8755676269531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21860, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.29985179007053375, + "epoch": 6.363107361070702, + "flow_matching_loss": 0.012952661234885454, + "grad_norm": 0.09904748201370239, + "kept_token_count": 573.015625, + "learning_rate": 5.6323328241883224e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9933882653713226, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00661174301058054, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 449.2860900878906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.05491027832034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21870, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.3000393509864807, + "epoch": 6.3660168751818444, + "flow_matching_loss": 0.012740247184410691, + "grad_norm": 0.11032751202583313, + "kept_token_count": 572.7609375, + "learning_rate": 5.61942465599249e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9932761073112488, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006723873689770699, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.3442657470703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.23744201660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21880, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.2993649303913116, + "epoch": 6.368926389292988, + "flow_matching_loss": 0.012511498527601361, + "grad_norm": 0.143345907330513, + "kept_token_count": 573.54375, + "learning_rate": 5.60652788608023e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9934569776058197, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006543041672557592, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.1577514648437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.747216796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21890, + "valid_token_count": 818.6078125 + }, + { + "actual_token_mask_ratio": 0.30048205256462096, + "epoch": 6.371835903404132, + "flow_matching_loss": 0.01117972433567047, + "grad_norm": 0.06285984814167023, + "kept_token_count": 572.453125, + "learning_rate": 5.593642530122336e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9930628597736358, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006937134545296431, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0136688232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.191650390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21900, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.29931565225124357, + "epoch": 6.374745417515275, + "flow_matching_loss": 0.012066142866387963, + "grad_norm": 0.12834730744361877, + "kept_token_count": 573.3484375, + "learning_rate": 5.58076860377573e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9934010028839111, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006598991062492132, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6193786621094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.0225128173828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21910, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.30061097741127013, + "epoch": 6.377654931626418, + "flow_matching_loss": 0.011316240811720491, + "grad_norm": 0.13450086116790771, + "kept_token_count": 572.28125, + "learning_rate": 5.567906122683439e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9931467235088348, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006853272207081318, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.46934814453124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6773223876953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21920, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.30006733536720276, + "epoch": 6.380564445737562, + "flow_matching_loss": 0.014104194846004248, + "grad_norm": 0.10386360436677933, + "kept_token_count": 572.821875, + "learning_rate": 5.555055102474604e-06, + "loss": 0.0175, + "mgd_cos_sim": 0.993130087852478, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006869915127754212, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.676708984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.42194213867185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21930, + "valid_token_count": 818.390625 + }, + { + "actual_token_mask_ratio": 0.30008744597435, + "epoch": 6.383473959848705, + "flow_matching_loss": 0.01326090982183814, + "grad_norm": 0.12783871591091156, + "kept_token_count": 572.7828125, + "learning_rate": 5.542215558764421e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9927110612392426, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007288933079689741, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.47190246582034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1923004150391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21940, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.30031818151474, + "epoch": 6.386383473959849, + "flow_matching_loss": 0.01221177875995636, + "grad_norm": 0.10837224125862122, + "kept_token_count": 572.7203125, + "learning_rate": 5.529387507154138e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9931619048118592, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006838103756308556, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.24879760742186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.25303039550784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21950, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.2999993622303009, + "epoch": 6.389292988070992, + "flow_matching_loss": 0.011606040922924877, + "grad_norm": 0.10541686415672302, + "kept_token_count": 572.8296875, + "learning_rate": 5.516570963231058e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9932767271995544, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006723249237984419, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.3587982177734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0824951171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21960, + "valid_token_count": 818.33125 + }, + { + "actual_token_mask_ratio": 0.3000874727964401, + "epoch": 6.392202502182135, + "flow_matching_loss": 0.012102453783154488, + "grad_norm": 0.08605635911226273, + "kept_token_count": 572.7890625, + "learning_rate": 5.503765942568484e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9934839904308319, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065160135738551615, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.1644348144531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.04522094726565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21970, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.29959011673927305, + "epoch": 6.395112016293279, + "flow_matching_loss": 0.013154536206275224, + "grad_norm": 0.08396711945533752, + "kept_token_count": 573.09375, + "learning_rate": 5.49097246072573e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.992565268278122, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074347262270748615, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.9518096923828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3490325927734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21980, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.3003400981426239, + "epoch": 6.398021530404423, + "flow_matching_loss": 0.011751433508470655, + "grad_norm": 0.1024593710899353, + "kept_token_count": 572.3046875, + "learning_rate": 5.4781905332480805e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9930432558059692, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006956742238253355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.8825256347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.68541259765624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 21990, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.299678573012352, + "epoch": 6.400931044515566, + "flow_matching_loss": 0.012491328408941627, + "grad_norm": 0.10871753096580505, + "kept_token_count": 572.990625, + "learning_rate": 5.4654201756667795e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9931071043014527, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006892899516969919, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.3428070068359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.49278259277344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22000, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.30028098821640015, + "epoch": 6.403840558626709, + "flow_matching_loss": 0.012043396104127168, + "grad_norm": 0.1306353658437729, + "kept_token_count": 572.5640625, + "learning_rate": 5.452661403499017e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9927020311355591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007297975942492485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.22852783203126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.47645568847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22010, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.3001670867204666, + "epoch": 6.406750072737853, + "flow_matching_loss": 0.012515501165762544, + "grad_norm": 0.1284332573413849, + "kept_token_count": 572.659375, + "learning_rate": 5.4399142322479005e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9934152781963348, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006584719102829695, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.00953369140626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.09437561035156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22020, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3006756603717804, + "epoch": 6.4096595868489965, + "flow_matching_loss": 0.011588098108768463, + "grad_norm": 0.11704935133457184, + "kept_token_count": 572.090625, + "learning_rate": 5.427178677402452e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9935301840305328, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00646981131285429, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.5048034667969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.0234649658203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22030, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.29981225430965425, + "epoch": 6.412569100960139, + "flow_matching_loss": 0.011835296545177698, + "grad_norm": 0.2386167198419571, + "kept_token_count": 572.928125, + "learning_rate": 5.41445475443757e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9929602563381195, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007039748691022396, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.9570343017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.80576782226564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22040, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.30049183070659635, + "epoch": 6.415478615071283, + "flow_matching_loss": 0.012202042527496815, + "grad_norm": 0.07997406274080276, + "kept_token_count": 572.365625, + "learning_rate": 5.4017424788140194e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9935281991958618, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006471797171980142, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.4113494873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.61940002441406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22050, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.3012815684080124, + "epoch": 6.418388129182427, + "flow_matching_loss": 0.009183108201250434, + "grad_norm": 0.10376699268817902, + "kept_token_count": 571.60625, + "learning_rate": 5.389041865978414e-06, + "loss": 0.0125, + "mgd_cos_sim": 0.9933288931846619, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006671105604618787, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.25489196777346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.46502075195315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22060, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.3002941578626633, + "epoch": 6.4212976432935704, + "flow_matching_loss": 0.011743244854733348, + "grad_norm": 0.08318375796079636, + "kept_token_count": 572.375, + "learning_rate": 5.37635293136319e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9930919229984283, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006908076535910368, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 450.3921661376953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6941864013672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22070, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.29899721741676333, + "epoch": 6.424207157404713, + "flow_matching_loss": 0.01220256919041276, + "grad_norm": 0.08336861431598663, + "kept_token_count": 573.7203125, + "learning_rate": 5.363675690386609e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9931016266345978, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006898391898721457, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.8217742919922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.58119506835936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22080, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.3011679857969284, + "epoch": 6.427116671515857, + "flow_matching_loss": 0.010726969270035625, + "grad_norm": 0.12892258167266846, + "kept_token_count": 571.8328125, + "learning_rate": 5.351010158452708e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9935792565345765, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064207474701106545, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.8626678466797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8662628173828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22090, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.300283345580101, + "epoch": 6.430026185627001, + "flow_matching_loss": 0.011426335060968995, + "grad_norm": 0.07216738164424896, + "kept_token_count": 572.7296875, + "learning_rate": 5.338356350951308e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9930901110172272, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006909879948943853, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.8338165283203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1421325683594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22100, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.30102076232433317, + "epoch": 6.4329356997381435, + "flow_matching_loss": 0.013063832791522146, + "grad_norm": 0.12186164408922195, + "kept_token_count": 572.178125, + "learning_rate": 5.325714283257974e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9928178727626801, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007182125095278024, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.76243591308594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1211303710937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22110, + "valid_token_count": 818.5828125 + }, + { + "actual_token_mask_ratio": 0.30009070932865145, + "epoch": 6.435845213849287, + "flow_matching_loss": 0.010077550634741783, + "grad_norm": 0.10084646940231323, + "kept_token_count": 572.7234375, + "learning_rate": 5.313083970734013e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9933116436004639, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006688343361020088, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.656640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.37993774414065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22120, + "valid_token_count": 818.278125 + }, + { + "actual_token_mask_ratio": 0.2997377783060074, + "epoch": 6.438754727960431, + "flow_matching_loss": 0.013181525794789196, + "grad_norm": 0.0844993144273758, + "kept_token_count": 573.3421875, + "learning_rate": 5.300465428726439e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9931134402751922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006886567082256078, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.6288299560547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4226776123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22130, + "valid_token_count": 818.75625 + }, + { + "actual_token_mask_ratio": 0.29858354926109315, + "epoch": 6.441664242071574, + "flow_matching_loss": 0.011717826686799526, + "grad_norm": 0.09917809069156647, + "kept_token_count": 573.8625, + "learning_rate": 5.287858672567979e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9931778907775879, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006822115834802389, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.3203399658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3229675292969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22140, + "valid_token_count": 818.1453125 + }, + { + "actual_token_mask_ratio": 0.30074872374534606, + "epoch": 6.444573756182717, + "flow_matching_loss": 0.011385038727894425, + "grad_norm": 0.08993761986494064, + "kept_token_count": 571.99375, + "learning_rate": 5.275263717577028e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9930716753005981, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006928324233740568, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.9783966064453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.37159729003906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22150, + "valid_token_count": 818.0140625 + }, + { + "actual_token_mask_ratio": 0.3007960975170135, + "epoch": 6.447483270293861, + "flow_matching_loss": 0.014918182045221329, + "grad_norm": 0.07783876359462738, + "kept_token_count": 572.2578125, + "learning_rate": 5.2626805790576435e-06, + "loss": 0.0184, + "mgd_cos_sim": 0.9931254088878632, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068745967000722885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.8463897705078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5456024169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22160, + "valid_token_count": 818.4390625 + }, + { + "actual_token_mask_ratio": 0.3008416503667831, + "epoch": 6.450392784405004, + "flow_matching_loss": 0.012056632898747921, + "grad_norm": 0.11224782466888428, + "kept_token_count": 572.1109375, + "learning_rate": 5.250109272299523e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9935877919197083, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006412220094352961, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.4686767578125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7974060058594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22170, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.3001240223646164, + "epoch": 6.453302298516148, + "flow_matching_loss": 0.011487154802307487, + "grad_norm": 0.0908275917172432, + "kept_token_count": 572.53125, + "learning_rate": 5.237549812577987e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9933461606502533, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006653817743062973, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.68641967773436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.364794921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22180, + "valid_token_count": 818.0484375 + }, + { + "actual_token_mask_ratio": 0.300213822722435, + "epoch": 6.456211812627291, + "flow_matching_loss": 0.010558103024959565, + "grad_norm": 0.08449958264827728, + "kept_token_count": 572.4671875, + "learning_rate": 5.225002215153973e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.992830365896225, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007169647421687841, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.2394958496094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4066436767578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22190, + "valid_token_count": 818.0625 + }, + { + "actual_token_mask_ratio": 0.29940001368522645, + "epoch": 6.459121326738435, + "flow_matching_loss": 0.01206496856175363, + "grad_norm": 0.11605178564786911, + "kept_token_count": 573.2265625, + "learning_rate": 5.21246649527399e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932893574237823, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006710648257285357, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.83119812011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6081237792969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22200, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.2993124514818192, + "epoch": 6.462030840849578, + "flow_matching_loss": 0.014241217356175184, + "grad_norm": 0.1211976557970047, + "kept_token_count": 573.3796875, + "learning_rate": 5.199942668170118e-06, + "loss": 0.0178, + "mgd_cos_sim": 0.9928589761257172, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007141017913818359, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.3280456542969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9462646484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22210, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.3000497162342072, + "epoch": 6.464940354960722, + "flow_matching_loss": 0.010391988977789878, + "grad_norm": 0.09456779807806015, + "kept_token_count": 572.75, + "learning_rate": 5.187430749059986e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9935501337051391, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006449875235557556, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.8102752685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.43947143554686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22220, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.29866993725299834, + "epoch": 6.467849869071865, + "flow_matching_loss": 0.01092195836827159, + "grad_norm": 0.09995080530643463, + "kept_token_count": 573.721875, + "learning_rate": 5.174930753146763e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9937744796276092, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006225529406219721, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.82823486328124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.99013061523436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22230, + "valid_token_count": 818.05 + }, + { + "actual_token_mask_ratio": 0.300038680434227, + "epoch": 6.470759383183008, + "flow_matching_loss": 0.010715183336287737, + "grad_norm": 0.10159225761890411, + "kept_token_count": 572.8609375, + "learning_rate": 5.162442695619114e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9930750668048859, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006924923323094845, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.61110229492186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.10935363769534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22240, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.3003951162099838, + "epoch": 6.473668897294152, + "flow_matching_loss": 0.010973731242120265, + "grad_norm": 0.09410552680492401, + "kept_token_count": 572.346875, + "learning_rate": 5.149966591651215e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9938096106052399, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006190399825572968, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.78774108886716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5401885986328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22250, + "valid_token_count": 818.103125 + }, + { + "actual_token_mask_ratio": 0.2998995393514633, + "epoch": 6.4765784114052956, + "flow_matching_loss": 0.010924117220565677, + "grad_norm": 0.11969258636236191, + "kept_token_count": 572.9703125, + "learning_rate": 5.137502456402705e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9934525072574616, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006547506619244814, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.38482971191405, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4222839355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22260, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.2997203886508942, + "epoch": 6.479487925516438, + "flow_matching_loss": 0.012278140336275101, + "grad_norm": 0.10363247990608215, + "kept_token_count": 572.9234375, + "learning_rate": 5.125050305018683e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9930682420730591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006931757647544145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 451.74111328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.02976684570314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22270, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.2998466491699219, + "epoch": 6.482397439627582, + "flow_matching_loss": 0.013039893610402942, + "grad_norm": 0.1142471507191658, + "kept_token_count": 572.7, + "learning_rate": 5.112610152629687e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.992621898651123, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00737810293212533, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.2023040771484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0050537109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22280, + "valid_token_count": 817.9578125 + }, + { + "actual_token_mask_ratio": 0.29936121106147767, + "epoch": 6.485306953738726, + "flow_matching_loss": 0.010589064052328467, + "grad_norm": 0.08549472689628601, + "kept_token_count": 573.3703125, + "learning_rate": 5.10018201435167e-06, + "loss": 0.014, + "mgd_cos_sim": 0.993204778432846, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067952251061797145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.5279998779297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7089324951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22290, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.29920826852321625, + "epoch": 6.488216467849869, + "flow_matching_loss": 0.013511363789439202, + "grad_norm": 0.08611417561769485, + "kept_token_count": 573.34375, + "learning_rate": 5.087765905286004e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9928135454654694, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007186447829008102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.00574951171876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1845001220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22300, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.30000715553760526, + "epoch": 6.491125981961012, + "flow_matching_loss": 0.011843820102512836, + "grad_norm": 0.08236526697874069, + "kept_token_count": 572.828125, + "learning_rate": 5.0753618405194245e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9930974841117859, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00690251924097538, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.2273254394531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.53232727050784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22310, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.2994038939476013, + "epoch": 6.494035496072156, + "flow_matching_loss": 0.011712767696008087, + "grad_norm": 0.11678234487771988, + "kept_token_count": 573.2078125, + "learning_rate": 5.062969835124042e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9929739236831665, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007026080414652825, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.85272216796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3885101318359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22320, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.3005262613296509, + "epoch": 6.4969450101833, + "flow_matching_loss": 0.013423527730628848, + "grad_norm": 0.07668963074684143, + "kept_token_count": 572.5421875, + "learning_rate": 5.05058990415731e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9928352177143097, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007164787594228983, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.7667175292969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.85673828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22330, + "valid_token_count": 818.525 + }, + { + "actual_token_mask_ratio": 0.2993573695421219, + "epoch": 6.4998545242944425, + "flow_matching_loss": 0.012166342884302139, + "grad_norm": 0.09388235211372375, + "kept_token_count": 573.0234375, + "learning_rate": 5.038222062662007e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9932167530059814, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006783253792673349, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.3250274658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3275939941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22340, + "valid_token_count": 817.8546875 + }, + { + "actual_token_mask_ratio": 0.3008822798728943, + "epoch": 6.502764038405586, + "flow_matching_loss": 0.013457133946940304, + "grad_norm": 0.12379912286996841, + "kept_token_count": 572.18125, + "learning_rate": 5.025866325666237e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9931578636169434, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006842137034982443, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.8310119628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.67979125976564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22350, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.3003275394439697, + "epoch": 6.50567355251673, + "flow_matching_loss": 0.010382001008838414, + "grad_norm": 0.08122570812702179, + "kept_token_count": 572.4203125, + "learning_rate": 5.013522708183383e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9932192683219909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067807378247380255, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 444.63654174804685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6879089355469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22360, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.30063243508338927, + "epoch": 6.508583066627873, + "flow_matching_loss": 0.01291663097217679, + "grad_norm": 0.10918261110782623, + "kept_token_count": 572.1546875, + "learning_rate": 5.001191225212096e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9931589066982269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006841090973466635, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.26966857910156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4977111816406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22370, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.29963299036026003, + "epoch": 6.5114925807390165, + "flow_matching_loss": 0.011662461329251528, + "grad_norm": 0.11345041543245316, + "kept_token_count": 572.884375, + "learning_rate": 4.9888718917363e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9925877690315247, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007412235904484987, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.10939331054686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5193634033203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22380, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.2994842916727066, + "epoch": 6.51440209485016, + "flow_matching_loss": 0.012992327194660902, + "grad_norm": 0.09640520811080933, + "kept_token_count": 573.515625, + "learning_rate": 4.9765647227251395e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9937167942523957, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006283204536885023, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.96180114746096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0229461669922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22390, + "valid_token_count": 818.7109375 + }, + { + "actual_token_mask_ratio": 0.2998910129070282, + "epoch": 6.517311608961304, + "flow_matching_loss": 0.012271684873849154, + "grad_norm": 0.12344978749752045, + "kept_token_count": 573.090625, + "learning_rate": 4.964269733132992e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9928391575813293, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007160836830735207, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.9758728027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3953887939453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22400, + "valid_token_count": 818.56875 + }, + { + "actual_token_mask_ratio": 0.30087172985076904, + "epoch": 6.520221123072447, + "flow_matching_loss": 0.013032451923936605, + "grad_norm": 0.09054262191057205, + "kept_token_count": 571.8015625, + "learning_rate": 4.951986937899428e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9933300793170929, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006669918075203896, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.38599853515626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7618072509766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22410, + "valid_token_count": 817.8734375 + }, + { + "actual_token_mask_ratio": 0.3001263469457626, + "epoch": 6.52313063718359, + "flow_matching_loss": 0.013309639133512973, + "grad_norm": 0.08336657285690308, + "kept_token_count": 572.9765625, + "learning_rate": 4.9397163519492e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9931729018688202, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006827099714428186, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.3815093994141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1345184326172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22420, + "valid_token_count": 818.69375 + }, + { + "actual_token_mask_ratio": 0.2993952423334122, + "epoch": 6.526040151294734, + "flow_matching_loss": 0.011448645172640682, + "grad_norm": 0.10833577811717987, + "kept_token_count": 573.4375, + "learning_rate": 4.9274579901922275e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9931127607822419, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006887238286435604, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.03663940429686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6001220703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22430, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.30057021975517273, + "epoch": 6.528949665405877, + "flow_matching_loss": 0.01236507184803486, + "grad_norm": 0.11191299557685852, + "kept_token_count": 572.26875, + "learning_rate": 4.9152118675235705e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9934838831424713, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006516117881983518, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.5478149414063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3670654296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22440, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.3001172125339508, + "epoch": 6.531859179517021, + "flow_matching_loss": 0.01325315902940929, + "grad_norm": 0.07183502614498138, + "kept_token_count": 572.6265625, + "learning_rate": 4.902977998823432e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9934768140316009, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065231678076088425, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.7109649658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6445343017578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22450, + "valid_token_count": 818.1796875 + }, + { + "actual_token_mask_ratio": 0.3003394424915314, + "epoch": 6.534768693628164, + "flow_matching_loss": 0.012991418968886137, + "grad_norm": 0.06678210943937302, + "kept_token_count": 572.528125, + "learning_rate": 4.890756398957114e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9936390936374664, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006360903568565846, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.6526824951172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.75205993652344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22460, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.29934456944465637, + "epoch": 6.537678207739307, + "flow_matching_loss": 0.009972455631941556, + "grad_norm": 0.09242889285087585, + "kept_token_count": 573.2203125, + "learning_rate": 4.8785470827750075e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9932313621044159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006768630165606737, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.27659301757814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4813262939453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22470, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.29962305426597596, + "epoch": 6.540587721850451, + "flow_matching_loss": 0.010415181424468756, + "grad_norm": 0.0937785878777504, + "kept_token_count": 573.09375, + "learning_rate": 4.866350065112588e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.993283474445343, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006716544367372989, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7233459472656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6057586669922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22480, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.3001838237047195, + "epoch": 6.543497235961595, + "flow_matching_loss": 0.009945276007056237, + "grad_norm": 0.10226792097091675, + "kept_token_count": 572.675, + "learning_rate": 4.854165360790381e-06, + "loss": 0.0133, + "mgd_cos_sim": 0.993309885263443, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006690117530524731, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.03741760253905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.32672424316405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22490, + "valid_token_count": 818.3234375 + }, + { + "actual_token_mask_ratio": 0.29979206919670104, + "epoch": 6.546406750072737, + "flow_matching_loss": 0.01128360154107213, + "grad_norm": 0.11482073366641998, + "kept_token_count": 572.934375, + "learning_rate": 4.8419929846139425e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.99337118268013, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006628809124231338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.1361541748047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.43377380371095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22500, + "valid_token_count": 818.228125 + }, + { + "actual_token_mask_ratio": 0.29972602128982545, + "epoch": 6.549316264183881, + "flow_matching_loss": 0.012537335697561502, + "grad_norm": 0.11522191017866135, + "kept_token_count": 572.884375, + "learning_rate": 4.829832951373872e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9930259048938751, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006974095385521651, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 408.15903930664064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9593170166016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22510, + "valid_token_count": 818.0890625 + }, + { + "actual_token_mask_ratio": 0.29972782731056213, + "epoch": 6.552225778295025, + "flow_matching_loss": 0.013439617305994033, + "grad_norm": 0.12126605957746506, + "kept_token_count": 573.015625, + "learning_rate": 4.817685275845746e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9929772317409515, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007022762577980757, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.58385314941404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.29771728515624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22520, + "valid_token_count": 818.278125 + }, + { + "actual_token_mask_ratio": 0.3001592606306076, + "epoch": 6.5551352924061685, + "flow_matching_loss": 0.009668539091944695, + "grad_norm": 0.10002478212118149, + "kept_token_count": 572.6578125, + "learning_rate": 4.805549972790143e-06, + "loss": 0.0131, + "mgd_cos_sim": 0.9931382060050964, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006861794367432594, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.21238098144534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.59356994628905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22530, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.2993500232696533, + "epoch": 6.558044806517311, + "flow_matching_loss": 0.012560439947992563, + "grad_norm": 0.10314218699932098, + "kept_token_count": 573.0078125, + "learning_rate": 4.7934270569525966e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9933692336082458, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006630756892263889, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.61565551757815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9365997314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22540, + "valid_token_count": 817.81875 + }, + { + "actual_token_mask_ratio": 0.2994270116090775, + "epoch": 6.560954320628455, + "flow_matching_loss": 0.0119637384545058, + "grad_norm": 0.07340379059314728, + "kept_token_count": 572.9515625, + "learning_rate": 4.7813165430635874e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9931432962417602, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068567109294235705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.69959716796876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.16065368652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22550, + "valid_token_count": 817.8328125 + }, + { + "actual_token_mask_ratio": 0.29999240934848787, + "epoch": 6.563863834739599, + "flow_matching_loss": 0.010275703063234687, + "grad_norm": 0.08403879404067993, + "kept_token_count": 572.771875, + "learning_rate": 4.769218445838544e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9933890759944916, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066109174862504, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.3450469970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5384826660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22560, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.3006942838430405, + "epoch": 6.566773348850742, + "flow_matching_loss": 0.011345452163368464, + "grad_norm": 0.0895179808139801, + "kept_token_count": 572.15, + "learning_rate": 4.757132779977787e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9929614722728729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007038537133485079, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9300262451172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.60723876953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22570, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.299306657910347, + "epoch": 6.569682862961885, + "flow_matching_loss": 0.012806193064898252, + "grad_norm": 0.12432698905467987, + "kept_token_count": 573.521875, + "learning_rate": 4.745059560166542e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9924650490283966, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007534964662045241, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.6681365966797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.21058044433596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22580, + "valid_token_count": 818.50625 + }, + { + "actual_token_mask_ratio": 0.29903863966464994, + "epoch": 6.572592377073029, + "flow_matching_loss": 0.011698815831914544, + "grad_norm": 0.11602527648210526, + "kept_token_count": 573.446875, + "learning_rate": 4.732998801074911e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9932389736175538, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00676103625446558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.3342681884766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.734228515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22590, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.29975765645504, + "epoch": 6.575501891184173, + "flow_matching_loss": 0.010634338669478893, + "grad_norm": 0.09843581914901733, + "kept_token_count": 572.934375, + "learning_rate": 4.7209505173578445e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9934535622596741, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006546436157077551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.5666564941406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.63242797851564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22600, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.30040846168994906, + "epoch": 6.5784114052953155, + "flow_matching_loss": 0.013325338345021009, + "grad_norm": 0.08587434142827988, + "kept_token_count": 572.646875, + "learning_rate": 4.7089147236551555e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9925882995128632, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0074116972275078295, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.2183044433594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.89308471679686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22610, + "valid_token_count": 818.5421875 + }, + { + "actual_token_mask_ratio": 0.29973055720329284, + "epoch": 6.581320919406459, + "flow_matching_loss": 0.013017725944519044, + "grad_norm": 0.10316528379917145, + "kept_token_count": 572.8953125, + "learning_rate": 4.696891434591464e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9928834617137909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007116535119712353, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.9876342773438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6179260253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22620, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.2994024157524109, + "epoch": 6.584230433517602, + "flow_matching_loss": 0.012517997156828642, + "grad_norm": 0.08248813450336456, + "kept_token_count": 573.4421875, + "learning_rate": 4.684880664776199e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9925655722618103, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007434420194476843, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.81011962890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.77110900878904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22630, + "valid_token_count": 818.4984375 + }, + { + "actual_token_mask_ratio": 0.3003761410713196, + "epoch": 6.587139947628746, + "flow_matching_loss": 0.010667609190568328, + "grad_norm": 0.0973103865981102, + "kept_token_count": 572.3546875, + "learning_rate": 4.6728824288035784e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.992820781469345, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007179213128983975, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.7525177001953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.22181091308596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22640, + "valid_token_count": 818.0984375 + }, + { + "actual_token_mask_ratio": 0.3003134995698929, + "epoch": 6.5900494617398895, + "flow_matching_loss": 0.012672206107527017, + "grad_norm": 0.0869697853922844, + "kept_token_count": 572.2234375, + "learning_rate": 4.660896741252586e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.993086701631546, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00691330311819911, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.0778472900391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.50054626464845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22650, + "valid_token_count": 817.83125 + }, + { + "actual_token_mask_ratio": 0.2994836330413818, + "epoch": 6.592958975851033, + "flow_matching_loss": 0.012779591605067253, + "grad_norm": 0.11372564733028412, + "kept_token_count": 573.2640625, + "learning_rate": 4.6489236166869714e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9932817935943603, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006718205008655787, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.6283935546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.93495178222656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22660, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.30052290856838226, + "epoch": 6.595868489962176, + "flow_matching_loss": 0.01290500066243112, + "grad_norm": 0.08837711066007614, + "kept_token_count": 572.409375, + "learning_rate": 4.6369630696552e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9924002587795258, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007599732279777527, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.5480560302734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6694274902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22670, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.2994777262210846, + "epoch": 6.59877800407332, + "flow_matching_loss": 0.011508090002462269, + "grad_norm": 0.10492616891860962, + "kept_token_count": 573.2453125, + "learning_rate": 4.625015114690474e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9930136919021606, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006986323837190866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.99744873046876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5850799560547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22680, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.30014916360378263, + "epoch": 6.601687518184463, + "flow_matching_loss": 0.013668898260220885, + "grad_norm": 0.09639214724302292, + "kept_token_count": 572.725, + "learning_rate": 4.613079766310682e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9929535448551178, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070464652962982655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.6078399658203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.88046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22690, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.2994586855173111, + "epoch": 6.604597032295606, + "flow_matching_loss": 0.012044645473361015, + "grad_norm": 0.10250703245401382, + "kept_token_count": 573.0921875, + "learning_rate": 4.601157039018396e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9929932594299317, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007006750907748938, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.91039123535154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.38134765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22700, + "valid_token_count": 818.075 + }, + { + "actual_token_mask_ratio": 0.2993871092796326, + "epoch": 6.60750654640675, + "flow_matching_loss": 0.013283797446638346, + "grad_norm": 0.09914062172174454, + "kept_token_count": 573.1515625, + "learning_rate": 4.589246947300849e-06, + "loss": 0.0168, + "mgd_cos_sim": 0.9930416703224182, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006958339549601078, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.99712524414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0157135009766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22710, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.30124821364879606, + "epoch": 6.610416060517894, + "flow_matching_loss": 0.013061675149947405, + "grad_norm": 0.10574188828468323, + "kept_token_count": 571.9, + "learning_rate": 4.577349505629936e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9928139030933381, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071861080825328825, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5487457275391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.77294921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22720, + "valid_token_count": 818.453125 + }, + { + "actual_token_mask_ratio": 0.3009343326091766, + "epoch": 6.613325574629037, + "flow_matching_loss": 0.010334387421607971, + "grad_norm": 0.09445299953222275, + "kept_token_count": 572.025, + "learning_rate": 4.565464728462165e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9928963482379913, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007103645894676447, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1451416015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4201263427734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22730, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3000022262334824, + "epoch": 6.61623508874018, + "flow_matching_loss": 0.013349368330091238, + "grad_norm": 0.09028472006320953, + "kept_token_count": 572.5625, + "learning_rate": 4.553592630238663e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9937825500965118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062174443155527115, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.60564575195315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.7836090087891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22740, + "valid_token_count": 817.95 + }, + { + "actual_token_mask_ratio": 0.29974778890609743, + "epoch": 6.619144602851324, + "flow_matching_loss": 0.012281554332002998, + "grad_norm": 0.10631120949983597, + "kept_token_count": 573.0765625, + "learning_rate": 4.541733225385146e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9926637351512909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007336272485554218, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.6883056640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2245574951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22750, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.3001991480588913, + "epoch": 6.622054116962468, + "flow_matching_loss": 0.012361481692641974, + "grad_norm": 0.08689718693494797, + "kept_token_count": 572.528125, + "learning_rate": 4.529886528311905e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9933176577091217, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006682341359555722, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.07626953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.6516632080078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22760, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.2999063104391098, + "epoch": 6.62496363107361, + "flow_matching_loss": 0.011915139202028514, + "grad_norm": 0.08191099017858505, + "kept_token_count": 572.8046875, + "learning_rate": 4.5180525534138045e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9932485342025756, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067514818161726, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.88221740722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6505859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22770, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.2998749345541, + "epoch": 6.627873145184754, + "flow_matching_loss": 0.012410187162458897, + "grad_norm": 0.10836818069219589, + "kept_token_count": 572.909375, + "learning_rate": 4.506231315070235e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9927563488483429, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007243668008595705, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0835876464844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1589752197266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22780, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.3002784699201584, + "epoch": 6.630782659295898, + "flow_matching_loss": 0.01182247344404459, + "grad_norm": 0.07947031408548355, + "kept_token_count": 572.3890625, + "learning_rate": 4.494422827645115e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.993790578842163, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006209415942430496, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.0342987060547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.29039001464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22790, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.3003488749265671, + "epoch": 6.633692173407041, + "flow_matching_loss": 0.009604367706924678, + "grad_norm": 0.07992009818553925, + "kept_token_count": 572.68125, + "learning_rate": 4.482627105486865e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9934934556484223, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006506536155939102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.8779571533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4501495361328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22800, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.30011042952537537, + "epoch": 6.636601687518184, + "flow_matching_loss": 0.01127824722789228, + "grad_norm": 0.08586195111274719, + "kept_token_count": 572.63125, + "learning_rate": 4.470844162928412e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9933174967765808, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006682502385228872, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.9153350830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3930633544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22810, + "valid_token_count": 818.171875 + }, + { + "actual_token_mask_ratio": 0.300599130988121, + "epoch": 6.639511201629328, + "flow_matching_loss": 0.010231425007805228, + "grad_norm": 0.06768906861543655, + "kept_token_count": 572.3265625, + "learning_rate": 4.459074014287129e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9931497871875763, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006850204709917307, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.56622619628905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7484527587891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22820, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.3001554310321808, + "epoch": 6.642420715740471, + "flow_matching_loss": 0.009357973793521523, + "grad_norm": 0.06429759413003922, + "kept_token_count": 572.9609375, + "learning_rate": 4.447316673864869e-06, + "loss": 0.0126, + "mgd_cos_sim": 0.9935564339160919, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006443570274859667, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.4855590820313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.24595336914064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22830, + "valid_token_count": 818.6921875 + }, + { + "actual_token_mask_ratio": 0.29981665015220643, + "epoch": 6.645330229851615, + "flow_matching_loss": 0.012060020584613085, + "grad_norm": 0.1328795850276947, + "kept_token_count": 572.7390625, + "learning_rate": 4.435572155947903e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9926240682601929, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007375927362591028, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.6391143798828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.7989532470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22840, + "valid_token_count": 817.9828125 + }, + { + "actual_token_mask_ratio": 0.30049667954444886, + "epoch": 6.648239743962758, + "flow_matching_loss": 0.011089411424472928, + "grad_norm": 0.1122339591383934, + "kept_token_count": 572.44375, + "learning_rate": 4.423840474806929e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9928934812545777, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007106495182961225, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.89418334960936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1690979003906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22850, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.30047603249549865, + "epoch": 6.651149258073902, + "flow_matching_loss": 0.011195296701043845, + "grad_norm": 0.061928220093250275, + "kept_token_count": 572.5296875, + "learning_rate": 4.412121644697043e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9931458532810211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068541567772626875, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.6716674804687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2006042480469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22860, + "valid_token_count": 818.4546875 + }, + { + "actual_token_mask_ratio": 0.3002712517976761, + "epoch": 6.654058772185045, + "flow_matching_loss": 0.013636470027267932, + "grad_norm": 0.10810500383377075, + "kept_token_count": 572.284375, + "learning_rate": 4.400415679857727e-06, + "loss": 0.0174, + "mgd_cos_sim": 0.9924371659755706, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007562836445868015, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.02613525390626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9711883544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22870, + "valid_token_count": 817.8671875 + }, + { + "actual_token_mask_ratio": 0.3006288677453995, + "epoch": 6.6569682862961885, + "flow_matching_loss": 0.012852611765265465, + "grad_norm": 0.0745590403676033, + "kept_token_count": 572.221875, + "learning_rate": 4.388722594512838e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9934535384178161, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006546453945338726, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6259460449219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.96885986328124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22880, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.2998359352350235, + "epoch": 6.659877800407332, + "flow_matching_loss": 0.012288741348311306, + "grad_norm": 0.1295093595981598, + "kept_token_count": 572.7203125, + "learning_rate": 4.377042402870577e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932094514369965, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006790537387132645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.6333404541016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9082733154297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22890, + "valid_token_count": 817.98125 + }, + { + "actual_token_mask_ratio": 0.2999945908784866, + "epoch": 6.662787314518475, + "flow_matching_loss": 0.011304796067997813, + "grad_norm": 0.05861128866672516, + "kept_token_count": 572.771875, + "learning_rate": 4.365375119123476e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9933369219303131, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006663071177899838, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.01426086425784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.66575927734374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22900, + "valid_token_count": 818.2375 + }, + { + "actual_token_mask_ratio": 0.30101191699504853, + "epoch": 6.665696828629619, + "flow_matching_loss": 0.011488411435857415, + "grad_norm": 0.09099923074245453, + "kept_token_count": 571.925, + "learning_rate": 4.353720757448383e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9935239255428314, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006476074922829866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.2080413818359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5863800048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22910, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.29980499148368833, + "epoch": 6.6686063427407625, + "flow_matching_loss": 0.012331433268263936, + "grad_norm": 0.09295535087585449, + "kept_token_count": 572.7875, + "learning_rate": 4.342079332006445e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9933601438999176, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006639854703098536, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.15069580078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.48658142089846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22920, + "valid_token_count": 818.0328125 + }, + { + "actual_token_mask_ratio": 0.29862392246723174, + "epoch": 6.671515856851906, + "flow_matching_loss": 0.012675582524389028, + "grad_norm": 0.07452279329299927, + "kept_token_count": 573.95, + "learning_rate": 4.330450856943101e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9933010339736938, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006698955781757832, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.39373474121095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2284423828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22930, + "valid_token_count": 818.3171875 + }, + { + "actual_token_mask_ratio": 0.300398924946785, + "epoch": 6.674425370963049, + "flow_matching_loss": 0.011801762925460934, + "grad_norm": 0.1348595768213272, + "kept_token_count": 572.434375, + "learning_rate": 4.318835346388036e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.993041330575943, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006958677060902118, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.2052886962891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.41722106933594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22940, + "valid_token_count": 818.2328125 + }, + { + "actual_token_mask_ratio": 0.29953921735286715, + "epoch": 6.677334885074193, + "flow_matching_loss": 0.010256044240668416, + "grad_norm": 0.09098265320062637, + "kept_token_count": 573.165625, + "learning_rate": 4.307232814455189e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9936571538448333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006342853512614965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.882666015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.34153747558594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22950, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.30058363676071165, + "epoch": 6.680244399185336, + "flow_matching_loss": 0.010118508897721767, + "grad_norm": 0.08915090560913086, + "kept_token_count": 572.240625, + "learning_rate": 4.29564327524274e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9933539688587188, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006646023038774729, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.37724609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8927459716797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22960, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.30055853724479675, + "epoch": 6.683153913296479, + "flow_matching_loss": 0.01167636844329536, + "grad_norm": 0.12774233520030975, + "kept_token_count": 572.3953125, + "learning_rate": 4.284066742833061e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9927700817584991, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007229919731616974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.1848876953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.33037109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22970, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.3007098317146301, + "epoch": 6.686063427407623, + "flow_matching_loss": 0.012212740303948522, + "grad_norm": 0.08611255139112473, + "kept_token_count": 572.725, + "learning_rate": 4.272503231292741e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9930681705474853, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006931827869266272, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.30665893554686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.336279296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22980, + "valid_token_count": 819.003125 + }, + { + "actual_token_mask_ratio": 0.30028756856918337, + "epoch": 6.688972941518767, + "flow_matching_loss": 0.013388078566640616, + "grad_norm": 0.157465860247612, + "kept_token_count": 572.6484375, + "learning_rate": 4.260952754672532e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.992968738079071, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007031243480741978, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.65464172363284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.9411102294922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 22990, + "valid_token_count": 818.40625 + }, + { + "actual_token_mask_ratio": 0.30093105137348175, + "epoch": 6.6918824556299095, + "flow_matching_loss": 0.01111419340595603, + "grad_norm": 0.0919586718082428, + "kept_token_count": 571.978125, + "learning_rate": 4.249415327007353e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9933014631271362, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006698526628315449, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3670349121094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8713653564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23000, + "valid_token_count": 818.2015625 + }, + { + "actual_token_mask_ratio": 0.30011661648750304, + "epoch": 6.694791969741053, + "flow_matching_loss": 0.011474312841892242, + "grad_norm": 0.1457505077123642, + "kept_token_count": 572.603125, + "learning_rate": 4.237890962316264e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9927727162837983, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007227285113185644, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.13051452636716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0550170898438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23010, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.3008653223514557, + "epoch": 6.697701483852197, + "flow_matching_loss": 0.011356556229293347, + "grad_norm": 0.08885138481855392, + "kept_token_count": 572.034375, + "learning_rate": 4.226379674602452e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9932636559009552, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006736325938254595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.09144592285156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0398651123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23020, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.30009943544864653, + "epoch": 6.70061099796334, + "flow_matching_loss": 0.012536166515201331, + "grad_norm": 0.09064307063817978, + "kept_token_count": 572.6125, + "learning_rate": 4.214881477853227e-06, + "loss": 0.016, + "mgd_cos_sim": 0.99312424659729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006875758711248636, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.81764526367186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.89710693359376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23030, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.29937483072280885, + "epoch": 6.703520512074483, + "flow_matching_loss": 0.012281533889472484, + "grad_norm": 0.09289741516113281, + "kept_token_count": 573.3171875, + "learning_rate": 4.2033963860399745e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9934328198432922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006567184068262577, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.3882354736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5078155517578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23040, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.3004458129405975, + "epoch": 6.706430026185627, + "flow_matching_loss": 0.014225066220387817, + "grad_norm": 0.12363099306821823, + "kept_token_count": 572.421875, + "learning_rate": 4.1919244131181696e-06, + "loss": 0.0178, + "mgd_cos_sim": 0.9929021596908569, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00709783174097538, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.89564819335936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5154266357422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23050, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.29921174645423887, + "epoch": 6.709339540296771, + "flow_matching_loss": 0.011392011074349284, + "grad_norm": 0.10164961963891983, + "kept_token_count": 573.5609375, + "learning_rate": 4.180465573027335e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9929035604000092, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070964530110359195, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3101745605469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.62937622070314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23060, + "valid_token_count": 818.4578125 + }, + { + "actual_token_mask_ratio": 0.2998677909374237, + "epoch": 6.712249054407914, + "flow_matching_loss": 0.011498046480119229, + "grad_norm": 0.09408266097307205, + "kept_token_count": 573.1140625, + "learning_rate": 4.169019879691046e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9927331030368804, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007266895845532417, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.3931640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2309997558594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23070, + "valid_token_count": 818.571875 + }, + { + "actual_token_mask_ratio": 0.3003178536891937, + "epoch": 6.715158568519057, + "flow_matching_loss": 0.012126433197408915, + "grad_norm": 0.09882602840662003, + "kept_token_count": 572.634375, + "learning_rate": 4.157587347016891e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9928016304969788, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007198366057127714, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.6082458496094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9801452636719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23080, + "valid_token_count": 818.4125 + }, + { + "actual_token_mask_ratio": 0.29961296916007996, + "epoch": 6.718068082630201, + "flow_matching_loss": 0.011649076314643025, + "grad_norm": 0.14379598200321198, + "kept_token_count": 573.0921875, + "learning_rate": 4.14616798889649e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9930191576480866, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006980838067829609, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.40334167480466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3844451904297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23090, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.2999071925878525, + "epoch": 6.720977596741344, + "flow_matching_loss": 0.012425670167431235, + "grad_norm": 0.10210076719522476, + "kept_token_count": 572.965625, + "learning_rate": 4.134761819205425e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9933627188205719, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006637286022305488, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.2226623535156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.65968322753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23100, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.2992521017789841, + "epoch": 6.723887110852488, + "flow_matching_loss": 0.012842809222638607, + "grad_norm": 0.09535393863916397, + "kept_token_count": 573.5421875, + "learning_rate": 4.1233688518032794e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9934085667133331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006591430678963661, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.7974548339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.48639526367185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23110, + "valid_token_count": 818.471875 + }, + { + "actual_token_mask_ratio": 0.2993071347475052, + "epoch": 6.726796624963631, + "flow_matching_loss": 0.011177315330132841, + "grad_norm": 0.08397737890481949, + "kept_token_count": 573.365625, + "learning_rate": 4.1119891005335795e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9932331085205078, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006766889151185751, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4183288574219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.53770751953124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23120, + "valid_token_count": 818.2859375 + }, + { + "actual_token_mask_ratio": 0.29908016622066497, + "epoch": 6.729706139074775, + "flow_matching_loss": 0.010701601998880506, + "grad_norm": 0.10023265331983566, + "kept_token_count": 573.64375, + "learning_rate": 4.1006225792237895e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9934786200523377, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065213748253881935, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7885803222656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0027282714844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23130, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.2990560710430145, + "epoch": 6.732615653185918, + "flow_matching_loss": 0.010421333415433765, + "grad_norm": 0.0890757218003273, + "kept_token_count": 573.7265625, + "learning_rate": 4.089269301685314e-06, + "loss": 0.014, + "mgd_cos_sim": 0.992882251739502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007117745373398066, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6983703613281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2549560546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23140, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.3008305788040161, + "epoch": 6.7355251672970615, + "flow_matching_loss": 0.013317995611578226, + "grad_norm": 0.11762572079896927, + "kept_token_count": 572.2453125, + "learning_rate": 4.077929281713453e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.993329668045044, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006670349929481745, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.14378662109374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.62000427246096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23150, + "valid_token_count": 818.46875 + }, + { + "actual_token_mask_ratio": 0.3000539392232895, + "epoch": 6.738434681408204, + "flow_matching_loss": 0.013580785971134901, + "grad_norm": 0.11422466486692429, + "kept_token_count": 572.771875, + "learning_rate": 4.066602533087398e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9927998542785644, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007200146373361349, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.85511474609376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6641082763672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23160, + "valid_token_count": 818.315625 + }, + { + "actual_token_mask_ratio": 0.29882229268550875, + "epoch": 6.741344195519348, + "flow_matching_loss": 0.01048887106589973, + "grad_norm": 0.08641946315765381, + "kept_token_count": 573.4625, + "learning_rate": 4.0552890695702175e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9932225048542023, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067775040864944455, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.18394775390624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.434814453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23170, + "valid_token_count": 817.85625 + }, + { + "actual_token_mask_ratio": 0.2994659125804901, + "epoch": 6.744253709630492, + "flow_matching_loss": 0.011718387994915248, + "grad_norm": 0.0725705549120903, + "kept_token_count": 573.3421875, + "learning_rate": 4.04398890490883e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9933646202087403, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006635380815714598, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.6803741455078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5189727783203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23180, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.2998101443052292, + "epoch": 6.7471632237416355, + "flow_matching_loss": 0.012613219022750855, + "grad_norm": 0.09936300665140152, + "kept_token_count": 573.1953125, + "learning_rate": 4.032702052834013e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9931132435798645, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006886761728674173, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.13916015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1252777099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23190, + "valid_token_count": 818.6296875 + }, + { + "actual_token_mask_ratio": 0.30137058794498445, + "epoch": 6.750072737852778, + "flow_matching_loss": 0.010762891359627247, + "grad_norm": 0.10510241240262985, + "kept_token_count": 571.8078125, + "learning_rate": 4.021428527060352e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9931471049785614, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00685289353132248, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.8730010986328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.78045349121095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23200, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.29911619126796724, + "epoch": 6.752982251963922, + "flow_matching_loss": 0.010222701728343964, + "grad_norm": 0.0989765152335167, + "kept_token_count": 573.74375, + "learning_rate": 4.010168341286241e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9934865474700928, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065134474076330665, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.7224609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.50025634765626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23210, + "valid_token_count": 818.6078125 + }, + { + "actual_token_mask_ratio": 0.300943523645401, + "epoch": 6.755891766075066, + "flow_matching_loss": 0.012205717852339149, + "grad_norm": 0.09174264222383499, + "kept_token_count": 572.0171875, + "learning_rate": 3.998921509193868e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9935034692287446, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006496528722345829, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.3210083007813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8245788574219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23220, + "valid_token_count": 818.2765625 + }, + { + "actual_token_mask_ratio": 0.30010275840759276, + "epoch": 6.7588012801862085, + "flow_matching_loss": 0.010982504300773143, + "grad_norm": 0.0948839783668518, + "kept_token_count": 572.56875, + "learning_rate": 3.987688044449193e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9933728337287903, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006627168133854866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.36321716308595, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1457489013672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23230, + "valid_token_count": 818.084375 + }, + { + "actual_token_mask_ratio": 0.29995841681957247, + "epoch": 6.761710794297352, + "flow_matching_loss": 0.012342467438429594, + "grad_norm": 0.09868644922971725, + "kept_token_count": 572.9671875, + "learning_rate": 3.9764679607019385e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932126104831696, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006787377595901489, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.51539001464846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.75205688476564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23240, + "valid_token_count": 818.478125 + }, + { + "actual_token_mask_ratio": 0.299342480301857, + "epoch": 6.764620308408496, + "flow_matching_loss": 0.011435425654053689, + "grad_norm": 0.07913105934858322, + "kept_token_count": 573.2640625, + "learning_rate": 3.965261271585561e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9922158777713775, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0077841121703386305, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.61289978027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.17015380859374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23250, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.3000176638364792, + "epoch": 6.76752982251964, + "flow_matching_loss": 0.014105916162952781, + "grad_norm": 0.07153213769197464, + "kept_token_count": 572.6875, + "learning_rate": 3.954067990717251e-06, + "loss": 0.0176, + "mgd_cos_sim": 0.9929251074790955, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007074899226427078, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.9086639404297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.91541442871096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23260, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.29976696372032163, + "epoch": 6.7704393366307825, + "flow_matching_loss": 0.01028823028318584, + "grad_norm": 0.07596666365861893, + "kept_token_count": 572.9625, + "learning_rate": 3.9428881316978935e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9930889964103699, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006910992693156004, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.0072265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8019073486328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23270, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.30068847835063933, + "epoch": 6.773348850741926, + "flow_matching_loss": 0.01246679900214076, + "grad_norm": 0.08425493538379669, + "kept_token_count": 572.1484375, + "learning_rate": 3.931721708112075e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9927501082420349, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007249888591468334, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.99779052734374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7396545410156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23280, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.3002413183450699, + "epoch": 6.77625836485307, + "flow_matching_loss": 0.010633884742856026, + "grad_norm": 0.08659768104553223, + "kept_token_count": 572.76875, + "learning_rate": 3.920568733528047e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9931203722953796, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006879614107310772, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.75646057128904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6815582275391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23290, + "valid_token_count": 818.5234375 + }, + { + "actual_token_mask_ratio": 0.3007210224866867, + "epoch": 6.779167878964213, + "flow_matching_loss": 0.011248967051506043, + "grad_norm": 0.09234823286533356, + "kept_token_count": 572.2265625, + "learning_rate": 3.909429221497734e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9936098098754883, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006390187330543995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.9528289794922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.92945251464846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23300, + "valid_token_count": 818.3078125 + }, + { + "actual_token_mask_ratio": 0.30055749118328096, + "epoch": 6.782077393075356, + "flow_matching_loss": 0.01177638564258814, + "grad_norm": 0.08036593347787857, + "kept_token_count": 572.403125, + "learning_rate": 3.898303185556689e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9934978187084198, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006502187997102738, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.6746032714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3410919189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23310, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.3007942736148834, + "epoch": 6.7849869071865, + "flow_matching_loss": 0.009803686663508416, + "grad_norm": 0.09486241638660431, + "kept_token_count": 572.2609375, + "learning_rate": 3.887190639224097e-06, + "loss": 0.013, + "mgd_cos_sim": 0.9935289621353149, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006471044756472111, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.3426849365234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.18189697265626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23320, + "valid_token_count": 818.446875 + }, + { + "actual_token_mask_ratio": 0.3004162013530731, + "epoch": 6.787896421297643, + "flow_matching_loss": 0.010835281200706958, + "grad_norm": 0.0744904950261116, + "kept_token_count": 572.434375, + "learning_rate": 3.876091596002746e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9930583417415619, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006941653229296208, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.408447265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.14599609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23330, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.2991498738527298, + "epoch": 6.790805935408787, + "flow_matching_loss": 0.013527284283190966, + "grad_norm": 0.11000414937734604, + "kept_token_count": 573.4078125, + "learning_rate": 3.865006069379019e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9930886089801788, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006911388505250216, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7843414306641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6798065185547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23340, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.3002489537000656, + "epoch": 6.79371544951993, + "flow_matching_loss": 0.010919890645891429, + "grad_norm": 0.10410929471254349, + "kept_token_count": 572.546875, + "learning_rate": 3.853934072822881e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9932113528251648, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006788658164441586, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.5418975830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2792236328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23350, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.2991775631904602, + "epoch": 6.796624963631073, + "flow_matching_loss": 0.011498055839911103, + "grad_norm": 0.08999927341938019, + "kept_token_count": 573.2640625, + "learning_rate": 3.8428756197878514e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9929853439331054, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007014659605920315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.0130126953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.495361328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23360, + "valid_token_count": 817.98125 + }, + { + "actual_token_mask_ratio": 0.3003643035888672, + "epoch": 6.799534477742217, + "flow_matching_loss": 0.01302755419164896, + "grad_norm": 0.12667334079742432, + "kept_token_count": 572.4625, + "learning_rate": 3.831830723710992e-06, + "loss": 0.0167, + "mgd_cos_sim": 0.9926989555358887, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007301048003137111, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.16138916015626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.44630737304686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23370, + "valid_token_count": 818.228125 + }, + { + "actual_token_mask_ratio": 0.29983487725257874, + "epoch": 6.802443991853361, + "flow_matching_loss": 0.011859539989382028, + "grad_norm": 0.07718782871961594, + "kept_token_count": 572.9921875, + "learning_rate": 3.820799398012889e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9936554133892059, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006344595551490783, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.82445373535154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.87029724121095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23380, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.30030760169029236, + "epoch": 6.805353505964504, + "flow_matching_loss": 0.01131535479798913, + "grad_norm": 0.08968588709831238, + "kept_token_count": 572.3015625, + "learning_rate": 3.80978165609765e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9927641332149506, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007235870696604252, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.3890319824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.1667877197266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23390, + "valid_token_count": 817.9375 + }, + { + "actual_token_mask_ratio": 0.29956677854061126, + "epoch": 6.808263020075647, + "flow_matching_loss": 0.010961797880008816, + "grad_norm": 0.10929623246192932, + "kept_token_count": 573.1609375, + "learning_rate": 3.798777511352864e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9935476660728455, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064523380249738695, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.3433319091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.1977111816406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23400, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.2990116775035858, + "epoch": 6.811172534186791, + "flow_matching_loss": 0.011432748986408114, + "grad_norm": 0.07002509385347366, + "kept_token_count": 573.575, + "learning_rate": 3.787786977149613e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9933498680591584, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006650137528777122, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.52891235351564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3422454833984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23410, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.2989650428295135, + "epoch": 6.8140820482979345, + "flow_matching_loss": 0.012879962800070643, + "grad_norm": 0.07632946968078613, + "kept_token_count": 573.821875, + "learning_rate": 3.776810066842427e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9935128927230835, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006487106624990702, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.19700927734374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8955963134766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23420, + "valid_token_count": 818.5328125 + }, + { + "actual_token_mask_ratio": 0.299328950047493, + "epoch": 6.816991562409077, + "flow_matching_loss": 0.012244436563923955, + "grad_norm": 0.06777333468198776, + "kept_token_count": 573.1890625, + "learning_rate": 3.7658467937692866e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9931951224803924, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006804893352091312, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.56641845703126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2041351318359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23430, + "valid_token_count": 818.0578125 + }, + { + "actual_token_mask_ratio": 0.2995860606431961, + "epoch": 6.819901076520221, + "flow_matching_loss": 0.011338114738464355, + "grad_norm": 0.08847855776548386, + "kept_token_count": 572.896875, + "learning_rate": 3.7548971712516e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9936046481132508, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006395361851900816, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.3903869628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3156341552734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23440, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.30036832094192506, + "epoch": 6.822810590631365, + "flow_matching_loss": 0.010709820967167615, + "grad_norm": 0.11748544126749039, + "kept_token_count": 572.596875, + "learning_rate": 3.743961212594197e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9930473506450653, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006952647026628256, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 410.0085144042969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9950866699219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23450, + "valid_token_count": 818.4296875 + }, + { + "actual_token_mask_ratio": 0.2991848886013031, + "epoch": 6.8257201047425085, + "flow_matching_loss": 0.013626918103545905, + "grad_norm": 0.08849815279245377, + "kept_token_count": 573.346875, + "learning_rate": 3.7330389310852975e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9933368504047394, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00666315658017993, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.39902648925784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1815643310547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23460, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.29997862577438356, + "epoch": 6.828629618853651, + "flow_matching_loss": 0.013306714268401265, + "grad_norm": 0.068657785654068, + "kept_token_count": 572.6734375, + "learning_rate": 3.7221303399965008e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9934566617012024, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006543328892439604, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.6682434082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7880401611328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23470, + "valid_token_count": 818.0796875 + }, + { + "actual_token_mask_ratio": 0.30094325840473174, + "epoch": 6.831539132964795, + "flow_matching_loss": 0.012895875703543424, + "grad_norm": 0.0918295606970787, + "kept_token_count": 572.034375, + "learning_rate": 3.711235452582775e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.99295734167099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007042661774903536, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.1201538085937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.91070251464845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23480, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.30076721012592317, + "epoch": 6.834448647075939, + "flow_matching_loss": 0.010840292600914837, + "grad_norm": 0.07683618366718292, + "kept_token_count": 572.153125, + "learning_rate": 3.7003542820824347e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.993010526895523, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00698947450146079, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.8325958251953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.59368591308595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23490, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.2996494144201279, + "epoch": 6.8373581611870815, + "flow_matching_loss": 0.012492858245968819, + "grad_norm": 0.0778367668390274, + "kept_token_count": 572.9671875, + "learning_rate": 3.6894868417171252e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9935001790523529, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006499811075627804, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.72646484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0129455566406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23500, + "valid_token_count": 818.1125 + }, + { + "actual_token_mask_ratio": 0.2993947505950928, + "epoch": 6.840267675298225, + "flow_matching_loss": 0.011010933667421341, + "grad_norm": 0.08436858654022217, + "kept_token_count": 573.2375, + "learning_rate": 3.678633144691818e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9937291324138642, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062708532437682155, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.9311828613281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.269677734375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23510, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.3005756586790085, + "epoch": 6.843177189409369, + "flow_matching_loss": 0.012667467538267373, + "grad_norm": 0.1173081248998642, + "kept_token_count": 572.4484375, + "learning_rate": 3.667793204194776e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9937133014202117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006286702584475279, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.4324615478516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.83160400390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23520, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.3005619585514069, + "epoch": 6.846086703520512, + "flow_matching_loss": 0.012924242159351706, + "grad_norm": 0.08198211342096329, + "kept_token_count": 572.4984375, + "learning_rate": 3.656967033397544e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.993245106935501, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006754891760647297, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.20965881347655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7719482421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23530, + "valid_token_count": 818.5078125 + }, + { + "actual_token_mask_ratio": 0.3004184186458588, + "epoch": 6.8489962176316554, + "flow_matching_loss": 0.0130050890147686, + "grad_norm": 0.10537106543779373, + "kept_token_count": 572.7890625, + "learning_rate": 3.646154645454948e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9936120390892029, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006387962587177753, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.2611450195312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.90406494140626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23540, + "valid_token_count": 818.759375 + }, + { + "actual_token_mask_ratio": 0.29953503608703613, + "epoch": 6.851905731742799, + "flow_matching_loss": 0.012173241097480058, + "grad_norm": 0.08661507070064545, + "kept_token_count": 573.2171875, + "learning_rate": 3.6353560535050524e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9932814836502075, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067185104824602606, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.1885955810547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0385345458984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23550, + "valid_token_count": 818.3359375 + }, + { + "actual_token_mask_ratio": 0.2995228976011276, + "epoch": 6.854815245853942, + "flow_matching_loss": 0.012373634055256844, + "grad_norm": 0.12879425287246704, + "kept_token_count": 572.9640625, + "learning_rate": 3.624571270669172e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932566940784454, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006743315514177084, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.7816864013672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2366058349609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23560, + "valid_token_count": 817.9625 + }, + { + "actual_token_mask_ratio": 0.30020272731781006, + "epoch": 6.857724759965086, + "flow_matching_loss": 0.012798195797950029, + "grad_norm": 0.10176242887973785, + "kept_token_count": 572.8125, + "learning_rate": 3.6138003100518296e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9934005856513977, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006599415745586157, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.4737152099609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.54791870117185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23570, + "valid_token_count": 818.54375 + }, + { + "actual_token_mask_ratio": 0.2997092425823212, + "epoch": 6.860634274076229, + "flow_matching_loss": 0.011365205282345414, + "grad_norm": 0.11317220330238342, + "kept_token_count": 573.1296875, + "learning_rate": 3.6030431847407595e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9936099648475647, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006390026025474072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.98170471191406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8770751953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23580, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.2990772634744644, + "epoch": 6.863543788187373, + "flow_matching_loss": 0.0115592323243618, + "grad_norm": 0.08012602478265762, + "kept_token_count": 573.6171875, + "learning_rate": 3.592299907806881e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9930852055549622, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006914799939841032, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.7290924072266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.76256408691404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23590, + "valid_token_count": 818.3703125 + }, + { + "actual_token_mask_ratio": 0.30004534125328064, + "epoch": 6.866453302298516, + "flow_matching_loss": 0.011621034145355225, + "grad_norm": 0.07825123518705368, + "kept_token_count": 572.78125, + "learning_rate": 3.5815704923042892e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9933432459831237, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006656752433627844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.8014251708984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7037689208984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23600, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.2989743500947952, + "epoch": 6.86936281640966, + "flow_matching_loss": 0.011503404099494218, + "grad_norm": 0.10145724564790726, + "kept_token_count": 573.4765625, + "learning_rate": 3.5708549512702392e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9932067334651947, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006793274823576212, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7215972900391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6442535400391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23610, + "valid_token_count": 818.05 + }, + { + "actual_token_mask_ratio": 0.30096291899681094, + "epoch": 6.872272330520803, + "flow_matching_loss": 0.01349594322964549, + "grad_norm": 0.11342627555131912, + "kept_token_count": 571.9390625, + "learning_rate": 3.5601532977251217e-06, + "loss": 0.0168, + "mgd_cos_sim": 0.9933046042919159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006695391144603491, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.15272827148436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6332489013672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23620, + "valid_token_count": 818.1796875 + }, + { + "actual_token_mask_ratio": 0.2996260583400726, + "epoch": 6.875181844631946, + "flow_matching_loss": 0.010890190815553069, + "grad_norm": 0.09642855823040009, + "kept_token_count": 573.2859375, + "learning_rate": 3.5494655446724544e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9936438739299774, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006356126815080643, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.70806274414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7094757080078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23630, + "valid_token_count": 818.534375 + }, + { + "actual_token_mask_ratio": 0.29965334534645083, + "epoch": 6.87809135874309, + "flow_matching_loss": 0.0105643505230546, + "grad_norm": 0.11924485117197037, + "kept_token_count": 573.06875, + "learning_rate": 3.538791705098866e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9933689415454865, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006631059292703867, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 446.8025695800781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.62220458984376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23640, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.3002388715744019, + "epoch": 6.881000872854234, + "flow_matching_loss": 0.011678612930700183, + "grad_norm": 0.086432084441185, + "kept_token_count": 572.5421875, + "learning_rate": 3.5281317919740718e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9934228658676147, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006577129848301411, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 445.58901062011716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.99701538085935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23650, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2995465397834778, + "epoch": 6.883910386965377, + "flow_matching_loss": 0.014002365432679654, + "grad_norm": 0.10088934749364853, + "kept_token_count": 573.1078125, + "learning_rate": 3.5174858182508825e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9937481701374054, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006251836381852627, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.8263885498047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2888671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23660, + "valid_token_count": 818.19375 + }, + { + "actual_token_mask_ratio": 0.29984750747680666, + "epoch": 6.88681990107652, + "flow_matching_loss": 0.011073439056053758, + "grad_norm": 0.08103511482477188, + "kept_token_count": 572.996875, + "learning_rate": 3.506853796865153e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9934372067451477, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006562779843807221, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.2983428955078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.769921875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23670, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.2999254584312439, + "epoch": 6.889729415187664, + "flow_matching_loss": 0.010014604777097702, + "grad_norm": 0.09254757314920425, + "kept_token_count": 572.771875, + "learning_rate": 3.496235740735789e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9928347170352936, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071653020568192005, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.8683135986328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9976013183594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23680, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.2998274266719818, + "epoch": 6.892638929298807, + "flow_matching_loss": 0.011318182712420822, + "grad_norm": 0.08707822114229202, + "kept_token_count": 573.025, + "learning_rate": 3.485631662764738e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.99319486618042, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006805110722780228, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.2458892822266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.89305725097654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23690, + "valid_token_count": 818.4140625 + }, + { + "actual_token_mask_ratio": 0.29995604157447814, + "epoch": 6.89554844340995, + "flow_matching_loss": 0.010780169162899256, + "grad_norm": 0.09093190729618073, + "kept_token_count": 572.6734375, + "learning_rate": 3.475041575836952e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9932509243488312, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067490612156689165, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.8924926757812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0646728515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23700, + "valid_token_count": 818.0453125 + }, + { + "actual_token_mask_ratio": 0.30099269449710847, + "epoch": 6.898457957521094, + "flow_matching_loss": 0.011036593141034246, + "grad_norm": 0.08677614480257034, + "kept_token_count": 571.803125, + "learning_rate": 3.4644654928203796e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9935633838176727, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064366121776402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.49696655273436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.84717712402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23710, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.30030505955219267, + "epoch": 6.901367471632238, + "flow_matching_loss": 0.012089211866259575, + "grad_norm": 0.09382274746894836, + "kept_token_count": 572.5328125, + "learning_rate": 3.4539034265659663e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9930555760860443, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006944432761520148, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.7253051757813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.3063140869141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23720, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.29986886978149413, + "epoch": 6.904276985743381, + "flow_matching_loss": 0.012029178068041801, + "grad_norm": 0.08638087660074234, + "kept_token_count": 572.834375, + "learning_rate": 3.4433553899076163e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932265222072602, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006773472763597965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.8554443359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.95317993164065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23730, + "valid_token_count": 818.18125 + }, + { + "actual_token_mask_ratio": 0.30057367086410525, + "epoch": 6.907186499854524, + "flow_matching_loss": 0.011662728618830442, + "grad_norm": 0.08802375197410583, + "kept_token_count": 572.425, + "learning_rate": 3.432821395662189e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9935826301574707, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006417366955429315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.08388671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9779846191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23740, + "valid_token_count": 818.421875 + }, + { + "actual_token_mask_ratio": 0.30007362365722656, + "epoch": 6.910096013965668, + "flow_matching_loss": 0.012991353869438171, + "grad_norm": 0.09237810224294662, + "kept_token_count": 572.915625, + "learning_rate": 3.4223014566294785e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.99307941198349, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00692059202119708, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.8766845703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.85589599609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23750, + "valid_token_count": 818.5390625 + }, + { + "actual_token_mask_ratio": 0.2999114513397217, + "epoch": 6.913005528076811, + "flow_matching_loss": 0.012894376227632166, + "grad_norm": 0.10096205770969391, + "kept_token_count": 572.853125, + "learning_rate": 3.4117955855922e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9934332191944122, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006566770374774933, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.8099609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.36797485351565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23760, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.2998675972223282, + "epoch": 6.9159150421879545, + "flow_matching_loss": 0.011066572461277246, + "grad_norm": 0.09764757752418518, + "kept_token_count": 572.86875, + "learning_rate": 3.4013037953159855e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9927104473114013, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007289572339504957, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3049682617187, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3695587158203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23770, + "valid_token_count": 818.228125 + }, + { + "actual_token_mask_ratio": 0.299713534116745, + "epoch": 6.918824556299098, + "flow_matching_loss": 0.01143812108784914, + "grad_norm": 0.09909125417470932, + "kept_token_count": 573.0140625, + "learning_rate": 3.390826098549345e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9936144888401032, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006385503429919481, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.22206420898436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8897674560547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23780, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.3008762001991272, + "epoch": 6.921734070410242, + "flow_matching_loss": 0.011364146834239364, + "grad_norm": 0.08328719437122345, + "kept_token_count": 571.9703125, + "learning_rate": 3.3803625080236684e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9931292176246643, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006870791874825954, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.8490905761719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8621795654297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23790, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.2985044181346893, + "epoch": 6.924643584521385, + "flow_matching_loss": 0.011235777102410794, + "grad_norm": 0.08887186646461487, + "kept_token_count": 573.85625, + "learning_rate": 3.369913036453205e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9933858454227448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006614154111593962, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9605285644531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3230712890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23800, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.3004759341478348, + "epoch": 6.927553098632528, + "flow_matching_loss": 0.012420366005972027, + "grad_norm": 0.12433239817619324, + "kept_token_count": 572.509375, + "learning_rate": 3.3594776965350434e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9932002663612366, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067997145466506485, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.74907836914065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.78859558105466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23810, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.2999488890171051, + "epoch": 6.930462612743672, + "flow_matching_loss": 0.011871191253885627, + "grad_norm": 0.09330982714891434, + "kept_token_count": 572.74375, + "learning_rate": 3.34905650094911e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9930501759052277, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006949829403311014, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3266845703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6725250244141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23820, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.2987163096666336, + "epoch": 6.933372126854815, + "flow_matching_loss": 0.013747116038575768, + "grad_norm": 0.11138994246721268, + "kept_token_count": 573.8546875, + "learning_rate": 3.338649462358145e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9933105945587158, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066894122399389746, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.7598022460937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.30474853515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23830, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.29927034080028536, + "epoch": 6.936281640965959, + "flow_matching_loss": 0.011867710296064616, + "grad_norm": 0.0974271148443222, + "kept_token_count": 573.5265625, + "learning_rate": 3.3282565934076765e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.992776757478714, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007223240751773119, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.31638488769534, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7043701171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23840, + "valid_token_count": 818.4671875 + }, + { + "actual_token_mask_ratio": 0.30022100508213045, + "epoch": 6.939191155077102, + "flow_matching_loss": 0.01305354544892907, + "grad_norm": 0.1496710628271103, + "kept_token_count": 572.5984375, + "learning_rate": 3.31787790672602e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9928644001483917, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007135588489472866, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.7898254394531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 390.51500549316404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23850, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.29914698004722595, + "epoch": 6.942100669188245, + "flow_matching_loss": 0.012095587607473136, + "grad_norm": 0.0958973690867424, + "kept_token_count": 573.390625, + "learning_rate": 3.307513414924255e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932939112186432, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006706080306321383, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.1557586669922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8263458251953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23860, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.2999108970165253, + "epoch": 6.945010183299389, + "flow_matching_loss": 0.010605099657550455, + "grad_norm": 0.11194004118442535, + "kept_token_count": 572.9984375, + "learning_rate": 3.2971631305962246e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.993556547164917, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006443468108773232, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9611572265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2126983642578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23870, + "valid_token_count": 818.459375 + }, + { + "actual_token_mask_ratio": 0.2994652301073074, + "epoch": 6.947919697410533, + "flow_matching_loss": 0.010106975305825472, + "grad_norm": 0.08875129371881485, + "kept_token_count": 573.2390625, + "learning_rate": 3.2868270663184964e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9933384954929352, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006661513168364763, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.4753082275391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7307647705078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23880, + "valid_token_count": 818.2859375 + }, + { + "actual_token_mask_ratio": 0.3006118506193161, + "epoch": 6.950829211521675, + "flow_matching_loss": 0.010806179791688918, + "grad_norm": 0.09436433762311935, + "kept_token_count": 572.4984375, + "learning_rate": 3.276505234650362e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9933033943176269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006696603540331125, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.9388702392578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.84874572753904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23890, + "valid_token_count": 818.5734375 + }, + { + "actual_token_mask_ratio": 0.30086180567741394, + "epoch": 6.953738725632819, + "flow_matching_loss": 0.011989435832947492, + "grad_norm": 0.07963607460260391, + "kept_token_count": 572.0875, + "learning_rate": 3.266197648133821e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9935362219810486, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006463776249438525, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.039306640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4503967285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23900, + "valid_token_count": 818.278125 + }, + { + "actual_token_mask_ratio": 0.30060683488845824, + "epoch": 6.956648239743963, + "flow_matching_loss": 0.01086132121272385, + "grad_norm": 0.0759187862277031, + "kept_token_count": 572.4921875, + "learning_rate": 3.255904319293562e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9938451409339905, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006154864002019167, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.8901885986328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8670654296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23910, + "valid_token_count": 818.5515625 + }, + { + "actual_token_mask_ratio": 0.29963305592536926, + "epoch": 6.9595577538551066, + "flow_matching_loss": 0.009607473528012634, + "grad_norm": 0.09934341907501221, + "kept_token_count": 573.340625, + "learning_rate": 3.2456252606369485e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9933854222297669, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006614579632878303, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.9357391357422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9245941162109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23920, + "valid_token_count": 818.6296875 + }, + { + "actual_token_mask_ratio": 0.29984181225299833, + "epoch": 6.962467267966249, + "flow_matching_loss": 0.011324691446498036, + "grad_norm": 0.10800751298666, + "kept_token_count": 572.978125, + "learning_rate": 3.235360484654011e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9932342588901519, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006765746045857668, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.5737670898437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.4354675292969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23930, + "valid_token_count": 818.35625 + }, + { + "actual_token_mask_ratio": 0.2992196947336197, + "epoch": 6.965376782077393, + "flow_matching_loss": 0.011488540470600129, + "grad_norm": 0.07663679867982864, + "kept_token_count": 573.5453125, + "learning_rate": 3.225110003817418e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9931899905204773, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068100081756711, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.57037353515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4364318847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23940, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.29990815818309785, + "epoch": 6.968286296188537, + "flow_matching_loss": 0.01273373542353511, + "grad_norm": 0.12587983906269073, + "kept_token_count": 573.090625, + "learning_rate": 3.214873830582467e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9930753946304322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006924601644277573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.96685791015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.00478210449216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23950, + "valid_token_count": 818.590625 + }, + { + "actual_token_mask_ratio": 0.2994218349456787, + "epoch": 6.97119581029968, + "flow_matching_loss": 0.01374308979138732, + "grad_norm": 0.107197605073452, + "kept_token_count": 573.503125, + "learning_rate": 3.2046519773870803e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9931481301784515, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006851877085864544, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.7424713134766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.38690490722655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23960, + "valid_token_count": 818.61875 + }, + { + "actual_token_mask_ratio": 0.30025621950626374, + "epoch": 6.974105324410823, + "flow_matching_loss": 0.013056724146008492, + "grad_norm": 0.34062957763671875, + "kept_token_count": 572.5109375, + "learning_rate": 3.1944444566517654e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.9931426882743836, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068573194555938246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.83677368164064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8196685791016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23970, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.3001319825649261, + "epoch": 6.977014838521967, + "flow_matching_loss": 0.011062121111899614, + "grad_norm": 0.10232335329055786, + "kept_token_count": 572.6546875, + "learning_rate": 3.18425128077963e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.993490743637085, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006509280670434237, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.49180297851564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.05177612304686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23980, + "valid_token_count": 818.2375 + }, + { + "actual_token_mask_ratio": 0.3006003886461258, + "epoch": 6.979924352633111, + "flow_matching_loss": 0.011518580187112094, + "grad_norm": 0.11166442185640335, + "kept_token_count": 572.39375, + "learning_rate": 3.174072462156342e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9932474493980408, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006752549670636654, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.66356506347654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4479278564453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 23990, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.29914675951004027, + "epoch": 6.9828338667442535, + "flow_matching_loss": 0.010618681367486716, + "grad_norm": 0.10142239928245544, + "kept_token_count": 573.4875, + "learning_rate": 3.163908013150124e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9929697036743164, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00703031038865447, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.5863830566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9094604492187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24000, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.2998869061470032, + "epoch": 6.985743380855397, + "flow_matching_loss": 0.012919066799804568, + "grad_norm": 0.06784157454967499, + "kept_token_count": 572.6796875, + "learning_rate": 3.153757946111741e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9934454977512359, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065544843673706055, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.2795135498047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.37864685058594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24010, + "valid_token_count": 817.98125 + }, + { + "actual_token_mask_ratio": 0.29989157021045687, + "epoch": 6.988652894966541, + "flow_matching_loss": 0.011732712294906378, + "grad_norm": 0.07214604318141937, + "kept_token_count": 572.965625, + "learning_rate": 3.1436222733744776e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9933273375034333, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006672666687518358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.0559844970703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9405944824219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24020, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.3005417823791504, + "epoch": 6.991562409077684, + "flow_matching_loss": 0.010707244370132684, + "grad_norm": 0.14012472331523895, + "kept_token_count": 572.428125, + "learning_rate": 3.133501007254138e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9932853400707244, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067146624438464645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.2894744873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0586822509766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24030, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.30011809170246123, + "epoch": 6.9944719231888275, + "flow_matching_loss": 0.009157368633896112, + "grad_norm": 0.09864140301942825, + "kept_token_count": 572.6125, + "learning_rate": 3.1233941600490123e-06, + "loss": 0.0124, + "mgd_cos_sim": 0.9935405671596527, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006459433771669865, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.2033325195313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6656433105469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24040, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.2995555490255356, + "epoch": 6.997381437299971, + "flow_matching_loss": 0.011836898373439908, + "grad_norm": 0.13038013875484467, + "kept_token_count": 573.215625, + "learning_rate": 3.113301744039875e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9929539322853088, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007046061009168625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.07176513671874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7538146972656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24050, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.3007413327693939, + "epoch": 7.000290951411114, + "flow_matching_loss": 0.01115840971469879, + "grad_norm": 0.12822897732257843, + "kept_token_count": 572.003125, + "learning_rate": 3.103223771489959e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9934509038925171, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006549093592911959, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 443.2300537109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.27052612304686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24060, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.29997736513614653, + "epoch": 7.003200465522258, + "flow_matching_loss": 0.011732797417789698, + "grad_norm": 0.09305087476968765, + "kept_token_count": 572.7984375, + "learning_rate": 3.09316025464495e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9930946230888367, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006905385944992304, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.20533752441406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4578002929687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24070, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.2996220737695694, + "epoch": 7.006109979633401, + "flow_matching_loss": 0.011379719944670796, + "grad_norm": 0.12237121909856796, + "kept_token_count": 573.2328125, + "learning_rate": 3.0831112057329775e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9937331855297089, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006266800034791231, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6540924072266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.28126831054686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24080, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.30072916150093076, + "epoch": 7.009019493744544, + "flow_matching_loss": 0.011193696781992913, + "grad_norm": 0.10562200099229813, + "kept_token_count": 571.990625, + "learning_rate": 3.073076636964579e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.993123036623001, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00687696821987629, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5415771484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4944274902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24090, + "valid_token_count": 817.9796875 + }, + { + "actual_token_mask_ratio": 0.30025743544101713, + "epoch": 7.011929007855688, + "flow_matching_loss": 0.011759862303733826, + "grad_norm": 0.13375982642173767, + "kept_token_count": 572.3390625, + "learning_rate": 3.063056560532698e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9934547543525696, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006545256916433572, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.5912811279297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6876159667969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24100, + "valid_token_count": 817.921875 + }, + { + "actual_token_mask_ratio": 0.29981801509857176, + "epoch": 7.014838521966832, + "flow_matching_loss": 0.010056478576734662, + "grad_norm": 0.07526906579732895, + "kept_token_count": 573.021875, + "learning_rate": 3.0530509886126807e-06, + "loss": 0.0133, + "mgd_cos_sim": 0.993420398235321, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065796107053756716, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.768994140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8901641845703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24110, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.29992839097976687, + "epoch": 7.017748036077975, + "flow_matching_loss": 0.01036539562046528, + "grad_norm": 0.13748367130756378, + "kept_token_count": 572.6078125, + "learning_rate": 3.043059933362236e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9928259074687957, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007174086291342974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.4326446533203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.814306640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24120, + "valid_token_count": 817.93125 + }, + { + "actual_token_mask_ratio": 0.29958716928958895, + "epoch": 7.020657550189118, + "flow_matching_loss": 0.012128759501501917, + "grad_norm": 0.1050894558429718, + "kept_token_count": 573.0515625, + "learning_rate": 3.0330834069214337e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9932755112648011, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006724473834037781, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.74408264160155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.46884765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24130, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.2999265789985657, + "epoch": 7.023567064300262, + "flow_matching_loss": 0.010220302548259497, + "grad_norm": 0.11352958530187607, + "kept_token_count": 572.8625, + "learning_rate": 3.023121421412703e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9928202152252197, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007179785519838333, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1427337646484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0146057128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24140, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.29977600276470184, + "epoch": 7.026476578411406, + "flow_matching_loss": 0.010640698112547397, + "grad_norm": 0.07350683957338333, + "kept_token_count": 572.83125, + "learning_rate": 3.0131739889407896e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9932353913784027, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006764611508697271, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.4827453613281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.34140930175784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24150, + "valid_token_count": 818.059375 + }, + { + "actual_token_mask_ratio": 0.30042050778865814, + "epoch": 7.029386092522548, + "flow_matching_loss": 0.01279865219257772, + "grad_norm": 0.07655137032270432, + "kept_token_count": 572.2921875, + "learning_rate": 3.0032411215927645e-06, + "loss": 0.0161, + "mgd_cos_sim": 0.9933510065078736, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006648985669016838, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.65269775390624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.957275390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24160, + "valid_token_count": 818.0578125 + }, + { + "actual_token_mask_ratio": 0.3001557469367981, + "epoch": 7.032295606633692, + "flow_matching_loss": 0.011605688044801355, + "grad_norm": 0.1047077625989914, + "kept_token_count": 572.784375, + "learning_rate": 2.9933228314379975e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9936078369617463, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006392165087163448, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.30308227539064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.79042358398436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24170, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.29964260160923006, + "epoch": 7.035205120744836, + "flow_matching_loss": 0.01237917528487742, + "grad_norm": 0.10404027253389359, + "kept_token_count": 573.00625, + "learning_rate": 2.9834191305281405e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.99310804605484, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006891957018524408, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.18145446777345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0702789306641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24180, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.29970364570617675, + "epoch": 7.038114634855979, + "flow_matching_loss": 0.009930441807955503, + "grad_norm": 0.08420217037200928, + "kept_token_count": 573.0765625, + "learning_rate": 2.973530030897135e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.993101054430008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006898928992450237, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.56825256347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.336962890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24190, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.29916932284832, + "epoch": 7.041024148967122, + "flow_matching_loss": 0.01291217552497983, + "grad_norm": 0.11839597672224045, + "kept_token_count": 573.496875, + "learning_rate": 2.9636555445611646e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9925631642341614, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007436847873032093, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 405.16758422851564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.66008911132815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24200, + "valid_token_count": 818.30625 + }, + { + "actual_token_mask_ratio": 0.3016327202320099, + "epoch": 7.043933663078266, + "flow_matching_loss": 0.012380585819482804, + "grad_norm": 0.12495240569114685, + "kept_token_count": 571.6265625, + "learning_rate": 2.953795683518659e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.992981368303299, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007018633559346199, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.3860229492187, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.28627319335936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24210, + "valid_token_count": 818.515625 + }, + { + "actual_token_mask_ratio": 0.2996073216199875, + "epoch": 7.04684317718941, + "flow_matching_loss": 0.011855176137760281, + "grad_norm": 0.13450181484222412, + "kept_token_count": 573.1, + "learning_rate": 2.9439504597502815e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9932084679603577, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006791506614536047, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.21531677246094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.79310913085936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24220, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.30109438896179197, + "epoch": 7.049752691300553, + "flow_matching_loss": 0.010064641945064068, + "grad_norm": 0.07263321429491043, + "kept_token_count": 571.7125, + "learning_rate": 2.934119885218902e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.993330329656601, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006669664848595857, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.1441253662109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3583648681641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24230, + "valid_token_count": 818.0078125 + }, + { + "actual_token_mask_ratio": 0.2998563200235367, + "epoch": 7.052662205411696, + "flow_matching_loss": 0.010157922422513366, + "grad_norm": 0.08008544147014618, + "kept_token_count": 572.984375, + "learning_rate": 2.9243039718696045e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9935431182384491, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006456881109625101, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.60731811523436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2634307861328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24240, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.30002066791057586, + "epoch": 7.05557171952284, + "flow_matching_loss": 0.011234809085726738, + "grad_norm": 0.08555164188146591, + "kept_token_count": 572.8171875, + "learning_rate": 2.914502731629641e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9930402934551239, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006959702726453543, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.5451324462891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0222412109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24250, + "valid_token_count": 818.3375 + }, + { + "actual_token_mask_ratio": 0.29946320950984956, + "epoch": 7.058481233633983, + "flow_matching_loss": 0.010775636043399572, + "grad_norm": 0.08436376601457596, + "kept_token_count": 573.196875, + "learning_rate": 2.904716176408451e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9935852706432342, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006414713896811008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.67852783203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.13207092285154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24260, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.3001491129398346, + "epoch": 7.0613907477451265, + "flow_matching_loss": 0.011508125904947519, + "grad_norm": 0.07084140926599503, + "kept_token_count": 572.85, + "learning_rate": 2.8949443180976172e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.993140572309494, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006859433557838202, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.4365173339844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2395812988281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24270, + "valid_token_count": 818.5375 + }, + { + "actual_token_mask_ratio": 0.3004214435815811, + "epoch": 7.06430026185627, + "flow_matching_loss": 0.010829706490039826, + "grad_norm": 0.08536097407341003, + "kept_token_count": 572.6234375, + "learning_rate": 2.885187168570864e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9935051500797272, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006494858488440514, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.97421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6452362060547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24280, + "valid_token_count": 818.53125 + }, + { + "actual_token_mask_ratio": 0.29976347982883456, + "epoch": 7.067209775967413, + "flow_matching_loss": 0.013254423718899488, + "grad_norm": 0.10349524021148682, + "kept_token_count": 573.0171875, + "learning_rate": 2.875444739684058e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9927295207977295, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007270494010299444, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9621185302734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0116363525391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24290, + "valid_token_count": 818.3125 + }, + { + "actual_token_mask_ratio": 0.3000294387340546, + "epoch": 7.070119290078557, + "flow_matching_loss": 0.01201200638897717, + "grad_norm": 0.09513374418020248, + "kept_token_count": 572.6625, + "learning_rate": 2.865717043275165e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9936014294624329, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006398563925176859, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.59636840820315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.21030883789064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24300, + "valid_token_count": 818.1125 + }, + { + "actual_token_mask_ratio": 0.29926520586013794, + "epoch": 7.0730288041897005, + "flow_matching_loss": 0.01304440964013338, + "grad_norm": 0.09822873771190643, + "kept_token_count": 573.3921875, + "learning_rate": 2.8560040911642528e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9937508344650269, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006249162182211876, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.6451110839844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5993713378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24310, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.29932336807250975, + "epoch": 7.075938318300844, + "flow_matching_loss": 0.012436190899461508, + "grad_norm": 0.10244672000408173, + "kept_token_count": 573.19375, + "learning_rate": 2.846305895153472e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9932927787303925, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006707208231091499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 409.0473602294922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.37485961914064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24320, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.30056426525115965, + "epoch": 7.078847832411987, + "flow_matching_loss": 0.010505461366847157, + "grad_norm": 0.08685742318630219, + "kept_token_count": 572.0484375, + "learning_rate": 2.8366224670270487e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.993508780002594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006491238810122013, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.4279815673828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.255615234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24330, + "valid_token_count": 817.88125 + }, + { + "actual_token_mask_ratio": 0.3008504569530487, + "epoch": 7.081757346523131, + "flow_matching_loss": 0.011725512240082026, + "grad_norm": 0.08880244195461273, + "kept_token_count": 572.0734375, + "learning_rate": 2.8269538185512535e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9937505662441254, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062494449317455295, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.1209991455078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4976531982422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24340, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.2997776210308075, + "epoch": 7.084666860634274, + "flow_matching_loss": 0.012296966882422567, + "grad_norm": 0.09727603197097778, + "kept_token_count": 572.98125, + "learning_rate": 2.817299961474417e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9929674446582795, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007032546959817409, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1114807128906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.25750732421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24350, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.29887881875038147, + "epoch": 7.087576374745417, + "flow_matching_loss": 0.011961460439488291, + "grad_norm": 0.09432672709226608, + "kept_token_count": 573.6890625, + "learning_rate": 2.8076609075268816e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9937637090682984, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006236292049288749, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.46604309082034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.84473571777346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24360, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.3001283198595047, + "epoch": 7.090485888856561, + "flow_matching_loss": 0.011092406185343861, + "grad_norm": 0.08836205303668976, + "kept_token_count": 572.5765625, + "learning_rate": 2.798036668421006e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9931946218013763, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006805377826094627, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.48070068359374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4158569335938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24370, + "valid_token_count": 818.1171875 + }, + { + "actual_token_mask_ratio": 0.2995948553085327, + "epoch": 7.093395402967705, + "flow_matching_loss": 0.010348221193999052, + "grad_norm": 0.08424645662307739, + "kept_token_count": 572.9796875, + "learning_rate": 2.7884272558511433e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9934721231460572, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006527857854962349, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 407.6319976806641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0533050537109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24380, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.3001809924840927, + "epoch": 7.0963049170788475, + "flow_matching_loss": 0.011225918028503656, + "grad_norm": 0.1275879144668579, + "kept_token_count": 572.7546875, + "learning_rate": 2.7788326814936456e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9932928562164307, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006707134936004877, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.3370391845703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3004669189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24390, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.2999907523393631, + "epoch": 7.099214431189991, + "flow_matching_loss": 0.011850650515407323, + "grad_norm": 0.14446382224559784, + "kept_token_count": 572.74375, + "learning_rate": 2.7692529570068176e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9932841002941132, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006715906877070665, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2750732421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8626312255859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24400, + "valid_token_count": 818.1875 + }, + { + "actual_token_mask_ratio": 0.3003180265426636, + "epoch": 7.102123945301135, + "flow_matching_loss": 0.013660599384456873, + "grad_norm": 0.11787678301334381, + "kept_token_count": 572.4515625, + "learning_rate": 2.759688094030933e-06, + "loss": 0.017, + "mgd_cos_sim": 0.9933821260929108, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066178817301988605, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.36854553222656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.78160400390624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24410, + "valid_token_count": 818.159375 + }, + { + "actual_token_mask_ratio": 0.29963610172271726, + "epoch": 7.105033459412278, + "flow_matching_loss": 0.01086269412189722, + "grad_norm": 0.09520523995161057, + "kept_token_count": 572.8828125, + "learning_rate": 2.750138104188201e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9932874083518982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006712598726153374, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.70403442382815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.31993103027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24420, + "valid_token_count": 817.9796875 + }, + { + "actual_token_mask_ratio": 0.29959518313407896, + "epoch": 7.107942973523421, + "flow_matching_loss": 0.013019469287246465, + "grad_norm": 0.1239594891667366, + "kept_token_count": 573.284375, + "learning_rate": 2.740602999082759e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9933072447776794, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006692738365381956, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.05181884765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.70867309570315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24430, + "valid_token_count": 818.5046875 + }, + { + "actual_token_mask_ratio": 0.2999863773584366, + "epoch": 7.110852487634565, + "flow_matching_loss": 0.012220327556133271, + "grad_norm": 0.10759641230106354, + "kept_token_count": 572.621875, + "learning_rate": 2.731082790300654e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9933235049247742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006676512118428945, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.78765869140625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7295623779297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24440, + "valid_token_count": 818.0203125 + }, + { + "actual_token_mask_ratio": 0.299788698554039, + "epoch": 7.113762001745709, + "flow_matching_loss": 0.015675313491374254, + "grad_norm": 0.13641580939292908, + "kept_token_count": 573.0515625, + "learning_rate": 2.7215774894098474e-06, + "loss": 0.0191, + "mgd_cos_sim": 0.9932395219802856, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006760477647185325, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.9253173828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4800628662109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24450, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.30035478472709654, + "epoch": 7.116671515856852, + "flow_matching_loss": 0.008560143411159515, + "grad_norm": 0.09177934378385544, + "kept_token_count": 572.2234375, + "learning_rate": 2.7120871079601696e-06, + "loss": 0.0118, + "mgd_cos_sim": 0.9934519469738007, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006548047717660666, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.39307556152346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.24111022949216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24460, + "valid_token_count": 817.88125 + }, + { + "actual_token_mask_ratio": 0.3011000692844391, + "epoch": 7.119581029967995, + "flow_matching_loss": 0.009283888153731823, + "grad_norm": 0.0805143192410469, + "kept_token_count": 571.815625, + "learning_rate": 2.7026116574833314e-06, + "loss": 0.0124, + "mgd_cos_sim": 0.9937760472297669, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006223955005407333, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.3533477783203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.55401000976565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24470, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.29991120398044585, + "epoch": 7.122490544079139, + "flow_matching_loss": 0.0125555619597435, + "grad_norm": 0.09203960746526718, + "kept_token_count": 572.925, + "learning_rate": 2.6931511494928953e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.993563973903656, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006436011102050543, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.3365509033203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.90369567871096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24480, + "valid_token_count": 818.3625 + }, + { + "actual_token_mask_ratio": 0.29969289898872375, + "epoch": 7.125400058190282, + "flow_matching_loss": 0.009701268281787634, + "grad_norm": 0.07503072172403336, + "kept_token_count": 572.9640625, + "learning_rate": 2.683705595484275e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9935950100421905, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00640499759465456, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.88787231445315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5594482421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24490, + "valid_token_count": 818.16875 + }, + { + "actual_token_mask_ratio": 0.29854128062725066, + "epoch": 7.128309572301426, + "flow_matching_loss": 0.012606627075001597, + "grad_norm": 0.07540006190538406, + "kept_token_count": 573.94375, + "learning_rate": 2.6742750069347014e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9932741820812225, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006725813634693623, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.40293273925784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.74156494140624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24500, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.3001556843519211, + "epoch": 7.131219086412569, + "flow_matching_loss": 0.011833940306678415, + "grad_norm": 0.09918691962957382, + "kept_token_count": 572.7390625, + "learning_rate": 2.664859395303239e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9935314655303955, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006468535494059324, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 437.4473388671875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0532928466797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24510, + "valid_token_count": 818.3765625 + }, + { + "actual_token_mask_ratio": 0.3001305401325226, + "epoch": 7.134128600523712, + "flow_matching_loss": 0.010573306865990163, + "grad_norm": 0.08699726313352585, + "kept_token_count": 572.86875, + "learning_rate": 2.655458772030739e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9931753516197205, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006824648287147283, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.4078674316406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.10260314941405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24520, + "valid_token_count": 818.5265625 + }, + { + "actual_token_mask_ratio": 0.3004016399383545, + "epoch": 7.137038114634856, + "flow_matching_loss": 0.010586862405762076, + "grad_norm": 0.07935834676027298, + "kept_token_count": 572.378125, + "learning_rate": 2.6460731485398403e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9937315106391906, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006268486194312572, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.83534545898436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.39948120117185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24530, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.2996954441070557, + "epoch": 7.1399476287459995, + "flow_matching_loss": 0.011403860291466117, + "grad_norm": 0.08706816285848618, + "kept_token_count": 573.20625, + "learning_rate": 2.6367025362349695e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9935531258583069, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006446869671344757, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.89781188964844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0599090576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24540, + "valid_token_count": 818.5140625 + }, + { + "actual_token_mask_ratio": 0.2988328903913498, + "epoch": 7.142857142857143, + "flow_matching_loss": 0.01120764627121389, + "grad_norm": 0.0663086473941803, + "kept_token_count": 573.7625, + "learning_rate": 2.6273469465022965e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9932262241840363, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067737877368927, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.6729309082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.45998229980466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24550, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.2994572937488556, + "epoch": 7.145766656968286, + "flow_matching_loss": 0.011535878432914615, + "grad_norm": 0.09955277293920517, + "kept_token_count": 573.109375, + "learning_rate": 2.618006390709753e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9932411789894104, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006758809182792902, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.40834350585936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.04783935546874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24560, + "valid_token_count": 818.0921875 + }, + { + "actual_token_mask_ratio": 0.3014101773500443, + "epoch": 7.14867617107943, + "flow_matching_loss": 0.010651788488030434, + "grad_norm": 0.09835492074489594, + "kept_token_count": 571.7546875, + "learning_rate": 2.60868088020699e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9934914946556092, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006508494634181261, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.4777435302734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.62062377929686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24570, + "valid_token_count": 818.440625 + }, + { + "actual_token_mask_ratio": 0.29880607426166533, + "epoch": 7.1515856851905735, + "flow_matching_loss": 0.011260115774348378, + "grad_norm": 0.08656188100576401, + "kept_token_count": 573.828125, + "learning_rate": 2.599370426325382e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9932650089263916, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006734999548643828, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.65452880859374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.36976928710936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24580, + "valid_token_count": 818.35625 + }, + { + "actual_token_mask_ratio": 0.3003500461578369, + "epoch": 7.154495199301716, + "flow_matching_loss": 0.011102695437148213, + "grad_norm": 0.12082434445619583, + "kept_token_count": 572.465625, + "learning_rate": 2.5900750403780093e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9929412841796875, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007058715354651213, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.9756591796875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.280517578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24590, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.29965530931949613, + "epoch": 7.15740471341286, + "flow_matching_loss": 0.011586524359881879, + "grad_norm": 0.08213455229997635, + "kept_token_count": 573.1296875, + "learning_rate": 2.580794733659639e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9935876786708832, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006412325892597437, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.7519165039063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.83461303710936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24600, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.29945496618747713, + "epoch": 7.160314227524004, + "flow_matching_loss": 0.0102256846614182, + "grad_norm": 0.08681517094373703, + "kept_token_count": 573.275, + "learning_rate": 2.5715295174467236e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9936943233013154, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006305681448429823, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.7708251953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0105895996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24610, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.3012655436992645, + "epoch": 7.1632237416351465, + "flow_matching_loss": 0.011363476747646928, + "grad_norm": 0.10500163584947586, + "kept_token_count": 571.6046875, + "learning_rate": 2.5622794029973746e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9934136748313904, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006586327683180571, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.88673095703126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7889343261719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24620, + "valid_token_count": 818.0625 + }, + { + "actual_token_mask_ratio": 0.3002800166606903, + "epoch": 7.16613325574629, + "flow_matching_loss": 0.010496223252266646, + "grad_norm": 0.07568883895874023, + "kept_token_count": 572.50625, + "learning_rate": 2.553044401551351e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9935603439807892, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006439660117030144, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.4446105957031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.17011108398435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24630, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.3000830501317978, + "epoch": 7.169042769857434, + "flow_matching_loss": 0.010348046803846956, + "grad_norm": 0.10950487107038498, + "kept_token_count": 572.8, + "learning_rate": 2.54382452433005e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9935334682464599, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064665376208722595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.4212951660156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6209991455078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24640, + "valid_token_count": 818.3859375 + }, + { + "actual_token_mask_ratio": 0.3006830394268036, + "epoch": 7.171952283968578, + "flow_matching_loss": 0.009481207840144635, + "grad_norm": 0.07733763754367828, + "kept_token_count": 571.978125, + "learning_rate": 2.53461978253649e-06, + "loss": 0.0126, + "mgd_cos_sim": 0.9937974989414216, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006202501244843006, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.15223083496096, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.16761779785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24650, + "valid_token_count": 817.9125 + }, + { + "actual_token_mask_ratio": 0.30000861585140226, + "epoch": 7.1748617980797205, + "flow_matching_loss": 0.011898069316521287, + "grad_norm": 0.09005238115787506, + "kept_token_count": 572.78125, + "learning_rate": 2.5254301873553065e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9934176206588745, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006582386139780283, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.3277130126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7087371826172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24660, + "valid_token_count": 818.2671875 + }, + { + "actual_token_mask_ratio": 0.3005991578102112, + "epoch": 7.177771312190864, + "flow_matching_loss": 0.01042407276108861, + "grad_norm": 0.1034683883190155, + "kept_token_count": 572.2390625, + "learning_rate": 2.5162557499527184e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9934455931186676, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006554400641471147, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.7532989501953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9834228515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24670, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.2996092736721039, + "epoch": 7.180680826302008, + "flow_matching_loss": 0.010302537167444826, + "grad_norm": 0.13863562047481537, + "kept_token_count": 572.9921875, + "learning_rate": 2.5070964814765335e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9930007100105286, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006999296043068171, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.1356689453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3725311279297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24680, + "valid_token_count": 818.10625 + }, + { + "actual_token_mask_ratio": 0.3002243906259537, + "epoch": 7.183590340413151, + "flow_matching_loss": 0.012577806506305933, + "grad_norm": 0.10445547848939896, + "kept_token_count": 572.8171875, + "learning_rate": 2.4979523930561295e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9928515136241913, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007148479111492634, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.5710784912109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7578887939453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24690, + "valid_token_count": 818.5734375 + }, + { + "actual_token_mask_ratio": 0.2995990484952927, + "epoch": 7.186499854524294, + "flow_matching_loss": 0.010938218049705028, + "grad_norm": 0.11132562905550003, + "kept_token_count": 573.0265625, + "learning_rate": 2.4888234958024333e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.993484616279602, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006515392381697893, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.3437072753906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.80919494628904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24700, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.3000927060842514, + "epoch": 7.189409368635438, + "flow_matching_loss": 0.01291343248449266, + "grad_norm": 0.10592781752347946, + "kept_token_count": 572.5578125, + "learning_rate": 2.479709800807915e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9929701626300812, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00702983858063817, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.8247467041016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.0358551025391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24710, + "valid_token_count": 818.0375 + }, + { + "actual_token_mask_ratio": 0.2995022863149643, + "epoch": 7.192318882746581, + "flow_matching_loss": 0.010273410100489854, + "grad_norm": 0.07791712880134583, + "kept_token_count": 573.06875, + "learning_rate": 2.4706113191465767e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9931258857250214, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006874128524214029, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.1011596679688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6633575439453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24720, + "valid_token_count": 818.0875 + }, + { + "actual_token_mask_ratio": 0.2998934775590897, + "epoch": 7.195228396857725, + "flow_matching_loss": 0.010784788057208061, + "grad_norm": 0.10247045755386353, + "kept_token_count": 572.940625, + "learning_rate": 2.46152806187393e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9932967305183411, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006703255139291287, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9079620361328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4429077148437, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24730, + "valid_token_count": 818.3640625 + }, + { + "actual_token_mask_ratio": 0.299731183052063, + "epoch": 7.198137910968868, + "flow_matching_loss": 0.012199775921180845, + "grad_norm": 0.08619309216737747, + "kept_token_count": 573.2625, + "learning_rate": 2.452460040026989e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9935039639472961, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064960428513586525, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.86070861816404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.06761474609374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24740, + "valid_token_count": 818.6328125 + }, + { + "actual_token_mask_ratio": 0.301459863781929, + "epoch": 7.201047425080012, + "flow_matching_loss": 0.011210962617769837, + "grad_norm": 0.13447418808937073, + "kept_token_count": 571.9078125, + "learning_rate": 2.4434072646242555e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9927389442920684, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007261063065379858, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.69109802246095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.333203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24750, + "valid_token_count": 818.7125 + }, + { + "actual_token_mask_ratio": 0.3000719755887985, + "epoch": 7.203956939191155, + "flow_matching_loss": 0.010722173051908613, + "grad_norm": 0.16950780153274536, + "kept_token_count": 572.5625, + "learning_rate": 2.4343697466657015e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9932615399360657, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067384721711277965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 411.8774047851563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5895660400391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24760, + "valid_token_count": 818.025 + }, + { + "actual_token_mask_ratio": 0.29954020082950594, + "epoch": 7.206866453302299, + "flow_matching_loss": 0.012439249362796546, + "grad_norm": 0.10075866430997849, + "kept_token_count": 573.290625, + "learning_rate": 2.42534749713277e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9932568669319153, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006743111740797758, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.8124298095703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2674560546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24770, + "valid_token_count": 818.4515625 + }, + { + "actual_token_mask_ratio": 0.29967553317546847, + "epoch": 7.209775967413442, + "flow_matching_loss": 0.010552206728607415, + "grad_norm": 0.07122074067592621, + "kept_token_count": 573.2234375, + "learning_rate": 2.4163405269883425e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9936273455619812, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006372645683586598, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 417.7730407714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0613189697266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24780, + "valid_token_count": 818.515625 + }, + { + "actual_token_mask_ratio": 0.3006869077682495, + "epoch": 7.212685481524585, + "flow_matching_loss": 0.012449802830815315, + "grad_norm": 0.09021376818418503, + "kept_token_count": 572.31875, + "learning_rate": 2.407348847176735e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9929871618747711, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007012826204299927, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.82915649414065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4818054199219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24790, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.29910086989402773, + "epoch": 7.215594995635729, + "flow_matching_loss": 0.011586717423051595, + "grad_norm": 0.1016266793012619, + "kept_token_count": 573.5953125, + "learning_rate": 2.398372468623688e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9932584047317505, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006741591636091471, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.92779541015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1756561279297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24800, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.2998169958591461, + "epoch": 7.2185045097468725, + "flow_matching_loss": 0.011664024787023664, + "grad_norm": 0.11138521879911423, + "kept_token_count": 573.0703125, + "learning_rate": 2.3894114022363446e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9935006320476532, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006499374378472566, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.51975708007814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3218994140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24810, + "valid_token_count": 818.45625 + }, + { + "actual_token_mask_ratio": 0.30102369785308836, + "epoch": 7.221414023858015, + "flow_matching_loss": 0.012232385156676174, + "grad_norm": 0.13153007626533508, + "kept_token_count": 572.0953125, + "learning_rate": 2.3804656589032514e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9931380987167359, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006861900724470615, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4362335205078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5133850097656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24820, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.30060692727565763, + "epoch": 7.224323537969159, + "flow_matching_loss": 0.011657076189294457, + "grad_norm": 0.09903278946876526, + "kept_token_count": 572.1953125, + "learning_rate": 2.3715352494943237e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9934157729148865, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006584228482097387, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.3752014160156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.48040771484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24830, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.2999466061592102, + "epoch": 7.227233052080303, + "flow_matching_loss": 0.010596925299614668, + "grad_norm": 0.08411214500665665, + "kept_token_count": 572.740625, + "learning_rate": 2.3626201848608582e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9933354914188385, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006664510443806648, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.5882110595703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.24363098144534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24840, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.2992195636034012, + "epoch": 7.2301425661914465, + "flow_matching_loss": 0.010952656669542194, + "grad_norm": 0.12074200063943863, + "kept_token_count": 573.3359375, + "learning_rate": 2.353720475835494e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9935619831085205, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006438017264008522, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.13011779785154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.04461364746095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24850, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.2985359162092209, + "epoch": 7.233052080302589, + "flow_matching_loss": 0.016482187993824483, + "grad_norm": 0.10409747809171677, + "kept_token_count": 574.1875, + "learning_rate": 2.344836133232215e-06, + "loss": 0.02, + "mgd_cos_sim": 0.9929018616676331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007098143454641104, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.6555572509766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5912841796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24860, + "valid_token_count": 818.559375 + }, + { + "actual_token_mask_ratio": 0.2996745526790619, + "epoch": 7.235961594413733, + "flow_matching_loss": 0.011243988573551179, + "grad_norm": 0.12653611600399017, + "kept_token_count": 573.1765625, + "learning_rate": 2.335967167846342e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9931056678295136, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068943343125283715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.91025390625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4895538330078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24870, + "valid_token_count": 818.4453125 + }, + { + "actual_token_mask_ratio": 0.2993899255990982, + "epoch": 7.238871108524877, + "flow_matching_loss": 0.011803961917757988, + "grad_norm": 0.1271357536315918, + "kept_token_count": 573.2375, + "learning_rate": 2.3271135904544993e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9932675957679749, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006732406746596098, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.0668090820312, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.21045837402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24880, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.3004284143447876, + "epoch": 7.2417806226360195, + "flow_matching_loss": 0.011648323712870478, + "grad_norm": 0.10402213782072067, + "kept_token_count": 572.578125, + "learning_rate": 2.3182754118146206e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9929478943347931, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00705212326720357, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.8203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1923522949219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24890, + "valid_token_count": 818.4640625 + }, + { + "actual_token_mask_ratio": 0.29954011738300323, + "epoch": 7.244690136747163, + "flow_matching_loss": 0.011079812981188297, + "grad_norm": 0.09241361916065216, + "kept_token_count": 573.334375, + "learning_rate": 2.309452642665923e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9929962158203125, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007003763411194086, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.8687713623047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.60960693359374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24900, + "valid_token_count": 818.5140625 + }, + { + "actual_token_mask_ratio": 0.30051997900009153, + "epoch": 7.247599650858307, + "flow_matching_loss": 0.012803880171850324, + "grad_norm": 0.09587644785642624, + "kept_token_count": 572.465625, + "learning_rate": 2.3006452937289065e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9936678647994995, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0063321384601295, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.36817932128906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.34645690917966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24910, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.3001855671405792, + "epoch": 7.25050916496945, + "flow_matching_loss": 0.012586591392755508, + "grad_norm": 0.1145552471280098, + "kept_token_count": 572.7796875, + "learning_rate": 2.291853375705327e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9932502210140228, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006749758124351501, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.44482421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4885284423828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24920, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.3009572744369507, + "epoch": 7.2534186790805935, + "flow_matching_loss": 0.012604049034416675, + "grad_norm": 0.09904458373785019, + "kept_token_count": 572.140625, + "learning_rate": 2.283076899278197e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.993325138092041, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006674855947494507, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.008984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0176025390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24930, + "valid_token_count": 818.4703125 + }, + { + "actual_token_mask_ratio": 0.2997830659151077, + "epoch": 7.256328193191737, + "flow_matching_loss": 0.012146832654252648, + "grad_norm": 0.1318574845790863, + "kept_token_count": 572.834375, + "learning_rate": 2.274315875111763e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9934386968612671, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065613042563199995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 442.2848724365234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5865753173828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24940, + "valid_token_count": 818.075 + }, + { + "actual_token_mask_ratio": 0.2989801377058029, + "epoch": 7.25923770730288, + "flow_matching_loss": 0.010243915067985655, + "grad_norm": 0.09027960896492004, + "kept_token_count": 573.553125, + "learning_rate": 2.265570313851493e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9934747338294982, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065252847038209435, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.09789123535154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8113159179687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24950, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.2987527519464493, + "epoch": 7.262147221414024, + "flow_matching_loss": 0.01222355905920267, + "grad_norm": 0.09195088595151901, + "kept_token_count": 573.7765625, + "learning_rate": 2.2568402261240685e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9933257699012756, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006674236711114645, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.28289794921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.84632873535156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24960, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.29867281913757326, + "epoch": 7.265056735525167, + "flow_matching_loss": 0.011888501374050975, + "grad_norm": 0.08916959911584854, + "kept_token_count": 573.8265625, + "learning_rate": 2.248125622537373e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9930674076080322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006932607945054769, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.0007659912109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9704833984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24970, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.2983385056257248, + "epoch": 7.267966249636311, + "flow_matching_loss": 0.010491546522825957, + "grad_norm": 0.08087432384490967, + "kept_token_count": 573.984375, + "learning_rate": 2.239426513680467e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9938803076744079, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006119692884385586, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4649322509766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8442077636719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24980, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.2999820411205292, + "epoch": 7.270875763747454, + "flow_matching_loss": 0.010617510974407196, + "grad_norm": 0.07238180935382843, + "kept_token_count": 572.64375, + "learning_rate": 2.2307429101235915e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9936408877372742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0063591087237000465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.1553955078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.15196228027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 24990, + "valid_token_count": 818.0375 + }, + { + "actual_token_mask_ratio": 0.299592062830925, + "epoch": 7.273785277858598, + "flow_matching_loss": 0.014091844204813242, + "grad_norm": 0.09701249748468399, + "kept_token_count": 573.20625, + "learning_rate": 2.222074822418145e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.993785947561264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006214061658829451, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 440.3438415527344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1084686279297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25000, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.30063454806804657, + "epoch": 7.276694791969741, + "flow_matching_loss": 0.010888003930449485, + "grad_norm": 0.10966923087835312, + "kept_token_count": 572.20625, + "learning_rate": 2.213422261096668e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9932311475276947, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006768860295414925, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.7542755126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2797821044922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25010, + "valid_token_count": 818.18125 + }, + { + "actual_token_mask_ratio": 0.2993397444486618, + "epoch": 7.279604306080884, + "flow_matching_loss": 0.010429233824834228, + "grad_norm": 0.11921728402376175, + "kept_token_count": 573.2984375, + "learning_rate": 2.204785236672835e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9932622730731964, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006737727206200361, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.7505401611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9152465820313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25020, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.29920899868011475, + "epoch": 7.282513820192028, + "flow_matching_loss": 0.012276135198771954, + "grad_norm": 0.07180363684892654, + "kept_token_count": 573.1484375, + "learning_rate": 2.1961637596414536e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9926986575126648, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073013327084481714, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.97613220214845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.02240600585935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25030, + "valid_token_count": 817.859375 + }, + { + "actual_token_mask_ratio": 0.3001378923654556, + "epoch": 7.285423334303172, + "flow_matching_loss": 0.013071351777762174, + "grad_norm": 0.09175510704517365, + "kept_token_count": 572.6875, + "learning_rate": 2.1875578404784275e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9934502720832825, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006549722608178854, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.62908630371095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1877014160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25040, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.30014644265174867, + "epoch": 7.288332848414315, + "flow_matching_loss": 0.01040077251382172, + "grad_norm": 0.07980021834373474, + "kept_token_count": 572.5265625, + "learning_rate": 2.1789674896407583e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9935355901718139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00646440414711833, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.4230499267578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.73173828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25050, + "valid_token_count": 818.0703125 + }, + { + "actual_token_mask_ratio": 0.2999686986207962, + "epoch": 7.291242362525458, + "flow_matching_loss": 0.012994524138048292, + "grad_norm": 0.08478733152151108, + "kept_token_count": 572.60625, + "learning_rate": 2.170392717566534e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.993370658159256, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006629347614943981, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.63385620117185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.91473999023435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25060, + "valid_token_count": 817.9703125 + }, + { + "actual_token_mask_ratio": 0.29915170669555663, + "epoch": 7.294151876636602, + "flow_matching_loss": 0.010782726248726249, + "grad_norm": 0.13484720885753632, + "kept_token_count": 573.3984375, + "learning_rate": 2.161833534674909e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9928902208805084, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007109778001904488, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7676177978516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.36211547851565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25070, + "valid_token_count": 818.15 + }, + { + "actual_token_mask_ratio": 0.29901248812675474, + "epoch": 7.2970613907477455, + "flow_matching_loss": 0.014069202449172735, + "grad_norm": 0.08608356863260269, + "kept_token_count": 573.5, + "learning_rate": 2.1532899513661015e-06, + "loss": 0.0172, + "mgd_cos_sim": 0.9936531484127045, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006346862204372883, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4313659667969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9454040527344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25080, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.2994719535112381, + "epoch": 7.299970904858888, + "flow_matching_loss": 0.010689966240897774, + "grad_norm": 0.10482066869735718, + "kept_token_count": 573.278125, + "learning_rate": 2.1447619780213682e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9934932887554169, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006506714597344398, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9030731201172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6117797851563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25090, + "valid_token_count": 818.35 + }, + { + "actual_token_mask_ratio": 0.2997755497694016, + "epoch": 7.302880418970032, + "flow_matching_loss": 0.010538571374490857, + "grad_norm": 0.1243087500333786, + "kept_token_count": 573.0109375, + "learning_rate": 2.136249625003001e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9933273196220398, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006672682333737611, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.8884796142578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.19658203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25100, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.29984012246131897, + "epoch": 7.305789933081176, + "flow_matching_loss": 0.012575852032750846, + "grad_norm": 0.10321951657533646, + "kept_token_count": 572.884375, + "learning_rate": 2.1277529026543107e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9934451818466187, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006554821971803904, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.9538146972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.49956970214845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25110, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.299869567155838, + "epoch": 7.308699447192319, + "flow_matching_loss": 0.01001532208174467, + "grad_norm": 0.1135091707110405, + "kept_token_count": 572.809375, + "learning_rate": 2.1192718212996188e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9932758986949921, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006724099349230528, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6950744628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.07538452148435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25120, + "valid_token_count": 818.1453125 + }, + { + "actual_token_mask_ratio": 0.2996023058891296, + "epoch": 7.311608961303462, + "flow_matching_loss": 0.012650402076542378, + "grad_norm": 0.141531303524971, + "kept_token_count": 573.0296875, + "learning_rate": 2.110806391244235e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9928200662136077, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007179937232285738, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3790557861328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5386199951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25130, + "valid_token_count": 818.1625 + }, + { + "actual_token_mask_ratio": 0.29937519133090973, + "epoch": 7.314518475414606, + "flow_matching_loss": 0.012309601251035928, + "grad_norm": 0.09137625247240067, + "kept_token_count": 573.0640625, + "learning_rate": 2.1023566227744596e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9932589113712311, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006741080526262521, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.28004760742186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.3091522216797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25140, + "valid_token_count": 817.9328125 + }, + { + "actual_token_mask_ratio": 0.2994385153055191, + "epoch": 7.317427989525749, + "flow_matching_loss": 0.01051439750008285, + "grad_norm": 0.06770054250955582, + "kept_token_count": 573.3265625, + "learning_rate": 2.0939225261575563e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9933292090892791, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00667079696431756, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.13499755859374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2653564453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25150, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.30051605105400087, + "epoch": 7.3203375036368925, + "flow_matching_loss": 0.011094012856483459, + "grad_norm": 0.09490837901830673, + "kept_token_count": 572.665625, + "learning_rate": 2.0855041116417473e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9935352444648743, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006464745569974184, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.9056457519531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3828186035156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25160, + "valid_token_count": 818.696875 + }, + { + "actual_token_mask_ratio": 0.29965047538280487, + "epoch": 7.323247017748036, + "flow_matching_loss": 0.010441833920776845, + "grad_norm": 0.10166198015213013, + "kept_token_count": 572.871875, + "learning_rate": 2.0771013894562003e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9930591762065888, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006940819509327412, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 412.8464019775391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.33135681152345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25170, + "valid_token_count": 817.978125 + }, + { + "actual_token_mask_ratio": 0.3011681169271469, + "epoch": 7.32615653185918, + "flow_matching_loss": 0.011802858114242554, + "grad_norm": 0.180022731423378, + "kept_token_count": 571.9921875, + "learning_rate": 2.0687143698110113e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.993460500240326, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065394964069128035, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.25941772460936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3300262451172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25180, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.29942525625228883, + "epoch": 7.329066045970323, + "flow_matching_loss": 0.011380541045218706, + "grad_norm": 0.09198889136314392, + "kept_token_count": 573.14375, + "learning_rate": 2.060343062897208e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9937652289867401, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006234778650104999, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.56187744140624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2948516845703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25190, + "valid_token_count": 818.1078125 + }, + { + "actual_token_mask_ratio": 0.30001484751701357, + "epoch": 7.3319755600814664, + "flow_matching_loss": 0.01146479626186192, + "grad_norm": 0.07322583347558975, + "kept_token_count": 572.8921875, + "learning_rate": 2.0519874788867127e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9931478202342987, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006852181255817413, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.5280822753906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.00531311035155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25200, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.2995057314634323, + "epoch": 7.33488507419261, + "flow_matching_loss": 0.011963166017085313, + "grad_norm": 0.08574389666318893, + "kept_token_count": 573.1578125, + "learning_rate": 2.043647627932347e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9933594465255737, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006640552170574665, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.9547821044922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3260894775391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25210, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.3003664672374725, + "epoch": 7.337794588303753, + "flow_matching_loss": 0.011449171090498566, + "grad_norm": 0.13504499197006226, + "kept_token_count": 572.3109375, + "learning_rate": 2.0353235201678193e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9935924053192139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006407585926353931, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.37876281738284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.0381622314453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25220, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.29959953725337984, + "epoch": 7.340704102414897, + "flow_matching_loss": 0.011295042978599668, + "grad_norm": 0.06892874836921692, + "kept_token_count": 572.9046875, + "learning_rate": 2.0270151657076995e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9930399298667908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006960081309080124, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 415.1827362060547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.6708526611328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25230, + "valid_token_count": 817.9734375 + }, + { + "actual_token_mask_ratio": 0.299726402759552, + "epoch": 7.34361361652604, + "flow_matching_loss": 0.010479304892942309, + "grad_norm": 0.0621245913207531, + "kept_token_count": 572.9015625, + "learning_rate": 2.0187225746474286e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9938629686832428, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006137036997824907, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.47971496582034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2571533203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25240, + "valid_token_count": 818.109375 + }, + { + "actual_token_mask_ratio": 0.3000909000635147, + "epoch": 7.346523130637183, + "flow_matching_loss": 0.011998887360095977, + "grad_norm": 0.08977115154266357, + "kept_token_count": 572.7, + "learning_rate": 2.0104457570632845e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.993334811925888, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006665186677128077, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6754608154297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.846240234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25250, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.300024151802063, + "epoch": 7.349432644748327, + "flow_matching_loss": 0.011550036258995533, + "grad_norm": 0.08747600018978119, + "kept_token_count": 572.553125, + "learning_rate": 2.0021847230123775e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9929123938083648, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007087615504860878, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.2359252929688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.617626953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25260, + "valid_token_count": 817.9640625 + }, + { + "actual_token_mask_ratio": 0.2997280299663544, + "epoch": 7.352342158859471, + "flow_matching_loss": 0.012944272626191378, + "grad_norm": 0.11812204867601395, + "kept_token_count": 573.1359375, + "learning_rate": 1.9939394825326494e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9933407723903656, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006659208610653877, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.82598876953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5827270507813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25270, + "valid_token_count": 818.446875 + }, + { + "actual_token_mask_ratio": 0.2999337941408157, + "epoch": 7.355251672970613, + "flow_matching_loss": 0.010361551772803068, + "grad_norm": 0.0767170861363411, + "kept_token_count": 572.9859375, + "learning_rate": 1.9857100456428385e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9928149044513702, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007185095269232988, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.4616363525391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2576934814453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25280, + "valid_token_count": 818.4765625 + }, + { + "actual_token_mask_ratio": 0.30041787922382357, + "epoch": 7.358161187081757, + "flow_matching_loss": 0.010501978592947126, + "grad_norm": 0.06656979769468307, + "kept_token_count": 572.1171875, + "learning_rate": 1.977496422342492e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9935905694961548, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006409423332661391, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.97059631347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.95476684570315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25290, + "valid_token_count": 817.7984375 + }, + { + "actual_token_mask_ratio": 0.30087795853614807, + "epoch": 7.361070701192901, + "flow_matching_loss": 0.010656294366344809, + "grad_norm": 0.07055588811635971, + "kept_token_count": 572.009375, + "learning_rate": 1.9692986226119345e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9933909952640534, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006608995702117681, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.7096862792969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0769744873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25300, + "valid_token_count": 818.1828125 + }, + { + "actual_token_mask_ratio": 0.3002220571041107, + "epoch": 7.363980215304045, + "flow_matching_loss": 0.011619398975744844, + "grad_norm": 0.09355909377336502, + "kept_token_count": 572.8515625, + "learning_rate": 1.9611166564122658e-06, + "loss": 0.015, + "mgd_cos_sim": 0.9933384656906128, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006661538314074278, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.58652954101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.75145568847654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25310, + "valid_token_count": 818.6234375 + }, + { + "actual_token_mask_ratio": 0.3002924174070358, + "epoch": 7.366889729415187, + "flow_matching_loss": 0.009939944138750434, + "grad_norm": 0.08213835209608078, + "kept_token_count": 572.703125, + "learning_rate": 1.9529505336853456e-06, + "loss": 0.013, + "mgd_cos_sim": 0.9939059555530548, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006094039883464575, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.32395324707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4200042724609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25320, + "valid_token_count": 818.484375 + }, + { + "actual_token_mask_ratio": 0.2995122462511063, + "epoch": 7.369799243526331, + "flow_matching_loss": 0.011931190779432655, + "grad_norm": 0.11495424062013626, + "kept_token_count": 573.334375, + "learning_rate": 1.9448002643537833e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9934217989444732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006578197702765465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.4954559326172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.9230621337891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25330, + "valid_token_count": 818.478125 + }, + { + "actual_token_mask_ratio": 0.29928843677043915, + "epoch": 7.372708757637475, + "flow_matching_loss": 0.011778350919485092, + "grad_norm": 0.10026255995035172, + "kept_token_count": 573.0734375, + "learning_rate": 1.9366658583209205e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9932334244251251, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006766560021787882, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.5716186523438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8185333251953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25340, + "valid_token_count": 817.8421875 + }, + { + "actual_token_mask_ratio": 0.29968683421611786, + "epoch": 7.375618271748618, + "flow_matching_loss": 0.012021951330825686, + "grad_norm": 0.07881997525691986, + "kept_token_count": 572.9921875, + "learning_rate": 1.9285473254708363e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9935767650604248, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006423225440084934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.4430725097656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7075531005859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25350, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2990826040506363, + "epoch": 7.378527785859761, + "flow_matching_loss": 0.010355628049001097, + "grad_norm": 0.06683293730020523, + "kept_token_count": 573.6078125, + "learning_rate": 1.9204446756683092e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9931408047676087, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006859211064875126, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.9571899414062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0098541259766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25360, + "valid_token_count": 818.3703125 + }, + { + "actual_token_mask_ratio": 0.2995943367481232, + "epoch": 7.381437299970905, + "flow_matching_loss": 0.011224035127088427, + "grad_norm": 0.1178322583436966, + "kept_token_count": 573.1109375, + "learning_rate": 1.912357918758822e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9935715734958649, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064284345135092735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.84373779296874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0421142578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25370, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.29946679472923277, + "epoch": 7.384346814082049, + "flow_matching_loss": 0.011296797404065728, + "grad_norm": 0.09058559685945511, + "kept_token_count": 573.234375, + "learning_rate": 1.9042870645685478e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9932360947132111, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006763904448598623, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.6160186767578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.81516723632814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25380, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.2996728539466858, + "epoch": 7.387256328193192, + "flow_matching_loss": 0.011595996003597975, + "grad_norm": 0.11778222024440765, + "kept_token_count": 572.965625, + "learning_rate": 1.8962321229043322e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9928332984447479, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007166704069823027, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.8040374755859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.45220642089845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25390, + "valid_token_count": 818.1375 + }, + { + "actual_token_mask_ratio": 0.2996057689189911, + "epoch": 7.390165842304335, + "flow_matching_loss": 0.009913047729060053, + "grad_norm": 0.0901695266366005, + "kept_token_count": 573.1484375, + "learning_rate": 1.8881931035536943e-06, + "loss": 0.0133, + "mgd_cos_sim": 0.9933205783367157, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066794130951166155, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.28076171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5544036865234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25400, + "valid_token_count": 818.328125 + }, + { + "actual_token_mask_ratio": 0.3002683937549591, + "epoch": 7.393075356415479, + "flow_matching_loss": 0.012215595226734877, + "grad_norm": 0.10103817284107208, + "kept_token_count": 572.559375, + "learning_rate": 1.8801700162847952e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9929845690727234, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007015444338321686, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1346801757812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.45522155761716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25410, + "valid_token_count": 818.25625 + }, + { + "actual_token_mask_ratio": 0.2993344247341156, + "epoch": 7.395984870526622, + "flow_matching_loss": 0.013040272984653711, + "grad_norm": 0.08567051589488983, + "kept_token_count": 573.596875, + "learning_rate": 1.87216287084645e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9936753690242768, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006324634794145823, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.0690032958984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.20517883300784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25420, + "valid_token_count": 818.6453125 + }, + { + "actual_token_mask_ratio": 0.2997743010520935, + "epoch": 7.3988943846377655, + "flow_matching_loss": 0.010717437975108624, + "grad_norm": 0.07834728807210922, + "kept_token_count": 573.0203125, + "learning_rate": 1.8641716769680895e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9935802519321442, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00641974825412035, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.3186828613281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8485809326172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25430, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.299881175160408, + "epoch": 7.401803898748909, + "flow_matching_loss": 0.009715104196220636, + "grad_norm": 0.09046445041894913, + "kept_token_count": 572.8015625, + "learning_rate": 1.8561964443597662e-06, + "loss": 0.0132, + "mgd_cos_sim": 0.9931255042552948, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006874486990272999, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.14293518066404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.33530883789064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25440, + "valid_token_count": 818.1453125 + }, + { + "actual_token_mask_ratio": 0.2990823358297348, + "epoch": 7.404713412860052, + "flow_matching_loss": 0.011908615799620747, + "grad_norm": 0.09140697121620178, + "kept_token_count": 573.853125, + "learning_rate": 1.848237182712147e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9932364821434021, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006763509381562472, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 441.76198120117186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4787902832031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25450, + "valid_token_count": 818.721875 + }, + { + "actual_token_mask_ratio": 0.30024600923061373, + "epoch": 7.407622926971196, + "flow_matching_loss": 0.009502857876941561, + "grad_norm": 0.12353815138339996, + "kept_token_count": 572.5828125, + "learning_rate": 1.8402939016964788e-06, + "loss": 0.0128, + "mgd_cos_sim": 0.9934646248817444, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00653538266196847, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.8570983886719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.39268493652344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25460, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.29966323673725126, + "epoch": 7.410532441082339, + "flow_matching_loss": 0.012262360146269202, + "grad_norm": 0.0833640769124031, + "kept_token_count": 573.034375, + "learning_rate": 1.832366610964601e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9933689713478089, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066310265101492405, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.3378540039063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8868774414062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25470, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.3007757991552353, + "epoch": 7.413441955193482, + "flow_matching_loss": 0.012947083823382855, + "grad_norm": 0.08830874413251877, + "kept_token_count": 572.0515625, + "learning_rate": 1.8244553201489166e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9931863307952881, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006813680287450552, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.37632446289064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.07017822265624, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25480, + "valid_token_count": 818.1296875 + }, + { + "actual_token_mask_ratio": 0.30027690529823303, + "epoch": 7.416351469304626, + "flow_matching_loss": 0.011334613570943475, + "grad_norm": 0.07079922407865524, + "kept_token_count": 572.3609375, + "learning_rate": 1.8165600388623882e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9933736324310303, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066263689659535885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4111633300781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9222473144531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25490, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.2997992366552353, + "epoch": 7.41926098341577, + "flow_matching_loss": 0.012582339812070131, + "grad_norm": 0.12630324065685272, + "kept_token_count": 573.0875, + "learning_rate": 1.8086807766985331e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9932939231395721, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00670608775690198, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.54787292480466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7005981445312, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25500, + "valid_token_count": 818.4609375 + }, + { + "actual_token_mask_ratio": 0.30003432631492616, + "epoch": 7.422170497526913, + "flow_matching_loss": 0.011202190862968564, + "grad_norm": 0.10999371856451035, + "kept_token_count": 572.8234375, + "learning_rate": 1.8008175432313946e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.993575495481491, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006424499116837979, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3720275878906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6194152832031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25510, + "valid_token_count": 818.3609375 + }, + { + "actual_token_mask_ratio": 0.29873342514038087, + "epoch": 7.425080011638056, + "flow_matching_loss": 0.011399019137024879, + "grad_norm": 0.08522509038448334, + "kept_token_count": 574.04375, + "learning_rate": 1.7929703480155429e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9931992650032043, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006800736580044031, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3182891845703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6417755126953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25520, + "valid_token_count": 818.5765625 + }, + { + "actual_token_mask_ratio": 0.2995142102241516, + "epoch": 7.4279895257492, + "flow_matching_loss": 0.012830185238271952, + "grad_norm": 0.08956278860569, + "kept_token_count": 573.1578125, + "learning_rate": 1.7851392005860595e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9931980609893799, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006801932398229837, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.9465576171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1414825439453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25530, + "valid_token_count": 818.2234375 + }, + { + "actual_token_mask_ratio": 0.3009074926376343, + "epoch": 7.430899039860344, + "flow_matching_loss": 0.011491066403687, + "grad_norm": 0.17899613082408905, + "kept_token_count": 572.1, + "learning_rate": 1.7773241104585243e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9933983087539673, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006601693946868182, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.2727813720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.47161865234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25540, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.30008555948734283, + "epoch": 7.433808553971486, + "flow_matching_loss": 0.012081948481500149, + "grad_norm": 0.09853203594684601, + "kept_token_count": 572.7, + "learning_rate": 1.7695250871290108e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9930298864841461, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006970112770795822, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.74493408203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3569091796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25550, + "valid_token_count": 818.240625 + }, + { + "actual_token_mask_ratio": 0.29831494092941285, + "epoch": 7.43671806808263, + "flow_matching_loss": 0.012191042769700289, + "grad_norm": 0.1259230226278305, + "kept_token_count": 574.3203125, + "learning_rate": 1.761742140074074e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9931999802589416, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006800031848251819, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.6089569091797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.1437927246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25560, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.3002719521522522, + "epoch": 7.439627582193774, + "flow_matching_loss": 0.01250719018280506, + "grad_norm": 0.1067049577832222, + "kept_token_count": 572.528125, + "learning_rate": 1.7539752787507208e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9935135066509246, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064864946529269215, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.2044189453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0382385253906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25570, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.2999588161706924, + "epoch": 7.442537096304917, + "flow_matching_loss": 0.011714085843414069, + "grad_norm": 0.13027140498161316, + "kept_token_count": 572.9734375, + "learning_rate": 1.7462245125964233e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9931930422782898, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006806945614516735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.5854248046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7598907470703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25580, + "valid_token_count": 818.484375 + }, + { + "actual_token_mask_ratio": 0.30001001060009, + "epoch": 7.44544661041606, + "flow_matching_loss": 0.012890235986560583, + "grad_norm": 0.09323902428150177, + "kept_token_count": 572.8015625, + "learning_rate": 1.7384898510290931e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.993265551328659, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006734445225447416, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.1837127685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.70131225585936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25590, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.30019529163837433, + "epoch": 7.448356124527204, + "flow_matching_loss": 0.012139066867530347, + "grad_norm": 0.10216298699378967, + "kept_token_count": 572.8671875, + "learning_rate": 1.730771303447069e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9933134496212006, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006686550937592984, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.38515319824216, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0241302490234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25600, + "valid_token_count": 818.6109375 + }, + { + "actual_token_mask_ratio": 0.300182381272316, + "epoch": 7.451265638638348, + "flow_matching_loss": 0.012121812999248504, + "grad_norm": 0.11005475372076035, + "kept_token_count": 572.4828125, + "learning_rate": 1.7230688792291204e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9930472135543823, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006952786259353161, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.0485076904297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.01849060058595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25610, + "valid_token_count": 818.0421875 + }, + { + "actual_token_mask_ratio": 0.2997505396604538, + "epoch": 7.454175152749491, + "flow_matching_loss": 0.01050129383802414, + "grad_norm": 0.10590197890996933, + "kept_token_count": 573.084375, + "learning_rate": 1.7153825877344175e-06, + "loss": 0.0138, + "mgd_cos_sim": 0.9934002101421356, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006599773373454809, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.0220001220703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6273254394531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25620, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.3005108207464218, + "epoch": 7.457084666860634, + "flow_matching_loss": 0.012052626814693213, + "grad_norm": 0.14411409199237823, + "kept_token_count": 572.5703125, + "learning_rate": 1.7077124383025278e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9935245335102081, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064754803664982315, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.8477478027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5176605224609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25630, + "valid_token_count": 818.5484375 + }, + { + "actual_token_mask_ratio": 0.2987093687057495, + "epoch": 7.459994180971778, + "flow_matching_loss": 0.01000495022162795, + "grad_norm": 0.08334510028362274, + "kept_token_count": 573.64375, + "learning_rate": 1.7000584402534058e-06, + "loss": 0.0133, + "mgd_cos_sim": 0.9933336555957795, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006666329223662615, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.63129272460935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.52094116210935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25640, + "valid_token_count": 817.9875 + }, + { + "actual_token_mask_ratio": 0.3007829010486603, + "epoch": 7.462903695082921, + "flow_matching_loss": 0.011985581833869219, + "grad_norm": 0.1151781976222992, + "kept_token_count": 572.128125, + "learning_rate": 1.6924206028873774e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.992947906255722, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007052096631377935, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.7128479003906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.19664001464844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25650, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.2999538600444794, + "epoch": 7.4658132091940645, + "flow_matching_loss": 0.010018192557618022, + "grad_norm": 0.08774606883525848, + "kept_token_count": 572.8953125, + "learning_rate": 1.6847989354851434e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.9931897103786469, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00681029399856925, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.57306518554685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6768341064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25660, + "valid_token_count": 818.36875 + }, + { + "actual_token_mask_ratio": 0.3003880769014359, + "epoch": 7.468722723305208, + "flow_matching_loss": 0.011685936152935028, + "grad_norm": 0.12124618887901306, + "kept_token_count": 572.5203125, + "learning_rate": 1.6771934473077443e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9936504364013672, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006349558942019939, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 439.89423828125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6981475830078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25670, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.3000035285949707, + "epoch": 7.471632237416351, + "flow_matching_loss": 0.013225079094991089, + "grad_norm": 0.11757750064134598, + "kept_token_count": 572.5953125, + "learning_rate": 1.669604147596563e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9931998074054718, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006800192873924971, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.5343078613281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5817504882813, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25680, + "valid_token_count": 817.990625 + }, + { + "actual_token_mask_ratio": 0.3001675307750702, + "epoch": 7.474541751527495, + "flow_matching_loss": 0.011527513852342963, + "grad_norm": 0.11614955216646194, + "kept_token_count": 572.85, + "learning_rate": 1.662031045573319e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9928981542587281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007101826928555965, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.85322265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.43382263183594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25690, + "valid_token_count": 818.55625 + }, + { + "actual_token_mask_ratio": 0.29902719557285307, + "epoch": 7.4774512656386385, + "flow_matching_loss": 0.01146721225231886, + "grad_norm": 0.08231023699045181, + "kept_token_count": 573.5171875, + "learning_rate": 1.6544741504400402e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9932714343070984, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006728581432253122, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.29761962890626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.59034423828126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25700, + "valid_token_count": 818.1765625 + }, + { + "actual_token_mask_ratio": 0.29961795508861544, + "epoch": 7.480360779749782, + "flow_matching_loss": 0.011880471743643284, + "grad_norm": 0.0992203876376152, + "kept_token_count": 572.8390625, + "learning_rate": 1.6469334713790712e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9932569980621337, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006742988992482424, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.78705139160155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2958953857422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25710, + "valid_token_count": 817.8875 + }, + { + "actual_token_mask_ratio": 0.30034968852996824, + "epoch": 7.483270293860925, + "flow_matching_loss": 0.010898579750210047, + "grad_norm": 0.09836579114198685, + "kept_token_count": 572.6703125, + "learning_rate": 1.639409017553048e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9934937059879303, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065062899142503735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.6927917480469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.86290283203124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25720, + "valid_token_count": 818.5125 + }, + { + "actual_token_mask_ratio": 0.30072781443595886, + "epoch": 7.486179807972069, + "flow_matching_loss": 0.010354703571647406, + "grad_norm": 0.08342958241701126, + "kept_token_count": 572.0953125, + "learning_rate": 1.6319007981048884e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9934300363063813, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006569960247725248, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.17804260253905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6584442138672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25730, + "valid_token_count": 818.1265625 + }, + { + "actual_token_mask_ratio": 0.29994064569473267, + "epoch": 7.489089322083212, + "flow_matching_loss": 0.012423898838460446, + "grad_norm": 0.09763968735933304, + "kept_token_count": 572.6734375, + "learning_rate": 1.6244088221577896e-06, + "loss": 0.0157, + "mgd_cos_sim": 0.9933836698532105, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00661632427945733, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.16375732421875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.93829040527345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25740, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.3001021176576614, + "epoch": 7.491998836194355, + "flow_matching_loss": 0.01037740483880043, + "grad_norm": 0.09780129045248032, + "kept_token_count": 572.5734375, + "learning_rate": 1.6169330988152081e-06, + "loss": 0.0139, + "mgd_cos_sim": 0.9930251955986023, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006974798906594515, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.0799072265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.31390075683595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25750, + "valid_token_count": 818.08125 + }, + { + "actual_token_mask_ratio": 0.30037702322006227, + "epoch": 7.494908350305499, + "flow_matching_loss": 0.010877121100202202, + "grad_norm": 0.10974724590778351, + "kept_token_count": 572.5140625, + "learning_rate": 1.6094736371608475e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9932231068611145, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006776882987469435, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.27904052734374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2909332275391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25760, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.3004310101270676, + "epoch": 7.497817864416643, + "flow_matching_loss": 0.011368088005110622, + "grad_norm": 0.08702365309000015, + "kept_token_count": 572.41875, + "learning_rate": 1.602030446258666e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9932470440864563, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006752961035817862, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.9522979736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.08702087402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25770, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.3002501368522644, + "epoch": 7.5007273785277855, + "flow_matching_loss": 0.010917087271809577, + "grad_norm": 0.10011555254459381, + "kept_token_count": 572.51875, + "learning_rate": 1.5946035351528388e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9934664964675903, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006533494964241981, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.8155456542969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.83104553222654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25780, + "valid_token_count": 818.1796875 + }, + { + "actual_token_mask_ratio": 0.29991725385189055, + "epoch": 7.503636892638929, + "flow_matching_loss": 0.013494826387614012, + "grad_norm": 0.10522472858428955, + "kept_token_count": 572.75625, + "learning_rate": 1.5871929128677621e-06, + "loss": 0.0169, + "mgd_cos_sim": 0.9931394100189209, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006860582996159792, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.2361602783203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.8163208007812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25790, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.30052606463432313, + "epoch": 7.506546406750073, + "flow_matching_loss": 0.011117276968434453, + "grad_norm": 0.08736995607614517, + "kept_token_count": 572.178125, + "learning_rate": 1.5797985884080412e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9932078182697296, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006792171858251095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.402685546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2939117431641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25800, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.2984116166830063, + "epoch": 7.509455920861216, + "flow_matching_loss": 0.010752159869298339, + "grad_norm": 0.10350881516933441, + "kept_token_count": 574.1328125, + "learning_rate": 1.572420570758476e-06, + "loss": 0.014, + "mgd_cos_sim": 0.993514895439148, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006485099997371435, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3085479736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2261566162109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25810, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.3005305647850037, + "epoch": 7.512365434972359, + "flow_matching_loss": 0.01095774294808507, + "grad_norm": 0.09577393531799316, + "kept_token_count": 572.296875, + "learning_rate": 1.5650588688840567e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9934471309185028, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00655286181718111, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3205047607422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0582794189453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25820, + "valid_token_count": 818.18125 + }, + { + "actual_token_mask_ratio": 0.3000668495893478, + "epoch": 7.515274949083503, + "flow_matching_loss": 0.010591435432434081, + "grad_norm": 0.05936913564801216, + "kept_token_count": 572.8609375, + "learning_rate": 1.5577134917299413e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9927993416786194, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007200658414512872, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.96849365234374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.31976013183595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25830, + "valid_token_count": 818.4484375 + }, + { + "actual_token_mask_ratio": 0.2997634172439575, + "epoch": 7.518184463194647, + "flow_matching_loss": 0.012300661206245423, + "grad_norm": 0.12925739586353302, + "kept_token_count": 573.0328125, + "learning_rate": 1.5503844482214618e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9930596947669983, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00694030737504363, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.6959686279297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4297332763672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25840, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.2999128520488739, + "epoch": 7.52109397730579, + "flow_matching_loss": 0.010756991617381573, + "grad_norm": 0.08249499648809433, + "kept_token_count": 573.071875, + "learning_rate": 1.5430717472640932e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9926685512065887, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007331448793411255, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.77642517089845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0818603515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25850, + "valid_token_count": 818.5640625 + }, + { + "actual_token_mask_ratio": 0.2996653258800507, + "epoch": 7.524003491416933, + "flow_matching_loss": 0.012341529969125986, + "grad_norm": 0.08478137105703354, + "kept_token_count": 573.0484375, + "learning_rate": 1.5357753977434541e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9933838963508606, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006616109795868397, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.27561340332034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6843200683594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25860, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.30142697393894197, + "epoch": 7.526913005528077, + "flow_matching_loss": 0.012311728019267321, + "grad_norm": 0.11488654464483261, + "kept_token_count": 571.8953125, + "learning_rate": 1.5284954085253043e-06, + "loss": 0.0159, + "mgd_cos_sim": 0.9928354680538177, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007164526637643576, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.4103576660156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4023468017578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25870, + "valid_token_count": 818.6640625 + }, + { + "actual_token_mask_ratio": 0.29938185811042783, + "epoch": 7.52982251963922, + "flow_matching_loss": 0.010582813899964095, + "grad_norm": 0.1252909004688263, + "kept_token_count": 573.296875, + "learning_rate": 1.5212317884555115e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9929257094860077, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007074289582669735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.7617462158203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1708465576172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25880, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.3001387983560562, + "epoch": 7.532732033750364, + "flow_matching_loss": 0.013045409880578517, + "grad_norm": 0.11269153654575348, + "kept_token_count": 572.453125, + "learning_rate": 1.5139845463600605e-06, + "loss": 0.0163, + "mgd_cos_sim": 0.9934934198856353, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006506582908332348, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.06064758300784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3651977539063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25890, + "valid_token_count": 817.95 + }, + { + "actual_token_mask_ratio": 0.3003935217857361, + "epoch": 7.535641547861507, + "flow_matching_loss": 0.01291562309488654, + "grad_norm": 0.12523972988128662, + "kept_token_count": 572.375, + "learning_rate": 1.5067536910450352e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9933580338954926, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006641962844878435, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.77528686523436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.59137268066405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25900, + "valid_token_count": 818.1421875 + }, + { + "actual_token_mask_ratio": 0.3007901251316071, + "epoch": 7.538551061972651, + "flow_matching_loss": 0.010742757329717278, + "grad_norm": 0.08467815071344376, + "kept_token_count": 572.021875, + "learning_rate": 1.4995392312966044e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9934366643428802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006563353538513184, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.92137145996094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4249572753906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25910, + "valid_token_count": 818.0953125 + }, + { + "actual_token_mask_ratio": 0.2994354099035263, + "epoch": 7.541460576083794, + "flow_matching_loss": 0.010578549932688475, + "grad_norm": 0.13209566473960876, + "kept_token_count": 573.4515625, + "learning_rate": 1.492341175881014e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9932422995567322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006757715437561274, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.0347442626953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.51453552246096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25920, + "valid_token_count": 818.5453125 + }, + { + "actual_token_mask_ratio": 0.30001998543739317, + "epoch": 7.5443700901949375, + "flow_matching_loss": 0.010856811702251435, + "grad_norm": 0.09046149253845215, + "kept_token_count": 572.5515625, + "learning_rate": 1.4851595335445895e-06, + "loss": 0.0141, + "mgd_cos_sim": 0.9935971081256867, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006402882188558579, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.5167633056641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.84385070800784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25930, + "valid_token_count": 817.959375 + }, + { + "actual_token_mask_ratio": 0.2993727207183838, + "epoch": 7.547279604306081, + "flow_matching_loss": 0.011348298378288746, + "grad_norm": 0.09849798679351807, + "kept_token_count": 573.1484375, + "learning_rate": 1.4779943130136953e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9933305263519288, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006669475603848696, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.53391723632814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.86696472167966, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25940, + "valid_token_count": 818.0484375 + }, + { + "actual_token_mask_ratio": 0.300490602850914, + "epoch": 7.550189118417224, + "flow_matching_loss": 0.011055674450471998, + "grad_norm": 0.1027894988656044, + "kept_token_count": 572.36875, + "learning_rate": 1.4708455229947537e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.993324625492096, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006675376836210489, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.52337646484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.402099609375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25950, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.2998965620994568, + "epoch": 7.553098632528368, + "flow_matching_loss": 0.01092396560125053, + "grad_norm": 0.11939194798469543, + "kept_token_count": 573.096875, + "learning_rate": 1.4637131721742148e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9932725369930268, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067274636588990685, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.53843078613284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5827941894531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25960, + "valid_token_count": 818.5890625 + }, + { + "actual_token_mask_ratio": 0.3001083701848984, + "epoch": 7.5560081466395115, + "flow_matching_loss": 0.011201139399781823, + "grad_norm": 0.08586405962705612, + "kept_token_count": 572.865625, + "learning_rate": 1.4565972692185626e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9934536218643188, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006546385772526264, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.8060363769531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.56910400390626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25970, + "valid_token_count": 818.509375 + }, + { + "actual_token_mask_ratio": 0.3001655042171478, + "epoch": 7.558917660750654, + "flow_matching_loss": 0.013467802060768008, + "grad_norm": 0.09029637277126312, + "kept_token_count": 572.7828125, + "learning_rate": 1.4494978227742855e-06, + "loss": 0.0168, + "mgd_cos_sim": 0.9933987081050872, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006601290870457887, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.9320373535156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9563751220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25980, + "valid_token_count": 818.459375 + }, + { + "actual_token_mask_ratio": 0.30085475742816925, + "epoch": 7.561827174861798, + "flow_matching_loss": 0.01303547234274447, + "grad_norm": 0.08314237743616104, + "kept_token_count": 572.2578125, + "learning_rate": 1.442414841467885e-06, + "loss": 0.0165, + "mgd_cos_sim": 0.992987847328186, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007012145500630141, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.5482604980469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0562469482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 25990, + "valid_token_count": 818.5015625 + }, + { + "actual_token_mask_ratio": 0.3001772195100784, + "epoch": 7.564736688972942, + "flow_matching_loss": 0.010933134006336331, + "grad_norm": 0.09466481953859329, + "kept_token_count": 572.4921875, + "learning_rate": 1.4353483339058498e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9928432166576385, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007156778685748577, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.4528503417969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.91278076171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26000, + "valid_token_count": 818.046875 + }, + { + "actual_token_mask_ratio": 0.2987053722143173, + "epoch": 7.5676462030840845, + "flow_matching_loss": 0.012996196281164885, + "grad_norm": 0.11380468308925629, + "kept_token_count": 573.7875, + "learning_rate": 1.4282983086746498e-06, + "loss": 0.0168, + "mgd_cos_sim": 0.9923304617404938, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00766952708363533, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.90148010253904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.05426635742185, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26010, + "valid_token_count": 818.190625 + }, + { + "actual_token_mask_ratio": 0.2995510071516037, + "epoch": 7.570555717195228, + "flow_matching_loss": 0.011446225177496671, + "grad_norm": 0.17075759172439575, + "kept_token_count": 573.109375, + "learning_rate": 1.4212647743407325e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9930159211158752, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006984081212431192, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.9388092041016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.52313232421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26020, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.299067485332489, + "epoch": 7.573465231306372, + "flow_matching_loss": 0.01104148868471384, + "grad_norm": 0.11056482791900635, + "kept_token_count": 573.865625, + "learning_rate": 1.4142477394505065e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9927728354930878, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007227162551134825, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.5194793701172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0480041503906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26030, + "valid_token_count": 818.7265625 + }, + { + "actual_token_mask_ratio": 0.30022440254688265, + "epoch": 7.576374745417516, + "flow_matching_loss": 0.01263322625309229, + "grad_norm": 0.10033174604177475, + "kept_token_count": 572.3296875, + "learning_rate": 1.4072472125303299e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9931753754615784, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006824618391692639, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.45216369628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.74175415039065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26040, + "valid_token_count": 817.8765625 + }, + { + "actual_token_mask_ratio": 0.30005963146686554, + "epoch": 7.5792842595286585, + "flow_matching_loss": 0.010528814466670155, + "grad_norm": 0.09077391028404236, + "kept_token_count": 572.7, + "learning_rate": 1.4002632020865031e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9931282043457031, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006871793232858181, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.53892822265624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.05690307617186, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26050, + "valid_token_count": 818.2125 + }, + { + "actual_token_mask_ratio": 0.3002334475517273, + "epoch": 7.582193773639802, + "flow_matching_loss": 0.01319201271981001, + "grad_norm": 0.09798764437437057, + "kept_token_count": 572.5140625, + "learning_rate": 1.393295716605258e-06, + "loss": 0.0164, + "mgd_cos_sim": 0.9936377048492432, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006362298876047135, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.6883178710938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.80108947753905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26060, + "valid_token_count": 818.146875 + }, + { + "actual_token_mask_ratio": 0.2995771527290344, + "epoch": 7.585103287750946, + "flow_matching_loss": 0.010388469044119119, + "grad_norm": 0.09404047578573227, + "kept_token_count": 573.3703125, + "learning_rate": 1.386344764552742e-06, + "loss": 0.0135, + "mgd_cos_sim": 0.9937082886695862, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062917150557041165, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.21140747070314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.60646057128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26070, + "valid_token_count": 818.6140625 + }, + { + "actual_token_mask_ratio": 0.300027871131897, + "epoch": 7.588012801862089, + "flow_matching_loss": 0.011025010887533427, + "grad_norm": 0.07789671421051025, + "kept_token_count": 572.4796875, + "learning_rate": 1.3794103543750246e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9934208750724792, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006579106859862805, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.7885772705078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1732696533203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26080, + "valid_token_count": 817.8640625 + }, + { + "actual_token_mask_ratio": 0.299601736664772, + "epoch": 7.590922315973232, + "flow_matching_loss": 0.009579451102763415, + "grad_norm": 0.09982120990753174, + "kept_token_count": 573.171875, + "learning_rate": 1.3724924944980637e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9932758569717407, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006724140327423811, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.8764617919922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.82752685546876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26090, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.2994398772716522, + "epoch": 7.593831830084376, + "flow_matching_loss": 0.011198755959048868, + "grad_norm": 0.09567925333976746, + "kept_token_count": 573.41875, + "learning_rate": 1.365591193327712e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9932110846042633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006788909621536732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.8588409423828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.79822692871096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26100, + "valid_token_count": 818.50625 + }, + { + "actual_token_mask_ratio": 0.3020416796207428, + "epoch": 7.59674134419552, + "flow_matching_loss": 0.013388254353776574, + "grad_norm": 0.07851462066173553, + "kept_token_count": 571.165625, + "learning_rate": 1.3587064592496984e-06, + "loss": 0.0168, + "mgd_cos_sim": 0.9932253301143646, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006774650979787111, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.2777130126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8776794433594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26110, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.2999970048666, + "epoch": 7.599650858306663, + "flow_matching_loss": 0.012701016198843718, + "grad_norm": 0.1294671893119812, + "kept_token_count": 572.7546875, + "learning_rate": 1.3518383006296292e-06, + "loss": 0.0162, + "mgd_cos_sim": 0.9930788993835449, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006921103410422802, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.15452880859374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.346923828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26120, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.30035941302776337, + "epoch": 7.602560372417806, + "flow_matching_loss": 0.01097711487673223, + "grad_norm": 0.10336688905954361, + "kept_token_count": 572.3921875, + "learning_rate": 1.344986725812959e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9932412564754486, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00675874799489975, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.6817230224609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.79880676269534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26130, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.299002343416214, + "epoch": 7.605469886528949, + "flow_matching_loss": 0.01122768633067608, + "grad_norm": 0.11862743645906448, + "kept_token_count": 573.5390625, + "learning_rate": 1.3381517431250046e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9931102991104126, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006889717653393745, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 413.602734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.3565277099609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26140, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.30037380158901217, + "epoch": 7.608379400640093, + "flow_matching_loss": 0.011703437054529786, + "grad_norm": 0.11090955883264542, + "kept_token_count": 572.46875, + "learning_rate": 1.3313333608709095e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.992829155921936, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007170851994305849, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.50159606933596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.079931640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26150, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.30018003582954406, + "epoch": 7.611288914751237, + "flow_matching_loss": 0.011219549644738435, + "grad_norm": 0.09727451205253601, + "kept_token_count": 572.3828125, + "learning_rate": 1.3245315873356528e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9926873326301575, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007312673516571522, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.1050964355469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4506042480469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26160, + "valid_token_count": 817.9 + }, + { + "actual_token_mask_ratio": 0.29927290976047516, + "epoch": 7.61419842886238, + "flow_matching_loss": 0.011463380977511406, + "grad_norm": 0.11366588622331619, + "kept_token_count": 573.64375, + "learning_rate": 1.3177464307840304e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9935880661010742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006411926448345184, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.15180053710935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.59592590332034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26170, + "valid_token_count": 818.6390625 + }, + { + "actual_token_mask_ratio": 0.29963179528713224, + "epoch": 7.617107942973523, + "flow_matching_loss": 0.010168518917635084, + "grad_norm": 0.07985464483499527, + "kept_token_count": 572.8859375, + "learning_rate": 1.310977899460642e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.993132495880127, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006867514085024595, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.2333587646484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6851470947266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26180, + "valid_token_count": 817.978125 + }, + { + "actual_token_mask_ratio": 0.2996372014284134, + "epoch": 7.620017457084667, + "flow_matching_loss": 0.011266636429354548, + "grad_norm": 0.12172730267047882, + "kept_token_count": 572.75, + "learning_rate": 1.3042260015899006e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9929744899272919, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007025507558137178, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.6148681640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.86377868652346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26190, + "valid_token_count": 817.7875 + }, + { + "actual_token_mask_ratio": 0.29915258586406707, + "epoch": 7.6229269711958105, + "flow_matching_loss": 0.011415587272495031, + "grad_norm": 0.1558530032634735, + "kept_token_count": 573.65, + "learning_rate": 1.2974907453759948e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9930217683315277, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006978228408843279, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.9246337890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.68140563964846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26200, + "valid_token_count": 818.50625 + }, + { + "actual_token_mask_ratio": 0.30042955577373504, + "epoch": 7.625836485306953, + "flow_matching_loss": 0.010238077398389578, + "grad_norm": 0.08370305597782135, + "kept_token_count": 572.5171875, + "learning_rate": 1.2907721390028937e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9933017134666443, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00669827414676547, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.629931640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.55237731933596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26210, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.3001750648021698, + "epoch": 7.628745999418097, + "flow_matching_loss": 0.01179232052527368, + "grad_norm": 0.09621316194534302, + "kept_token_count": 572.7203125, + "learning_rate": 1.2840701906343417e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.99284046292305, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007159552443772555, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.05707092285155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.91651306152346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26220, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.300354540348053, + "epoch": 7.631655513529241, + "flow_matching_loss": 0.011863334011286497, + "grad_norm": 0.08289900422096252, + "kept_token_count": 572.4484375, + "learning_rate": 1.2773849084138312e-06, + "loss": 0.0153, + "mgd_cos_sim": 0.9931496977806091, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006850302033126354, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.62042236328125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.6427764892578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26230, + "valid_token_count": 818.2046875 + }, + { + "actual_token_mask_ratio": 0.30015057027339936, + "epoch": 7.6345650276403845, + "flow_matching_loss": 0.010952127538621426, + "grad_norm": 0.10062995553016663, + "kept_token_count": 572.496875, + "learning_rate": 1.2707163004646177e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9935804009437561, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006419591140002012, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.96185607910155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8882598876953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26240, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.30056641101837156, + "epoch": 7.637474541751527, + "flow_matching_loss": 0.009889689134433865, + "grad_norm": 0.09328678995370865, + "kept_token_count": 572.3484375, + "learning_rate": 1.2640643748896879e-06, + "loss": 0.0132, + "mgd_cos_sim": 0.9933823883533478, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006617605593055487, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.685693359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6025451660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26250, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.29974383413791655, + "epoch": 7.640384055862671, + "flow_matching_loss": 0.014399331668391824, + "grad_norm": 0.08926814049482346, + "kept_token_count": 572.9921875, + "learning_rate": 1.257429139771753e-06, + "loss": 0.0177, + "mgd_cos_sim": 0.9933733344078064, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006626665405929088, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.2135009765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1650024414063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26260, + "valid_token_count": 818.259375 + }, + { + "actual_token_mask_ratio": 0.30048059225082396, + "epoch": 7.643293569973815, + "flow_matching_loss": 0.010232105338945984, + "grad_norm": 0.07856079190969467, + "kept_token_count": 572.44375, + "learning_rate": 1.2508106031732553e-06, + "loss": 0.0136, + "mgd_cos_sim": 0.9932530403137207, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006746959313750267, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.3262878417969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1346130371094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26270, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.29963064193725586, + "epoch": 7.6462030840849575, + "flow_matching_loss": 0.012004497507587076, + "grad_norm": 0.09047701209783554, + "kept_token_count": 573.15, + "learning_rate": 1.2442087731363366e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9929129183292389, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007087088096886874, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.985693359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6101776123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26280, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.30002541542053224, + "epoch": 7.649112598196101, + "flow_matching_loss": 0.011015624413266778, + "grad_norm": 0.1010153591632843, + "kept_token_count": 572.4578125, + "learning_rate": 1.237623657682847e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9935019195079804, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006498072948306799, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.6056274414062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.9999084472656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26290, + "valid_token_count": 817.821875 + }, + { + "actual_token_mask_ratio": 0.29965962171554567, + "epoch": 7.652022112307245, + "flow_matching_loss": 0.00962533480487764, + "grad_norm": 0.08655430376529694, + "kept_token_count": 573.4171875, + "learning_rate": 1.2310552648143208e-06, + "loss": 0.013, + "mgd_cos_sim": 0.9931691467761994, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006830846890807152, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.5264434814453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.4951171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26300, + "valid_token_count": 818.771875 + }, + { + "actual_token_mask_ratio": 0.29937055706977844, + "epoch": 7.654931626418388, + "flow_matching_loss": 0.013924510590732098, + "grad_norm": 0.0937386229634285, + "kept_token_count": 573.5296875, + "learning_rate": 1.2245036025119738e-06, + "loss": 0.0171, + "mgd_cos_sim": 0.9936213374137879, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006378666218370199, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 435.3060333251953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1020233154297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26310, + "valid_token_count": 818.5953125 + }, + { + "actual_token_mask_ratio": 0.2997538834810257, + "epoch": 7.6578411405295315, + "flow_matching_loss": 0.01051402953453362, + "grad_norm": 0.10846522450447083, + "kept_token_count": 572.990625, + "learning_rate": 1.2179686787366962e-06, + "loss": 0.014, + "mgd_cos_sim": 0.9929718315601349, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070281682536005976, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.4943023681641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7514373779297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26320, + "valid_token_count": 818.265625 + }, + { + "actual_token_mask_ratio": 0.30017160475254057, + "epoch": 7.660750654640675, + "flow_matching_loss": 0.012428094493225217, + "grad_norm": 0.07070553302764893, + "kept_token_count": 573.0703125, + "learning_rate": 1.2114505014290329e-06, + "loss": 0.0156, + "mgd_cos_sim": 0.9936764419078827, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006323572620749474, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.71697998046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8406677246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26330, + "valid_token_count": 818.8765625 + }, + { + "actual_token_mask_ratio": 0.30061601996421816, + "epoch": 7.663660168751818, + "flow_matching_loss": 0.015063079539686441, + "grad_norm": 0.10563711822032928, + "kept_token_count": 572.3078125, + "learning_rate": 1.2049490785091833e-06, + "loss": 0.0184, + "mgd_cos_sim": 0.9932534039020539, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006746596843004227, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.96694030761716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7931335449219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26340, + "valid_token_count": 818.2984375 + }, + { + "actual_token_mask_ratio": 0.30076801478862764, + "epoch": 7.666569682862962, + "flow_matching_loss": 0.011258813273161649, + "grad_norm": 0.08977991342544556, + "kept_token_count": 571.9640625, + "learning_rate": 1.1984644178769949e-06, + "loss": 0.0146, + "mgd_cos_sim": 0.9933380067348481, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006662003044039011, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.22283935546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4902648925781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26350, + "valid_token_count": 817.984375 + }, + { + "actual_token_mask_ratio": 0.2995796799659729, + "epoch": 7.669479196974105, + "flow_matching_loss": 0.009378666197881103, + "grad_norm": 0.0999249517917633, + "kept_token_count": 573.0390625, + "learning_rate": 1.1919965274119381e-06, + "loss": 0.0127, + "mgd_cos_sim": 0.9933054387569428, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006694545038044453, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.1319976806641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9838562011719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26360, + "valid_token_count": 818.134375 + }, + { + "actual_token_mask_ratio": 0.30040326416492463, + "epoch": 7.672388711085249, + "flow_matching_loss": 0.011634859023615718, + "grad_norm": 0.10095711797475815, + "kept_token_count": 572.5453125, + "learning_rate": 1.18554541497311e-06, + "loss": 0.0149, + "mgd_cos_sim": 0.9935389935970307, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006461004354059696, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.341943359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.78001098632814, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26370, + "valid_token_count": 818.4 + }, + { + "actual_token_mask_ratio": 0.29992777705192564, + "epoch": 7.675298225196392, + "flow_matching_loss": 0.0125146163161844, + "grad_norm": 0.1168704628944397, + "kept_token_count": 572.9984375, + "learning_rate": 1.1791110883992213e-06, + "loss": 0.016, + "mgd_cos_sim": 0.992959588766098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007040404155850411, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.0802032470703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.44373779296876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26380, + "valid_token_count": 818.490625 + }, + { + "actual_token_mask_ratio": 0.2993540406227112, + "epoch": 7.678207739307536, + "flow_matching_loss": 0.013395950477570296, + "grad_norm": 0.10190878808498383, + "kept_token_count": 573.0828125, + "learning_rate": 1.1726935555085817e-06, + "loss": 0.0166, + "mgd_cos_sim": 0.9935045003890991, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006495495513081551, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.848583984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0528503417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26390, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.29971722662448885, + "epoch": 7.681117253418679, + "flow_matching_loss": 0.012588763376697898, + "grad_norm": 0.09533001482486725, + "kept_token_count": 573.1375, + "learning_rate": 1.166292824099105e-06, + "loss": 0.016, + "mgd_cos_sim": 0.9931078135967255, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006892195157706738, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.22918090820315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.41204223632815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26400, + "valid_token_count": 818.4328125 + }, + { + "actual_token_mask_ratio": 0.3006139934062958, + "epoch": 7.684026767529822, + "flow_matching_loss": 0.009535777382552624, + "grad_norm": 0.0877225399017334, + "kept_token_count": 572.5078125, + "learning_rate": 1.1599089019482768e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9931756377220153, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006824361626058817, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.2504455566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.85926818847656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26410, + "valid_token_count": 818.58125 + }, + { + "actual_token_mask_ratio": 0.3013095766305923, + "epoch": 7.686936281640966, + "flow_matching_loss": 0.010191388102248311, + "grad_norm": 0.09634120762348175, + "kept_token_count": 571.7203125, + "learning_rate": 1.1535417968131718e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9930799901485443, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006919998954981565, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.79160766601564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.07176208496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26420, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.29967654347419737, + "epoch": 7.68984579575211, + "flow_matching_loss": 0.012337382743135094, + "grad_norm": 0.0976966843008995, + "kept_token_count": 572.9640625, + "learning_rate": 1.147191516430418e-06, + "loss": 0.0158, + "mgd_cos_sim": 0.9931135296821594, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006886460073292256, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5636810302734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.59389343261716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26430, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.3003510683774948, + "epoch": 7.692755309863253, + "flow_matching_loss": 0.011204695561900735, + "grad_norm": 0.08980851620435715, + "kept_token_count": 572.6734375, + "learning_rate": 1.140858068516205e-06, + "loss": 0.0143, + "mgd_cos_sim": 0.9937157571315766, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00628423998132348, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.8195434570313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8172973632812, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26440, + "valid_token_count": 818.515625 + }, + { + "actual_token_mask_ratio": 0.2996995598077774, + "epoch": 7.695664823974396, + "flow_matching_loss": 0.00989125152118504, + "grad_norm": 0.10299461334943771, + "kept_token_count": 573.078125, + "learning_rate": 1.1345414607662736e-06, + "loss": 0.0129, + "mgd_cos_sim": 0.9938926219940185, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006107382755726576, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.9260498046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7986267089844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26450, + "valid_token_count": 818.334375 + }, + { + "actual_token_mask_ratio": 0.2996633261442184, + "epoch": 7.69857433808554, + "flow_matching_loss": 0.010106014227494598, + "grad_norm": 0.07495059818029404, + "kept_token_count": 573.1171875, + "learning_rate": 1.1282417008558937e-06, + "loss": 0.0134, + "mgd_cos_sim": 0.993332302570343, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006667682901024818, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2061431884766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2414916992187, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26460, + "valid_token_count": 818.3421875 + }, + { + "actual_token_mask_ratio": 0.299453067779541, + "epoch": 7.7014838521966835, + "flow_matching_loss": 0.011981392605230212, + "grad_norm": 0.1384659707546234, + "kept_token_count": 573.215625, + "learning_rate": 1.1219587964398674e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.9932167649269104, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006783237215131521, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3744323730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7024383544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26470, + "valid_token_count": 818.2484375 + }, + { + "actual_token_mask_ratio": 0.29877387285232543, + "epoch": 7.704393366307826, + "flow_matching_loss": 0.011938289739191532, + "grad_norm": 0.1091563031077385, + "kept_token_count": 573.69375, + "learning_rate": 1.1156927551525198e-06, + "loss": 0.0152, + "mgd_cos_sim": 0.9934089004993438, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006591098755598069, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.6076263427734, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7144287109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26480, + "valid_token_count": 818.128125 + }, + { + "actual_token_mask_ratio": 0.3009448707103729, + "epoch": 7.70730288041897, + "flow_matching_loss": 0.011143471440300345, + "grad_norm": 0.11985884606838226, + "kept_token_count": 572.084375, + "learning_rate": 1.109443584607675e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9934771537780762, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006522851809859276, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.5282501220703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9794158935547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26490, + "valid_token_count": 818.3671875 + }, + { + "actual_token_mask_ratio": 0.3000321894884109, + "epoch": 7.710212394530114, + "flow_matching_loss": 0.01139544639736414, + "grad_norm": 0.08602838963270187, + "kept_token_count": 572.63125, + "learning_rate": 1.1032112923986708e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9932986497879028, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006701347604393959, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.48952026367186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4031219482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26500, + "valid_token_count": 818.08125 + }, + { + "actual_token_mask_ratio": 0.300457289814949, + "epoch": 7.713121908641257, + "flow_matching_loss": 0.01225597495213151, + "grad_norm": 0.07034604251384735, + "kept_token_count": 572.5015625, + "learning_rate": 1.0969958860983299e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9934925556182861, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006507453229278326, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.3548095703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7758758544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26510, + "valid_token_count": 818.4015625 + }, + { + "actual_token_mask_ratio": 0.2998517036437988, + "epoch": 7.7160314227524, + "flow_matching_loss": 0.009819349041208625, + "grad_norm": 0.09499047696590424, + "kept_token_count": 573.10625, + "learning_rate": 1.0907973732589537e-06, + "loss": 0.013, + "mgd_cos_sim": 0.9937250435352325, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062749582342803475, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.31370239257814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.92840270996095, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26520, + "valid_token_count": 818.54375 + }, + { + "actual_token_mask_ratio": 0.299778214097023, + "epoch": 7.718940936863544, + "flow_matching_loss": 0.012408556370064616, + "grad_norm": 0.08266095817089081, + "kept_token_count": 572.7515625, + "learning_rate": 1.0846157614123215e-06, + "loss": 0.0155, + "mgd_cos_sim": 0.9938222825527191, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006177730113267899, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.2927703857422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6019287109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26530, + "valid_token_count": 817.96875 + }, + { + "actual_token_mask_ratio": 0.2992642283439636, + "epoch": 7.721850450974687, + "flow_matching_loss": 0.010767537774518133, + "grad_norm": 0.08101698756217957, + "kept_token_count": 573.2703125, + "learning_rate": 1.078451058069671e-06, + "loss": 0.0142, + "mgd_cos_sim": 0.9930500984191895, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006949909403920174, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.6470611572266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.75971069335935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26540, + "valid_token_count": 818.1046875 + }, + { + "actual_token_mask_ratio": 0.2998350590467453, + "epoch": 7.7247599650858305, + "flow_matching_loss": 0.011421192949637771, + "grad_norm": 0.11053634434938431, + "kept_token_count": 572.971875, + "learning_rate": 1.0723032707217056e-06, + "loss": 0.0147, + "mgd_cos_sim": 0.9934819221496582, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006518085766583681, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.7069610595703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8272399902344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26550, + "valid_token_count": 818.340625 + }, + { + "actual_token_mask_ratio": 0.30027044117450713, + "epoch": 7.727669479196974, + "flow_matching_loss": 0.011021253000944854, + "grad_norm": 0.11099573224782944, + "kept_token_count": 572.584375, + "learning_rate": 1.066172406838558e-06, + "loss": 0.0145, + "mgd_cos_sim": 0.9929965674877167, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007003434095531702, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.7832916259766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.910546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26560, + "valid_token_count": 818.3015625 + }, + { + "actual_token_mask_ratio": 0.2997400611639023, + "epoch": 7.730578993308118, + "flow_matching_loss": 0.015277131553739309, + "grad_norm": 0.096788689494133, + "kept_token_count": 572.9453125, + "learning_rate": 1.0600584738698127e-06, + "loss": 0.0185, + "mgd_cos_sim": 0.9935275077819824, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064724858850240706, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 416.1024505615234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.10658874511716, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26570, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.3007518589496613, + "epoch": 7.733488507419261, + "flow_matching_loss": 0.01165744154714048, + "grad_norm": 0.09999572485685349, + "kept_token_count": 572.1359375, + "learning_rate": 1.0539614792444735e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9936892807483673, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006310729030519724, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.7547973632812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.38988342285154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26580, + "valid_token_count": 818.2171875 + }, + { + "actual_token_mask_ratio": 0.29881349205970764, + "epoch": 7.7363980215304045, + "flow_matching_loss": 0.01035161381587386, + "grad_norm": 0.07205396145582199, + "kept_token_count": 573.6890625, + "learning_rate": 1.0478814303709627e-06, + "loss": 0.0137, + "mgd_cos_sim": 0.9933404803276062, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006659500394016504, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.50762939453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.2046325683594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26590, + "valid_token_count": 818.1671875 + }, + { + "actual_token_mask_ratio": 0.30048870742321016, + "epoch": 7.739307535641548, + "flow_matching_loss": 0.013861121470108628, + "grad_norm": 0.128117173910141, + "kept_token_count": 572.325, + "learning_rate": 1.041818334637109e-06, + "loss": 0.0175, + "mgd_cos_sim": 0.9926858484745026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00731414845213294, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.8880584716797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.57366333007815, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26600, + "valid_token_count": 818.175 + }, + { + "actual_token_mask_ratio": 0.29990683794021605, + "epoch": 7.742217049752691, + "flow_matching_loss": 0.011529829679057002, + "grad_norm": 0.09502983093261719, + "kept_token_count": 572.809375, + "learning_rate": 1.0357721994101526e-06, + "loss": 0.0148, + "mgd_cos_sim": 0.9934600293636322, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006539978832006454, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.21522521972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.85578002929685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26610, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.3001010924577713, + "epoch": 7.745126563863835, + "flow_matching_loss": 0.009903319692239166, + "grad_norm": 0.11535399407148361, + "kept_token_count": 572.671875, + "learning_rate": 1.0297430320367135e-06, + "loss": 0.0133, + "mgd_cos_sim": 0.9932259142398834, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006774077657610178, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.2451873779297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.82200012207034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26620, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.30006812512874603, + "epoch": 7.748036077974978, + "flow_matching_loss": 0.01206349958665669, + "grad_norm": 0.08854174613952637, + "kept_token_count": 572.703125, + "learning_rate": 1.0237308398428014e-06, + "loss": 0.0154, + "mgd_cos_sim": 0.993409413099289, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006590593233704567, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.83155822753906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9443023681641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26630, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.3008278399705887, + "epoch": 7.750945592086122, + "flow_matching_loss": 0.011929593933746218, + "grad_norm": 0.06643103063106537, + "kept_token_count": 572.2625, + "learning_rate": 1.0177356301337925e-06, + "loss": 0.0151, + "mgd_cos_sim": 0.9936781644821167, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006321842037141323, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.85028076171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.93768920898435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26640, + "valid_token_count": 818.4875 + }, + { + "actual_token_mask_ratio": 0.3011531174182892, + "epoch": 7.753855106197265, + "flow_matching_loss": 0.010935340169817209, + "grad_norm": 0.16234686970710754, + "kept_token_count": 571.859375, + "learning_rate": 1.0117574101944348e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9930744409561157, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006925548799335957, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2759185791016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6656524658203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26650, + "valid_token_count": 818.2859375 + }, + { + "actual_token_mask_ratio": 0.29988894164562224, + "epoch": 7.756764620308409, + "flow_matching_loss": 0.011104003433138132, + "grad_norm": 0.06670549511909485, + "kept_token_count": 572.8265625, + "learning_rate": 1.0057961872888293e-06, + "loss": 0.0144, + "mgd_cos_sim": 0.9934809446334839, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006519047077745199, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.3905029296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1974365234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26660, + "valid_token_count": 818.1890625 + }, + { + "actual_token_mask_ratio": 0.30148965716362, + "epoch": 7.7596741344195515, + "flow_matching_loss": 0.010978979105129839, + "grad_norm": 0.06872837245464325, + "kept_token_count": 571.6, + "learning_rate": 9.998519686604235e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9932132065296173, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006786794029176235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.679541015625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2119476318359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26670, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.29972451329231264, + "epoch": 7.762583648530695, + "flow_matching_loss": 0.010810560593381525, + "grad_norm": 0.10103581845760345, + "kept_token_count": 573.0171875, + "learning_rate": 9.939247615320047e-07, + "loss": 0.014, + "mgd_cos_sim": 0.9935284435749054, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006471551116555929, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.01275329589845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3904724121094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26680, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.3001786768436432, + "epoch": 7.765493162641839, + "flow_matching_loss": 0.011207079514861107, + "grad_norm": 0.09023502469062805, + "kept_token_count": 572.7765625, + "learning_rate": 9.880145731056834e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9933994293212891, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006600584276020527, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0448852539063, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5669769287109, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26690, + "valid_token_count": 818.4546875 + }, + { + "actual_token_mask_ratio": 0.2995542913675308, + "epoch": 7.768402676752983, + "flow_matching_loss": 0.012061212863773107, + "grad_norm": 0.09077809751033783, + "kept_token_count": 573.265625, + "learning_rate": 9.821214105629034e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9934889614582062, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006511052139103413, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.0192810058594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8182373046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26700, + "valid_token_count": 818.4328125 + }, + { + "actual_token_mask_ratio": 0.2994563102722168, + "epoch": 7.771312190864125, + "flow_matching_loss": 0.011865685740485788, + "grad_norm": 0.08588806539773941, + "kept_token_count": 573.3890625, + "learning_rate": 9.762452810644068e-07, + "loss": 0.0151, + "mgd_cos_sim": 0.9935519397258759, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006448059808462858, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.4261016845703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8540740966797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26710, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.3004247725009918, + "epoch": 7.774221704975269, + "flow_matching_loss": 0.012269716244190931, + "grad_norm": 0.08514219522476196, + "kept_token_count": 572.3171875, + "learning_rate": 9.703861917502487e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9930573642253876, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006942629907280206, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4755126953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.9875793457031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26720, + "valid_token_count": 818.0875 + }, + { + "actual_token_mask_ratio": 0.29877821207046507, + "epoch": 7.777131219086413, + "flow_matching_loss": 0.0149454346857965, + "grad_norm": 0.11565621197223663, + "kept_token_count": 573.7515625, + "learning_rate": 9.645441497397744e-07, + "loss": 0.0183, + "mgd_cos_sim": 0.9932279467582703, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00677204541862011, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.56650695800784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2643524169922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26730, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.2998855859041214, + "epoch": 7.780040733197556, + "flow_matching_loss": 0.011406436143442989, + "grad_norm": 0.08128678798675537, + "kept_token_count": 572.6875, + "learning_rate": 9.587191621316154e-07, + "loss": 0.0151, + "mgd_cos_sim": 0.9926839828491211, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0073160302825272085, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.9805877685547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.37181396484374, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26740, + "valid_token_count": 817.99375 + }, + { + "actual_token_mask_ratio": 0.30115489959716796, + "epoch": 7.782950247308699, + "flow_matching_loss": 0.009987967647612095, + "grad_norm": 0.06631802022457123, + "kept_token_count": 572.0015625, + "learning_rate": 9.529112360036802e-07, + "loss": 0.0133, + "mgd_cos_sim": 0.9933953881263733, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066046095453202724, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.7596099853516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3083862304687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26750, + "valid_token_count": 818.4921875 + }, + { + "actual_token_mask_ratio": 0.2998680740594864, + "epoch": 7.785859761419843, + "flow_matching_loss": 0.012639903742820025, + "grad_norm": 0.09232401102781296, + "kept_token_count": 573.0296875, + "learning_rate": 9.471203784131449e-07, + "loss": 0.016, + "mgd_cos_sim": 0.9932841360569, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006715872604399919, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.25795593261716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.125341796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26760, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.3000830203294754, + "epoch": 7.788769275530987, + "flow_matching_loss": 0.011467832187190653, + "grad_norm": 0.057958222925662994, + "kept_token_count": 572.6171875, + "learning_rate": 9.41346596396453e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.993879371881485, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006120619922876358, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9685882568359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2173248291016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26770, + "valid_token_count": 818.125 + }, + { + "actual_token_mask_ratio": 0.29980539083480834, + "epoch": 7.79167878964213, + "flow_matching_loss": 0.010648783016949891, + "grad_norm": 0.0644964799284935, + "kept_token_count": 573.090625, + "learning_rate": 9.355898969692889e-07, + "loss": 0.014, + "mgd_cos_sim": 0.9933667778968811, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006633215676993131, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0472045898438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9230895996094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26780, + "valid_token_count": 818.475 + }, + { + "actual_token_mask_ratio": 0.30134322345256803, + "epoch": 7.794588303753273, + "flow_matching_loss": 0.013304680958390236, + "grad_norm": 0.1147722452878952, + "kept_token_count": 571.728125, + "learning_rate": 9.29850287126589e-07, + "loss": 0.0167, + "mgd_cos_sim": 0.9932864665985107, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006713529676198959, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.03525695800784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.85235900878905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26790, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.30021830797195437, + "epoch": 7.797497817864417, + "flow_matching_loss": 0.012022330705076457, + "grad_norm": 0.10328343510627747, + "kept_token_count": 572.58125, + "learning_rate": 9.24127773842518e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9933174252510071, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006682580802589655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.00165100097655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1490753173828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26800, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.29946134686470033, + "epoch": 7.80040733197556, + "flow_matching_loss": 0.010308616934344173, + "grad_norm": 0.10222819447517395, + "kept_token_count": 573.2390625, + "learning_rate": 9.18422364070467e-07, + "loss": 0.0136, + "mgd_cos_sim": 0.9934037566184998, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006596261914819479, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.1394989013672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.97206420898436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26810, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.29913392663002014, + "epoch": 7.8033168460867035, + "flow_matching_loss": 0.010487449262291193, + "grad_norm": 0.11452194303274155, + "kept_token_count": 573.43125, + "learning_rate": 9.127340647430538e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.99322230219841, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006777712889015674, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.1232543945313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0458557128906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26820, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.30018593966960905, + "epoch": 7.806226360197847, + "flow_matching_loss": 0.011947971116751433, + "grad_norm": 0.060808517038822174, + "kept_token_count": 572.778125, + "learning_rate": 9.070628827720929e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9932839155197144, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00671607544645667, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.0689239501953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.9057342529297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26830, + "valid_token_count": 818.475 + }, + { + "actual_token_mask_ratio": 0.299835079908371, + "epoch": 7.80913587430899, + "flow_matching_loss": 0.009719304833561182, + "grad_norm": 0.08486367762088776, + "kept_token_count": 572.9171875, + "learning_rate": 9.014088250486052e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.993595439195633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006404554191976786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.8447296142578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.83977966308595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26840, + "valid_token_count": 818.2609375 + }, + { + "actual_token_mask_ratio": 0.30080671012401583, + "epoch": 7.812045388420134, + "flow_matching_loss": 0.011878300225362182, + "grad_norm": 0.10738620162010193, + "kept_token_count": 572.178125, + "learning_rate": 8.95771898442807e-07, + "loss": 0.0155, + "mgd_cos_sim": 0.9928390502929687, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00716094821691513, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.86134643554686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.5492248535156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26850, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.2999630063772202, + "epoch": 7.8149549025312774, + "flow_matching_loss": 0.011695393361151218, + "grad_norm": 0.09727039188146591, + "kept_token_count": 572.7890625, + "learning_rate": 8.90152109804091e-07, + "loss": 0.0149, + "mgd_cos_sim": 0.9935171902179718, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006482810340821743, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.8640380859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3968902587891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26860, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.29972912967205045, + "epoch": 7.81786441664242, + "flow_matching_loss": 0.010583890555426478, + "grad_norm": 0.08437064290046692, + "kept_token_count": 572.9484375, + "learning_rate": 8.845494659610365e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.9933613538742065, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066386530175805095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.57094421386716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.34071044921876, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26870, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.30064430832862854, + "epoch": 7.820773930753564, + "flow_matching_loss": 0.010629616444930434, + "grad_norm": 0.09358303993940353, + "kept_token_count": 572.471875, + "learning_rate": 8.789639737213812e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9936054944992065, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006394499540328979, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.45122680664065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7069519042969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26880, + "valid_token_count": 818.5671875 + }, + { + "actual_token_mask_ratio": 0.2991469830274582, + "epoch": 7.823683444864708, + "flow_matching_loss": 0.010479133250191808, + "grad_norm": 0.07304072380065918, + "kept_token_count": 573.3796875, + "learning_rate": 8.733956398720244e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9934322834014893, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006567713711410761, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.29262084960936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.30324401855466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26890, + "valid_token_count": 818.11875 + }, + { + "actual_token_mask_ratio": 0.30145970582962034, + "epoch": 7.826592958975851, + "flow_matching_loss": 0.010646189376711846, + "grad_norm": 0.06443909555673599, + "kept_token_count": 571.590625, + "learning_rate": 8.678444711790157e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.9935472130775451, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006452777329832316, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3307312011719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4739288330078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26900, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.3006511449813843, + "epoch": 7.829502473086994, + "flow_matching_loss": 0.010373799223452806, + "grad_norm": 0.10426228493452072, + "kept_token_count": 572.3109375, + "learning_rate": 8.623104743875493e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.992999404668808, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007000576425343752, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.42600708007814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0058837890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26910, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.30147054195404055, + "epoch": 7.832411987198138, + "flow_matching_loss": 0.009880594117566944, + "grad_norm": 0.11208026856184006, + "kept_token_count": 571.5515625, + "learning_rate": 8.567936562219547e-07, + "loss": 0.0132, + "mgd_cos_sim": 0.9933473110198975, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006652684230357408, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.06092834472656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.59454956054685, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26920, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.3003611922264099, + "epoch": 7.835321501309282, + "flow_matching_loss": 0.011526971450075507, + "grad_norm": 0.10759267956018448, + "kept_token_count": 572.459375, + "learning_rate": 8.512940233856847e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.993418687582016, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006581324152648449, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.0531951904297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9657806396484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26930, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.30026601254940033, + "epoch": 7.838231015420424, + "flow_matching_loss": 0.0093190539162606, + "grad_norm": 0.08060812950134277, + "kept_token_count": 572.5859375, + "learning_rate": 8.458115825613122e-07, + "loss": 0.0125, + "mgd_cos_sim": 0.9936841666698456, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006315828952938318, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.3862365722656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4520751953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26940, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.30037344694137574, + "epoch": 7.841140529531568, + "flow_matching_loss": 0.01128976340405643, + "grad_norm": 0.08127521723508835, + "kept_token_count": 572.4390625, + "learning_rate": 8.403463404105199e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9937037706375123, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006296244822442532, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.1670288085937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.98972778320314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26950, + "valid_token_count": 818.215625 + }, + { + "actual_token_mask_ratio": 0.29909403920173644, + "epoch": 7.844050043642712, + "flow_matching_loss": 0.011971221165731549, + "grad_norm": 0.1578620970249176, + "kept_token_count": 573.4546875, + "learning_rate": 8.348983035740926e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9931718945503235, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006828110013157129, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6259704589844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.41051330566404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26960, + "valid_token_count": 818.1671875 + }, + { + "actual_token_mask_ratio": 0.3002705365419388, + "epoch": 7.846959557753856, + "flow_matching_loss": 0.008747488632798195, + "grad_norm": 0.16504913568496704, + "kept_token_count": 572.434375, + "learning_rate": 8.294674786719064e-07, + "loss": 0.0118, + "mgd_cos_sim": 0.9939348459243774, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006065153423696757, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 414.61260681152345, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.0813049316406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26970, + "valid_token_count": 818.0765625 + }, + { + "actual_token_mask_ratio": 0.2994308203458786, + "epoch": 7.849869071864998, + "flow_matching_loss": 0.01191712194122374, + "grad_norm": 0.08890070766210556, + "kept_token_count": 573.290625, + "learning_rate": 8.240538723029295e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9932487964630127, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00675119673833251, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.14154357910155, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6774108886719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26980, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.300006577372551, + "epoch": 7.852778585976142, + "flow_matching_loss": 0.011430110409855842, + "grad_norm": 0.10419473797082901, + "kept_token_count": 572.65625, + "learning_rate": 8.186574910451983e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.9932574212551117, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006742584146559238, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.4938629150391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.80914306640625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 26990, + "valid_token_count": 818.0890625 + }, + { + "actual_token_mask_ratio": 0.2995547354221344, + "epoch": 7.855688100087286, + "flow_matching_loss": 0.01191213894635439, + "grad_norm": 0.10662505775690079, + "kept_token_count": 573.2640625, + "learning_rate": 8.132783414558326e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9931343138217926, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006865674629807472, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.7680908203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.04814453125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27000, + "valid_token_count": 818.4265625 + }, + { + "actual_token_mask_ratio": 0.30048902332782745, + "epoch": 7.858597614198429, + "flow_matching_loss": 0.010436367336660623, + "grad_norm": 0.08764219284057617, + "kept_token_count": 572.153125, + "learning_rate": 8.079164300710023e-07, + "loss": 0.0134, + "mgd_cos_sim": 0.9939853370189666, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006014678161591291, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.72015380859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.24404296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27010, + "valid_token_count": 817.9328125 + }, + { + "actual_token_mask_ratio": 0.2984881639480591, + "epoch": 7.861507128309572, + "flow_matching_loss": 0.011573290079832077, + "grad_norm": 0.07476064562797546, + "kept_token_count": 574.0125, + "learning_rate": 8.025717634059326e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9937408149242402, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062591775320470335, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.31409912109376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2891052246094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27020, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.2992364317178726, + "epoch": 7.864416642420716, + "flow_matching_loss": 0.012075333343818783, + "grad_norm": 0.09485391527414322, + "kept_token_count": 573.475, + "learning_rate": 7.972443479549035e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9934340953826905, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006565907970070839, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.44911193847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.19720458984375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27030, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.29984239041805266, + "epoch": 7.867326156531859, + "flow_matching_loss": 0.011952028190717102, + "grad_norm": 0.08324771374464035, + "kept_token_count": 573.1203125, + "learning_rate": 7.919341901912236e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9933591365814209, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006640863046050072, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.5628234863281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9416564941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27040, + "valid_token_count": 818.5625 + }, + { + "actual_token_mask_ratio": 0.3009404480457306, + "epoch": 7.870235670643003, + "flow_matching_loss": 0.011332245729863643, + "grad_norm": 0.09417133033275604, + "kept_token_count": 572.2421875, + "learning_rate": 7.866412965672365e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9934483766555786, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006551624927669764, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 436.54998168945315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5543640136719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27050, + "valid_token_count": 818.590625 + }, + { + "actual_token_mask_ratio": 0.2998184025287628, + "epoch": 7.873145184754146, + "flow_matching_loss": 0.011521911527961493, + "grad_norm": 0.08714254200458527, + "kept_token_count": 573.1734375, + "learning_rate": 7.813656735143044e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.993599945306778, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006400053855031729, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 438.78879699707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.52234802246096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27060, + "valid_token_count": 818.6 + }, + { + "actual_token_mask_ratio": 0.299489238858223, + "epoch": 7.876054698865289, + "flow_matching_loss": 0.013465165439993144, + "grad_norm": 0.10998960584402084, + "kept_token_count": 573.1953125, + "learning_rate": 7.761073274428076e-07, + "loss": 0.0171, + "mgd_cos_sim": 0.9926930725574493, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007306927163153887, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.31090087890624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5075378417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27070, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.30074494481086733, + "epoch": 7.878964212976433, + "flow_matching_loss": 0.013217147812247277, + "grad_norm": 0.09081782400608063, + "kept_token_count": 572.20625, + "learning_rate": 7.708662647421355e-07, + "loss": 0.0165, + "mgd_cos_sim": 0.9934175074100494, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006582506932318211, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.2262237548828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.15244140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27080, + "valid_token_count": 818.303125 + }, + { + "actual_token_mask_ratio": 0.3006617099046707, + "epoch": 7.8818737270875765, + "flow_matching_loss": 0.010077648470178247, + "grad_norm": 0.08914678543806076, + "kept_token_count": 572.259375, + "learning_rate": 7.65642491780672e-07, + "loss": 0.0133, + "mgd_cos_sim": 0.993511289358139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006488698162138462, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.64308471679686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5495666503906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27090, + "valid_token_count": 818.2875 + }, + { + "actual_token_mask_ratio": 0.29990264773368835, + "epoch": 7.88478324119872, + "flow_matching_loss": 0.012248736107721925, + "grad_norm": 0.09965954720973969, + "kept_token_count": 572.7328125, + "learning_rate": 7.604360149057916e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9930953979492188, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006904595531523228, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.4264770507813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.641650390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27100, + "valid_token_count": 818.0765625 + }, + { + "actual_token_mask_ratio": 0.30014235377311704, + "epoch": 7.887692755309863, + "flow_matching_loss": 0.010381492460146547, + "grad_norm": 0.10488542169332504, + "kept_token_count": 572.7140625, + "learning_rate": 7.552468404438568e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9933765590190887, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006623440328985453, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.8542907714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1307006835938, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27110, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.29963645339012146, + "epoch": 7.890602269421007, + "flow_matching_loss": 0.01112008630298078, + "grad_norm": 0.06044304370880127, + "kept_token_count": 573.075, + "learning_rate": 7.500749747002022e-07, + "loss": 0.0143, + "mgd_cos_sim": 0.9936038255691528, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006396173126995563, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.0887725830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2606658935547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27120, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.29943837523460387, + "epoch": 7.89351178353215, + "flow_matching_loss": 0.011855138931423426, + "grad_norm": 0.120663583278656, + "kept_token_count": 573.55625, + "learning_rate": 7.449204239591345e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9937253773212433, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006274632830172777, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.6817657470703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6410766601563, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27130, + "valid_token_count": 818.7015625 + }, + { + "actual_token_mask_ratio": 0.2990251868963242, + "epoch": 7.896421297643293, + "flow_matching_loss": 0.010997886722907423, + "grad_norm": 0.09460440278053284, + "kept_token_count": 573.615625, + "learning_rate": 7.397831944839167e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9930196523666381, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006980328168720007, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.89024963378904, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3992950439453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27140, + "valid_token_count": 818.3125 + }, + { + "actual_token_mask_ratio": 0.30139838457107543, + "epoch": 7.899330811754437, + "flow_matching_loss": 0.010177114000543951, + "grad_norm": 0.0843353196978569, + "kept_token_count": 571.5125, + "learning_rate": 7.346632925167706e-07, + "loss": 0.0135, + "mgd_cos_sim": 0.993342912197113, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006657085847109556, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6682434082031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.92030639648436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27150, + "valid_token_count": 818.078125 + }, + { + "actual_token_mask_ratio": 0.3003037631511688, + "epoch": 7.902240325865581, + "flow_matching_loss": 0.009469551965594292, + "grad_norm": 0.09052939713001251, + "kept_token_count": 572.61875, + "learning_rate": 7.295607242788566e-07, + "loss": 0.0128, + "mgd_cos_sim": 0.9933324754238129, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006667537894099951, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.0720184326172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1425384521484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27160, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.30061708986759184, + "epoch": 7.905149839976724, + "flow_matching_loss": 0.010445820493623614, + "grad_norm": 0.08048814535140991, + "kept_token_count": 572.4375, + "learning_rate": 7.244754959702765e-07, + "loss": 0.0136, + "mgd_cos_sim": 0.9937657475471496, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006234248634427786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.0865753173828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.71051025390625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27170, + "valid_token_count": 818.490625 + }, + { + "actual_token_mask_ratio": 0.300138396024704, + "epoch": 7.908059354087867, + "flow_matching_loss": 0.013242279877886176, + "grad_norm": 0.13352210819721222, + "kept_token_count": 572.5625, + "learning_rate": 7.194076137700628e-07, + "loss": 0.0166, + "mgd_cos_sim": 0.9932569444179535, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00674305921420455, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3917541503906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5207092285156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27180, + "valid_token_count": 818.109375 + }, + { + "actual_token_mask_ratio": 0.2999518871307373, + "epoch": 7.910968868199011, + "flow_matching_loss": 0.011255178879946471, + "grad_norm": 0.09213677048683167, + "kept_token_count": 572.921875, + "learning_rate": 7.143570838361696e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9931342422962188, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068657749332487585, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.8941619873047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7971160888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27190, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.30032373666763307, + "epoch": 7.913878382310154, + "flow_matching_loss": 0.011891084536910058, + "grad_norm": 0.08705580979585648, + "kept_token_count": 572.6703125, + "learning_rate": 7.093239123054696e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9931884169578552, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006811575777828693, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.11883850097655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.30409851074216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27200, + "valid_token_count": 818.4765625 + }, + { + "actual_token_mask_ratio": 0.30000934600830076, + "epoch": 7.916787896421297, + "flow_matching_loss": 0.01197161627933383, + "grad_norm": 0.10292700678110123, + "kept_token_count": 572.9328125, + "learning_rate": 7.043081052937389e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9931984782218933, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006801517214626074, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.02646484375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5458648681641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27210, + "valid_token_count": 818.48125 + }, + { + "actual_token_mask_ratio": 0.29919747114181516, + "epoch": 7.919697410532441, + "flow_matching_loss": 0.010874326666817069, + "grad_norm": 0.0976376160979271, + "kept_token_count": 573.4359375, + "learning_rate": 6.993096688956558e-07, + "loss": 0.0142, + "mgd_cos_sim": 0.9933572232723236, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066427686251699924, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.43511352539065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.81859436035154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27220, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.299247482419014, + "epoch": 7.922606924643585, + "flow_matching_loss": 0.010341464122757316, + "grad_norm": 0.11565490812063217, + "kept_token_count": 573.471875, + "learning_rate": 6.943286091847884e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9932042598724365, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006795746739953756, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.46698303222655, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.36217346191404, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27230, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.2997592091560364, + "epoch": 7.925516438754728, + "flow_matching_loss": 0.011031513521447777, + "grad_norm": 0.09196794033050537, + "kept_token_count": 572.9703125, + "learning_rate": 6.89364932213602e-07, + "loss": 0.0143, + "mgd_cos_sim": 0.9935364305973053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006463571172207594, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.5336151123047, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.03110656738284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27240, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.3002448409795761, + "epoch": 7.928425952865871, + "flow_matching_loss": 0.011914095375686884, + "grad_norm": 0.08553728461265564, + "kept_token_count": 572.5375, + "learning_rate": 6.844186440134253e-07, + "loss": 0.0151, + "mgd_cos_sim": 0.9935428738594055, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006457129586488008, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.6536041259766, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.14666137695315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27250, + "valid_token_count": 818.1921875 + }, + { + "actual_token_mask_ratio": 0.29907186031341554, + "epoch": 7.931335466977015, + "flow_matching_loss": 0.012765502417460084, + "grad_norm": 0.09807000309228897, + "kept_token_count": 573.5078125, + "learning_rate": 6.794897505944692e-07, + "loss": 0.0162, + "mgd_cos_sim": 0.9931067407131196, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006893271952867508, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.8421569824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.61098022460936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27260, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.29916426837444304, + "epoch": 7.934244981088158, + "flow_matching_loss": 0.010131878452375532, + "grad_norm": 0.14687788486480713, + "kept_token_count": 573.434375, + "learning_rate": 6.745782579457993e-07, + "loss": 0.0133, + "mgd_cos_sim": 0.993662542104721, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006337456125766039, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.9316711425781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4136199951172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27270, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.30042065382003785, + "epoch": 7.937154495199302, + "flow_matching_loss": 0.011462900508195161, + "grad_norm": 0.08577828109264374, + "kept_token_count": 572.5171875, + "learning_rate": 6.696841720353453e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.993274700641632, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00672531770542264, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.4477813720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5396789550781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27280, + "valid_token_count": 818.38125 + }, + { + "actual_token_mask_ratio": 0.30101293325424194, + "epoch": 7.940064009310445, + "flow_matching_loss": 0.01085224854759872, + "grad_norm": 0.11535056680440903, + "kept_token_count": 571.7265625, + "learning_rate": 6.648074988098834e-07, + "loss": 0.0142, + "mgd_cos_sim": 0.9932521879673004, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00674780486151576, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3543212890625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0963623046875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27290, + "valid_token_count": 817.9421875 + }, + { + "actual_token_mask_ratio": 0.300945183634758, + "epoch": 7.942973523421589, + "flow_matching_loss": 0.0109322355594486, + "grad_norm": 0.09364107251167297, + "kept_token_count": 571.990625, + "learning_rate": 6.599482441950322e-07, + "loss": 0.0143, + "mgd_cos_sim": 0.9933629989624023, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006636987533420324, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.7921600341797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2238494873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27300, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.3001061290502548, + "epoch": 7.945883037532732, + "flow_matching_loss": 0.01102080922573805, + "grad_norm": 0.07739627361297607, + "kept_token_count": 572.7671875, + "learning_rate": 6.551064140952417e-07, + "loss": 0.0143, + "mgd_cos_sim": 0.9934902191162109, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006509785912930966, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.14332885742186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.8127410888672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27310, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.2998194843530655, + "epoch": 7.9487925516438755, + "flow_matching_loss": 0.011421519285067915, + "grad_norm": 0.09244876354932785, + "kept_token_count": 573.053125, + "learning_rate": 6.502820143937943e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9937970161437988, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006202988140285015, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.6786193847656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1716674804687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27320, + "valid_token_count": 818.4375 + }, + { + "actual_token_mask_ratio": 0.30003719627857206, + "epoch": 7.951702065755019, + "flow_matching_loss": 0.010942409932613372, + "grad_norm": 0.09449832141399384, + "kept_token_count": 572.603125, + "learning_rate": 6.454750509527874e-07, + "loss": 0.014, + "mgd_cos_sim": 0.9938330829143525, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006166923604905605, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.3544586181641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4973846435547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27330, + "valid_token_count": 818.046875 + }, + { + "actual_token_mask_ratio": 0.30082018077373507, + "epoch": 7.954611579866162, + "flow_matching_loss": 0.011543594487011432, + "grad_norm": 0.05943957716226578, + "kept_token_count": 572.0859375, + "learning_rate": 6.406855296131387e-07, + "loss": 0.0151, + "mgd_cos_sim": 0.9928698658943176, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007130121625959873, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.5028961181641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.45030212402344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27340, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.29955872893333435, + "epoch": 7.957521093977306, + "flow_matching_loss": 0.011281867977231741, + "grad_norm": 0.08955438435077667, + "kept_token_count": 573.1171875, + "learning_rate": 6.359134561945662e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9935592353343964, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006440776959061622, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1488555908203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6062408447266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27350, + "valid_token_count": 818.2203125 + }, + { + "actual_token_mask_ratio": 0.2992042899131775, + "epoch": 7.9604306080884495, + "flow_matching_loss": 0.010495558101683854, + "grad_norm": 0.07764355093240738, + "kept_token_count": 573.6359375, + "learning_rate": 6.311588364955883e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9933058977127075, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006694101728498936, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1196990966797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1637359619141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27360, + "valid_token_count": 818.55 + }, + { + "actual_token_mask_ratio": 0.2994240641593933, + "epoch": 7.963340122199592, + "flow_matching_loss": 0.00983060714788735, + "grad_norm": 0.0755171924829483, + "kept_token_count": 573.25625, + "learning_rate": 6.264216762935187e-07, + "loss": 0.0131, + "mgd_cos_sim": 0.9934757947921753, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006524210702627898, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.93845825195314, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4769622802734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27370, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.300136336684227, + "epoch": 7.966249636310736, + "flow_matching_loss": 0.010915321670472622, + "grad_norm": 0.11317723244428635, + "kept_token_count": 572.553125, + "learning_rate": 6.21701981344453e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9930247783660888, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006975222192704677, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3922882080078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.89624938964846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27380, + "valid_token_count": 818.096875 + }, + { + "actual_token_mask_ratio": 0.2999857097864151, + "epoch": 7.96915915042188, + "flow_matching_loss": 0.009181651612743735, + "grad_norm": 0.05845530331134796, + "kept_token_count": 572.715625, + "learning_rate": 6.16999757383262e-07, + "loss": 0.0127, + "mgd_cos_sim": 0.9930143058300018, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006985689327120781, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.22638244628905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.406396484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27390, + "valid_token_count": 818.1421875 + }, + { + "actual_token_mask_ratio": 0.30050640404224394, + "epoch": 7.9720686645330225, + "flow_matching_loss": 0.011351166851818561, + "grad_norm": 0.10750454664230347, + "kept_token_count": 572.375, + "learning_rate": 6.123150101235952e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9935212671756745, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064787155017256735, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.88067932128905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7640655517578, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27400, + "valid_token_count": 818.26875 + }, + { + "actual_token_mask_ratio": 0.3003120839595795, + "epoch": 7.974978178644166, + "flow_matching_loss": 0.01173096476122737, + "grad_norm": 0.08905242383480072, + "kept_token_count": 572.4328125, + "learning_rate": 6.076477452578594e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9929096877574921, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007090325094759464, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.0857360839844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3289398193359, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27410, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.3012784481048584, + "epoch": 7.97788769275531, + "flow_matching_loss": 0.009843233693391084, + "grad_norm": 0.09604315459728241, + "kept_token_count": 571.43125, + "learning_rate": 6.029979684572262e-07, + "loss": 0.0131, + "mgd_cos_sim": 0.9935526430606842, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006447358429431916, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.16558227539065, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5472412109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27420, + "valid_token_count": 817.821875 + }, + { + "actual_token_mask_ratio": 0.30108456015586854, + "epoch": 7.980797206866454, + "flow_matching_loss": 0.01149609093554318, + "grad_norm": 0.08944065123796463, + "kept_token_count": 571.81875, + "learning_rate": 5.983656853716097e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.9933304965496064, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006669486872851849, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.0263641357422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.70653076171874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27430, + "valid_token_count": 818.1515625 + }, + { + "actual_token_mask_ratio": 0.3016828864812851, + "epoch": 7.9837067209775965, + "flow_matching_loss": 0.01213050908409059, + "grad_norm": 0.11592888087034225, + "kept_token_count": 571.3921875, + "learning_rate": 5.937509016296689e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9935070812702179, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006492914073169232, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.6530364990234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.93779296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27440, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.2993722438812256, + "epoch": 7.98661623508874, + "flow_matching_loss": 0.012776033161208034, + "grad_norm": 0.09746244549751282, + "kept_token_count": 573.3234375, + "learning_rate": 5.89153622838805e-07, + "loss": 0.0162, + "mgd_cos_sim": 0.9932176291942596, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006782358884811402, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.0602233886719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.240869140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27450, + "valid_token_count": 818.29375 + }, + { + "actual_token_mask_ratio": 0.30021506547927856, + "epoch": 7.989525749199884, + "flow_matching_loss": 0.012569251284003258, + "grad_norm": 0.10176385939121246, + "kept_token_count": 572.675, + "learning_rate": 5.845738545851431e-07, + "loss": 0.016, + "mgd_cos_sim": 0.9931945979595185, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006805407907813787, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1393676757813, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.5047332763672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27460, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.3011357069015503, + "epoch": 7.992435263311027, + "flow_matching_loss": 0.009844134654849767, + "grad_norm": 0.06768867373466492, + "kept_token_count": 571.7921875, + "learning_rate": 5.800116024335334e-07, + "loss": 0.0132, + "mgd_cos_sim": 0.9933879494667053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006612049043178558, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.75445251464845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.92833251953124, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27470, + "valid_token_count": 818.1796875 + }, + { + "actual_token_mask_ratio": 0.29992433488368986, + "epoch": 7.99534477742217, + "flow_matching_loss": 0.01110630906186998, + "grad_norm": 0.12604375183582306, + "kept_token_count": 572.9515625, + "learning_rate": 5.75466871927543e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9934647858142853, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006535219773650169, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3350067138672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9983428955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27480, + "valid_token_count": 818.4171875 + }, + { + "actual_token_mask_ratio": 0.2994126319885254, + "epoch": 7.998254291533314, + "flow_matching_loss": 0.00999972892459482, + "grad_norm": 0.04977232217788696, + "kept_token_count": 573.0875, + "learning_rate": 5.709396685894463e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9942658960819244, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.005734105594456196, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.3018310546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.17626037597654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27490, + "valid_token_count": 818.0125 + }, + { + "actual_token_mask_ratio": 0.3001034438610077, + "epoch": 8.001163805644458, + "flow_matching_loss": 0.009890228975564241, + "grad_norm": 0.0775439590215683, + "kept_token_count": 572.7984375, + "learning_rate": 5.664299979202264e-07, + "loss": 0.0131, + "mgd_cos_sim": 0.99349085688591, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006509148050099611, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.75806884765626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7777587890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27500, + "valid_token_count": 818.4046875 + }, + { + "actual_token_mask_ratio": 0.29992485642433164, + "epoch": 8.004073319755602, + "flow_matching_loss": 0.01091344584710896, + "grad_norm": 0.11121366918087006, + "kept_token_count": 572.625, + "learning_rate": 5.61937865399555e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9930901467800141, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006909843813627958, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.7046722412109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4416107177734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27510, + "valid_token_count": 817.94375 + }, + { + "actual_token_mask_ratio": 0.30088470578193666, + "epoch": 8.006982833866743, + "flow_matching_loss": 0.012893341016024351, + "grad_norm": 0.09862916171550751, + "kept_token_count": 572.1484375, + "learning_rate": 5.574632764857974e-07, + "loss": 0.0162, + "mgd_cos_sim": 0.9933763444423676, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006623645406216383, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.4396606445313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.9368927001953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27520, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.3003364443778992, + "epoch": 8.009892347977887, + "flow_matching_loss": 0.010062580974772573, + "grad_norm": 0.1225479319691658, + "kept_token_count": 572.6921875, + "learning_rate": 5.53006236616001e-07, + "loss": 0.0135, + "mgd_cos_sim": 0.9930904030799865, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069096096791327, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.55393981933594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3413330078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27530, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.2994627714157104, + "epoch": 8.012801862089031, + "flow_matching_loss": 0.011354336561635137, + "grad_norm": 0.08992588520050049, + "kept_token_count": 573.44375, + "learning_rate": 5.485667512058873e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9935040771961212, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006495922151952982, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5476318359375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.44178161621096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27540, + "valid_token_count": 818.578125 + }, + { + "actual_token_mask_ratio": 0.3004758805036545, + "epoch": 8.015711376200175, + "flow_matching_loss": 0.01060011563822627, + "grad_norm": 0.0660770833492279, + "kept_token_count": 572.3796875, + "learning_rate": 5.441448256498544e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.9933141708374024, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006685827299952507, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.20765991210936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.9557586669922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27550, + "valid_token_count": 818.2421875 + }, + { + "actual_token_mask_ratio": 0.30102789402008057, + "epoch": 8.018620890311318, + "flow_matching_loss": 0.012991328816860914, + "grad_norm": 0.09263075888156891, + "kept_token_count": 571.9109375, + "learning_rate": 5.397404653209559e-07, + "loss": 0.0163, + "mgd_cos_sim": 0.9933747768402099, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006625226326286792, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.0831268310547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.44667053222656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27560, + "valid_token_count": 818.221875 + }, + { + "actual_token_mask_ratio": 0.2993354082107544, + "epoch": 8.021530404422462, + "flow_matching_loss": 0.011346413753926754, + "grad_norm": 0.12098230421543121, + "kept_token_count": 573.5375, + "learning_rate": 5.35353675570906e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9937998414039612, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006200150959193707, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1372100830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9820526123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27570, + "valid_token_count": 818.565625 + }, + { + "actual_token_mask_ratio": 0.30068957805633545, + "epoch": 8.024439918533606, + "flow_matching_loss": 0.009132930310443044, + "grad_norm": 0.08269718289375305, + "kept_token_count": 572.3828125, + "learning_rate": 5.309844617300674e-07, + "loss": 0.0124, + "mgd_cos_sim": 0.9934997856616974, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006500212009996176, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.7589904785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3650329589844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27580, + "valid_token_count": 818.4921875 + }, + { + "actual_token_mask_ratio": 0.3000939339399338, + "epoch": 8.027349432644748, + "flow_matching_loss": 0.01014027101919055, + "grad_norm": 0.06133364886045456, + "kept_token_count": 572.609375, + "learning_rate": 5.266328291074468e-07, + "loss": 0.0135, + "mgd_cos_sim": 0.9932589828968048, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006741021666675806, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.20408630371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1284118652344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27590, + "valid_token_count": 818.121875 + }, + { + "actual_token_mask_ratio": 0.3010143369436264, + "epoch": 8.030258946755891, + "flow_matching_loss": 0.011376895708963275, + "grad_norm": 0.09692823141813278, + "kept_token_count": 572.1375, + "learning_rate": 5.222987829906861e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9934514284133911, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00654857587069273, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 433.7314697265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.0950164794922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27600, + "valid_token_count": 818.5203125 + }, + { + "actual_token_mask_ratio": 0.2994656145572662, + "epoch": 8.033168460867035, + "flow_matching_loss": 0.009616774786263705, + "grad_norm": 0.09280288964509964, + "kept_token_count": 573.1734375, + "learning_rate": 5.179823286460644e-07, + "loss": 0.0128, + "mgd_cos_sim": 0.9935614585876464, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006438550632447004, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.22511901855466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.29856872558594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27610, + "valid_token_count": 818.203125 + }, + { + "actual_token_mask_ratio": 0.3007392197847366, + "epoch": 8.036077974978179, + "flow_matching_loss": 0.012096027238294482, + "grad_norm": 0.0911412388086319, + "kept_token_count": 572.421875, + "learning_rate": 5.13683471318478e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9934954345226288, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065045619383454325, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.2587005615234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4274963378906, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27620, + "valid_token_count": 818.60625 + }, + { + "actual_token_mask_ratio": 0.3005084335803986, + "epoch": 8.038987489089322, + "flow_matching_loss": 0.012061487417668104, + "grad_norm": 0.17798088490962982, + "kept_token_count": 572.525, + "learning_rate": 5.094022162314449e-07, + "loss": 0.0155, + "mgd_cos_sim": 0.9931126356124877, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006887363735586405, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.8435028076172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.90447387695315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27630, + "valid_token_count": 818.484375 + }, + { + "actual_token_mask_ratio": 0.298917281627655, + "epoch": 8.041897003200466, + "flow_matching_loss": 0.01287749530747533, + "grad_norm": 0.08620715141296387, + "kept_token_count": 573.740625, + "learning_rate": 5.051385685870924e-07, + "loss": 0.0162, + "mgd_cos_sim": 0.9933330237865448, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006666972674429417, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.9682952880859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.23973083496094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27640, + "valid_token_count": 818.371875 + }, + { + "actual_token_mask_ratio": 0.2993696451187134, + "epoch": 8.044806517311608, + "flow_matching_loss": 0.011110172281041742, + "grad_norm": 0.09321746230125427, + "kept_token_count": 573.2875, + "learning_rate": 5.008925335661546e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.993402749300003, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006597232259809971, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.69020385742186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.77318420410154, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27650, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.2994157403707504, + "epoch": 8.047716031422752, + "flow_matching_loss": 0.011392414104193449, + "grad_norm": 0.09207940101623535, + "kept_token_count": 573.4515625, + "learning_rate": 4.966641163279662e-07, + "loss": 0.0149, + "mgd_cos_sim": 0.9930843412876129, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006915643718093634, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.12794494628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.55959167480466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27660, + "valid_token_count": 818.5359375 + }, + { + "actual_token_mask_ratio": 0.30035182237625124, + "epoch": 8.050625545533896, + "flow_matching_loss": 0.010470779798924922, + "grad_norm": 0.09542436897754669, + "kept_token_count": 572.421875, + "learning_rate": 4.924533220104521e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.993169629573822, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006830367818474769, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.82704162597656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7149658203125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27670, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.2985671371221542, + "epoch": 8.05353505964504, + "flow_matching_loss": 0.011428950866684318, + "grad_norm": 0.09414105117321014, + "kept_token_count": 573.8171875, + "learning_rate": 4.882601557301231e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.993656438589096, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0063435668125748634, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.33168029785156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1311309814453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27680, + "valid_token_count": 818.0671875 + }, + { + "actual_token_mask_ratio": 0.30025061666965486, + "epoch": 8.056444573756183, + "flow_matching_loss": 0.013531087059527635, + "grad_norm": 0.08026427030563354, + "kept_token_count": 572.7046875, + "learning_rate": 4.840846225820717e-07, + "loss": 0.017, + "mgd_cos_sim": 0.9930967926979065, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006903212610632181, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.7783935546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.35376892089846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27690, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.30022660493850706, + "epoch": 8.059354087867327, + "flow_matching_loss": 0.009500711038708688, + "grad_norm": 0.06539741158485413, + "kept_token_count": 572.325, + "learning_rate": 4.79926727639966e-07, + "loss": 0.0127, + "mgd_cos_sim": 0.9935656487941742, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006434342730790377, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.24285278320315, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1498260498047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27700, + "valid_token_count": 817.8625 + }, + { + "actual_token_mask_ratio": 0.2995535105466843, + "epoch": 8.06226360197847, + "flow_matching_loss": 0.01228467570617795, + "grad_norm": 0.11980672925710678, + "kept_token_count": 572.9484375, + "learning_rate": 4.7578647595603817e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9931684195995331, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006831581611186266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.33771362304685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8895538330078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27710, + "valid_token_count": 817.978125 + }, + { + "actual_token_mask_ratio": 0.29936234652996063, + "epoch": 8.065173116089612, + "flow_matching_loss": 0.014500835817307234, + "grad_norm": 0.10583776980638504, + "kept_token_count": 573.346875, + "learning_rate": 4.716638725610889e-07, + "loss": 0.0179, + "mgd_cos_sim": 0.9932933330535889, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006706662941724062, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.2321746826172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9686553955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27720, + "valid_token_count": 818.31875 + }, + { + "actual_token_mask_ratio": 0.2995230883359909, + "epoch": 8.068082630200756, + "flow_matching_loss": 0.011776525340974332, + "grad_norm": 0.10306303203105927, + "kept_token_count": 572.98125, + "learning_rate": 4.6755892246446606e-07, + "loss": 0.0152, + "mgd_cos_sim": 0.993208259344101, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006791740749031305, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.4777313232422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.7630676269531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27730, + "valid_token_count": 817.98125 + }, + { + "actual_token_mask_ratio": 0.3001884460449219, + "epoch": 8.0709921443119, + "flow_matching_loss": 0.010881965979933739, + "grad_norm": 0.08608609437942505, + "kept_token_count": 572.521875, + "learning_rate": 4.634716306540715e-07, + "loss": 0.0141, + "mgd_cos_sim": 0.9935126304626465, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006487374752759933, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.6853332519531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6942474365234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27740, + "valid_token_count": 818.1109375 + }, + { + "actual_token_mask_ratio": 0.30044600963592527, + "epoch": 8.073901658423043, + "flow_matching_loss": 0.012029604613780975, + "grad_norm": 0.08471108973026276, + "kept_token_count": 572.296875, + "learning_rate": 4.5940200209635244e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9932177245616913, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006782281864434481, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.22088623046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7289154052734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27750, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.29889391362667084, + "epoch": 8.076811172534187, + "flow_matching_loss": 0.011449168436229229, + "grad_norm": 0.11236144602298737, + "kept_token_count": 573.790625, + "learning_rate": 4.5535004173628657e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.9932667672634125, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006733226589858532, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.49220886230466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.37999572753904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27760, + "valid_token_count": 818.4078125 + }, + { + "actual_token_mask_ratio": 0.30004480481147766, + "epoch": 8.07972068664533, + "flow_matching_loss": 0.009510836424306035, + "grad_norm": 0.08845821768045425, + "kept_token_count": 572.8078125, + "learning_rate": 4.5131575449739225e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9932663321495057, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006733661890029908, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.36488037109376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1617492675781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27770, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.3004464775323868, + "epoch": 8.082630200756475, + "flow_matching_loss": 0.011759199714288116, + "grad_norm": 0.10664689540863037, + "kept_token_count": 572.4140625, + "learning_rate": 4.472991452817099e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9934361696243286, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006563822459429503, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.1146759033203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4100036621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27780, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.2997880280017853, + "epoch": 8.085539714867616, + "flow_matching_loss": 0.011689699348062276, + "grad_norm": 0.08219144493341446, + "kept_token_count": 573.06875, + "learning_rate": 4.433002189697938e-07, + "loss": 0.0151, + "mgd_cos_sim": 0.9931310892105103, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006868914887309075, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.36391296386716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.08603515625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27790, + "valid_token_count": 818.4234375 + }, + { + "actual_token_mask_ratio": 0.30135211944580076, + "epoch": 8.08844922897876, + "flow_matching_loss": 0.012396662682294845, + "grad_norm": 0.12448296695947647, + "kept_token_count": 571.615625, + "learning_rate": 4.393189804207187e-07, + "loss": 0.0156, + "mgd_cos_sim": 0.9935512602329254, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00644874656572938, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.7850708007812, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3866394042969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27800, + "valid_token_count": 818.1671875 + }, + { + "actual_token_mask_ratio": 0.30005963742733, + "epoch": 8.091358743089904, + "flow_matching_loss": 0.011315609375014902, + "grad_norm": 0.09519746154546738, + "kept_token_count": 572.6390625, + "learning_rate": 4.353554344720651e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9931931495666504, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006806852482259274, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.9790924072266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.74120178222654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27810, + "valid_token_count": 818.1328125 + }, + { + "actual_token_mask_ratio": 0.29920085072517394, + "epoch": 8.094268257201048, + "flow_matching_loss": 0.012700443156063557, + "grad_norm": 0.0743219181895256, + "kept_token_count": 573.41875, + "learning_rate": 4.314095859399153e-07, + "loss": 0.0159, + "mgd_cos_sim": 0.9935131311416626, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006486881989985704, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.5891632080078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6577850341797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27820, + "valid_token_count": 818.234375 + }, + { + "actual_token_mask_ratio": 0.30014343559741974, + "epoch": 8.097177771312191, + "flow_matching_loss": 0.012180170509964228, + "grad_norm": 0.08231445401906967, + "kept_token_count": 572.65, + "learning_rate": 4.274814396188459e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9928825378417969, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007117460388690234, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.89344482421876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0861389160156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27830, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.3000726461410522, + "epoch": 8.100087285423335, + "flow_matching_loss": 0.009540847735479474, + "grad_norm": 0.1483132541179657, + "kept_token_count": 572.646875, + "learning_rate": 4.235710002819271e-07, + "loss": 0.0133, + "mgd_cos_sim": 0.9924763441085815, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0075236505828797815, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.9645172119141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2091766357422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27840, + "valid_token_count": 818.15 + }, + { + "actual_token_mask_ratio": 0.29931963980197906, + "epoch": 8.102996799534477, + "flow_matching_loss": 0.01069090086966753, + "grad_norm": 0.05914166942238808, + "kept_token_count": 573.40625, + "learning_rate": 4.196782726807097e-07, + "loss": 0.014, + "mgd_cos_sim": 0.9933780610561371, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006621943973004818, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.97255249023436, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.91082153320315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27850, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.30060418546199796, + "epoch": 8.10590631364562, + "flow_matching_loss": 0.010102487821131944, + "grad_norm": 0.09321049600839615, + "kept_token_count": 572.4796875, + "learning_rate": 4.158032615452251e-07, + "loss": 0.0135, + "mgd_cos_sim": 0.9932835578918457, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006716444808989763, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.15997924804685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.00079345703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27860, + "valid_token_count": 818.534375 + }, + { + "actual_token_mask_ratio": 0.30047853887081144, + "epoch": 8.108815827756764, + "flow_matching_loss": 0.011663125175982714, + "grad_norm": 0.10896091163158417, + "kept_token_count": 572.33125, + "learning_rate": 4.1194597158397853e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9933548390865325, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006645162310451269, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.3299194335938, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9641876220703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27870, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.3002281039953232, + "epoch": 8.111725341867908, + "flow_matching_loss": 0.012126792501658202, + "grad_norm": 0.0668095275759697, + "kept_token_count": 572.540625, + "learning_rate": 4.081064074839408e-07, + "loss": 0.0155, + "mgd_cos_sim": 0.9933236420154572, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006676371488720178, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.30360107421876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.66892395019534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27880, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.3009187191724777, + "epoch": 8.114634855979052, + "flow_matching_loss": 0.01273868726566434, + "grad_norm": 0.12795040011405945, + "kept_token_count": 571.76875, + "learning_rate": 4.042845739105433e-07, + "loss": 0.0162, + "mgd_cos_sim": 0.9930307865142822, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006969210319221019, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.7598052978516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3471343994141, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27890, + "valid_token_count": 817.88125 + }, + { + "actual_token_mask_ratio": 0.2992011934518814, + "epoch": 8.117544370090195, + "flow_matching_loss": 0.011948775919154286, + "grad_norm": 0.12173254787921906, + "kept_token_count": 573.4703125, + "learning_rate": 4.004804755076746e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9932165920734406, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006783408112823963, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.31443786621094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.42784729003904, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27900, + "valid_token_count": 818.3203125 + }, + { + "actual_token_mask_ratio": 0.30014358162879945, + "epoch": 8.12045388420134, + "flow_matching_loss": 0.013090594951063395, + "grad_norm": 0.09944851696491241, + "kept_token_count": 572.5, + "learning_rate": 3.9669411689767063e-07, + "loss": 0.0163, + "mgd_cos_sim": 0.9935356140136719, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00646438654512167, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.61533203125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2101776123047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27910, + "valid_token_count": 818.01875 + }, + { + "actual_token_mask_ratio": 0.3010824263095856, + "epoch": 8.123363398312481, + "flow_matching_loss": 0.01305570569820702, + "grad_norm": 0.10581787675619125, + "kept_token_count": 571.74375, + "learning_rate": 3.929255026813194e-07, + "loss": 0.0163, + "mgd_cos_sim": 0.9934407711029053, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065592191182076934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3468505859375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4057922363281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27920, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.30056132674217223, + "epoch": 8.126272912423625, + "flow_matching_loss": 0.01046131793409586, + "grad_norm": 0.11824770271778107, + "kept_token_count": 572.3109375, + "learning_rate": 3.8917463743783797e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.9931289970874786, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006871000770479441, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.6227722167969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.87830505371096, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27930, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.30052470266819, + "epoch": 8.129182426534769, + "flow_matching_loss": 0.011341024842113256, + "grad_norm": 0.1428939253091812, + "kept_token_count": 572.36875, + "learning_rate": 3.854415257248839e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9935170173645019, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006482964195311069, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.51331481933596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.41936950683595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27940, + "valid_token_count": 818.284375 + }, + { + "actual_token_mask_ratio": 0.30120514035224916, + "epoch": 8.132091940645912, + "flow_matching_loss": 0.010488538211211563, + "grad_norm": 0.14305052161216736, + "kept_token_count": 571.6828125, + "learning_rate": 3.8172617207853864e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9936517238616943, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006348275579512119, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.0321380615234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.37449035644534, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27950, + "valid_token_count": 818.1015625 + }, + { + "actual_token_mask_ratio": 0.30011407732963563, + "epoch": 8.135001454757056, + "flow_matching_loss": 0.011269702203571796, + "grad_norm": 0.1104842945933342, + "kept_token_count": 572.578125, + "learning_rate": 3.7802858101330773e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9934284090995789, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006571594066917897, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.1129547119141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.62432861328125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27960, + "valid_token_count": 818.1078125 + }, + { + "actual_token_mask_ratio": 0.30032731890678405, + "epoch": 8.1379109688682, + "flow_matching_loss": 0.010768410144373774, + "grad_norm": 0.10660204291343689, + "kept_token_count": 572.5234375, + "learning_rate": 3.743487570221121e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9928307890892029, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007169202528893947, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.8590881347656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.1756988525391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27970, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.29955604374408723, + "epoch": 8.140820482979342, + "flow_matching_loss": 0.011189281288534404, + "grad_norm": 0.0754411593079567, + "kept_token_count": 572.971875, + "learning_rate": 3.7068670457628517e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9936468541622162, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006353143416345119, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.70294494628905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4932342529297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27980, + "valid_token_count": 818.0234375 + }, + { + "actual_token_mask_ratio": 0.2989500403404236, + "epoch": 8.143729997090485, + "flow_matching_loss": 0.012446296028792858, + "grad_norm": 0.08147009462118149, + "kept_token_count": 573.6421875, + "learning_rate": 3.6704242812556576e-07, + "loss": 0.0158, + "mgd_cos_sim": 0.9931960582733155, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068039363250136375, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.2495635986328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.69940490722655, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 27990, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.2995506823062897, + "epoch": 8.146639511201629, + "flow_matching_loss": 0.012037642346695066, + "grad_norm": 0.0804072692990303, + "kept_token_count": 573.215625, + "learning_rate": 3.634159320980951e-07, + "loss": 0.0155, + "mgd_cos_sim": 0.9930522620677948, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006947764847427607, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.86790771484374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.63132934570314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28000, + "valid_token_count": 818.359375 + }, + { + "actual_token_mask_ratio": 0.29944653809070587, + "epoch": 8.149549025312773, + "flow_matching_loss": 0.013160826498642563, + "grad_norm": 0.08185368776321411, + "kept_token_count": 573.240625, + "learning_rate": 3.5980722090040663e-07, + "loss": 0.0164, + "mgd_cos_sim": 0.9935463190078735, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006453699618577957, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.30820922851564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4327453613281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28010, + "valid_token_count": 818.271875 + }, + { + "actual_token_mask_ratio": 0.29945509433746337, + "epoch": 8.152458539423916, + "flow_matching_loss": 0.011619766615331173, + "grad_norm": 0.0938255786895752, + "kept_token_count": 573.21875, + "learning_rate": 3.5621629891742447e-07, + "loss": 0.0149, + "mgd_cos_sim": 0.993537712097168, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064622796140611175, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.6370880126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.12603454589845, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28020, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.29959448277950285, + "epoch": 8.15536805353506, + "flow_matching_loss": 0.009503243071958423, + "grad_norm": 0.11290574818849564, + "kept_token_count": 573.1640625, + "learning_rate": 3.526431705124583e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9932317316532135, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067682450637221335, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.95592041015624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6133728027344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28030, + "valid_token_count": 818.3328125 + }, + { + "actual_token_mask_ratio": 0.3001169979572296, + "epoch": 8.158277567646204, + "flow_matching_loss": 0.01190190832130611, + "grad_norm": 0.11577875167131424, + "kept_token_count": 572.6546875, + "learning_rate": 3.4908784002719517e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9938766539096833, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006123364344239235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0205841064453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5384002685547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28040, + "valid_token_count": 818.20625 + }, + { + "actual_token_mask_ratio": 0.2999887436628342, + "epoch": 8.161187081757346, + "flow_matching_loss": 0.012029787339270116, + "grad_norm": 0.08312712609767914, + "kept_token_count": 572.8484375, + "learning_rate": 3.4555031178169773e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.993403697013855, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065963052213191984, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.08176574707034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7685821533203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28050, + "valid_token_count": 818.3453125 + }, + { + "actual_token_mask_ratio": 0.2996577531099319, + "epoch": 8.16409659586849, + "flow_matching_loss": 0.01192670497111976, + "grad_norm": 0.12396876513957977, + "kept_token_count": 573.05625, + "learning_rate": 3.420305900743942e-07, + "loss": 0.0152, + "mgd_cos_sim": 0.9935305118560791, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006469486188143492, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.70533447265626, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4463256835937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28060, + "valid_token_count": 818.25 + }, + { + "actual_token_mask_ratio": 0.299398672580719, + "epoch": 8.167006109979633, + "flow_matching_loss": 0.009719922533258795, + "grad_norm": 0.08194576948881149, + "kept_token_count": 573.4015625, + "learning_rate": 3.385286791820802e-07, + "loss": 0.0132, + "mgd_cos_sim": 0.9931239664554596, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006876024417579174, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.8322448730469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8678314208984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28070, + "valid_token_count": 818.4421875 + }, + { + "actual_token_mask_ratio": 0.29985884130001067, + "epoch": 8.169915624090777, + "flow_matching_loss": 0.012386100692674517, + "grad_norm": 0.12747037410736084, + "kept_token_count": 572.734375, + "learning_rate": 3.350445833599086e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9932986378669739, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006701365113258362, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.72850646972654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.09442138671875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28080, + "valid_token_count": 818.0328125 + }, + { + "actual_token_mask_ratio": 0.3005610227584839, + "epoch": 8.17282513820192, + "flow_matching_loss": 0.012305570440366865, + "grad_norm": 0.15235058963298798, + "kept_token_count": 572.3171875, + "learning_rate": 3.3157830684138303e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9937448501586914, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006255149282515049, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.9200744628906, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.07460327148436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28090, + "valid_token_count": 818.253125 + }, + { + "actual_token_mask_ratio": 0.30008420944213865, + "epoch": 8.175734652313064, + "flow_matching_loss": 0.010558468336239458, + "grad_norm": 0.1010422483086586, + "kept_token_count": 572.71875, + "learning_rate": 3.281298538383559e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.9932890832424164, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006710922718048096, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.38283386230466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.38795471191406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28100, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.3006930261850357, + "epoch": 8.178644166424208, + "flow_matching_loss": 0.013819029787555337, + "grad_norm": 0.10952445864677429, + "kept_token_count": 572.2078125, + "learning_rate": 3.2469922854102387e-07, + "loss": 0.0173, + "mgd_cos_sim": 0.9929850935935974, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0070149067789316176, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.7342529296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.11224975585935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28110, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.30075020492076876, + "epoch": 8.18155368053535, + "flow_matching_loss": 0.010828072344884277, + "grad_norm": 0.09236093610525131, + "kept_token_count": 572.1078125, + "learning_rate": 3.21286435117919e-07, + "loss": 0.0141, + "mgd_cos_sim": 0.9933813512325287, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006618645042181015, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.32044372558596, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.94097290039065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28120, + "valid_token_count": 818.1734375 + }, + { + "actual_token_mask_ratio": 0.29961897134780885, + "epoch": 8.184463194646494, + "flow_matching_loss": 0.011667125765234232, + "grad_norm": 0.07150709629058838, + "kept_token_count": 573.2609375, + "learning_rate": 3.1789147771590754e-07, + "loss": 0.0149, + "mgd_cos_sim": 0.9935768365859985, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006423175614327192, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.79258728027344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7157409667969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28130, + "valid_token_count": 818.496875 + }, + { + "actual_token_mask_ratio": 0.29934712648391726, + "epoch": 8.187372708757637, + "flow_matching_loss": 0.012020715931430458, + "grad_norm": 0.05816277489066124, + "kept_token_count": 573.3953125, + "learning_rate": 3.14514360460183e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.993467140197754, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006532864645123482, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.69932250976564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0236450195313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28140, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.30121409595012666, + "epoch": 8.190282222868781, + "flow_matching_loss": 0.011570321395993233, + "grad_norm": 0.09934641420841217, + "kept_token_count": 571.8, + "learning_rate": 3.1115508745426293e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9930828809738159, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006917120330035687, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.63438720703124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0475799560547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28150, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.2996807605028152, + "epoch": 8.193191736979925, + "flow_matching_loss": 0.011665969202294946, + "grad_norm": 0.09124703705310822, + "kept_token_count": 573.146875, + "learning_rate": 3.0781366277997716e-07, + "loss": 0.0151, + "mgd_cos_sim": 0.993057930469513, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069420687854290005, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.6613464355469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.08790893554686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28160, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.3000546216964722, + "epoch": 8.196101251091068, + "flow_matching_loss": 0.01178465923294425, + "grad_norm": 0.08123791962862015, + "kept_token_count": 572.7046875, + "learning_rate": 3.044900904974762e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9930562257766724, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006943770963698625, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.8283447265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.85087890625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28170, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.30092457234859465, + "epoch": 8.19901076520221, + "flow_matching_loss": 0.011279537621885539, + "grad_norm": 0.14170601963996887, + "kept_token_count": 572.140625, + "learning_rate": 3.011843746452081e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9935551762580872, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064448296092450615, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2111083984375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.13364562988284, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28180, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.2996377021074295, + "epoch": 8.201920279313354, + "flow_matching_loss": 0.011866180878132581, + "grad_norm": 0.10948634147644043, + "kept_token_count": 572.8828125, + "learning_rate": 2.9789651923993464e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9938159644603729, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00618404895067215, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.27158508300784, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.82647399902345, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28190, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.29929983615875244, + "epoch": 8.204829793424498, + "flow_matching_loss": 0.008645118214190006, + "grad_norm": 0.07143422961235046, + "kept_token_count": 573.2890625, + "learning_rate": 2.9462652827670855e-07, + "loss": 0.0119, + "mgd_cos_sim": 0.9934794247150421, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006520574539899826, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0255554199219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.48521118164064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28200, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.2997090995311737, + "epoch": 8.207739307535642, + "flow_matching_loss": 0.010197612922638655, + "grad_norm": 0.08091661334037781, + "kept_token_count": 573.08125, + "learning_rate": 2.913744057288764e-07, + "loss": 0.0136, + "mgd_cos_sim": 0.9931870877742768, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006812908593565226, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.2671325683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.06126403808594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28210, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.29886201322078704, + "epoch": 8.210648821646785, + "flow_matching_loss": 0.010083590121939778, + "grad_norm": 0.0978110209107399, + "kept_token_count": 574.084375, + "learning_rate": 2.8814015554807396e-07, + "loss": 0.0133, + "mgd_cos_sim": 0.993541806936264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006458184588700533, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.3894470214844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3831848144531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28220, + "valid_token_count": 818.796875 + }, + { + "actual_token_mask_ratio": 0.3000542879104614, + "epoch": 8.213558335757929, + "flow_matching_loss": 0.008809092408046126, + "grad_norm": 0.08501233905553818, + "kept_token_count": 572.7859375, + "learning_rate": 2.849237816642192e-07, + "loss": 0.012, + "mgd_cos_sim": 0.9935358345508576, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064641697332263, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.92970581054686, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0460235595703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28230, + "valid_token_count": 818.3265625 + }, + { + "actual_token_mask_ratio": 0.29906007647514343, + "epoch": 8.216467849869073, + "flow_matching_loss": 0.01137098642066121, + "grad_norm": 0.09424296766519547, + "kept_token_count": 573.65, + "learning_rate": 2.817252879855109e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9934319972991943, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006567995715886355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7498718261719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.62232666015626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28240, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.2993498921394348, + "epoch": 8.219377363980215, + "flow_matching_loss": 0.01159677430987358, + "grad_norm": 0.09078315645456314, + "kept_token_count": 573.24375, + "learning_rate": 2.785446783984219e-07, + "loss": 0.0149, + "mgd_cos_sim": 0.9934850811958313, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006514931004494429, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6446594238281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5428741455078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28250, + "valid_token_count": 818.153125 + }, + { + "actual_token_mask_ratio": 0.2996825575828552, + "epoch": 8.222286878091358, + "flow_matching_loss": 0.012615017499774695, + "grad_norm": 0.09024209529161453, + "kept_token_count": 572.9640625, + "learning_rate": 2.7538195676769076e-07, + "loss": 0.0159, + "mgd_cos_sim": 0.9935250401496887, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006474975775927305, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1499877929688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0959411621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28260, + "valid_token_count": 818.1484375 + }, + { + "actual_token_mask_ratio": 0.29892762899398806, + "epoch": 8.225196392202502, + "flow_matching_loss": 0.01217211801558733, + "grad_norm": 0.12810593843460083, + "kept_token_count": 573.71875, + "learning_rate": 2.722371269363216e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9935265302658081, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006473473086953163, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.44797973632814, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.44647827148435, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28270, + "valid_token_count": 818.3515625 + }, + { + "actual_token_mask_ratio": 0.30009315609931947, + "epoch": 8.228105906313646, + "flow_matching_loss": 0.011388823809102177, + "grad_norm": 0.10108605772256851, + "kept_token_count": 572.4890625, + "learning_rate": 2.6911019272558125e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.9931878566741943, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006812145281583071, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.5627105712891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.56740112304686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28280, + "valid_token_count": 817.953125 + }, + { + "actual_token_mask_ratio": 0.30096350610256195, + "epoch": 8.23101542042479, + "flow_matching_loss": 0.01105763679370284, + "grad_norm": 0.0802224725484848, + "kept_token_count": 572.0, + "learning_rate": 2.6600115793498857e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.993399441242218, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006600550841540098, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.2057220458984, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 381.8300048828125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28290, + "valid_token_count": 818.2703125 + }, + { + "actual_token_mask_ratio": 0.30029651820659636, + "epoch": 8.233924934535933, + "flow_matching_loss": 0.011118828505277633, + "grad_norm": 0.08625277131795883, + "kept_token_count": 572.471875, + "learning_rate": 2.629100263423151e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9930268585681915, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006973154749721289, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.5323516845703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.82411499023436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28300, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.300720340013504, + "epoch": 8.236834448647077, + "flow_matching_loss": 0.014073309395462275, + "grad_norm": 0.11762484908103943, + "kept_token_count": 572.3125, + "learning_rate": 2.598368017035763e-07, + "loss": 0.0174, + "mgd_cos_sim": 0.9932504713535308, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00674953255802393, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.2447265625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2073516845703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28310, + "valid_token_count": 818.43125 + }, + { + "actual_token_mask_ratio": 0.30048492550849915, + "epoch": 8.239743962758219, + "flow_matching_loss": 0.01041003237478435, + "grad_norm": 0.10178384184837341, + "kept_token_count": 572.109375, + "learning_rate": 2.5678148775303e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9934562027454377, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006543805170804262, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9961303710937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1940643310547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28320, + "valid_token_count": 817.8625 + }, + { + "actual_token_mask_ratio": 0.3002092868089676, + "epoch": 8.242653476869362, + "flow_matching_loss": 0.010100059676915407, + "grad_norm": 0.1279151737689972, + "kept_token_count": 572.54375, + "learning_rate": 2.537440882031683e-07, + "loss": 0.0135, + "mgd_cos_sim": 0.9932446181774139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00675537595525384, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.859912109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6441284179688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28330, + "valid_token_count": 818.1640625 + }, + { + "actual_token_mask_ratio": 0.3001154989004135, + "epoch": 8.245562990980506, + "flow_matching_loss": 0.011955771362408996, + "grad_norm": 0.1277925819158554, + "kept_token_count": 572.7546875, + "learning_rate": 2.5072460674472385e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9930531501770019, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006946858298033476, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.3153350830078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1609344482422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28340, + "valid_token_count": 818.3546875 + }, + { + "actual_token_mask_ratio": 0.2981913685798645, + "epoch": 8.24847250509165, + "flow_matching_loss": 0.010453325044363738, + "grad_norm": 0.07824312150478363, + "kept_token_count": 574.4515625, + "learning_rate": 2.4772304704664683e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9932929754257203, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006707014422863722, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.61830444335936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0071655273438, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28350, + "valid_token_count": 818.5359375 + }, + { + "actual_token_mask_ratio": 0.2996696323156357, + "epoch": 8.251382019202794, + "flow_matching_loss": 0.011809808667749166, + "grad_norm": 0.08028025925159454, + "kept_token_count": 572.896875, + "learning_rate": 2.447394127561181e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9930409610271453, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006959036272019148, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.7927276611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3649505615234, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28360, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.2992981195449829, + "epoch": 8.254291533313937, + "flow_matching_loss": 0.010090900817885995, + "grad_norm": 0.09529852867126465, + "kept_token_count": 573.175, + "learning_rate": 2.41773707498531e-07, + "loss": 0.0136, + "mgd_cos_sim": 0.9928842902183532, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0071157124824821946, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.66977844238284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.7187744140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28370, + "valid_token_count": 817.996875 + }, + { + "actual_token_mask_ratio": 0.30057761669158933, + "epoch": 8.25720104742508, + "flow_matching_loss": 0.011356895510107278, + "grad_norm": 0.07980481535196304, + "kept_token_count": 572.1296875, + "learning_rate": 2.388259348774996e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9932276964187622, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067723140120506285, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.6220977783203, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7268341064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28380, + "valid_token_count": 818.0015625 + }, + { + "actual_token_mask_ratio": 0.29949283599853516, + "epoch": 8.260110561536223, + "flow_matching_loss": 0.011516076093539596, + "grad_norm": 0.10814066976308823, + "kept_token_count": 573.2015625, + "learning_rate": 2.358960984748454e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9939350306987762, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006064965575933457, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.9536529541016, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3883331298828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28390, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.3010202914476395, + "epoch": 8.263020075647367, + "flow_matching_loss": 0.010106928506866097, + "grad_norm": 0.10404176265001297, + "kept_token_count": 572.0546875, + "learning_rate": 2.3298420185059565e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9928417146205902, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007158305309712887, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.19458923339846, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3827423095703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28400, + "valid_token_count": 818.415625 + }, + { + "actual_token_mask_ratio": 0.299353688955307, + "epoch": 8.26592958975851, + "flow_matching_loss": 0.011089313356205822, + "grad_norm": 0.07138043642044067, + "kept_token_count": 573.396875, + "learning_rate": 2.3009024854297844e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9934020340442657, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006597968190908432, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.1901824951172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.97703857421874, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28410, + "valid_token_count": 818.375 + }, + { + "actual_token_mask_ratio": 0.30001685917377474, + "epoch": 8.268839103869654, + "flow_matching_loss": 0.009794139349833132, + "grad_norm": 0.0794549509882927, + "kept_token_count": 572.96875, + "learning_rate": 2.272142420684209e-07, + "loss": 0.013, + "mgd_cos_sim": 0.9935110151767731, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064889717847108844, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.51988830566404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4899475097656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28420, + "valid_token_count": 818.55 + }, + { + "actual_token_mask_ratio": 0.30165922045707705, + "epoch": 8.271748617980798, + "flow_matching_loss": 0.01053106589242816, + "grad_norm": 0.07568556815385818, + "kept_token_count": 571.48125, + "learning_rate": 2.243561859215426e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9935690402984619, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0064309629611670974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6397308349609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.93628845214846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28430, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.30044137239456176, + "epoch": 8.274658132091941, + "flow_matching_loss": 0.01012334069237113, + "grad_norm": 0.12764830887317657, + "kept_token_count": 572.553125, + "learning_rate": 2.2151608357514897e-07, + "loss": 0.0135, + "mgd_cos_sim": 0.9933132588863373, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006686743628233671, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.03343505859374, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.68088684082034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28440, + "valid_token_count": 818.45625 + }, + { + "actual_token_mask_ratio": 0.3005512773990631, + "epoch": 8.277567646203083, + "flow_matching_loss": 0.009919681353494525, + "grad_norm": 0.09035829454660416, + "kept_token_count": 572.465625, + "learning_rate": 2.186939384802361e-07, + "loss": 0.0132, + "mgd_cos_sim": 0.9934710502624512, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006528954487293959, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.8127746582031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8849395751953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28450, + "valid_token_count": 818.4578125 + }, + { + "actual_token_mask_ratio": 0.29987818002700806, + "epoch": 8.280477160314227, + "flow_matching_loss": 0.009796382347121834, + "grad_norm": 0.10416395217180252, + "kept_token_count": 573.071875, + "learning_rate": 2.1588975406597266e-07, + "loss": 0.0131, + "mgd_cos_sim": 0.9933190882205963, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006680915970355273, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.5142425537109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3286529541016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28460, + "valid_token_count": 818.5265625 + }, + { + "actual_token_mask_ratio": 0.3003358870744705, + "epoch": 8.28338667442537, + "flow_matching_loss": 0.011637216852977871, + "grad_norm": 0.09117094427347183, + "kept_token_count": 572.3609375, + "learning_rate": 2.131035337397097e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9933195054531098, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006680488400161266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.6501495361328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.20717163085936, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28470, + "valid_token_count": 818.04375 + }, + { + "actual_token_mask_ratio": 0.3001276284456253, + "epoch": 8.286296188536515, + "flow_matching_loss": 0.012034396827220916, + "grad_norm": 0.09773899614810944, + "kept_token_count": 572.7359375, + "learning_rate": 2.1033528088696575e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9932790100574493, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006721001770347357, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.95978393554685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.94968872070314, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28480, + "valid_token_count": 818.3484375 + }, + { + "actual_token_mask_ratio": 0.29883230328559873, + "epoch": 8.289205702647658, + "flow_matching_loss": 0.009426569659262895, + "grad_norm": 0.09397512674331665, + "kept_token_count": 573.675, + "learning_rate": 2.0758499887143012e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9929972112178802, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007002809178084135, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.33287658691404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6559539794922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28490, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.2993814587593079, + "epoch": 8.292115216758802, + "flow_matching_loss": 0.013550100661814213, + "grad_norm": 0.11430007964372635, + "kept_token_count": 573.390625, + "learning_rate": 2.0485269103495462e-07, + "loss": 0.0172, + "mgd_cos_sim": 0.9927636444568634, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0072363665327429775, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.0884246826172, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7437683105469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28500, + "valid_token_count": 818.409375 + }, + { + "actual_token_mask_ratio": 0.3011725902557373, + "epoch": 8.295024730869944, + "flow_matching_loss": 0.010867420816794038, + "grad_norm": 0.08208650350570679, + "kept_token_count": 571.7109375, + "learning_rate": 2.021383606975502e-07, + "loss": 0.0143, + "mgd_cos_sim": 0.9931686520576477, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006831329967826605, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.2937896728516, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3194244384766, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28510, + "valid_token_count": 818.0984375 + }, + { + "actual_token_mask_ratio": 0.2994529902935028, + "epoch": 8.297934244981088, + "flow_matching_loss": 0.009606134053319693, + "grad_norm": 0.06199341639876366, + "kept_token_count": 573.4140625, + "learning_rate": 1.9944201115738524e-07, + "loss": 0.013, + "mgd_cos_sim": 0.9932672441005707, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00673275338485837, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4450286865234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.69940185546875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28520, + "valid_token_count": 818.5125 + }, + { + "actual_token_mask_ratio": 0.3000631660223007, + "epoch": 8.300843759092231, + "flow_matching_loss": 0.009774901205673814, + "grad_norm": 0.08082989603281021, + "kept_token_count": 572.675, + "learning_rate": 1.9676364569077732e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9938083946704864, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006191615760326385, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.92222595214844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8514801025391, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28530, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.30050204396247865, + "epoch": 8.303753273203375, + "flow_matching_loss": 0.010869737947359681, + "grad_norm": 0.08952128887176514, + "kept_token_count": 572.4578125, + "learning_rate": 1.9410326755219477e-07, + "loss": 0.014, + "mgd_cos_sim": 0.993648475408554, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006351531203836203, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.5510955810547, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2294586181641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28540, + "valid_token_count": 818.3828125 + }, + { + "actual_token_mask_ratio": 0.2994868099689484, + "epoch": 8.306662787314519, + "flow_matching_loss": 0.010463961958885193, + "grad_norm": 0.07973213493824005, + "kept_token_count": 573.0921875, + "learning_rate": 1.9146087997424677e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9932329177856445, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006767091248184443, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.22362060546874, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.65586242675784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28550, + "valid_token_count": 818.1046875 + }, + { + "actual_token_mask_ratio": 0.2997839331626892, + "epoch": 8.309572301425662, + "flow_matching_loss": 0.009860900929197669, + "grad_norm": 0.0961105152964592, + "kept_token_count": 573.1171875, + "learning_rate": 1.8883648616768335e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9938243210315705, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0061756687238812445, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.66234436035154, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.4662628173828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28560, + "valid_token_count": 818.4828125 + }, + { + "actual_token_mask_ratio": 0.30063320994377135, + "epoch": 8.312481815536806, + "flow_matching_loss": 0.012219364754855633, + "grad_norm": 0.07300908863544464, + "kept_token_count": 572.359375, + "learning_rate": 1.862300893213903e-07, + "loss": 0.0156, + "mgd_cos_sim": 0.9932803869247436, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006719604786485434, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.64104614257815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.73822631835935, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28570, + "valid_token_count": 818.39375 + }, + { + "actual_token_mask_ratio": 0.3002346307039261, + "epoch": 8.315391329647948, + "flow_matching_loss": 0.01388274496421218, + "grad_norm": 0.1088179275393486, + "kept_token_count": 572.56875, + "learning_rate": 1.8364169260238595e-07, + "loss": 0.0171, + "mgd_cos_sim": 0.9934689819812774, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006531015783548355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.50452880859376, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4201232910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28580, + "valid_token_count": 818.23125 + }, + { + "actual_token_mask_ratio": 0.2996764302253723, + "epoch": 8.318300843759092, + "flow_matching_loss": 0.010564075829461218, + "grad_norm": 0.1385735422372818, + "kept_token_count": 573.046875, + "learning_rate": 1.8107129915581777e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.9933626413345337, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006637346278876066, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.0273742675781, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.30787658691406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28590, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.29996957182884215, + "epoch": 8.321210357870235, + "flow_matching_loss": 0.012302393699064851, + "grad_norm": 0.08483530580997467, + "kept_token_count": 573.021875, + "learning_rate": 1.785189121049541e-07, + "loss": 0.0158, + "mgd_cos_sim": 0.9931011080741883, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006898892764002085, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.953125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.7265380859375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28600, + "valid_token_count": 818.56875 + }, + { + "actual_token_mask_ratio": 0.3006676137447357, + "epoch": 8.32411987198138, + "flow_matching_loss": 0.009821393806487323, + "grad_norm": 0.1231982558965683, + "kept_token_count": 572.3765625, + "learning_rate": 1.7598453455118567e-07, + "loss": 0.0131, + "mgd_cos_sim": 0.9934313595294952, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006568642985075712, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.4577331542969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.16712646484376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28610, + "valid_token_count": 818.465625 + }, + { + "actual_token_mask_ratio": 0.29928632378578185, + "epoch": 8.327029386092523, + "flow_matching_loss": 0.011281515471637249, + "grad_norm": 0.06106920912861824, + "kept_token_count": 573.415625, + "learning_rate": 1.7346816957402256e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9933592557907105, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006640748772770167, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.02538146972654, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.07716979980466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28620, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.3011926800012589, + "epoch": 8.329938900203667, + "flow_matching_loss": 0.011642617033794522, + "grad_norm": 0.08658963441848755, + "kept_token_count": 571.8859375, + "learning_rate": 1.7096982023108389e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.9937457501888275, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006254251766949892, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.4352233886719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.96250305175784, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28630, + "valid_token_count": 818.3703125 + }, + { + "actual_token_mask_ratio": 0.29971338212490084, + "epoch": 8.33284841431481, + "flow_matching_loss": 0.011712956009432673, + "grad_norm": 0.11490146815776825, + "kept_token_count": 573.0609375, + "learning_rate": 1.6848948955809963e-07, + "loss": 0.0152, + "mgd_cos_sim": 0.9930996417999267, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006900347676128149, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.4633544921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4723876953125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28640, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.29944649040699006, + "epoch": 8.335757928425952, + "flow_matching_loss": 0.00968413739465177, + "grad_norm": 0.09669061005115509, + "kept_token_count": 573.096875, + "learning_rate": 1.66027180568904e-07, + "loss": 0.0129, + "mgd_cos_sim": 0.9934776663780213, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0065223371610045435, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1162567138672, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1266357421875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28650, + "valid_token_count": 818.0640625 + }, + { + "actual_token_mask_ratio": 0.2998332053422928, + "epoch": 8.338667442537096, + "flow_matching_loss": 0.011183017399162054, + "grad_norm": 0.10529021918773651, + "kept_token_count": 572.65625, + "learning_rate": 1.6358289625543865e-07, + "loss": 0.0147, + "mgd_cos_sim": 0.9929037690162659, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007096226699650288, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.9258636474609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.60146179199216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28660, + "valid_token_count": 817.89375 + }, + { + "actual_token_mask_ratio": 0.2998673528432846, + "epoch": 8.34157695664824, + "flow_matching_loss": 0.012147744838148355, + "grad_norm": 0.09547848254442215, + "kept_token_count": 572.703125, + "learning_rate": 1.6115663958773618e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9937394559383392, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006260547414422035, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.8058227539062, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9973602294922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28670, + "valid_token_count": 817.9953125 + }, + { + "actual_token_mask_ratio": 0.29810814261436464, + "epoch": 8.344486470759383, + "flow_matching_loss": 0.008877835050225259, + "grad_norm": 0.10026542842388153, + "kept_token_count": 574.4703125, + "learning_rate": 1.5874841351392832e-07, + "loss": 0.0121, + "mgd_cos_sim": 0.9935906648635864, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00640934519469738, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.0698608398437, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8995391845703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28680, + "valid_token_count": 818.45625 + }, + { + "actual_token_mask_ratio": 0.30004519522190093, + "epoch": 8.347395984870527, + "flow_matching_loss": 0.011170031875371933, + "grad_norm": 0.09764834493398666, + "kept_token_count": 572.784375, + "learning_rate": 1.56358220960236e-07, + "loss": 0.0145, + "mgd_cos_sim": 0.9933354318141937, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006664565578103065, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.7096343994141, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3122863769531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28690, + "valid_token_count": 818.3140625 + }, + { + "actual_token_mask_ratio": 0.30022874772548674, + "epoch": 8.35030549898167, + "flow_matching_loss": 0.010999860847368837, + "grad_norm": 0.16202883422374725, + "kept_token_count": 572.7375, + "learning_rate": 1.5398606483096932e-07, + "loss": 0.0143, + "mgd_cos_sim": 0.9934562802314758, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006543716974556446, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.5141540527344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.35687561035155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28700, + "valid_token_count": 818.4640625 + }, + { + "actual_token_mask_ratio": 0.2986218512058258, + "epoch": 8.353215013092813, + "flow_matching_loss": 0.010333614330738783, + "grad_norm": 0.09031263738870621, + "kept_token_count": 573.8375, + "learning_rate": 1.5163194800852265e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9932959735393524, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006704028323292732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.8294189453125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1924682617188, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28710, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.3004962295293808, + "epoch": 8.356124527203956, + "flow_matching_loss": 0.011887867376208306, + "grad_norm": 0.09371646493673325, + "kept_token_count": 572.3953125, + "learning_rate": 1.4929587335336614e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9931359469890595, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006864052265882492, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.17735595703124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2557830810547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28720, + "valid_token_count": 818.2796875 + }, + { + "actual_token_mask_ratio": 0.300844219326973, + "epoch": 8.3590340413151, + "flow_matching_loss": 0.009942510351538657, + "grad_norm": 0.05813312903046608, + "kept_token_count": 572.384375, + "learning_rate": 1.4697784370405587e-07, + "loss": 0.0132, + "mgd_cos_sim": 0.9934881508350373, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006511845719069242, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.9921478271484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8845672607422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28730, + "valid_token_count": 818.6859375 + }, + { + "actual_token_mask_ratio": 0.3010713040828705, + "epoch": 8.361943555426244, + "flow_matching_loss": 0.010708260396495462, + "grad_norm": 0.08386102318763733, + "kept_token_count": 571.9078125, + "learning_rate": 1.4467786187721376e-07, + "loss": 0.0139, + "mgd_cos_sim": 0.99362011551857, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006379881966859102, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.0505401611328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.52069091796875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28740, + "valid_token_count": 818.2640625 + }, + { + "actual_token_mask_ratio": 0.2997584670782089, + "epoch": 8.364853069537387, + "flow_matching_loss": 0.01217508278787136, + "grad_norm": 0.10189438611268997, + "kept_token_count": 572.875, + "learning_rate": 1.4239593066753265e-07, + "loss": 0.0154, + "mgd_cos_sim": 0.9936394274234772, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0063605657778680325, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.16033935546875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7862091064453, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28750, + "valid_token_count": 818.1140625 + }, + { + "actual_token_mask_ratio": 0.30013829469680786, + "epoch": 8.367762583648531, + "flow_matching_loss": 0.012302585691213608, + "grad_norm": 0.08141608536243439, + "kept_token_count": 572.5953125, + "learning_rate": 1.4013205284777953e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9931285738945007, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068714146502316, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.52015991210936, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.9133636474609, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28760, + "valid_token_count": 818.1609375 + }, + { + "actual_token_mask_ratio": 0.298934668302536, + "epoch": 8.370672097759675, + "flow_matching_loss": 0.010458527784794568, + "grad_norm": 0.10278794914484024, + "kept_token_count": 573.88125, + "learning_rate": 1.3788623116877397e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9932644367218018, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00673555787652731, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.7562316894531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.32386779785156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28770, + "valid_token_count": 818.5828125 + }, + { + "actual_token_mask_ratio": 0.2989952743053436, + "epoch": 8.373581611870817, + "flow_matching_loss": 0.012158582406118511, + "grad_norm": 0.07455752044916153, + "kept_token_count": 573.6765625, + "learning_rate": 1.3565846835940477e-07, + "loss": 0.0156, + "mgd_cos_sim": 0.9930999875068665, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006900020968168974, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.0533081054688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.84856872558595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28780, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.30022206008434293, + "epoch": 8.37649112598196, + "flow_matching_loss": 0.010080185811966657, + "grad_norm": 0.12856058776378632, + "kept_token_count": 572.59375, + "learning_rate": 1.334487671266116e-07, + "loss": 0.0134, + "mgd_cos_sim": 0.993364816904068, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00663518076762557, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.65521850585935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4710632324219, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28790, + "valid_token_count": 818.2546875 + }, + { + "actual_token_mask_ratio": 0.29980588555335996, + "epoch": 8.379400640093104, + "flow_matching_loss": 0.010696246987208724, + "grad_norm": 0.09625979512929916, + "kept_token_count": 572.8484375, + "learning_rate": 1.3125713015538998e-07, + "loss": 0.0142, + "mgd_cos_sim": 0.9930625021457672, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069374886341392996, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 432.2540313720703, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5112640380859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28800, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.2995468497276306, + "epoch": 8.382310154204248, + "flow_matching_loss": 0.011981405457481742, + "grad_norm": 0.11684314161539078, + "kept_token_count": 573.0984375, + "learning_rate": 1.290835601087864e-07, + "loss": 0.0153, + "mgd_cos_sim": 0.9934314489364624, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006568537559360266, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.91233825683594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1090881347656, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28810, + "valid_token_count": 818.178125 + }, + { + "actual_token_mask_ratio": 0.29901939630508423, + "epoch": 8.385219668315392, + "flow_matching_loss": 0.01307147997431457, + "grad_norm": 0.09586793184280396, + "kept_token_count": 573.66875, + "learning_rate": 1.2692805962789323e-07, + "loss": 0.0164, + "mgd_cos_sim": 0.9933662235736846, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006633772142231464, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3373779296875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.71021728515626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28820, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.29964718222618103, + "epoch": 8.388129182426535, + "flow_matching_loss": 0.012343105534091592, + "grad_norm": 0.10461027920246124, + "kept_token_count": 573.0984375, + "learning_rate": 1.2479063133184698e-07, + "loss": 0.0157, + "mgd_cos_sim": 0.9933370232582093, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006662985775619745, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9132995605469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3572174072266, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28830, + "valid_token_count": 818.2921875 + }, + { + "actual_token_mask_ratio": 0.29954774081707003, + "epoch": 8.391038696537677, + "flow_matching_loss": 0.011304584611207247, + "grad_norm": 0.1035035252571106, + "kept_token_count": 573.409375, + "learning_rate": 1.2267127781782516e-07, + "loss": 0.0146, + "mgd_cos_sim": 0.9933416306972503, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00665837163105607, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.72479248046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0292266845703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28840, + "valid_token_count": 818.6203125 + }, + { + "actual_token_mask_ratio": 0.2990775555372238, + "epoch": 8.393948210648821, + "flow_matching_loss": 0.011073675658553838, + "grad_norm": 0.07552403211593628, + "kept_token_count": 573.409375, + "learning_rate": 1.205700016610395e-07, + "loss": 0.0144, + "mgd_cos_sim": 0.9933618187904358, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066381686367094515, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.9164794921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.46620483398436, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28850, + "valid_token_count": 818.0828125 + }, + { + "actual_token_mask_ratio": 0.30095587968826293, + "epoch": 8.396857724759965, + "flow_matching_loss": 0.011460975930094718, + "grad_norm": 0.1347053050994873, + "kept_token_count": 572.034375, + "learning_rate": 1.1848680541474088e-07, + "loss": 0.0148, + "mgd_cos_sim": 0.9934164524078369, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006583556160330772, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.3659362792969, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.2508239746094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28860, + "valid_token_count": 818.309375 + }, + { + "actual_token_mask_ratio": 0.29918740689754486, + "epoch": 8.399767238871108, + "flow_matching_loss": 0.01462794067338109, + "grad_norm": 0.14353980123996735, + "kept_token_count": 573.75, + "learning_rate": 1.1642169161020955e-07, + "loss": 0.0181, + "mgd_cos_sim": 0.9929696917533875, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00703030563890934, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.10003051757815, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2697326660156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28870, + "valid_token_count": 818.6953125 + }, + { + "actual_token_mask_ratio": 0.2992280602455139, + "epoch": 8.402676752982252, + "flow_matching_loss": 0.011555051896721125, + "grad_norm": 0.11934498697519302, + "kept_token_count": 573.6046875, + "learning_rate": 1.1437466275675156e-07, + "loss": 0.015, + "mgd_cos_sim": 0.9931587219238281, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006841276492923498, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.28794555664064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4324890136719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28880, + "valid_token_count": 818.5296875 + }, + { + "actual_token_mask_ratio": 0.2999631196260452, + "epoch": 8.405586267093396, + "flow_matching_loss": 0.010325820557773114, + "grad_norm": 0.09661611914634705, + "kept_token_count": 572.7171875, + "learning_rate": 1.1234572134170229e-07, + "loss": 0.0136, + "mgd_cos_sim": 0.9933615982532501, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006638401094824076, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3714233398438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2333618164063, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28890, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.3000964641571045, + "epoch": 8.40849578120454, + "flow_matching_loss": 0.01229107161052525, + "grad_norm": 0.08070316165685654, + "kept_token_count": 572.6546875, + "learning_rate": 1.1033486983041463e-07, + "loss": 0.0156, + "mgd_cos_sim": 0.993346494436264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006653503980487585, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.20778503417966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.9529693603516, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28900, + "valid_token_count": 818.1859375 + }, + { + "actual_token_mask_ratio": 0.30060833096504214, + "epoch": 8.411405295315681, + "flow_matching_loss": 0.012923899292945861, + "grad_norm": 0.09661964327096939, + "kept_token_count": 572.38125, + "learning_rate": 1.0834211066626409e-07, + "loss": 0.0162, + "mgd_cos_sim": 0.993448406457901, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006551592517644167, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.7914093017578, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.85418090820315, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28910, + "valid_token_count": 818.3984375 + }, + { + "actual_token_mask_ratio": 0.29931193590164185, + "epoch": 8.414314809426825, + "flow_matching_loss": 0.010556831862777472, + "grad_norm": 0.11286504566669464, + "kept_token_count": 573.396875, + "learning_rate": 1.0636744627064044e-07, + "loss": 0.0137, + "mgd_cos_sim": 0.9937013924121857, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00629860870540142, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.7233489990234, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3700012207031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28920, + "valid_token_count": 818.33125 + }, + { + "actual_token_mask_ratio": 0.299140653014183, + "epoch": 8.417224323537969, + "flow_matching_loss": 0.011858193576335907, + "grad_norm": 0.19792629778385162, + "kept_token_count": 573.4515625, + "learning_rate": 1.0441087904294766e-07, + "loss": 0.0152, + "mgd_cos_sim": 0.9932441294193268, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006755880452692509, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.98915100097656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.70362548828126, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28930, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.3006830781698227, + "epoch": 8.420133837649113, + "flow_matching_loss": 0.010545147163793445, + "grad_norm": 0.08799883723258972, + "kept_token_count": 572.25625, + "learning_rate": 1.0247241136059904e-07, + "loss": 0.0138, + "mgd_cos_sim": 0.9934755980968475, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006524393800646067, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.9766052246094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0570983886719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28940, + "valid_token_count": 818.30625 + }, + { + "actual_token_mask_ratio": 0.3000513046979904, + "epoch": 8.423043351760256, + "flow_matching_loss": 0.013908770540729165, + "grad_norm": 0.07280421257019043, + "kept_token_count": 572.76875, + "learning_rate": 1.0055204557901709e-07, + "loss": 0.0173, + "mgd_cos_sim": 0.9933107495307922, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006689263507723808, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.22731323242186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8591003417969, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28950, + "valid_token_count": 818.296875 + }, + { + "actual_token_mask_ratio": 0.3000528275966644, + "epoch": 8.4259528658714, + "flow_matching_loss": 0.012592929229140282, + "grad_norm": 0.08188208937644958, + "kept_token_count": 572.5390625, + "learning_rate": 9.864978403162361e-08, + "loss": 0.0158, + "mgd_cos_sim": 0.9935207307338715, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006479267310351133, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5702819824219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2867065429688, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28960, + "valid_token_count": 817.971875 + }, + { + "actual_token_mask_ratio": 0.2992636948823929, + "epoch": 8.428862379982544, + "flow_matching_loss": 0.01079353499226272, + "grad_norm": 0.0693572536110878, + "kept_token_count": 573.4546875, + "learning_rate": 9.676562902984965e-08, + "loss": 0.0142, + "mgd_cos_sim": 0.993265813589096, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067341775633394715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.92413330078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0555145263672, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28970, + "valid_token_count": 818.353125 + }, + { + "actual_token_mask_ratio": 0.2994658023118973, + "epoch": 8.431771894093686, + "flow_matching_loss": 0.011594450846314431, + "grad_norm": 0.11440403759479523, + "kept_token_count": 573.08125, + "learning_rate": 9.489958286311883e-08, + "loss": 0.0149, + "mgd_cos_sim": 0.9934643685817719, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00653563579544425, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.08522033691406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.02202758789065, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28980, + "valid_token_count": 818.0546875 + }, + { + "actual_token_mask_ratio": 0.300573006272316, + "epoch": 8.43468140820483, + "flow_matching_loss": 0.01040029339492321, + "grad_norm": 0.0814402773976326, + "kept_token_count": 572.0640625, + "learning_rate": 9.30516477988541e-08, + "loss": 0.014, + "mgd_cos_sim": 0.9928164839744568, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007183531671762467, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.73578491210935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3823638916016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 28990, + "valid_token_count": 817.9 + }, + { + "actual_token_mask_ratio": 0.29901168048381804, + "epoch": 8.437590922315973, + "flow_matching_loss": 0.010266045480966568, + "grad_norm": 0.0716109424829483, + "kept_token_count": 573.4078125, + "learning_rate": 9.122182608247098e-08, + "loss": 0.0134, + "mgd_cos_sim": 0.9937548220157624, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006245187669992447, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.2528961181641, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.0763732910156, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29000, + "valid_token_count": 817.996875 + }, + { + "actual_token_mask_ratio": 0.2992475688457489, + "epoch": 8.440500436427117, + "flow_matching_loss": 0.011303665908053517, + "grad_norm": 0.09601274132728577, + "kept_token_count": 573.19375, + "learning_rate": 8.94101199373759e-08, + "loss": 0.0148, + "mgd_cos_sim": 0.9930252313613892, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006974779535084963, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.7209136962891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7534942626953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29010, + "valid_token_count": 817.9640625 + }, + { + "actual_token_mask_ratio": 0.2991849422454834, + "epoch": 8.44340995053826, + "flow_matching_loss": 0.012312755268067122, + "grad_norm": 0.11160784214735031, + "kept_token_count": 573.6484375, + "learning_rate": 8.761653156495964e-08, + "loss": 0.0157, + "mgd_cos_sim": 0.9932087063789368, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006791282817721367, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.2391387939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0262023925781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29020, + "valid_token_count": 818.5453125 + }, + { + "actual_token_mask_ratio": 0.30082679986953736, + "epoch": 8.446319464649404, + "flow_matching_loss": 0.011145398579537868, + "grad_norm": 0.0929609090089798, + "kept_token_count": 571.7734375, + "learning_rate": 8.584106314460549e-08, + "loss": 0.0146, + "mgd_cos_sim": 0.993055659532547, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069443446584045885, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.46812744140624, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8712982177734, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29030, + "valid_token_count": 817.79375 + }, + { + "actual_token_mask_ratio": 0.29996390640735626, + "epoch": 8.449228978760548, + "flow_matching_loss": 0.011284386925399303, + "grad_norm": 0.11074363440275192, + "kept_token_count": 572.6734375, + "learning_rate": 8.408371683367111e-08, + "loss": 0.0146, + "mgd_cos_sim": 0.993414294719696, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006585712730884552, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6536895751953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.3155914306641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29040, + "valid_token_count": 818.071875 + }, + { + "actual_token_mask_ratio": 0.2993855893611908, + "epoch": 8.45213849287169, + "flow_matching_loss": 0.012551514711230994, + "grad_norm": 0.06756985932588577, + "kept_token_count": 573.4671875, + "learning_rate": 8.234449476750172e-08, + "loss": 0.016, + "mgd_cos_sim": 0.9931567192077637, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006843276601284742, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.0386260986328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0323852539062, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29050, + "valid_token_count": 818.5265625 + }, + { + "actual_token_mask_ratio": 0.29995833337306976, + "epoch": 8.455048006982834, + "flow_matching_loss": 0.012294524814933538, + "grad_norm": 0.0990218073129654, + "kept_token_count": 572.6140625, + "learning_rate": 8.062339905941351e-08, + "loss": 0.0157, + "mgd_cos_sim": 0.9932028591632843, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006797144655138254, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.13585205078124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.89455261230466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29060, + "valid_token_count": 817.9671875 + }, + { + "actual_token_mask_ratio": 0.2998128682374954, + "epoch": 8.457957521093977, + "flow_matching_loss": 0.01208275994285941, + "grad_norm": 0.12217613309621811, + "kept_token_count": 572.89375, + "learning_rate": 7.89204318007003e-08, + "loss": 0.0155, + "mgd_cos_sim": 0.9931791663169861, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006820828560739756, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.9231781005859, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4929229736328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29070, + "valid_token_count": 818.1953125 + }, + { + "actual_token_mask_ratio": 0.2992654800415039, + "epoch": 8.460867035205121, + "flow_matching_loss": 0.010898115579038858, + "grad_norm": 0.09531252831220627, + "kept_token_count": 573.559375, + "learning_rate": 7.723559506062849e-08, + "loss": 0.0144, + "mgd_cos_sim": 0.9929691910743713, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007030828949064016, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.76613464355466, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2317687988281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29080, + "valid_token_count": 818.51875 + }, + { + "actual_token_mask_ratio": 0.30007848143577576, + "epoch": 8.463776549316265, + "flow_matching_loss": 0.009893967257812619, + "grad_norm": 0.09313797205686569, + "kept_token_count": 572.6703125, + "learning_rate": 7.556889088643381e-08, + "loss": 0.0131, + "mgd_cos_sim": 0.9936026871204376, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00639730216935277, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.4299255371094, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.20777893066406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29090, + "valid_token_count": 818.1984375 + }, + { + "actual_token_mask_ratio": 0.30054462552070615, + "epoch": 8.466686063427408, + "flow_matching_loss": 0.011127955140545964, + "grad_norm": 0.06746036559343338, + "kept_token_count": 572.1140625, + "learning_rate": 7.392032130331793e-08, + "loss": 0.0144, + "mgd_cos_sim": 0.9934799373149872, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006520073674619198, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.89683532714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6574340820313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29100, + "valid_token_count": 817.9328125 + }, + { + "actual_token_mask_ratio": 0.3000067800283432, + "epoch": 8.46959557753855, + "flow_matching_loss": 0.011645244434475899, + "grad_norm": 0.11699278652667999, + "kept_token_count": 572.9984375, + "learning_rate": 7.228988831445015e-08, + "loss": 0.0149, + "mgd_cos_sim": 0.9934570968151093, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00654290309175849, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.450927734375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.51943359375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29110, + "valid_token_count": 818.5765625 + }, + { + "actual_token_mask_ratio": 0.29926871359348295, + "epoch": 8.472505091649694, + "flow_matching_loss": 0.014102941751480103, + "grad_norm": 0.126871719956398, + "kept_token_count": 573.3109375, + "learning_rate": 7.06775939009574e-08, + "loss": 0.0177, + "mgd_cos_sim": 0.9927687525749207, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007231254409998655, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 419.7822601318359, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0348205566406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29120, + "valid_token_count": 818.1578125 + }, + { + "actual_token_mask_ratio": 0.3003453463315964, + "epoch": 8.475414605760838, + "flow_matching_loss": 0.01223465595394373, + "grad_norm": 0.07954232394695282, + "kept_token_count": 572.4828125, + "learning_rate": 6.908344002193256e-08, + "loss": 0.0158, + "mgd_cos_sim": 0.9928280651569367, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007171938568353653, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.10724182128905, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8838165283203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29130, + "valid_token_count": 818.2296875 + }, + { + "actual_token_mask_ratio": 0.3002412647008896, + "epoch": 8.478324119871981, + "flow_matching_loss": 0.01261747726239264, + "grad_norm": 0.07763836532831192, + "kept_token_count": 572.5859375, + "learning_rate": 6.750742861442116e-08, + "loss": 0.0161, + "mgd_cos_sim": 0.9930800914764404, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006919923145323992, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.63408813476565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6946258544922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29140, + "valid_token_count": 818.2625 + }, + { + "actual_token_mask_ratio": 0.2999560534954071, + "epoch": 8.481233633983125, + "flow_matching_loss": 0.011600470496341586, + "grad_norm": 0.07224011421203613, + "kept_token_count": 572.88125, + "learning_rate": 6.594956159342636e-08, + "loss": 0.0151, + "mgd_cos_sim": 0.9929271697998047, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007072821166366339, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.9334777832031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.9324890136719, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29150, + "valid_token_count": 818.346875 + }, + { + "actual_token_mask_ratio": 0.30004655122756957, + "epoch": 8.484143148094269, + "flow_matching_loss": 0.011149060958996416, + "grad_norm": 0.09510181099176407, + "kept_token_count": 572.590625, + "learning_rate": 6.440984085190394e-08, + "loss": 0.0143, + "mgd_cos_sim": 0.9936814486980439, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006318551767617464, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.7235168457031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.65577087402346, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29160, + "valid_token_count": 818.0484375 + }, + { + "actual_token_mask_ratio": 0.2997395217418671, + "epoch": 8.487052662205413, + "flow_matching_loss": 0.011161192692816258, + "grad_norm": 0.07148800790309906, + "kept_token_count": 572.9703125, + "learning_rate": 6.288826826075733e-08, + "loss": 0.0145, + "mgd_cos_sim": 0.9933981418609619, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066018511541187765, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3115478515625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2171691894531, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29170, + "valid_token_count": 818.2265625 + }, + { + "actual_token_mask_ratio": 0.3001139163970947, + "epoch": 8.489962176316554, + "flow_matching_loss": 0.012721176259219646, + "grad_norm": 0.09980189800262451, + "kept_token_count": 572.728125, + "learning_rate": 6.138484566884261e-08, + "loss": 0.0161, + "mgd_cos_sim": 0.9933058440685272, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006694161798804998, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.45586547851565, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.84430236816405, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29180, + "valid_token_count": 818.3171875 + }, + { + "actual_token_mask_ratio": 0.29912897646427156, + "epoch": 8.492871690427698, + "flow_matching_loss": 0.010660717403516174, + "grad_norm": 0.0941370353102684, + "kept_token_count": 573.5921875, + "learning_rate": 5.989957490296183e-08, + "loss": 0.0141, + "mgd_cos_sim": 0.9931308329105377, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006869148369878531, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 418.90284423828126, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.07688903808594, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29190, + "valid_token_count": 818.3953125 + }, + { + "actual_token_mask_ratio": 0.2996072471141815, + "epoch": 8.495781204538842, + "flow_matching_loss": 0.009118832461535931, + "grad_norm": 0.08974215388298035, + "kept_token_count": 573.0140625, + "learning_rate": 5.843245776785466e-08, + "loss": 0.0123, + "mgd_cos_sim": 0.9937110722064972, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006288920622318983, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.96934204101564, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.6165344238281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29200, + "valid_token_count": 818.1359375 + }, + { + "actual_token_mask_ratio": 0.3007864147424698, + "epoch": 8.498690718649986, + "flow_matching_loss": 0.011207605293020607, + "grad_norm": 0.14133432507514954, + "kept_token_count": 572.2765625, + "learning_rate": 5.6983496046210115e-08, + "loss": 0.0143, + "mgd_cos_sim": 0.9937530875205993, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006246916577219963, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.0486236572266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5285675048828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29210, + "valid_token_count": 818.4578125 + }, + { + "actual_token_mask_ratio": 0.2999193757772446, + "epoch": 8.50160023276113, + "flow_matching_loss": 0.011513206409290433, + "grad_norm": 0.10012008249759674, + "kept_token_count": 572.8703125, + "learning_rate": 5.5552691498653165e-08, + "loss": 0.0147, + "mgd_cos_sim": 0.9935942053794861, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006405795458704233, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.2454467773438, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.5142578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29220, + "valid_token_count": 818.2984375 + }, + { + "actual_token_mask_ratio": 0.3010912984609604, + "epoch": 8.504509746872273, + "flow_matching_loss": 0.011169330449774861, + "grad_norm": 0.0943850502371788, + "kept_token_count": 571.853125, + "learning_rate": 5.4140045863743106e-08, + "loss": 0.0145, + "mgd_cos_sim": 0.9934267580509186, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006573242507874966, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.2354217529297, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.0524627685547, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29230, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.30023738741874695, + "epoch": 8.507419260983415, + "flow_matching_loss": 0.011364929005503654, + "grad_norm": 0.06269807368516922, + "kept_token_count": 573.053125, + "learning_rate": 5.274556085798188e-08, + "loss": 0.0147, + "mgd_cos_sim": 0.9932736098766327, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006726375594735145, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.06480102539064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6274810791016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29240, + "valid_token_count": 818.9203125 + }, + { + "actual_token_mask_ratio": 0.3004559248685837, + "epoch": 8.510328775094559, + "flow_matching_loss": 0.010744685912504793, + "grad_norm": 0.08494028449058533, + "kept_token_count": 572.4171875, + "learning_rate": 5.136923817579742e-08, + "loss": 0.014, + "mgd_cos_sim": 0.9934219479560852, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006578064803034067, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.1406616210937, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.23680725097654, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29250, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.30014423429965975, + "epoch": 8.513238289205702, + "flow_matching_loss": 0.012049824791029095, + "grad_norm": 0.09394171833992004, + "kept_token_count": 572.703125, + "learning_rate": 5.001107948955197e-08, + "loss": 0.0153, + "mgd_cos_sim": 0.993551516532898, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006448484305292368, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.8799621582031, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.0025634765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29260, + "valid_token_count": 818.3234375 + }, + { + "actual_token_mask_ratio": 0.29960829615592954, + "epoch": 8.516147803316846, + "flow_matching_loss": 0.012172559136524796, + "grad_norm": 0.10876783728599548, + "kept_token_count": 573.0671875, + "learning_rate": 4.867108644953711e-08, + "loss": 0.0154, + "mgd_cos_sim": 0.9934649884700775, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006535021308809519, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.05246887207034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.86011962890626, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29270, + "valid_token_count": 818.209375 + }, + { + "actual_token_mask_ratio": 0.29975863099098204, + "epoch": 8.51905731742799, + "flow_matching_loss": 0.011821550549939275, + "grad_norm": 0.13379867374897003, + "kept_token_count": 573.0421875, + "learning_rate": 4.734926068397038e-08, + "loss": 0.0152, + "mgd_cos_sim": 0.9932521104812622, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006747902370989323, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7574157714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.276904296875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29280, + "valid_token_count": 818.34375 + }, + { + "actual_token_mask_ratio": 0.29977398812770845, + "epoch": 8.521966831539133, + "flow_matching_loss": 0.01194578451104462, + "grad_norm": 0.10297662764787674, + "kept_token_count": 572.74375, + "learning_rate": 4.604560379899536e-08, + "loss": 0.0154, + "mgd_cos_sim": 0.9930820405483246, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006917966622859239, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3804565429688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.07822875976564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29290, + "valid_token_count": 817.9390625 + }, + { + "actual_token_mask_ratio": 0.30000867545604704, + "epoch": 8.524876345650277, + "flow_matching_loss": 0.010580473532900214, + "grad_norm": 0.1295233964920044, + "kept_token_count": 572.6703125, + "learning_rate": 4.476011737867658e-08, + "loss": 0.014, + "mgd_cos_sim": 0.9931997835636139, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006800214946269989, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.61224365234375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4945465087891, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29300, + "valid_token_count": 818.1203125 + }, + { + "actual_token_mask_ratio": 0.29974593222141266, + "epoch": 8.52778585976142, + "flow_matching_loss": 0.010716763883829116, + "grad_norm": 0.09421119093894958, + "kept_token_count": 573.109375, + "learning_rate": 4.349280298500291e-08, + "loss": 0.0143, + "mgd_cos_sim": 0.9928191900253296, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007180786691606045, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.7525939941406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.2965148925781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29310, + "valid_token_count": 818.4359375 + }, + { + "actual_token_mask_ratio": 0.300368469953537, + "epoch": 8.530695373872563, + "flow_matching_loss": 0.013169758999720216, + "grad_norm": 0.124886654317379, + "kept_token_count": 572.4765625, + "learning_rate": 4.224366215787923e-08, + "loss": 0.0164, + "mgd_cos_sim": 0.9935109198093415, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006489078979939222, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.9484893798828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.05772094726564, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29320, + "valid_token_count": 818.2515625 + }, + { + "actual_token_mask_ratio": 0.29995799958705904, + "epoch": 8.533604887983707, + "flow_matching_loss": 0.010188497882336379, + "grad_norm": 0.08503887802362442, + "kept_token_count": 572.803125, + "learning_rate": 4.101269641513139e-08, + "loss": 0.0136, + "mgd_cos_sim": 0.993252283334732, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006747728772461414, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.4845306396484, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.05303955078125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29330, + "valid_token_count": 818.2390625 + }, + { + "actual_token_mask_ratio": 0.3006862193346024, + "epoch": 8.53651440209485, + "flow_matching_loss": 0.012333548115566372, + "grad_norm": 0.09796629101037979, + "kept_token_count": 572.3875, + "learning_rate": 3.979990725249627e-08, + "loss": 0.0156, + "mgd_cos_sim": 0.9934611737728118, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006538821291178465, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.8844696044922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.25881042480466, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29340, + "valid_token_count": 818.503125 + }, + { + "actual_token_mask_ratio": 0.2997701644897461, + "epoch": 8.539423916205994, + "flow_matching_loss": 0.012498214095830917, + "grad_norm": 0.08376950025558472, + "kept_token_count": 573.015625, + "learning_rate": 3.860529614363006e-08, + "loss": 0.0157, + "mgd_cos_sim": 0.9936124086380005, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006387593783438205, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.2036071777344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3557189941406, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29350, + "valid_token_count": 818.3296875 + }, + { + "actual_token_mask_ratio": 0.29977332055568695, + "epoch": 8.542333430317138, + "flow_matching_loss": 0.011314543196931481, + "grad_norm": 0.0823545977473259, + "kept_token_count": 572.8953125, + "learning_rate": 3.742886454009664e-08, + "loss": 0.0147, + "mgd_cos_sim": 0.993186217546463, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006813781522214413, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.9016387939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.9948211669922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29360, + "valid_token_count": 818.15625 + }, + { + "actual_token_mask_ratio": 0.3000007659196854, + "epoch": 8.545242944428281, + "flow_matching_loss": 0.01114043458364904, + "grad_norm": 0.11034578830003738, + "kept_token_count": 573.0515625, + "learning_rate": 3.627061387137087e-08, + "loss": 0.0146, + "mgd_cos_sim": 0.9931050598621368, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006894939579069614, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.0449157714844, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5083343505859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29370, + "valid_token_count": 818.6421875 + }, + { + "actual_token_mask_ratio": 0.29954497814178466, + "epoch": 8.548152458539423, + "flow_matching_loss": 0.010439099790528417, + "grad_norm": 0.0984664186835289, + "kept_token_count": 573.271875, + "learning_rate": 3.5130545544835305e-08, + "loss": 0.0138, + "mgd_cos_sim": 0.9933496654033661, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066503285430371765, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.34010620117186, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3240112304687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29380, + "valid_token_count": 818.428125 + }, + { + "actual_token_mask_ratio": 0.3000373005867004, + "epoch": 8.551061972650567, + "flow_matching_loss": 0.010977864312008024, + "grad_norm": 0.10219341516494751, + "kept_token_count": 572.628125, + "learning_rate": 3.400866094578348e-08, + "loss": 0.0144, + "mgd_cos_sim": 0.9931303918361664, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006869607884436846, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.94178771972656, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.2627319335937, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29390, + "valid_token_count": 818.0765625 + }, + { + "actual_token_mask_ratio": 0.29924190044403076, + "epoch": 8.55397148676171, + "flow_matching_loss": 0.011016269773244857, + "grad_norm": 0.10493401437997818, + "kept_token_count": 573.3640625, + "learning_rate": 3.290496143740829e-08, + "loss": 0.0143, + "mgd_cos_sim": 0.9934515476226806, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006548457033932209, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.8628662109375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8813507080078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29400, + "valid_token_count": 818.2109375 + }, + { + "actual_token_mask_ratio": 0.29994343817234037, + "epoch": 8.556881000872854, + "flow_matching_loss": 0.01079135835170746, + "grad_norm": 0.07179468125104904, + "kept_token_count": 572.871875, + "learning_rate": 3.18194483608103e-08, + "loss": 0.0139, + "mgd_cos_sim": 0.993738716840744, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0062612883746623995, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.447509765625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8816619873047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29410, + "valid_token_count": 818.321875 + }, + { + "actual_token_mask_ratio": 0.30033365786075594, + "epoch": 8.559790514983998, + "flow_matching_loss": 0.011323420144617558, + "grad_norm": 0.13828212022781372, + "kept_token_count": 572.4078125, + "learning_rate": 3.075212303498942e-08, + "loss": 0.0146, + "mgd_cos_sim": 0.9933634877204895, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006636510137468576, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.7652954101562, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.4139099121094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29420, + "valid_token_count": 818.1171875 + }, + { + "actual_token_mask_ratio": 0.30127093493938445, + "epoch": 8.562700029095142, + "flow_matching_loss": 0.014729458559304475, + "grad_norm": 0.13481208682060242, + "kept_token_count": 571.9984375, + "learning_rate": 2.9702986756846574e-08, + "loss": 0.0182, + "mgd_cos_sim": 0.993081909418106, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006918086763471365, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.3564971923828, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7560333251953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29430, + "valid_token_count": 818.6328125 + }, + { + "actual_token_mask_ratio": 0.29907116293907166, + "epoch": 8.565609543206284, + "flow_matching_loss": 0.008242313796654344, + "grad_norm": 0.069316565990448, + "kept_token_count": 573.3859375, + "learning_rate": 2.867204080118202e-08, + "loss": 0.0116, + "mgd_cos_sim": 0.9933677792549134, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0066322294995188715, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.68418884277344, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.65158996582034, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29440, + "valid_token_count": 818.0390625 + }, + { + "actual_token_mask_ratio": 0.30023076236248014, + "epoch": 8.568519057317427, + "flow_matching_loss": 0.010180544387549163, + "grad_norm": 0.09621087461709976, + "kept_token_count": 572.609375, + "learning_rate": 2.7659286420693708e-08, + "loss": 0.0134, + "mgd_cos_sim": 0.9935713410377502, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006428656168282032, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.4552062988281, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.36187744140625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29450, + "valid_token_count": 818.2890625 + }, + { + "actual_token_mask_ratio": 0.29953135550022125, + "epoch": 8.571428571428571, + "flow_matching_loss": 0.013963841088116168, + "grad_norm": 0.17166180908679962, + "kept_token_count": 573.246875, + "learning_rate": 2.6664724845968934e-08, + "loss": 0.0175, + "mgd_cos_sim": 0.9930168747901916, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006983137317001819, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.6958892822266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1913787841797, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29460, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.3002903193235397, + "epoch": 8.574338085539715, + "flow_matching_loss": 0.010844060173258185, + "grad_norm": 0.08324216306209564, + "kept_token_count": 572.5796875, + "learning_rate": 2.5688357285499343e-08, + "loss": 0.0142, + "mgd_cos_sim": 0.9933749318122864, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006625070236623287, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.7526519775391, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.31895446777344, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29470, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.3001138985157013, + "epoch": 8.577247599650859, + "flow_matching_loss": 0.011170310992747545, + "grad_norm": 0.10340076684951782, + "kept_token_count": 572.6125, + "learning_rate": 2.473018492565926e-08, + "loss": 0.0146, + "mgd_cos_sim": 0.9930614829063416, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006938516348600388, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.52085266113284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8753234863281, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29480, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.2999516248703003, + "epoch": 8.580157113762002, + "flow_matching_loss": 0.012365579139441252, + "grad_norm": 0.09542769193649292, + "kept_token_count": 572.865625, + "learning_rate": 2.3790208930720702e-08, + "loss": 0.0157, + "mgd_cos_sim": 0.9932425916194916, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067574108950793745, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.26891174316404, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.6764678955078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29490, + "valid_token_count": 818.3265625 + }, + { + "actual_token_mask_ratio": 0.2993578642606735, + "epoch": 8.583066627873146, + "flow_matching_loss": 0.012157621700316668, + "grad_norm": 0.10785374790430069, + "kept_token_count": 573.1765625, + "learning_rate": 2.2868430442843368e-08, + "loss": 0.0158, + "mgd_cos_sim": 0.9926587224006653, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007341304142028093, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.4673706054688, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7166809082031, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29500, + "valid_token_count": 818.065625 + }, + { + "actual_token_mask_ratio": 0.29909464716911316, + "epoch": 8.585976141984288, + "flow_matching_loss": 0.01098830159753561, + "grad_norm": 0.11226613819599152, + "kept_token_count": 573.6875, + "learning_rate": 2.196485058207298e-08, + "loss": 0.0142, + "mgd_cos_sim": 0.9935898900032043, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006410106550902128, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.5035003662109, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1062774658203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29510, + "valid_token_count": 818.490625 + }, + { + "actual_token_mask_ratio": 0.300587472319603, + "epoch": 8.588885656095432, + "flow_matching_loss": 0.011463645659387112, + "grad_norm": 0.0840359777212143, + "kept_token_count": 572.0453125, + "learning_rate": 2.1079470446346282e-08, + "loss": 0.015, + "mgd_cos_sim": 0.9930205166339874, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006979483366012573, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.04596557617185, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.4284912109375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29520, + "valid_token_count": 817.89375 + }, + { + "actual_token_mask_ratio": 0.29961597323417666, + "epoch": 8.591795170206575, + "flow_matching_loss": 0.010619130125269294, + "grad_norm": 0.05043365806341171, + "kept_token_count": 572.978125, + "learning_rate": 2.0212291111482707e-08, + "loss": 0.0138, + "mgd_cos_sim": 0.9936106324195861, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006389361899346113, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.97345581054685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.13489685058596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29530, + "valid_token_count": 818.0953125 + }, + { + "actual_token_mask_ratio": 0.29977092146873474, + "epoch": 8.594704684317719, + "flow_matching_loss": 0.011607088381424546, + "grad_norm": 0.08379747718572617, + "kept_token_count": 572.9171875, + "learning_rate": 1.9363313631187707e-08, + "loss": 0.015, + "mgd_cos_sim": 0.9931563019752503, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0068436931818723675, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.6187225341797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.1763610839844, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29540, + "valid_token_count": 818.184375 + }, + { + "actual_token_mask_ratio": 0.29986721873283384, + "epoch": 8.597614198428863, + "flow_matching_loss": 0.010133921634405851, + "grad_norm": 0.09935612231492996, + "kept_token_count": 572.9765625, + "learning_rate": 1.853253903704777e-08, + "loss": 0.0137, + "mgd_cos_sim": 0.992943412065506, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.007056580763310194, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.4340576171875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.61118774414064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29550, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.2999581605195999, + "epoch": 8.600523712540006, + "flow_matching_loss": 0.011427901452407241, + "grad_norm": 0.09461452066898346, + "kept_token_count": 572.85625, + "learning_rate": 1.7719968338533733e-08, + "loss": 0.0148, + "mgd_cos_sim": 0.9932302951812744, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0067696994170546535, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 420.3294921875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.5572509765625, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29560, + "valid_token_count": 818.3109375 + }, + { + "actual_token_mask_ratio": 0.3001148164272308, + "epoch": 8.603433226651148, + "flow_matching_loss": 0.010232352837920188, + "grad_norm": 0.08411888033151627, + "kept_token_count": 572.646875, + "learning_rate": 1.6925602522992467e-08, + "loss": 0.0135, + "mgd_cos_sim": 0.9934198677539825, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006580126285552978, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.6589599609375, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.8677490234375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29570, + "valid_token_count": 818.2015625 + }, + { + "actual_token_mask_ratio": 0.2996662139892578, + "epoch": 8.606342740762292, + "flow_matching_loss": 0.013615565653890372, + "grad_norm": 0.10362188518047333, + "kept_token_count": 573.15625, + "learning_rate": 1.6149442555658533e-08, + "loss": 0.0169, + "mgd_cos_sim": 0.99334676861763, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006653229333460331, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.4246765136719, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.7540618896484, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29580, + "valid_token_count": 818.4109375 + }, + { + "actual_token_mask_ratio": 0.2988386660814285, + "epoch": 8.609252254873436, + "flow_matching_loss": 0.010647469107061625, + "grad_norm": 0.15278585255146027, + "kept_token_count": 573.809375, + "learning_rate": 1.5391489379635858e-08, + "loss": 0.014, + "mgd_cos_sim": 0.9932742595672608, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006725743692368269, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.2922637939453, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0544403076172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29590, + "valid_token_count": 818.3734375 + }, + { + "actual_token_mask_ratio": 0.29919514060020447, + "epoch": 8.61216176898458, + "flow_matching_loss": 0.011076400987803936, + "grad_norm": 0.09505000710487366, + "kept_token_count": 573.31875, + "learning_rate": 1.4651743915909399e-08, + "loss": 0.0145, + "mgd_cos_sim": 0.9931701362133026, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006829875241965056, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.0960205078125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.56886596679686, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29600, + "valid_token_count": 818.0859375 + }, + { + "actual_token_mask_ratio": 0.30088419616222384, + "epoch": 8.615071283095723, + "flow_matching_loss": 0.01065390077419579, + "grad_norm": 0.11956030130386353, + "kept_token_count": 572.15625, + "learning_rate": 1.3930207063340139e-08, + "loss": 0.0141, + "mgd_cos_sim": 0.9931929647922516, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006807021796703339, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.62775268554685, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.8554229736328, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29610, + "valid_token_count": 818.403125 + }, + { + "actual_token_mask_ratio": 0.30174965858459474, + "epoch": 8.617980797206867, + "flow_matching_loss": 0.010623484198004008, + "grad_norm": 0.08063618838787079, + "kept_token_count": 571.3578125, + "learning_rate": 1.322687969866343e-08, + "loss": 0.0141, + "mgd_cos_sim": 0.993084979057312, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0069150269962847235, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.941845703125, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.8401763916016, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29620, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.3001731067895889, + "epoch": 8.62089031131801, + "flow_matching_loss": 0.012333398405462503, + "grad_norm": 0.08993753790855408, + "kept_token_count": 572.603125, + "learning_rate": 1.2541762676488989e-08, + "loss": 0.0156, + "mgd_cos_sim": 0.9934457898139953, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006554220709949732, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.6290710449219, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.8791229248047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29630, + "valid_token_count": 818.2015625 + }, + { + "actual_token_mask_ratio": 0.2999570190906525, + "epoch": 8.623799825429153, + "flow_matching_loss": 0.012266687862575055, + "grad_norm": 0.10523656010627747, + "kept_token_count": 572.734375, + "learning_rate": 1.1874856829297564e-08, + "loss": 0.0155, + "mgd_cos_sim": 0.9934833765029907, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006516622100025416, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.32546081542966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.4708770751953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29640, + "valid_token_count": 818.1390625 + }, + { + "actual_token_mask_ratio": 0.30060009062290194, + "epoch": 8.626709339540296, + "flow_matching_loss": 0.011643996695056558, + "grad_norm": 0.10208327323198318, + "kept_token_count": 572.4046875, + "learning_rate": 1.1226162967442611e-08, + "loss": 0.015, + "mgd_cos_sim": 0.9932562232017517, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00674377465620637, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.69370422363284, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.56573791503905, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29650, + "valid_token_count": 818.4203125 + }, + { + "actual_token_mask_ratio": 0.30021297335624697, + "epoch": 8.62961885365144, + "flow_matching_loss": 0.01043378934264183, + "grad_norm": 0.09235460311174393, + "kept_token_count": 572.7203125, + "learning_rate": 1.059568187914861e-08, + "loss": 0.0136, + "mgd_cos_sim": 0.9937445998191834, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00625540753826499, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.59418334960935, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.36048278808596, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29660, + "valid_token_count": 818.4265625 + }, + { + "actual_token_mask_ratio": 0.30042300522327425, + "epoch": 8.632528367762584, + "flow_matching_loss": 0.009207755466923118, + "grad_norm": 0.10598638653755188, + "kept_token_count": 572.528125, + "learning_rate": 9.983414330511087e-09, + "loss": 0.0124, + "mgd_cos_sim": 0.9936038374900817, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006396164186298847, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.24188842773435, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.30068054199216, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29670, + "valid_token_count": 818.396875 + }, + { + "actual_token_mask_ratio": 0.3003954827785492, + "epoch": 8.635437881873727, + "flow_matching_loss": 0.011311538796871901, + "grad_norm": 0.09372895210981369, + "kept_token_count": 572.4765625, + "learning_rate": 9.389361065489932e-09, + "loss": 0.0146, + "mgd_cos_sim": 0.9933658957481384, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006634106766432524, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.58843688964845, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.6166961669922, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29680, + "valid_token_count": 818.28125 + }, + { + "actual_token_mask_ratio": 0.30079306960105895, + "epoch": 8.638347395984871, + "flow_matching_loss": 0.012235049111768603, + "grad_norm": 0.07549110054969788, + "kept_token_count": 572.1296875, + "learning_rate": 8.81352280591774e-09, + "loss": 0.0155, + "mgd_cos_sim": 0.9934727489948273, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006527243182063103, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.2251861572266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.81280517578125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29690, + "valid_token_count": 818.2578125 + }, + { + "actual_token_mask_ratio": 0.300566965341568, + "epoch": 8.641256910096015, + "flow_matching_loss": 0.012455406971275807, + "grad_norm": 0.12692372500896454, + "kept_token_count": 572.40625, + "learning_rate": 8.255900251491478e-09, + "loss": 0.0158, + "mgd_cos_sim": 0.9932670712471008, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006732937879860401, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3341583251953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.41484985351565, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29700, + "valid_token_count": 818.3890625 + }, + { + "actual_token_mask_ratio": 0.3004810452461243, + "epoch": 8.644166424207157, + "flow_matching_loss": 0.01088820891454816, + "grad_norm": 0.08054323494434357, + "kept_token_count": 572.3609375, + "learning_rate": 7.716494079775816e-09, + "loss": 0.0143, + "mgd_cos_sim": 0.9931747376918793, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006825248152017594, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.4971527099609, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1839630126953, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29710, + "valid_token_count": 818.225 + }, + { + "actual_token_mask_ratio": 0.2999103397130966, + "epoch": 8.6470759383183, + "flow_matching_loss": 0.010418301075696945, + "grad_norm": 0.08057183772325516, + "kept_token_count": 572.8796875, + "learning_rate": 7.195304946199799e-09, + "loss": 0.0136, + "mgd_cos_sim": 0.9935773134231567, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00642269141972065, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.06956481933594, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.37659912109376, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29720, + "valid_token_count": 818.2953125 + }, + { + "actual_token_mask_ratio": 0.29955809712409975, + "epoch": 8.649985452429444, + "flow_matching_loss": 0.011052398104220628, + "grad_norm": 0.10306505113840103, + "kept_token_count": 573.171875, + "learning_rate": 6.692333484056845e-09, + "loss": 0.0142, + "mgd_cos_sim": 0.9936111032962799, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006388914678245783, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.9194366455078, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7724273681641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29730, + "valid_token_count": 818.303125 + }, + { + "actual_token_mask_ratio": 0.30033054351806643, + "epoch": 8.652894966540588, + "flow_matching_loss": 0.009640891756862401, + "grad_norm": 0.09469380974769592, + "kept_token_count": 572.7046875, + "learning_rate": 6.207580304506411e-09, + "loss": 0.0129, + "mgd_cos_sim": 0.9935725688934326, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006427440978586674, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.25217590332034, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.14593811035155, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29740, + "valid_token_count": 818.540625 + }, + { + "actual_token_mask_ratio": 0.30022179484367373, + "epoch": 8.655804480651732, + "flow_matching_loss": 0.012159642484039068, + "grad_norm": 0.1263876110315323, + "kept_token_count": 572.7890625, + "learning_rate": 5.741045996567329e-09, + "loss": 0.0156, + "mgd_cos_sim": 0.9930368959903717, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006963104754686355, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.5580688476563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.6484039306641, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29750, + "valid_token_count": 818.53125 + }, + { + "actual_token_mask_ratio": 0.29886743426322937, + "epoch": 8.658713994762875, + "flow_matching_loss": 0.01166462996043265, + "grad_norm": 0.09242941439151764, + "kept_token_count": 573.7890625, + "learning_rate": 5.2927311271244725e-09, + "loss": 0.0149, + "mgd_cos_sim": 0.993502163887024, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006497831828892231, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 430.2171691894531, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.1594268798828, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29760, + "valid_token_count": 818.378125 + }, + { + "actual_token_mask_ratio": 0.30018865168094633, + "epoch": 8.661623508874017, + "flow_matching_loss": 0.011750643793493509, + "grad_norm": 0.10073799639940262, + "kept_token_count": 572.6140625, + "learning_rate": 4.8626362409204265e-09, + "loss": 0.0152, + "mgd_cos_sim": 0.9931292176246643, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006870763469487428, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.09923095703124, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.2381286621094, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29770, + "valid_token_count": 818.246875 + }, + { + "actual_token_mask_ratio": 0.2988845109939575, + "epoch": 8.664533022985161, + "flow_matching_loss": 0.012485417630523443, + "grad_norm": 0.09407075494527817, + "kept_token_count": 573.7203125, + "learning_rate": 4.4507618605638126e-09, + "loss": 0.0159, + "mgd_cos_sim": 0.9932273626327515, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006772647239267826, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.26890258789064, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.4090148925781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29780, + "valid_token_count": 818.3 + }, + { + "actual_token_mask_ratio": 0.2995338052511215, + "epoch": 8.667442537096305, + "flow_matching_loss": 0.010851714015007018, + "grad_norm": 0.06651799380779266, + "kept_token_count": 573.0984375, + "learning_rate": 4.057108486519301e-09, + "loss": 0.0141, + "mgd_cos_sim": 0.9934557735919952, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006544226221740246, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.06227722167966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8542846679687, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29790, + "valid_token_count": 818.165625 + }, + { + "actual_token_mask_ratio": 0.3007198214530945, + "epoch": 8.670352051207448, + "flow_matching_loss": 0.010973662603646517, + "grad_norm": 0.08551404625177383, + "kept_token_count": 571.990625, + "learning_rate": 3.6816765971126043e-09, + "loss": 0.0142, + "mgd_cos_sim": 0.9934796392917633, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006520369276404381, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.84754638671876, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.5668701171875, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29800, + "valid_token_count": 817.9765625 + }, + { + "actual_token_mask_ratio": 0.30076143741607664, + "epoch": 8.673261565318592, + "flow_matching_loss": 0.011905208649113774, + "grad_norm": 0.1022951751947403, + "kept_token_count": 572.15, + "learning_rate": 3.324466648528812e-09, + "loss": 0.0152, + "mgd_cos_sim": 0.9933138906955719, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00668611079454422, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 428.476806640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.3998626708984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29810, + "valid_token_count": 818.2453125 + }, + { + "actual_token_mask_ratio": 0.29892667531967165, + "epoch": 8.676171079429736, + "flow_matching_loss": 0.011262132786214352, + "grad_norm": 0.1013277918100357, + "kept_token_count": 573.5390625, + "learning_rate": 2.9854790748123917e-09, + "loss": 0.0147, + "mgd_cos_sim": 0.9931950092315673, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006804999522864818, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.0336120605469, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.521484375, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29820, + "valid_token_count": 818.0875 + }, + { + "actual_token_mask_ratio": 0.30005780756473543, + "epoch": 8.67908059354088, + "flow_matching_loss": 0.011652459669858218, + "grad_norm": 0.10382695496082306, + "kept_token_count": 572.80625, + "learning_rate": 2.664714287865522e-09, + "loss": 0.0148, + "mgd_cos_sim": 0.9937199294567108, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006280072592198848, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.5843811035156, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3707611083984, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29830, + "valid_token_count": 818.3578125 + }, + { + "actual_token_mask_ratio": 0.2995928883552551, + "epoch": 8.681990107652021, + "flow_matching_loss": 0.010773982387036085, + "grad_norm": 0.07541828602552414, + "kept_token_count": 573.05625, + "learning_rate": 2.362172677446428e-09, + "loss": 0.014, + "mgd_cos_sim": 0.9934713959693908, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006528605986386537, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 423.68764343261716, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.0292938232422, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29840, + "valid_token_count": 818.1703125 + }, + { + "actual_token_mask_ratio": 0.2987259656190872, + "epoch": 8.684899621763165, + "flow_matching_loss": 0.012242018431425094, + "grad_norm": 0.09059122204780579, + "kept_token_count": 573.7453125, + "learning_rate": 2.0778546111727137e-09, + "loss": 0.0157, + "mgd_cos_sim": 0.9931557238101959, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006844291277229786, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.65358581542966, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 389.34019165039064, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29850, + "valid_token_count": 818.14375 + }, + { + "actual_token_mask_ratio": 0.29959407448768616, + "epoch": 8.687809135874309, + "flow_matching_loss": 0.012685604300349951, + "grad_norm": 0.06881272792816162, + "kept_token_count": 573.3046875, + "learning_rate": 1.811760434516363e-09, + "loss": 0.0157, + "mgd_cos_sim": 0.9939312636852264, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0060687300749123095, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.1462768554687, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.41351013183595, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29860, + "valid_token_count": 818.5328125 + }, + { + "actual_token_mask_ratio": 0.30045621991157534, + "epoch": 8.690718649985453, + "flow_matching_loss": 0.010803297581151127, + "grad_norm": 0.08530495315790176, + "kept_token_count": 572.3, + "learning_rate": 1.5638904708087377e-09, + "loss": 0.014, + "mgd_cos_sim": 0.9935357093811035, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006464279536157846, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.0551330566406, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.3715057373047, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29870, + "valid_token_count": 818.115625 + }, + { + "actual_token_mask_ratio": 0.3007035553455353, + "epoch": 8.693628164096596, + "flow_matching_loss": 0.01173188048414886, + "grad_norm": 0.10007037967443466, + "kept_token_count": 572.1296875, + "learning_rate": 1.3342450212355805e-09, + "loss": 0.015, + "mgd_cos_sim": 0.993485814332962, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006514197122305632, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.3038604736328, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.6938812255859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29880, + "valid_token_count": 818.1546875 + }, + { + "actual_token_mask_ratio": 0.3000097185373306, + "epoch": 8.69653767820774, + "flow_matching_loss": 0.012487501651048661, + "grad_norm": 0.09168758988380432, + "kept_token_count": 572.73125, + "learning_rate": 1.122824364835351e-09, + "loss": 0.0157, + "mgd_cos_sim": 0.9935712277889251, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006428761780261994, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 434.0088623046875, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.36890563964846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29890, + "valid_token_count": 818.2015625 + }, + { + "actual_token_mask_ratio": 0.29994636178016665, + "epoch": 8.699447192318882, + "flow_matching_loss": 0.011502232402563095, + "grad_norm": 0.0732138454914093, + "kept_token_count": 572.9890625, + "learning_rate": 9.296287585042196e-10, + "loss": 0.0149, + "mgd_cos_sim": 0.9932504117488861, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006749597378075123, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.1791961669922, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.59644470214846, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29900, + "valid_token_count": 818.4984375 + }, + { + "actual_token_mask_ratio": 0.3007087528705597, + "epoch": 8.702356706430026, + "flow_matching_loss": 0.010545454034581781, + "grad_norm": 0.07464030385017395, + "kept_token_count": 572.3546875, + "learning_rate": 7.546584369960697e-10, + "loss": 0.0138, + "mgd_cos_sim": 0.9935510158538818, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006448983959853649, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.62078552246095, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 384.3040374755859, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29910, + "valid_token_count": 818.4859375 + }, + { + "actual_token_mask_ratio": 0.300351881980896, + "epoch": 8.70526622054117, + "flow_matching_loss": 0.011430724943056702, + "grad_norm": 0.08560286462306976, + "kept_token_count": 572.403125, + "learning_rate": 5.97913612912504e-10, + "loss": 0.0147, + "mgd_cos_sim": 0.9934834182262421, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006516574323177338, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.3120880126953, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 383.7591094970703, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29920, + "valid_token_count": 818.1234375 + }, + { + "actual_token_mask_ratio": 0.2996899843215942, + "epoch": 8.708175734652313, + "flow_matching_loss": 0.014400961436331272, + "grad_norm": 0.21862082183361053, + "kept_token_count": 572.9578125, + "learning_rate": 4.593944767161684e-10, + "loss": 0.0181, + "mgd_cos_sim": 0.9926533579826355, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.00734664686024189, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 426.71924743652346, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 382.8219970703125, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29930, + "valid_token_count": 818.140625 + }, + { + "actual_token_mask_ratio": 0.29986618757247924, + "epoch": 8.711085248763457, + "flow_matching_loss": 0.01100617772899568, + "grad_norm": 0.0884193405508995, + "kept_token_count": 572.9109375, + "learning_rate": 3.391011967207591e-10, + "loss": 0.0144, + "mgd_cos_sim": 0.9932720899581909, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006727911997586489, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 424.8293090820313, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1447448730469, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29940, + "valid_token_count": 818.290625 + }, + { + "actual_token_mask_ratio": 0.3010975897312164, + "epoch": 8.7139947628746, + "flow_matching_loss": 0.01203673742711544, + "grad_norm": 0.14215050637722015, + "kept_token_count": 571.890625, + "learning_rate": 2.370339190910231e-10, + "loss": 0.0155, + "mgd_cos_sim": 0.9931722939014435, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006827699672430754, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 421.8240203857422, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.2853637695313, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29950, + "valid_token_count": 818.2734375 + }, + { + "actual_token_mask_ratio": 0.3002112865447998, + "epoch": 8.716904276985744, + "flow_matching_loss": 0.010778457671403886, + "grad_norm": 0.09195682406425476, + "kept_token_count": 572.59375, + "learning_rate": 1.531927678510847e-10, + "loss": 0.0141, + "mgd_cos_sim": 0.993403571844101, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006596420984715223, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 429.30133056640625, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 386.7738983154297, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29960, + "valid_token_count": 818.24375 + }, + { + "actual_token_mask_ratio": 0.29944680631160736, + "epoch": 8.719813791096886, + "flow_matching_loss": 0.011036342522129417, + "grad_norm": 0.0994868203997612, + "kept_token_count": 573.090625, + "learning_rate": 8.757784487611886e-11, + "loss": 0.0142, + "mgd_cos_sim": 0.9936036169528961, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.0063963749445974825, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 427.2671783447266, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.3774444580078, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29970, + "valid_token_count": 818.0515625 + }, + { + "actual_token_mask_ratio": 0.2990915089845657, + "epoch": 8.72272330520803, + "flow_matching_loss": 0.010012910002842546, + "grad_norm": 0.15501174330711365, + "kept_token_count": 573.340625, + "learning_rate": 4.018922989235119e-11, + "loss": 0.0133, + "mgd_cos_sim": 0.9933594167232513, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006640576012432575, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 425.8841522216797, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 387.8658508300781, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29980, + "valid_token_count": 817.9984375 + }, + { + "actual_token_mask_ratio": 0.300194051861763, + "epoch": 8.725632819319173, + "flow_matching_loss": 0.010034187138080597, + "grad_norm": 0.09555839747190475, + "kept_token_count": 572.75, + "learning_rate": 1.1026980482053972e-11, + "loss": 0.0132, + "mgd_cos_sim": 0.9937487661838531, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006251240242272615, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 431.4125610351563, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 385.1644012451172, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 29990, + "valid_token_count": 818.4421875 + }, + { + "actual_token_mask_ratio": 0.30044817328453066, + "epoch": 8.728542333430317, + "flow_matching_loss": 0.00967751331627369, + "grad_norm": 0.08673399686813354, + "kept_token_count": 572.6296875, + "learning_rate": 9.113208188082922e-14, + "loss": 0.0129, + "mgd_cos_sim": 0.993477338552475, + "mgd_fm_loss_weight": 1.0, + "mgd_loss": 0.006522660236805677, + "mgd_loss_weight": 0.5, + "mgd_pred_norm_post": 1.0, + "mgd_pred_norm_raw": 422.0951324462891, + "mgd_target_norm_post": 1.0, + "mgd_target_norm_raw": 388.2301055908203, + "mgd_token_mask_ratio_cfg": 0.30000001192092896, + "step": 30000, + "valid_token_count": 818.5625 + }, + { + "epoch": 8.728542333430317, + "step": 30000, + "total_flos": 0.0, + "train_loss": 0.01888253283649683, + "train_runtime": 57240.8626, + "train_samples_per_second": 67.085, + "train_steps_per_second": 0.524 + } + ], + "logging_steps": 10, + "max_steps": 30000, + "num_input_tokens_seen": 0, + "num_train_epochs": 9, + "save_steps": 1, + "stateful_callbacks": { + "TrainerControl": { + "args": { + "should_epoch_stop": false, + "should_evaluate": false, + "should_log": false, + "should_save": false, + "should_training_stop": false + }, + "attributes": {} + } + }, + "total_flos": 0.0, + "train_batch_size": 64, + "trial_name": null, + "trial_params": null +} diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/training_args.bin b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/training_args.bin new file mode 100644 index 0000000000000000000000000000000000000000..487135f93daa65c0ace81799c0338bc0e529a9b9 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/phase3/training_args.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:548e65fe976df9927d4d7c04a21d2f7334a4145b8ebd334241040bc17dd96700 +size 6033 diff --git a/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/resolved_config.yaml b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29053cffb78cbcd1e0e295e16b742e61b33f4b02 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/mgd/loss_strategy_aux_fixed_0p5__mgd_token_mask_ratio_0.3/resolved_config.yaml @@ -0,0 +1,34 @@ +experiment_name: mgd_phase3_aux_fixed_0p5 +policy_type: groot_mgd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/mgd +sweep: + loss_strategy: + - aux_fixed_0p5 + mgd_token_mask_ratio: + - 0.3 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_mgd_fixed_0p5 + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + mgd_enabled: true + mgd_fm_loss_weight: 1.0 + mgd_loss_weight: 0.5 + mgd_token_mask_ratio: 0.3 + mgd_use_cosine_loss: true + mgd_use_mse_loss: false +resolved_sweep: + loss_strategy: aux_fixed_0p5 + mgd_token_mask_ratio: 0.3 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/config.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/config.json new file mode 100644 index 0000000000000000000000000000000000000000..b894d895dfd93af5a9b611efa841e06ebc8aeb3f --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/config.json @@ -0,0 +1,73 @@ +{ + "action_dim": 32, + "action_head_cfg": { + "action_dim": 32, + "action_horizon": 16, + "add_pos_embed": true, + "backbone_embedding_dim": 2048, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "cross_attention_dim": 2048, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 16, + "output_dim": 1024, + "positional_embeddings": null + }, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "max_action_dim": 32, + "max_state_dim": 64, + "model_dtype": "float32", + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_inference_timesteps": 4, + "num_target_vision_tokens": 32, + "num_timestep_buckets": 1000, + "tune_diffusion_model": true, + "tune_projector": true, + "use_vlln": true, + "vl_self_attention_cfg": { + "attention_head_dim": 64, + "dropout": 0.2, + "final_dropout": true, + "num_attention_heads": 32, + "num_layers": 4, + "positional_embeddings": null + } + }, + "action_horizon": 16, + "architectures": [ + "GR00T_N1_5_RKD" + ], + "attn_implementation": null, + "backbone_cfg": { + "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops", + "load_bf16": false, + "project_to_dim": null, + "reproject_vision": false, + "select_layer": 12, + "tune_llm": false, + "tune_visual": true, + "use_flash_attention": true + }, + "compute_dtype": "bfloat16", + "hidden_size": 2048, + "model_dtype": "float32", + "model_type": "gr00t_n1_5", + "rkd_action_temp": 0.1, + "rkd_enabled": true, + "rkd_fm_loss_weight": 1.0, + "rkd_loss_weight": 0.5, + "rkd_loss_weight_end": 0.0, + "rkd_loss_weight_schedule": null, + "rkd_loss_weight_start": 0.1, + "rkd_relation_mode": "token_pair_mean", + "rkd_vlm_temp": 0.1, + "torch_dtype": "bfloat16", + "transformers_version": "4.51.3" +} diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/experiment_cfg/metadata.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/experiment_cfg/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..300eb070963337016e16465f50ba8351ea2eb25c --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/experiment_cfg/metadata.json @@ -0,0 +1,431 @@ +{ + "new_embodiment": { + "statistics": { + "state": { + "base_position": { + "max": [ + 7.3139495849609375, + 0.4876587688922882, + 0.7196521759033203 + ], + "min": [ + -4.94293737411499, + -6.890198230743408, + 0.6996827125549316 + ], + "mean": [ + 2.749288365724937, + -2.0455216239909983, + 0.700532551020533 + ], + "std": [ + 1.6786295897046262, + 1.312897969434244, + 0.00133751758906258 + ], + "q01": [ + -1.4241907881148037, + -5.1716547935950885, + 0.6999670898768614 + ], + "q99": [ + 6.198111545831555, + -0.5873531334104489, + 0.7038833014242587 + ] + }, + "base_rotation": { + "max": [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + "min": [ + 0.0, + 0.0, + -1.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0, + 0.23084999587450247, + 0.6238431088581847 + ], + "std": [ + 0.0, + 0.0, + 0.6556404371644047, + 0.3572252105732042 + ], + "q01": [ + 0.0, + 0.0, + -0.9999999999999999, + 1.7482354593273349e-06 + ], + "q99": [ + 0.0, + 0.0, + 0.9999999999999999, + 0.9999999999999999 + ] + }, + "end_effector_position_relative": { + "max": [ + 0.9014528393745422, + 0.8003877401351929, + 0.9829942584037781 + ], + "min": [ + -0.37471598386764526, + -0.8472502827644348, + -0.25070279836654663 + ], + "mean": [ + 0.28667332601863704, + -0.038315473170876704, + 0.45974658906777444 + ], + "std": [ + 0.17067058828305154, + 0.23569952037784195, + 0.21950702354181487 + ], + "q01": [ + 0.015172948963784228, + -0.44450502063220615, + 0.23314444103329338 + ], + "q99": [ + 0.5609069689572412, + 0.38454179128009547, + 0.7028102736473852 + ] + }, + "end_effector_rotation_relative": { + "max": [ + 0.9999998807907104, + 0.9984455108642578, + 0.9434727430343628, + 0.9062229990959167 + ], + "min": [ + -0.9999930262565613, + -0.9988337755203247, + -0.9618149995803833, + 2.1872274658107926e-07 + ], + "mean": [ + -0.25672297401336, + 0.024425335806687216, + -0.08740977164483847, + 0.16608739644018397 + ], + "std": [ + 0.7932585208392383, + 0.3102260195580416, + 0.3772472576315148, + 0.17451959300158773 + ], + "q01": [ + -0.99379006987882, + -0.5478102050038828, + -0.6101777952971636, + 0.002274085014134748 + ], + "q99": [ + 0.8804856038896288, + 0.5910611092873037, + 0.5216058042993562, + 0.5231965974012255 + ] + }, + "gripper_qpos": { + "max": [ + 0.055869169533252716, + 0.010916369967162609 + ], + "min": [ + -0.011436971835792065, + -0.05664053186774254 + ], + "mean": [ + 0.031651551516052555, + -0.03161481387920421 + ], + "std": [ + 0.013119769222217526, + 0.01306078225192402 + ], + "q01": [ + 0.0060999246446777336, + -0.04062601653964198 + ], + "q99": [ + 0.04054891621517283, + -0.0059163567113456345 + ] + } + }, + "action": { + "base_motion": { + "max": [ + 1.0, + 1.0, + 1.0, + 0.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0 + ], + "mean": [ + 0.008144896753718373, + -0.00018893135146078263, + -0.0008739062727221845, + 0.0 + ], + "std": [ + 0.11030045424364411, + 0.10148082570313594, + 0.08975698373467506, + 0.0 + ], + "q01": [ + -0.07287373067581518, + -0.09446994199569948, + -0.07702818259249572, + 0.0 + ], + "q99": [ + 0.04485485414407898, + 0.09626941605965177, + 0.07610665906122742, + 0.0 + ] + }, + "control_mode": { + "max": [ + 1.0 + ], + "min": [ + -1.0 + ], + "mean": [ + -0.9221974313425939 + ], + "std": [ + 0.38670194342612674 + ], + "q01": [ + -1.0 + ], + "q99": [ + -0.384693946883099 + ] + }, + "end_effector_position": { + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "mean": [ + 0.01976129923017491, + -0.020870631344490034, + -0.05993476517349181 + ], + "std": [ + 0.4347024990804053, + 0.4221662976569997, + 0.3845506843044066 + ], + "q01": [ + -0.8835792939767807, + -0.9280919251713778, + -0.783361071470956 + ], + "q99": [ + 0.7622084438449307, + 0.8625125252609077, + 0.7470974753250706 + ] + }, + "end_effector_rotation": { + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "mean": [ + 0.008089673068544335, + -0.026498254627927348, + 0.0029083551743059005 + ], + "std": [ + 0.11216734503733773, + 0.13206002613798629, + 0.12615870412692864 + ], + "q01": [ + -0.2814627972846672, + -0.4342386516115439, + -0.34489755628340574 + ], + "q99": [ + 0.31879353266939386, + 0.28411797683220563, + 0.3597718671669894 + ] + }, + "gripper_close": { + "max": [ + 1.0 + ], + "min": [ + -1.0 + ], + "mean": [ + -0.3824228874769045 + ], + "std": [ + 0.9240015096469786 + ], + "q01": [ + -1.0 + ], + "q99": [ + 0.5597272305813592 + ] + } + } + }, + "modalities": { + "video": { + "robot0_eye_in_hand": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + }, + "robot0_agentview_left": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + }, + "robot0_agentview_right": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + } + }, + "state": { + "base_position": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "base_rotation": { + "absolute": true, + "rotation_type": "quaternion", + "shape": [ + 4 + ], + "continuous": true + }, + "end_effector_position_relative": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "end_effector_rotation_relative": { + "absolute": true, + "rotation_type": "quaternion", + "shape": [ + 4 + ], + "continuous": true + }, + "gripper_qpos": { + "absolute": true, + "rotation_type": null, + "shape": [ + 2 + ], + "continuous": true + } + }, + "action": { + "base_motion": { + "absolute": true, + "rotation_type": null, + "shape": [ + 4 + ], + "continuous": true + }, + "control_mode": { + "absolute": true, + "rotation_type": null, + "shape": [ + 1 + ], + "continuous": true + }, + "end_effector_position": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "end_effector_rotation": { + "absolute": true, + "rotation_type": "axis_angle", + "shape": [ + 3 + ], + "continuous": true + }, + "gripper_close": { + "absolute": true, + "rotation_type": null, + "shape": [ + 1 + ], + "continuous": true + } + } + }, + "embodiment_tag": "new_embodiment" + } +} \ No newline at end of file diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model-00001-of-00002.safetensors b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model-00001-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..7b7d7d7df972047376c98a304452d26965c539fd --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model-00001-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b99105eea2252c386dab2d744baa6ce39cba640c22c823576fbda758838d5ff +size 4999367032 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model-00002-of-00002.safetensors b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model-00002-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..878bcf99902008a23c8c3aa3b6ecb726dfc86c6c --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model-00002-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80c404375d65bf50175811a14fbd43e9989789d7d825f700871b5d79ddb520cd +size 2586705312 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model.safetensors.index.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model.safetensors.index.json new file mode 100644 index 0000000000000000000000000000000000000000..5ef5f247b61eb93e89601c7da8334fc087e19750 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/model.safetensors.index.json @@ -0,0 +1,906 @@ +{ + "metadata": { + "total_size": 7585939328 + }, + "weight_map": { + "action_head.action_decoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.b": "model-00002-of-00002.safetensors", + "action_head.future_tokens.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.weight": "model-00002-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.weight": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.position_embedding.weight": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vlln.bias": "model-00002-of-00002.safetensors", + "action_head.vlln.weight": "model-00002-of-00002.safetensors", + "backbone.eagle_model.language_model.lm_head.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.embed_tokens.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.position_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.probe": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.weight": "model-00001-of-00002.safetensors" + } +} diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/trainer_state.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/trainer_state.json new file mode 100644 index 0000000000000000000000000000000000000000..f1b90e3e0c1a93abd04901cfb7851fcb646f41e6 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/trainer_state.json @@ -0,0 +1,51043 @@ +{ + "best_global_step": null, + "best_metric": null, + "best_model_checkpoint": null, + "epoch": 8.728542333430317, + "eval_steps": 500, + "global_step": 30000, + "is_hyper_param_search": false, + "is_local_process_zero": true, + "is_world_process_zero": true, + "log_history": [ + { + "epoch": 0.002909514111143439, + "flow_matching_loss": 0.14226290360093116, + "grad_norm": 1.0420459508895874, + "learning_rate": 1.8e-07, + "loss": 0.1473, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010037025390192866, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4275663703680038, + "rkd_teacher_entropy": 3.718008780479431, + "rkd_teacher_similarity_mean": 0.7722841918468475, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10 + }, + { + "epoch": 0.005819028222286878, + "flow_matching_loss": 0.1364489860832691, + "grad_norm": 0.9290120005607605, + "learning_rate": 3.8e-07, + "loss": 0.1413, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009628503816202283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4384587734937668, + "rkd_teacher_entropy": 3.7393513202667235, + "rkd_teacher_similarity_mean": 0.7829253256320954, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20 + }, + { + "epoch": 0.008728542333430317, + "flow_matching_loss": 0.13093142807483674, + "grad_norm": 1.2385057210922241, + "learning_rate": 5.800000000000001e-07, + "loss": 0.136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010122777475044132, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.43677802979946134, + "rkd_teacher_entropy": 3.72598876953125, + "rkd_teacher_similarity_mean": 0.782160884141922, + "rkd_vlm_temp": 0.10000000149011612, + "step": 30 + }, + { + "epoch": 0.011638056444573755, + "flow_matching_loss": 0.09960044026374817, + "grad_norm": 0.6293078064918518, + "learning_rate": 7.799999999999999e-07, + "loss": 0.104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008847142336890101, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4356112629175186, + "rkd_teacher_entropy": 3.7382729291915893, + "rkd_teacher_similarity_mean": 0.7814834892749787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 40 + }, + { + "epoch": 0.014547570555717195, + "flow_matching_loss": 0.0985928226262331, + "grad_norm": 0.8669049143791199, + "learning_rate": 9.8e-07, + "loss": 0.1028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00834864443168044, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.43184159100055697, + "rkd_teacher_entropy": 3.714659857749939, + "rkd_teacher_similarity_mean": 0.7777512431144714, + "rkd_vlm_temp": 0.10000000149011612, + "step": 50 + }, + { + "epoch": 0.017457084666860634, + "flow_matching_loss": 0.1030237264931202, + "grad_norm": 0.823373556137085, + "learning_rate": 1.18e-06, + "loss": 0.1074, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008767862105742097, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4353133052587509, + "rkd_teacher_entropy": 3.742493677139282, + "rkd_teacher_similarity_mean": 0.7821009993553162, + "rkd_vlm_temp": 0.10000000149011612, + "step": 60 + }, + { + "epoch": 0.020366598778004074, + "flow_matching_loss": 0.10938987508416176, + "grad_norm": 0.960908055305481, + "learning_rate": 1.38e-06, + "loss": 0.1139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009061186295002698, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4376920789480209, + "rkd_teacher_entropy": 3.7438163995742797, + "rkd_teacher_similarity_mean": 0.7858936369419098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 70 + }, + { + "epoch": 0.02327611288914751, + "flow_matching_loss": 0.0812038742005825, + "grad_norm": 0.6528627276420593, + "learning_rate": 1.5800000000000001e-06, + "loss": 0.0853, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008154495246708393, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4424283355474472, + "rkd_teacher_entropy": 3.755580735206604, + "rkd_teacher_similarity_mean": 0.7906304121017456, + "rkd_vlm_temp": 0.10000000149011612, + "step": 80 + }, + { + "epoch": 0.02618562700029095, + "flow_matching_loss": 0.08720514066517353, + "grad_norm": 0.6476103067398071, + "learning_rate": 1.7800000000000001e-06, + "loss": 0.0919, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00944979889318347, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.44033142030239103, + "rkd_teacher_entropy": 3.7618874311447144, + "rkd_teacher_similarity_mean": 0.788109278678894, + "rkd_vlm_temp": 0.10000000149011612, + "step": 90 + }, + { + "epoch": 0.02909514111143439, + "flow_matching_loss": 0.07482247538864613, + "grad_norm": 0.3295067548751831, + "learning_rate": 1.98e-06, + "loss": 0.0799, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010211004177108407, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4328711897134781, + "rkd_teacher_entropy": 3.725347971916199, + "rkd_teacher_similarity_mean": 0.7796161711215973, + "rkd_vlm_temp": 0.10000000149011612, + "step": 100 + }, + { + "epoch": 0.03200465522257783, + "flow_matching_loss": 0.07994338274002075, + "grad_norm": 0.3992333710193634, + "learning_rate": 2.1800000000000003e-06, + "loss": 0.0846, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009278843132779001, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4294273257255554, + "rkd_teacher_entropy": 3.730423355102539, + "rkd_teacher_similarity_mean": 0.7772176623344421, + "rkd_vlm_temp": 0.10000000149011612, + "step": 110 + }, + { + "epoch": 0.03491416933372127, + "flow_matching_loss": 0.06676810085773469, + "grad_norm": 0.2952950894832611, + "learning_rate": 2.38e-06, + "loss": 0.0724, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011177214002236724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4307354211807251, + "rkd_teacher_entropy": 3.726366424560547, + "rkd_teacher_similarity_mean": 0.7780479907989502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 120 + }, + { + "epoch": 0.037823683444864704, + "flow_matching_loss": 0.0678890336304903, + "grad_norm": 0.3472428619861603, + "learning_rate": 2.58e-06, + "loss": 0.0725, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00917379166930914, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.42882600128650666, + "rkd_teacher_entropy": 3.733495998382568, + "rkd_teacher_similarity_mean": 0.7780358076095581, + "rkd_vlm_temp": 0.10000000149011612, + "step": 130 + }, + { + "epoch": 0.04073319755600815, + "flow_matching_loss": 0.06983896754682065, + "grad_norm": 0.22994354367256165, + "learning_rate": 2.78e-06, + "loss": 0.0745, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009403045568615199, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.43220242857933044, + "rkd_teacher_entropy": 3.742596244812012, + "rkd_teacher_similarity_mean": 0.7808066368103027, + "rkd_vlm_temp": 0.10000000149011612, + "step": 140 + }, + { + "epoch": 0.043642711667151585, + "flow_matching_loss": 0.07135213911533356, + "grad_norm": 0.49784621596336365, + "learning_rate": 2.98e-06, + "loss": 0.0762, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009612972754985094, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4255210816860199, + "rkd_teacher_entropy": 3.719481086730957, + "rkd_teacher_similarity_mean": 0.775509774684906, + "rkd_vlm_temp": 0.10000000149011612, + "step": 150 + }, + { + "epoch": 0.04655222577829502, + "flow_matching_loss": 0.0663549281656742, + "grad_norm": 0.38446760177612305, + "learning_rate": 3.18e-06, + "loss": 0.0717, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010661294870078563, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.42958095073699953, + "rkd_teacher_entropy": 3.738305377960205, + "rkd_teacher_similarity_mean": 0.7802838742733001, + "rkd_vlm_temp": 0.10000000149011612, + "step": 160 + }, + { + "epoch": 0.049461739889438465, + "flow_matching_loss": 0.053719384223222734, + "grad_norm": 0.38417598605155945, + "learning_rate": 3.38e-06, + "loss": 0.0599, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012261784542351961, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4213421791791916, + "rkd_teacher_entropy": 3.697846007347107, + "rkd_teacher_similarity_mean": 0.7706105291843415, + "rkd_vlm_temp": 0.10000000149011612, + "step": 170 + }, + { + "epoch": 0.0523712540005819, + "flow_matching_loss": 0.049891145527362825, + "grad_norm": 0.354751318693161, + "learning_rate": 3.58e-06, + "loss": 0.0547, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00969937238842249, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4227220267057419, + "rkd_teacher_entropy": 3.7130164384841917, + "rkd_teacher_similarity_mean": 0.7740928590297699, + "rkd_vlm_temp": 0.10000000149011612, + "step": 180 + }, + { + "epoch": 0.055280768111725345, + "flow_matching_loss": 0.05188454240560532, + "grad_norm": 0.3206673264503479, + "learning_rate": 3.7800000000000002e-06, + "loss": 0.0578, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011757730878889561, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.41844572126865387, + "rkd_teacher_entropy": 3.6957473278045656, + "rkd_teacher_similarity_mean": 0.7707142949104309, + "rkd_vlm_temp": 0.10000000149011612, + "step": 190 + }, + { + "epoch": 0.05819028222286878, + "flow_matching_loss": 0.049417559430003165, + "grad_norm": 0.2516217529773712, + "learning_rate": 3.98e-06, + "loss": 0.0545, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010252972971647978, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4269022047519684, + "rkd_teacher_entropy": 3.7348634243011474, + "rkd_teacher_similarity_mean": 0.7816878437995911, + "rkd_vlm_temp": 0.10000000149011612, + "step": 200 + }, + { + "epoch": 0.06109979633401222, + "flow_matching_loss": 0.05201739892363548, + "grad_norm": 0.359168142080307, + "learning_rate": 4.18e-06, + "loss": 0.0598, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015547299943864345, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4228251546621323, + "rkd_teacher_entropy": 3.732614850997925, + "rkd_teacher_similarity_mean": 0.7784853756427765, + "rkd_vlm_temp": 0.10000000149011612, + "step": 210 + }, + { + "epoch": 0.06400931044515566, + "flow_matching_loss": 0.04943519420921803, + "grad_norm": 0.2575529217720032, + "learning_rate": 4.3799999999999996e-06, + "loss": 0.0554, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012024084012955428, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.41961108446121215, + "rkd_teacher_entropy": 3.7200635433197022, + "rkd_teacher_similarity_mean": 0.7754652857780456, + "rkd_vlm_temp": 0.10000000149011612, + "step": 220 + }, + { + "epoch": 0.06691882455629909, + "flow_matching_loss": 0.05302497856318951, + "grad_norm": 0.259613037109375, + "learning_rate": 4.58e-06, + "loss": 0.0586, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011168989446014166, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40781478881835936, + "rkd_teacher_entropy": 3.6896496295928953, + "rkd_teacher_similarity_mean": 0.7659953892230987, + "rkd_vlm_temp": 0.10000000149011612, + "step": 230 + }, + { + "epoch": 0.06982833866744254, + "flow_matching_loss": 0.05366781428456306, + "grad_norm": 0.3018573224544525, + "learning_rate": 4.78e-06, + "loss": 0.0588, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010349411983042955, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.41348547041416167, + "rkd_teacher_entropy": 3.7072576522827148, + "rkd_teacher_similarity_mean": 0.772134518623352, + "rkd_vlm_temp": 0.10000000149011612, + "step": 240 + }, + { + "epoch": 0.07273785277858598, + "flow_matching_loss": 0.04811699464917183, + "grad_norm": 0.3171093463897705, + "learning_rate": 4.980000000000001e-06, + "loss": 0.0539, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011564230173826217, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4101642996072769, + "rkd_teacher_entropy": 3.709754157066345, + "rkd_teacher_similarity_mean": 0.7715257823467254, + "rkd_vlm_temp": 0.10000000149011612, + "step": 250 + }, + { + "epoch": 0.07564736688972941, + "flow_matching_loss": 0.043563269823789594, + "grad_norm": 0.22001858055591583, + "learning_rate": 5.18e-06, + "loss": 0.0488, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010529173770919442, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4110894501209259, + "rkd_teacher_entropy": 3.7064368724823, + "rkd_teacher_similarity_mean": 0.7746148824691772, + "rkd_vlm_temp": 0.10000000149011612, + "step": 260 + }, + { + "epoch": 0.07855688100087285, + "flow_matching_loss": 0.04625641442835331, + "grad_norm": 0.2955317199230194, + "learning_rate": 5.38e-06, + "loss": 0.0521, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011662975419312716, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.41313292980194094, + "rkd_teacher_entropy": 3.730363154411316, + "rkd_teacher_similarity_mean": 0.7774489164352417, + "rkd_vlm_temp": 0.10000000149011612, + "step": 270 + }, + { + "epoch": 0.0814663951120163, + "flow_matching_loss": 0.04319855496287346, + "grad_norm": 0.2181660383939743, + "learning_rate": 5.58e-06, + "loss": 0.0491, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011812369711697102, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40773420631885526, + "rkd_teacher_entropy": 3.7016273021697996, + "rkd_teacher_similarity_mean": 0.7722632229328156, + "rkd_vlm_temp": 0.10000000149011612, + "step": 280 + }, + { + "epoch": 0.08437590922315973, + "flow_matching_loss": 0.04284706152975559, + "grad_norm": 0.1825297772884369, + "learning_rate": 5.7800000000000006e-06, + "loss": 0.0477, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009754612855613232, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4184445083141327, + "rkd_teacher_entropy": 3.7298339128494264, + "rkd_teacher_similarity_mean": 0.7832061469554901, + "rkd_vlm_temp": 0.10000000149011612, + "step": 290 + }, + { + "epoch": 0.08728542333430317, + "flow_matching_loss": 0.04767931178212166, + "grad_norm": 0.2548176646232605, + "learning_rate": 5.98e-06, + "loss": 0.0539, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012477232608944178, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4060926169157028, + "rkd_teacher_entropy": 3.7088468074798584, + "rkd_teacher_similarity_mean": 0.770966637134552, + "rkd_vlm_temp": 0.10000000149011612, + "step": 300 + }, + { + "epoch": 0.09019493744544661, + "flow_matching_loss": 0.044609357789158824, + "grad_norm": 0.20997656881809235, + "learning_rate": 6.18e-06, + "loss": 0.0501, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010994107462465763, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4059558123350143, + "rkd_teacher_entropy": 3.706059956550598, + "rkd_teacher_similarity_mean": 0.7712616920471191, + "rkd_vlm_temp": 0.10000000149011612, + "step": 310 + }, + { + "epoch": 0.09310445155659004, + "flow_matching_loss": 0.03571159355342388, + "grad_norm": 0.25604891777038574, + "learning_rate": 6.38e-06, + "loss": 0.0409, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010351969953626394, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40669514834880827, + "rkd_teacher_entropy": 3.6964304208755494, + "rkd_teacher_similarity_mean": 0.7729412615299225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 320 + }, + { + "epoch": 0.09601396566773349, + "flow_matching_loss": 0.04335454721003771, + "grad_norm": 0.2357453554868698, + "learning_rate": 6.58e-06, + "loss": 0.05, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013279949128627778, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40563898384571073, + "rkd_teacher_entropy": 3.714291477203369, + "rkd_teacher_similarity_mean": 0.7736914098262787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 330 + }, + { + "epoch": 0.09892347977887693, + "flow_matching_loss": 0.04899506829679012, + "grad_norm": 0.24613386392593384, + "learning_rate": 6.78e-06, + "loss": 0.0541, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010127204284071923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4035301446914673, + "rkd_teacher_entropy": 3.708400011062622, + "rkd_teacher_similarity_mean": 0.7710716128349304, + "rkd_vlm_temp": 0.10000000149011612, + "step": 340 + }, + { + "epoch": 0.10183299389002037, + "flow_matching_loss": 0.039712118357419966, + "grad_norm": 0.24487005174160004, + "learning_rate": 6.98e-06, + "loss": 0.0451, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010705130454152823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40610660016536715, + "rkd_teacher_entropy": 3.7087344884872437, + "rkd_teacher_similarity_mean": 0.7740831017494202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 350 + }, + { + "epoch": 0.1047425080011638, + "flow_matching_loss": 0.04384487420320511, + "grad_norm": 0.20422886312007904, + "learning_rate": 7.180000000000001e-06, + "loss": 0.0492, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01068993522785604, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40035918951034544, + "rkd_teacher_entropy": 3.6850672245025633, + "rkd_teacher_similarity_mean": 0.7687642514705658, + "rkd_vlm_temp": 0.10000000149011612, + "step": 360 + }, + { + "epoch": 0.10765202211230725, + "flow_matching_loss": 0.03872477263212204, + "grad_norm": 0.17527762055397034, + "learning_rate": 7.3800000000000005e-06, + "loss": 0.0442, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010923485411331058, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39881845712661745, + "rkd_teacher_entropy": 3.6965561628341677, + "rkd_teacher_similarity_mean": 0.7688218414783478, + "rkd_vlm_temp": 0.10000000149011612, + "step": 370 + }, + { + "epoch": 0.11056153622345069, + "flow_matching_loss": 0.037782442197203635, + "grad_norm": 0.19193652272224426, + "learning_rate": 7.5799999999999994e-06, + "loss": 0.0439, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012187969032675028, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40302841663360595, + "rkd_teacher_entropy": 3.7082515478134157, + "rkd_teacher_similarity_mean": 0.7735482752323151, + "rkd_vlm_temp": 0.10000000149011612, + "step": 380 + }, + { + "epoch": 0.11347105033459412, + "flow_matching_loss": 0.0361917220056057, + "grad_norm": 0.1905909776687622, + "learning_rate": 7.780000000000002e-06, + "loss": 0.042, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011703640036284924, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4159430950880051, + "rkd_teacher_entropy": 3.749266791343689, + "rkd_teacher_similarity_mean": 0.786947500705719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 390 + }, + { + "epoch": 0.11638056444573756, + "flow_matching_loss": 0.03785934261977673, + "grad_norm": 0.20922985672950745, + "learning_rate": 7.98e-06, + "loss": 0.0436, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011401729052886366, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4011669337749481, + "rkd_teacher_entropy": 3.7110771417617796, + "rkd_teacher_similarity_mean": 0.7724429428577423, + "rkd_vlm_temp": 0.10000000149011612, + "step": 400 + }, + { + "epoch": 0.11929007855688101, + "flow_matching_loss": 0.040579546429216865, + "grad_norm": 0.20167027413845062, + "learning_rate": 8.18e-06, + "loss": 0.0472, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013162326626479625, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4088642716407776, + "rkd_teacher_entropy": 3.7341721057891846, + "rkd_teacher_similarity_mean": 0.7799535155296325, + "rkd_vlm_temp": 0.10000000149011612, + "step": 410 + }, + { + "epoch": 0.12219959266802444, + "flow_matching_loss": 0.0364719457924366, + "grad_norm": 0.18161731958389282, + "learning_rate": 8.38e-06, + "loss": 0.0419, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0107706886716187, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40212408304214475, + "rkd_teacher_entropy": 3.703324818611145, + "rkd_teacher_similarity_mean": 0.7736818134784699, + "rkd_vlm_temp": 0.10000000149011612, + "step": 420 + }, + { + "epoch": 0.12510910677916787, + "flow_matching_loss": 0.0426052063703537, + "grad_norm": 0.25030577182769775, + "learning_rate": 8.58e-06, + "loss": 0.0487, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012101224809885024, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3953391760587692, + "rkd_teacher_entropy": 3.707055401802063, + "rkd_teacher_similarity_mean": 0.7685568332672119, + "rkd_vlm_temp": 0.10000000149011612, + "step": 430 + }, + { + "epoch": 0.12801862089031132, + "flow_matching_loss": 0.03660789355635643, + "grad_norm": 0.231559619307518, + "learning_rate": 8.78e-06, + "loss": 0.0429, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01253452394157648, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39103039503097536, + "rkd_teacher_entropy": 3.6881687879562377, + "rkd_teacher_similarity_mean": 0.7642269015312195, + "rkd_vlm_temp": 0.10000000149011612, + "step": 440 + }, + { + "epoch": 0.13092813500145475, + "flow_matching_loss": 0.035194149054586885, + "grad_norm": 0.18281963467597961, + "learning_rate": 8.98e-06, + "loss": 0.0406, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010853041335940361, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4038118004798889, + "rkd_teacher_entropy": 3.7174442768096925, + "rkd_teacher_similarity_mean": 0.7772365689277649, + "rkd_vlm_temp": 0.10000000149011612, + "step": 450 + }, + { + "epoch": 0.13383764911259818, + "flow_matching_loss": 0.03488791678100824, + "grad_norm": 0.21525068581104279, + "learning_rate": 9.18e-06, + "loss": 0.0418, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013877897802740336, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39673461616039274, + "rkd_teacher_entropy": 3.7035722494125367, + "rkd_teacher_similarity_mean": 0.7701537549495697, + "rkd_vlm_temp": 0.10000000149011612, + "step": 460 + }, + { + "epoch": 0.13674716322374164, + "flow_matching_loss": 0.035026520304381845, + "grad_norm": 0.17158052325248718, + "learning_rate": 9.38e-06, + "loss": 0.0413, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012466656882315874, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864160507917404, + "rkd_teacher_entropy": 3.6798924446105956, + "rkd_teacher_similarity_mean": 0.7616730093955993, + "rkd_vlm_temp": 0.10000000149011612, + "step": 470 + }, + { + "epoch": 0.13965667733488507, + "flow_matching_loss": 0.037263153865933415, + "grad_norm": 0.27616092562675476, + "learning_rate": 9.580000000000001e-06, + "loss": 0.0433, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012016193754971028, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4020617246627808, + "rkd_teacher_entropy": 3.735768461227417, + "rkd_teacher_similarity_mean": 0.7790808379650116, + "rkd_vlm_temp": 0.10000000149011612, + "step": 480 + }, + { + "epoch": 0.1425661914460285, + "flow_matching_loss": 0.0351296678185463, + "grad_norm": 0.24953362345695496, + "learning_rate": 9.780000000000001e-06, + "loss": 0.0414, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012448454461991786, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3944918841123581, + "rkd_teacher_entropy": 3.712213087081909, + "rkd_teacher_similarity_mean": 0.7727748155593872, + "rkd_vlm_temp": 0.10000000149011612, + "step": 490 + }, + { + "epoch": 0.14547570555717196, + "flow_matching_loss": 0.03453218434005976, + "grad_norm": 0.19159501791000366, + "learning_rate": 9.980000000000001e-06, + "loss": 0.0398, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010484025720506907, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3960692584514618, + "rkd_teacher_entropy": 3.712686538696289, + "rkd_teacher_similarity_mean": 0.7755710482597351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 500 + }, + { + "epoch": 0.1483852196683154, + "flow_matching_loss": 0.031575233489274976, + "grad_norm": 0.2304728627204895, + "learning_rate": 1.0179999999999999e-05, + "loss": 0.0369, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010742121189832688, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.4017706513404846, + "rkd_teacher_entropy": 3.730060911178589, + "rkd_teacher_similarity_mean": 0.7805312633514404, + "rkd_vlm_temp": 0.10000000149011612, + "step": 510 + }, + { + "epoch": 0.15129473377945882, + "flow_matching_loss": 0.03487944379448891, + "grad_norm": 0.19179262220859528, + "learning_rate": 1.0379999999999999e-05, + "loss": 0.0405, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01126822056248784, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38105157017707825, + "rkd_teacher_entropy": 3.662086343765259, + "rkd_teacher_similarity_mean": 0.7585973381996155, + "rkd_vlm_temp": 0.10000000149011612, + "step": 520 + }, + { + "epoch": 0.15420424789060228, + "flow_matching_loss": 0.03378757704049349, + "grad_norm": 0.23681339621543884, + "learning_rate": 1.058e-05, + "loss": 0.0396, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011656972765922546, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3945792973041534, + "rkd_teacher_entropy": 3.7133904933929442, + "rkd_teacher_similarity_mean": 0.7741850137710571, + "rkd_vlm_temp": 0.10000000149011612, + "step": 530 + }, + { + "epoch": 0.1571137620017457, + "flow_matching_loss": 0.035752362385392186, + "grad_norm": 0.2383754402399063, + "learning_rate": 1.078e-05, + "loss": 0.042, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012532334076240659, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3905345529317856, + "rkd_teacher_entropy": 3.7085618019104003, + "rkd_teacher_similarity_mean": 0.769665664434433, + "rkd_vlm_temp": 0.10000000149011612, + "step": 540 + }, + { + "epoch": 0.16002327611288913, + "flow_matching_loss": 0.029074524343013764, + "grad_norm": 0.21352620422840118, + "learning_rate": 1.098e-05, + "loss": 0.0368, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015424479451030492, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3875306695699692, + "rkd_teacher_entropy": 3.701500082015991, + "rkd_teacher_similarity_mean": 0.7680309355258942, + "rkd_vlm_temp": 0.10000000149011612, + "step": 550 + }, + { + "epoch": 0.1629327902240326, + "flow_matching_loss": 0.03272921536117792, + "grad_norm": 0.19452546536922455, + "learning_rate": 1.118e-05, + "loss": 0.0395, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013516749255359173, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39064706563949586, + "rkd_teacher_entropy": 3.7203877925872804, + "rkd_teacher_similarity_mean": 0.772116094827652, + "rkd_vlm_temp": 0.10000000149011612, + "step": 560 + }, + { + "epoch": 0.16584230433517602, + "flow_matching_loss": 0.03223451413214207, + "grad_norm": 0.20280295610427856, + "learning_rate": 1.1380000000000001e-05, + "loss": 0.0376, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010690322332084178, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38495144844055174, + "rkd_teacher_entropy": 3.688170647621155, + "rkd_teacher_similarity_mean": 0.7694394171237946, + "rkd_vlm_temp": 0.10000000149011612, + "step": 570 + }, + { + "epoch": 0.16875181844631945, + "flow_matching_loss": 0.0317363852635026, + "grad_norm": 0.20771905779838562, + "learning_rate": 1.1580000000000001e-05, + "loss": 0.0375, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011615669168531895, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38749929070472716, + "rkd_teacher_entropy": 3.6912930727005007, + "rkd_teacher_similarity_mean": 0.7711390197277069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 580 + }, + { + "epoch": 0.1716613325574629, + "flow_matching_loss": 0.031581836566329, + "grad_norm": 0.2369033843278885, + "learning_rate": 1.178e-05, + "loss": 0.0379, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012546771857887506, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3894315600395203, + "rkd_teacher_entropy": 3.723841738700867, + "rkd_teacher_similarity_mean": 0.7739611566066742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 590 + }, + { + "epoch": 0.17457084666860634, + "flow_matching_loss": 0.03139679413288832, + "grad_norm": 0.1822795569896698, + "learning_rate": 1.198e-05, + "loss": 0.0368, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010837877541780472, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38923839926719667, + "rkd_teacher_entropy": 3.7087705373764037, + "rkd_teacher_similarity_mean": 0.7734806358814239, + "rkd_vlm_temp": 0.10000000149011612, + "step": 600 + }, + { + "epoch": 0.17748036077974977, + "flow_matching_loss": 0.029188689589500428, + "grad_norm": 0.23231671750545502, + "learning_rate": 1.2180000000000002e-05, + "loss": 0.035, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011627048626542092, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.40149580538272855, + "rkd_teacher_entropy": 3.7394027709960938, + "rkd_teacher_similarity_mean": 0.7858689188957214, + "rkd_vlm_temp": 0.10000000149011612, + "step": 610 + }, + { + "epoch": 0.18038987489089323, + "flow_matching_loss": 0.030011027492582797, + "grad_norm": 0.16404904425144196, + "learning_rate": 1.238e-05, + "loss": 0.0362, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012312729051336646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3942758560180664, + "rkd_teacher_entropy": 3.739637279510498, + "rkd_teacher_similarity_mean": 0.7804711103439331, + "rkd_vlm_temp": 0.10000000149011612, + "step": 620 + }, + { + "epoch": 0.18329938900203666, + "flow_matching_loss": 0.032053335569798946, + "grad_norm": 0.21704670786857605, + "learning_rate": 1.258e-05, + "loss": 0.0385, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012803991325199604, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39218430519104003, + "rkd_teacher_entropy": 3.730296993255615, + "rkd_teacher_similarity_mean": 0.7792365670204162, + "rkd_vlm_temp": 0.10000000149011612, + "step": 630 + }, + { + "epoch": 0.18620890311318009, + "flow_matching_loss": 0.030870230868458748, + "grad_norm": 0.23851317167282104, + "learning_rate": 1.278e-05, + "loss": 0.0373, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012801445089280605, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3889846861362457, + "rkd_teacher_entropy": 3.7172630548477175, + "rkd_teacher_similarity_mean": 0.7763044118881226, + "rkd_vlm_temp": 0.10000000149011612, + "step": 640 + }, + { + "epoch": 0.18911841722432354, + "flow_matching_loss": 0.02974412478506565, + "grad_norm": 0.19962796568870544, + "learning_rate": 1.298e-05, + "loss": 0.0358, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012061538733541965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820717453956604, + "rkd_teacher_entropy": 3.704569149017334, + "rkd_teacher_similarity_mean": 0.7723277688026429, + "rkd_vlm_temp": 0.10000000149011612, + "step": 650 + }, + { + "epoch": 0.19202793133546697, + "flow_matching_loss": 0.0297591857612133, + "grad_norm": 0.22875192761421204, + "learning_rate": 1.3180000000000001e-05, + "loss": 0.0355, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011528234649449586, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789393395185471, + "rkd_teacher_entropy": 3.699142098426819, + "rkd_teacher_similarity_mean": 0.7713079988956452, + "rkd_vlm_temp": 0.10000000149011612, + "step": 660 + }, + { + "epoch": 0.1949374454466104, + "flow_matching_loss": 0.027941284514963628, + "grad_norm": 0.19346708059310913, + "learning_rate": 1.338e-05, + "loss": 0.0337, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011427233181893825, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38386163413524627, + "rkd_teacher_entropy": 3.724954032897949, + "rkd_teacher_similarity_mean": 0.7780053019523621, + "rkd_vlm_temp": 0.10000000149011612, + "step": 670 + }, + { + "epoch": 0.19784695955775386, + "flow_matching_loss": 0.027717864513397215, + "grad_norm": 0.21111653745174408, + "learning_rate": 1.358e-05, + "loss": 0.0331, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01078622005879879, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38273693025112154, + "rkd_teacher_entropy": 3.7181931018829344, + "rkd_teacher_similarity_mean": 0.7759472072124481, + "rkd_vlm_temp": 0.10000000149011612, + "step": 680 + }, + { + "epoch": 0.2007564736688973, + "flow_matching_loss": 0.025830535404384136, + "grad_norm": 0.16644644737243652, + "learning_rate": 1.378e-05, + "loss": 0.0313, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010977200232446194, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3818553626537323, + "rkd_teacher_entropy": 3.7046051263809203, + "rkd_teacher_similarity_mean": 0.7742339372634888, + "rkd_vlm_temp": 0.10000000149011612, + "step": 690 + }, + { + "epoch": 0.20366598778004075, + "flow_matching_loss": 0.026364582031965254, + "grad_norm": 0.2431480586528778, + "learning_rate": 1.3980000000000002e-05, + "loss": 0.0326, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012550158333033324, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3761125475168228, + "rkd_teacher_entropy": 3.6965346813201903, + "rkd_teacher_similarity_mean": 0.7697096824645996, + "rkd_vlm_temp": 0.10000000149011612, + "step": 700 + }, + { + "epoch": 0.20657550189118418, + "flow_matching_loss": 0.02862627264112234, + "grad_norm": 0.18486972153186798, + "learning_rate": 1.4180000000000001e-05, + "loss": 0.0345, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011818683426827192, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38605627715587615, + "rkd_teacher_entropy": 3.7318660736083986, + "rkd_teacher_similarity_mean": 0.7798121988773346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 710 + }, + { + "epoch": 0.2094850160023276, + "flow_matching_loss": 0.027505976147949696, + "grad_norm": 0.1580020785331726, + "learning_rate": 1.438e-05, + "loss": 0.0339, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012711793649941683, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.380660155415535, + "rkd_teacher_entropy": 3.7153223037719725, + "rkd_teacher_similarity_mean": 0.7736737310886384, + "rkd_vlm_temp": 0.10000000149011612, + "step": 720 + }, + { + "epoch": 0.21239453011347106, + "flow_matching_loss": 0.02636277414858341, + "grad_norm": 0.15701735019683838, + "learning_rate": 1.458e-05, + "loss": 0.0325, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01224498376250267, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38213067352771757, + "rkd_teacher_entropy": 3.718937039375305, + "rkd_teacher_similarity_mean": 0.7767810702323914, + "rkd_vlm_temp": 0.10000000149011612, + "step": 730 + }, + { + "epoch": 0.2153040442246145, + "flow_matching_loss": 0.029107798635959626, + "grad_norm": 0.1666029542684555, + "learning_rate": 1.4779999999999999e-05, + "loss": 0.0348, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011442692577838897, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3787440061569214, + "rkd_teacher_entropy": 3.7136670112609864, + "rkd_teacher_similarity_mean": 0.7733192265033721, + "rkd_vlm_temp": 0.10000000149011612, + "step": 740 + }, + { + "epoch": 0.21821355833575792, + "flow_matching_loss": 0.02947252057492733, + "grad_norm": 0.18465647101402283, + "learning_rate": 1.498e-05, + "loss": 0.0355, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012016548495739698, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806976407766342, + "rkd_teacher_entropy": 3.7242841958999633, + "rkd_teacher_similarity_mean": 0.7767806589603424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 750 + }, + { + "epoch": 0.22112307244690138, + "flow_matching_loss": 0.026872742362320422, + "grad_norm": 0.19604866206645966, + "learning_rate": 1.518e-05, + "loss": 0.0323, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01075710728764534, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37869692742824557, + "rkd_teacher_entropy": 3.71978759765625, + "rkd_teacher_similarity_mean": 0.7771646916866303, + "rkd_vlm_temp": 0.10000000149011612, + "step": 760 + }, + { + "epoch": 0.2240325865580448, + "flow_matching_loss": 0.03131890259683132, + "grad_norm": 0.19863452017307281, + "learning_rate": 1.5380000000000002e-05, + "loss": 0.038, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013373649120330811, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3648580938577652, + "rkd_teacher_entropy": 3.679427409172058, + "rkd_teacher_similarity_mean": 0.7618229269981385, + "rkd_vlm_temp": 0.10000000149011612, + "step": 770 + }, + { + "epoch": 0.22694210066918824, + "flow_matching_loss": 0.02552989199757576, + "grad_norm": 0.16018985211849213, + "learning_rate": 1.558e-05, + "loss": 0.0314, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01178749157115817, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37348197400569916, + "rkd_teacher_entropy": 3.7112382888793944, + "rkd_teacher_similarity_mean": 0.7723547995090485, + "rkd_vlm_temp": 0.10000000149011612, + "step": 780 + }, + { + "epoch": 0.2298516147803317, + "flow_matching_loss": 0.026196904480457306, + "grad_norm": 0.14273254573345184, + "learning_rate": 1.578e-05, + "loss": 0.0314, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010422297567129136, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37344367802143097, + "rkd_teacher_entropy": 3.719152402877808, + "rkd_teacher_similarity_mean": 0.7748650372028351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 790 + }, + { + "epoch": 0.23276112889147513, + "flow_matching_loss": 0.02634233273565769, + "grad_norm": 0.18198032677173615, + "learning_rate": 1.598e-05, + "loss": 0.0325, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012346306070685386, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3685211777687073, + "rkd_teacher_entropy": 3.7029715061187742, + "rkd_teacher_similarity_mean": 0.7704877555370331, + "rkd_vlm_temp": 0.10000000149011612, + "step": 800 + }, + { + "epoch": 0.23567064300261856, + "flow_matching_loss": 0.023411749862134457, + "grad_norm": 0.14018841087818146, + "learning_rate": 1.618e-05, + "loss": 0.0292, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011534887831658125, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36940211355686187, + "rkd_teacher_entropy": 3.7110308408737183, + "rkd_teacher_similarity_mean": 0.7735081493854523, + "rkd_vlm_temp": 0.10000000149011612, + "step": 810 + }, + { + "epoch": 0.23858015711376201, + "flow_matching_loss": 0.025703160837292672, + "grad_norm": 0.21342827379703522, + "learning_rate": 1.6380000000000002e-05, + "loss": 0.0326, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013704221788793802, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3643565773963928, + "rkd_teacher_entropy": 3.6990232944488524, + "rkd_teacher_similarity_mean": 0.7672416508197785, + "rkd_vlm_temp": 0.10000000149011612, + "step": 820 + }, + { + "epoch": 0.24148967122490544, + "flow_matching_loss": 0.025459478981792925, + "grad_norm": 0.18900525569915771, + "learning_rate": 1.658e-05, + "loss": 0.031, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011042798217386008, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3745676100254059, + "rkd_teacher_entropy": 3.7207544088363647, + "rkd_teacher_similarity_mean": 0.7773448288440704, + "rkd_vlm_temp": 0.10000000149011612, + "step": 830 + }, + { + "epoch": 0.24439918533604887, + "flow_matching_loss": 0.027305310405790807, + "grad_norm": 0.16472811996936798, + "learning_rate": 1.6780000000000002e-05, + "loss": 0.0334, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012092893477529287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.366932338476181, + "rkd_teacher_entropy": 3.7006672859191894, + "rkd_teacher_similarity_mean": 0.7692663311958313, + "rkd_vlm_temp": 0.10000000149011612, + "step": 840 + }, + { + "epoch": 0.24730869944719233, + "flow_matching_loss": 0.026830117404460906, + "grad_norm": 0.15482266247272491, + "learning_rate": 1.698e-05, + "loss": 0.0338, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013882684241980314, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36969190239906313, + "rkd_teacher_entropy": 3.723142695426941, + "rkd_teacher_similarity_mean": 0.7739829957485199, + "rkd_vlm_temp": 0.10000000149011612, + "step": 850 + }, + { + "epoch": 0.25021821355833573, + "flow_matching_loss": 0.026433613896369935, + "grad_norm": 0.15862266719341278, + "learning_rate": 1.718e-05, + "loss": 0.0321, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011292734742164611, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37916854619979856, + "rkd_teacher_entropy": 3.7471444606781006, + "rkd_teacher_similarity_mean": 0.7842708468437195, + "rkd_vlm_temp": 0.10000000149011612, + "step": 860 + }, + { + "epoch": 0.2531277276694792, + "flow_matching_loss": 0.026394899375736712, + "grad_norm": 0.20051299035549164, + "learning_rate": 1.7380000000000003e-05, + "loss": 0.0335, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014149388112127782, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3752759486436844, + "rkd_teacher_entropy": 3.742497134208679, + "rkd_teacher_similarity_mean": 0.7813699603080749, + "rkd_vlm_temp": 0.10000000149011612, + "step": 870 + }, + { + "epoch": 0.25603724178062265, + "flow_matching_loss": 0.02749456949532032, + "grad_norm": 0.18079586327075958, + "learning_rate": 1.758e-05, + "loss": 0.0337, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012418813817203046, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3743461638689041, + "rkd_teacher_entropy": 3.7370671033859253, + "rkd_teacher_similarity_mean": 0.7795423865318298, + "rkd_vlm_temp": 0.10000000149011612, + "step": 880 + }, + { + "epoch": 0.2589467558917661, + "flow_matching_loss": 0.024799935333430768, + "grad_norm": 0.1402086466550827, + "learning_rate": 1.778e-05, + "loss": 0.0312, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012872097082436085, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37482876777648927, + "rkd_teacher_entropy": 3.7258013486862183, + "rkd_teacher_similarity_mean": 0.7805788099765778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 890 + }, + { + "epoch": 0.2618562700029095, + "flow_matching_loss": 0.026597339287400247, + "grad_norm": 0.14133481681346893, + "learning_rate": 1.798e-05, + "loss": 0.032, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01085930960252881, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37450297772884367, + "rkd_teacher_entropy": 3.7485009908676146, + "rkd_teacher_similarity_mean": 0.7837389707565308, + "rkd_vlm_temp": 0.10000000149011612, + "step": 900 + }, + { + "epoch": 0.26476578411405294, + "flow_matching_loss": 0.025093322806060313, + "grad_norm": 0.14547941088676453, + "learning_rate": 1.818e-05, + "loss": 0.0315, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01273260391317308, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711950987577438, + "rkd_teacher_entropy": 3.7374062538146973, + "rkd_teacher_similarity_mean": 0.780116468667984, + "rkd_vlm_temp": 0.10000000149011612, + "step": 910 + }, + { + "epoch": 0.26767529822519637, + "flow_matching_loss": 0.024479962605983018, + "grad_norm": 0.14966058731079102, + "learning_rate": 1.838e-05, + "loss": 0.0306, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012189697241410613, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37097269892692564, + "rkd_teacher_entropy": 3.727344107627869, + "rkd_teacher_similarity_mean": 0.7806628108024597, + "rkd_vlm_temp": 0.10000000149011612, + "step": 920 + }, + { + "epoch": 0.27058481233633985, + "flow_matching_loss": 0.02693923134356737, + "grad_norm": 0.16432543098926544, + "learning_rate": 1.8579999999999998e-05, + "loss": 0.0336, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013345038332045079, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36881503462791443, + "rkd_teacher_entropy": 3.7320908546447753, + "rkd_teacher_similarity_mean": 0.7773360669612884, + "rkd_vlm_temp": 0.10000000149011612, + "step": 930 + }, + { + "epoch": 0.2734943264474833, + "flow_matching_loss": 0.025563545897603034, + "grad_norm": 0.15437792241573334, + "learning_rate": 1.878e-05, + "loss": 0.0329, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014719866309314966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3657450020313263, + "rkd_teacher_entropy": 3.7272695302963257, + "rkd_teacher_similarity_mean": 0.7759793043136597, + "rkd_vlm_temp": 0.10000000149011612, + "step": 940 + }, + { + "epoch": 0.2764038405586267, + "flow_matching_loss": 0.023879991471767427, + "grad_norm": 0.1762772649526596, + "learning_rate": 1.898e-05, + "loss": 0.0302, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012552807480096817, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3704777926206589, + "rkd_teacher_entropy": 3.7216801166534426, + "rkd_teacher_similarity_mean": 0.7786189794540406, + "rkd_vlm_temp": 0.10000000149011612, + "step": 950 + }, + { + "epoch": 0.27931335466977014, + "flow_matching_loss": 0.02460148334503174, + "grad_norm": 0.151079460978508, + "learning_rate": 1.918e-05, + "loss": 0.0304, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011627859435975552, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3717455446720123, + "rkd_teacher_entropy": 3.7363101720809935, + "rkd_teacher_similarity_mean": 0.7827376663684845, + "rkd_vlm_temp": 0.10000000149011612, + "step": 960 + }, + { + "epoch": 0.28222286878091357, + "flow_matching_loss": 0.026029301062226295, + "grad_norm": 0.1546308398246765, + "learning_rate": 1.938e-05, + "loss": 0.0332, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014376665372401476, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36122092306613923, + "rkd_teacher_entropy": 3.7083660364151, + "rkd_teacher_similarity_mean": 0.772155886888504, + "rkd_vlm_temp": 0.10000000149011612, + "step": 970 + }, + { + "epoch": 0.285132382892057, + "flow_matching_loss": 0.021443999372422695, + "grad_norm": 0.1345224380493164, + "learning_rate": 1.958e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010466578416526318, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696693807840347, + "rkd_teacher_entropy": 3.7110493183135986, + "rkd_teacher_similarity_mean": 0.778113204240799, + "rkd_vlm_temp": 0.10000000149011612, + "step": 980 + }, + { + "epoch": 0.2880418970032005, + "flow_matching_loss": 0.028430416807532312, + "grad_norm": 0.17455950379371643, + "learning_rate": 1.978e-05, + "loss": 0.0361, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015270556882023811, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3579038143157959, + "rkd_teacher_entropy": 3.679438066482544, + "rkd_teacher_similarity_mean": 0.7654019653797149, + "rkd_vlm_temp": 0.10000000149011612, + "step": 990 + }, + { + "epoch": 0.2909514111143439, + "flow_matching_loss": 0.02385344058275223, + "grad_norm": 0.13955651223659515, + "learning_rate": 1.9980000000000002e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012480694241821766, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3587290048599243, + "rkd_teacher_entropy": 3.6954437494277954, + "rkd_teacher_similarity_mean": 0.7697026014328003, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1000 + }, + { + "epoch": 0.29386092522548735, + "flow_matching_loss": 0.023533151485025883, + "grad_norm": 0.1807670295238495, + "learning_rate": 2.018e-05, + "loss": 0.0306, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014202994853258133, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36832315325737, + "rkd_teacher_entropy": 3.719892477989197, + "rkd_teacher_similarity_mean": 0.7770616590976716, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1010 + }, + { + "epoch": 0.2967704393366308, + "flow_matching_loss": 0.028227191418409348, + "grad_norm": 0.17832134664058685, + "learning_rate": 2.038e-05, + "loss": 0.0345, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012595297722145914, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37241517901420595, + "rkd_teacher_entropy": 3.7429360866546633, + "rkd_teacher_similarity_mean": 0.7828080475330352, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1020 + }, + { + "epoch": 0.2996799534477742, + "flow_matching_loss": 0.022905411198735237, + "grad_norm": 0.16947728395462036, + "learning_rate": 2.0580000000000003e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011983478348702193, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832861751317978, + "rkd_teacher_entropy": 3.7641304969787597, + "rkd_teacher_similarity_mean": 0.7936133623123169, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1030 + }, + { + "epoch": 0.30258946755891764, + "flow_matching_loss": 0.022834285534918307, + "grad_norm": 0.16742056608200073, + "learning_rate": 2.078e-05, + "loss": 0.0315, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0173805664293468, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36516312658786776, + "rkd_teacher_entropy": 3.7213398456573485, + "rkd_teacher_similarity_mean": 0.7746877789497375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1040 + }, + { + "epoch": 0.3054989816700611, + "flow_matching_loss": 0.02210261346772313, + "grad_norm": 0.22066769003868103, + "learning_rate": 2.0980000000000002e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012149712163954973, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3702272713184357, + "rkd_teacher_entropy": 3.7280519247055053, + "rkd_teacher_similarity_mean": 0.7782352924346924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1050 + }, + { + "epoch": 0.30840849578120455, + "flow_matching_loss": 0.021021634247153996, + "grad_norm": 0.18814876675605774, + "learning_rate": 2.118e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012453739624470472, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769458502531052, + "rkd_teacher_entropy": 3.747511148452759, + "rkd_teacher_similarity_mean": 0.7851115584373474, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1060 + }, + { + "epoch": 0.311318009892348, + "flow_matching_loss": 0.023183113802224396, + "grad_norm": 0.15728190541267395, + "learning_rate": 2.1380000000000002e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012517832638695835, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3737325370311737, + "rkd_teacher_entropy": 3.737849974632263, + "rkd_teacher_similarity_mean": 0.7832244098186493, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1070 + }, + { + "epoch": 0.3142275240034914, + "flow_matching_loss": 0.024575701728463174, + "grad_norm": 0.21330814063549042, + "learning_rate": 2.1580000000000003e-05, + "loss": 0.0318, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014529038313776254, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3665476620197296, + "rkd_teacher_entropy": 3.7198951721191404, + "rkd_teacher_similarity_mean": 0.7767294466495513, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1080 + }, + { + "epoch": 0.31713703811463484, + "flow_matching_loss": 0.02208181256428361, + "grad_norm": 0.21765385568141937, + "learning_rate": 2.178e-05, + "loss": 0.0286, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01296743080019951, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3631514847278595, + "rkd_teacher_entropy": 3.7082455158233643, + "rkd_teacher_similarity_mean": 0.7741023004055023, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1090 + }, + { + "epoch": 0.32004655222577827, + "flow_matching_loss": 0.022627564519643782, + "grad_norm": 0.17884550988674164, + "learning_rate": 2.198e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012447957042604684, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36123046875, + "rkd_teacher_entropy": 3.699889135360718, + "rkd_teacher_similarity_mean": 0.7717999815940857, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1100 + }, + { + "epoch": 0.32295606633692175, + "flow_matching_loss": 0.021777820494025945, + "grad_norm": 0.18689022958278656, + "learning_rate": 2.2179999999999998e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015156501531600952, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3661392092704773, + "rkd_teacher_entropy": 3.719468283653259, + "rkd_teacher_similarity_mean": 0.7754013538360596, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1110 + }, + { + "epoch": 0.3258655804480652, + "flow_matching_loss": 0.02207175986841321, + "grad_norm": 0.15726223587989807, + "learning_rate": 2.238e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011510033905506135, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3668459475040436, + "rkd_teacher_entropy": 3.727172684669495, + "rkd_teacher_similarity_mean": 0.7771479725837708, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1120 + }, + { + "epoch": 0.3287750945592086, + "flow_matching_loss": 0.02502578068524599, + "grad_norm": 0.18543554842472076, + "learning_rate": 2.258e-05, + "loss": 0.0312, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01236854176968336, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36851719319820403, + "rkd_teacher_entropy": 3.72236545085907, + "rkd_teacher_similarity_mean": 0.7784737706184387, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1130 + }, + { + "epoch": 0.33168460867035204, + "flow_matching_loss": 0.024226568453013898, + "grad_norm": 0.18061120808124542, + "learning_rate": 2.278e-05, + "loss": 0.0323, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01614169208332896, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3563238024711609, + "rkd_teacher_entropy": 3.6990711212158205, + "rkd_teacher_similarity_mean": 0.7666930496692658, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1140 + }, + { + "epoch": 0.3345941227814955, + "flow_matching_loss": 0.02093657702207565, + "grad_norm": 0.15215030312538147, + "learning_rate": 2.298e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012171335145831108, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35626107156276704, + "rkd_teacher_entropy": 3.693035054206848, + "rkd_teacher_similarity_mean": 0.7690612316131592, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1150 + }, + { + "epoch": 0.3375036368926389, + "flow_matching_loss": 0.023377373162657023, + "grad_norm": 0.15154467523097992, + "learning_rate": 2.3179999999999998e-05, + "loss": 0.0305, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01428317129611969, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36512814462184906, + "rkd_teacher_entropy": 3.722497057914734, + "rkd_teacher_similarity_mean": 0.7762680053710938, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1160 + }, + { + "epoch": 0.3404131510037824, + "flow_matching_loss": 0.02495376542210579, + "grad_norm": 0.1657467782497406, + "learning_rate": 2.338e-05, + "loss": 0.032, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014131091348826886, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36380702555179595, + "rkd_teacher_entropy": 3.7083861351013185, + "rkd_teacher_similarity_mean": 0.772216260433197, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1170 + }, + { + "epoch": 0.3433226651149258, + "flow_matching_loss": 0.024475612118840216, + "grad_norm": 0.16509686410427094, + "learning_rate": 2.358e-05, + "loss": 0.0321, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015345667209476232, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35821475386619567, + "rkd_teacher_entropy": 3.708108353614807, + "rkd_teacher_similarity_mean": 0.769672280550003, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1180 + }, + { + "epoch": 0.34623217922606925, + "flow_matching_loss": 0.020636921934783458, + "grad_norm": 0.2236756533384323, + "learning_rate": 2.378e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013737555406987668, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3644840449094772, + "rkd_teacher_entropy": 3.7283377647399902, + "rkd_teacher_similarity_mean": 0.7791900098323822, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1190 + }, + { + "epoch": 0.3491416933372127, + "flow_matching_loss": 0.025901597738265992, + "grad_norm": 0.2007731795310974, + "learning_rate": 2.398e-05, + "loss": 0.0344, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01704850383102894, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35994377434253694, + "rkd_teacher_entropy": 3.711701774597168, + "rkd_teacher_similarity_mean": 0.7728296339511871, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1200 + }, + { + "epoch": 0.3520512074483561, + "flow_matching_loss": 0.022063577454537152, + "grad_norm": 0.20376388728618622, + "learning_rate": 2.4180000000000002e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01393424179404974, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3591458976268768, + "rkd_teacher_entropy": 3.691512870788574, + "rkd_teacher_similarity_mean": 0.7696406066417694, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1210 + }, + { + "epoch": 0.35496072155949954, + "flow_matching_loss": 0.02209404492750764, + "grad_norm": 0.2240820825099945, + "learning_rate": 2.438e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01384738925844431, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35893836319446565, + "rkd_teacher_entropy": 3.6931890487670898, + "rkd_teacher_similarity_mean": 0.7695084929466247, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1220 + }, + { + "epoch": 0.357870235670643, + "flow_matching_loss": 0.02375751044601202, + "grad_norm": 0.17887213826179504, + "learning_rate": 2.4580000000000002e-05, + "loss": 0.0309, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014373252633959055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35694813430309297, + "rkd_teacher_entropy": 3.695172095298767, + "rkd_teacher_similarity_mean": 0.7672303736209869, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1230 + }, + { + "epoch": 0.36077974978178645, + "flow_matching_loss": 0.0218059528619051, + "grad_norm": 0.15413948893547058, + "learning_rate": 2.478e-05, + "loss": 0.0287, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013785138260573149, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3612229347229004, + "rkd_teacher_entropy": 3.704601693153381, + "rkd_teacher_similarity_mean": 0.7727110624313355, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1240 + }, + { + "epoch": 0.3636892638929299, + "flow_matching_loss": 0.021415031421929596, + "grad_norm": 0.1999949812889099, + "learning_rate": 2.498e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0159594289958477, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3674917846918106, + "rkd_teacher_entropy": 3.7146936655044556, + "rkd_teacher_similarity_mean": 0.776444947719574, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1250 + }, + { + "epoch": 0.3665987780040733, + "flow_matching_loss": 0.022570167668163776, + "grad_norm": 0.14938318729400635, + "learning_rate": 2.5180000000000003e-05, + "loss": 0.0296, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013998815324157476, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3660522848367691, + "rkd_teacher_entropy": 3.718274736404419, + "rkd_teacher_similarity_mean": 0.7772173762321473, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1260 + }, + { + "epoch": 0.36950829211521674, + "flow_matching_loss": 0.0211502505466342, + "grad_norm": 0.19324550032615662, + "learning_rate": 2.538e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013500960543751717, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3629269987344742, + "rkd_teacher_entropy": 3.71655957698822, + "rkd_teacher_similarity_mean": 0.7737286508083343, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1270 + }, + { + "epoch": 0.37241780622636017, + "flow_matching_loss": 0.023267910070717334, + "grad_norm": 0.15392565727233887, + "learning_rate": 2.5580000000000002e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013002821337431669, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3745414227247238, + "rkd_teacher_entropy": 3.744929385185242, + "rkd_teacher_similarity_mean": 0.7850839078426362, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1280 + }, + { + "epoch": 0.37532732033750366, + "flow_matching_loss": 0.023391097225248812, + "grad_norm": 0.19013772904872894, + "learning_rate": 2.578e-05, + "loss": 0.031, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015272378828376532, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.363345068693161, + "rkd_teacher_entropy": 3.6950781106948853, + "rkd_teacher_similarity_mean": 0.77121621966362, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1290 + }, + { + "epoch": 0.3782368344486471, + "flow_matching_loss": 0.021286606229841708, + "grad_norm": 0.20520253479480743, + "learning_rate": 2.5980000000000002e-05, + "loss": 0.0303, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01809837156906724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3647214353084564, + "rkd_teacher_entropy": 3.720451307296753, + "rkd_teacher_similarity_mean": 0.7756747305393219, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1300 + }, + { + "epoch": 0.3811463485597905, + "flow_matching_loss": 0.020109706651419403, + "grad_norm": 0.15234899520874023, + "learning_rate": 2.618e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013472728431224823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3629930764436722, + "rkd_teacher_entropy": 3.723475193977356, + "rkd_teacher_similarity_mean": 0.7770821213722229, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1310 + }, + { + "epoch": 0.38405586267093395, + "flow_matching_loss": 0.018063762038946152, + "grad_norm": 0.1530044674873352, + "learning_rate": 2.6379999999999998e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013908772077411414, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37598355412483214, + "rkd_teacher_entropy": 3.759226107597351, + "rkd_teacher_similarity_mean": 0.7891667902469635, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1320 + }, + { + "epoch": 0.3869653767820774, + "flow_matching_loss": 0.026342295948415993, + "grad_norm": 0.17500434815883636, + "learning_rate": 2.658e-05, + "loss": 0.0339, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01505207447335124, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3622343212366104, + "rkd_teacher_entropy": 3.715704417228699, + "rkd_teacher_similarity_mean": 0.7734056711196899, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1330 + }, + { + "epoch": 0.3898748908932208, + "flow_matching_loss": 0.023082982935011386, + "grad_norm": 0.19313094019889832, + "learning_rate": 2.678e-05, + "loss": 0.0317, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017256597895175217, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3735204219818115, + "rkd_teacher_entropy": 3.7548015832901003, + "rkd_teacher_similarity_mean": 0.7861058354377747, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1340 + }, + { + "epoch": 0.3927844050043643, + "flow_matching_loss": 0.022886249981820584, + "grad_norm": 0.15806274116039276, + "learning_rate": 2.698e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012733314093202353, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3599358767271042, + "rkd_teacher_entropy": 3.718186616897583, + "rkd_teacher_similarity_mean": 0.7734956681728363, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1350 + }, + { + "epoch": 0.3956939191155077, + "flow_matching_loss": 0.022202266938984395, + "grad_norm": 0.18868477642536163, + "learning_rate": 2.718e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012574673630297184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36352024376392367, + "rkd_teacher_entropy": 3.7288479566574098, + "rkd_teacher_similarity_mean": 0.7774353444576263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1360 + }, + { + "epoch": 0.39860343322665115, + "flow_matching_loss": 0.02252342365682125, + "grad_norm": 0.1766142100095749, + "learning_rate": 2.738e-05, + "loss": 0.0299, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01479862630367279, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36435683965682986, + "rkd_teacher_entropy": 3.7235508441925047, + "rkd_teacher_similarity_mean": 0.7747302234172821, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1370 + }, + { + "epoch": 0.4015129473377946, + "flow_matching_loss": 0.020009370148181917, + "grad_norm": 0.16644048690795898, + "learning_rate": 2.758e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012687032856047154, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3603396028280258, + "rkd_teacher_entropy": 3.697986912727356, + "rkd_teacher_similarity_mean": 0.7742856025695801, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1380 + }, + { + "epoch": 0.404422461448938, + "flow_matching_loss": 0.02117152288556099, + "grad_norm": 0.15580163896083832, + "learning_rate": 2.778e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013989274110645055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3668873280286789, + "rkd_teacher_entropy": 3.7379035472869875, + "rkd_teacher_similarity_mean": 0.7804283499717712, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1390 + }, + { + "epoch": 0.4073319755600815, + "flow_matching_loss": 0.021447473485022784, + "grad_norm": 0.14611411094665527, + "learning_rate": 2.798e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013532907608896494, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3577578365802765, + "rkd_teacher_entropy": 3.6974910736083983, + "rkd_teacher_similarity_mean": 0.7737329244613648, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1400 + }, + { + "epoch": 0.4102414896712249, + "flow_matching_loss": 0.02014743285253644, + "grad_norm": 0.19688433408737183, + "learning_rate": 2.818e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015571497287601233, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633918076753616, + "rkd_teacher_entropy": 3.730219769477844, + "rkd_teacher_similarity_mean": 0.779588258266449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1410 + }, + { + "epoch": 0.41315100378236835, + "flow_matching_loss": 0.022292961552739143, + "grad_norm": 0.15423175692558289, + "learning_rate": 2.838e-05, + "loss": 0.0302, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01584487184882164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35755889117717743, + "rkd_teacher_entropy": 3.72033314704895, + "rkd_teacher_similarity_mean": 0.7746057748794556, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1420 + }, + { + "epoch": 0.4160605178935118, + "flow_matching_loss": 0.02099197870120406, + "grad_norm": 0.14676371216773987, + "learning_rate": 2.858e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015535811707377434, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35843171179294586, + "rkd_teacher_entropy": 3.7188881397247315, + "rkd_teacher_similarity_mean": 0.7767867684364319, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1430 + }, + { + "epoch": 0.4189700320046552, + "flow_matching_loss": 0.02065981049090624, + "grad_norm": 0.16977384686470032, + "learning_rate": 2.8780000000000002e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015223698038607836, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3598040848970413, + "rkd_teacher_entropy": 3.7089261531829836, + "rkd_teacher_similarity_mean": 0.775302529335022, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1440 + }, + { + "epoch": 0.42187954611579864, + "flow_matching_loss": 0.019736394006758928, + "grad_norm": 0.15852905809879303, + "learning_rate": 2.898e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015916156210005285, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3643588930368423, + "rkd_teacher_entropy": 3.718356704711914, + "rkd_teacher_similarity_mean": 0.7789139151573181, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1450 + }, + { + "epoch": 0.42478906022694213, + "flow_matching_loss": 0.025148907024413348, + "grad_norm": 0.1526416838169098, + "learning_rate": 2.9180000000000002e-05, + "loss": 0.0335, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016748849861323835, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35615416169166564, + "rkd_teacher_entropy": 3.7105891942977904, + "rkd_teacher_similarity_mean": 0.7711295366287232, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1460 + }, + { + "epoch": 0.42769857433808556, + "flow_matching_loss": 0.0201729129999876, + "grad_norm": 0.1293841302394867, + "learning_rate": 2.938e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01501700198277831, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3569218128919601, + "rkd_teacher_entropy": 3.7076464653015138, + "rkd_teacher_similarity_mean": 0.774583238363266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1470 + }, + { + "epoch": 0.430608088449229, + "flow_matching_loss": 0.02302201818674803, + "grad_norm": 0.1720856875181198, + "learning_rate": 2.958e-05, + "loss": 0.0305, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014876874443143607, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3651031255722046, + "rkd_teacher_entropy": 3.7175148248672487, + "rkd_teacher_similarity_mean": 0.7790174365043641, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1480 + }, + { + "epoch": 0.4335176025603724, + "flow_matching_loss": 0.021330189146101474, + "grad_norm": 0.2208341509103775, + "learning_rate": 2.9780000000000003e-05, + "loss": 0.0286, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0145611971616745, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35889296531677245, + "rkd_teacher_entropy": 3.710883688926697, + "rkd_teacher_similarity_mean": 0.771738862991333, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1490 + }, + { + "epoch": 0.43642711667151585, + "flow_matching_loss": 0.02007265966385603, + "grad_norm": 0.22159481048583984, + "learning_rate": 2.998e-05, + "loss": 0.0281, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015969226043671368, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35755146443843844, + "rkd_teacher_entropy": 3.7154518365859985, + "rkd_teacher_similarity_mean": 0.7729668319225311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1500 + }, + { + "epoch": 0.4393366307826593, + "flow_matching_loss": 0.022018362767994404, + "grad_norm": 0.1576617956161499, + "learning_rate": 2.9999992618302022e-05, + "loss": 0.0311, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018087138328701256, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3496749758720398, + "rkd_teacher_entropy": 3.6825807094573975, + "rkd_teacher_similarity_mean": 0.7636705875396729, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1510 + }, + { + "epoch": 0.44224614489380276, + "flow_matching_loss": 0.018862847052514554, + "grad_norm": 0.1830991804599762, + "learning_rate": 2.999996710133069e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015043855737894773, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3546438544988632, + "rkd_teacher_entropy": 3.6994960069656373, + "rkd_teacher_similarity_mean": 0.7677034437656403, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1520 + }, + { + "epoch": 0.4451556590049462, + "flow_matching_loss": 0.02116539180278778, + "grad_norm": 0.14063094556331635, + "learning_rate": 2.9999923357984923e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013573463447391987, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36145650744438174, + "rkd_teacher_entropy": 3.719154787063599, + "rkd_teacher_similarity_mean": 0.7770307183265686, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1530 + }, + { + "epoch": 0.4480651731160896, + "flow_matching_loss": 0.02302954513579607, + "grad_norm": 0.22415460646152496, + "learning_rate": 2.9999861388317874e-05, + "loss": 0.0311, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016230756416916847, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3487370640039444, + "rkd_teacher_entropy": 3.680568075180054, + "rkd_teacher_similarity_mean": 0.7643249750137329, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1540 + }, + { + "epoch": 0.45097468722723305, + "flow_matching_loss": 0.021930347289890052, + "grad_norm": 0.1933962106704712, + "learning_rate": 2.9999781192404847e-05, + "loss": 0.0297, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015523388143628835, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3617571860551834, + "rkd_teacher_entropy": 3.7302432298660277, + "rkd_teacher_similarity_mean": 0.7768708765506744, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1550 + }, + { + "epoch": 0.4538842013383765, + "flow_matching_loss": 0.02319110110402107, + "grad_norm": 0.16711926460266113, + "learning_rate": 2.9999682770343283e-05, + "loss": 0.0309, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015506574418395758, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3567641258239746, + "rkd_teacher_entropy": 3.712506079673767, + "rkd_teacher_similarity_mean": 0.7714986979961396, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1560 + }, + { + "epoch": 0.4567937154495199, + "flow_matching_loss": 0.023080038279294966, + "grad_norm": 0.1849306970834732, + "learning_rate": 2.9999566122252777e-05, + "loss": 0.0312, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016187024675309657, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36224432587623595, + "rkd_teacher_entropy": 3.7176385641098024, + "rkd_teacher_similarity_mean": 0.7770280301570892, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1570 + }, + { + "epoch": 0.4597032295606634, + "flow_matching_loss": 0.021671494655311107, + "grad_norm": 0.17624659836292267, + "learning_rate": 2.9999431248275065e-05, + "loss": 0.0303, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01727574747055769, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3477662354707718, + "rkd_teacher_entropy": 3.703427529335022, + "rkd_teacher_similarity_mean": 0.7663892447948456, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1580 + }, + { + "epoch": 0.4626127436718068, + "flow_matching_loss": 0.022563146613538265, + "grad_norm": 0.11955331265926361, + "learning_rate": 2.9999278148574027e-05, + "loss": 0.0342, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.023315943870693447, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35047587752342224, + "rkd_teacher_entropy": 3.7052326917648317, + "rkd_teacher_similarity_mean": 0.7672648072242737, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1590 + }, + { + "epoch": 0.46552225778295026, + "flow_matching_loss": 0.023552263621240854, + "grad_norm": 0.18413904309272766, + "learning_rate": 2.9999106823335705e-05, + "loss": 0.0323, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01749488329514861, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3635978907346725, + "rkd_teacher_entropy": 3.719669961929321, + "rkd_teacher_similarity_mean": 0.7764468729496002, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1600 + }, + { + "epoch": 0.4684317718940937, + "flow_matching_loss": 0.022070592734962702, + "grad_norm": 0.16203530132770538, + "learning_rate": 2.999891727276827e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01603674190118909, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36265512704849245, + "rkd_teacher_entropy": 3.7424803018569945, + "rkd_teacher_similarity_mean": 0.7782313108444214, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1610 + }, + { + "epoch": 0.4713412860052371, + "flow_matching_loss": 0.01980828307569027, + "grad_norm": 0.20162154734134674, + "learning_rate": 2.9998709497102037e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019007820915430785, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3584039717912674, + "rkd_teacher_entropy": 3.7083532333374025, + "rkd_teacher_similarity_mean": 0.771981018781662, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1620 + }, + { + "epoch": 0.47425080011638054, + "flow_matching_loss": 0.02242641355842352, + "grad_norm": 0.16254428029060364, + "learning_rate": 2.9998483496589485e-05, + "loss": 0.0302, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01545837763696909, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3601521819829941, + "rkd_teacher_entropy": 3.723211073875427, + "rkd_teacher_similarity_mean": 0.7757977545261383, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1630 + }, + { + "epoch": 0.47716031422752403, + "flow_matching_loss": 0.019768400955945252, + "grad_norm": 0.18575578927993774, + "learning_rate": 2.9998239271505217e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013859075680375098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3609700739383698, + "rkd_teacher_entropy": 3.7308493137359617, + "rkd_teacher_similarity_mean": 0.7785930097103119, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1640 + }, + { + "epoch": 0.48006982833866746, + "flow_matching_loss": 0.020508132968097927, + "grad_norm": 0.1641368418931961, + "learning_rate": 2.9997976822145995e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017597208637744187, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3572316139936447, + "rkd_teacher_entropy": 3.727380323410034, + "rkd_teacher_similarity_mean": 0.7742157638072967, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1650 + }, + { + "epoch": 0.4829793424498109, + "flow_matching_loss": 0.019169584941118957, + "grad_norm": 0.15829867124557495, + "learning_rate": 2.9997696148830714e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016822101920843123, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35800305008888245, + "rkd_teacher_entropy": 3.7146961212158205, + "rkd_teacher_similarity_mean": 0.7731147170066833, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1660 + }, + { + "epoch": 0.4858888565609543, + "flow_matching_loss": 0.02184404106810689, + "grad_norm": 0.13465996086597443, + "learning_rate": 2.9997397251900423e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014000458922237159, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35436331033706664, + "rkd_teacher_entropy": 3.706486177444458, + "rkd_teacher_similarity_mean": 0.7730399906635285, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1670 + }, + { + "epoch": 0.48879837067209775, + "flow_matching_loss": 0.021652746107429267, + "grad_norm": 0.1736254245042801, + "learning_rate": 2.999708013171831e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014611029531806707, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615803599357605, + "rkd_teacher_entropy": 3.729007911682129, + "rkd_teacher_similarity_mean": 0.780713164806366, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1680 + }, + { + "epoch": 0.4917078847832412, + "flow_matching_loss": 0.023483594227582217, + "grad_norm": 0.1592932790517807, + "learning_rate": 2.9996744788669705e-05, + "loss": 0.0334, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0197702762670815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3478811115026474, + "rkd_teacher_entropy": 3.6962939977645872, + "rkd_teacher_similarity_mean": 0.7670906364917756, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1690 + }, + { + "epoch": 0.49461739889438466, + "flow_matching_loss": 0.024643757194280625, + "grad_norm": 0.18593530356884003, + "learning_rate": 2.999639122316208e-05, + "loss": 0.0318, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014322904217988253, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3508031129837036, + "rkd_teacher_entropy": 3.693234610557556, + "rkd_teacher_similarity_mean": 0.7700209081172943, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1700 + }, + { + "epoch": 0.4975269130055281, + "flow_matching_loss": 0.021021032892167568, + "grad_norm": 0.28970208764076233, + "learning_rate": 2.999601943562505e-05, + "loss": 0.0297, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01741632940247655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3544296622276306, + "rkd_teacher_entropy": 3.705230402946472, + "rkd_teacher_similarity_mean": 0.7748192548751831, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1710 + }, + { + "epoch": 0.5004364271166715, + "flow_matching_loss": 0.021020057238638402, + "grad_norm": 0.18732412159442902, + "learning_rate": 2.9995629426510377e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018145397771149874, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3564920425415039, + "rkd_teacher_entropy": 3.7131221771240233, + "rkd_teacher_similarity_mean": 0.7741661190986633, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1720 + }, + { + "epoch": 0.503345941227815, + "flow_matching_loss": 0.021612850576639177, + "grad_norm": 0.1507607102394104, + "learning_rate": 2.9995221196291952e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014521689526736737, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35432691872119904, + "rkd_teacher_entropy": 3.710055685043335, + "rkd_teacher_similarity_mean": 0.7715719521045685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1730 + }, + { + "epoch": 0.5062554553389584, + "flow_matching_loss": 0.020218988228589297, + "grad_norm": 0.37384551763534546, + "learning_rate": 2.999479474546582e-05, + "loss": 0.0304, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.020321357063949108, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3558144927024841, + "rkd_teacher_entropy": 3.7102592468261717, + "rkd_teacher_similarity_mean": 0.7723419964313507, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1740 + }, + { + "epoch": 0.5091649694501018, + "flow_matching_loss": 0.02328156940639019, + "grad_norm": 0.14882132411003113, + "learning_rate": 2.9994350074550153e-05, + "loss": 0.0312, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015783456806093454, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35203413367271424, + "rkd_teacher_entropy": 3.7047067880630493, + "rkd_teacher_similarity_mean": 0.7688271820545196, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1750 + }, + { + "epoch": 0.5120744835612453, + "flow_matching_loss": 0.020281124394387007, + "grad_norm": 0.2478165626525879, + "learning_rate": 2.9993887184085273e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014504542108625174, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36811862885951996, + "rkd_teacher_entropy": 3.740529775619507, + "rkd_teacher_similarity_mean": 0.7849617004394531, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1760 + }, + { + "epoch": 0.5149839976723887, + "flow_matching_loss": 0.023632410820573567, + "grad_norm": 0.23849381506443024, + "learning_rate": 2.9993406074633628e-05, + "loss": 0.0329, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018572271894663574, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3547600030899048, + "rkd_teacher_entropy": 3.696027731895447, + "rkd_teacher_similarity_mean": 0.7706979274749756, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1770 + }, + { + "epoch": 0.5178935117835322, + "flow_matching_loss": 0.020365335792303086, + "grad_norm": 0.17448073625564575, + "learning_rate": 2.9992906746779824e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015747056622058154, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35019820332527163, + "rkd_teacher_entropy": 3.6965240716934202, + "rkd_teacher_similarity_mean": 0.7703440070152283, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1780 + }, + { + "epoch": 0.5208030258946756, + "flow_matching_loss": 0.022372424602508545, + "grad_norm": 0.17058074474334717, + "learning_rate": 2.9992389201130576e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014048024639487266, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3587568193674088, + "rkd_teacher_entropy": 3.7186659812927245, + "rkd_teacher_similarity_mean": 0.7792978405952453, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1790 + }, + { + "epoch": 0.523712540005819, + "flow_matching_loss": 0.023360306955873968, + "grad_norm": 0.24329689145088196, + "learning_rate": 2.999185343831476e-05, + "loss": 0.0333, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019950495287775993, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.355693045258522, + "rkd_teacher_entropy": 3.72221519947052, + "rkd_teacher_similarity_mean": 0.7745872557163238, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1800 + }, + { + "epoch": 0.5266220541169625, + "flow_matching_loss": 0.019757092464715242, + "grad_norm": 0.19073544442653656, + "learning_rate": 2.999129945898338e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01584223732352257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35775043070316315, + "rkd_teacher_entropy": 3.7418962717056274, + "rkd_teacher_similarity_mean": 0.7816091179847717, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1810 + }, + { + "epoch": 0.5295315682281059, + "flow_matching_loss": 0.021224644035100937, + "grad_norm": 0.1759316772222519, + "learning_rate": 2.999072726380957e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017187117040157317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34751273691654205, + "rkd_teacher_entropy": 3.7049375772476196, + "rkd_teacher_similarity_mean": 0.7696047186851501, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1820 + }, + { + "epoch": 0.5324410823392494, + "flow_matching_loss": 0.019527918100357054, + "grad_norm": 0.1646944135427475, + "learning_rate": 2.9990136853488603e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016928680147975682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3569920063018799, + "rkd_teacher_entropy": 3.7135462045669554, + "rkd_teacher_similarity_mean": 0.7754971802234649, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1830 + }, + { + "epoch": 0.5353505964503927, + "flow_matching_loss": 0.023338465578854085, + "grad_norm": 0.20055800676345825, + "learning_rate": 2.9989528228737878e-05, + "loss": 0.0322, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01765358941629529, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36180604696273805, + "rkd_teacher_entropy": 3.730164361000061, + "rkd_teacher_similarity_mean": 0.7803226470947265, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1840 + }, + { + "epoch": 0.5382601105615362, + "flow_matching_loss": 0.022464521043002606, + "grad_norm": 0.19505304098129272, + "learning_rate": 2.9988901390296935e-05, + "loss": 0.0297, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01442892560735345, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3555357217788696, + "rkd_teacher_entropy": 3.725918912887573, + "rkd_teacher_similarity_mean": 0.7739612638950348, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1850 + }, + { + "epoch": 0.5411696246726797, + "flow_matching_loss": 0.022359206806868315, + "grad_norm": 0.21249110996723175, + "learning_rate": 2.9988256338927442e-05, + "loss": 0.0296, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014536802005022765, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36296291947364806, + "rkd_teacher_entropy": 3.7425495386123657, + "rkd_teacher_similarity_mean": 0.781907033920288, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1860 + }, + { + "epoch": 0.5440791387838231, + "flow_matching_loss": 0.020352595020085573, + "grad_norm": 0.14628863334655762, + "learning_rate": 2.9987593075413198e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015170009341090918, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3580622851848602, + "rkd_teacher_entropy": 3.7200406789779663, + "rkd_teacher_similarity_mean": 0.7780499815940857, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1870 + }, + { + "epoch": 0.5469886528949666, + "flow_matching_loss": 0.019997342582792045, + "grad_norm": 0.1745210736989975, + "learning_rate": 2.9986911600560128e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014090627152472734, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3526195973157883, + "rkd_teacher_entropy": 3.7104385137557983, + "rkd_teacher_similarity_mean": 0.7731065154075623, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1880 + }, + { + "epoch": 0.5498981670061099, + "flow_matching_loss": 0.023231533262878655, + "grad_norm": 0.1585807353258133, + "learning_rate": 2.998621191519629e-05, + "loss": 0.0311, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015761260595172643, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34931721687316897, + "rkd_teacher_entropy": 3.696491169929504, + "rkd_teacher_similarity_mean": 0.7668786346912384, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1890 + }, + { + "epoch": 0.5528076811172534, + "flow_matching_loss": 0.019772272557020187, + "grad_norm": 0.15899625420570374, + "learning_rate": 2.9985494020171873e-05, + "loss": 0.0281, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016695223189890383, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35059125125408175, + "rkd_teacher_entropy": 3.7123606204986572, + "rkd_teacher_similarity_mean": 0.7717708230018616, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1900 + }, + { + "epoch": 0.5557171952283969, + "flow_matching_loss": 0.022074619866907598, + "grad_norm": 0.14885739982128143, + "learning_rate": 2.9984757916359176e-05, + "loss": 0.0302, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016264265216886998, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36484757661819456, + "rkd_teacher_entropy": 3.7513784170150757, + "rkd_teacher_similarity_mean": 0.7837676644325257, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1910 + }, + { + "epoch": 0.5586267093395403, + "flow_matching_loss": 0.021311235334724187, + "grad_norm": 0.1314181238412857, + "learning_rate": 2.998400360465264e-05, + "loss": 0.0302, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01775972479954362, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36149131059646605, + "rkd_teacher_entropy": 3.738554763793945, + "rkd_teacher_similarity_mean": 0.7795405507087707, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1920 + }, + { + "epoch": 0.5615362234506838, + "flow_matching_loss": 0.021240158565342428, + "grad_norm": 0.22731533646583557, + "learning_rate": 2.998323108596883e-05, + "loss": 0.0299, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017407111823558807, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35404486060142515, + "rkd_teacher_entropy": 3.7299206972122194, + "rkd_teacher_similarity_mean": 0.7750989496707916, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1930 + }, + { + "epoch": 0.5644457375618271, + "flow_matching_loss": 0.021041343174874782, + "grad_norm": 0.16057616472244263, + "learning_rate": 2.9982440361246422e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01609172150492668, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34955596923828125, + "rkd_teacher_entropy": 3.7134978771209717, + "rkd_teacher_similarity_mean": 0.7747490644454956, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1940 + }, + { + "epoch": 0.5673552516729706, + "flow_matching_loss": 0.01987016424536705, + "grad_norm": 0.20904453098773956, + "learning_rate": 2.998163143144622e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014760075602680445, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3567892611026764, + "rkd_teacher_entropy": 3.7501211643218992, + "rkd_teacher_similarity_mean": 0.7836583018302917, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1950 + }, + { + "epoch": 0.570264765784114, + "flow_matching_loss": 0.020396865718066693, + "grad_norm": 0.17142917215824127, + "learning_rate": 2.9980804297551155e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016014748997986317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596436560153961, + "rkd_teacher_entropy": 3.7343516826629637, + "rkd_teacher_similarity_mean": 0.7816602885723114, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1960 + }, + { + "epoch": 0.5731742798952575, + "flow_matching_loss": 0.02196813002228737, + "grad_norm": 0.3550401031970978, + "learning_rate": 2.997995896056627e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016294266656041147, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3541474908590317, + "rkd_teacher_entropy": 3.7154231548309324, + "rkd_teacher_similarity_mean": 0.7742768824100494, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1970 + }, + { + "epoch": 0.576083794006401, + "flow_matching_loss": 0.021432195045053958, + "grad_norm": 0.17087513208389282, + "learning_rate": 2.997909542151873e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01589559679850936, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34651389718055725, + "rkd_teacher_entropy": 3.696395754814148, + "rkd_teacher_similarity_mean": 0.7689020752906799, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1980 + }, + { + "epoch": 0.5789933081175443, + "flow_matching_loss": 0.02318456694483757, + "grad_norm": 0.1511605978012085, + "learning_rate": 2.9978213681457823e-05, + "loss": 0.0316, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01689427550882101, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3419212907552719, + "rkd_teacher_entropy": 3.696371603012085, + "rkd_teacher_similarity_mean": 0.7673770844936371, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1990 + }, + { + "epoch": 0.5819028222286878, + "flow_matching_loss": 0.019307738449424506, + "grad_norm": 0.16737715899944305, + "learning_rate": 2.9977313741454933e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01527913985773921, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36031793653964994, + "rkd_teacher_entropy": 3.7437200784683227, + "rkd_teacher_similarity_mean": 0.786150860786438, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2000 + }, + { + "epoch": 0.5848123363398312, + "flow_matching_loss": 0.019378013908863068, + "grad_norm": 0.1862492710351944, + "learning_rate": 2.997639560260358e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016809309367090464, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3428473860025406, + "rkd_teacher_entropy": 3.6735033988952637, + "rkd_teacher_similarity_mean": 0.7640034556388855, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2010 + }, + { + "epoch": 0.5877218504509747, + "flow_matching_loss": 0.02342465091496706, + "grad_norm": 0.21045660972595215, + "learning_rate": 2.9975459266019387e-05, + "loss": 0.0327, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018468875158578157, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3581252545118332, + "rkd_teacher_entropy": 3.7347448825836183, + "rkd_teacher_similarity_mean": 0.7816355049610137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2020 + }, + { + "epoch": 0.5906313645621182, + "flow_matching_loss": 0.02209816174581647, + "grad_norm": 0.13872167468070984, + "learning_rate": 2.9974504732840092e-05, + "loss": 0.0322, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.020142944622784854, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3560017853975296, + "rkd_teacher_entropy": 3.7187040567398073, + "rkd_teacher_similarity_mean": 0.7761344850063324, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2030 + }, + { + "epoch": 0.5935408786732616, + "flow_matching_loss": 0.01969290655106306, + "grad_norm": 0.1401018500328064, + "learning_rate": 2.997353200422555e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01732447128742933, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3599200636148453, + "rkd_teacher_entropy": 3.7375237703323365, + "rkd_teacher_similarity_mean": 0.7816986560821533, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2040 + }, + { + "epoch": 0.596450392784405, + "flow_matching_loss": 0.022266434878110884, + "grad_norm": 0.12810882925987244, + "learning_rate": 2.99725410813577e-05, + "loss": 0.0305, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016520814783871175, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3547577738761902, + "rkd_teacher_entropy": 3.7057374000549315, + "rkd_teacher_similarity_mean": 0.7732023477554322, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2050 + }, + { + "epoch": 0.5993599068955484, + "flow_matching_loss": 0.020377040561288595, + "grad_norm": 0.17628075182437897, + "learning_rate": 2.997153196544063e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01594278821721673, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3620639264583588, + "rkd_teacher_entropy": 3.732200002670288, + "rkd_teacher_similarity_mean": 0.7822101712226868, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2060 + }, + { + "epoch": 0.6022694210066919, + "flow_matching_loss": 0.02314279191195965, + "grad_norm": 0.17016854882240295, + "learning_rate": 2.997050465770049e-05, + "loss": 0.032, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017643830552697182, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3478048801422119, + "rkd_teacher_entropy": 3.7020492553710938, + "rkd_teacher_similarity_mean": 0.7668294250965119, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2070 + }, + { + "epoch": 0.6051789351178353, + "flow_matching_loss": 0.018690241593867542, + "grad_norm": 0.1525435894727707, + "learning_rate": 2.9969459159385562e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018463738821446897, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35863651931285856, + "rkd_teacher_entropy": 3.725955939292908, + "rkd_teacher_similarity_mean": 0.7771639406681061, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2080 + }, + { + "epoch": 0.6080884492289788, + "flow_matching_loss": 0.021918272785842418, + "grad_norm": 0.15251007676124573, + "learning_rate": 2.9968395471766237e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015774191822856665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3612579762935638, + "rkd_teacher_entropy": 3.726760673522949, + "rkd_teacher_similarity_mean": 0.7802560150623321, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2090 + }, + { + "epoch": 0.6109979633401222, + "flow_matching_loss": 0.021440380811691286, + "grad_norm": 0.17730270326137543, + "learning_rate": 2.996731359613498e-05, + "loss": 0.03, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01702894354239106, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3459465056657791, + "rkd_teacher_entropy": 3.693785214424133, + "rkd_teacher_similarity_mean": 0.7684619784355163, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2100 + }, + { + "epoch": 0.6139074774512656, + "flow_matching_loss": 0.01925300294533372, + "grad_norm": 0.2043561339378357, + "learning_rate": 2.996621353380638e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01789940306916833, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3548590064048767, + "rkd_teacher_entropy": 3.7131501913070677, + "rkd_teacher_similarity_mean": 0.7725829243659973, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2110 + }, + { + "epoch": 0.6168169915624091, + "flow_matching_loss": 0.02016977211460471, + "grad_norm": 0.16972200572490692, + "learning_rate": 2.9965095286117113e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014579510781913996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3641105592250824, + "rkd_teacher_entropy": 3.7387598276138307, + "rkd_teacher_similarity_mean": 0.7821175217628479, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2120 + }, + { + "epoch": 0.6197265056735525, + "flow_matching_loss": 0.024105006456375123, + "grad_norm": 0.1324661374092102, + "learning_rate": 2.996395885442596e-05, + "loss": 0.0327, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01722751185297966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3581861436367035, + "rkd_teacher_entropy": 3.7226966619491577, + "rkd_teacher_similarity_mean": 0.7777627408504486, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2130 + }, + { + "epoch": 0.622636019784696, + "flow_matching_loss": 0.019571738410741092, + "grad_norm": 0.22030211985111237, + "learning_rate": 2.996280424011379e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01654145196080208, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35216154158115387, + "rkd_teacher_entropy": 3.698606991767883, + "rkd_teacher_similarity_mean": 0.7715582489967346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2140 + }, + { + "epoch": 0.6255455338958394, + "flow_matching_loss": 0.02027329821139574, + "grad_norm": 0.20099009573459625, + "learning_rate": 2.9961631444583565e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015989869832992554, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36346995532512666, + "rkd_teacher_entropy": 3.7289661884307863, + "rkd_teacher_similarity_mean": 0.7823978781700134, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2150 + }, + { + "epoch": 0.6284550480069828, + "flow_matching_loss": 0.017709534987807272, + "grad_norm": 0.21818754076957703, + "learning_rate": 2.9960440469260347e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016551053896546365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36478041410446166, + "rkd_teacher_entropy": 3.7477920770645143, + "rkd_teacher_similarity_mean": 0.7843914151191711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2160 + }, + { + "epoch": 0.6313645621181263, + "flow_matching_loss": 0.01769010666757822, + "grad_norm": 0.1651630997657776, + "learning_rate": 2.995923131559128e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015153959300369025, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35424368381500243, + "rkd_teacher_entropy": 3.7259692907333375, + "rkd_teacher_similarity_mean": 0.7790390729904175, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2170 + }, + { + "epoch": 0.6342740762292697, + "flow_matching_loss": 0.02038128012791276, + "grad_norm": 0.18726584315299988, + "learning_rate": 2.99580039850456e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017443018686026334, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3495031177997589, + "rkd_teacher_entropy": 3.716203045845032, + "rkd_teacher_similarity_mean": 0.7742321610450744, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2180 + }, + { + "epoch": 0.6371835903404132, + "flow_matching_loss": 0.019613507948815823, + "grad_norm": 0.16763299703598022, + "learning_rate": 2.9956758479114635e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013659246731549501, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3560090303421021, + "rkd_teacher_entropy": 3.7234189033508303, + "rkd_teacher_similarity_mean": 0.7753316581249237, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2190 + }, + { + "epoch": 0.6400931044515565, + "flow_matching_loss": 0.024902429338544606, + "grad_norm": 0.19190675020217896, + "learning_rate": 2.9955494799311787e-05, + "loss": 0.0329, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01608522776514292, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3533139318227768, + "rkd_teacher_entropy": 3.7087355852127075, + "rkd_teacher_similarity_mean": 0.7731022715568543, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2200 + }, + { + "epoch": 0.6430026185627, + "flow_matching_loss": 0.02105641094967723, + "grad_norm": 0.20516324043273926, + "learning_rate": 2.995421294717254e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01745948139578104, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3556367427110672, + "rkd_teacher_entropy": 3.720033288002014, + "rkd_teacher_similarity_mean": 0.7800167739391327, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2210 + }, + { + "epoch": 0.6459121326738435, + "flow_matching_loss": 0.023002668749541044, + "grad_norm": 0.18639551103115082, + "learning_rate": 2.995291292425448e-05, + "loss": 0.0306, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015239273570477963, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36057626605033877, + "rkd_teacher_entropy": 3.7332263708114626, + "rkd_teacher_similarity_mean": 0.7819630682468415, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2220 + }, + { + "epoch": 0.6488216467849869, + "flow_matching_loss": 0.019701680261641742, + "grad_norm": 0.21768976747989655, + "learning_rate": 2.9951594732137248e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019216810818761587, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3490998655557632, + "rkd_teacher_entropy": 3.696054220199585, + "rkd_teacher_similarity_mean": 0.768322229385376, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2230 + }, + { + "epoch": 0.6517311608961304, + "flow_matching_loss": 0.020983192324638366, + "grad_norm": 0.19569560885429382, + "learning_rate": 2.995025837242257e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017621116992086173, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35507180988788606, + "rkd_teacher_entropy": 3.714409875869751, + "rkd_teacher_similarity_mean": 0.7747879087924957, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2240 + }, + { + "epoch": 0.6546406750072737, + "flow_matching_loss": 0.02126022018492222, + "grad_norm": 0.16752853989601135, + "learning_rate": 2.994890384673426e-05, + "loss": 0.0307, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018901749234646558, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35412484109401704, + "rkd_teacher_entropy": 3.718710684776306, + "rkd_teacher_similarity_mean": 0.7745799958705902, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2250 + }, + { + "epoch": 0.6575501891184172, + "flow_matching_loss": 0.021838952600955964, + "grad_norm": 0.18774619698524475, + "learning_rate": 2.9947531156718174e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015882440377026796, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36156420409679413, + "rkd_teacher_entropy": 3.7445629119873045, + "rkd_teacher_similarity_mean": 0.7830649495124817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2260 + }, + { + "epoch": 0.6604597032295607, + "flow_matching_loss": 0.020451246201992034, + "grad_norm": 0.17076623439788818, + "learning_rate": 2.994614030404228e-05, + "loss": 0.0287, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016417157743126153, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3570731282234192, + "rkd_teacher_entropy": 3.7147098541259767, + "rkd_teacher_similarity_mean": 0.7768963038921356, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2270 + }, + { + "epoch": 0.6633692173407041, + "flow_matching_loss": 0.018286722619086503, + "grad_norm": 0.13869592547416687, + "learning_rate": 2.994473129039659e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01499677300453186, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3590958952903748, + "rkd_teacher_entropy": 3.723686099052429, + "rkd_teacher_similarity_mean": 0.7781862378120422, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2280 + }, + { + "epoch": 0.6662787314518476, + "flow_matching_loss": 0.018867338076233864, + "grad_norm": 0.15761683881282806, + "learning_rate": 2.9943304117493183e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016141473036259412, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35509810745716097, + "rkd_teacher_entropy": 3.7199179887771607, + "rkd_teacher_similarity_mean": 0.7762475073337555, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2290 + }, + { + "epoch": 0.669188245562991, + "flow_matching_loss": 0.021605748496949673, + "grad_norm": 0.2018941342830658, + "learning_rate": 2.9941858787066207e-05, + "loss": 0.0302, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017235581204295157, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35291268229484557, + "rkd_teacher_entropy": 3.723093128204346, + "rkd_teacher_similarity_mean": 0.7755727887153625, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2300 + }, + { + "epoch": 0.6720977596741344, + "flow_matching_loss": 0.020955343451350927, + "grad_norm": 0.15845781564712524, + "learning_rate": 2.9940395300871888e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015851163398474456, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34930616021156313, + "rkd_teacher_entropy": 3.704740071296692, + "rkd_teacher_similarity_mean": 0.7704238891601562, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2310 + }, + { + "epoch": 0.6750072737852778, + "flow_matching_loss": 0.020927307102829217, + "grad_norm": 0.2324376106262207, + "learning_rate": 2.993891366068849e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01673812996596098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36157728135585787, + "rkd_teacher_entropy": 3.739143133163452, + "rkd_teacher_similarity_mean": 0.7829698920249939, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2320 + }, + { + "epoch": 0.6779167878964213, + "flow_matching_loss": 0.022691700514405964, + "grad_norm": 0.16970273852348328, + "learning_rate": 2.993741386831634e-05, + "loss": 0.0305, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01569875916466117, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3562236845493317, + "rkd_teacher_entropy": 3.737364888191223, + "rkd_teacher_similarity_mean": 0.7814554393291473, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2330 + }, + { + "epoch": 0.6808263020075648, + "flow_matching_loss": 0.019274286925792694, + "grad_norm": 0.23590219020843506, + "learning_rate": 2.9935895925577837e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019434777647256853, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3537091165781021, + "rkd_teacher_entropy": 3.7375540018081663, + "rkd_teacher_similarity_mean": 0.7775824189186096, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2340 + }, + { + "epoch": 0.6837358161187082, + "flow_matching_loss": 0.02400083178654313, + "grad_norm": 0.14596229791641235, + "learning_rate": 2.9934359834317425e-05, + "loss": 0.0342, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.020395326893776655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3555093973875046, + "rkd_teacher_entropy": 3.7154075145721435, + "rkd_teacher_similarity_mean": 0.7753965020179748, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2350 + }, + { + "epoch": 0.6866453302298516, + "flow_matching_loss": 0.021686420682817696, + "grad_norm": 0.1678369641304016, + "learning_rate": 2.993280559640159e-05, + "loss": 0.0297, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01610711021348834, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.353388300538063, + "rkd_teacher_entropy": 3.7180969953536986, + "rkd_teacher_similarity_mean": 0.7776047706604003, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2360 + }, + { + "epoch": 0.689554844340995, + "flow_matching_loss": 0.018908208515495063, + "grad_norm": 0.1950102150440216, + "learning_rate": 2.9931233213718887e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015465831942856311, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35021925568580625, + "rkd_teacher_entropy": 3.7079027891159058, + "rkd_teacher_similarity_mean": 0.772036337852478, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2370 + }, + { + "epoch": 0.6924643584521385, + "flow_matching_loss": 0.019410194456577302, + "grad_norm": 0.1498967558145523, + "learning_rate": 2.992964268817991e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013238900247961283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3550567179918289, + "rkd_teacher_entropy": 3.7163172006607055, + "rkd_teacher_similarity_mean": 0.7780109107494354, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2380 + }, + { + "epoch": 0.695373872563282, + "flow_matching_loss": 0.020396995730698107, + "grad_norm": 0.16726897656917572, + "learning_rate": 2.9928034021717286e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015925914887338875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3572227776050568, + "rkd_teacher_entropy": 3.717727208137512, + "rkd_teacher_similarity_mean": 0.7779540896415711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2390 + }, + { + "epoch": 0.6982833866744254, + "flow_matching_loss": 0.021255769673734902, + "grad_norm": 0.12803637981414795, + "learning_rate": 2.9926407216285707e-05, + "loss": 0.0309, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019335077330470084, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35737076997756956, + "rkd_teacher_entropy": 3.7294615268707276, + "rkd_teacher_similarity_mean": 0.7772765159606934, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2400 + }, + { + "epoch": 0.7011929007855688, + "flow_matching_loss": 0.01875166790559888, + "grad_norm": 0.1925695389509201, + "learning_rate": 2.9924762273861894e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012045674677938222, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36593263447284696, + "rkd_teacher_entropy": 3.73549861907959, + "rkd_teacher_similarity_mean": 0.7831104338169098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2410 + }, + { + "epoch": 0.7041024148967122, + "flow_matching_loss": 0.024640481173992156, + "grad_norm": 0.13617445528507233, + "learning_rate": 2.992309919644461e-05, + "loss": 0.0326, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015998030547052622, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35822478532791135, + "rkd_teacher_entropy": 3.713780426979065, + "rkd_teacher_similarity_mean": 0.7741394579410553, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2420 + }, + { + "epoch": 0.7070119290078557, + "flow_matching_loss": 0.020557992067188023, + "grad_norm": 0.16978155076503754, + "learning_rate": 2.9921417986054633e-05, + "loss": 0.03, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018887256644666194, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34797183275222776, + "rkd_teacher_entropy": 3.698399782180786, + "rkd_teacher_similarity_mean": 0.768560141324997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2430 + }, + { + "epoch": 0.7099214431189991, + "flow_matching_loss": 0.020212389715015888, + "grad_norm": 0.17505162954330444, + "learning_rate": 2.9919718644734815e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014523876644670964, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3544371038675308, + "rkd_teacher_entropy": 3.713024878501892, + "rkd_teacher_similarity_mean": 0.7775596439838409, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2440 + }, + { + "epoch": 0.7128309572301426, + "flow_matching_loss": 0.020307192299515008, + "grad_norm": 0.22780586779117584, + "learning_rate": 2.991800117455e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017318947054445744, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35387523770332335, + "rkd_teacher_entropy": 3.7225608587265016, + "rkd_teacher_similarity_mean": 0.7767810523509979, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2450 + }, + { + "epoch": 0.715740471341286, + "flow_matching_loss": 0.018703106418251993, + "grad_norm": 0.14479610323905945, + "learning_rate": 2.9916265577587085e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015989726595580577, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3514107197523117, + "rkd_teacher_entropy": 3.727582263946533, + "rkd_teacher_similarity_mean": 0.773700726032257, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2460 + }, + { + "epoch": 0.7186499854524294, + "flow_matching_loss": 0.020543359220027924, + "grad_norm": 0.17318110167980194, + "learning_rate": 2.9914511855954986e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017454350739717482, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3418270766735077, + "rkd_teacher_entropy": 3.6763245105743407, + "rkd_teacher_similarity_mean": 0.7662148356437684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2470 + }, + { + "epoch": 0.7215594995635729, + "flow_matching_loss": 0.01829021703451872, + "grad_norm": 0.1538611799478531, + "learning_rate": 2.9912740011784626e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01593724125996232, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.354374435544014, + "rkd_teacher_entropy": 3.721032738685608, + "rkd_teacher_similarity_mean": 0.779519647359848, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2480 + }, + { + "epoch": 0.7244690136747163, + "flow_matching_loss": 0.023711984790861607, + "grad_norm": 0.19816559553146362, + "learning_rate": 2.991095004722898e-05, + "loss": 0.0307, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013878614827990531, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3626364767551422, + "rkd_teacher_entropy": 3.738622045516968, + "rkd_teacher_similarity_mean": 0.7857820630073548, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2490 + }, + { + "epoch": 0.7273785277858598, + "flow_matching_loss": 0.021198913920670748, + "grad_norm": 0.16045977175235748, + "learning_rate": 2.9909141964463017e-05, + "loss": 0.0308, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0191223225556314, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3523526281118393, + "rkd_teacher_entropy": 3.715598630905151, + "rkd_teacher_similarity_mean": 0.7731285214424133, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2500 + }, + { + "epoch": 0.7302880418970032, + "flow_matching_loss": 0.021494031138718128, + "grad_norm": 0.17672640085220337, + "learning_rate": 2.990731576568372e-05, + "loss": 0.0303, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01753808120265603, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35232030153274535, + "rkd_teacher_entropy": 3.7230175495147706, + "rkd_teacher_similarity_mean": 0.7757814168930054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2510 + }, + { + "epoch": 0.7331975560081466, + "flow_matching_loss": 0.02038221126422286, + "grad_norm": 0.19034790992736816, + "learning_rate": 2.99054714531101e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01694582086056471, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.352956160902977, + "rkd_teacher_entropy": 3.723688840866089, + "rkd_teacher_similarity_mean": 0.7751816093921662, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2520 + }, + { + "epoch": 0.7361070701192901, + "flow_matching_loss": 0.020529715158045293, + "grad_norm": 0.17187976837158203, + "learning_rate": 2.9903609028983178e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017827509343624114, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3557344973087311, + "rkd_teacher_entropy": 3.7218663692474365, + "rkd_teacher_similarity_mean": 0.7767378032207489, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2530 + }, + { + "epoch": 0.7390165842304335, + "flow_matching_loss": 0.01882471386343241, + "grad_norm": 0.18974445760250092, + "learning_rate": 2.990172849556596e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016523556504398584, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3601636826992035, + "rkd_teacher_entropy": 3.726552867889404, + "rkd_teacher_similarity_mean": 0.7779532015323639, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2540 + }, + { + "epoch": 0.741926098341577, + "flow_matching_loss": 0.02218844201415777, + "grad_norm": 0.1614052802324295, + "learning_rate": 2.989982985514348e-05, + "loss": 0.0316, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01878157751634717, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34344705641269685, + "rkd_teacher_entropy": 3.6731682300567625, + "rkd_teacher_similarity_mean": 0.7622091114521027, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2550 + }, + { + "epoch": 0.7448356124527203, + "flow_matching_loss": 0.021889574453234674, + "grad_norm": 0.1371970772743225, + "learning_rate": 2.9897913110022766e-05, + "loss": 0.0313, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018843723647296428, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3548717796802521, + "rkd_teacher_entropy": 3.7264458894729615, + "rkd_teacher_similarity_mean": 0.7750604033470154, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2560 + }, + { + "epoch": 0.7477451265638638, + "flow_matching_loss": 0.018566687311977147, + "grad_norm": 0.19552800059318542, + "learning_rate": 2.989597826253284e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015636808518320323, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36382572948932645, + "rkd_teacher_entropy": 3.74673535823822, + "rkd_teacher_similarity_mean": 0.7813968420028686, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2570 + }, + { + "epoch": 0.7506546406750073, + "flow_matching_loss": 0.020002732891589402, + "grad_norm": 0.14469684660434723, + "learning_rate": 2.989402531502473e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01665626922622323, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633046180009842, + "rkd_teacher_entropy": 3.741367816925049, + "rkd_teacher_similarity_mean": 0.7813216805458069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2580 + }, + { + "epoch": 0.7535641547861507, + "flow_matching_loss": 0.01690895576030016, + "grad_norm": 0.15084464848041534, + "learning_rate": 2.989205426987144e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01572416117414832, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35601202249526975, + "rkd_teacher_entropy": 3.7247821569442747, + "rkd_teacher_similarity_mean": 0.7761026442050933, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2590 + }, + { + "epoch": 0.7564736688972942, + "flow_matching_loss": 0.022329643554985523, + "grad_norm": 0.14785736799240112, + "learning_rate": 2.9890065129467988e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013229786977171898, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3494924634695053, + "rkd_teacher_entropy": 3.6928039312362673, + "rkd_teacher_similarity_mean": 0.7689336776733399, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2600 + }, + { + "epoch": 0.7593831830084375, + "flow_matching_loss": 0.019774842727929353, + "grad_norm": 0.1407736837863922, + "learning_rate": 2.9888057896231364e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017231261543929576, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35809908211231234, + "rkd_teacher_entropy": 3.718605470657349, + "rkd_teacher_similarity_mean": 0.7779666304588317, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2610 + }, + { + "epoch": 0.762292697119581, + "flow_matching_loss": 0.02055054483935237, + "grad_norm": 0.17520707845687866, + "learning_rate": 2.988603257260054e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014289674814790487, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36237243115901946, + "rkd_teacher_entropy": 3.742832565307617, + "rkd_teacher_similarity_mean": 0.7820345044136048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2620 + }, + { + "epoch": 0.7652022112307245, + "flow_matching_loss": 0.019257754925638436, + "grad_norm": 0.21657919883728027, + "learning_rate": 2.988398916103648e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01438200445845723, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35574662387371064, + "rkd_teacher_entropy": 3.728782796859741, + "rkd_teacher_similarity_mean": 0.778580230474472, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2630 + }, + { + "epoch": 0.7681117253418679, + "flow_matching_loss": 0.021039889380335807, + "grad_norm": 0.14639908075332642, + "learning_rate": 2.988192766402212e-05, + "loss": 0.0281, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01415854822844267, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36227003037929534, + "rkd_teacher_entropy": 3.738939666748047, + "rkd_teacher_similarity_mean": 0.781333065032959, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2640 + }, + { + "epoch": 0.7710212394530114, + "flow_matching_loss": 0.020235408656299116, + "grad_norm": 0.21987347304821014, + "learning_rate": 2.9879848084062378e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01421354217454791, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35498990714550016, + "rkd_teacher_entropy": 3.707653450965881, + "rkd_teacher_similarity_mean": 0.7720758557319641, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2650 + }, + { + "epoch": 0.7739307535641547, + "flow_matching_loss": 0.020993864443153144, + "grad_norm": 0.2836756408214569, + "learning_rate": 2.9877750423684132e-05, + "loss": 0.03, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017937543522566556, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3537783294916153, + "rkd_teacher_entropy": 3.718584156036377, + "rkd_teacher_similarity_mean": 0.7737256646156311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2660 + }, + { + "epoch": 0.7768402676752982, + "flow_matching_loss": 0.020501043647527695, + "grad_norm": 0.17642761766910553, + "learning_rate": 2.987563468543624e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017573259957134723, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3492422759532928, + "rkd_teacher_entropy": 3.7120535373687744, + "rkd_teacher_similarity_mean": 0.7711773097515107, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2670 + }, + { + "epoch": 0.7797497817864416, + "flow_matching_loss": 0.021687676850706338, + "grad_norm": 0.19182083010673523, + "learning_rate": 2.9873500871889533e-05, + "loss": 0.0306, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01791819781064987, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35552051067352297, + "rkd_teacher_entropy": 3.7355545282363893, + "rkd_teacher_similarity_mean": 0.7800104856491089, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2680 + }, + { + "epoch": 0.7826592958975851, + "flow_matching_loss": 0.021277781389653683, + "grad_norm": 0.15951722860336304, + "learning_rate": 2.9871348985636778e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015509503800421954, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.361051020026207, + "rkd_teacher_entropy": 3.728995156288147, + "rkd_teacher_similarity_mean": 0.7835033535957336, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2690 + }, + { + "epoch": 0.7855688100087286, + "flow_matching_loss": 0.02069316143169999, + "grad_norm": 0.17025136947631836, + "learning_rate": 2.986917902929273e-05, + "loss": 0.0305, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019571032281965016, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3548573613166809, + "rkd_teacher_entropy": 3.725272703170776, + "rkd_teacher_similarity_mean": 0.7757917463779449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2700 + }, + { + "epoch": 0.788478324119872, + "flow_matching_loss": 0.01972638675943017, + "grad_norm": 0.17034368216991425, + "learning_rate": 2.9866991005494095e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0187934972345829, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35831305384635925, + "rkd_teacher_entropy": 3.728002095222473, + "rkd_teacher_similarity_mean": 0.7787225663661956, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2710 + }, + { + "epoch": 0.7913878382310154, + "flow_matching_loss": 0.020281841233372688, + "grad_norm": 0.1854623258113861, + "learning_rate": 2.986478491689952e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016097711957991125, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35492598116397855, + "rkd_teacher_entropy": 3.7368544340133667, + "rkd_teacher_similarity_mean": 0.7768786966800689, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2720 + }, + { + "epoch": 0.7942973523421588, + "flow_matching_loss": 0.020330234337598084, + "grad_norm": 0.18782682716846466, + "learning_rate": 2.986256076618961e-05, + "loss": 0.0299, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019064448215067385, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34806444942951204, + "rkd_teacher_entropy": 3.7027460098266602, + "rkd_teacher_similarity_mean": 0.7695425391197205, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2730 + }, + { + "epoch": 0.7972068664533023, + "flow_matching_loss": 0.01963584152981639, + "grad_norm": 0.2100331336259842, + "learning_rate": 2.986031855606692e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016051091253757477, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3562744200229645, + "rkd_teacher_entropy": 3.7126938343048095, + "rkd_teacher_similarity_mean": 0.7720879197120667, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2740 + }, + { + "epoch": 0.8001163805644458, + "flow_matching_loss": 0.019325503427535296, + "grad_norm": 0.15433861315250397, + "learning_rate": 2.9858058289255954e-05, + "loss": 0.0295, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.020286346971988677, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3553272485733032, + "rkd_teacher_entropy": 3.718753790855408, + "rkd_teacher_similarity_mean": 0.774176174402237, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2750 + }, + { + "epoch": 0.8030258946755892, + "flow_matching_loss": 0.01986104538664222, + "grad_norm": 0.13352473080158234, + "learning_rate": 2.985577996850314e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015568066854029894, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3523206442594528, + "rkd_teacher_entropy": 3.705346131324768, + "rkd_teacher_similarity_mean": 0.7721913278102874, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2760 + }, + { + "epoch": 0.8059354087867326, + "flow_matching_loss": 0.022815829887986184, + "grad_norm": 0.14319024980068207, + "learning_rate": 2.9853483596576856e-05, + "loss": 0.0312, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01683776043355465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35673417150974274, + "rkd_teacher_entropy": 3.710194444656372, + "rkd_teacher_similarity_mean": 0.7742858469486237, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2770 + }, + { + "epoch": 0.808844922897876, + "flow_matching_loss": 0.020131827797740698, + "grad_norm": 0.224148228764534, + "learning_rate": 2.9851169176267412e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016052506398409605, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3558534801006317, + "rkd_teacher_entropy": 3.726907992362976, + "rkd_teacher_similarity_mean": 0.7771396279335022, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2780 + }, + { + "epoch": 0.8117544370090195, + "flow_matching_loss": 0.02128944555297494, + "grad_norm": 0.20508001744747162, + "learning_rate": 2.9848836710387044e-05, + "loss": 0.0307, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018803536519408227, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3556550920009613, + "rkd_teacher_entropy": 3.7155535936355593, + "rkd_teacher_similarity_mean": 0.7746573328971863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2790 + }, + { + "epoch": 0.814663951120163, + "flow_matching_loss": 0.018802056461572646, + "grad_norm": 0.20163704454898834, + "learning_rate": 2.9846486201769917e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013984375353902578, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36873733401298525, + "rkd_teacher_entropy": 3.7641176700592043, + "rkd_teacher_similarity_mean": 0.7895745277404785, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2800 + }, + { + "epoch": 0.8175734652313064, + "flow_matching_loss": 0.023781122639775276, + "grad_norm": 0.33267173171043396, + "learning_rate": 2.9844117653272122e-05, + "loss": 0.0329, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01816208250820637, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35397103428840637, + "rkd_teacher_entropy": 3.71805682182312, + "rkd_teacher_similarity_mean": 0.7738944172859192, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2810 + }, + { + "epoch": 0.8204829793424498, + "flow_matching_loss": 0.021457055397331715, + "grad_norm": 0.18772104382514954, + "learning_rate": 2.9841731067771676e-05, + "loss": 0.0308, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018683361634612084, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.350195449590683, + "rkd_teacher_entropy": 3.699325919151306, + "rkd_teacher_similarity_mean": 0.7706092000007629, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2820 + }, + { + "epoch": 0.8233924934535932, + "flow_matching_loss": 0.01841299990192056, + "grad_norm": 0.1740829199552536, + "learning_rate": 2.9839326448168492e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016099787130951882, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3549466371536255, + "rkd_teacher_entropy": 3.727375364303589, + "rkd_teacher_similarity_mean": 0.7786903858184815, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2830 + }, + { + "epoch": 0.8263020075647367, + "flow_matching_loss": 0.01823673686012626, + "grad_norm": 0.17946256697177887, + "learning_rate": 2.983690379738442e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01785021349787712, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36169704496860505, + "rkd_teacher_entropy": 3.755130958557129, + "rkd_teacher_similarity_mean": 0.7879534959793091, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2840 + }, + { + "epoch": 0.8292115216758801, + "flow_matching_loss": 0.0187508936971426, + "grad_norm": 0.1359001249074936, + "learning_rate": 2.9834463118363204e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01511359978467226, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3589726358652115, + "rkd_teacher_entropy": 3.721027398109436, + "rkd_teacher_similarity_mean": 0.7802963137626648, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2850 + }, + { + "epoch": 0.8321210357870236, + "flow_matching_loss": 0.022798686660826205, + "grad_norm": 0.1879757046699524, + "learning_rate": 2.98320044140705e-05, + "loss": 0.0297, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013878154009580613, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.357811963558197, + "rkd_teacher_entropy": 3.7222194194793703, + "rkd_teacher_similarity_mean": 0.7783155083656311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2860 + }, + { + "epoch": 0.835030549898167, + "flow_matching_loss": 0.021205664984881877, + "grad_norm": 0.18222388625144958, + "learning_rate": 2.9829527687493868e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015525902900844813, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3622537016868591, + "rkd_teacher_entropy": 3.7269704341888428, + "rkd_teacher_similarity_mean": 0.7811944365501404, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2870 + }, + { + "epoch": 0.8379400640093104, + "flow_matching_loss": 0.020095277577638626, + "grad_norm": 0.15888412296772003, + "learning_rate": 2.9827032941642765e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01406368799507618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3576142996549606, + "rkd_teacher_entropy": 3.7222110986709596, + "rkd_teacher_similarity_mean": 0.7772874176502228, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2880 + }, + { + "epoch": 0.8408495781204539, + "flow_matching_loss": 0.022371496818959714, + "grad_norm": 0.16907157003879547, + "learning_rate": 2.9824520179548535e-05, + "loss": 0.0307, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016583184711635113, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3522066533565521, + "rkd_teacher_entropy": 3.7095237255096434, + "rkd_teacher_similarity_mean": 0.769657164812088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2890 + }, + { + "epoch": 0.8437590922315973, + "flow_matching_loss": 0.019916285201907157, + "grad_norm": 0.16134007275104523, + "learning_rate": 2.9821989404264428e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0142379779368639, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36382974684238434, + "rkd_teacher_entropy": 3.7335854291915895, + "rkd_teacher_similarity_mean": 0.7817507445812225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2900 + }, + { + "epoch": 0.8466686063427408, + "flow_matching_loss": 0.019339420925825836, + "grad_norm": 0.2807718813419342, + "learning_rate": 2.9819440618865572e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0169303011149168, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3584102809429169, + "rkd_teacher_entropy": 3.722485637664795, + "rkd_teacher_similarity_mean": 0.7763457298278809, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2910 + }, + { + "epoch": 0.8495781204538843, + "flow_matching_loss": 0.021697657089680432, + "grad_norm": 0.20007239282131195, + "learning_rate": 2.981687382644898e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016253483947366476, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3597380697727203, + "rkd_teacher_entropy": 3.7225030183792116, + "rkd_teacher_similarity_mean": 0.7779890060424804, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2920 + }, + { + "epoch": 0.8524876345650276, + "flow_matching_loss": 0.0218180188909173, + "grad_norm": 0.17605556547641754, + "learning_rate": 2.9814289030133556e-05, + "loss": 0.0307, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017804628796875478, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3566459894180298, + "rkd_teacher_entropy": 3.7215158939361572, + "rkd_teacher_similarity_mean": 0.7770447731018066, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2930 + }, + { + "epoch": 0.8553971486761711, + "flow_matching_loss": 0.022204448096454145, + "grad_norm": 0.2199697047472, + "learning_rate": 2.9811686233060058e-05, + "loss": 0.03, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01563381254673004, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35185061693191527, + "rkd_teacher_entropy": 3.69889612197876, + "rkd_teacher_similarity_mean": 0.7713553726673126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2940 + }, + { + "epoch": 0.8583066627873145, + "flow_matching_loss": 0.01938411770388484, + "grad_norm": 0.18715964257717133, + "learning_rate": 2.9809065438391138e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016246143169701098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36433020532131194, + "rkd_teacher_entropy": 3.7488736391067503, + "rkd_teacher_similarity_mean": 0.7855228543281555, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2950 + }, + { + "epoch": 0.861216176898458, + "flow_matching_loss": 0.020315061043947934, + "grad_norm": 0.23255658149719238, + "learning_rate": 2.9806426649311304e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013685463182628154, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3574973583221436, + "rkd_teacher_entropy": 3.728533673286438, + "rkd_teacher_similarity_mean": 0.7793442964553833, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2960 + }, + { + "epoch": 0.8641256910096013, + "flow_matching_loss": 0.02006082162261009, + "grad_norm": 0.2029801607131958, + "learning_rate": 2.980376986902694e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014745615981519222, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35810723900794983, + "rkd_teacher_entropy": 3.725072407722473, + "rkd_teacher_similarity_mean": 0.7788596153259277, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2970 + }, + { + "epoch": 0.8670352051207448, + "flow_matching_loss": 0.020022062957286833, + "grad_norm": 0.2438025325536728, + "learning_rate": 2.9801095100766276e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016606317088007926, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35685003995895387, + "rkd_teacher_entropy": 3.7170509815216066, + "rkd_teacher_similarity_mean": 0.7736180186271667, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2980 + }, + { + "epoch": 0.8699447192318883, + "flow_matching_loss": 0.018775272089987992, + "grad_norm": 0.1940530389547348, + "learning_rate": 2.979840234777942e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0176666752435267, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35450988113880155, + "rkd_teacher_entropy": 3.716159129142761, + "rkd_teacher_similarity_mean": 0.7751139283180237, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2990 + }, + { + "epoch": 0.8728542333430317, + "flow_matching_loss": 0.018513289373368026, + "grad_norm": 0.15253445506095886, + "learning_rate": 2.979569161333831e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016282323654741047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3643859475851059, + "rkd_teacher_entropy": 3.7658238887786863, + "rkd_teacher_similarity_mean": 0.7889893472194671, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3000 + }, + { + "epoch": 0.8757637474541752, + "flow_matching_loss": 0.01857168162241578, + "grad_norm": 0.30858179926872253, + "learning_rate": 2.9792962900736744e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017892116960138083, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3517537474632263, + "rkd_teacher_entropy": 3.721039080619812, + "rkd_teacher_similarity_mean": 0.7747928023338317, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3010 + }, + { + "epoch": 0.8786732615653186, + "flow_matching_loss": 0.020432616118341684, + "grad_norm": 0.18526886403560638, + "learning_rate": 2.9790216213290372e-05, + "loss": 0.0311, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.021367979422211646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3509791374206543, + "rkd_teacher_entropy": 3.7151865482330324, + "rkd_teacher_similarity_mean": 0.7715943694114685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3020 + }, + { + "epoch": 0.881582775676462, + "flow_matching_loss": 0.0175786592066288, + "grad_norm": 0.14082178473472595, + "learning_rate": 2.9787451554336672e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014275404252111911, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3669550955295563, + "rkd_teacher_entropy": 3.7688883781433105, + "rkd_teacher_similarity_mean": 0.788081818819046, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3030 + }, + { + "epoch": 0.8844922897876055, + "flow_matching_loss": 0.021160945110023022, + "grad_norm": 0.14977693557739258, + "learning_rate": 2.9784668927234972e-05, + "loss": 0.0306, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018921397160738707, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3551636725664139, + "rkd_teacher_entropy": 3.7304966926574705, + "rkd_teacher_similarity_mean": 0.7781177401542664, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3040 + }, + { + "epoch": 0.8874018038987489, + "flow_matching_loss": 0.018757724575698374, + "grad_norm": 0.20792019367218018, + "learning_rate": 2.9781868335366418e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015368164330720902, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3523872196674347, + "rkd_teacher_entropy": 3.7097276210784913, + "rkd_teacher_similarity_mean": 0.7752494633197784, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3050 + }, + { + "epoch": 0.8903113180098924, + "flow_matching_loss": 0.020597425661981104, + "grad_norm": 0.18753577768802643, + "learning_rate": 2.9779049782134e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01668984964489937, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34505707025527954, + "rkd_teacher_entropy": 3.701558518409729, + "rkd_teacher_similarity_mean": 0.7694942355155945, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3060 + }, + { + "epoch": 0.8932208321210358, + "flow_matching_loss": 0.018098839931190012, + "grad_norm": 0.14071330428123474, + "learning_rate": 2.9776213270962523e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015815918520092963, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36193658113479615, + "rkd_teacher_entropy": 3.739428234100342, + "rkd_teacher_similarity_mean": 0.7843712151050568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3070 + }, + { + "epoch": 0.8961303462321792, + "flow_matching_loss": 0.01907132798805833, + "grad_norm": 0.19852200150489807, + "learning_rate": 2.977335880529861e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014231088943779469, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3603176325559616, + "rkd_teacher_entropy": 3.733192873001099, + "rkd_teacher_similarity_mean": 0.7789975941181183, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3080 + }, + { + "epoch": 0.8990398603433226, + "flow_matching_loss": 0.019858117587864398, + "grad_norm": 0.23614351451396942, + "learning_rate": 2.977048638861072e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01545411879196763, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3662175267934799, + "rkd_teacher_entropy": 3.737287735939026, + "rkd_teacher_similarity_mean": 0.7845315158367157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3090 + }, + { + "epoch": 0.9019493744544661, + "flow_matching_loss": 0.020911392848938705, + "grad_norm": 0.11665891855955124, + "learning_rate": 2.97675960243891e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01396549828350544, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35109720230102537, + "rkd_teacher_entropy": 3.7079002618789674, + "rkd_teacher_similarity_mean": 0.7715600252151489, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3100 + }, + { + "epoch": 0.9048588885656096, + "flow_matching_loss": 0.01863940879702568, + "grad_norm": 0.13551223278045654, + "learning_rate": 2.976468771614582e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018553382903337478, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35216071009635924, + "rkd_teacher_entropy": 3.7082210779190063, + "rkd_teacher_similarity_mean": 0.772829681634903, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3110 + }, + { + "epoch": 0.907768402676753, + "flow_matching_loss": 0.019277853425592184, + "grad_norm": 0.12327200174331665, + "learning_rate": 2.9761761467414736e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01396469222381711, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3582860082387924, + "rkd_teacher_entropy": 3.7410433530807494, + "rkd_teacher_similarity_mean": 0.7808672606945037, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3120 + }, + { + "epoch": 0.9106779167878964, + "flow_matching_loss": 0.022282303124666215, + "grad_norm": 0.19150634109973907, + "learning_rate": 2.9758817281751538e-05, + "loss": 0.0312, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017791491001844406, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3520697087049484, + "rkd_teacher_entropy": 3.7022100925445556, + "rkd_teacher_similarity_mean": 0.7715741038322449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3130 + }, + { + "epoch": 0.9135874308990398, + "flow_matching_loss": 0.019824654329568148, + "grad_norm": 0.1773003488779068, + "learning_rate": 2.975585516273367e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014161822572350501, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35451624989509584, + "rkd_teacher_entropy": 3.7190489053726195, + "rkd_teacher_similarity_mean": 0.7758249282836914, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3140 + }, + { + "epoch": 0.9164969450101833, + "flow_matching_loss": 0.019101028982549905, + "grad_norm": 0.170540913939476, + "learning_rate": 2.975287511396039e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014396713487803936, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35956203043460844, + "rkd_teacher_entropy": 3.7260502576828003, + "rkd_teacher_similarity_mean": 0.7792368352413177, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3150 + }, + { + "epoch": 0.9194064591213268, + "flow_matching_loss": 0.018905775062739848, + "grad_norm": 0.18949361145496368, + "learning_rate": 2.9749877139052745e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01897024242207408, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35243603885173796, + "rkd_teacher_entropy": 3.7161661624908446, + "rkd_teacher_similarity_mean": 0.7738760352134705, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3160 + }, + { + "epoch": 0.9223159732324702, + "flow_matching_loss": 0.017577353119850158, + "grad_norm": 0.13960807025432587, + "learning_rate": 2.9746861241653555e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01632914775982499, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3607415437698364, + "rkd_teacher_entropy": 3.7436587810516357, + "rkd_teacher_similarity_mean": 0.7828752040863037, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3170 + }, + { + "epoch": 0.9252254873436137, + "flow_matching_loss": 0.017976527474820612, + "grad_norm": 0.157226100564003, + "learning_rate": 2.9743827425427416e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016179043520241975, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.357839298248291, + "rkd_teacher_entropy": 3.7326624393463135, + "rkd_teacher_similarity_mean": 0.7806219458580017, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3180 + }, + { + "epoch": 0.928135001454757, + "flow_matching_loss": 0.020466578472405673, + "grad_norm": 0.17028890550136566, + "learning_rate": 2.9740775694060704e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01766398614272475, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3523593068122864, + "rkd_teacher_entropy": 3.705865406990051, + "rkd_teacher_similarity_mean": 0.7705654799938202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3190 + }, + { + "epoch": 0.9310445155659005, + "flow_matching_loss": 0.01893091546371579, + "grad_norm": 0.15091876685619354, + "learning_rate": 2.973770605126156e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015496476832777262, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37092832624912264, + "rkd_teacher_entropy": 3.768962526321411, + "rkd_teacher_similarity_mean": 0.7897410929203034, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3200 + }, + { + "epoch": 0.9339540296770439, + "flow_matching_loss": 0.020612954068928956, + "grad_norm": 0.1313905417919159, + "learning_rate": 2.9734618500759886e-05, + "loss": 0.0292, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01712164357304573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36186736524105073, + "rkd_teacher_entropy": 3.734961819648743, + "rkd_teacher_similarity_mean": 0.7804972767829895, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3210 + }, + { + "epoch": 0.9368635437881874, + "flow_matching_loss": 0.01854013493284583, + "grad_norm": 0.18733373284339905, + "learning_rate": 2.9731513046307356e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015542403887957334, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3571641355752945, + "rkd_teacher_entropy": 3.7346717357635497, + "rkd_teacher_similarity_mean": 0.780207759141922, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3220 + }, + { + "epoch": 0.9397730578993309, + "flow_matching_loss": 0.016309130378067492, + "grad_norm": 0.2178725153207779, + "learning_rate": 2.972838969167738e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01381338993087411, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36103595793247223, + "rkd_teacher_entropy": 3.739061784744263, + "rkd_teacher_similarity_mean": 0.7839021325111389, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3230 + }, + { + "epoch": 0.9426825720104742, + "flow_matching_loss": 0.018600211944431067, + "grad_norm": 0.197452574968338, + "learning_rate": 2.972524844066513e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015295842662453651, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3586350381374359, + "rkd_teacher_entropy": 3.7327113151550293, + "rkd_teacher_similarity_mean": 0.781350040435791, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3240 + }, + { + "epoch": 0.9455920861216177, + "flow_matching_loss": 0.0179444613866508, + "grad_norm": 0.18202416598796844, + "learning_rate": 2.9722089297087524e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016554663237184287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3527027159929276, + "rkd_teacher_entropy": 3.723498892784119, + "rkd_teacher_similarity_mean": 0.7739139378070832, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3250 + }, + { + "epoch": 0.9485016002327611, + "flow_matching_loss": 0.019894018676131962, + "grad_norm": 0.14586614072322845, + "learning_rate": 2.971891226478322e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016802174039185047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3509878247976303, + "rkd_teacher_entropy": 3.7059476137161256, + "rkd_teacher_similarity_mean": 0.7708629846572876, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3260 + }, + { + "epoch": 0.9514111143439046, + "flow_matching_loss": 0.018329029716551305, + "grad_norm": 0.15324784815311432, + "learning_rate": 2.9715717347612615e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015340791456401348, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3566065728664398, + "rkd_teacher_entropy": 3.7276186466217043, + "rkd_teacher_similarity_mean": 0.7786455094814301, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3270 + }, + { + "epoch": 0.9543206284550481, + "flow_matching_loss": 0.020139915775507687, + "grad_norm": 0.15990307927131653, + "learning_rate": 2.971250454945783e-05, + "loss": 0.0296, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018965432699769736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3527219146490097, + "rkd_teacher_entropy": 3.714107942581177, + "rkd_teacher_similarity_mean": 0.7708926141262055, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3280 + }, + { + "epoch": 0.9572301425661914, + "flow_matching_loss": 0.02476628590375185, + "grad_norm": 0.15872368216514587, + "learning_rate": 2.970927387422272e-05, + "loss": 0.0331, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016591135505586864, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.351781889796257, + "rkd_teacher_entropy": 3.7179230451583862, + "rkd_teacher_similarity_mean": 0.7715438604354858, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3290 + }, + { + "epoch": 0.9601396566773349, + "flow_matching_loss": 0.01871402245014906, + "grad_norm": 0.12641237676143646, + "learning_rate": 2.9706025325832858e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015407054219394922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35921089053153993, + "rkd_teacher_entropy": 3.7279156923294066, + "rkd_teacher_similarity_mean": 0.778563815355301, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3300 + }, + { + "epoch": 0.9630491707884783, + "flow_matching_loss": 0.019413351267576217, + "grad_norm": 0.19354385137557983, + "learning_rate": 2.9702758908235534e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01668775724247098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3590999633073807, + "rkd_teacher_entropy": 3.729702925682068, + "rkd_teacher_similarity_mean": 0.7797591269016266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3310 + }, + { + "epoch": 0.9659586848996218, + "flow_matching_loss": 0.021218949649482965, + "grad_norm": 0.17277243733406067, + "learning_rate": 2.9699474625399765e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015662136767059565, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3568716078996658, + "rkd_teacher_entropy": 3.726163959503174, + "rkd_teacher_similarity_mean": 0.7781803965568542, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3320 + }, + { + "epoch": 0.9688681990107652, + "flow_matching_loss": 0.019607672560960056, + "grad_norm": 0.16252829134464264, + "learning_rate": 2.9696172481316246e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015871778689324857, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35310896635055544, + "rkd_teacher_entropy": 3.71309380531311, + "rkd_teacher_similarity_mean": 0.7714225649833679, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3330 + }, + { + "epoch": 0.9717777131219086, + "flow_matching_loss": 0.018937201146036385, + "grad_norm": 0.13790909945964813, + "learning_rate": 2.9692852479997407e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017711021471768618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36030622720718386, + "rkd_teacher_entropy": 3.7245305299758913, + "rkd_teacher_similarity_mean": 0.7789091825485229, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3340 + }, + { + "epoch": 0.9746872272330521, + "flow_matching_loss": 0.01958994334563613, + "grad_norm": 0.170577272772789, + "learning_rate": 2.9689514625477364e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015955996047705413, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36263149678707124, + "rkd_teacher_entropy": 3.7382906436920167, + "rkd_teacher_similarity_mean": 0.7792846024036407, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3350 + }, + { + "epoch": 0.9775967413441955, + "flow_matching_loss": 0.019462629593908785, + "grad_norm": 0.23046313226222992, + "learning_rate": 2.968615892181192e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015395944658666848, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35616024136543273, + "rkd_teacher_entropy": 3.7115607976913454, + "rkd_teacher_similarity_mean": 0.7742591619491577, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3360 + }, + { + "epoch": 0.980506255455339, + "flow_matching_loss": 0.020727816969156265, + "grad_norm": 0.15441486239433289, + "learning_rate": 2.9682785373078567e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016800179332494735, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3600588947534561, + "rkd_teacher_entropy": 3.733456516265869, + "rkd_teacher_similarity_mean": 0.7789621412754059, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3370 + }, + { + "epoch": 0.9834157695664824, + "flow_matching_loss": 0.017878608778119087, + "grad_norm": 0.15743012726306915, + "learning_rate": 2.9679393983376493e-05, + "loss": 0.0254, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015003682672977447, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3501973807811737, + "rkd_teacher_entropy": 3.7027120113372805, + "rkd_teacher_similarity_mean": 0.7716583371162414, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3380 + }, + { + "epoch": 0.9863252836776258, + "flow_matching_loss": 0.017829058226197958, + "grad_norm": 0.22111183404922485, + "learning_rate": 2.9675984756826545e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0203595913015306, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3654884070158005, + "rkd_teacher_entropy": 3.755067157745361, + "rkd_teacher_similarity_mean": 0.7863136351108551, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3390 + }, + { + "epoch": 0.9892347977887693, + "flow_matching_loss": 0.021564012672752143, + "grad_norm": 0.2042117416858673, + "learning_rate": 2.9672557697571273e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016981097031384708, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36125972867012024, + "rkd_teacher_entropy": 3.7361517429351805, + "rkd_teacher_similarity_mean": 0.7792285203933715, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3400 + }, + { + "epoch": 0.9921443118999127, + "flow_matching_loss": 0.016828217450529336, + "grad_norm": 0.15491704642772675, + "learning_rate": 2.966911280977486e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014071123395115136, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35161082446575165, + "rkd_teacher_entropy": 3.7038373708724976, + "rkd_teacher_similarity_mean": 0.772096472978592, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3410 + }, + { + "epoch": 0.9950538260110562, + "flow_matching_loss": 0.01724456176161766, + "grad_norm": 0.1792657971382141, + "learning_rate": 2.966565009762318e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01612991318106651, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3586463749408722, + "rkd_teacher_entropy": 3.738767409324646, + "rkd_teacher_similarity_mean": 0.7809543490409852, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3420 + }, + { + "epoch": 0.9979633401221996, + "flow_matching_loss": 0.020477400999516247, + "grad_norm": 0.1607702225446701, + "learning_rate": 2.966216956532375e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015783257875591518, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3512695074081421, + "rkd_teacher_entropy": 3.7080007553100587, + "rkd_teacher_similarity_mean": 0.7713598787784577, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3430 + }, + { + "epoch": 1.000872854233343, + "flow_matching_loss": 0.02355335857719183, + "grad_norm": 0.15169627964496613, + "learning_rate": 2.9658671217105744e-05, + "loss": 0.0328, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01852012611925602, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3623489111661911, + "rkd_teacher_entropy": 3.736496186256409, + "rkd_teacher_similarity_mean": 0.7805092453956604, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3440 + }, + { + "epoch": 1.0037823683444864, + "flow_matching_loss": 0.020234831050038336, + "grad_norm": 0.1560286432504654, + "learning_rate": 2.965515505721999e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0174949798732996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3534093886613846, + "rkd_teacher_entropy": 3.7197914123535156, + "rkd_teacher_similarity_mean": 0.7745547413825988, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3450 + }, + { + "epoch": 1.00669188245563, + "flow_matching_loss": 0.023614860884845257, + "grad_norm": 0.19659531116485596, + "learning_rate": 2.9651621089938948e-05, + "loss": 0.0325, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017785322945564987, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35333614945411684, + "rkd_teacher_entropy": 3.7300998687744142, + "rkd_teacher_similarity_mean": 0.779053658246994, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3460 + }, + { + "epoch": 1.0096013965667734, + "flow_matching_loss": 0.017593840789049863, + "grad_norm": 0.15743032097816467, + "learning_rate": 2.9648069319556725e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017832040879875423, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34997615218162537, + "rkd_teacher_entropy": 3.709526872634888, + "rkd_teacher_similarity_mean": 0.772768634557724, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3470 + }, + { + "epoch": 1.0125109106779169, + "flow_matching_loss": 0.021036470495164394, + "grad_norm": 0.18959560990333557, + "learning_rate": 2.9644499750389057e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014275453053414822, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35176155865192416, + "rkd_teacher_entropy": 3.7105796337127686, + "rkd_teacher_similarity_mean": 0.7724751949310302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3480 + }, + { + "epoch": 1.0154204247890601, + "flow_matching_loss": 0.01897449102252722, + "grad_norm": 0.1572013646364212, + "learning_rate": 2.9640912386773305e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014202324580401183, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3547822654247284, + "rkd_teacher_entropy": 3.728419303894043, + "rkd_teacher_similarity_mean": 0.7759445905685425, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3490 + }, + { + "epoch": 1.0183299389002036, + "flow_matching_loss": 0.018938700761646034, + "grad_norm": 0.15694084763526917, + "learning_rate": 2.9637307233068455e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016838179156184196, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35765836834907533, + "rkd_teacher_entropy": 3.704872727394104, + "rkd_teacher_similarity_mean": 0.7755258500576019, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3500 + }, + { + "epoch": 1.021239453011347, + "flow_matching_loss": 0.01866902308538556, + "grad_norm": 0.16073688864707947, + "learning_rate": 2.9633684293655108e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01652195183560252, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34896389544010165, + "rkd_teacher_entropy": 3.6871630430221556, + "rkd_teacher_similarity_mean": 0.7661732614040375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3510 + }, + { + "epoch": 1.0241489671224906, + "flow_matching_loss": 0.02043087761849165, + "grad_norm": 0.1619429588317871, + "learning_rate": 2.963004357293548e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014788705576211213, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35891843140125274, + "rkd_teacher_entropy": 3.7185868501663206, + "rkd_teacher_similarity_mean": 0.7776116073131562, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3520 + }, + { + "epoch": 1.027058481233634, + "flow_matching_loss": 0.02058709189295769, + "grad_norm": 0.13818244636058807, + "learning_rate": 2.962638507533339e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015923717804253102, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3574966102838516, + "rkd_teacher_entropy": 3.7325916051864625, + "rkd_teacher_similarity_mean": 0.7768302917480469, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3530 + }, + { + "epoch": 1.0299679953447773, + "flow_matching_loss": 0.019076086953282355, + "grad_norm": 0.16567909717559814, + "learning_rate": 2.962270880529425e-05, + "loss": 0.0287, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019259422644972803, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3684912919998169, + "rkd_teacher_entropy": 3.7703219413757325, + "rkd_teacher_similarity_mean": 0.7889560222625732, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3540 + }, + { + "epoch": 1.0328775094559208, + "flow_matching_loss": 0.019504491053521634, + "grad_norm": 0.24782949686050415, + "learning_rate": 2.9619014767285084e-05, + "loss": 0.0287, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01844844501465559, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34929715394973754, + "rkd_teacher_entropy": 3.7039215326309205, + "rkd_teacher_similarity_mean": 0.771489292383194, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3550 + }, + { + "epoch": 1.0357870235670643, + "flow_matching_loss": 0.019457820151001216, + "grad_norm": 0.2316533923149109, + "learning_rate": 2.9615302965794488e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01708758417516947, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3623601824045181, + "rkd_teacher_entropy": 3.758433389663696, + "rkd_teacher_similarity_mean": 0.7851118743419647, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3560 + }, + { + "epoch": 1.0386965376782078, + "flow_matching_loss": 0.02057556752115488, + "grad_norm": 0.1743244081735611, + "learning_rate": 2.961157340533266e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015420328546315431, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3671113640069962, + "rkd_teacher_entropy": 3.7536186456680296, + "rkd_teacher_similarity_mean": 0.787067198753357, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3570 + }, + { + "epoch": 1.0416060517893513, + "flow_matching_loss": 0.020775905903428794, + "grad_norm": 0.14286209642887115, + "learning_rate": 2.9607826090431364e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01518189013004303, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3585257470607758, + "rkd_teacher_entropy": 3.744048547744751, + "rkd_teacher_similarity_mean": 0.7790214359760285, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3580 + }, + { + "epoch": 1.0445155659004945, + "flow_matching_loss": 0.01984343957155943, + "grad_norm": 0.1666477620601654, + "learning_rate": 2.9604061025643936e-05, + "loss": 0.0299, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.020054267533123494, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34839334785938264, + "rkd_teacher_entropy": 3.6990661144256594, + "rkd_teacher_similarity_mean": 0.7678848803043365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3590 + }, + { + "epoch": 1.047425080011638, + "flow_matching_loss": 0.020458101481199264, + "grad_norm": 0.18281035125255585, + "learning_rate": 2.9600278215545292e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01567037245258689, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35995703637599946, + "rkd_teacher_entropy": 3.7406808614730833, + "rkd_teacher_similarity_mean": 0.7798508942127228, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3600 + }, + { + "epoch": 1.0503345941227815, + "flow_matching_loss": 0.018524803686887026, + "grad_norm": 0.15835969150066376, + "learning_rate": 2.95964776647319e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013632359728217126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35720756351947786, + "rkd_teacher_entropy": 3.722642517089844, + "rkd_teacher_similarity_mean": 0.7763250708580017, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3610 + }, + { + "epoch": 1.053244108233925, + "flow_matching_loss": 0.017481158208101987, + "grad_norm": 0.15445071458816528, + "learning_rate": 2.9592659377821787e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013935072906315326, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35688990354537964, + "rkd_teacher_entropy": 3.725704383850098, + "rkd_teacher_similarity_mean": 0.7776263535022736, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3620 + }, + { + "epoch": 1.0561536223450685, + "flow_matching_loss": 0.01765271546319127, + "grad_norm": 0.17353175580501556, + "learning_rate": 2.9588823359454528e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017742384131997822, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3565081089735031, + "rkd_teacher_entropy": 3.71937301158905, + "rkd_teacher_similarity_mean": 0.7744968950748443, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3630 + }, + { + "epoch": 1.0590631364562118, + "flow_matching_loss": 0.01921822614967823, + "grad_norm": 0.15668945014476776, + "learning_rate": 2.958496961429126e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015291152335703374, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3585488885641098, + "rkd_teacher_entropy": 3.7124789476394655, + "rkd_teacher_similarity_mean": 0.7737014532089234, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3640 + }, + { + "epoch": 1.0619726505673552, + "flow_matching_loss": 0.021537707559764384, + "grad_norm": 0.15521669387817383, + "learning_rate": 2.9581098147014628e-05, + "loss": 0.0308, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018525234051048757, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3537548393011093, + "rkd_teacher_entropy": 3.7049159526824953, + "rkd_teacher_similarity_mean": 0.7707712471485137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3650 + }, + { + "epoch": 1.0648821646784987, + "flow_matching_loss": 0.019466709811240435, + "grad_norm": 0.20337806642055511, + "learning_rate": 2.9577208962328843e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014971200283616782, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3523518592119217, + "rkd_teacher_entropy": 3.713276672363281, + "rkd_teacher_similarity_mean": 0.7711023926734925, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3660 + }, + { + "epoch": 1.0677916787896422, + "flow_matching_loss": 0.020333768986165523, + "grad_norm": 0.1645471304655075, + "learning_rate": 2.9573302064959633e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017887960840016603, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35854020714759827, + "rkd_teacher_entropy": 3.717276096343994, + "rkd_teacher_similarity_mean": 0.7747621774673462, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3670 + }, + { + "epoch": 1.0707011929007855, + "flow_matching_loss": 0.01889756405726075, + "grad_norm": 0.2041095346212387, + "learning_rate": 2.9569377459654235e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01806523110717535, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35414316058158873, + "rkd_teacher_entropy": 3.7184957027435304, + "rkd_teacher_similarity_mean": 0.7725240290164948, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3680 + }, + { + "epoch": 1.073610707011929, + "flow_matching_loss": 0.019345006439834833, + "grad_norm": 0.3272671699523926, + "learning_rate": 2.9565435151181424e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019209115020930766, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3571645259857178, + "rkd_teacher_entropy": 3.7259705305099486, + "rkd_teacher_similarity_mean": 0.7770243048667907, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3690 + }, + { + "epoch": 1.0765202211230724, + "flow_matching_loss": 0.01962463352829218, + "grad_norm": 0.2179652452468872, + "learning_rate": 2.9561475144331473e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014421750698238612, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3579044669866562, + "rkd_teacher_entropy": 3.7093085050582886, + "rkd_teacher_similarity_mean": 0.7751034259796142, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3700 + }, + { + "epoch": 1.079429735234216, + "flow_matching_loss": 0.01973986076191068, + "grad_norm": 0.16073937714099884, + "learning_rate": 2.9557497443916162e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014888773392885923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3555372476577759, + "rkd_teacher_entropy": 3.717057132720947, + "rkd_teacher_similarity_mean": 0.7733755588531495, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3710 + }, + { + "epoch": 1.0823392493453594, + "flow_matching_loss": 0.020556169282644986, + "grad_norm": 0.12929598987102509, + "learning_rate": 2.9553502054768774e-05, + "loss": 0.029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01685860026627779, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3547384649515152, + "rkd_teacher_entropy": 3.725830316543579, + "rkd_teacher_similarity_mean": 0.7755689442157745, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3720 + }, + { + "epoch": 1.0852487634565027, + "flow_matching_loss": 0.018760239705443382, + "grad_norm": 0.14770130813121796, + "learning_rate": 2.954948898174409e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01854108888655901, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36512845754623413, + "rkd_teacher_entropy": 3.7447338581085203, + "rkd_teacher_similarity_mean": 0.78326775431633, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3730 + }, + { + "epoch": 1.0881582775676462, + "flow_matching_loss": 0.018827968463301658, + "grad_norm": 0.14829246699810028, + "learning_rate": 2.954545822971836e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016451750695705415, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3553191006183624, + "rkd_teacher_entropy": 3.7285372734069826, + "rkd_teacher_similarity_mean": 0.7753660917282105, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3740 + }, + { + "epoch": 1.0910677916787896, + "flow_matching_loss": 0.02031200025230646, + "grad_norm": 0.173656165599823, + "learning_rate": 2.9541409803589335e-05, + "loss": 0.0296, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01860559657216072, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3534998416900635, + "rkd_teacher_entropy": 3.710185146331787, + "rkd_teacher_similarity_mean": 0.7735080003738404, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3750 + }, + { + "epoch": 1.0939773057899331, + "flow_matching_loss": 0.01936359712854028, + "grad_norm": 0.14985938370227814, + "learning_rate": 2.9537343708276235e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015928066056221723, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.350516802072525, + "rkd_teacher_entropy": 3.712115931510925, + "rkd_teacher_similarity_mean": 0.7723041653633118, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3760 + }, + { + "epoch": 1.0968868199010766, + "flow_matching_loss": 0.018959876988083123, + "grad_norm": 0.15551532804965973, + "learning_rate": 2.953325994871975e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016194329783320426, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3647243231534958, + "rkd_teacher_entropy": 3.7520341157913206, + "rkd_teacher_similarity_mean": 0.782817929983139, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3770 + }, + { + "epoch": 1.0997963340122199, + "flow_matching_loss": 0.017671914398670198, + "grad_norm": 0.15484453737735748, + "learning_rate": 2.9529158529882023e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01678737225010991, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3600532293319702, + "rkd_teacher_entropy": 3.7086318492889405, + "rkd_teacher_similarity_mean": 0.7724587202072144, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3780 + }, + { + "epoch": 1.1027058481233634, + "flow_matching_loss": 0.019820909947156906, + "grad_norm": 0.1745453178882599, + "learning_rate": 2.9525039456746677e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015678955242037773, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.354810956120491, + "rkd_teacher_entropy": 3.703715968132019, + "rkd_teacher_similarity_mean": 0.7744282186031342, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3790 + }, + { + "epoch": 1.1056153622345068, + "flow_matching_loss": 0.02058630548417568, + "grad_norm": 0.15024401247501373, + "learning_rate": 2.952090273431877e-05, + "loss": 0.0293, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017382742650806905, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35497423708438874, + "rkd_teacher_entropy": 3.7108468294143675, + "rkd_teacher_similarity_mean": 0.7708016514778138, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3800 + }, + { + "epoch": 1.1085248763456503, + "flow_matching_loss": 0.018853689730167388, + "grad_norm": 0.15556283295154572, + "learning_rate": 2.9516748367624808e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01734126005321741, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3485339343547821, + "rkd_teacher_entropy": 3.6958841562271116, + "rkd_teacher_similarity_mean": 0.7636200904846191, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3810 + }, + { + "epoch": 1.1114343904567938, + "flow_matching_loss": 0.019755585864186288, + "grad_norm": 0.16624568402767181, + "learning_rate": 2.951257636171274e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015578174963593483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35406276285648347, + "rkd_teacher_entropy": 3.71147780418396, + "rkd_teacher_similarity_mean": 0.7725287735462188, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3820 + }, + { + "epoch": 1.114343904567937, + "flow_matching_loss": 0.019990938156843184, + "grad_norm": 0.1897539496421814, + "learning_rate": 2.9508386721651944e-05, + "loss": 0.0286, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01714621027931571, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596161812543869, + "rkd_teacher_entropy": 3.7232090711593626, + "rkd_teacher_similarity_mean": 0.7775650680065155, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3830 + }, + { + "epoch": 1.1172534186790806, + "flow_matching_loss": 0.01917041456326842, + "grad_norm": 0.1648402214050293, + "learning_rate": 2.9504179452533228e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01527319774031639, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.354156094789505, + "rkd_teacher_entropy": 3.7134906530380247, + "rkd_teacher_similarity_mean": 0.7717060506343841, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3840 + }, + { + "epoch": 1.120162932790224, + "flow_matching_loss": 0.018859586492180825, + "grad_norm": 0.18239319324493408, + "learning_rate": 2.9499954559468826e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018298604525625706, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35634716749191286, + "rkd_teacher_entropy": 3.7276429414749144, + "rkd_teacher_similarity_mean": 0.7774242281913757, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3850 + }, + { + "epoch": 1.1230724469013675, + "flow_matching_loss": 0.020008661784231663, + "grad_norm": 0.16333875060081482, + "learning_rate": 2.9495712047592378e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01686393152922392, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3478120654821396, + "rkd_teacher_entropy": 3.7008756399154663, + "rkd_teacher_similarity_mean": 0.7687965393066406, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3860 + }, + { + "epoch": 1.1259819610125108, + "flow_matching_loss": 0.020529488380998374, + "grad_norm": 0.15323716402053833, + "learning_rate": 2.949145192205893e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01649068696424365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3583300709724426, + "rkd_teacher_entropy": 3.7278520107269286, + "rkd_teacher_similarity_mean": 0.7780979633331299, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3870 + }, + { + "epoch": 1.1288914751236543, + "flow_matching_loss": 0.018234362080693244, + "grad_norm": 0.1706254482269287, + "learning_rate": 2.9487174188044953e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012824577745050192, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35617939531803133, + "rkd_teacher_entropy": 3.7153026342391966, + "rkd_teacher_similarity_mean": 0.7757960617542267, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3880 + }, + { + "epoch": 1.1318009892347978, + "flow_matching_loss": 0.018836656399071217, + "grad_norm": 0.189728245139122, + "learning_rate": 2.9482878850748276e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016595240216702223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35138781666755675, + "rkd_teacher_entropy": 3.716344213485718, + "rkd_teacher_similarity_mean": 0.7711662709712982, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3890 + }, + { + "epoch": 1.1347105033459413, + "flow_matching_loss": 0.018828611448407175, + "grad_norm": 0.18345887959003448, + "learning_rate": 2.9478565915388157e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01711904341354966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35295998156070707, + "rkd_teacher_entropy": 3.7194631099700928, + "rkd_teacher_similarity_mean": 0.7735534489154816, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3900 + }, + { + "epoch": 1.1376200174570847, + "flow_matching_loss": 0.021077768318355082, + "grad_norm": 0.1639343947172165, + "learning_rate": 2.9474235387205207e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013134852983057499, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3503319263458252, + "rkd_teacher_entropy": 3.7114331245422365, + "rkd_teacher_similarity_mean": 0.7693301260471344, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3910 + }, + { + "epoch": 1.140529531568228, + "flow_matching_loss": 0.021767416689544915, + "grad_norm": 0.16802610456943512, + "learning_rate": 2.946988727146143e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014181613270193339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3501192361116409, + "rkd_teacher_entropy": 3.689060187339783, + "rkd_teacher_similarity_mean": 0.7670436203479767, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3920 + }, + { + "epoch": 1.1434390456793715, + "flow_matching_loss": 0.016643596068024635, + "grad_norm": 0.18815182149410248, + "learning_rate": 2.9465521573440196e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013512752577662468, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35519203543663025, + "rkd_teacher_entropy": 3.7119754791259765, + "rkd_teacher_similarity_mean": 0.772907018661499, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3930 + }, + { + "epoch": 1.146348559790515, + "flow_matching_loss": 0.01840144405141473, + "grad_norm": 0.20800074934959412, + "learning_rate": 2.946113829844624e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017234564758837223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3602247327566147, + "rkd_teacher_entropy": 3.7226327419281007, + "rkd_teacher_similarity_mean": 0.7764657497406006, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3940 + }, + { + "epoch": 1.1492580739016585, + "flow_matching_loss": 0.018266822677105665, + "grad_norm": 0.1250714510679245, + "learning_rate": 2.945673745180566e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014831702644005417, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3559766262769699, + "rkd_teacher_entropy": 3.6988165616989135, + "rkd_teacher_similarity_mean": 0.7716596066951752, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3950 + }, + { + "epoch": 1.152167588012802, + "flow_matching_loss": 0.019998647458851337, + "grad_norm": 0.17843548953533173, + "learning_rate": 2.945231903886589e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0176130348816514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3605941742658615, + "rkd_teacher_entropy": 3.716170859336853, + "rkd_teacher_similarity_mean": 0.7771923959255218, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3960 + }, + { + "epoch": 1.1550771021239452, + "flow_matching_loss": 0.018871019035577773, + "grad_norm": 0.17288702726364136, + "learning_rate": 2.9447883064995728e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01579083390533924, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3512828707695007, + "rkd_teacher_entropy": 3.6952693462371826, + "rkd_teacher_similarity_mean": 0.7677280306816101, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3970 + }, + { + "epoch": 1.1579866162350887, + "flow_matching_loss": 0.023935566935688258, + "grad_norm": 0.17590510845184326, + "learning_rate": 2.9443429535585288e-05, + "loss": 0.0311, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014395847078412771, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35702323317527773, + "rkd_teacher_entropy": 3.721735692024231, + "rkd_teacher_similarity_mean": 0.774747657775879, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3980 + }, + { + "epoch": 1.1608961303462322, + "flow_matching_loss": 0.02323565725237131, + "grad_norm": 0.18957304954528809, + "learning_rate": 2.9438958456046044e-05, + "loss": 0.0316, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016699921060353517, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35221196711063385, + "rkd_teacher_entropy": 3.708593249320984, + "rkd_teacher_similarity_mean": 0.7718896567821503, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3990 + }, + { + "epoch": 1.1638056444573757, + "flow_matching_loss": 0.018418612889945507, + "grad_norm": 0.20542733371257782, + "learning_rate": 2.9434469831810765e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012934119906276464, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36278003454208374, + "rkd_teacher_entropy": 3.7378028869628905, + "rkd_teacher_similarity_mean": 0.782155179977417, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4000 + }, + { + "epoch": 1.1667151585685192, + "flow_matching_loss": 0.02060759551823139, + "grad_norm": 0.15854746103286743, + "learning_rate": 2.9429963668333566e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014288303349167109, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.354109063744545, + "rkd_teacher_entropy": 3.7118609666824343, + "rkd_teacher_similarity_mean": 0.7731501758098602, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4010 + }, + { + "epoch": 1.1696246726796624, + "flow_matching_loss": 0.018484668619930745, + "grad_norm": 0.1356029361486435, + "learning_rate": 2.9425439971089845e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01363137699663639, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35012984871864317, + "rkd_teacher_entropy": 3.711233067512512, + "rkd_teacher_similarity_mean": 0.7702766835689545, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4020 + }, + { + "epoch": 1.172534186790806, + "flow_matching_loss": 0.01846932861953974, + "grad_norm": 0.15558350086212158, + "learning_rate": 2.9420898745576336e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015173359215259552, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3580763638019562, + "rkd_teacher_entropy": 3.7249837160110473, + "rkd_teacher_similarity_mean": 0.7768887877464294, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4030 + }, + { + "epoch": 1.1754437009019494, + "flow_matching_loss": 0.019074408430606128, + "grad_norm": 0.16627441346645355, + "learning_rate": 2.9416339997311044e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017295026779174806, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36270234882831576, + "rkd_teacher_entropy": 3.7400206327438354, + "rkd_teacher_similarity_mean": 0.782469654083252, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4040 + }, + { + "epoch": 1.1783532150130929, + "flow_matching_loss": 0.017576038744300602, + "grad_norm": 0.19128048419952393, + "learning_rate": 2.941176373183329e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016808418091386557, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3518409043550491, + "rkd_teacher_entropy": 3.70389347076416, + "rkd_teacher_similarity_mean": 0.7706133246421814, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4050 + }, + { + "epoch": 1.1812627291242364, + "flow_matching_loss": 0.019454751163721085, + "grad_norm": 0.23247477412223816, + "learning_rate": 2.9407169954703653e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0147914401255548, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35979201197624205, + "rkd_teacher_entropy": 3.725808024406433, + "rkd_teacher_similarity_mean": 0.7782285749912262, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4060 + }, + { + "epoch": 1.1841722432353796, + "flow_matching_loss": 0.019337535742670296, + "grad_norm": 0.15014855563640594, + "learning_rate": 2.9402558671504018e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015497965831309557, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35046080946922303, + "rkd_teacher_entropy": 3.712542510032654, + "rkd_teacher_similarity_mean": 0.7726381778717041, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4070 + }, + { + "epoch": 1.187081757346523, + "flow_matching_loss": 0.019844002928584813, + "grad_norm": 0.11102164536714554, + "learning_rate": 2.9397929887837524e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01585190845653415, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36370536088943484, + "rkd_teacher_entropy": 3.740665578842163, + "rkd_teacher_similarity_mean": 0.7831085324287415, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4080 + }, + { + "epoch": 1.1899912714576666, + "flow_matching_loss": 0.019804144091904164, + "grad_norm": 0.17489376664161682, + "learning_rate": 2.939328360932858e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017058626748621464, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35084683299064634, + "rkd_teacher_entropy": 3.7128775119781494, + "rkd_teacher_similarity_mean": 0.7716157972812653, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4090 + }, + { + "epoch": 1.19290078556881, + "flow_matching_loss": 0.01976270154118538, + "grad_norm": 0.12958800792694092, + "learning_rate": 2.938861984162285e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01645676475018263, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35452042520046234, + "rkd_teacher_entropy": 3.728345799446106, + "rkd_teacher_similarity_mean": 0.7772633671760559, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4100 + }, + { + "epoch": 1.1958102996799536, + "flow_matching_loss": 0.0206231027841568, + "grad_norm": 0.1385803371667862, + "learning_rate": 2.938393859038726e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016860725730657576, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3542263060808182, + "rkd_teacher_entropy": 3.723678946495056, + "rkd_teacher_similarity_mean": 0.7762477099895477, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4110 + }, + { + "epoch": 1.1987198137910968, + "flow_matching_loss": 0.018601938802748918, + "grad_norm": 0.13697664439678192, + "learning_rate": 2.9379239861309964e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015930300019681452, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35675443708896637, + "rkd_teacher_entropy": 3.724967288970947, + "rkd_teacher_similarity_mean": 0.7793997764587403, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4120 + }, + { + "epoch": 1.2016293279022403, + "flow_matching_loss": 0.016390663105994463, + "grad_norm": 0.13630907237529755, + "learning_rate": 2.937452366010036e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015169759560376406, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3590070098638535, + "rkd_teacher_entropy": 3.737215447425842, + "rkd_teacher_similarity_mean": 0.7812101125717164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4130 + }, + { + "epoch": 1.2045388420133838, + "flow_matching_loss": 0.02277859365567565, + "grad_norm": 0.13269561529159546, + "learning_rate": 2.936978999248908e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014129972737282514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.351522171497345, + "rkd_teacher_entropy": 3.7134461879730223, + "rkd_teacher_similarity_mean": 0.7721266925334931, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4140 + }, + { + "epoch": 1.2074483561245273, + "flow_matching_loss": 0.019394448678940534, + "grad_norm": 0.24188022315502167, + "learning_rate": 2.936503886422798e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01781969564035535, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3496003031730652, + "rkd_teacher_entropy": 3.701411557197571, + "rkd_teacher_similarity_mean": 0.7689647436141968, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4150 + }, + { + "epoch": 1.2103578702356708, + "flow_matching_loss": 0.02139220982789993, + "grad_norm": 0.15565499663352966, + "learning_rate": 2.9360270281090122e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015059378277510405, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36004590690135957, + "rkd_teacher_entropy": 3.732883620262146, + "rkd_teacher_similarity_mean": 0.7789581060409546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4160 + }, + { + "epoch": 1.213267384346814, + "flow_matching_loss": 0.01918757176026702, + "grad_norm": 0.17053066194057465, + "learning_rate": 2.935548424886979e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014888747688382864, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3580137759447098, + "rkd_teacher_entropy": 3.7237716913223267, + "rkd_teacher_similarity_mean": 0.7763239860534668, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4170 + }, + { + "epoch": 1.2161768984579575, + "flow_matching_loss": 0.0188975484110415, + "grad_norm": 0.19806291162967682, + "learning_rate": 2.935068077338246e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01468468364328146, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36334836184978486, + "rkd_teacher_entropy": 3.7508752822875975, + "rkd_teacher_similarity_mean": 0.78541179895401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4180 + }, + { + "epoch": 1.219086412569101, + "flow_matching_loss": 0.018109380453824996, + "grad_norm": 0.2611543536186218, + "learning_rate": 2.934585986046481e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018083248008042573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35428803861141206, + "rkd_teacher_entropy": 3.7272459506988525, + "rkd_teacher_similarity_mean": 0.7758638083934783, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4190 + }, + { + "epoch": 1.2219959266802445, + "flow_matching_loss": 0.016607513744384052, + "grad_norm": 0.3204360008239746, + "learning_rate": 2.93410215159747e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018869477231055497, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3529603362083435, + "rkd_teacher_entropy": 3.71706485748291, + "rkd_teacher_similarity_mean": 0.7760173082351685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4200 + }, + { + "epoch": 1.2249054407913877, + "flow_matching_loss": 0.01722916541621089, + "grad_norm": 0.18535557389259338, + "learning_rate": 2.933616574579118e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015952826477587223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35821341574192045, + "rkd_teacher_entropy": 3.743194580078125, + "rkd_teacher_similarity_mean": 0.7812963724136353, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4210 + }, + { + "epoch": 1.2278149549025312, + "flow_matching_loss": 0.01837142454460263, + "grad_norm": 0.17471714317798615, + "learning_rate": 2.933129255581447e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018015400879085063, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3539854049682617, + "rkd_teacher_entropy": 3.7273842334747314, + "rkd_teacher_similarity_mean": 0.7773564100265503, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4220 + }, + { + "epoch": 1.2307244690136747, + "flow_matching_loss": 0.016985131707042456, + "grad_norm": 0.22628308832645416, + "learning_rate": 2.9326401951965954e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016392822470515968, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35421199798583985, + "rkd_teacher_entropy": 3.719118905067444, + "rkd_teacher_similarity_mean": 0.7752827107906342, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4230 + }, + { + "epoch": 1.2336339831248182, + "flow_matching_loss": 0.020478989090770484, + "grad_norm": 0.1888589709997177, + "learning_rate": 2.9321493940188165e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014457837305963039, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36424873769283295, + "rkd_teacher_entropy": 3.7526166915893553, + "rkd_teacher_similarity_mean": 0.785729455947876, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4240 + }, + { + "epoch": 1.2365434972359617, + "flow_matching_loss": 0.017869806662201882, + "grad_norm": 0.1516452431678772, + "learning_rate": 2.931656852644482e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014033646602183581, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3598786383867264, + "rkd_teacher_entropy": 3.725290822982788, + "rkd_teacher_similarity_mean": 0.7791316032409668, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4250 + }, + { + "epoch": 1.239453011347105, + "flow_matching_loss": 0.01810071151703596, + "grad_norm": 0.15471330285072327, + "learning_rate": 2.9311625716720748e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015127032157033682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3577426880598068, + "rkd_teacher_entropy": 3.7192898273468016, + "rkd_teacher_similarity_mean": 0.7770317018032074, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4260 + }, + { + "epoch": 1.2423625254582484, + "flow_matching_loss": 0.015407798811793327, + "grad_norm": 0.1353989988565445, + "learning_rate": 2.9306665517021927e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015414149034768343, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3521473199129105, + "rkd_teacher_entropy": 3.7051683902740478, + "rkd_teacher_similarity_mean": 0.7729451954364777, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4270 + }, + { + "epoch": 1.245272039569392, + "flow_matching_loss": 0.019505945220589637, + "grad_norm": 0.18118883669376373, + "learning_rate": 2.9301687933375483e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015622050873935223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35711815059185026, + "rkd_teacher_entropy": 3.724241352081299, + "rkd_teacher_similarity_mean": 0.7770000100135803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4280 + }, + { + "epoch": 1.2481815536805354, + "flow_matching_loss": 0.019086519535630942, + "grad_norm": 0.12829920649528503, + "learning_rate": 2.929669297182963e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015244967676699162, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3583821624517441, + "rkd_teacher_entropy": 3.7346203088760377, + "rkd_teacher_similarity_mean": 0.775445407629013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4290 + }, + { + "epoch": 1.2510910677916787, + "flow_matching_loss": 0.018948294315487148, + "grad_norm": 0.15902754664421082, + "learning_rate": 2.929168063845373e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013897399231791497, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35643026530742644, + "rkd_teacher_entropy": 3.7245639085769655, + "rkd_teacher_similarity_mean": 0.7743935763835907, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4300 + }, + { + "epoch": 1.2540005819028222, + "flow_matching_loss": 0.019916345179080964, + "grad_norm": 0.1749507635831833, + "learning_rate": 2.9286650939338236e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016984534077346326, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34884596765041354, + "rkd_teacher_entropy": 3.708370494842529, + "rkd_teacher_similarity_mean": 0.7682889342308045, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4310 + }, + { + "epoch": 1.2569100960139656, + "flow_matching_loss": 0.017190719582140447, + "grad_norm": 0.1395632028579712, + "learning_rate": 2.9281603880594706e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015231073554605245, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35530284643173216, + "rkd_teacher_entropy": 3.722180461883545, + "rkd_teacher_similarity_mean": 0.7756715774536133, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4320 + }, + { + "epoch": 1.2598196101251091, + "flow_matching_loss": 0.020259595662355422, + "grad_norm": 0.21686942875385284, + "learning_rate": 2.9276539468355796e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014976609218865632, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34918628036975863, + "rkd_teacher_entropy": 3.6961157083511353, + "rkd_teacher_similarity_mean": 0.7682681798934936, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4330 + }, + { + "epoch": 1.2627291242362526, + "flow_matching_loss": 0.02065542545169592, + "grad_norm": 0.21450237929821014, + "learning_rate": 2.9271457708775244e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015252635534852742, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35388203859329226, + "rkd_teacher_entropy": 3.729991841316223, + "rkd_teacher_similarity_mean": 0.7749201893806458, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4340 + }, + { + "epoch": 1.2656386383473959, + "flow_matching_loss": 0.018470504134893418, + "grad_norm": 0.1557563841342926, + "learning_rate": 2.9266358608027863e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013622028566896916, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35102725625038145, + "rkd_teacher_entropy": 3.704540729522705, + "rkd_teacher_similarity_mean": 0.769960594177246, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4350 + }, + { + "epoch": 1.2685481524585394, + "flow_matching_loss": 0.018550444394350052, + "grad_norm": 0.18557853996753693, + "learning_rate": 2.9261242172309543e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01661607511341572, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3603864163160324, + "rkd_teacher_entropy": 3.7351310729980467, + "rkd_teacher_similarity_mean": 0.7782201111316681, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4360 + }, + { + "epoch": 1.2714576665696828, + "flow_matching_loss": 0.0182227423414588, + "grad_norm": 0.1732589453458786, + "learning_rate": 2.925610840783723e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015361984819173813, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35341348350048063, + "rkd_teacher_entropy": 3.700330138206482, + "rkd_teacher_similarity_mean": 0.7721019089221954, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4370 + }, + { + "epoch": 1.2743671806808263, + "flow_matching_loss": 0.021031150687485935, + "grad_norm": 0.15984776616096497, + "learning_rate": 2.9250957320848946e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01617595097050071, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35019390285015106, + "rkd_teacher_entropy": 3.70380494594574, + "rkd_teacher_similarity_mean": 0.7695167422294616, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4380 + }, + { + "epoch": 1.2772766947919698, + "flow_matching_loss": 0.01996358186006546, + "grad_norm": 0.1518252193927765, + "learning_rate": 2.924578891760374e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014663984440267086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3541531264781952, + "rkd_teacher_entropy": 3.721767449378967, + "rkd_teacher_similarity_mean": 0.775214797258377, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4390 + }, + { + "epoch": 1.280186208903113, + "flow_matching_loss": 0.020940623804926874, + "grad_norm": 0.2010110467672348, + "learning_rate": 2.924060320438171e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014552582520991564, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.349629220366478, + "rkd_teacher_entropy": 3.7149521112442017, + "rkd_teacher_similarity_mean": 0.7702921569347382, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4400 + }, + { + "epoch": 1.2830957230142566, + "flow_matching_loss": 0.02088739164173603, + "grad_norm": 0.17749369144439697, + "learning_rate": 2.9235400187483978e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014035816304385662, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3522838085889816, + "rkd_teacher_entropy": 3.7096174478530886, + "rkd_teacher_similarity_mean": 0.7704094827175141, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4410 + }, + { + "epoch": 1.2860052371254, + "flow_matching_loss": 0.019483200646936892, + "grad_norm": 0.17566251754760742, + "learning_rate": 2.9230179873232716e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01854364890605211, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3569372326135635, + "rkd_teacher_entropy": 3.73153669834137, + "rkd_teacher_similarity_mean": 0.7764496862888336, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4420 + }, + { + "epoch": 1.2889147512365435, + "flow_matching_loss": 0.019836387131363153, + "grad_norm": 0.17382729053497314, + "learning_rate": 2.922494226797108e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015188613254576922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35306589901447294, + "rkd_teacher_entropy": 3.7190718412399293, + "rkd_teacher_similarity_mean": 0.7750130593776703, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4430 + }, + { + "epoch": 1.291824265347687, + "flow_matching_loss": 0.018847329914569853, + "grad_norm": 0.15888133645057678, + "learning_rate": 2.9219687378063275e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014745228178799152, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3584273725748062, + "rkd_teacher_entropy": 3.712940788269043, + "rkd_teacher_similarity_mean": 0.7771553933620453, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4440 + }, + { + "epoch": 1.2947337794588303, + "flow_matching_loss": 0.018980648089200258, + "grad_norm": 0.16230542957782745, + "learning_rate": 2.921441520989447e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01754116415977478, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35858452320098877, + "rkd_teacher_entropy": 3.7236706256866454, + "rkd_teacher_similarity_mean": 0.7777401983737946, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4450 + }, + { + "epoch": 1.2976432935699738, + "flow_matching_loss": 0.01716617336496711, + "grad_norm": 0.14558713138103485, + "learning_rate": 2.9209125769870854e-05, + "loss": 0.0254, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01648240089416504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3520490020513535, + "rkd_teacher_entropy": 3.713181972503662, + "rkd_teacher_similarity_mean": 0.7721965312957764, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4460 + }, + { + "epoch": 1.3005528076811173, + "flow_matching_loss": 0.017584971152246, + "grad_norm": 0.1369510143995285, + "learning_rate": 2.92038190644196e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01649321662262082, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.353973388671875, + "rkd_teacher_entropy": 3.715586805343628, + "rkd_teacher_similarity_mean": 0.7744081914424896, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4470 + }, + { + "epoch": 1.3034623217922607, + "flow_matching_loss": 0.020912372786551715, + "grad_norm": 0.2796466648578644, + "learning_rate": 2.9198495099988843e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017816702276468276, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3505241394042969, + "rkd_teacher_entropy": 3.7081871032714844, + "rkd_teacher_similarity_mean": 0.7719995558261872, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4480 + }, + { + "epoch": 1.3063718359034042, + "flow_matching_loss": 0.01904924577102065, + "grad_norm": 0.22774329781532288, + "learning_rate": 2.9193153883047712e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014442613162100316, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35359865725040435, + "rkd_teacher_entropy": 3.7165631294250487, + "rkd_teacher_similarity_mean": 0.7753647565841675, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4490 + }, + { + "epoch": 1.3092813500145475, + "flow_matching_loss": 0.020301638823002576, + "grad_norm": 0.17936335504055023, + "learning_rate": 2.9187795420086287e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01443581860512495, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34595588147640227, + "rkd_teacher_entropy": 3.685866856575012, + "rkd_teacher_similarity_mean": 0.7674746513366699, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4500 + }, + { + "epoch": 1.312190864125691, + "flow_matching_loss": 0.016151298489421605, + "grad_norm": 0.14425475895404816, + "learning_rate": 2.9182419717615602e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016376045905053614, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3533777594566345, + "rkd_teacher_entropy": 3.7126729011535646, + "rkd_teacher_similarity_mean": 0.7748964726924896, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4510 + }, + { + "epoch": 1.3151003782368345, + "flow_matching_loss": 0.01793489046394825, + "grad_norm": 0.14439982175827026, + "learning_rate": 2.917702678216765e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016328867711126804, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34609214663505555, + "rkd_teacher_entropy": 3.6810818195343016, + "rkd_teacher_similarity_mean": 0.7658454954624176, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4520 + }, + { + "epoch": 1.318009892347978, + "flow_matching_loss": 0.01759293405339122, + "grad_norm": 0.21771617233753204, + "learning_rate": 2.9171616620295347e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016476054303348066, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34066791236400606, + "rkd_teacher_entropy": 3.6676825046539308, + "rkd_teacher_similarity_mean": 0.7631202161312103, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4530 + }, + { + "epoch": 1.3209194064591214, + "flow_matching_loss": 0.01823725486174226, + "grad_norm": 0.16302703320980072, + "learning_rate": 2.9166189238572554e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016659300401806833, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35633295476436616, + "rkd_teacher_entropy": 3.739615035057068, + "rkd_teacher_similarity_mean": 0.779929006099701, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4540 + }, + { + "epoch": 1.3238289205702647, + "flow_matching_loss": 0.018238705955445765, + "grad_norm": 0.15947295725345612, + "learning_rate": 2.9160744643594052e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01609991081058979, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3549399018287659, + "rkd_teacher_entropy": 3.728826093673706, + "rkd_teacher_similarity_mean": 0.7746974647045135, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4550 + }, + { + "epoch": 1.3267384346814082, + "flow_matching_loss": 0.019900275487452747, + "grad_norm": 0.20866267383098602, + "learning_rate": 2.915528284197554e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014740034751594067, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3585006982088089, + "rkd_teacher_entropy": 3.729945254325867, + "rkd_teacher_similarity_mean": 0.7812768518924713, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4560 + }, + { + "epoch": 1.3296479487925517, + "flow_matching_loss": 0.017048802971839905, + "grad_norm": 0.15776507556438446, + "learning_rate": 2.914980384035362e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014782567229121923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35213428139686587, + "rkd_teacher_entropy": 3.726921725273132, + "rkd_teacher_similarity_mean": 0.7773936092853546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4570 + }, + { + "epoch": 1.3325574629036951, + "flow_matching_loss": 0.020353594049811363, + "grad_norm": 0.1596093773841858, + "learning_rate": 2.9144307645385787e-05, + "loss": 0.0275, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014341534860432149, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35047082006931307, + "rkd_teacher_entropy": 3.7138603925704956, + "rkd_teacher_similarity_mean": 0.7727476358413696, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4580 + }, + { + "epoch": 1.3354669770148386, + "flow_matching_loss": 0.021562401950359345, + "grad_norm": 0.1306106597185135, + "learning_rate": 2.9138794263750454e-05, + "loss": 0.0297, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016263276897370817, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3563202828168869, + "rkd_teacher_entropy": 3.735182762145996, + "rkd_teacher_similarity_mean": 0.777490371465683, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4590 + }, + { + "epoch": 1.338376491125982, + "flow_matching_loss": 0.018035827204585075, + "grad_norm": 0.17612485587596893, + "learning_rate": 2.913326370214688e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013662353157997131, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3604654908180237, + "rkd_teacher_entropy": 3.7332348108291624, + "rkd_teacher_similarity_mean": 0.7826587200164795, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4600 + }, + { + "epoch": 1.3412860052371254, + "flow_matching_loss": 0.021423688251525165, + "grad_norm": 0.1644572615623474, + "learning_rate": 2.9127715967295234e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014157760329544545, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.350584813952446, + "rkd_teacher_entropy": 3.706995415687561, + "rkd_teacher_similarity_mean": 0.7721476852893829, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4610 + }, + { + "epoch": 1.3441955193482689, + "flow_matching_loss": 0.018948639277368784, + "grad_norm": 0.17324376106262207, + "learning_rate": 2.912215106593653e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016814412921667098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3567866235971451, + "rkd_teacher_entropy": 3.733068752288818, + "rkd_teacher_similarity_mean": 0.7782555341720581, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4620 + }, + { + "epoch": 1.3471050334594123, + "flow_matching_loss": 0.018273798562586308, + "grad_norm": 0.12204449623823166, + "learning_rate": 2.911656900483265e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015184229426085948, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35566301345825196, + "rkd_teacher_entropy": 3.7259429693222046, + "rkd_teacher_similarity_mean": 0.7777168393135071, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4630 + }, + { + "epoch": 1.3500145475705558, + "flow_matching_loss": 0.01713872291147709, + "grad_norm": 0.16402168571949005, + "learning_rate": 2.9110969790766322e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014049145113676786, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3537777543067932, + "rkd_teacher_entropy": 3.720160961151123, + "rkd_teacher_similarity_mean": 0.776942378282547, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4640 + }, + { + "epoch": 1.352924061681699, + "flow_matching_loss": 0.018231923691928387, + "grad_norm": 0.1633715182542801, + "learning_rate": 2.910535343054112e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014491609763354063, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35543730556964875, + "rkd_teacher_entropy": 3.720202589035034, + "rkd_teacher_similarity_mean": 0.7750600159168244, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4650 + }, + { + "epoch": 1.3558335757928426, + "flow_matching_loss": 0.017461126577109097, + "grad_norm": 0.16815760731697083, + "learning_rate": 2.909971993098145e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015159320924431086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3546561986207962, + "rkd_teacher_entropy": 3.710465741157532, + "rkd_teacher_similarity_mean": 0.7743651330471039, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4660 + }, + { + "epoch": 1.358743089903986, + "flow_matching_loss": 0.020113997254520656, + "grad_norm": 0.143229141831398, + "learning_rate": 2.9094069298932552e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01325224544852972, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3540552705526352, + "rkd_teacher_entropy": 3.7057973623275755, + "rkd_teacher_similarity_mean": 0.7734015762805939, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4670 + }, + { + "epoch": 1.3616526040151296, + "flow_matching_loss": 0.01834910539910197, + "grad_norm": 0.17927269637584686, + "learning_rate": 2.908840154126047e-05, + "loss": 0.0254, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014052893035113811, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.348987939953804, + "rkd_teacher_entropy": 3.6969475984573363, + "rkd_teacher_similarity_mean": 0.7688457429409027, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4680 + }, + { + "epoch": 1.364562118126273, + "flow_matching_loss": 0.02143096746876836, + "grad_norm": 0.20617885887622833, + "learning_rate": 2.9082716664852063e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016798736061900854, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3547199100255966, + "rkd_teacher_entropy": 3.7169245004653932, + "rkd_teacher_similarity_mean": 0.7745005667209626, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4690 + }, + { + "epoch": 1.3674716322374163, + "flow_matching_loss": 0.020422853901982306, + "grad_norm": 0.15036971867084503, + "learning_rate": 2.9077014676615e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015108304284512996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3491930186748505, + "rkd_teacher_entropy": 3.710502552986145, + "rkd_teacher_similarity_mean": 0.7699498891830444, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4700 + }, + { + "epoch": 1.3703811463485598, + "flow_matching_loss": 0.02011621855199337, + "grad_norm": 0.21498587727546692, + "learning_rate": 2.9071295583477724e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01943160071969032, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.362473738193512, + "rkd_teacher_entropy": 3.73453528881073, + "rkd_teacher_similarity_mean": 0.7821779429912568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4710 + }, + { + "epoch": 1.3732906604597033, + "flow_matching_loss": 0.019650492537766694, + "grad_norm": 0.22976915538311005, + "learning_rate": 2.906555939238948e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017451461404561996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3616413325071335, + "rkd_teacher_entropy": 3.7192587852478027, + "rkd_teacher_similarity_mean": 0.7787607431411743, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4720 + }, + { + "epoch": 1.3762001745708465, + "flow_matching_loss": 0.018876522220671176, + "grad_norm": 0.17129802703857422, + "learning_rate": 2.905980611032028e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014033490512520074, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35718558430671693, + "rkd_teacher_entropy": 3.720577263832092, + "rkd_teacher_similarity_mean": 0.7772148013114929, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4730 + }, + { + "epoch": 1.3791096886819902, + "flow_matching_loss": 0.018438667338341475, + "grad_norm": 0.14017634093761444, + "learning_rate": 2.9054035744260904e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014094818476587534, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35982766151428225, + "rkd_teacher_entropy": 3.7360013723373413, + "rkd_teacher_similarity_mean": 0.7818045377731323, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4740 + }, + { + "epoch": 1.3820192027931335, + "flow_matching_loss": 0.021627402026206256, + "grad_norm": 0.20924170315265656, + "learning_rate": 2.9048248301222885e-05, + "loss": 0.0307, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018109190836548807, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35170715153217313, + "rkd_teacher_entropy": 3.7126274585723875, + "rkd_teacher_similarity_mean": 0.7710521042346954, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4750 + }, + { + "epoch": 1.384928716904277, + "flow_matching_loss": 0.018674980476498605, + "grad_norm": 0.15939539670944214, + "learning_rate": 2.904244378823852e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01550303129479289, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34816415309906007, + "rkd_teacher_entropy": 3.687020945549011, + "rkd_teacher_similarity_mean": 0.7682278037071228, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4760 + }, + { + "epoch": 1.3878382310154205, + "flow_matching_loss": 0.01992195248603821, + "grad_norm": 0.21582308411598206, + "learning_rate": 2.9036622212360836e-05, + "loss": 0.0292, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01850615181028843, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3548113703727722, + "rkd_teacher_entropy": 3.718464207649231, + "rkd_teacher_similarity_mean": 0.7756687700748444, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4770 + }, + { + "epoch": 1.3907477451265637, + "flow_matching_loss": 0.021293841022998094, + "grad_norm": 0.22923927009105682, + "learning_rate": 2.9030783580663596e-05, + "loss": 0.0294, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01614168155938387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35181349217891694, + "rkd_teacher_entropy": 3.717751884460449, + "rkd_teacher_similarity_mean": 0.7735951542854309, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4780 + }, + { + "epoch": 1.3936572592377072, + "flow_matching_loss": 0.020638882461935282, + "grad_norm": 0.1699923723936081, + "learning_rate": 2.902492790024129e-05, + "loss": 0.0292, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017033619247376917, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3586769700050354, + "rkd_teacher_entropy": 3.726735734939575, + "rkd_teacher_similarity_mean": 0.7786022424697876, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4790 + }, + { + "epoch": 1.3965667733488507, + "flow_matching_loss": 0.0168132396414876, + "grad_norm": 0.2159288078546524, + "learning_rate": 2.901905517820912e-05, + "loss": 0.0241, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014477509912103415, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35268608629703524, + "rkd_teacher_entropy": 3.7131574392318725, + "rkd_teacher_similarity_mean": 0.7734751999378204, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4800 + }, + { + "epoch": 1.3994762874599942, + "flow_matching_loss": 0.021720742993056773, + "grad_norm": 0.19221535325050354, + "learning_rate": 2.9013165421703e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01426253728568554, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35599257946014407, + "rkd_teacher_entropy": 3.7308089256286623, + "rkd_teacher_similarity_mean": 0.7789262890815735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4810 + }, + { + "epoch": 1.4023858015711377, + "flow_matching_loss": 0.020042473915964365, + "grad_norm": 0.15828271210193634, + "learning_rate": 2.9007258637879534e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01427364656701684, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3449436366558075, + "rkd_teacher_entropy": 3.685333323478699, + "rkd_teacher_similarity_mean": 0.7654841601848602, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4820 + }, + { + "epoch": 1.405295315682281, + "flow_matching_loss": 0.019375757034868, + "grad_norm": 0.1516444832086563, + "learning_rate": 2.9001334833916025e-05, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01657947339117527, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35934782922267916, + "rkd_teacher_entropy": 3.741353225708008, + "rkd_teacher_similarity_mean": 0.7795806229114532, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4830 + }, + { + "epoch": 1.4082048297934244, + "flow_matching_loss": 0.019183912500739097, + "grad_norm": 0.17828334867954254, + "learning_rate": 2.899539401701046e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015100365784019232, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3552859604358673, + "rkd_teacher_entropy": 3.7189304351806642, + "rkd_teacher_similarity_mean": 0.7748304784297944, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4840 + }, + { + "epoch": 1.411114343904568, + "flow_matching_loss": 0.018109530303627254, + "grad_norm": 0.18464554846286774, + "learning_rate": 2.8989436194381474e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013572186324745416, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35646718740463257, + "rkd_teacher_entropy": 3.7188027620315554, + "rkd_teacher_similarity_mean": 0.7762696206569671, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4850 + }, + { + "epoch": 1.4140238580157114, + "flow_matching_loss": 0.019882549159228803, + "grad_norm": 0.15105819702148438, + "learning_rate": 2.8983461373268404e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015109613817185164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3549023926258087, + "rkd_teacher_entropy": 3.7099375486373902, + "rkd_teacher_similarity_mean": 0.7724947154521942, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4860 + }, + { + "epoch": 1.4169333721268549, + "flow_matching_loss": 0.019503846298903227, + "grad_norm": 0.13211511075496674, + "learning_rate": 2.8977469560931205e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015321080572903156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35853601396083834, + "rkd_teacher_entropy": 3.722425389289856, + "rkd_teacher_similarity_mean": 0.7772715449333191, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4870 + }, + { + "epoch": 1.4198428862379981, + "flow_matching_loss": 0.019381496496498583, + "grad_norm": 0.19406861066818237, + "learning_rate": 2.8971460764650502e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01576391877606511, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34585214853286744, + "rkd_teacher_entropy": 3.6813591957092284, + "rkd_teacher_similarity_mean": 0.7631764054298401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4880 + }, + { + "epoch": 1.4227524003491416, + "flow_matching_loss": 0.01796514317393303, + "grad_norm": 0.1274614781141281, + "learning_rate": 2.8965434991727545e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018337845988571643, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3595535814762115, + "rkd_teacher_entropy": 3.7248667240142823, + "rkd_teacher_similarity_mean": 0.7786425590515137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4890 + }, + { + "epoch": 1.4256619144602851, + "flow_matching_loss": 0.018569799698889257, + "grad_norm": 0.1401740312576294, + "learning_rate": 2.895939224948422e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015653101820498706, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.357671782374382, + "rkd_teacher_entropy": 3.718528175354004, + "rkd_teacher_similarity_mean": 0.77576864361763, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4900 + }, + { + "epoch": 1.4285714285714286, + "flow_matching_loss": 0.018867919873446225, + "grad_norm": 0.17784026265144348, + "learning_rate": 2.895333254526303e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014155043195933104, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35342994928359983, + "rkd_teacher_entropy": 3.7155138731002806, + "rkd_teacher_similarity_mean": 0.7709277987480163, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4910 + }, + { + "epoch": 1.431480942682572, + "flow_matching_loss": 0.022180008329451086, + "grad_norm": 0.1971362829208374, + "learning_rate": 2.8947255886427084e-05, + "loss": 0.0308, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01724133491516113, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35672858655452727, + "rkd_teacher_entropy": 3.7215300798416138, + "rkd_teacher_similarity_mean": 0.7747510135173797, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4920 + }, + { + "epoch": 1.4343904567937154, + "flow_matching_loss": 0.019778770674020053, + "grad_norm": 0.15789863467216492, + "learning_rate": 2.8941162280360095e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013087033480405807, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36135308146476747, + "rkd_teacher_entropy": 3.7342593908309936, + "rkd_teacher_similarity_mean": 0.7814718306064605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4930 + }, + { + "epoch": 1.4372999709048588, + "flow_matching_loss": 0.018143606279045342, + "grad_norm": 0.2204606533050537, + "learning_rate": 2.8935051734466368e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018017409648746253, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35455811619758604, + "rkd_teacher_entropy": 3.7234488487243653, + "rkd_teacher_similarity_mean": 0.7742258250713349, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4940 + }, + { + "epoch": 1.4402094850160023, + "flow_matching_loss": 0.019874162320047618, + "grad_norm": 0.1841462105512619, + "learning_rate": 2.8928924256170792e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01345805199816823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3609513849020004, + "rkd_teacher_entropy": 3.7236918687820433, + "rkd_teacher_similarity_mean": 0.7810051560401916, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4950 + }, + { + "epoch": 1.4431189991271458, + "flow_matching_loss": 0.019513801392167806, + "grad_norm": 0.11400900036096573, + "learning_rate": 2.8922779852918836e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012467295955866575, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35876491069793703, + "rkd_teacher_entropy": 3.721749258041382, + "rkd_teacher_similarity_mean": 0.775443160533905, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4960 + }, + { + "epoch": 1.4460285132382893, + "flow_matching_loss": 0.019441625662148, + "grad_norm": 0.18016965687274933, + "learning_rate": 2.8916618532176526e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01463016951456666, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3509210914373398, + "rkd_teacher_entropy": 3.691860294342041, + "rkd_teacher_similarity_mean": 0.7673917770385742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4970 + }, + { + "epoch": 1.4489380273494326, + "flow_matching_loss": 0.0192303454503417, + "grad_norm": 0.13010214269161224, + "learning_rate": 2.891044030143045e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013037387747317553, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3587604433298111, + "rkd_teacher_entropy": 3.728133964538574, + "rkd_teacher_similarity_mean": 0.7783899962902069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4980 + }, + { + "epoch": 1.451847541460576, + "flow_matching_loss": 0.018764754571020604, + "grad_norm": 0.1918250322341919, + "learning_rate": 2.890424516818774e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01657536579295993, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3524696260690689, + "rkd_teacher_entropy": 3.7069053173065187, + "rkd_teacher_similarity_mean": 0.7714984774589538, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4990 + }, + { + "epoch": 1.4547570555717195, + "flow_matching_loss": 0.019627055525779723, + "grad_norm": 0.16992400586605072, + "learning_rate": 2.8898033139976057e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013715870957821608, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36184182167053225, + "rkd_teacher_entropy": 3.7380462169647215, + "rkd_teacher_similarity_mean": 0.7790420711040497, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5000 + }, + { + "epoch": 1.457666569682863, + "flow_matching_loss": 0.0194028215482831, + "grad_norm": 0.16719302535057068, + "learning_rate": 2.889180422434362e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01437771338969469, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3558659106492996, + "rkd_teacher_entropy": 3.706783175468445, + "rkd_teacher_similarity_mean": 0.7715642869472503, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5010 + }, + { + "epoch": 1.4605760837940065, + "flow_matching_loss": 0.01930744256824255, + "grad_norm": 0.17695941030979156, + "learning_rate": 2.8885558428859136e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014734358061105013, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3562633812427521, + "rkd_teacher_entropy": 3.711343026161194, + "rkd_teacher_similarity_mean": 0.7722286820411682, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5020 + }, + { + "epoch": 1.4634855979051498, + "flow_matching_loss": 0.01980129173025489, + "grad_norm": 0.22385357320308685, + "learning_rate": 2.8879295761111835e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014460505917668343, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36260710954666137, + "rkd_teacher_entropy": 3.730914092063904, + "rkd_teacher_similarity_mean": 0.7787643611431122, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5030 + }, + { + "epoch": 1.4663951120162932, + "flow_matching_loss": 0.019135149382054805, + "grad_norm": 0.12881599366664886, + "learning_rate": 2.8873016228711452e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014301263354718685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3656645447015762, + "rkd_teacher_entropy": 3.737523889541626, + "rkd_teacher_similarity_mean": 0.7809685647487641, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5040 + }, + { + "epoch": 1.4693046261274367, + "flow_matching_loss": 0.017354423087090252, + "grad_norm": 0.143304705619812, + "learning_rate": 2.8866719839288215e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015343007538467646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36134650409221647, + "rkd_teacher_entropy": 3.750091552734375, + "rkd_teacher_similarity_mean": 0.7808217287063599, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5050 + }, + { + "epoch": 1.4722141402385802, + "flow_matching_loss": 0.017973008472472428, + "grad_norm": 0.16927050054073334, + "learning_rate": 2.886040660049283e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013743154238909483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36050879061222074, + "rkd_teacher_entropy": 3.7286106824874876, + "rkd_teacher_similarity_mean": 0.7783645272254944, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5060 + }, + { + "epoch": 1.4751236543497237, + "flow_matching_loss": 0.017282781656831503, + "grad_norm": 0.13918337225914001, + "learning_rate": 2.8854076519996467e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013468826375901698, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35393481254577636, + "rkd_teacher_entropy": 3.719814085960388, + "rkd_teacher_similarity_mean": 0.7736680805683136, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5070 + }, + { + "epoch": 1.478033168460867, + "flow_matching_loss": 0.01849956624209881, + "grad_norm": 0.15152789652347565, + "learning_rate": 2.884772960549078e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016184846591204404, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35545592606067655, + "rkd_teacher_entropy": 3.703857970237732, + "rkd_teacher_similarity_mean": 0.7732089459896088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5080 + }, + { + "epoch": 1.4809426825720104, + "flow_matching_loss": 0.018287276010960342, + "grad_norm": 0.14465074241161346, + "learning_rate": 2.8841365864687867e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013947764784097672, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3622998118400574, + "rkd_teacher_entropy": 3.7360639572143555, + "rkd_teacher_similarity_mean": 0.782050508260727, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5090 + }, + { + "epoch": 1.483852196683154, + "flow_matching_loss": 0.018037668243050576, + "grad_norm": 0.12824663519859314, + "learning_rate": 2.8834985305320276e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015918871853500605, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.354689621925354, + "rkd_teacher_entropy": 3.724909472465515, + "rkd_teacher_similarity_mean": 0.774012291431427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5100 + }, + { + "epoch": 1.4867617107942974, + "flow_matching_loss": 0.01976030822843313, + "grad_norm": 0.1689639538526535, + "learning_rate": 2.882858793514098e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.020580520480871202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3566412299871445, + "rkd_teacher_entropy": 3.715921092033386, + "rkd_teacher_similarity_mean": 0.7743455171585083, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5110 + }, + { + "epoch": 1.489671224905441, + "flow_matching_loss": 0.018576639611274003, + "grad_norm": 0.26437175273895264, + "learning_rate": 2.8822173761923398e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01868084240704775, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.363346141576767, + "rkd_teacher_entropy": 3.730165886878967, + "rkd_teacher_similarity_mean": 0.7777283430099488, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5120 + }, + { + "epoch": 1.4925807390165842, + "flow_matching_loss": 0.018663651216775178, + "grad_norm": 0.16394349932670593, + "learning_rate": 2.8815742793461343e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014048956893384456, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36783595383167267, + "rkd_teacher_entropy": 3.7409192085266114, + "rkd_teacher_similarity_mean": 0.7836948990821838, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5130 + }, + { + "epoch": 1.4954902531277277, + "flow_matching_loss": 0.02322561712935567, + "grad_norm": 0.17832019925117493, + "learning_rate": 2.880929503756906e-05, + "loss": 0.0316, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016758397687226534, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35682202875614166, + "rkd_teacher_entropy": 3.7371960401535036, + "rkd_teacher_similarity_mean": 0.7738965570926666, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5140 + }, + { + "epoch": 1.4983997672388711, + "flow_matching_loss": 0.02015545628964901, + "grad_norm": 0.1475040167570114, + "learning_rate": 2.880283050208117e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015334928594529628, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35462531745433806, + "rkd_teacher_entropy": 3.7283472776412965, + "rkd_teacher_similarity_mean": 0.7741918802261353, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5150 + }, + { + "epoch": 1.5013092813500144, + "flow_matching_loss": 0.01989646777510643, + "grad_norm": 0.13286997377872467, + "learning_rate": 2.8796349194852704e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017139571812003852, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3520638018846512, + "rkd_teacher_entropy": 3.7087955236434937, + "rkd_teacher_similarity_mean": 0.7698615670204163, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5160 + }, + { + "epoch": 1.504218795461158, + "flow_matching_loss": 0.01815318185836077, + "grad_norm": 0.15474563837051392, + "learning_rate": 2.8789851123759052e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015495276730507612, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3545703023672104, + "rkd_teacher_entropy": 3.7187079191207886, + "rkd_teacher_similarity_mean": 0.7759788811206818, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5170 + }, + { + "epoch": 1.5071283095723014, + "flow_matching_loss": 0.017081718891859055, + "grad_norm": 0.11703180521726608, + "learning_rate": 2.8783336296695985e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014847081992775202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3523631513118744, + "rkd_teacher_entropy": 3.700578474998474, + "rkd_teacher_similarity_mean": 0.7702243804931641, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5180 + }, + { + "epoch": 1.5100378236834449, + "flow_matching_loss": 0.021353909373283388, + "grad_norm": 0.16859780251979828, + "learning_rate": 2.877680472157964e-05, + "loss": 0.0286, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014554073568433523, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35931713283061983, + "rkd_teacher_entropy": 3.7225479602813722, + "rkd_teacher_similarity_mean": 0.7767793595790863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5190 + }, + { + "epoch": 1.5129473377945883, + "flow_matching_loss": 0.018478989880532027, + "grad_norm": 0.16388683021068573, + "learning_rate": 2.8770256406346483e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015077340975403785, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3637834072113037, + "rkd_teacher_entropy": 3.7392258644104004, + "rkd_teacher_similarity_mean": 0.7794415652751923, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5200 + }, + { + "epoch": 1.5158568519057316, + "flow_matching_loss": 0.018167758267372845, + "grad_norm": 0.20271527767181396, + "learning_rate": 2.8763691358953348e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01364424852654338, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3573582261800766, + "rkd_teacher_entropy": 3.7185551643371584, + "rkd_teacher_similarity_mean": 0.773316252231598, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5210 + }, + { + "epoch": 1.5187663660168753, + "flow_matching_loss": 0.018169726710766554, + "grad_norm": 0.16144534945487976, + "learning_rate": 2.8757109587377377e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013556869700551033, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35678931772708894, + "rkd_teacher_entropy": 3.7151632785797117, + "rkd_teacher_similarity_mean": 0.7751174926757812, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5220 + }, + { + "epoch": 1.5216758801280186, + "flow_matching_loss": 0.017654272727668285, + "grad_norm": 0.13406793773174286, + "learning_rate": 2.8750511099616047e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01314840791746974, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3628300428390503, + "rkd_teacher_entropy": 3.743523669242859, + "rkd_teacher_similarity_mean": 0.7781936347484588, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5230 + }, + { + "epoch": 1.524585394239162, + "flow_matching_loss": 0.01856335289776325, + "grad_norm": 0.20656858384609222, + "learning_rate": 2.8743895903687143e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016763934399932623, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3604462563991547, + "rkd_teacher_entropy": 3.731721520423889, + "rkd_teacher_similarity_mean": 0.7772373914718628, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5240 + }, + { + "epoch": 1.5274949083503055, + "flow_matching_loss": 0.018392950668931006, + "grad_norm": 0.1555892676115036, + "learning_rate": 2.8737264007628753e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013619718700647354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35229156315326693, + "rkd_teacher_entropy": 3.698002290725708, + "rkd_teacher_similarity_mean": 0.7683230221271515, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5250 + }, + { + "epoch": 1.5304044224614488, + "flow_matching_loss": 0.020046899281442165, + "grad_norm": 0.14132314920425415, + "learning_rate": 2.8730615419499247e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016734518855810166, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3580314427614212, + "rkd_teacher_entropy": 3.7202421188354493, + "rkd_teacher_similarity_mean": 0.773213654756546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5260 + }, + { + "epoch": 1.5333139365725925, + "flow_matching_loss": 0.01813847227022052, + "grad_norm": 0.19707705080509186, + "learning_rate": 2.8723950147377303e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014087887573987245, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3563073217868805, + "rkd_teacher_entropy": 3.70256130695343, + "rkd_teacher_similarity_mean": 0.7718968033790589, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5270 + }, + { + "epoch": 1.5362234506837358, + "flow_matching_loss": 0.018779033236205576, + "grad_norm": 0.1932184249162674, + "learning_rate": 2.871726819936184e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01666523264721036, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3548360615968704, + "rkd_teacher_entropy": 3.7015769481658936, + "rkd_teacher_similarity_mean": 0.7699627757072449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5280 + }, + { + "epoch": 1.5391329647948793, + "flow_matching_loss": 0.018459316715598105, + "grad_norm": 0.14082938432693481, + "learning_rate": 2.8710569583572068e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01699534021317959, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36863725185394286, + "rkd_teacher_entropy": 3.7335349559783935, + "rkd_teacher_similarity_mean": 0.7809539198875427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5290 + }, + { + "epoch": 1.5420424789060228, + "flow_matching_loss": 0.018333648052066564, + "grad_norm": 0.13733796775341034, + "learning_rate": 2.870385430814742e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014618807565420866, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3646030783653259, + "rkd_teacher_entropy": 3.7495639085769654, + "rkd_teacher_similarity_mean": 0.7814855694770813, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5300 + }, + { + "epoch": 1.544951993017166, + "flow_matching_loss": 0.017982745822519065, + "grad_norm": 0.13622507452964783, + "learning_rate": 2.8697122381247605e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014027631375938654, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36270584762096403, + "rkd_teacher_entropy": 3.736601948738098, + "rkd_teacher_similarity_mean": 0.7813203930854797, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5310 + }, + { + "epoch": 1.5478615071283097, + "flow_matching_loss": 0.019192686397582294, + "grad_norm": 0.15942639112472534, + "learning_rate": 2.8690373811052545e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016873315814882515, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3576810836791992, + "rkd_teacher_entropy": 3.7200843334197997, + "rkd_teacher_similarity_mean": 0.7755205273628235, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5320 + }, + { + "epoch": 1.550771021239453, + "flow_matching_loss": 0.017001456953585146, + "grad_norm": 0.13998474180698395, + "learning_rate": 2.8683608605762378e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016124077141284943, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35905272960662843, + "rkd_teacher_entropy": 3.7207502841949465, + "rkd_teacher_similarity_mean": 0.7757972061634064, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5330 + }, + { + "epoch": 1.5536805353505965, + "flow_matching_loss": 0.01838757870718837, + "grad_norm": 0.16590286791324615, + "learning_rate": 2.8676826773597485e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01646343879401684, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35789449214935304, + "rkd_teacher_entropy": 3.7156349658966064, + "rkd_teacher_similarity_mean": 0.7756601750850678, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5340 + }, + { + "epoch": 1.55659004946174, + "flow_matching_loss": 0.017600796278566123, + "grad_norm": 0.14245089888572693, + "learning_rate": 2.8670028322798413e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013621987588703633, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3662660509347916, + "rkd_teacher_entropy": 3.735593485832214, + "rkd_teacher_similarity_mean": 0.7817793846130371, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5350 + }, + { + "epoch": 1.5594995635728832, + "flow_matching_loss": 0.018688932154327632, + "grad_norm": 0.20322322845458984, + "learning_rate": 2.8663213261625932e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01542135700583458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35856605470180514, + "rkd_teacher_entropy": 3.721724009513855, + "rkd_teacher_similarity_mean": 0.7754709839820861, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5360 + }, + { + "epoch": 1.562409077684027, + "flow_matching_loss": 0.018505363073199988, + "grad_norm": 0.17047548294067383, + "learning_rate": 2.865638159836098e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014568654913455248, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3564159840345383, + "rkd_teacher_entropy": 3.724675011634827, + "rkd_teacher_similarity_mean": 0.7740601181983948, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5370 + }, + { + "epoch": 1.5653185917951702, + "flow_matching_loss": 0.01881876364350319, + "grad_norm": 0.1490974873304367, + "learning_rate": 2.8649533341304677e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014757040981203317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3581209897994995, + "rkd_teacher_entropy": 3.706077289581299, + "rkd_teacher_similarity_mean": 0.7731038212776185, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5380 + }, + { + "epoch": 1.5682281059063137, + "flow_matching_loss": 0.020179341547191143, + "grad_norm": 0.19100050628185272, + "learning_rate": 2.8642668498778297e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016011691465973855, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3595896393060684, + "rkd_teacher_entropy": 3.739867091178894, + "rkd_teacher_similarity_mean": 0.7771247267723084, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5390 + }, + { + "epoch": 1.5711376200174572, + "flow_matching_loss": 0.01981180887669325, + "grad_norm": 0.15918728709220886, + "learning_rate": 2.8635787079123268e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013976617995649577, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3525713592767715, + "rkd_teacher_entropy": 3.709973764419556, + "rkd_teacher_similarity_mean": 0.7742797672748566, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5400 + }, + { + "epoch": 1.5740471341286004, + "flow_matching_loss": 0.01915769474580884, + "grad_norm": 0.13706602156162262, + "learning_rate": 2.8628889090701175e-05, + "loss": 0.0281, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017910101823508738, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36262536942958834, + "rkd_teacher_entropy": 3.738662338256836, + "rkd_teacher_similarity_mean": 0.7820517003536225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5410 + }, + { + "epoch": 1.576956648239744, + "flow_matching_loss": 0.019593155477195978, + "grad_norm": 0.15784253180027008, + "learning_rate": 2.862197454189371e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014368747361004353, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3618874102830887, + "rkd_teacher_entropy": 3.7320343971252443, + "rkd_teacher_similarity_mean": 0.7800134718418121, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5420 + }, + { + "epoch": 1.5798661623508874, + "flow_matching_loss": 0.017528116516768933, + "grad_norm": 0.13921906054019928, + "learning_rate": 2.8615043441102708e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015010036062449217, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.357975235581398, + "rkd_teacher_entropy": 3.7349066972732543, + "rkd_teacher_similarity_mean": 0.7772893488407135, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5430 + }, + { + "epoch": 1.5827756764620309, + "flow_matching_loss": 0.016966319549828766, + "grad_norm": 0.16292841732501984, + "learning_rate": 2.860809579675011e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013531411252915859, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36645050942897794, + "rkd_teacher_entropy": 3.7502949953079225, + "rkd_teacher_similarity_mean": 0.7887704014778137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5440 + }, + { + "epoch": 1.5856851905731744, + "flow_matching_loss": 0.01829674057662487, + "grad_norm": 0.21520811319351196, + "learning_rate": 2.860113161727796e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016149627789855004, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3644748717546463, + "rkd_teacher_entropy": 3.7450706481933596, + "rkd_teacher_similarity_mean": 0.7838274359703064, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5450 + }, + { + "epoch": 1.5885947046843176, + "flow_matching_loss": 0.01693170005455613, + "grad_norm": 0.15733127295970917, + "learning_rate": 2.8594150911148393e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013958057668060065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3590396881103516, + "rkd_teacher_entropy": 3.7299639701843263, + "rkd_teacher_similarity_mean": 0.7774145424365997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5460 + }, + { + "epoch": 1.5915042187954611, + "flow_matching_loss": 0.018296875059604645, + "grad_norm": 0.13428422808647156, + "learning_rate": 2.8587153686843626e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015921729616820812, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3592650264501572, + "rkd_teacher_entropy": 3.7270360469818113, + "rkd_teacher_similarity_mean": 0.7760873198509216, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5470 + }, + { + "epoch": 1.5944137329066046, + "flow_matching_loss": 0.01928320452570915, + "grad_norm": 0.15383216738700867, + "learning_rate": 2.858013995286594e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015854454319924115, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36527167558670043, + "rkd_teacher_entropy": 3.7439910650253294, + "rkd_teacher_similarity_mean": 0.7829012989997863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5480 + }, + { + "epoch": 1.597323247017748, + "flow_matching_loss": 0.01960612190887332, + "grad_norm": 0.16950012743473053, + "learning_rate": 2.857310971773769e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0152182687073946, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.358979532122612, + "rkd_teacher_entropy": 3.719692659378052, + "rkd_teacher_similarity_mean": 0.7762042462825776, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5490 + }, + { + "epoch": 1.6002327611288916, + "flow_matching_loss": 0.022436384670436384, + "grad_norm": 0.15191951394081116, + "learning_rate": 2.8566062990001274e-05, + "loss": 0.0313, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017753960192203523, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34588161408901213, + "rkd_teacher_entropy": 3.688322424888611, + "rkd_teacher_similarity_mean": 0.7629437863826751, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5500 + }, + { + "epoch": 1.6031422752400348, + "flow_matching_loss": 0.01741703161969781, + "grad_norm": 0.17499414086341858, + "learning_rate": 2.8558999778219126e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013935511466115713, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36000109910964967, + "rkd_teacher_entropy": 3.730651378631592, + "rkd_teacher_similarity_mean": 0.7784160017967224, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5510 + }, + { + "epoch": 1.6060517893511783, + "flow_matching_loss": 0.018450176063925027, + "grad_norm": 0.18174275755882263, + "learning_rate": 2.8551920090973722e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01664558295160532, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3606723576784134, + "rkd_teacher_entropy": 3.7218446493148805, + "rkd_teacher_similarity_mean": 0.7776098251342773, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5520 + }, + { + "epoch": 1.6089613034623218, + "flow_matching_loss": 0.016676374431699514, + "grad_norm": 0.20842552185058594, + "learning_rate": 2.854482393686754e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0156722292304039, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36798223853111267, + "rkd_teacher_entropy": 3.756971025466919, + "rkd_teacher_similarity_mean": 0.7850465774536133, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5530 + }, + { + "epoch": 1.6118708175734653, + "flow_matching_loss": 0.01984905693680048, + "grad_norm": 0.1509522795677185, + "learning_rate": 2.8537711324523086e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016040916461497544, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36338003873825075, + "rkd_teacher_entropy": 3.747898578643799, + "rkd_teacher_similarity_mean": 0.780397367477417, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5540 + }, + { + "epoch": 1.6147803316846088, + "flow_matching_loss": 0.017878916766494512, + "grad_norm": 0.1591748595237732, + "learning_rate": 2.8530582262582845e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014507104922086001, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3524493306875229, + "rkd_teacher_entropy": 3.703041338920593, + "rkd_teacher_similarity_mean": 0.7705326616764069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5550 + }, + { + "epoch": 1.617689845795752, + "flow_matching_loss": 0.021158070676028727, + "grad_norm": 0.187108114361763, + "learning_rate": 2.8523436759709306e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015237913187593221, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34835689067840575, + "rkd_teacher_entropy": 3.6950619220733643, + "rkd_teacher_similarity_mean": 0.7656868517398834, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5560 + }, + { + "epoch": 1.6205993599068955, + "flow_matching_loss": 0.019129006285220386, + "grad_norm": 0.1504759043455124, + "learning_rate": 2.8516274824584926e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013435069844126702, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3705473244190216, + "rkd_teacher_entropy": 3.76295952796936, + "rkd_teacher_similarity_mean": 0.7915355801582337, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5570 + }, + { + "epoch": 1.623508874018039, + "flow_matching_loss": 0.022328683547675608, + "grad_norm": 0.17541024088859558, + "learning_rate": 2.8509096465912136e-05, + "loss": 0.0313, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018015587609261273, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633410602807999, + "rkd_teacher_entropy": 3.7267387390136717, + "rkd_teacher_similarity_mean": 0.7793439328670502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5580 + }, + { + "epoch": 1.6264183881291823, + "flow_matching_loss": 0.019120773300528526, + "grad_norm": 0.2056834101676941, + "learning_rate": 2.8501901692413315e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013475317880511284, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3585812568664551, + "rkd_teacher_entropy": 3.7338120460510256, + "rkd_teacher_similarity_mean": 0.7769980728626251, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5590 + }, + { + "epoch": 1.629327902240326, + "flow_matching_loss": 0.021969847753643988, + "grad_norm": 0.15595537424087524, + "learning_rate": 2.8494690512830788e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014167599007487297, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.356255304813385, + "rkd_teacher_entropy": 3.7293848752975465, + "rkd_teacher_similarity_mean": 0.7759761333465576, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5600 + }, + { + "epoch": 1.6322374163514692, + "flow_matching_loss": 0.020711912680417298, + "grad_norm": 0.11962989717721939, + "learning_rate": 2.8487462935926823e-05, + "loss": 0.0292, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01700168550014496, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36157184541225434, + "rkd_teacher_entropy": 3.74618284702301, + "rkd_teacher_similarity_mean": 0.7796092510223389, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5610 + }, + { + "epoch": 1.6351469304626127, + "flow_matching_loss": 0.018463858030736448, + "grad_norm": 0.13207587599754333, + "learning_rate": 2.8480218970483606e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014014263730496168, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35848846435546877, + "rkd_teacher_entropy": 3.7207366704940794, + "rkd_teacher_similarity_mean": 0.7781393587589264, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5620 + }, + { + "epoch": 1.6380564445737562, + "flow_matching_loss": 0.019993457570672037, + "grad_norm": 0.16428722441196442, + "learning_rate": 2.847295862530324e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015582039300352336, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35953683257102964, + "rkd_teacher_entropy": 3.729874110221863, + "rkd_teacher_similarity_mean": 0.7791787266731263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5630 + }, + { + "epoch": 1.6409659586848995, + "flow_matching_loss": 0.01706457920372486, + "grad_norm": 0.12923960387706757, + "learning_rate": 2.846568190920773e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01812571408227086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35715714693069456, + "rkd_teacher_entropy": 3.729474949836731, + "rkd_teacher_similarity_mean": 0.7779282987117767, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5640 + }, + { + "epoch": 1.6438754727960432, + "flow_matching_loss": 0.020308929681777953, + "grad_norm": 0.14824016392230988, + "learning_rate": 2.8458388831038965e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015899421833455562, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.34736956655979156, + "rkd_teacher_entropy": 3.7022276163101195, + "rkd_teacher_similarity_mean": 0.7701324701309205, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5650 + }, + { + "epoch": 1.6467849869071864, + "flow_matching_loss": 0.017573367245495318, + "grad_norm": 0.17901098728179932, + "learning_rate": 2.8451079399658725e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018721399176865817, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.351681986451149, + "rkd_teacher_entropy": 3.7251649856567384, + "rkd_teacher_similarity_mean": 0.7753184497356415, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5660 + }, + { + "epoch": 1.64969450101833, + "flow_matching_loss": 0.020462668593972923, + "grad_norm": 0.18414358794689178, + "learning_rate": 2.8443753623948665e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013786463905125857, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3609624445438385, + "rkd_teacher_entropy": 3.738885021209717, + "rkd_teacher_similarity_mean": 0.7815273642539978, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5670 + }, + { + "epoch": 1.6526040151294734, + "flow_matching_loss": 0.01670288508757949, + "grad_norm": 0.14622703194618225, + "learning_rate": 2.8436411512810288e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015141685679554939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35122495591640474, + "rkd_teacher_entropy": 3.71009681224823, + "rkd_teacher_similarity_mean": 0.7699222087860107, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5680 + }, + { + "epoch": 1.6555135292406167, + "flow_matching_loss": 0.020645426865667105, + "grad_norm": 0.15510936081409454, + "learning_rate": 2.842905307516495e-05, + "loss": 0.0286, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015817712247371673, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3556729078292847, + "rkd_teacher_entropy": 3.741195321083069, + "rkd_teacher_similarity_mean": 0.7764322578907012, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5690 + }, + { + "epoch": 1.6584230433517604, + "flow_matching_loss": 0.015739990118891, + "grad_norm": 0.17380768060684204, + "learning_rate": 2.8421678319953854e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015004867315292358, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37070573270320895, + "rkd_teacher_entropy": 3.755591344833374, + "rkd_teacher_similarity_mean": 0.7880171239376068, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5700 + }, + { + "epoch": 1.6613325574629036, + "flow_matching_loss": 0.02058575637638569, + "grad_norm": 0.1463577300310135, + "learning_rate": 2.841428725613801e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015496508590877056, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3581040412187576, + "rkd_teacher_entropy": 3.7164080858230593, + "rkd_teacher_similarity_mean": 0.7739423990249634, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5710 + }, + { + "epoch": 1.6642420715740471, + "flow_matching_loss": 0.018696755822747945, + "grad_norm": 0.16884391009807587, + "learning_rate": 2.8406879892698272e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012224899977445603, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3689679980278015, + "rkd_teacher_entropy": 3.751006555557251, + "rkd_teacher_similarity_mean": 0.7860022127628327, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5720 + }, + { + "epoch": 1.6671515856851906, + "flow_matching_loss": 0.02387080918997526, + "grad_norm": 0.1704111397266388, + "learning_rate": 2.8399456238635274e-05, + "loss": 0.0329, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018083597347140313, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633839309215546, + "rkd_teacher_entropy": 3.736940312385559, + "rkd_teacher_similarity_mean": 0.7789111614227295, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5730 + }, + { + "epoch": 1.6700610997963339, + "flow_matching_loss": 0.019589890632778405, + "grad_norm": 0.18058282136917114, + "learning_rate": 2.8392016302969457e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016501323133707047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35591564774513246, + "rkd_teacher_entropy": 3.714181160926819, + "rkd_teacher_similarity_mean": 0.7713237583637238, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5740 + }, + { + "epoch": 1.6729706139074776, + "flow_matching_loss": 0.017459552735090256, + "grad_norm": 0.17029179632663727, + "learning_rate": 2.8384560094741055e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014029389899224042, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3604630321264267, + "rkd_teacher_entropy": 3.7416558504104613, + "rkd_teacher_similarity_mean": 0.7807984113693237, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5750 + }, + { + "epoch": 1.6758801280186209, + "flow_matching_loss": 0.016950576659291984, + "grad_norm": 0.1452019363641739, + "learning_rate": 2.8377087623010054e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013951402250677347, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3665347069501877, + "rkd_teacher_entropy": 3.7544435262680054, + "rkd_teacher_similarity_mean": 0.7851490378379822, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5760 + }, + { + "epoch": 1.6787896421297643, + "flow_matching_loss": 0.018268686812371017, + "grad_norm": 0.13556623458862305, + "learning_rate": 2.8369598896856213e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011986944731324911, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3599693953990936, + "rkd_teacher_entropy": 3.72676477432251, + "rkd_teacher_similarity_mean": 0.7779831886291504, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5770 + }, + { + "epoch": 1.6816991562409078, + "flow_matching_loss": 0.01949066435918212, + "grad_norm": 0.15339109301567078, + "learning_rate": 2.836209392537904e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013782968185842038, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35572693645954134, + "rkd_teacher_entropy": 3.7180368423461916, + "rkd_teacher_similarity_mean": 0.7762299716472626, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5780 + }, + { + "epoch": 1.684608670352051, + "flow_matching_loss": 0.015642296615988018, + "grad_norm": 0.12078602612018585, + "learning_rate": 2.8354572717697787e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013725177850574255, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.357902792096138, + "rkd_teacher_entropy": 3.7246723413467406, + "rkd_teacher_similarity_mean": 0.7771661520004273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5790 + }, + { + "epoch": 1.6875181844631948, + "flow_matching_loss": 0.01895694639533758, + "grad_norm": 0.18896129727363586, + "learning_rate": 2.8347035282951428e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015667012240737677, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36386031210422515, + "rkd_teacher_entropy": 3.7439332962036134, + "rkd_teacher_similarity_mean": 0.7807349145412446, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5800 + }, + { + "epoch": 1.690427698574338, + "flow_matching_loss": 0.017788550816476345, + "grad_norm": 0.18150006234645844, + "learning_rate": 2.8339481630298653e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015602311305701732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36959370970726013, + "rkd_teacher_entropy": 3.7543159246444704, + "rkd_teacher_similarity_mean": 0.7863886237144471, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5810 + }, + { + "epoch": 1.6933372126854815, + "flow_matching_loss": 0.017100397124886514, + "grad_norm": 0.13509199023246765, + "learning_rate": 2.833191176891787e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015074118226766586, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3653852015733719, + "rkd_teacher_entropy": 3.732571530342102, + "rkd_teacher_similarity_mean": 0.780125081539154, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5820 + }, + { + "epoch": 1.696246726796625, + "flow_matching_loss": 0.017605486419051887, + "grad_norm": 0.15277454257011414, + "learning_rate": 2.832432570800717e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016059454716742038, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3536340743303299, + "rkd_teacher_entropy": 3.7049696683883666, + "rkd_teacher_similarity_mean": 0.76989786028862, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5830 + }, + { + "epoch": 1.6991562409077683, + "flow_matching_loss": 0.017591919749975204, + "grad_norm": 0.19546866416931152, + "learning_rate": 2.8316723456784332e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01713712075725198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3583649188280106, + "rkd_teacher_entropy": 3.711666131019592, + "rkd_teacher_similarity_mean": 0.7795216023921967, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5840 + }, + { + "epoch": 1.702065755018912, + "flow_matching_loss": 0.0180735875852406, + "grad_norm": 0.19096462428569794, + "learning_rate": 2.8309105024486808e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013838152401149273, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35369940400123595, + "rkd_teacher_entropy": 3.7191994905471804, + "rkd_teacher_similarity_mean": 0.7718708872795105, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5850 + }, + { + "epoch": 1.7049752691300553, + "flow_matching_loss": 0.017939472384750844, + "grad_norm": 0.13595516979694366, + "learning_rate": 2.830147042037172e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01350076189264655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3566222280263901, + "rkd_teacher_entropy": 3.7183098554611207, + "rkd_teacher_similarity_mean": 0.7749386668205261, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5860 + }, + { + "epoch": 1.7078847832411987, + "flow_matching_loss": 0.016628889925777914, + "grad_norm": 0.2684715688228607, + "learning_rate": 2.8293819653715816e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016473894752562047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35605449676513673, + "rkd_teacher_entropy": 3.7156575202941893, + "rkd_teacher_similarity_mean": 0.7744489550590515, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5870 + }, + { + "epoch": 1.7107942973523422, + "flow_matching_loss": 0.019267632346600293, + "grad_norm": 0.1622130572795868, + "learning_rate": 2.828615273381551e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014509271178394557, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3587901443243027, + "rkd_teacher_entropy": 3.725317692756653, + "rkd_teacher_similarity_mean": 0.7761873126029968, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5880 + }, + { + "epoch": 1.7137038114634855, + "flow_matching_loss": 0.015179560333490372, + "grad_norm": 0.14518804848194122, + "learning_rate": 2.827846966998683e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013206124491989612, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35986187160015104, + "rkd_teacher_entropy": 3.7233077764511107, + "rkd_teacher_similarity_mean": 0.7775479972362518, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5890 + }, + { + "epoch": 1.7166133255746292, + "flow_matching_loss": 0.018471605237573387, + "grad_norm": 0.14415766298770905, + "learning_rate": 2.8270770471565422e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014507457613945007, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3614127814769745, + "rkd_teacher_entropy": 3.7371435165405273, + "rkd_teacher_similarity_mean": 0.7815802156925201, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5900 + }, + { + "epoch": 1.7195228396857725, + "flow_matching_loss": 0.017578548286110163, + "grad_norm": 0.1607537567615509, + "learning_rate": 2.826305514790654e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015770695451647044, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36363548040390015, + "rkd_teacher_entropy": 3.7444331645965576, + "rkd_teacher_similarity_mean": 0.7826658546924591, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5910 + }, + { + "epoch": 1.722432353796916, + "flow_matching_loss": 0.019418933987617494, + "grad_norm": 0.17450487613677979, + "learning_rate": 2.825532370838503e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014825305435806513, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35556347370147706, + "rkd_teacher_entropy": 3.7213952779769897, + "rkd_teacher_similarity_mean": 0.7727072298526764, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5920 + }, + { + "epoch": 1.7253418679080594, + "flow_matching_loss": 0.020645834133028985, + "grad_norm": 0.18928034603595734, + "learning_rate": 2.824757616239532e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018859366327524184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596690595149994, + "rkd_teacher_entropy": 3.725780749320984, + "rkd_teacher_similarity_mean": 0.7784213423728943, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5930 + }, + { + "epoch": 1.7282513820192027, + "flow_matching_loss": 0.019880143646150827, + "grad_norm": 0.14134716987609863, + "learning_rate": 2.8239812519351404e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016194063238799572, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3681639224290848, + "rkd_teacher_entropy": 3.7528844118118285, + "rkd_teacher_similarity_mean": 0.7849071621894836, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5940 + }, + { + "epoch": 1.7311608961303462, + "flow_matching_loss": 0.020713317673653364, + "grad_norm": 0.24365222454071045, + "learning_rate": 2.823203278868685e-05, + "loss": 0.0284, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015381085686385632, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35715330541133883, + "rkd_teacher_entropy": 3.7183897256851197, + "rkd_teacher_similarity_mean": 0.7738455772399903, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5950 + }, + { + "epoch": 1.7340704102414897, + "flow_matching_loss": 0.01843550503253937, + "grad_norm": 0.18555948138237, + "learning_rate": 2.8224236979854752e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014590688701719045, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35749396681785583, + "rkd_teacher_entropy": 3.736248183250427, + "rkd_teacher_similarity_mean": 0.7782571017742157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5960 + }, + { + "epoch": 1.7369799243526332, + "flow_matching_loss": 0.017130817286670208, + "grad_norm": 0.1408393532037735, + "learning_rate": 2.821642510232776e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013649525493383408, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3628827691078186, + "rkd_teacher_entropy": 3.7302684783935547, + "rkd_teacher_similarity_mean": 0.7793246328830719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5970 + }, + { + "epoch": 1.7398894384637766, + "flow_matching_loss": 0.016277514304965733, + "grad_norm": 0.14230801165103912, + "learning_rate": 2.8208597165598046e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014756459929049014, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36085303127765656, + "rkd_teacher_entropy": 3.7164376974105835, + "rkd_teacher_similarity_mean": 0.7789930820465087, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5980 + }, + { + "epoch": 1.74279895257492, + "flow_matching_loss": 0.018274599313735963, + "grad_norm": 0.2061857432126999, + "learning_rate": 2.8200753179177285e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014614730700850486, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35464285910129545, + "rkd_teacher_entropy": 3.7203457593917846, + "rkd_teacher_similarity_mean": 0.7750138938426971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5990 + }, + { + "epoch": 1.7457084666860634, + "flow_matching_loss": 0.017533273529261352, + "grad_norm": 0.14187036454677582, + "learning_rate": 2.819289315259666e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016226856783032418, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3543023616075516, + "rkd_teacher_entropy": 3.716958928108215, + "rkd_teacher_similarity_mean": 0.771787041425705, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6000 + }, + { + "epoch": 1.7486179807972069, + "flow_matching_loss": 0.019235564023256303, + "grad_norm": 0.15116609632968903, + "learning_rate": 2.8185017095406845e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013897078577429056, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35951365530490875, + "rkd_teacher_entropy": 3.7170227766036987, + "rkd_teacher_similarity_mean": 0.7764844238758087, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6010 + }, + { + "epoch": 1.7515274949083504, + "flow_matching_loss": 0.018240219447761774, + "grad_norm": 0.14594678580760956, + "learning_rate": 2.8177125017177998e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015954596642404794, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3548592239618301, + "rkd_teacher_entropy": 3.7072132349014284, + "rkd_teacher_similarity_mean": 0.7722878813743591, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6020 + }, + { + "epoch": 1.7544370090194938, + "flow_matching_loss": 0.021370750851929188, + "grad_norm": 0.18337829411029816, + "learning_rate": 2.8169216927499727e-05, + "loss": 0.0291, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015371914394199849, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35759781002998353, + "rkd_teacher_entropy": 3.7202651739120483, + "rkd_teacher_similarity_mean": 0.7741427302360535, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6030 + }, + { + "epoch": 1.757346523130637, + "flow_matching_loss": 0.016526390705257653, + "grad_norm": 0.1564333140850067, + "learning_rate": 2.816129283598112e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015529705677181482, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3677627444267273, + "rkd_teacher_entropy": 3.7518776416778565, + "rkd_teacher_similarity_mean": 0.7847905457019806, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6040 + }, + { + "epoch": 1.7602560372417806, + "flow_matching_loss": 0.01749674277380109, + "grad_norm": 0.1187669038772583, + "learning_rate": 2.815335275225068e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01338378181681037, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3605105847120285, + "rkd_teacher_entropy": 3.722230076789856, + "rkd_teacher_similarity_mean": 0.7749863386154174, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6050 + }, + { + "epoch": 1.763165551352924, + "flow_matching_loss": 0.01796073829755187, + "grad_norm": 0.16843003034591675, + "learning_rate": 2.8145396685956374e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018254973459988832, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3612346798181534, + "rkd_teacher_entropy": 3.7278923988342285, + "rkd_teacher_similarity_mean": 0.7783284246921539, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6060 + }, + { + "epoch": 1.7660750654640673, + "flow_matching_loss": 0.017926805932074786, + "grad_norm": 0.14906524121761322, + "learning_rate": 2.813742464676556e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01572902500629425, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35979520082473754, + "rkd_teacher_entropy": 3.722789669036865, + "rkd_teacher_similarity_mean": 0.7747834861278534, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6070 + }, + { + "epoch": 1.768984579575211, + "flow_matching_loss": 0.02230537626892328, + "grad_norm": 0.14251253008842468, + "learning_rate": 2.8129436644365025e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013180436473339796, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3597926139831543, + "rkd_teacher_entropy": 3.7206492185592652, + "rkd_teacher_similarity_mean": 0.773830634355545, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6080 + }, + { + "epoch": 1.7718940936863543, + "flow_matching_loss": 0.018150876555591822, + "grad_norm": 0.18201765418052673, + "learning_rate": 2.8121432688460938e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01644955910742283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3539149582386017, + "rkd_teacher_entropy": 3.6964919328689576, + "rkd_teacher_similarity_mean": 0.7686787188053131, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6090 + }, + { + "epoch": 1.7748036077974978, + "flow_matching_loss": 0.0172154588624835, + "grad_norm": 0.16833239793777466, + "learning_rate": 2.8113412788778867e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012852324545383454, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3712136894464493, + "rkd_teacher_entropy": 3.753907322883606, + "rkd_teacher_similarity_mean": 0.7859153926372529, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6100 + }, + { + "epoch": 1.7777131219086413, + "flow_matching_loss": 0.019680352043360473, + "grad_norm": 0.20385080575942993, + "learning_rate": 2.8105376955063744e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015746561251580714, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3579596757888794, + "rkd_teacher_entropy": 3.7201363801956178, + "rkd_teacher_similarity_mean": 0.7738858997821808, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6110 + }, + { + "epoch": 1.7806226360197845, + "flow_matching_loss": 0.01966275405138731, + "grad_norm": 0.13919678330421448, + "learning_rate": 2.8097325197079862e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01532062580808997, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36191297471523287, + "rkd_teacher_entropy": 3.731949043273926, + "rkd_teacher_similarity_mean": 0.7781739294528961, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6120 + }, + { + "epoch": 1.7835321501309283, + "flow_matching_loss": 0.01916640466079116, + "grad_norm": 0.12678509950637817, + "learning_rate": 2.808925752461087e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014661604911088944, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615698337554932, + "rkd_teacher_entropy": 3.734075736999512, + "rkd_teacher_similarity_mean": 0.778165626525879, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6130 + }, + { + "epoch": 1.7864416642420715, + "flow_matching_loss": 0.019239680096507072, + "grad_norm": 0.14507712423801422, + "learning_rate": 2.808117394745975e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013756505865603685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3592218041419983, + "rkd_teacher_entropy": 3.7197113752365114, + "rkd_teacher_similarity_mean": 0.7752204358577728, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6140 + }, + { + "epoch": 1.789351178353215, + "flow_matching_loss": 0.016669621877372264, + "grad_norm": 0.15221336483955383, + "learning_rate": 2.807307447544881e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013197658769786357, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3591600626707077, + "rkd_teacher_entropy": 3.714773964881897, + "rkd_teacher_similarity_mean": 0.7760885298252106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6150 + }, + { + "epoch": 1.7922606924643585, + "flow_matching_loss": 0.018614592496305704, + "grad_norm": 0.13080886006355286, + "learning_rate": 2.806495911841967e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017439662665128707, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35903661549091337, + "rkd_teacher_entropy": 3.736574721336365, + "rkd_teacher_similarity_mean": 0.7763205111026764, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6160 + }, + { + "epoch": 1.7951702065755017, + "flow_matching_loss": 0.01566207651048899, + "grad_norm": 0.1169508546590805, + "learning_rate": 2.8056827886233255e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014335179422050714, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37187572121620177, + "rkd_teacher_entropy": 3.747372555732727, + "rkd_teacher_similarity_mean": 0.7840182542800903, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6170 + }, + { + "epoch": 1.7980797206866455, + "flow_matching_loss": 0.018118233419954777, + "grad_norm": 0.19004438817501068, + "learning_rate": 2.8048680788769783e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016362977027893067, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36265910863876344, + "rkd_teacher_entropy": 3.7205936670303346, + "rkd_teacher_similarity_mean": 0.7759055197238922, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6180 + }, + { + "epoch": 1.8009892347977887, + "flow_matching_loss": 0.018078272137790917, + "grad_norm": 0.18212220072746277, + "learning_rate": 2.8040517835928742e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014473068621009588, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3673060774803162, + "rkd_teacher_entropy": 3.744623327255249, + "rkd_teacher_similarity_mean": 0.7807137429714203, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6190 + }, + { + "epoch": 1.8038987489089322, + "flow_matching_loss": 0.018192467372864486, + "grad_norm": 0.1687285155057907, + "learning_rate": 2.803233903762889e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015271982364356517, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3652674496173859, + "rkd_teacher_entropy": 3.726261782646179, + "rkd_teacher_similarity_mean": 0.778487753868103, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6200 + }, + { + "epoch": 1.8068082630200757, + "flow_matching_loss": 0.018641412444412708, + "grad_norm": 0.15633991360664368, + "learning_rate": 2.8024144403808235e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01686105029657483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3567212998867035, + "rkd_teacher_entropy": 3.7029227733612062, + "rkd_teacher_similarity_mean": 0.7696156203746796, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6210 + }, + { + "epoch": 1.809717777131219, + "flow_matching_loss": 0.0175783003680408, + "grad_norm": 0.11413144320249557, + "learning_rate": 2.8015933944424037e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014222129248082638, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3656160801649094, + "rkd_teacher_entropy": 3.746859073638916, + "rkd_teacher_similarity_mean": 0.7818779468536377, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6220 + }, + { + "epoch": 1.8126272912423627, + "flow_matching_loss": 0.018531150836497545, + "grad_norm": 0.20028692483901978, + "learning_rate": 2.800770766945277e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015973521675914527, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.370018669962883, + "rkd_teacher_entropy": 3.7497897386550902, + "rkd_teacher_similarity_mean": 0.785420024394989, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6230 + }, + { + "epoch": 1.815536805353506, + "flow_matching_loss": 0.018777332734316587, + "grad_norm": 0.12555310130119324, + "learning_rate": 2.7999465588890135e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013422298803925514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.357310077548027, + "rkd_teacher_entropy": 3.710508632659912, + "rkd_teacher_similarity_mean": 0.7718400835990906, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6240 + }, + { + "epoch": 1.8184463194646494, + "flow_matching_loss": 0.016704648546874524, + "grad_norm": 0.16400106251239777, + "learning_rate": 2.799120771275105e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013587984628975392, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3628186911344528, + "rkd_teacher_entropy": 3.7095165491104125, + "rkd_teacher_similarity_mean": 0.7766491770744324, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6250 + }, + { + "epoch": 1.821355833575793, + "flow_matching_loss": 0.016920213494449853, + "grad_norm": 0.13665734231472015, + "learning_rate": 2.7982934051069597e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013073631562292576, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36149120330810547, + "rkd_teacher_entropy": 3.7163777112960816, + "rkd_teacher_similarity_mean": 0.7744572818279266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6260 + }, + { + "epoch": 1.8242653476869362, + "flow_matching_loss": 0.016924179252237083, + "grad_norm": 0.13111908733844757, + "learning_rate": 2.7974644613899063e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013917016051709651, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3605810672044754, + "rkd_teacher_entropy": 3.7166839122772215, + "rkd_teacher_similarity_mean": 0.7745122730731964, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6270 + }, + { + "epoch": 1.8271748617980799, + "flow_matching_loss": 0.015570205170661211, + "grad_norm": 0.17408624291419983, + "learning_rate": 2.796633941131189e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014426916558295488, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36545560956001283, + "rkd_teacher_entropy": 3.737229514122009, + "rkd_teacher_similarity_mean": 0.7812749803066253, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6280 + }, + { + "epoch": 1.8300843759092231, + "flow_matching_loss": 0.018631464894860984, + "grad_norm": 0.1740359663963318, + "learning_rate": 2.795801845339969e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015529896877706052, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3603329032659531, + "rkd_teacher_entropy": 3.7135870695114135, + "rkd_teacher_similarity_mean": 0.7732552111148834, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6290 + }, + { + "epoch": 1.8329938900203666, + "flow_matching_loss": 0.01742263613268733, + "grad_norm": 0.1426679641008377, + "learning_rate": 2.7949681750273208e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011617222521454095, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36533461809158324, + "rkd_teacher_entropy": 3.734454607963562, + "rkd_teacher_similarity_mean": 0.7792306780815125, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6300 + }, + { + "epoch": 1.83590340413151, + "flow_matching_loss": 0.016766467411071063, + "grad_norm": 0.1310994178056717, + "learning_rate": 2.7941329312062322e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011938509624451399, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36197456419467927, + "rkd_teacher_entropy": 3.712797522544861, + "rkd_teacher_similarity_mean": 0.7772718787193298, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6310 + }, + { + "epoch": 1.8388129182426534, + "flow_matching_loss": 0.017019861843436956, + "grad_norm": 0.13439954817295074, + "learning_rate": 2.7932961148916037e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01513330889865756, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35640953183174134, + "rkd_teacher_entropy": 3.7088047742843626, + "rkd_teacher_similarity_mean": 0.7709065318107605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6320 + }, + { + "epoch": 1.841722432353797, + "flow_matching_loss": 0.019538029935210942, + "grad_norm": 0.2032427042722702, + "learning_rate": 2.7924577271002456e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015445374138653278, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3673661589622498, + "rkd_teacher_entropy": 3.74930853843689, + "rkd_teacher_similarity_mean": 0.7813762545585632, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6330 + }, + { + "epoch": 1.8446319464649403, + "flow_matching_loss": 0.01710572764277458, + "grad_norm": 0.20172542333602905, + "learning_rate": 2.7916177688508782e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015033981390297413, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3678343653678894, + "rkd_teacher_entropy": 3.7432591915130615, + "rkd_teacher_similarity_mean": 0.7834553062915802, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6340 + }, + { + "epoch": 1.8475414605760838, + "flow_matching_loss": 0.02198483981192112, + "grad_norm": 0.2107657492160797, + "learning_rate": 2.7907762411641302e-05, + "loss": 0.0301, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016191060189157724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3653473138809204, + "rkd_teacher_entropy": 3.7403263807296754, + "rkd_teacher_similarity_mean": 0.7801048576831817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6350 + }, + { + "epoch": 1.8504509746872273, + "flow_matching_loss": 0.016632560174912214, + "grad_norm": 0.1285376399755478, + "learning_rate": 2.7899331450625367e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01512238197028637, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35741313099861144, + "rkd_teacher_entropy": 3.724498224258423, + "rkd_teacher_similarity_mean": 0.7735352516174316, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6360 + }, + { + "epoch": 1.8533604887983706, + "flow_matching_loss": 0.017219827976077795, + "grad_norm": 0.16894572973251343, + "learning_rate": 2.7890884815705397e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013967211730778218, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35827056765556337, + "rkd_teacher_entropy": 3.715737056732178, + "rkd_teacher_similarity_mean": 0.7747415363788605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6370 + }, + { + "epoch": 1.8562700029095143, + "flow_matching_loss": 0.018228718731552362, + "grad_norm": 0.28638914227485657, + "learning_rate": 2.788242251714484e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016488416865468026, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3579871118068695, + "rkd_teacher_entropy": 3.7254887342453005, + "rkd_teacher_similarity_mean": 0.7744916021823883, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6380 + }, + { + "epoch": 1.8591795170206575, + "flow_matching_loss": 0.019452762324362993, + "grad_norm": 0.13211917877197266, + "learning_rate": 2.787394456522619e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015498155914247035, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3588606268167496, + "rkd_teacher_entropy": 3.7174232482910154, + "rkd_teacher_similarity_mean": 0.7751463890075684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6390 + }, + { + "epoch": 1.862089031131801, + "flow_matching_loss": 0.020355333387851716, + "grad_norm": 0.17579121887683868, + "learning_rate": 2.7865450970250965e-05, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016906158719211816, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36605905592441557, + "rkd_teacher_entropy": 3.7476389408111572, + "rkd_teacher_similarity_mean": 0.7838639497756958, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6400 + }, + { + "epoch": 1.8649985452429445, + "flow_matching_loss": 0.020177308935672045, + "grad_norm": 0.193807452917099, + "learning_rate": 2.7856941742539676e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014059024024754762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3607997238636017, + "rkd_teacher_entropy": 3.722642111778259, + "rkd_teacher_similarity_mean": 0.7797080516815186, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6410 + }, + { + "epoch": 1.8679080593540878, + "flow_matching_loss": 0.019661091547459365, + "grad_norm": 0.15542283654212952, + "learning_rate": 2.784841689243184e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013549166824668646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596674621105194, + "rkd_teacher_entropy": 3.7216767072677612, + "rkd_teacher_similarity_mean": 0.7774842977523804, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6420 + }, + { + "epoch": 1.8708175734652313, + "flow_matching_loss": 0.017709029372781515, + "grad_norm": 0.30316558480262756, + "learning_rate": 2.783987643028595e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014580423291772605, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.361584398150444, + "rkd_teacher_entropy": 3.728771185874939, + "rkd_teacher_similarity_mean": 0.7772230803966522, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6430 + }, + { + "epoch": 1.8737270875763747, + "flow_matching_loss": 0.019359640777111053, + "grad_norm": 0.15411393344402313, + "learning_rate": 2.783132036647948e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015556247718632222, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35969643890857694, + "rkd_teacher_entropy": 3.7295084476470945, + "rkd_teacher_similarity_mean": 0.7778098404407501, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6440 + }, + { + "epoch": 1.8766366016875182, + "flow_matching_loss": 0.018656676448881627, + "grad_norm": 0.14960378408432007, + "learning_rate": 2.7822748711408852e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0141471641138196, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35569502115249635, + "rkd_teacher_entropy": 3.7247212171554565, + "rkd_teacher_similarity_mean": 0.7734208822250366, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6450 + }, + { + "epoch": 1.8795461157986617, + "flow_matching_loss": 0.018122182227671146, + "grad_norm": 0.1659442037343979, + "learning_rate": 2.7814161475489428e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017224413435906173, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35864063799381257, + "rkd_teacher_entropy": 3.7232005119323732, + "rkd_teacher_similarity_mean": 0.7768656015396118, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6460 + }, + { + "epoch": 1.882455629909805, + "flow_matching_loss": 0.016867721825838088, + "grad_norm": 0.21331612765789032, + "learning_rate": 2.780555866915552e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01589668896049261, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3651476472616196, + "rkd_teacher_entropy": 3.7347487211227417, + "rkd_teacher_similarity_mean": 0.7808124601840973, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6470 + }, + { + "epoch": 1.8853651440209485, + "flow_matching_loss": 0.017484450619667767, + "grad_norm": 0.18877117335796356, + "learning_rate": 2.7796940302860338e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011081238090991975, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36148197054862974, + "rkd_teacher_entropy": 3.7385485410690307, + "rkd_teacher_similarity_mean": 0.7800370454788208, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6480 + }, + { + "epoch": 1.888274658132092, + "flow_matching_loss": 0.01944495728239417, + "grad_norm": 0.23900584876537323, + "learning_rate": 2.7788306387076018e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01502466257661581, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596962481737137, + "rkd_teacher_entropy": 3.7206609725952147, + "rkd_teacher_similarity_mean": 0.7786940038204193, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6490 + }, + { + "epoch": 1.8911841722432354, + "flow_matching_loss": 0.018462517764419317, + "grad_norm": 0.13937227427959442, + "learning_rate": 2.7779656932293584e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012750085256993771, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3545977145433426, + "rkd_teacher_entropy": 3.706027793884277, + "rkd_teacher_similarity_mean": 0.7697270393371582, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6500 + }, + { + "epoch": 1.894093686354379, + "flow_matching_loss": 0.02104517985135317, + "grad_norm": 0.13213247060775757, + "learning_rate": 2.777099194902293e-05, + "loss": 0.0283, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014467658381909132, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36065393388271333, + "rkd_teacher_entropy": 3.725831985473633, + "rkd_teacher_similarity_mean": 0.7765358626842499, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6510 + }, + { + "epoch": 1.8970032004655222, + "flow_matching_loss": 0.017394343763589858, + "grad_norm": 0.1453559696674347, + "learning_rate": 2.776231144779283e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014291735645383597, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3473613679409027, + "rkd_teacher_entropy": 3.698530578613281, + "rkd_teacher_similarity_mean": 0.7667087435722351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6520 + }, + { + "epoch": 1.8999127145766657, + "flow_matching_loss": 0.01767973378300667, + "grad_norm": 0.20942282676696777, + "learning_rate": 2.775361543915091e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01809916477650404, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3529494494199753, + "rkd_teacher_entropy": 3.7047891855239867, + "rkd_teacher_similarity_mean": 0.7716420769691468, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6530 + }, + { + "epoch": 1.9028222286878091, + "flow_matching_loss": 0.015376571007072926, + "grad_norm": 0.23074927926063538, + "learning_rate": 2.774490393366365e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01505166431888938, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3588809698820114, + "rkd_teacher_entropy": 3.7211782932281494, + "rkd_teacher_similarity_mean": 0.7739443957805634, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6540 + }, + { + "epoch": 1.9057317427989524, + "flow_matching_loss": 0.01805465156212449, + "grad_norm": 0.15229710936546326, + "learning_rate": 2.7736176941916346e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012467085011303424, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36247318983078003, + "rkd_teacher_entropy": 3.736783504486084, + "rkd_teacher_similarity_mean": 0.7817715466022491, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6550 + }, + { + "epoch": 1.9086412569100961, + "flow_matching_loss": 0.01928568696603179, + "grad_norm": 0.16834676265716553, + "learning_rate": 2.772743447451311e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016240309085696937, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3480440080165863, + "rkd_teacher_entropy": 3.7130375146865844, + "rkd_teacher_similarity_mean": 0.7691456258296967, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6560 + }, + { + "epoch": 1.9115507710212394, + "flow_matching_loss": 0.01893299352377653, + "grad_norm": 0.13610821962356567, + "learning_rate": 2.7718676542076872e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013984506577253341, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35074148178100584, + "rkd_teacher_entropy": 3.7095267534255982, + "rkd_teacher_similarity_mean": 0.769024384021759, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6570 + }, + { + "epoch": 1.9144602851323829, + "flow_matching_loss": 0.01600221823900938, + "grad_norm": 0.1603281944990158, + "learning_rate": 2.770990315524934e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014631221257150172, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37327721416950227, + "rkd_teacher_entropy": 3.763473296165466, + "rkd_teacher_similarity_mean": 0.7896729230880737, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6580 + }, + { + "epoch": 1.9173697992435264, + "flow_matching_loss": 0.017770388536155222, + "grad_norm": 0.19569329917430878, + "learning_rate": 2.7701114324691015e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01641925098374486, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3625959068536758, + "rkd_teacher_entropy": 3.718956542015076, + "rkd_teacher_similarity_mean": 0.7782249927520752, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6590 + }, + { + "epoch": 1.9202793133546696, + "flow_matching_loss": 0.018755611311644316, + "grad_norm": 0.1507304310798645, + "learning_rate": 2.7692310061081145e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016940655186772346, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3635636866092682, + "rkd_teacher_entropy": 3.7339077949523927, + "rkd_teacher_similarity_mean": 0.7786993205547332, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6600 + }, + { + "epoch": 1.9231888274658133, + "flow_matching_loss": 0.018322936445474624, + "grad_norm": 0.1424574851989746, + "learning_rate": 2.7683490375117742e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013120150845497846, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.370178559422493, + "rkd_teacher_entropy": 3.7366402626037596, + "rkd_teacher_similarity_mean": 0.7833529949188233, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6610 + }, + { + "epoch": 1.9260983415769566, + "flow_matching_loss": 0.020674768555909395, + "grad_norm": 0.20090220868587494, + "learning_rate": 2.7674655277517556e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015598526131361723, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36476156413555144, + "rkd_teacher_entropy": 3.731852722167969, + "rkd_teacher_similarity_mean": 0.777425342798233, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6620 + }, + { + "epoch": 1.9290078556881, + "flow_matching_loss": 0.02009517643600702, + "grad_norm": 0.1561887413263321, + "learning_rate": 2.7665804779016072e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012284178659319878, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3638757199048996, + "rkd_teacher_entropy": 3.720287871360779, + "rkd_teacher_similarity_mean": 0.7786409318447113, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6630 + }, + { + "epoch": 1.9319173697992436, + "flow_matching_loss": 0.020011900644749402, + "grad_norm": 0.18040400743484497, + "learning_rate": 2.765693889036747e-05, + "loss": 0.028, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01605025716125965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36839922666549685, + "rkd_teacher_entropy": 3.747497487068176, + "rkd_teacher_similarity_mean": 0.7845599114894867, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6640 + }, + { + "epoch": 1.9348268839103868, + "flow_matching_loss": 0.02254223423078656, + "grad_norm": 0.17617599666118622, + "learning_rate": 2.764805762234465e-05, + "loss": 0.0299, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014682383835315704, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36527962386608126, + "rkd_teacher_entropy": 3.7464101314544678, + "rkd_teacher_similarity_mean": 0.7830221831798554, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6650 + }, + { + "epoch": 1.9377363980215305, + "flow_matching_loss": 0.016262727789580822, + "grad_norm": 0.1926649510860443, + "learning_rate": 2.7639160985739182e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01430736929178238, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3661637604236603, + "rkd_teacher_entropy": 3.7442416191101073, + "rkd_teacher_similarity_mean": 0.782403963804245, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6660 + }, + { + "epoch": 1.9406459121326738, + "flow_matching_loss": 0.01938734669238329, + "grad_norm": 0.14401979744434357, + "learning_rate": 2.7630248991361317e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015185049083083869, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36457200050354005, + "rkd_teacher_entropy": 3.7507500648498535, + "rkd_teacher_similarity_mean": 0.7842462956905365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6670 + }, + { + "epoch": 1.9435554262438173, + "flow_matching_loss": 0.01613531745970249, + "grad_norm": 0.1741829812526703, + "learning_rate": 2.762132165003998e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015563324000686407, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35825006663799286, + "rkd_teacher_entropy": 3.7001168966293334, + "rkd_teacher_similarity_mean": 0.7719484508037567, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6680 + }, + { + "epoch": 1.9464649403549608, + "flow_matching_loss": 0.017446596268564464, + "grad_norm": 0.14775650203227997, + "learning_rate": 2.7612378972622722e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013194643147289752, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3654865860939026, + "rkd_teacher_entropy": 3.7463042020797728, + "rkd_teacher_similarity_mean": 0.7822972595691681, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6690 + }, + { + "epoch": 1.949374454466104, + "flow_matching_loss": 0.017724898271262647, + "grad_norm": 0.11369159817695618, + "learning_rate": 2.7603420969975743e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013516991958022117, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615245550870895, + "rkd_teacher_entropy": 3.7343373537063598, + "rkd_teacher_similarity_mean": 0.7775891244411468, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6700 + }, + { + "epoch": 1.9522839685772477, + "flow_matching_loss": 0.019843616895377635, + "grad_norm": 0.13527213037014008, + "learning_rate": 2.7594447652983862e-05, + "loss": 0.0281, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01653497088700533, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3591593086719513, + "rkd_teacher_entropy": 3.7182383298873902, + "rkd_teacher_similarity_mean": 0.7741690695285797, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6710 + }, + { + "epoch": 1.955193482688391, + "flow_matching_loss": 0.021818027179688216, + "grad_norm": 0.13596636056900024, + "learning_rate": 2.7585459032550497e-05, + "loss": 0.0289, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014218456111848354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35512658059597013, + "rkd_teacher_entropy": 3.707399821281433, + "rkd_teacher_similarity_mean": 0.7698807537555694, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6720 + }, + { + "epoch": 1.9581029967995345, + "flow_matching_loss": 0.018894183356314896, + "grad_norm": 0.16992336511611938, + "learning_rate": 2.7576455119597684e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013543223310261965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3614469289779663, + "rkd_teacher_entropy": 3.732382559776306, + "rkd_teacher_similarity_mean": 0.7757129311561585, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6730 + }, + { + "epoch": 1.961012510910678, + "flow_matching_loss": 0.017731141299009323, + "grad_norm": 0.13982442021369934, + "learning_rate": 2.7567435925066012e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012617909628897906, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36461268961429594, + "rkd_teacher_entropy": 3.7271695852279665, + "rkd_teacher_similarity_mean": 0.7790349781513214, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6740 + }, + { + "epoch": 1.9639220250218212, + "flow_matching_loss": 0.02133155521005392, + "grad_norm": 0.16524732112884521, + "learning_rate": 2.7558401459914665e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013184255547821521, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3668645530939102, + "rkd_teacher_entropy": 3.743480944633484, + "rkd_teacher_similarity_mean": 0.7810558915138245, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6750 + }, + { + "epoch": 1.966831539132965, + "flow_matching_loss": 0.019408717565238476, + "grad_norm": 0.15939971804618835, + "learning_rate": 2.7549351735121362e-05, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015897006308659912, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.361373308300972, + "rkd_teacher_entropy": 3.7203370332717896, + "rkd_teacher_similarity_mean": 0.7775895476341248, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6760 + }, + { + "epoch": 1.9697410532441082, + "flow_matching_loss": 0.019192258641123772, + "grad_norm": 0.12729422748088837, + "learning_rate": 2.7540286761682377e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014780635386705399, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36961340606212617, + "rkd_teacher_entropy": 3.7509661674499513, + "rkd_teacher_similarity_mean": 0.7856572926044464, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6770 + }, + { + "epoch": 1.9726505673552517, + "flow_matching_loss": 0.018931648507714272, + "grad_norm": 0.1633812040090561, + "learning_rate": 2.75312065506125e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014564885571599007, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.368246454000473, + "rkd_teacher_entropy": 3.7314924001693726, + "rkd_teacher_similarity_mean": 0.7807241022586823, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6780 + }, + { + "epoch": 1.9755600814663952, + "flow_matching_loss": 0.01786954505369067, + "grad_norm": 0.18641869723796844, + "learning_rate": 2.7522111112945052e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013087086006999015, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36554046869277956, + "rkd_teacher_entropy": 3.7327199220657348, + "rkd_teacher_similarity_mean": 0.7790094375610351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6790 + }, + { + "epoch": 1.9784695955775384, + "flow_matching_loss": 0.01834806576371193, + "grad_norm": 0.137987419962883, + "learning_rate": 2.751300045973184e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012307142652571202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3580035507678986, + "rkd_teacher_entropy": 3.72440083026886, + "rkd_teacher_similarity_mean": 0.7727340757846832, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6800 + }, + { + "epoch": 1.9813791096886821, + "flow_matching_loss": 0.020250487234443428, + "grad_norm": 0.12293019145727158, + "learning_rate": 2.750387460204317e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015096189919859171, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3607397645711899, + "rkd_teacher_entropy": 3.7387171268463133, + "rkd_teacher_similarity_mean": 0.7771898984909058, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6810 + }, + { + "epoch": 1.9842886237998254, + "flow_matching_loss": 0.020805943850427867, + "grad_norm": 0.21925362944602966, + "learning_rate": 2.7494733550967827e-05, + "loss": 0.0287, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015867425315082073, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3588505506515503, + "rkd_teacher_entropy": 3.7155821323394775, + "rkd_teacher_similarity_mean": 0.7742630302906036, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6820 + }, + { + "epoch": 1.9871981379109689, + "flow_matching_loss": 0.01688644867390394, + "grad_norm": 0.13035112619400024, + "learning_rate": 2.748557731761304e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012840526457875968, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3690899252891541, + "rkd_teacher_entropy": 3.749419331550598, + "rkd_teacher_similarity_mean": 0.7843136727809906, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6830 + }, + { + "epoch": 1.9901076520221124, + "flow_matching_loss": 0.018289224710315466, + "grad_norm": 0.16537129878997803, + "learning_rate": 2.74764059131045e-05, + "loss": 0.0254, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014202907495200635, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633836477994919, + "rkd_teacher_entropy": 3.748520112037659, + "rkd_teacher_similarity_mean": 0.7797454833984375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6840 + }, + { + "epoch": 1.9930171661332556, + "flow_matching_loss": 0.01704395953565836, + "grad_norm": 0.13005299866199493, + "learning_rate": 2.7467219348586322e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014429608872160316, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36778771281242373, + "rkd_teacher_entropy": 3.7363024234771727, + "rkd_teacher_similarity_mean": 0.7810914695262909, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6850 + }, + { + "epoch": 1.9959266802443993, + "flow_matching_loss": 0.0185561154037714, + "grad_norm": 0.1349511742591858, + "learning_rate": 2.7458017635221056e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014262542687356472, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3605580419301987, + "rkd_teacher_entropy": 3.73040828704834, + "rkd_teacher_similarity_mean": 0.7781306326389312, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6860 + }, + { + "epoch": 1.9988361943555426, + "flow_matching_loss": 0.01780130760744214, + "grad_norm": 0.15652993321418762, + "learning_rate": 2.7448800784189652e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016356698330491783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3648397833108902, + "rkd_teacher_entropy": 3.743725228309631, + "rkd_teacher_similarity_mean": 0.7839103281497956, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6870 + }, + { + "epoch": 2.001745708466686, + "flow_matching_loss": 0.01801995225250721, + "grad_norm": 0.21301472187042236, + "learning_rate": 2.7439568806691448e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012607109453529119, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3585100620985031, + "rkd_teacher_entropy": 3.71954402923584, + "rkd_teacher_similarity_mean": 0.7759235739707947, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6880 + }, + { + "epoch": 2.0046552225778296, + "flow_matching_loss": 0.0181202108040452, + "grad_norm": 0.14194975793361664, + "learning_rate": 2.7430321713944167e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012838133703917265, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.362257382273674, + "rkd_teacher_entropy": 3.73905463218689, + "rkd_teacher_similarity_mean": 0.778661596775055, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6890 + }, + { + "epoch": 2.007564736688973, + "flow_matching_loss": 0.018383500818163156, + "grad_norm": 0.13648657500743866, + "learning_rate": 2.7421059517183906e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01370688881725073, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36226688921451566, + "rkd_teacher_entropy": 3.7359364509582518, + "rkd_teacher_similarity_mean": 0.7787845611572266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6900 + }, + { + "epoch": 2.0104742508001165, + "flow_matching_loss": 0.02027381407096982, + "grad_norm": 0.15535065531730652, + "learning_rate": 2.7411782227665097e-05, + "loss": 0.0282, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01585314339026809, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3681642472743988, + "rkd_teacher_entropy": 3.7552016735076905, + "rkd_teacher_similarity_mean": 0.7855580091476441, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6910 + }, + { + "epoch": 2.01338376491126, + "flow_matching_loss": 0.0180687353014946, + "grad_norm": 0.13324934244155884, + "learning_rate": 2.7402489856660528e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011901025008410216, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36760530769824984, + "rkd_teacher_entropy": 3.7514716386795044, + "rkd_teacher_similarity_mean": 0.785345834493637, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6920 + }, + { + "epoch": 2.016293279022403, + "flow_matching_loss": 0.018751366902142762, + "grad_norm": 0.16675935685634613, + "learning_rate": 2.7393182415461307e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013895488902926445, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35501277446746826, + "rkd_teacher_entropy": 3.715646576881409, + "rkd_teacher_similarity_mean": 0.7721904337406158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6930 + }, + { + "epoch": 2.019202793133547, + "flow_matching_loss": 0.01668395772576332, + "grad_norm": 0.14383873343467712, + "learning_rate": 2.7383859915376853e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01569836474955082, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.370077645778656, + "rkd_teacher_entropy": 3.757557916641235, + "rkd_teacher_similarity_mean": 0.7871079444885254, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6940 + }, + { + "epoch": 2.02211230724469, + "flow_matching_loss": 0.01911422787234187, + "grad_norm": 0.1945827752351761, + "learning_rate": 2.7374522367734875e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014203711692243815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36261138021945954, + "rkd_teacher_entropy": 3.7309741020202636, + "rkd_teacher_similarity_mean": 0.7794990181922913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6950 + }, + { + "epoch": 2.0250218213558338, + "flow_matching_loss": 0.01878386829048395, + "grad_norm": 0.18802891671657562, + "learning_rate": 2.7365169783881378e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013021492771804333, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36143083572387696, + "rkd_teacher_entropy": 3.7160942792892455, + "rkd_teacher_similarity_mean": 0.7757890701293946, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6960 + }, + { + "epoch": 2.027931335466977, + "flow_matching_loss": 0.017813090048730374, + "grad_norm": 0.11729283630847931, + "learning_rate": 2.735580217518064e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01326915598474443, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36517235040664675, + "rkd_teacher_entropy": 3.7354180097579954, + "rkd_teacher_similarity_mean": 0.7805207073688507, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6970 + }, + { + "epoch": 2.0308408495781203, + "flow_matching_loss": 0.01921888729557395, + "grad_norm": 0.16691890358924866, + "learning_rate": 2.7346419553015175e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012144042924046517, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.367539057135582, + "rkd_teacher_entropy": 3.747954988479614, + "rkd_teacher_similarity_mean": 0.7842273116111755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6980 + }, + { + "epoch": 2.033750363689264, + "flow_matching_loss": 0.016494569648057223, + "grad_norm": 0.15693265199661255, + "learning_rate": 2.733702192878577e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01318870410323143, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.361945828795433, + "rkd_teacher_entropy": 3.7299981832504274, + "rkd_teacher_similarity_mean": 0.7785762429237366, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6990 + }, + { + "epoch": 2.0366598778004072, + "flow_matching_loss": 0.016837324015796185, + "grad_norm": 0.12713564932346344, + "learning_rate": 2.732760931391141e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01327455546706915, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3610214501619339, + "rkd_teacher_entropy": 3.7376678466796873, + "rkd_teacher_similarity_mean": 0.7777048051357269, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7000 + }, + { + "epoch": 2.039569391911551, + "flow_matching_loss": 0.019152673427015543, + "grad_norm": 0.14875414967536926, + "learning_rate": 2.731818171982932e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012758764484897257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3612780749797821, + "rkd_teacher_entropy": 3.724047899246216, + "rkd_teacher_similarity_mean": 0.7773746371269226, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7010 + }, + { + "epoch": 2.042478906022694, + "flow_matching_loss": 0.01646586423739791, + "grad_norm": 0.10845353454351425, + "learning_rate": 2.730873915799491e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013613168150186539, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3657279312610626, + "rkd_teacher_entropy": 3.73449022769928, + "rkd_teacher_similarity_mean": 0.7835890412330627, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7020 + }, + { + "epoch": 2.0453884201338375, + "flow_matching_loss": 0.01621400434523821, + "grad_norm": 0.14295610785484314, + "learning_rate": 2.7299281639881783e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013393989112228156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37173872292041776, + "rkd_teacher_entropy": 3.7520251989364626, + "rkd_teacher_similarity_mean": 0.7860226273536682, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7030 + }, + { + "epoch": 2.048297934244981, + "flow_matching_loss": 0.018902405630797148, + "grad_norm": 0.18385015428066254, + "learning_rate": 2.728980917698172e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012284669559448957, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36774665415287017, + "rkd_teacher_entropy": 3.740463209152222, + "rkd_teacher_similarity_mean": 0.7825783550739288, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7040 + }, + { + "epoch": 2.0512074483561245, + "flow_matching_loss": 0.01765730734914541, + "grad_norm": 0.16905441880226135, + "learning_rate": 2.7280321780804655e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012110528815537692, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3591982901096344, + "rkd_teacher_entropy": 3.7281162977218627, + "rkd_teacher_similarity_mean": 0.7772754013538361, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7050 + }, + { + "epoch": 2.054116962467268, + "flow_matching_loss": 0.016007460281252862, + "grad_norm": 0.1642676442861557, + "learning_rate": 2.7270819462878666e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012539183814078569, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3571087747812271, + "rkd_teacher_entropy": 3.7126162528991697, + "rkd_teacher_similarity_mean": 0.7740395367145538, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7060 + }, + { + "epoch": 2.0570264765784114, + "flow_matching_loss": 0.01900118812918663, + "grad_norm": 0.17908774316310883, + "learning_rate": 2.7261302234749965e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016453799419105054, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36174512803554537, + "rkd_teacher_entropy": 3.7424978494644163, + "rkd_teacher_similarity_mean": 0.7813000738620758, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7070 + }, + { + "epoch": 2.0599359906895547, + "flow_matching_loss": 0.01527158571407199, + "grad_norm": 0.14193354547023773, + "learning_rate": 2.7251770107982888e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012034320086240769, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36391895115375517, + "rkd_teacher_entropy": 3.7385263442993164, + "rkd_teacher_similarity_mean": 0.7808733940124511, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7080 + }, + { + "epoch": 2.0628455048006984, + "flow_matching_loss": 0.0173114025965333, + "grad_norm": 0.19335424900054932, + "learning_rate": 2.7242223094159856e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014281603042036295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3585067272186279, + "rkd_teacher_entropy": 3.7173171043395996, + "rkd_teacher_similarity_mean": 0.7737197637557983, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7090 + }, + { + "epoch": 2.0657550189118417, + "flow_matching_loss": 0.017400344647467137, + "grad_norm": 0.13171319663524628, + "learning_rate": 2.7232661204881408e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014358032867312432, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3571471989154816, + "rkd_teacher_entropy": 3.718054676055908, + "rkd_teacher_similarity_mean": 0.7742631673812866, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7100 + }, + { + "epoch": 2.0686645330229854, + "flow_matching_loss": 0.017967077624052762, + "grad_norm": 0.12618108093738556, + "learning_rate": 2.7223084451766123e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011847194563597441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3710620850324631, + "rkd_teacher_entropy": 3.7417263746261598, + "rkd_teacher_similarity_mean": 0.7883728265762329, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7110 + }, + { + "epoch": 2.0715740471341286, + "flow_matching_loss": 0.018015244510024786, + "grad_norm": 0.14954565465450287, + "learning_rate": 2.721349284645067e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013750961050391197, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36334043443202974, + "rkd_teacher_entropy": 3.7344937562942504, + "rkd_teacher_similarity_mean": 0.7795021057128906, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7120 + }, + { + "epoch": 2.074483561245272, + "flow_matching_loss": 0.018550820555537938, + "grad_norm": 0.14200882613658905, + "learning_rate": 2.7203886400589752e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014950255304574967, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.362690332531929, + "rkd_teacher_entropy": 3.735965299606323, + "rkd_teacher_similarity_mean": 0.7795167744159699, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7130 + }, + { + "epoch": 2.0773930753564156, + "flow_matching_loss": 0.0169385046698153, + "grad_norm": 0.17207050323486328, + "learning_rate": 2.7194265125856105e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011600349564105272, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3601546972990036, + "rkd_teacher_entropy": 3.7231287002563476, + "rkd_teacher_similarity_mean": 0.7779389202594758, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7140 + }, + { + "epoch": 2.080302589467559, + "flow_matching_loss": 0.016091168113052844, + "grad_norm": 0.15944094955921173, + "learning_rate": 2.718462903394049e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01354394843801856, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35945612788200376, + "rkd_teacher_entropy": 3.7178112506866454, + "rkd_teacher_similarity_mean": 0.7744931876659393, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7150 + }, + { + "epoch": 2.0832121035787026, + "flow_matching_loss": 0.018114788457751274, + "grad_norm": 0.14450404047966003, + "learning_rate": 2.7174978136551662e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01313902260735631, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3618926465511322, + "rkd_teacher_entropy": 3.732096552848816, + "rkd_teacher_similarity_mean": 0.7800513207912445, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7160 + }, + { + "epoch": 2.086121617689846, + "flow_matching_loss": 0.018906899821013214, + "grad_norm": 0.18912267684936523, + "learning_rate": 2.716531244541637e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013911322969943286, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36435736119747164, + "rkd_teacher_entropy": 3.7470324277877807, + "rkd_teacher_similarity_mean": 0.7825815081596375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7170 + }, + { + "epoch": 2.089031131800989, + "flow_matching_loss": 0.018614529445767403, + "grad_norm": 0.1524900645017624, + "learning_rate": 2.715563197227934e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012816058937460184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37021325826644896, + "rkd_teacher_entropy": 3.7541327476501465, + "rkd_teacher_similarity_mean": 0.7859666287899018, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7180 + }, + { + "epoch": 2.091940645912133, + "flow_matching_loss": 0.018110928218811752, + "grad_norm": 0.15492498874664307, + "learning_rate": 2.714593672890327e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013951788004487754, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.356607523560524, + "rkd_teacher_entropy": 3.722107458114624, + "rkd_teacher_similarity_mean": 0.7741646885871887, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7190 + }, + { + "epoch": 2.094850160023276, + "flow_matching_loss": 0.017266274057328702, + "grad_norm": 0.16299264132976532, + "learning_rate": 2.7136226727068783e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013273005653172732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3566577672958374, + "rkd_teacher_entropy": 3.707633924484253, + "rkd_teacher_similarity_mean": 0.7740401864051819, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7200 + }, + { + "epoch": 2.0977596741344193, + "flow_matching_loss": 0.01761087691411376, + "grad_norm": 0.17523999512195587, + "learning_rate": 2.712650197857445e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01316230595111847, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3625221520662308, + "rkd_teacher_entropy": 3.7298763275146483, + "rkd_teacher_similarity_mean": 0.781003212928772, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7210 + }, + { + "epoch": 2.100669188245563, + "flow_matching_loss": 0.015686212107539177, + "grad_norm": 0.1730692982673645, + "learning_rate": 2.7116762495236763e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01827224185690284, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596598207950592, + "rkd_teacher_entropy": 3.715584087371826, + "rkd_teacher_similarity_mean": 0.7765662848949433, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7220 + }, + { + "epoch": 2.1035787023567063, + "flow_matching_loss": 0.019264441076666118, + "grad_norm": 0.13121572136878967, + "learning_rate": 2.7107008288890106e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011832277290523052, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35632877945899966, + "rkd_teacher_entropy": 3.701380705833435, + "rkd_teacher_similarity_mean": 0.7717677175998687, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7230 + }, + { + "epoch": 2.10648821646785, + "flow_matching_loss": 0.01990656778216362, + "grad_norm": 0.17909005284309387, + "learning_rate": 2.709723937138676e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011605200171470643, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633361369371414, + "rkd_teacher_entropy": 3.7254658222198485, + "rkd_teacher_similarity_mean": 0.7788191139698029, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7240 + }, + { + "epoch": 2.1093977305789933, + "flow_matching_loss": 0.01590326800942421, + "grad_norm": 0.11495708674192429, + "learning_rate": 2.7087455754596883e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012376069277524947, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.367008712887764, + "rkd_teacher_entropy": 3.7402984380722044, + "rkd_teacher_similarity_mean": 0.7828068137168884, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7250 + }, + { + "epoch": 2.112307244690137, + "flow_matching_loss": 0.015686798840761185, + "grad_norm": 0.15771886706352234, + "learning_rate": 2.7077657450408498e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011936095636337995, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3616117566823959, + "rkd_teacher_entropy": 3.7230865001678466, + "rkd_teacher_similarity_mean": 0.7770101010799408, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7260 + }, + { + "epoch": 2.1152167588012802, + "flow_matching_loss": 0.019273587223142385, + "grad_norm": 0.1988598108291626, + "learning_rate": 2.7067844470727456e-05, + "loss": 0.0268, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015084955561906099, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36202141344547273, + "rkd_teacher_entropy": 3.7196324348449705, + "rkd_teacher_similarity_mean": 0.7758173882961273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7270 + }, + { + "epoch": 2.1181262729124235, + "flow_matching_loss": 0.019109999667853116, + "grad_norm": 0.1646338254213333, + "learning_rate": 2.7058016827477455e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013605920504778624, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3616592764854431, + "rkd_teacher_entropy": 3.7257679224014284, + "rkd_teacher_similarity_mean": 0.776890653371811, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7280 + }, + { + "epoch": 2.121035787023567, + "flow_matching_loss": 0.019943996239453553, + "grad_norm": 0.1960601657629013, + "learning_rate": 2.7048174532600018e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014780385792255402, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3621103048324585, + "rkd_teacher_entropy": 3.7392927408218384, + "rkd_teacher_similarity_mean": 0.7784027576446533, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7290 + }, + { + "epoch": 2.1239453011347105, + "flow_matching_loss": 0.01684386972337961, + "grad_norm": 0.14121569693088531, + "learning_rate": 2.7038317598054455e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011511800065636634, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3721442878246307, + "rkd_teacher_entropy": 3.7492435932159425, + "rkd_teacher_similarity_mean": 0.786324554681778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7300 + }, + { + "epoch": 2.1268548152458537, + "flow_matching_loss": 0.017761292215436698, + "grad_norm": 0.2336086928844452, + "learning_rate": 2.702844603581787e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01459363391622901, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3664527922868729, + "rkd_teacher_entropy": 3.734947919845581, + "rkd_teacher_similarity_mean": 0.7795135915279389, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7310 + }, + { + "epoch": 2.1297643293569974, + "flow_matching_loss": 0.019577626883983613, + "grad_norm": 0.1336199939250946, + "learning_rate": 2.701855985788514e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015075587853789329, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36198230981826784, + "rkd_teacher_entropy": 3.7110574722290037, + "rkd_teacher_similarity_mean": 0.7760001957416535, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7320 + }, + { + "epoch": 2.1326738434681407, + "flow_matching_loss": 0.016947200056165457, + "grad_norm": 0.11284280568361282, + "learning_rate": 2.7008659076268912e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012756388541311026, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3635957509279251, + "rkd_teacher_entropy": 3.726235055923462, + "rkd_teacher_similarity_mean": 0.7765217840671539, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7330 + }, + { + "epoch": 2.1355833575792844, + "flow_matching_loss": 0.017529199831187725, + "grad_norm": 0.18336547911167145, + "learning_rate": 2.6998743702999562e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016350231226533653, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3623648971319199, + "rkd_teacher_entropy": 3.7312663316726686, + "rkd_teacher_similarity_mean": 0.7763290703296661, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7340 + }, + { + "epoch": 2.1384928716904277, + "flow_matching_loss": 0.018242134898900985, + "grad_norm": 0.14610494673252106, + "learning_rate": 2.6988813750125202e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01653985483571887, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36906475126743316, + "rkd_teacher_entropy": 3.7450491905212404, + "rkd_teacher_similarity_mean": 0.7820787847042083, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7350 + }, + { + "epoch": 2.141402385801571, + "flow_matching_loss": 0.022370366752147673, + "grad_norm": 0.16169922053813934, + "learning_rate": 2.6978869229711668e-05, + "loss": 0.0304, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01602357062511146, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3649432837963104, + "rkd_teacher_entropy": 3.734712505340576, + "rkd_teacher_similarity_mean": 0.7783457159996032, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7360 + }, + { + "epoch": 2.1443118999127146, + "flow_matching_loss": 0.020698623917996883, + "grad_norm": 0.15195173025131226, + "learning_rate": 2.6968910153842484e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01558680972084403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36602295339107516, + "rkd_teacher_entropy": 3.7280153036117554, + "rkd_teacher_similarity_mean": 0.778590178489685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7370 + }, + { + "epoch": 2.147221414023858, + "flow_matching_loss": 0.018421162851154804, + "grad_norm": 0.2089787721633911, + "learning_rate": 2.6958936534618874e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017176966834813356, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3560231328010559, + "rkd_teacher_entropy": 3.7178399085998537, + "rkd_teacher_similarity_mean": 0.7726645588874816, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7380 + }, + { + "epoch": 2.1501309281350016, + "flow_matching_loss": 0.019304534420371056, + "grad_norm": 0.1440291702747345, + "learning_rate": 2.694894838415971e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014082959573715925, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35360311567783353, + "rkd_teacher_entropy": 3.7120033740997314, + "rkd_teacher_similarity_mean": 0.7721660137176514, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7390 + }, + { + "epoch": 2.153040442246145, + "flow_matching_loss": 0.01601484278216958, + "grad_norm": 0.1275663524866104, + "learning_rate": 2.6938945714601555e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01388892806135118, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36693535149097445, + "rkd_teacher_entropy": 3.7446298122406008, + "rkd_teacher_similarity_mean": 0.781706714630127, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7400 + }, + { + "epoch": 2.155949956357288, + "flow_matching_loss": 0.016917972732335328, + "grad_norm": 0.13600678741931915, + "learning_rate": 2.6928928538098587e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012607239466160537, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36780393719673155, + "rkd_teacher_entropy": 3.7254549980163576, + "rkd_teacher_similarity_mean": 0.7815088212490082, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7410 + }, + { + "epoch": 2.158859470468432, + "flow_matching_loss": 0.017154096439480782, + "grad_norm": 0.14379194378852844, + "learning_rate": 2.6918896866822615e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01177842654287815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3646315634250641, + "rkd_teacher_entropy": 3.7267623424530028, + "rkd_teacher_similarity_mean": 0.7794124186038971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7420 + }, + { + "epoch": 2.161768984579575, + "flow_matching_loss": 0.017061125859618186, + "grad_norm": 0.15085633099079132, + "learning_rate": 2.690885071296308e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012452091369777919, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36163420379161837, + "rkd_teacher_entropy": 3.724458384513855, + "rkd_teacher_similarity_mean": 0.7784221589565277, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7430 + }, + { + "epoch": 2.164678498690719, + "flow_matching_loss": 0.01768371192738414, + "grad_norm": 0.14039379358291626, + "learning_rate": 2.6898790088726993e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013144816737622023, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37302435338497164, + "rkd_teacher_entropy": 3.7544030427932737, + "rkd_teacher_similarity_mean": 0.7880116701126099, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7440 + }, + { + "epoch": 2.167588012801862, + "flow_matching_loss": 0.017216963693499565, + "grad_norm": 0.12761323153972626, + "learning_rate": 2.6888715006338968e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014486368000507354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36835365891456606, + "rkd_teacher_entropy": 3.7521519660949707, + "rkd_teacher_similarity_mean": 0.7847634375095367, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7450 + }, + { + "epoch": 2.1704975269130053, + "flow_matching_loss": 0.01960346084088087, + "grad_norm": 0.15391965210437775, + "learning_rate": 2.6878625478041172e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013816314982250333, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3620249301195145, + "rkd_teacher_entropy": 3.721384143829346, + "rkd_teacher_similarity_mean": 0.7769369781017303, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7460 + }, + { + "epoch": 2.173407041024149, + "flow_matching_loss": 0.016742737963795662, + "grad_norm": 0.13777385652065277, + "learning_rate": 2.6868521516093342e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012477979622781276, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3608959376811981, + "rkd_teacher_entropy": 3.726925849914551, + "rkd_teacher_similarity_mean": 0.7780473113059998, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7470 + }, + { + "epoch": 2.1763165551352923, + "flow_matching_loss": 0.016487845964729787, + "grad_norm": 0.17539732158184052, + "learning_rate": 2.6858403132772745e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013248979020863772, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3720992863178253, + "rkd_teacher_entropy": 3.7695769548416136, + "rkd_teacher_similarity_mean": 0.7904953718185425, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7480 + }, + { + "epoch": 2.179226069246436, + "flow_matching_loss": 0.015733821969479322, + "grad_norm": 0.1316024214029312, + "learning_rate": 2.6848270340374162e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015453780302777886, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35292843282222747, + "rkd_teacher_entropy": 3.6970536708831787, + "rkd_teacher_similarity_mean": 0.7683157920837402, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7490 + }, + { + "epoch": 2.1821355833575793, + "flow_matching_loss": 0.019964203983545304, + "grad_norm": 0.1487717628479004, + "learning_rate": 2.68381231512099e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015367134008556604, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3562078684568405, + "rkd_teacher_entropy": 3.707612681388855, + "rkd_teacher_similarity_mean": 0.7700191915035248, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7500 + }, + { + "epoch": 2.1850450974687226, + "flow_matching_loss": 0.017897450365126133, + "grad_norm": 0.23074859380722046, + "learning_rate": 2.6827961577609745e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01417385172098875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3571101278066635, + "rkd_teacher_entropy": 3.730429530143738, + "rkd_teacher_similarity_mean": 0.7764925241470337, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7510 + }, + { + "epoch": 2.1879546115798663, + "flow_matching_loss": 0.019624718371778725, + "grad_norm": 0.16897465288639069, + "learning_rate": 2.681778563192097e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016013941261917353, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.369899308681488, + "rkd_teacher_entropy": 3.7666738986968995, + "rkd_teacher_similarity_mean": 0.7870980441570282, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7520 + }, + { + "epoch": 2.1908641256910095, + "flow_matching_loss": 0.017225996125489473, + "grad_norm": 0.14046484231948853, + "learning_rate": 2.6807595326508308e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01500621447339654, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3500850200653076, + "rkd_teacher_entropy": 3.6853226900100706, + "rkd_teacher_similarity_mean": 0.7660003662109375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7530 + }, + { + "epoch": 2.1937736398021532, + "flow_matching_loss": 0.016415529046207668, + "grad_norm": 0.14867465198040009, + "learning_rate": 2.679739067375394e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013218707032501697, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3645167678594589, + "rkd_teacher_entropy": 3.7491011381149293, + "rkd_teacher_similarity_mean": 0.7826327621936798, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7540 + }, + { + "epoch": 2.1966831539132965, + "flow_matching_loss": 0.016994695458561183, + "grad_norm": 0.23787976801395416, + "learning_rate": 2.6787171686057487e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01520607927814126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.359555771946907, + "rkd_teacher_entropy": 3.724467158317566, + "rkd_teacher_similarity_mean": 0.7789678156375885, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7550 + }, + { + "epoch": 2.1995926680244398, + "flow_matching_loss": 0.020585487876087428, + "grad_norm": 0.16425591707229614, + "learning_rate": 2.677693837583597e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013386352639645337, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36280505955219267, + "rkd_teacher_entropy": 3.730324411392212, + "rkd_teacher_similarity_mean": 0.7797792017459869, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7560 + }, + { + "epoch": 2.2025021821355835, + "flow_matching_loss": 0.016724152397364377, + "grad_norm": 0.14942650496959686, + "learning_rate": 2.6766690755523836e-05, + "loss": 0.0241, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014723273552954197, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3600648820400238, + "rkd_teacher_entropy": 3.715437650680542, + "rkd_teacher_similarity_mean": 0.777282989025116, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7570 + }, + { + "epoch": 2.2054116962467267, + "flow_matching_loss": 0.017262931820005177, + "grad_norm": 0.16084735095500946, + "learning_rate": 2.675642883757291e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013946805614978075, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3626593053340912, + "rkd_teacher_entropy": 3.74058620929718, + "rkd_teacher_similarity_mean": 0.7803502559661866, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7580 + }, + { + "epoch": 2.2083212103578704, + "flow_matching_loss": 0.016221917886286973, + "grad_norm": 0.19570161402225494, + "learning_rate": 2.674615263445239e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013073215167969466, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3645694226026535, + "rkd_teacher_entropy": 3.741540002822876, + "rkd_teacher_similarity_mean": 0.7836564481258392, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7590 + }, + { + "epoch": 2.2112307244690137, + "flow_matching_loss": 0.01817838232964277, + "grad_norm": 0.15740159153938293, + "learning_rate": 2.673586215864882e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013820974063128233, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3621630519628525, + "rkd_teacher_entropy": 3.7308539867401125, + "rkd_teacher_similarity_mean": 0.7810349643230439, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7600 + }, + { + "epoch": 2.214140238580157, + "flow_matching_loss": 0.016544729378074406, + "grad_norm": 0.15960949659347534, + "learning_rate": 2.6725557422666113e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014255194272845984, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3640716314315796, + "rkd_teacher_entropy": 3.7491008281707763, + "rkd_teacher_similarity_mean": 0.783201402425766, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7610 + }, + { + "epoch": 2.2170497526913007, + "flow_matching_loss": 0.016794155444949867, + "grad_norm": 0.13186794519424438, + "learning_rate": 2.6715238439025493e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012331441510468721, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3675124257802963, + "rkd_teacher_entropy": 3.74832501411438, + "rkd_teacher_similarity_mean": 0.786294674873352, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7620 + }, + { + "epoch": 2.219959266802444, + "flow_matching_loss": 0.018202939443290232, + "grad_norm": 0.13750110566616058, + "learning_rate": 2.6704905220265493e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013947218703106046, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36117756366729736, + "rkd_teacher_entropy": 3.7294622898101806, + "rkd_teacher_similarity_mean": 0.7795421481132507, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7630 + }, + { + "epoch": 2.2228687809135876, + "flow_matching_loss": 0.01754727018997073, + "grad_norm": 0.16185015439987183, + "learning_rate": 2.6694557778941947e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01337614208459854, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3679602652788162, + "rkd_teacher_entropy": 3.7535266160964964, + "rkd_teacher_similarity_mean": 0.7861522674560547, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7640 + }, + { + "epoch": 2.225778295024731, + "flow_matching_loss": 0.017921655159443616, + "grad_norm": 0.2276439368724823, + "learning_rate": 2.6684196127627977e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01543745193630457, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3650516152381897, + "rkd_teacher_entropy": 3.738688349723816, + "rkd_teacher_similarity_mean": 0.7824002504348755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7650 + }, + { + "epoch": 2.228687809135874, + "flow_matching_loss": 0.02197464518249035, + "grad_norm": 0.19511300325393677, + "learning_rate": 2.6673820278913963e-05, + "loss": 0.0279, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011762790195643903, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615476995706558, + "rkd_teacher_entropy": 3.748365592956543, + "rkd_teacher_similarity_mean": 0.7810012042522431, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7660 + }, + { + "epoch": 2.231597323247018, + "flow_matching_loss": 0.018060934823006393, + "grad_norm": 0.18811863660812378, + "learning_rate": 2.6663430245407544e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012694843579083681, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3647207349538803, + "rkd_teacher_entropy": 3.7425540685653687, + "rkd_teacher_similarity_mean": 0.7823236048221588, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7670 + }, + { + "epoch": 2.234506837358161, + "flow_matching_loss": 0.016738097928464413, + "grad_norm": 0.14317505061626434, + "learning_rate": 2.6653026039733585e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012028440739959479, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35085288286209104, + "rkd_teacher_entropy": 3.7057457447052, + "rkd_teacher_similarity_mean": 0.7691336929798126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7680 + }, + { + "epoch": 2.237416351469305, + "flow_matching_loss": 0.015575859788805246, + "grad_norm": 0.13984504342079163, + "learning_rate": 2.6642607674534176e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013496843446046115, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35449362695217135, + "rkd_teacher_entropy": 3.7053041219711305, + "rkd_teacher_similarity_mean": 0.7715810418128968, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7690 + }, + { + "epoch": 2.240325865580448, + "flow_matching_loss": 0.020930544566363098, + "grad_norm": 0.1451498568058014, + "learning_rate": 2.663217516246862e-05, + "loss": 0.0285, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015185642894357443, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3646328985691071, + "rkd_teacher_entropy": 3.7315935850143434, + "rkd_teacher_similarity_mean": 0.7818243026733398, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7700 + }, + { + "epoch": 2.2432353796915914, + "flow_matching_loss": 0.01867982856929302, + "grad_norm": 0.15344657003879547, + "learning_rate": 2.66217285162134e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014502891153097153, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35998629927635195, + "rkd_teacher_entropy": 3.7170200109481812, + "rkd_teacher_similarity_mean": 0.7741681814193726, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7710 + }, + { + "epoch": 2.246144893802735, + "flow_matching_loss": 0.01690157474949956, + "grad_norm": 0.16848835349082947, + "learning_rate": 2.6611267748462175e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012259338051080704, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36236792206764223, + "rkd_teacher_entropy": 3.721908974647522, + "rkd_teacher_similarity_mean": 0.778563666343689, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7720 + }, + { + "epoch": 2.2490544079138783, + "flow_matching_loss": 0.017626724764704706, + "grad_norm": 0.16391338407993317, + "learning_rate": 2.6600792871925764e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01324377479031682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36188414990901946, + "rkd_teacher_entropy": 3.7258361339569093, + "rkd_teacher_similarity_mean": 0.7773445785045624, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7730 + }, + { + "epoch": 2.2519639220250216, + "flow_matching_loss": 0.01697673527523875, + "grad_norm": 0.18857711553573608, + "learning_rate": 2.659030389933213e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013093598838895559, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.367719966173172, + "rkd_teacher_entropy": 3.7456119775772097, + "rkd_teacher_similarity_mean": 0.7848257303237915, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7740 + }, + { + "epoch": 2.2548734361361653, + "flow_matching_loss": 0.01808458659797907, + "grad_norm": 0.1583462953567505, + "learning_rate": 2.6579800843426358e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014893236942589283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37102662622928617, + "rkd_teacher_entropy": 3.7669517278671263, + "rkd_teacher_similarity_mean": 0.7877634346485138, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7750 + }, + { + "epoch": 2.2577829502473086, + "flow_matching_loss": 0.018011832516640423, + "grad_norm": 0.171017587184906, + "learning_rate": 2.656928371697067e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013566014543175697, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36734203696250917, + "rkd_teacher_entropy": 3.7529476404190065, + "rkd_teacher_similarity_mean": 0.7824087560176849, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7760 + }, + { + "epoch": 2.2606924643584523, + "flow_matching_loss": 0.021700489893555643, + "grad_norm": 0.15453581511974335, + "learning_rate": 2.6558752532744346e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012187594175338745, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36190000772476194, + "rkd_teacher_entropy": 3.7251881837844847, + "rkd_teacher_similarity_mean": 0.7768297910690307, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7770 + }, + { + "epoch": 2.2636019784695955, + "flow_matching_loss": 0.016548034641891717, + "grad_norm": 0.18463169038295746, + "learning_rate": 2.654820730354377e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015501579456031322, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667591005563736, + "rkd_teacher_entropy": 3.743012881278992, + "rkd_teacher_similarity_mean": 0.7815290749073028, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7780 + }, + { + "epoch": 2.2665114925807393, + "flow_matching_loss": 0.016778850741684437, + "grad_norm": 0.14343881607055664, + "learning_rate": 2.6537648042182406e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014773543272167445, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3624665379524231, + "rkd_teacher_entropy": 3.733098292350769, + "rkd_teacher_similarity_mean": 0.7765026688575745, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7790 + }, + { + "epoch": 2.2694210066918825, + "flow_matching_loss": 0.01653258977457881, + "grad_norm": 0.195675328373909, + "learning_rate": 2.6527074761490735e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0145773705560714, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36458573341369627, + "rkd_teacher_entropy": 3.737131857872009, + "rkd_teacher_similarity_mean": 0.7799609184265137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7800 + }, + { + "epoch": 2.2723305208030258, + "flow_matching_loss": 0.017187828198075294, + "grad_norm": 0.11514806002378464, + "learning_rate": 2.6516487474316303e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017104220110923052, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711674839258194, + "rkd_teacher_entropy": 3.7528128623962402, + "rkd_teacher_similarity_mean": 0.7853412210941315, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7810 + }, + { + "epoch": 2.2752400349141695, + "flow_matching_loss": 0.014980554021894932, + "grad_norm": 0.20201155543327332, + "learning_rate": 2.650588619352365e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014795149117708207, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36077224612236025, + "rkd_teacher_entropy": 3.721095895767212, + "rkd_teacher_similarity_mean": 0.7771587252616883, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7820 + }, + { + "epoch": 2.2781495490253127, + "flow_matching_loss": 0.019140450190752743, + "grad_norm": 0.14196141064167023, + "learning_rate": 2.649527093199434e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016130203008651735, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35477944910526277, + "rkd_teacher_entropy": 3.7156142950057984, + "rkd_teacher_similarity_mean": 0.7711405575275421, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7830 + }, + { + "epoch": 2.281059063136456, + "flow_matching_loss": 0.016079071164131164, + "grad_norm": 0.12455884367227554, + "learning_rate": 2.6484641702626914e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011491363635286689, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36461406350135805, + "rkd_teacher_entropy": 3.744917058944702, + "rkd_teacher_similarity_mean": 0.7824420988559723, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7840 + }, + { + "epoch": 2.2839685772475997, + "flow_matching_loss": 0.017386815696954726, + "grad_norm": 0.18099190294742584, + "learning_rate": 2.647399851833689e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014350738562643527, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37101101577281953, + "rkd_teacher_entropy": 3.758649492263794, + "rkd_teacher_similarity_mean": 0.7884855091571807, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7850 + }, + { + "epoch": 2.286878091358743, + "flow_matching_loss": 0.01828407505527139, + "grad_norm": 0.14307862520217896, + "learning_rate": 2.6463341392056735e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013007343001663684, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35672380328178405, + "rkd_teacher_entropy": 3.71491334438324, + "rkd_teacher_similarity_mean": 0.7723132550716401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7860 + }, + { + "epoch": 2.2897876054698867, + "flow_matching_loss": 0.01674382071942091, + "grad_norm": 0.1371573656797409, + "learning_rate": 2.6452670336735867e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015653975866734983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36541605591773985, + "rkd_teacher_entropy": 3.7483410596847535, + "rkd_teacher_similarity_mean": 0.782124787569046, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7870 + }, + { + "epoch": 2.29269711958103, + "flow_matching_loss": 0.018331655487418174, + "grad_norm": 0.13286246359348297, + "learning_rate": 2.644198536534063e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011935632862150668, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3604014128446579, + "rkd_teacher_entropy": 3.727100396156311, + "rkd_teacher_similarity_mean": 0.7763210296630859, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7880 + }, + { + "epoch": 2.295606633692173, + "flow_matching_loss": 0.019594065472483636, + "grad_norm": 0.20157000422477722, + "learning_rate": 2.6431286490854255e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013735509105026722, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3735932558774948, + "rkd_teacher_entropy": 3.760110330581665, + "rkd_teacher_similarity_mean": 0.7859430015087128, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7890 + }, + { + "epoch": 2.298516147803317, + "flow_matching_loss": 0.018591930344700813, + "grad_norm": 0.1976137012243271, + "learning_rate": 2.6420573726276903e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012886549346148968, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35729890763759614, + "rkd_teacher_entropy": 3.700078248977661, + "rkd_teacher_similarity_mean": 0.7726578950881958, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7900 + }, + { + "epoch": 2.30142566191446, + "flow_matching_loss": 0.016937993094325067, + "grad_norm": 0.13801907002925873, + "learning_rate": 2.6409847084625575e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013282949477434159, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36029533445835116, + "rkd_teacher_entropy": 3.7149686336517336, + "rkd_teacher_similarity_mean": 0.775912058353424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7910 + }, + { + "epoch": 2.304335176025604, + "flow_matching_loss": 0.017038481775671244, + "grad_norm": 0.1352759450674057, + "learning_rate": 2.6399106578934167e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012392306234687567, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3654307693243027, + "rkd_teacher_entropy": 3.7309154272079468, + "rkd_teacher_similarity_mean": 0.7800834357738495, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7920 + }, + { + "epoch": 2.307244690136747, + "flow_matching_loss": 0.018179073836654423, + "grad_norm": 0.1369556486606598, + "learning_rate": 2.63883522222534e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013694830145686865, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3726401746273041, + "rkd_teacher_entropy": 3.75326292514801, + "rkd_teacher_similarity_mean": 0.7849337875843048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7930 + }, + { + "epoch": 2.3101542042478904, + "flow_matching_loss": 0.01830301620066166, + "grad_norm": 0.14312542974948883, + "learning_rate": 2.6377584027650827e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012880131136626005, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37063665091991427, + "rkd_teacher_entropy": 3.7494309663772585, + "rkd_teacher_similarity_mean": 0.7831804692745209, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7940 + }, + { + "epoch": 2.313063718359034, + "flow_matching_loss": 0.018464556708931924, + "grad_norm": 0.1604100465774536, + "learning_rate": 2.636680200821083e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014043018966913224, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36165139377117156, + "rkd_teacher_entropy": 3.716708469390869, + "rkd_teacher_similarity_mean": 0.774337649345398, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7950 + }, + { + "epoch": 2.3159732324701774, + "flow_matching_loss": 0.019522509630769493, + "grad_norm": 0.18570759892463684, + "learning_rate": 2.635600617703457e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012539705820381641, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37277417480945585, + "rkd_teacher_entropy": 3.7511438608169554, + "rkd_teacher_similarity_mean": 0.7875538825988769, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7960 + }, + { + "epoch": 2.318882746581321, + "flow_matching_loss": 0.019632022455334665, + "grad_norm": 0.15810810029506683, + "learning_rate": 2.6345196547240007e-05, + "loss": 0.0276, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015919216349720954, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.360345134139061, + "rkd_teacher_entropy": 3.717774844169617, + "rkd_teacher_similarity_mean": 0.7741508483886719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7970 + }, + { + "epoch": 2.3217922606924644, + "flow_matching_loss": 0.01724449498578906, + "grad_norm": 0.1603153944015503, + "learning_rate": 2.6334373131961854e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012247197981923818, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36845929324626925, + "rkd_teacher_entropy": 3.726184344291687, + "rkd_teacher_similarity_mean": 0.7806962490081787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7980 + }, + { + "epoch": 2.3247017748036076, + "flow_matching_loss": 0.01857746858149767, + "grad_norm": 0.17014281451702118, + "learning_rate": 2.6323535944351583e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015132598951458931, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36605442464351656, + "rkd_teacher_entropy": 3.737635087966919, + "rkd_teacher_similarity_mean": 0.7792980194091796, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7990 + }, + { + "epoch": 2.3276112889147513, + "flow_matching_loss": 0.01796237574890256, + "grad_norm": 0.1530366837978363, + "learning_rate": 2.63126849975774e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015411622729152441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3645490199327469, + "rkd_teacher_entropy": 3.7333051919937135, + "rkd_teacher_similarity_mean": 0.7769816994667054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8000 + }, + { + "epoch": 2.3305208030258946, + "flow_matching_loss": 0.015342326648533345, + "grad_norm": 0.18012398481369019, + "learning_rate": 2.6301820304824234e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015386677719652653, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36669411361217497, + "rkd_teacher_entropy": 3.7371641874313353, + "rkd_teacher_similarity_mean": 0.7829176783561707, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8010 + }, + { + "epoch": 2.3334303171370383, + "flow_matching_loss": 0.01615609684959054, + "grad_norm": 0.14928895235061646, + "learning_rate": 2.6290941879293703e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014027968794107438, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36600171625614164, + "rkd_teacher_entropy": 3.731587028503418, + "rkd_teacher_similarity_mean": 0.7814965724945069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8020 + }, + { + "epoch": 2.3363398312481816, + "flow_matching_loss": 0.017385853920131922, + "grad_norm": 0.12698552012443542, + "learning_rate": 2.628004973420412e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013119002990424632, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35922202169895173, + "rkd_teacher_entropy": 3.7241029500961305, + "rkd_teacher_similarity_mean": 0.7736132442951202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8030 + }, + { + "epoch": 2.339249345359325, + "flow_matching_loss": 0.01849418617784977, + "grad_norm": 0.18506261706352234, + "learning_rate": 2.626914388279047e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0164731259457767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3649798512458801, + "rkd_teacher_entropy": 3.7264663219451903, + "rkd_teacher_similarity_mean": 0.7772182822227478, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8040 + }, + { + "epoch": 2.3421588594704685, + "flow_matching_loss": 0.017698832135647536, + "grad_norm": 0.18126524984836578, + "learning_rate": 2.6258224338304394e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01476589059457183, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36863199174404143, + "rkd_teacher_entropy": 3.7418864250183104, + "rkd_teacher_similarity_mean": 0.7823853194713593, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8050 + }, + { + "epoch": 2.345068373581612, + "flow_matching_loss": 0.017245895322412254, + "grad_norm": 0.1425996571779251, + "learning_rate": 2.6247291114014166e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013958232011646032, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3595333307981491, + "rkd_teacher_entropy": 3.7034305810928343, + "rkd_teacher_similarity_mean": 0.7723947703838349, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8060 + }, + { + "epoch": 2.347977887692755, + "flow_matching_loss": 0.017413312662392856, + "grad_norm": 0.16568376123905182, + "learning_rate": 2.6236344223204683e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014859620854258538, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3605346292257309, + "rkd_teacher_entropy": 3.715687465667725, + "rkd_teacher_similarity_mean": 0.7734536588191986, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8070 + }, + { + "epoch": 2.3508874018038988, + "flow_matching_loss": 0.01824783757328987, + "grad_norm": 0.14533023536205292, + "learning_rate": 2.6225383679177453e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0154063168913126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3553514540195465, + "rkd_teacher_entropy": 3.693719816207886, + "rkd_teacher_similarity_mean": 0.766944944858551, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8080 + }, + { + "epoch": 2.353796915915042, + "flow_matching_loss": 0.017926201689988375, + "grad_norm": 0.15671946108341217, + "learning_rate": 2.6214409495250568e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014290454750880598, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3688527554273605, + "rkd_teacher_entropy": 3.7368792057037354, + "rkd_teacher_similarity_mean": 0.7813218533992767, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8090 + }, + { + "epoch": 2.3567064300261857, + "flow_matching_loss": 0.019982803892344237, + "grad_norm": 0.1552540361881256, + "learning_rate": 2.620342168475869e-05, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.019669252913445234, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36759489476680757, + "rkd_teacher_entropy": 3.7425878763198854, + "rkd_teacher_similarity_mean": 0.781026017665863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8100 + }, + { + "epoch": 2.359615944137329, + "flow_matching_loss": 0.01657808991149068, + "grad_norm": 0.20548328757286072, + "learning_rate": 2.619242026105306e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013602222129702569, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35709860026836393, + "rkd_teacher_entropy": 3.712460923194885, + "rkd_teacher_similarity_mean": 0.7707121551036835, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8110 + }, + { + "epoch": 2.3625254582484727, + "flow_matching_loss": 0.018992449808865785, + "grad_norm": 0.17839406430721283, + "learning_rate": 2.618140523750143e-05, + "loss": 0.0278, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017682031355798246, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3689454734325409, + "rkd_teacher_entropy": 3.745188999176025, + "rkd_teacher_similarity_mean": 0.7834921598434448, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8120 + }, + { + "epoch": 2.365434972359616, + "flow_matching_loss": 0.01912507014349103, + "grad_norm": 0.22141753137111664, + "learning_rate": 2.6170376627488103e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012834483571350575, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633366286754608, + "rkd_teacher_entropy": 3.7220829725265503, + "rkd_teacher_similarity_mean": 0.7775528132915497, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8130 + }, + { + "epoch": 2.3683444864707592, + "flow_matching_loss": 0.01570706544443965, + "grad_norm": 0.10950245708227158, + "learning_rate": 2.6159334444413873e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014442512206733227, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3607742577791214, + "rkd_teacher_entropy": 3.7240012884140015, + "rkd_teacher_similarity_mean": 0.7743373274803161, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8140 + }, + { + "epoch": 2.371254000581903, + "flow_matching_loss": 0.018738847505301238, + "grad_norm": 0.16731463372707367, + "learning_rate": 2.614827870169604e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014142809156328439, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3697162091732025, + "rkd_teacher_entropy": 3.728687572479248, + "rkd_teacher_similarity_mean": 0.7824831783771515, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8150 + }, + { + "epoch": 2.374163514693046, + "flow_matching_loss": 0.01802288517355919, + "grad_norm": 0.16712848842144012, + "learning_rate": 2.6137209412768367e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013311163429170847, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3720952183008194, + "rkd_teacher_entropy": 3.7465720653533934, + "rkd_teacher_similarity_mean": 0.7836612284183502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8160 + }, + { + "epoch": 2.3770730288041895, + "flow_matching_loss": 0.0184672886505723, + "grad_norm": 0.14894899725914001, + "learning_rate": 2.612612659108109e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01317604649811983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3631737858057022, + "rkd_teacher_entropy": 3.7229627847671507, + "rkd_teacher_similarity_mean": 0.7768790125846863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8170 + }, + { + "epoch": 2.379982542915333, + "flow_matching_loss": 0.01646996969357133, + "grad_norm": 0.1595182865858078, + "learning_rate": 2.611503025010088e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012801421713083983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37464626133441925, + "rkd_teacher_entropy": 3.756725025177002, + "rkd_teacher_similarity_mean": 0.789337956905365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8180 + }, + { + "epoch": 2.3828920570264764, + "flow_matching_loss": 0.020158530585467814, + "grad_norm": 0.14770251512527466, + "learning_rate": 2.6103920403310832e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013016488729044795, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35972746908664704, + "rkd_teacher_entropy": 3.711535906791687, + "rkd_teacher_similarity_mean": 0.771070796251297, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8190 + }, + { + "epoch": 2.38580157113762, + "flow_matching_loss": 0.016652259323745967, + "grad_norm": 0.13152539730072021, + "learning_rate": 2.6092797064210465e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01334262015298009, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3652822047472, + "rkd_teacher_entropy": 3.726873207092285, + "rkd_teacher_similarity_mean": 0.7774819970130921, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8200 + }, + { + "epoch": 2.3887110852487634, + "flow_matching_loss": 0.017574984952807425, + "grad_norm": 0.13802418112754822, + "learning_rate": 2.6081660246315685e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015081781428307295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35979427993297575, + "rkd_teacher_entropy": 3.719861078262329, + "rkd_teacher_similarity_mean": 0.7739748120307922, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8210 + }, + { + "epoch": 2.391620599359907, + "flow_matching_loss": 0.016052730940282346, + "grad_norm": 0.2160796970129013, + "learning_rate": 2.6070509963158774e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012741143628954888, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3733439475297928, + "rkd_teacher_entropy": 3.7629533290863035, + "rkd_teacher_similarity_mean": 0.7886362254619599, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8220 + }, + { + "epoch": 2.3945301134710504, + "flow_matching_loss": 0.01630686465650797, + "grad_norm": 0.14591798186302185, + "learning_rate": 2.6059346228288375e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014683881774544716, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3677761107683182, + "rkd_teacher_entropy": 3.7445605039596557, + "rkd_teacher_similarity_mean": 0.781541395187378, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8230 + }, + { + "epoch": 2.3974396275821936, + "flow_matching_loss": 0.01675404105335474, + "grad_norm": 0.11990640312433243, + "learning_rate": 2.604816905526948e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013206557650119067, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36311485767364504, + "rkd_teacher_entropy": 3.7175684213638305, + "rkd_teacher_similarity_mean": 0.7764521479606629, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8240 + }, + { + "epoch": 2.4003491416933374, + "flow_matching_loss": 0.01710674073547125, + "grad_norm": 0.1445838212966919, + "learning_rate": 2.603697845768341e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015308202989399434, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36197209656238555, + "rkd_teacher_entropy": 3.733719515800476, + "rkd_teacher_similarity_mean": 0.7788850426673889, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8250 + }, + { + "epoch": 2.4032586558044806, + "flow_matching_loss": 0.017249734979122876, + "grad_norm": 0.21004633605480194, + "learning_rate": 2.6025774449127792e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014575512334704398, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3637854397296906, + "rkd_teacher_entropy": 3.7349558591842653, + "rkd_teacher_similarity_mean": 0.7777346909046173, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8260 + }, + { + "epoch": 2.406168169915624, + "flow_matching_loss": 0.016730177495628596, + "grad_norm": 0.1299939900636673, + "learning_rate": 2.6014557043216562e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01193156000226736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3578151613473892, + "rkd_teacher_entropy": 3.715795612335205, + "rkd_teacher_similarity_mean": 0.771824198961258, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8270 + }, + { + "epoch": 2.4090776840267676, + "flow_matching_loss": 0.01769279073923826, + "grad_norm": 0.1374680995941162, + "learning_rate": 2.6003326253579913e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012524150311946869, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3676375925540924, + "rkd_teacher_entropy": 3.74318380355835, + "rkd_teacher_similarity_mean": 0.7841365873813629, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8280 + }, + { + "epoch": 2.411987198137911, + "flow_matching_loss": 0.019026680663228036, + "grad_norm": 0.16017849743366241, + "learning_rate": 2.599208209386432e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0117631483823061, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3656453102827072, + "rkd_teacher_entropy": 3.746754026412964, + "rkd_teacher_similarity_mean": 0.7814614176750183, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8290 + }, + { + "epoch": 2.4148967122490546, + "flow_matching_loss": 0.017176350113004446, + "grad_norm": 0.2049667239189148, + "learning_rate": 2.5980824577732502e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013629768881946802, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.355801185965538, + "rkd_teacher_entropy": 3.7042613983154298, + "rkd_teacher_similarity_mean": 0.7708241879940033, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8300 + }, + { + "epoch": 2.417806226360198, + "flow_matching_loss": 0.01848332630470395, + "grad_norm": 0.14531323313713074, + "learning_rate": 2.5969553718863395e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011350790970027447, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36487220525741576, + "rkd_teacher_entropy": 3.7401708364486694, + "rkd_teacher_similarity_mean": 0.7803790152072907, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8310 + }, + { + "epoch": 2.4207157404713415, + "flow_matching_loss": 0.017502946592867375, + "grad_norm": 0.14991623163223267, + "learning_rate": 2.595826953095216e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014527013525366783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3612168937921524, + "rkd_teacher_entropy": 3.717142629623413, + "rkd_teacher_similarity_mean": 0.7763967335224151, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8320 + }, + { + "epoch": 2.423625254582485, + "flow_matching_loss": 0.017734882421791553, + "grad_norm": 0.16029924154281616, + "learning_rate": 2.594697202771014e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013321350328624249, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3608281522989273, + "rkd_teacher_entropy": 3.713809275627136, + "rkd_teacher_similarity_mean": 0.7750532686710357, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8330 + }, + { + "epoch": 2.426534768693628, + "flow_matching_loss": 0.01770134149119258, + "grad_norm": 0.16266971826553345, + "learning_rate": 2.5935661222864888e-05, + "loss": 0.0241, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012755095772445203, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.361253023147583, + "rkd_teacher_entropy": 3.7290001630783083, + "rkd_teacher_similarity_mean": 0.7773001730442047, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8340 + }, + { + "epoch": 2.4294442828047718, + "flow_matching_loss": 0.019115939643234013, + "grad_norm": 0.22471514344215393, + "learning_rate": 2.592433713016008e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013952128868550063, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3538506507873535, + "rkd_teacher_entropy": 3.712592029571533, + "rkd_teacher_similarity_mean": 0.7703259348869324, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8350 + }, + { + "epoch": 2.432353796915915, + "flow_matching_loss": 0.017117026448249816, + "grad_norm": 0.14579133689403534, + "learning_rate": 2.5912999763355553e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012650376930832864, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3628136694431305, + "rkd_teacher_entropy": 3.729111361503601, + "rkd_teacher_similarity_mean": 0.7794049382209778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8360 + }, + { + "epoch": 2.4352633110270583, + "flow_matching_loss": 0.015252875443547965, + "grad_norm": 0.09895233064889908, + "learning_rate": 2.590164913622729e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01409979360178113, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36073737442493437, + "rkd_teacher_entropy": 3.725614404678345, + "rkd_teacher_similarity_mean": 0.7760372877120971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8370 + }, + { + "epoch": 2.438172825138202, + "flow_matching_loss": 0.01886959532275796, + "grad_norm": 0.13370761275291443, + "learning_rate": 2.589028526256737e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012655284442007541, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36728360652923586, + "rkd_teacher_entropy": 3.750974488258362, + "rkd_teacher_similarity_mean": 0.7825115323066711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8380 + }, + { + "epoch": 2.4410823392493453, + "flow_matching_loss": 0.016735767759382725, + "grad_norm": 0.12470077723264694, + "learning_rate": 2.587890815618397e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0139432018622756, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36689730882644656, + "rkd_teacher_entropy": 3.742357087135315, + "rkd_teacher_similarity_mean": 0.7828473210334778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8390 + }, + { + "epoch": 2.443991853360489, + "flow_matching_loss": 0.01711615310050547, + "grad_norm": 0.1864004284143448, + "learning_rate": 2.5867517830901343e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012196649424731731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36310898661613467, + "rkd_teacher_entropy": 3.7204442977905274, + "rkd_teacher_similarity_mean": 0.7772688746452332, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8400 + }, + { + "epoch": 2.4469013674716322, + "flow_matching_loss": 0.019551678840070964, + "grad_norm": 0.1846243143081665, + "learning_rate": 2.5856114300559812e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014014605991542339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3713001996278763, + "rkd_teacher_entropy": 3.754460096359253, + "rkd_teacher_similarity_mean": 0.78687504529953, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8410 + }, + { + "epoch": 2.4498108815827755, + "flow_matching_loss": 0.017613109573721884, + "grad_norm": 0.1839364916086197, + "learning_rate": 2.584469757901574e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012772224470973014, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3588390976190567, + "rkd_teacher_entropy": 3.709757423400879, + "rkd_teacher_similarity_mean": 0.7726017594337463, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8420 + }, + { + "epoch": 2.452720395693919, + "flow_matching_loss": 0.016110829170793296, + "grad_norm": 0.1540851891040802, + "learning_rate": 2.5833267680141526e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014079922810196877, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3570465862751007, + "rkd_teacher_entropy": 3.7197806596755982, + "rkd_teacher_similarity_mean": 0.7732133507728577, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8430 + }, + { + "epoch": 2.4556299098050625, + "flow_matching_loss": 0.01827725125476718, + "grad_norm": 0.16396993398666382, + "learning_rate": 2.5821824617825564e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013176766596734524, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36329048275947573, + "rkd_teacher_entropy": 3.7299094438552856, + "rkd_teacher_similarity_mean": 0.7783599495887756, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8440 + }, + { + "epoch": 2.458539423916206, + "flow_matching_loss": 0.020572786685079336, + "grad_norm": 0.16434957087039948, + "learning_rate": 2.5810368405972265e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011371231777593494, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36518503725528717, + "rkd_teacher_entropy": 3.74244863986969, + "rkd_teacher_similarity_mean": 0.7814066708087921, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8450 + }, + { + "epoch": 2.4614489380273494, + "flow_matching_loss": 0.017150039598345757, + "grad_norm": 0.16934633255004883, + "learning_rate": 2.5798899058501996e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013737518712878228, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.358403679728508, + "rkd_teacher_entropy": 3.7314518451690675, + "rkd_teacher_similarity_mean": 0.776367849111557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8460 + }, + { + "epoch": 2.4643584521384927, + "flow_matching_loss": 0.018626975268125533, + "grad_norm": 0.1771896630525589, + "learning_rate": 2.578741658935111e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01418879209086299, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35476098358631136, + "rkd_teacher_entropy": 3.7084636926651, + "rkd_teacher_similarity_mean": 0.7719020307064056, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8470 + }, + { + "epoch": 2.4672679662496364, + "flow_matching_loss": 0.01749941539019346, + "grad_norm": 0.14772439002990723, + "learning_rate": 2.5775921012471875e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011571596283465624, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36708286702632903, + "rkd_teacher_entropy": 3.7493038892745973, + "rkd_teacher_similarity_mean": 0.7826527655124664, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8480 + }, + { + "epoch": 2.4701774803607797, + "flow_matching_loss": 0.017680809926241638, + "grad_norm": 0.256085067987442, + "learning_rate": 2.5764412341832505e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01499939551576972, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3728949785232544, + "rkd_teacher_entropy": 3.74632842540741, + "rkd_teacher_similarity_mean": 0.7856404423713684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8490 + }, + { + "epoch": 2.4730869944719234, + "flow_matching_loss": 0.01880855970084667, + "grad_norm": 0.17531250417232513, + "learning_rate": 2.5752890591417125e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014653706457465887, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37005758881568906, + "rkd_teacher_entropy": 3.744477081298828, + "rkd_teacher_similarity_mean": 0.7831782042980194, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8500 + }, + { + "epoch": 2.4759965085830666, + "flow_matching_loss": 0.016838198341429234, + "grad_norm": 0.15779751539230347, + "learning_rate": 2.5741355775225744e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013098869845271111, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37112645208835604, + "rkd_teacher_entropy": 3.7528548002243043, + "rkd_teacher_similarity_mean": 0.7846598088741302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8510 + }, + { + "epoch": 2.47890602269421, + "flow_matching_loss": 0.017013823613524437, + "grad_norm": 0.15425050258636475, + "learning_rate": 2.5729807907274254e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016956814751029014, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36603817641735076, + "rkd_teacher_entropy": 3.7464322566986086, + "rkd_teacher_similarity_mean": 0.7803331673145294, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8520 + }, + { + "epoch": 2.4818155368053536, + "flow_matching_loss": 0.01673513511195779, + "grad_norm": 0.15566742420196533, + "learning_rate": 2.5718247001594403e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010834525246173144, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3638723284006119, + "rkd_teacher_entropy": 3.7192138910293577, + "rkd_teacher_similarity_mean": 0.7762819528579712, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8530 + }, + { + "epoch": 2.484725050916497, + "flow_matching_loss": 0.01897112252190709, + "grad_norm": 0.18933314085006714, + "learning_rate": 2.5706673072233776e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013292125519365072, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3566449820995331, + "rkd_teacher_entropy": 3.7083415746688844, + "rkd_teacher_similarity_mean": 0.7704128563404083, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8540 + }, + { + "epoch": 2.4876345650276406, + "flow_matching_loss": 0.016148672625422477, + "grad_norm": 0.1454772800207138, + "learning_rate": 2.5695086133255795e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011119303200393916, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3677079439163208, + "rkd_teacher_entropy": 3.7408036947250367, + "rkd_teacher_similarity_mean": 0.7802460730075836, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8550 + }, + { + "epoch": 2.490544079138784, + "flow_matching_loss": 0.018969539552927017, + "grad_norm": 0.24421431124210358, + "learning_rate": 2.5683486198739687e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014210353326052427, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3663014054298401, + "rkd_teacher_entropy": 3.733236002922058, + "rkd_teacher_similarity_mean": 0.7773083925247193, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8560 + }, + { + "epoch": 2.493453593249927, + "flow_matching_loss": 0.019961717259138822, + "grad_norm": 0.13357257843017578, + "learning_rate": 2.5671873282780452e-05, + "loss": 0.0273, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014642348885536194, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36497893631458284, + "rkd_teacher_entropy": 3.729374551773071, + "rkd_teacher_similarity_mean": 0.7787030100822449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8570 + }, + { + "epoch": 2.496363107361071, + "flow_matching_loss": 0.016874067671597003, + "grad_norm": 0.17240603268146515, + "learning_rate": 2.5660247399488887e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0120327552780509, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3695330560207367, + "rkd_teacher_entropy": 3.7500130891799928, + "rkd_teacher_similarity_mean": 0.7855483174324036, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8580 + }, + { + "epoch": 2.499272621472214, + "flow_matching_loss": 0.017120239045470952, + "grad_norm": 0.1642407476902008, + "learning_rate": 2.564860856299154e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016102922987192868, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36328830420970915, + "rkd_teacher_entropy": 3.7104890823364256, + "rkd_teacher_similarity_mean": 0.7771848738193512, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8590 + }, + { + "epoch": 2.5021821355833573, + "flow_matching_loss": 0.016032577399164437, + "grad_norm": 0.21680916845798492, + "learning_rate": 2.5636956787430693e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014719658810645343, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36363244652748106, + "rkd_teacher_entropy": 3.730641078948975, + "rkd_teacher_similarity_mean": 0.7759925246238708, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8600 + }, + { + "epoch": 2.505091649694501, + "flow_matching_loss": 0.01894446900114417, + "grad_norm": 0.16517792642116547, + "learning_rate": 2.5625292086964346e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013291812874376774, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3590398818254471, + "rkd_teacher_entropy": 3.716474986076355, + "rkd_teacher_similarity_mean": 0.7746905863285065, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8610 + }, + { + "epoch": 2.5080011638056443, + "flow_matching_loss": 0.01688658008351922, + "grad_norm": 0.14109750092029572, + "learning_rate": 2.5613614475766212e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017529604956507683, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37426029741764066, + "rkd_teacher_entropy": 3.7664931058883666, + "rkd_teacher_similarity_mean": 0.7869920492172241, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8620 + }, + { + "epoch": 2.510910677916788, + "flow_matching_loss": 0.018197511602193118, + "grad_norm": 0.11739078164100647, + "learning_rate": 2.5601923968025694e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012921626958996058, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36630142033100127, + "rkd_teacher_entropy": 3.719530963897705, + "rkd_teacher_similarity_mean": 0.778060233592987, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8630 + }, + { + "epoch": 2.5138201920279313, + "flow_matching_loss": 0.018622418586164712, + "grad_norm": 0.14824074506759644, + "learning_rate": 2.5590220577947862e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014866652898490429, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36382959187030794, + "rkd_teacher_entropy": 3.7251165866851808, + "rkd_teacher_similarity_mean": 0.776547646522522, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8640 + }, + { + "epoch": 2.516729706139075, + "flow_matching_loss": 0.01747645018622279, + "grad_norm": 0.12145908176898956, + "learning_rate": 2.5578504319753427e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011751440726220608, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36424621045589445, + "rkd_teacher_entropy": 3.729440760612488, + "rkd_teacher_similarity_mean": 0.7792985320091248, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8650 + }, + { + "epoch": 2.5196392202502182, + "flow_matching_loss": 0.016634260024875402, + "grad_norm": 0.13516341149806976, + "learning_rate": 2.556677520767876e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012951019313186407, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3658340394496918, + "rkd_teacher_entropy": 3.7268121004104615, + "rkd_teacher_similarity_mean": 0.7777845323085785, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8660 + }, + { + "epoch": 2.5225487343613615, + "flow_matching_loss": 0.01852187318727374, + "grad_norm": 0.1774769276380539, + "learning_rate": 2.5555033255975835e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014224496111273766, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3554157316684723, + "rkd_teacher_entropy": 3.693449020385742, + "rkd_teacher_similarity_mean": 0.7658848702907562, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8670 + }, + { + "epoch": 2.525458248472505, + "flow_matching_loss": 0.018751705810427666, + "grad_norm": 0.13992467522621155, + "learning_rate": 2.5543278478912228e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014946879539638757, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35770355761051176, + "rkd_teacher_entropy": 3.7058434009552004, + "rkd_teacher_similarity_mean": 0.7711775243282318, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8680 + }, + { + "epoch": 2.5283677625836485, + "flow_matching_loss": 0.015696230903267862, + "grad_norm": 0.1238667443394661, + "learning_rate": 2.55315108907711e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012804097402840853, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36074634194374083, + "rkd_teacher_entropy": 3.7194360733032226, + "rkd_teacher_similarity_mean": 0.7742813050746917, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8690 + }, + { + "epoch": 2.5312772766947917, + "flow_matching_loss": 0.015392087399959564, + "grad_norm": 0.16613472998142242, + "learning_rate": 2.551973050585119e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015275286138057708, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3628037542104721, + "rkd_teacher_entropy": 3.7116712093353272, + "rkd_teacher_similarity_mean": 0.7758525252342224, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8700 + }, + { + "epoch": 2.5341867908059355, + "flow_matching_loss": 0.019545110501348974, + "grad_norm": 0.19068634510040283, + "learning_rate": 2.5507937338466768e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01255030119791627, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36094032526016234, + "rkd_teacher_entropy": 3.7273362398147585, + "rkd_teacher_similarity_mean": 0.7751397669315339, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8710 + }, + { + "epoch": 2.5370963049170787, + "flow_matching_loss": 0.017543946951627733, + "grad_norm": 0.1378365159034729, + "learning_rate": 2.549613140294764e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.018133357726037504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36340743601322173, + "rkd_teacher_entropy": 3.7150750875473024, + "rkd_teacher_similarity_mean": 0.7751511216163636, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8720 + }, + { + "epoch": 2.5400058190282224, + "flow_matching_loss": 0.016377505380660295, + "grad_norm": 0.18436606228351593, + "learning_rate": 2.548431271363914e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012904465198516846, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36661847233772277, + "rkd_teacher_entropy": 3.7360071420669554, + "rkd_teacher_similarity_mean": 0.7788428723812103, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8730 + }, + { + "epoch": 2.5429153331393657, + "flow_matching_loss": 0.01734444238245487, + "grad_norm": 0.14093813300132751, + "learning_rate": 2.5472481284902092e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011049578338861466, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36924983859062194, + "rkd_teacher_entropy": 3.7487858533859253, + "rkd_teacher_similarity_mean": 0.7827475249767304, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8740 + }, + { + "epoch": 2.5458248472505094, + "flow_matching_loss": 0.01648589512333274, + "grad_norm": 0.16357634961605072, + "learning_rate": 2.5460637131112788e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015519427135586739, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36865127086639404, + "rkd_teacher_entropy": 3.752684164047241, + "rkd_teacher_similarity_mean": 0.7825320899486542, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8750 + }, + { + "epoch": 2.5487343613616527, + "flow_matching_loss": 0.016978958062827586, + "grad_norm": 0.13420222699642181, + "learning_rate": 2.5448780266662995e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013878032146021724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3747182428836823, + "rkd_teacher_entropy": 3.755354142189026, + "rkd_teacher_similarity_mean": 0.7886110365390777, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8760 + }, + { + "epoch": 2.551643875472796, + "flow_matching_loss": 0.019370980840176345, + "grad_norm": 0.12964028120040894, + "learning_rate": 2.5436910705959926e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011574989929795266, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3708553403615952, + "rkd_teacher_entropy": 3.7566202163696287, + "rkd_teacher_similarity_mean": 0.7854668617248535, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8770 + }, + { + "epoch": 2.5545533895839396, + "flow_matching_loss": 0.0179456683807075, + "grad_norm": 0.15149737894535065, + "learning_rate": 2.542502846342621e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013301587942987681, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3682554453611374, + "rkd_teacher_entropy": 3.746070885658264, + "rkd_teacher_similarity_mean": 0.7807090401649475, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8780 + }, + { + "epoch": 2.557462903695083, + "flow_matching_loss": 0.018357964046299458, + "grad_norm": 0.17513953149318695, + "learning_rate": 2.5413133553499892e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013554595317691565, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3604652643203735, + "rkd_teacher_entropy": 3.718155574798584, + "rkd_teacher_similarity_mean": 0.7722114622592926, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8790 + }, + { + "epoch": 2.560372417806226, + "flow_matching_loss": 0.014187612105160952, + "grad_norm": 0.1382388472557068, + "learning_rate": 2.540122599063442e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016032565105706453, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3656192451715469, + "rkd_teacher_entropy": 3.717573308944702, + "rkd_teacher_similarity_mean": 0.7761923551559449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8800 + }, + { + "epoch": 2.56328193191737, + "flow_matching_loss": 0.015740367025136946, + "grad_norm": 0.14197303354740143, + "learning_rate": 2.538930578929859e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013262906018644572, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35461950302124023, + "rkd_teacher_entropy": 3.689430665969849, + "rkd_teacher_similarity_mean": 0.7641950905323028, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8810 + }, + { + "epoch": 2.566191446028513, + "flow_matching_loss": 0.01819184385240078, + "grad_norm": 0.1263590008020401, + "learning_rate": 2.537737296397658e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012228703871369363, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3620379865169525, + "rkd_teacher_entropy": 3.7161639451980593, + "rkd_teacher_similarity_mean": 0.771772313117981, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8820 + }, + { + "epoch": 2.569100960139657, + "flow_matching_loss": 0.016929564904421567, + "grad_norm": 0.1478855013847351, + "learning_rate": 2.5365427529167903e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011385386995971202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3613094240427017, + "rkd_teacher_entropy": 3.7079994678497314, + "rkd_teacher_similarity_mean": 0.7737685978412628, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8830 + }, + { + "epoch": 2.5720104742508, + "flow_matching_loss": 0.01981024192646146, + "grad_norm": 0.12862540781497955, + "learning_rate": 2.5353469499387375e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011971392203122377, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3598450720310211, + "rkd_teacher_entropy": 3.708774280548096, + "rkd_teacher_similarity_mean": 0.7699172258377075, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8840 + }, + { + "epoch": 2.574919988361944, + "flow_matching_loss": 0.019245315715670584, + "grad_norm": 0.1573607474565506, + "learning_rate": 2.534149888916514e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013007103139534593, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36921271681785583, + "rkd_teacher_entropy": 3.734393095970154, + "rkd_teacher_similarity_mean": 0.7782601475715637, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8850 + }, + { + "epoch": 2.577829502473087, + "flow_matching_loss": 0.01764998761937022, + "grad_norm": 0.15194697678089142, + "learning_rate": 2.5329515713046616e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014201728347688913, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36454508900642396, + "rkd_teacher_entropy": 3.7148077726364135, + "rkd_teacher_similarity_mean": 0.7752155482769012, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8860 + }, + { + "epoch": 2.5807390165842303, + "flow_matching_loss": 0.019680244754999875, + "grad_norm": 0.17914725840091705, + "learning_rate": 2.531751998559249e-05, + "loss": 0.0267, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014111156202852726, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36684940159320834, + "rkd_teacher_entropy": 3.7336337089538576, + "rkd_teacher_similarity_mean": 0.7778931081295013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8870 + }, + { + "epoch": 2.583648530695374, + "flow_matching_loss": 0.016989907808601858, + "grad_norm": 0.15231414139270782, + "learning_rate": 2.5305511721378703e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013933058828115463, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36908730268478396, + "rkd_teacher_entropy": 3.743023681640625, + "rkd_teacher_similarity_mean": 0.7800410091876984, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8880 + }, + { + "epoch": 2.5865580448065173, + "flow_matching_loss": 0.01842326270416379, + "grad_norm": 0.10731147229671478, + "learning_rate": 2.529349093499642e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011768334126099945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667804926633835, + "rkd_teacher_entropy": 3.7324641704559327, + "rkd_teacher_similarity_mean": 0.7784021556377411, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8890 + }, + { + "epoch": 2.5894675589176606, + "flow_matching_loss": 0.01776147074997425, + "grad_norm": 0.1261121928691864, + "learning_rate": 2.528145764105205e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01242622509598732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.370464962720871, + "rkd_teacher_entropy": 3.7602404832839964, + "rkd_teacher_similarity_mean": 0.7838956177234649, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8900 + }, + { + "epoch": 2.5923770730288043, + "flow_matching_loss": 0.016483073029667138, + "grad_norm": 0.1614101380109787, + "learning_rate": 2.5269411854167166e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012784518115222455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3704961687326431, + "rkd_teacher_entropy": 3.7415581703186036, + "rkd_teacher_similarity_mean": 0.7822488129138947, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8910 + }, + { + "epoch": 2.5952865871399475, + "flow_matching_loss": 0.01867145476862788, + "grad_norm": 0.1432165652513504, + "learning_rate": 2.5257353588978534e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013147895690053701, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36445710361003875, + "rkd_teacher_entropy": 3.7155136346817015, + "rkd_teacher_similarity_mean": 0.775730699300766, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8920 + }, + { + "epoch": 2.598196101251091, + "flow_matching_loss": 0.020649300143122672, + "grad_norm": 0.16649171710014343, + "learning_rate": 2.5245282860138083e-05, + "loss": 0.0271, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012928965594619512, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3636403650045395, + "rkd_teacher_entropy": 3.7296539783477782, + "rkd_teacher_similarity_mean": 0.775150591135025, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8930 + }, + { + "epoch": 2.6011056153622345, + "flow_matching_loss": 0.018171035684645176, + "grad_norm": 0.17337608337402344, + "learning_rate": 2.5233199682312894e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012626446038484573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36463565528392794, + "rkd_teacher_entropy": 3.732717728614807, + "rkd_teacher_similarity_mean": 0.7775791049003601, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8940 + }, + { + "epoch": 2.604015129473378, + "flow_matching_loss": 0.016504670027643442, + "grad_norm": 0.14009107649326324, + "learning_rate": 2.5221104070185163e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011262989882379771, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3666758179664612, + "rkd_teacher_entropy": 3.7280877113342283, + "rkd_teacher_similarity_mean": 0.7786011457443237, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8950 + }, + { + "epoch": 2.6069246435845215, + "flow_matching_loss": 0.019615919236093758, + "grad_norm": 0.13457055389881134, + "learning_rate": 2.5208996038452204e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012037516571581364, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3656591296195984, + "rkd_teacher_entropy": 3.7246221542358398, + "rkd_teacher_similarity_mean": 0.7774571895599365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8960 + }, + { + "epoch": 2.6098341576956647, + "flow_matching_loss": 0.02007651552557945, + "grad_norm": 0.12569878995418549, + "learning_rate": 2.5196875601826403e-05, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01252814345061779, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36148794293403624, + "rkd_teacher_entropy": 3.7187655925750733, + "rkd_teacher_similarity_mean": 0.7741018652915954, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8970 + }, + { + "epoch": 2.6127436718068084, + "flow_matching_loss": 0.017153575271368026, + "grad_norm": 0.1465749591588974, + "learning_rate": 2.518474277503525e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01277107186615467, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36374854743480683, + "rkd_teacher_entropy": 3.723841667175293, + "rkd_teacher_similarity_mean": 0.775228077173233, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8980 + }, + { + "epoch": 2.6156531859179517, + "flow_matching_loss": 0.019156374223530292, + "grad_norm": 0.12088320404291153, + "learning_rate": 2.5172597572821266e-05, + "loss": 0.0262, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01410283474251628, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3668968141078949, + "rkd_teacher_entropy": 3.7223790645599366, + "rkd_teacher_similarity_mean": 0.776358139514923, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8990 + }, + { + "epoch": 2.618562700029095, + "flow_matching_loss": 0.017708666156977415, + "grad_norm": 0.13951531052589417, + "learning_rate": 2.5160440009942015e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01118061044253409, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37156625390052794, + "rkd_teacher_entropy": 3.741232466697693, + "rkd_teacher_similarity_mean": 0.7836395978927613, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9000 + }, + { + "epoch": 2.6214722141402387, + "flow_matching_loss": 0.018069773353636263, + "grad_norm": 0.1563863307237625, + "learning_rate": 2.514827010117009e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012355213239789008, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3627943992614746, + "rkd_teacher_entropy": 3.720660376548767, + "rkd_teacher_similarity_mean": 0.7716081142425537, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9010 + }, + { + "epoch": 2.624381728251382, + "flow_matching_loss": 0.018796525523066522, + "grad_norm": 0.26488032937049866, + "learning_rate": 2.5136087861293068e-05, + "loss": 0.027, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.016339229699224234, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3715549141168594, + "rkd_teacher_entropy": 3.746927046775818, + "rkd_teacher_similarity_mean": 0.7823692083358764, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9020 + }, + { + "epoch": 2.627291242362525, + "flow_matching_loss": 0.01863098321482539, + "grad_norm": 0.15910044312477112, + "learning_rate": 2.5123893305113525e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012687185406684875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3619473308324814, + "rkd_teacher_entropy": 3.7207666635513306, + "rkd_teacher_similarity_mean": 0.774113941192627, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9030 + }, + { + "epoch": 2.630200756473669, + "flow_matching_loss": 0.016702887322753667, + "grad_norm": 0.1558167040348053, + "learning_rate": 2.5111686447448997e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012670345883816481, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35915579795837405, + "rkd_teacher_entropy": 3.7127793550491335, + "rkd_teacher_similarity_mean": 0.771245801448822, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9040 + }, + { + "epoch": 2.633110270584812, + "flow_matching_loss": 0.016510108020156622, + "grad_norm": 0.11819407343864441, + "learning_rate": 2.5099467303131966e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01400742270052433, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3712888598442078, + "rkd_teacher_entropy": 3.7600403785705567, + "rkd_teacher_similarity_mean": 0.7848274350166321, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9050 + }, + { + "epoch": 2.636019784695956, + "flow_matching_loss": 0.01751736057922244, + "grad_norm": 0.14384271204471588, + "learning_rate": 2.508723588700984e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012315939366817474, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615271657705307, + "rkd_teacher_entropy": 3.711024832725525, + "rkd_teacher_similarity_mean": 0.7731137156486512, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9060 + }, + { + "epoch": 2.638929298807099, + "flow_matching_loss": 0.018203638587147, + "grad_norm": 0.15426407754421234, + "learning_rate": 2.5074992213944952e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014662184100598098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36679006516933443, + "rkd_teacher_entropy": 3.738508200645447, + "rkd_teacher_similarity_mean": 0.7795518934726715, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9070 + }, + { + "epoch": 2.641838812918243, + "flow_matching_loss": 0.017279886361211538, + "grad_norm": 0.1369158774614334, + "learning_rate": 2.506273629881451e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015254965890198946, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3654511749744415, + "rkd_teacher_entropy": 3.7285375356674195, + "rkd_teacher_similarity_mean": 0.7784601151943207, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9080 + }, + { + "epoch": 2.644748327029386, + "flow_matching_loss": 0.016102917771786452, + "grad_norm": 0.1729762852191925, + "learning_rate": 2.5050468156510617e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012839681934565306, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3645689457654953, + "rkd_teacher_entropy": 3.7265661716461183, + "rkd_teacher_similarity_mean": 0.776516604423523, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9090 + }, + { + "epoch": 2.6476578411405294, + "flow_matching_loss": 0.017489408887922765, + "grad_norm": 0.09348946064710617, + "learning_rate": 2.5038187801940215e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012412222009152174, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3598980963230133, + "rkd_teacher_entropy": 3.7132819652557374, + "rkd_teacher_similarity_mean": 0.7708144724369049, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9100 + }, + { + "epoch": 2.650567355251673, + "flow_matching_loss": 0.016054209880530836, + "grad_norm": 0.1550411432981491, + "learning_rate": 2.5025895250025088e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013728812430053949, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667395532131195, + "rkd_teacher_entropy": 3.73428053855896, + "rkd_teacher_similarity_mean": 0.7799866974353791, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9110 + }, + { + "epoch": 2.6534768693628163, + "flow_matching_loss": 0.01767876036465168, + "grad_norm": 0.16347365081310272, + "learning_rate": 2.501359051570186e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01219122838228941, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36775524020195005, + "rkd_teacher_entropy": 3.738880658149719, + "rkd_teacher_similarity_mean": 0.7799138307571412, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9120 + }, + { + "epoch": 2.6563863834739596, + "flow_matching_loss": 0.01639189412817359, + "grad_norm": 0.12241919338703156, + "learning_rate": 2.500127361392193e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011574078490957618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36441821455955503, + "rkd_teacher_entropy": 3.719883370399475, + "rkd_teacher_similarity_mean": 0.775643789768219, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9130 + }, + { + "epoch": 2.6592958975851033, + "flow_matching_loss": 0.016539855394512415, + "grad_norm": 0.12623314559459686, + "learning_rate": 2.49889445596515e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014014622010290623, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35792493522167207, + "rkd_teacher_entropy": 3.7050802946090697, + "rkd_teacher_similarity_mean": 0.7709018647670746, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9140 + }, + { + "epoch": 2.6622054116962466, + "flow_matching_loss": 0.019701634254306554, + "grad_norm": 0.13192583620548248, + "learning_rate": 2.497660336787154e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013720927573740483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36695324778556826, + "rkd_teacher_entropy": 3.743352484703064, + "rkd_teacher_similarity_mean": 0.7781731307506561, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9150 + }, + { + "epoch": 2.6651149258073903, + "flow_matching_loss": 0.015917022712528706, + "grad_norm": 0.1203225702047348, + "learning_rate": 2.496425005357775e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013438584841787815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3661386609077454, + "rkd_teacher_entropy": 3.741457533836365, + "rkd_teacher_similarity_mean": 0.7770956635475159, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9160 + }, + { + "epoch": 2.6680244399185336, + "flow_matching_loss": 0.017508860677480698, + "grad_norm": 0.11299998313188553, + "learning_rate": 2.4951884631780578e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011973508587107062, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3748813807964325, + "rkd_teacher_entropy": 3.761039161682129, + "rkd_teacher_similarity_mean": 0.7869935095310211, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9170 + }, + { + "epoch": 2.6709339540296773, + "flow_matching_loss": 0.01637333882972598, + "grad_norm": 0.130732461810112, + "learning_rate": 2.493950711750518e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012656942661851644, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3629699170589447, + "rkd_teacher_entropy": 3.7251892566680906, + "rkd_teacher_similarity_mean": 0.7755920708179473, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9180 + }, + { + "epoch": 2.6738434681408205, + "flow_matching_loss": 0.019634135346859694, + "grad_norm": 0.18298907577991486, + "learning_rate": 2.49271175257914e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013787918072193862, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36931596100330355, + "rkd_teacher_entropy": 3.7359626054763795, + "rkd_teacher_similarity_mean": 0.781010365486145, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9190 + }, + { + "epoch": 2.676752982251964, + "flow_matching_loss": 0.018052510824054478, + "grad_norm": 0.21864603459835052, + "learning_rate": 2.4914715871693757e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013666793797165155, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37082228660583494, + "rkd_teacher_entropy": 3.7388801336288453, + "rkd_teacher_similarity_mean": 0.7798140525817872, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9200 + }, + { + "epoch": 2.6796624963631075, + "flow_matching_loss": 0.017994354013353586, + "grad_norm": 0.22299028933048248, + "learning_rate": 2.4902302170281438e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013290986604988574, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3621255546808243, + "rkd_teacher_entropy": 3.730490779876709, + "rkd_teacher_similarity_mean": 0.774021202325821, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9210 + }, + { + "epoch": 2.6825720104742508, + "flow_matching_loss": 0.017469609249383213, + "grad_norm": 0.18805071711540222, + "learning_rate": 2.4889876436638252e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013132947403937579, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3591632008552551, + "rkd_teacher_entropy": 3.722069430351257, + "rkd_teacher_similarity_mean": 0.7733973741531373, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9220 + }, + { + "epoch": 2.685481524585394, + "flow_matching_loss": 0.01805204274132848, + "grad_norm": 0.13293226063251495, + "learning_rate": 2.4877438685862643e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011480205971747637, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36940646171569824, + "rkd_teacher_entropy": 3.751945400238037, + "rkd_teacher_similarity_mean": 0.7816911160945892, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9230 + }, + { + "epoch": 2.6883910386965377, + "flow_matching_loss": 0.016210449021309616, + "grad_norm": 0.19410380721092224, + "learning_rate": 2.486498893306765e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015251066815108062, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796679019927979, + "rkd_teacher_entropy": 3.761043119430542, + "rkd_teacher_similarity_mean": 0.7886355876922607, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9240 + }, + { + "epoch": 2.691300552807681, + "flow_matching_loss": 0.01738229040056467, + "grad_norm": 0.11491759121417999, + "learning_rate": 2.485252719338089e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013042170740664005, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3596039295196533, + "rkd_teacher_entropy": 3.696239185333252, + "rkd_teacher_similarity_mean": 0.7707727432250977, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9250 + }, + { + "epoch": 2.6942100669188247, + "flow_matching_loss": 0.01818001354113221, + "grad_norm": 0.13687194883823395, + "learning_rate": 2.4840053481944563e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011208295822143555, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3617821753025055, + "rkd_teacher_entropy": 3.725629711151123, + "rkd_teacher_similarity_mean": 0.7749606370925903, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9260 + }, + { + "epoch": 2.697119581029968, + "flow_matching_loss": 0.020235590264201166, + "grad_norm": 0.13293008506298065, + "learning_rate": 2.4827567813915398e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010960825439542531, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756353259086609, + "rkd_teacher_entropy": 3.765296721458435, + "rkd_teacher_similarity_mean": 0.7879612803459167, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9270 + }, + { + "epoch": 2.7000290951411117, + "flow_matching_loss": 0.017747281584888697, + "grad_norm": 0.15174727141857147, + "learning_rate": 2.481507020446466e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011601111385971308, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37579484581947326, + "rkd_teacher_entropy": 3.7634074449539185, + "rkd_teacher_similarity_mean": 0.7880571126937866, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9280 + }, + { + "epoch": 2.702938609252255, + "flow_matching_loss": 0.015741273015737533, + "grad_norm": 0.12734173238277435, + "learning_rate": 2.4802560668778122e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010239499434828759, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3685460865497589, + "rkd_teacher_entropy": 3.735206389427185, + "rkd_teacher_similarity_mean": 0.7825315475463868, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9290 + }, + { + "epoch": 2.705848123363398, + "flow_matching_loss": 0.017997551150619982, + "grad_norm": 0.15221308171749115, + "learning_rate": 2.479003922205605e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010838018916547298, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36262173354625704, + "rkd_teacher_entropy": 3.7255563020706175, + "rkd_teacher_similarity_mean": 0.7762382090091705, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9300 + }, + { + "epoch": 2.708757637474542, + "flow_matching_loss": 0.01662511918693781, + "grad_norm": 0.14995208382606506, + "learning_rate": 2.4777505879513183e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011008688155561686, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35629257261753083, + "rkd_teacher_entropy": 3.7106756925582887, + "rkd_teacher_similarity_mean": 0.7698794603347778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9310 + }, + { + "epoch": 2.711667151585685, + "flow_matching_loss": 0.015269198082387447, + "grad_norm": 0.1548219621181488, + "learning_rate": 2.4764960656378714e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012531380588188767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38022964596748354, + "rkd_teacher_entropy": 3.7657702684402468, + "rkd_teacher_similarity_mean": 0.7926065742969512, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9320 + }, + { + "epoch": 2.7145766656968284, + "flow_matching_loss": 0.017236685287207364, + "grad_norm": 0.21860818564891815, + "learning_rate": 2.4752403567896274e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015251753758639098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3662213355302811, + "rkd_teacher_entropy": 3.7284587621688843, + "rkd_teacher_similarity_mean": 0.7789084076881408, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9330 + }, + { + "epoch": 2.717486179807972, + "flow_matching_loss": 0.020528213679790498, + "grad_norm": 0.1689334660768509, + "learning_rate": 2.47398346293239e-05, + "loss": 0.0261, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011207887716591359, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36906967759132386, + "rkd_teacher_entropy": 3.742044711112976, + "rkd_teacher_similarity_mean": 0.7821008384227752, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9340 + }, + { + "epoch": 2.7203956939191154, + "flow_matching_loss": 0.018418703228235245, + "grad_norm": 0.13403739035129547, + "learning_rate": 2.4727253855934055e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01637521032243967, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667460799217224, + "rkd_teacher_entropy": 3.7305289268493653, + "rkd_teacher_similarity_mean": 0.7771606385707855, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9350 + }, + { + "epoch": 2.723305208030259, + "flow_matching_loss": 0.01614232612773776, + "grad_norm": 0.13790079951286316, + "learning_rate": 2.4714661263013548e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011139085981994867, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37548198699951174, + "rkd_teacher_entropy": 3.7599251508712768, + "rkd_teacher_similarity_mean": 0.7884718120098114, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9360 + }, + { + "epoch": 2.7262147221414024, + "flow_matching_loss": 0.016586100310087205, + "grad_norm": 0.12726151943206787, + "learning_rate": 2.4702056865863575e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014427869487553835, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36540975570678713, + "rkd_teacher_entropy": 3.738128900527954, + "rkd_teacher_similarity_mean": 0.7803550660610199, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9370 + }, + { + "epoch": 2.729124236252546, + "flow_matching_loss": 0.014333042409271001, + "grad_norm": 0.12888318300247192, + "learning_rate": 2.4689440679799672e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01336217662319541, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37128232717514037, + "rkd_teacher_entropy": 3.7461360454559327, + "rkd_teacher_similarity_mean": 0.7841349363327026, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9380 + }, + { + "epoch": 2.7320337503636893, + "flow_matching_loss": 0.017846071533858775, + "grad_norm": 0.15783576667308807, + "learning_rate": 2.4676812720151678e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013770424574613572, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36519057154655454, + "rkd_teacher_entropy": 3.732767105102539, + "rkd_teacher_similarity_mean": 0.7785597503185272, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9390 + }, + { + "epoch": 2.7349432644748326, + "flow_matching_loss": 0.018297394365072252, + "grad_norm": 0.16637006402015686, + "learning_rate": 2.466417300226377e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012636163691058754, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3606181651353836, + "rkd_teacher_entropy": 3.7297631025314333, + "rkd_teacher_similarity_mean": 0.7743042767047882, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9400 + }, + { + "epoch": 2.7378527785859763, + "flow_matching_loss": 0.018553705140948295, + "grad_norm": 0.14688493311405182, + "learning_rate": 2.4651521541494394e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012218929268419743, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667109191417694, + "rkd_teacher_entropy": 3.729120945930481, + "rkd_teacher_similarity_mean": 0.7776377618312835, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9410 + }, + { + "epoch": 2.7407622926971196, + "flow_matching_loss": 0.016085980460047722, + "grad_norm": 0.14399653673171997, + "learning_rate": 2.4638858353216267e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013563227746635676, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37697961926460266, + "rkd_teacher_entropy": 3.758588981628418, + "rkd_teacher_similarity_mean": 0.7903646647930145, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9420 + }, + { + "epoch": 2.743671806808263, + "flow_matching_loss": 0.016065371129661797, + "grad_norm": 0.15581943094730377, + "learning_rate": 2.4626183452816355e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011481870338320732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36627574563026427, + "rkd_teacher_entropy": 3.731581926345825, + "rkd_teacher_similarity_mean": 0.7798368632793427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9430 + }, + { + "epoch": 2.7465813209194065, + "flow_matching_loss": 0.017399888206273317, + "grad_norm": 0.13768808543682098, + "learning_rate": 2.4613496855695855e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01264187591150403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3687055051326752, + "rkd_teacher_entropy": 3.741658878326416, + "rkd_teacher_similarity_mean": 0.7801895380020142, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9440 + }, + { + "epoch": 2.74949083503055, + "flow_matching_loss": 0.017258578445762396, + "grad_norm": 0.22055508196353912, + "learning_rate": 2.4600798577270183e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013002193765714765, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3616029292345047, + "rkd_teacher_entropy": 3.7187249183654787, + "rkd_teacher_similarity_mean": 0.7725198626518249, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9450 + }, + { + "epoch": 2.752400349141693, + "flow_matching_loss": 0.018868292216211557, + "grad_norm": 0.2107601761817932, + "learning_rate": 2.4588088632968944e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01368349213153124, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3658294856548309, + "rkd_teacher_entropy": 3.7362220525741576, + "rkd_teacher_similarity_mean": 0.7782333672046662, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9460 + }, + { + "epoch": 2.7553098632528368, + "flow_matching_loss": 0.018071350269019605, + "grad_norm": 0.1072462871670723, + "learning_rate": 2.4575367038235916e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011628110241144896, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36528390645980835, + "rkd_teacher_entropy": 3.7392989873886107, + "rkd_teacher_similarity_mean": 0.7780532240867615, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9470 + }, + { + "epoch": 2.7582193773639805, + "flow_matching_loss": 0.017120683938264845, + "grad_norm": 0.16018694639205933, + "learning_rate": 2.4562633808529043e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013454838749021291, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3746708154678345, + "rkd_teacher_entropy": 3.752930927276611, + "rkd_teacher_similarity_mean": 0.7844320237636566, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9480 + }, + { + "epoch": 2.7611288914751237, + "flow_matching_loss": 0.01563269579783082, + "grad_norm": 0.1327970325946808, + "learning_rate": 2.4549888959320396e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014724023267626762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3653744697570801, + "rkd_teacher_entropy": 3.730398654937744, + "rkd_teacher_similarity_mean": 0.7759539067745209, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9490 + }, + { + "epoch": 2.764038405586267, + "flow_matching_loss": 0.014439627062529325, + "grad_norm": 0.137308269739151, + "learning_rate": 2.4537132506096162e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011483583878725768, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667872309684753, + "rkd_teacher_entropy": 3.7253729343414306, + "rkd_teacher_similarity_mean": 0.7774311602115631, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9500 + }, + { + "epoch": 2.7669479196974107, + "flow_matching_loss": 0.017795360647141933, + "grad_norm": 0.13644862174987793, + "learning_rate": 2.452436446435664e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010309650981798767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3679140478372574, + "rkd_teacher_entropy": 3.7180522680282593, + "rkd_teacher_similarity_mean": 0.7776533901691437, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9510 + }, + { + "epoch": 2.769857433808554, + "flow_matching_loss": 0.01837893556803465, + "grad_norm": 0.14938677847385406, + "learning_rate": 2.451158484961621e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014444986451417207, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3679933577775955, + "rkd_teacher_entropy": 3.7327599048614504, + "rkd_teacher_similarity_mean": 0.7769038856029511, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9520 + }, + { + "epoch": 2.7727669479196972, + "flow_matching_loss": 0.01406951816752553, + "grad_norm": 0.11685021966695786, + "learning_rate": 2.4498793677403304e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013993985764682294, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3721933662891388, + "rkd_teacher_entropy": 3.734143829345703, + "rkd_teacher_similarity_mean": 0.7804652333259583, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9530 + }, + { + "epoch": 2.775676462030841, + "flow_matching_loss": 0.01756548583507538, + "grad_norm": 0.13069483637809753, + "learning_rate": 2.4485990963260398e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01157531263306737, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36986401975154876, + "rkd_teacher_entropy": 3.7397990465164184, + "rkd_teacher_similarity_mean": 0.780836033821106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9540 + }, + { + "epoch": 2.778585976141984, + "flow_matching_loss": 0.017334328033030033, + "grad_norm": 0.13514837622642517, + "learning_rate": 2.4473176722744e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011942513333633543, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37020044922828677, + "rkd_teacher_entropy": 3.7284284830093384, + "rkd_teacher_similarity_mean": 0.7798441708087921, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9550 + }, + { + "epoch": 2.7814954902531275, + "flow_matching_loss": 0.0153429982252419, + "grad_norm": 0.13173796236515045, + "learning_rate": 2.446035097142463e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012924288865178823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3763573408126831, + "rkd_teacher_entropy": 3.7555334091186525, + "rkd_teacher_similarity_mean": 0.7877567350864411, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9560 + }, + { + "epoch": 2.784405004364271, + "flow_matching_loss": 0.01747227683663368, + "grad_norm": 0.14326874911785126, + "learning_rate": 2.444751372488677e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01069166762754321, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3691759079694748, + "rkd_teacher_entropy": 3.7541622877120973, + "rkd_teacher_similarity_mean": 0.7827766835689545, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9570 + }, + { + "epoch": 2.7873145184754144, + "flow_matching_loss": 0.018710077553987504, + "grad_norm": 0.1571616232395172, + "learning_rate": 2.443466499872889e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012757338397204877, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3639814406633377, + "rkd_teacher_entropy": 3.724662017822266, + "rkd_teacher_similarity_mean": 0.7768121778964996, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9580 + }, + { + "epoch": 2.790224032586558, + "flow_matching_loss": 0.017854737769812345, + "grad_norm": 0.18156267702579498, + "learning_rate": 2.4421804808563413e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013226181734353304, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36387525498867035, + "rkd_teacher_entropy": 3.727001404762268, + "rkd_teacher_similarity_mean": 0.7751019775867463, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9590 + }, + { + "epoch": 2.7931335466977014, + "flow_matching_loss": 0.01685693981125951, + "grad_norm": 0.20043085515499115, + "learning_rate": 2.440893317001667e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012121042422950267, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3700016409158707, + "rkd_teacher_entropy": 3.7376243829727174, + "rkd_teacher_similarity_mean": 0.7817075610160827, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9600 + }, + { + "epoch": 2.796043060808845, + "flow_matching_loss": 0.015925179701298475, + "grad_norm": 0.11320367455482483, + "learning_rate": 2.4396050098728925e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011285689380019902, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36201994121074677, + "rkd_teacher_entropy": 3.7112956047058105, + "rkd_teacher_similarity_mean": 0.7734951078891754, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9610 + }, + { + "epoch": 2.7989525749199884, + "flow_matching_loss": 0.017611027508974076, + "grad_norm": 0.15743422508239746, + "learning_rate": 2.4383155610354314e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014944505691528321, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3661722093820572, + "rkd_teacher_entropy": 3.735802960395813, + "rkd_teacher_similarity_mean": 0.7788307130336761, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9620 + }, + { + "epoch": 2.8018620890311317, + "flow_matching_loss": 0.01602081386372447, + "grad_norm": 0.11323318630456924, + "learning_rate": 2.437024972056087e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011512602213770151, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3727121114730835, + "rkd_teacher_entropy": 3.7392367124557495, + "rkd_teacher_similarity_mean": 0.782190328836441, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9630 + }, + { + "epoch": 2.8047716031422754, + "flow_matching_loss": 0.01707064751535654, + "grad_norm": 0.11336949467658997, + "learning_rate": 2.4357332445030452e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012430074159055948, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3810840666294098, + "rkd_teacher_entropy": 3.7761940240859984, + "rkd_teacher_similarity_mean": 0.791842257976532, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9640 + }, + { + "epoch": 2.8076811172534186, + "flow_matching_loss": 0.016519079450517893, + "grad_norm": 0.13130104541778564, + "learning_rate": 2.434440379945878e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013197357673197985, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3660331219434738, + "rkd_teacher_entropy": 3.728875255584717, + "rkd_teacher_similarity_mean": 0.7758856058120728, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9650 + }, + { + "epoch": 2.810590631364562, + "flow_matching_loss": 0.015084038954228163, + "grad_norm": 0.1227477565407753, + "learning_rate": 2.4331463799555366e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01123357554897666, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711556613445282, + "rkd_teacher_entropy": 3.739247512817383, + "rkd_teacher_similarity_mean": 0.7818192839622498, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9660 + }, + { + "epoch": 2.8135001454757056, + "flow_matching_loss": 0.01637780973687768, + "grad_norm": 0.1374252736568451, + "learning_rate": 2.4318512461043544e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011316674761474133, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37200461626052855, + "rkd_teacher_entropy": 3.746713399887085, + "rkd_teacher_similarity_mean": 0.7829760313034058, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9670 + }, + { + "epoch": 2.816409659586849, + "flow_matching_loss": 0.014921251405030488, + "grad_norm": 0.13771143555641174, + "learning_rate": 2.4305549799660397e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011711774487048387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3689973443746567, + "rkd_teacher_entropy": 3.73157422542572, + "rkd_teacher_similarity_mean": 0.7796384871006012, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9680 + }, + { + "epoch": 2.8193191736979926, + "flow_matching_loss": 0.01622715061530471, + "grad_norm": 0.17169059813022614, + "learning_rate": 2.429257583115679e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011040889145806431, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3754484087228775, + "rkd_teacher_entropy": 3.7445560693740845, + "rkd_teacher_similarity_mean": 0.7840044438838959, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9690 + }, + { + "epoch": 2.822228687809136, + "flow_matching_loss": 0.016725740488618614, + "grad_norm": 0.13401731848716736, + "learning_rate": 2.4279590571297316e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012584947934374213, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3643516719341278, + "rkd_teacher_entropy": 3.7225683450698854, + "rkd_teacher_similarity_mean": 0.7745306134223938, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9700 + }, + { + "epoch": 2.8251382019202795, + "flow_matching_loss": 0.016780093032866716, + "grad_norm": 0.14836165308952332, + "learning_rate": 2.4266594035860288e-05, + "loss": 0.0241, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014693443290889263, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3714064538478851, + "rkd_teacher_entropy": 3.743561053276062, + "rkd_teacher_similarity_mean": 0.7807553529739379, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9710 + }, + { + "epoch": 2.828047716031423, + "flow_matching_loss": 0.01606843266636133, + "grad_norm": 0.14459069073200226, + "learning_rate": 2.425358624063773e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012908620992675424, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36354524195194243, + "rkd_teacher_entropy": 3.7233094692230226, + "rkd_teacher_similarity_mean": 0.7749551475048065, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9720 + }, + { + "epoch": 2.830957230142566, + "flow_matching_loss": 0.014607834815979003, + "grad_norm": 0.13659247756004333, + "learning_rate": 2.424056720143532e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012442018836736679, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3717538893222809, + "rkd_teacher_entropy": 3.738024687767029, + "rkd_teacher_similarity_mean": 0.783543199300766, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9730 + }, + { + "epoch": 2.8338667442537098, + "flow_matching_loss": 0.019846631772816183, + "grad_norm": 0.24807776510715485, + "learning_rate": 2.422753693407244e-05, + "loss": 0.0266, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013543696235865354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3706625133752823, + "rkd_teacher_entropy": 3.742614006996155, + "rkd_teacher_similarity_mean": 0.783146858215332, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9740 + }, + { + "epoch": 2.836776258364853, + "flow_matching_loss": 0.018228444550186396, + "grad_norm": 0.15365378558635712, + "learning_rate": 2.421449545438209e-05, + "loss": 0.0248, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013156292866915465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3719728380441666, + "rkd_teacher_entropy": 3.7433380126953124, + "rkd_teacher_similarity_mean": 0.7834107100963592, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9750 + }, + { + "epoch": 2.8396857724759963, + "flow_matching_loss": 0.016686791181564332, + "grad_norm": 0.10917122662067413, + "learning_rate": 2.4201442778210887e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01770328339189291, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36107181906700136, + "rkd_teacher_entropy": 3.7052740335464476, + "rkd_teacher_similarity_mean": 0.7701256453990937, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9760 + }, + { + "epoch": 2.84259528658714, + "flow_matching_loss": 0.016041951067745686, + "grad_norm": 0.12127360701560974, + "learning_rate": 2.418837892141907e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012642393121495843, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37297395169734954, + "rkd_teacher_entropy": 3.7492265939712524, + "rkd_teacher_similarity_mean": 0.7834324240684509, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9770 + }, + { + "epoch": 2.8455048006982833, + "flow_matching_loss": 0.018566865287721158, + "grad_norm": 0.18751196563243866, + "learning_rate": 2.4175303899880458e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01236419058404863, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3623525470495224, + "rkd_teacher_entropy": 3.719104361534119, + "rkd_teacher_similarity_mean": 0.7737934827804566, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9780 + }, + { + "epoch": 2.848414314809427, + "flow_matching_loss": 0.01919761998578906, + "grad_norm": 0.15769188106060028, + "learning_rate": 2.4162217729482427e-05, + "loss": 0.026, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01354818493127823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36655587553977964, + "rkd_teacher_entropy": 3.735474157333374, + "rkd_teacher_similarity_mean": 0.7794506251811981, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9790 + }, + { + "epoch": 2.8513238289205702, + "flow_matching_loss": 0.015887352731078865, + "grad_norm": 0.1521512120962143, + "learning_rate": 2.4149120426125918e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012782522197812795, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3691562205553055, + "rkd_teacher_entropy": 3.732734274864197, + "rkd_teacher_similarity_mean": 0.7797498881816864, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9800 + }, + { + "epoch": 2.854233343031714, + "flow_matching_loss": 0.014370389468967914, + "grad_norm": 0.16314572095870972, + "learning_rate": 2.413601200572538e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012145610991865396, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36845543682575227, + "rkd_teacher_entropy": 3.75138635635376, + "rkd_teacher_similarity_mean": 0.7806728482246399, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9810 + }, + { + "epoch": 2.857142857142857, + "flow_matching_loss": 0.015658656880259515, + "grad_norm": 0.24065613746643066, + "learning_rate": 2.4122892484208794e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015057158097624779, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.367659130692482, + "rkd_teacher_entropy": 3.747991681098938, + "rkd_teacher_similarity_mean": 0.7798510015010833, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9820 + }, + { + "epoch": 2.8600523712540005, + "flow_matching_loss": 0.016800713539123536, + "grad_norm": 0.15275758504867554, + "learning_rate": 2.4109761877517603e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01129815992899239, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3714487969875336, + "rkd_teacher_entropy": 3.74822678565979, + "rkd_teacher_similarity_mean": 0.7835044980049133, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9830 + }, + { + "epoch": 2.862961885365144, + "flow_matching_loss": 0.017037113290280105, + "grad_norm": 0.13294647634029388, + "learning_rate": 2.4096620201606737e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01370910620316863, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37066524028778075, + "rkd_teacher_entropy": 3.732206869125366, + "rkd_teacher_similarity_mean": 0.7802624702453613, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9840 + }, + { + "epoch": 2.8658713994762874, + "flow_matching_loss": 0.01877763345837593, + "grad_norm": 0.18379931151866913, + "learning_rate": 2.4083467472444573e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012353901192545891, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3665796935558319, + "rkd_teacher_entropy": 3.7154131889343263, + "rkd_teacher_similarity_mean": 0.7750869929790497, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9850 + }, + { + "epoch": 2.8687809135874307, + "flow_matching_loss": 0.01646040491759777, + "grad_norm": 0.16114625334739685, + "learning_rate": 2.4070303706012912e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013398127490654587, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3651078432798386, + "rkd_teacher_entropy": 3.716111898422241, + "rkd_teacher_similarity_mean": 0.7753825902938842, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9860 + }, + { + "epoch": 2.8716904276985744, + "flow_matching_loss": 0.018037542700767517, + "grad_norm": 0.13824623823165894, + "learning_rate": 2.4057128918306975e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012738740723580121, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3646943509578705, + "rkd_teacher_entropy": 3.720466065406799, + "rkd_teacher_similarity_mean": 0.776556670665741, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9870 + }, + { + "epoch": 2.8745999418097177, + "flow_matching_loss": 0.01714205099269748, + "grad_norm": 0.2409193515777588, + "learning_rate": 2.4043943125335373e-05, + "loss": 0.0243, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014306928496807814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36653758883476256, + "rkd_teacher_entropy": 3.7379023313522337, + "rkd_teacher_similarity_mean": 0.7796442866325378, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9880 + }, + { + "epoch": 2.8775094559208614, + "flow_matching_loss": 0.017309493385255337, + "grad_norm": 0.2990872859954834, + "learning_rate": 2.403074634312008e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015104982955381274, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.370671683549881, + "rkd_teacher_entropy": 3.7489468097686767, + "rkd_teacher_similarity_mean": 0.782912939786911, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9890 + }, + { + "epoch": 2.8804189700320046, + "flow_matching_loss": 0.016979212313890456, + "grad_norm": 0.14379695057868958, + "learning_rate": 2.4017538587696442e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013279007747769356, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36451053619384766, + "rkd_teacher_entropy": 3.724523663520813, + "rkd_teacher_similarity_mean": 0.7770075917243957, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9900 + }, + { + "epoch": 2.8833284841431484, + "flow_matching_loss": 0.01620495514944196, + "grad_norm": 0.13511992990970612, + "learning_rate": 2.4004319875113118e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013504832377657294, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36905082762241365, + "rkd_teacher_entropy": 3.7351325273513796, + "rkd_teacher_similarity_mean": 0.7821147441864014, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9910 + }, + { + "epoch": 2.8862379982542916, + "flow_matching_loss": 0.019489561580121516, + "grad_norm": 0.15634030103683472, + "learning_rate": 2.3991090221432096e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012733074370771646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36347758769989014, + "rkd_teacher_entropy": 3.728486752510071, + "rkd_teacher_similarity_mean": 0.7764881432056427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9920 + }, + { + "epoch": 2.889147512365435, + "flow_matching_loss": 0.020410037972033022, + "grad_norm": 0.17490066587924957, + "learning_rate": 2.397784964272865e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01348488563671708, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3626086413860321, + "rkd_teacher_entropy": 3.7286502599716185, + "rkd_teacher_similarity_mean": 0.7762650191783905, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9930 + }, + { + "epoch": 2.8920570264765786, + "flow_matching_loss": 0.016923438850790264, + "grad_norm": 0.13471738994121552, + "learning_rate": 2.3964598155091335e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01275143576785922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.369083908200264, + "rkd_teacher_entropy": 3.73758385181427, + "rkd_teacher_similarity_mean": 0.7806058466434479, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9940 + }, + { + "epoch": 2.894966540587722, + "flow_matching_loss": 0.016821273230016233, + "grad_norm": 0.13952839374542236, + "learning_rate": 2.3951335774621952e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010630470793694257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37037788331508636, + "rkd_teacher_entropy": 3.744375205039978, + "rkd_teacher_similarity_mean": 0.7827666997909546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9950 + }, + { + "epoch": 2.897876054698865, + "flow_matching_loss": 0.01598936477676034, + "grad_norm": 0.1451280564069748, + "learning_rate": 2.3938062517435548e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01156923845410347, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3704921990633011, + "rkd_teacher_entropy": 3.7492501735687256, + "rkd_teacher_similarity_mean": 0.7805427074432373, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9960 + }, + { + "epoch": 2.900785568810009, + "flow_matching_loss": 0.016246734000742436, + "grad_norm": 0.1310422569513321, + "learning_rate": 2.392477839966038e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01548243835568428, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3637304812669754, + "rkd_teacher_entropy": 3.7259172201156616, + "rkd_teacher_similarity_mean": 0.7753191828727722, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9970 + }, + { + "epoch": 2.903695082921152, + "flow_matching_loss": 0.01700121406465769, + "grad_norm": 0.14115989208221436, + "learning_rate": 2.3911483437437904e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012534613907337188, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37021398842334746, + "rkd_teacher_entropy": 3.7419344186782837, + "rkd_teacher_similarity_mean": 0.7815481901168824, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9980 + }, + { + "epoch": 2.9066045970322953, + "flow_matching_loss": 0.015524263586848974, + "grad_norm": 0.1219259575009346, + "learning_rate": 2.3898177646922757e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010750633710995317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615036606788635, + "rkd_teacher_entropy": 3.714284610748291, + "rkd_teacher_similarity_mean": 0.7736867249011994, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9990 + }, + { + "epoch": 2.909514111143439, + "flow_matching_loss": 0.016679167561233044, + "grad_norm": 0.14415453374385834, + "learning_rate": 2.3884861044282722e-05, + "loss": 0.0246, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01586901433765888, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3663018226623535, + "rkd_teacher_entropy": 3.7339343547821047, + "rkd_teacher_similarity_mean": 0.778888875246048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10000 + }, + { + "epoch": 2.9124236252545828, + "flow_matching_loss": 0.015404341090470553, + "grad_norm": 0.13632892072200775, + "learning_rate": 2.3871533645698732e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011912890011444688, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36790616512298585, + "rkd_teacher_entropy": 3.734292459487915, + "rkd_teacher_similarity_mean": 0.7779654562473297, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10010 + }, + { + "epoch": 2.915333139365726, + "flow_matching_loss": 0.017635825648903848, + "grad_norm": 0.15415027737617493, + "learning_rate": 2.3858195467364833e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011563933547586202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3644661784172058, + "rkd_teacher_entropy": 3.7077082633972167, + "rkd_teacher_similarity_mean": 0.7734423279762268, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10020 + }, + { + "epoch": 2.9182426534768693, + "flow_matching_loss": 0.01689026514068246, + "grad_norm": 0.1584494560956955, + "learning_rate": 2.3844846525488166e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013546312507241965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37571460008621216, + "rkd_teacher_entropy": 3.7496556520462034, + "rkd_teacher_similarity_mean": 0.7843703925609589, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10030 + }, + { + "epoch": 2.921152167588013, + "flow_matching_loss": 0.015078052040189504, + "grad_norm": 0.14010968804359436, + "learning_rate": 2.3831486836288957e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01268471060320735, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779916435480118, + "rkd_teacher_entropy": 3.7546363830566407, + "rkd_teacher_similarity_mean": 0.7895213425159454, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10040 + }, + { + "epoch": 2.9240616816991563, + "flow_matching_loss": 0.01586115239188075, + "grad_norm": 0.12555178999900818, + "learning_rate": 2.381811641600048e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012218192219734192, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.365023672580719, + "rkd_teacher_entropy": 3.715343713760376, + "rkd_teacher_similarity_mean": 0.7750995099544525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10050 + }, + { + "epoch": 2.9269711958102995, + "flow_matching_loss": 0.015196640882641077, + "grad_norm": 0.12309581786394119, + "learning_rate": 2.3804735280869073e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014057616703212261, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37191822230815885, + "rkd_teacher_entropy": 3.746042251586914, + "rkd_teacher_similarity_mean": 0.7808129072189331, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10060 + }, + { + "epoch": 2.9298807099214432, + "flow_matching_loss": 0.01574454354122281, + "grad_norm": 0.1455056369304657, + "learning_rate": 2.3791343447154064e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013239768333733082, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3630588710308075, + "rkd_teacher_entropy": 3.7139853477478026, + "rkd_teacher_similarity_mean": 0.771647161245346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10070 + }, + { + "epoch": 2.9327902240325865, + "flow_matching_loss": 0.017561918776482343, + "grad_norm": 0.1400449126958847, + "learning_rate": 2.37779409311278e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0118827267549932, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3729318529367447, + "rkd_teacher_entropy": 3.7496721744537354, + "rkd_teacher_similarity_mean": 0.7820024430751801, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10080 + }, + { + "epoch": 2.9356997381437298, + "flow_matching_loss": 0.016222620010375978, + "grad_norm": 0.16018380224704742, + "learning_rate": 2.3764527749075596e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012411006726324558, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37207951843738557, + "rkd_teacher_entropy": 3.746075916290283, + "rkd_teacher_similarity_mean": 0.7830784380435943, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10090 + }, + { + "epoch": 2.9386092522548735, + "flow_matching_loss": 0.018191446643322708, + "grad_norm": 0.15990403294563293, + "learning_rate": 2.3751103917295735e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011279233358800411, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3733225852251053, + "rkd_teacher_entropy": 3.7396929025650025, + "rkd_teacher_similarity_mean": 0.7828822255134582, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10100 + }, + { + "epoch": 2.9415187663660167, + "flow_matching_loss": 0.0173427727073431, + "grad_norm": 0.19260194897651672, + "learning_rate": 2.373766945209944e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013043142296373844, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.366193151473999, + "rkd_teacher_entropy": 3.7243492603302, + "rkd_teacher_similarity_mean": 0.7753881633281707, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10110 + }, + { + "epoch": 2.9444282804771604, + "flow_matching_loss": 0.016822962369769812, + "grad_norm": 0.19104614853858948, + "learning_rate": 2.3724224369810856e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013163032475858927, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3627733886241913, + "rkd_teacher_entropy": 3.708110737800598, + "rkd_teacher_similarity_mean": 0.7712840437889099, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10120 + }, + { + "epoch": 2.9473377945883037, + "flow_matching_loss": 0.015215705148875713, + "grad_norm": 0.11807753145694733, + "learning_rate": 2.3710768686767015e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011486551817506551, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36945479810237886, + "rkd_teacher_entropy": 3.729142498970032, + "rkd_teacher_similarity_mean": 0.780889230966568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10130 + }, + { + "epoch": 2.9502473086994474, + "flow_matching_loss": 0.016451016813516618, + "grad_norm": 0.15942417085170746, + "learning_rate": 2.3697302419317856e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012796532642096282, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3724621653556824, + "rkd_teacher_entropy": 3.7522509574890135, + "rkd_teacher_similarity_mean": 0.7841770768165588, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10140 + }, + { + "epoch": 2.9531568228105907, + "flow_matching_loss": 0.014352355618029833, + "grad_norm": 0.12145364284515381, + "learning_rate": 2.3683825583826146e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012102697417140007, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36347727477550507, + "rkd_teacher_entropy": 3.7202498435974123, + "rkd_teacher_similarity_mean": 0.7752930760383606, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10150 + }, + { + "epoch": 2.956066336921734, + "flow_matching_loss": 0.016526500601321457, + "grad_norm": 0.16189821064472198, + "learning_rate": 2.3670338196667528e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013746477384120225, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3721404314041138, + "rkd_teacher_entropy": 3.7509982347488404, + "rkd_teacher_similarity_mean": 0.7840581417083741, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10160 + }, + { + "epoch": 2.9589758510328776, + "flow_matching_loss": 0.01890501407906413, + "grad_norm": 0.14253643155097961, + "learning_rate": 2.3656840274230443e-05, + "loss": 0.0265, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01521453782916069, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36304267942905427, + "rkd_teacher_entropy": 3.7117296695709228, + "rkd_teacher_similarity_mean": 0.7732653081417084, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10170 + }, + { + "epoch": 2.961885365144021, + "flow_matching_loss": 0.01725130099803209, + "grad_norm": 0.17340627312660217, + "learning_rate": 2.3643331832916133e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012501619476824998, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3639478892087936, + "rkd_teacher_entropy": 3.7293752431869507, + "rkd_teacher_similarity_mean": 0.7755141258239746, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10180 + }, + { + "epoch": 2.964794879255164, + "flow_matching_loss": 0.014542330987751484, + "grad_norm": 0.13087692856788635, + "learning_rate": 2.362981288913863e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012652474269270898, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36060298383235934, + "rkd_teacher_entropy": 3.718274164199829, + "rkd_teacher_similarity_mean": 0.7738535702228546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10190 + }, + { + "epoch": 2.967704393366308, + "flow_matching_loss": 0.014948936924338341, + "grad_norm": 0.13785533607006073, + "learning_rate": 2.3616283459324737e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.017299479432404043, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37043264508247375, + "rkd_teacher_entropy": 3.741183304786682, + "rkd_teacher_similarity_mean": 0.7827177941799164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10200 + }, + { + "epoch": 2.970613907477451, + "flow_matching_loss": 0.015872910059988497, + "grad_norm": 0.1327228844165802, + "learning_rate": 2.3602743559913973e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01195541163906455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696926862001419, + "rkd_teacher_entropy": 3.7408891916275024, + "rkd_teacher_similarity_mean": 0.7815530240535736, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10210 + }, + { + "epoch": 2.973523421588595, + "flow_matching_loss": 0.01857812413945794, + "grad_norm": 0.13734838366508484, + "learning_rate": 2.35891932073586e-05, + "loss": 0.025, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012895494978874922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3646483182907104, + "rkd_teacher_entropy": 3.7136467933654784, + "rkd_teacher_similarity_mean": 0.7753850102424622, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10220 + }, + { + "epoch": 2.976432935699738, + "flow_matching_loss": 0.01586958784610033, + "grad_norm": 0.13521786034107208, + "learning_rate": 2.357563241812357e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012054482661187648, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36760677993297575, + "rkd_teacher_entropy": 3.7235653400421143, + "rkd_teacher_similarity_mean": 0.7806211590766907, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10230 + }, + { + "epoch": 2.979342449810882, + "flow_matching_loss": 0.016252750344574452, + "grad_norm": 0.14254823327064514, + "learning_rate": 2.3562061208686522e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01224570507183671, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.364975181221962, + "rkd_teacher_entropy": 3.728119397163391, + "rkd_teacher_similarity_mean": 0.7787537038326263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10240 + }, + { + "epoch": 2.982251963922025, + "flow_matching_loss": 0.014661193452775478, + "grad_norm": 0.18577417731285095, + "learning_rate": 2.354847959553776e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013960269279778004, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3700771152973175, + "rkd_teacher_entropy": 3.7487115621566773, + "rkd_teacher_similarity_mean": 0.7839768469333649, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10250 + }, + { + "epoch": 2.9851614780331683, + "flow_matching_loss": 0.01733362562954426, + "grad_norm": 0.13212351500988007, + "learning_rate": 2.353488759518022e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01229297099635005, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3688862055540085, + "rkd_teacher_entropy": 3.7492130517959597, + "rkd_teacher_similarity_mean": 0.7839116215705871, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10260 + }, + { + "epoch": 2.988070992144312, + "flow_matching_loss": 0.01651446633040905, + "grad_norm": 0.11173594743013382, + "learning_rate": 2.352128522412946e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011818739492446185, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3562637060880661, + "rkd_teacher_entropy": 3.707313132286072, + "rkd_teacher_similarity_mean": 0.7701380908489227, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10270 + }, + { + "epoch": 2.9909805062554553, + "flow_matching_loss": 0.01810714714229107, + "grad_norm": 0.1507275551557541, + "learning_rate": 2.3507672498913653e-05, + "loss": 0.0256, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014981897361576558, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36362397372722627, + "rkd_teacher_entropy": 3.7281636238098144, + "rkd_teacher_similarity_mean": 0.7762651979923249, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10280 + }, + { + "epoch": 2.9938900203665986, + "flow_matching_loss": 0.01661113053560257, + "grad_norm": 0.1452493965625763, + "learning_rate": 2.3494049436073537e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011791240889579058, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3670331835746765, + "rkd_teacher_entropy": 3.7324030876159666, + "rkd_teacher_similarity_mean": 0.7807899534702301, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10290 + }, + { + "epoch": 2.9967995344777423, + "flow_matching_loss": 0.01659431541338563, + "grad_norm": 0.16179564595222473, + "learning_rate": 2.348041605216242e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012470551952719688, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3706664443016052, + "rkd_teacher_entropy": 3.7472853660583496, + "rkd_teacher_similarity_mean": 0.7841483592987061, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10300 + }, + { + "epoch": 2.9997090485888855, + "flow_matching_loss": 0.01779235741123557, + "grad_norm": 0.1338471919298172, + "learning_rate": 2.3466772363746146e-05, + "loss": 0.0269, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01820844104513526, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36232490837574005, + "rkd_teacher_entropy": 3.7211905002593992, + "rkd_teacher_similarity_mean": 0.7763649940490722, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10310 + }, + { + "epoch": 3.0026185627000292, + "flow_matching_loss": 0.014785667043179273, + "grad_norm": 0.17194931209087372, + "learning_rate": 2.345311838740309e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013884099666029215, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36750106513500214, + "rkd_teacher_entropy": 3.738844466209412, + "rkd_teacher_similarity_mean": 0.7794484674930573, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10320 + }, + { + "epoch": 3.0055280768111725, + "flow_matching_loss": 0.01707273693755269, + "grad_norm": 0.1330994963645935, + "learning_rate": 2.343945413972411e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015575594268739223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3731388568878174, + "rkd_teacher_entropy": 3.751741623878479, + "rkd_teacher_similarity_mean": 0.7851535677909851, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10330 + }, + { + "epoch": 3.0084375909223158, + "flow_matching_loss": 0.016355423256754875, + "grad_norm": 0.15219439566135406, + "learning_rate": 2.3425779637312568e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013658056687563657, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615496069192886, + "rkd_teacher_entropy": 3.721663475036621, + "rkd_teacher_similarity_mean": 0.7740024328231812, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10340 + }, + { + "epoch": 3.0113471050334595, + "flow_matching_loss": 0.017633696366101504, + "grad_norm": 0.14623697102069855, + "learning_rate": 2.3412094896784264e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012067664414644241, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35740108489990235, + "rkd_teacher_entropy": 3.708196210861206, + "rkd_teacher_similarity_mean": 0.7710665106773377, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10350 + }, + { + "epoch": 3.0142566191446027, + "flow_matching_loss": 0.016425781510770322, + "grad_norm": 0.15588870644569397, + "learning_rate": 2.339839993476745e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012238284572958946, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37045042514801024, + "rkd_teacher_entropy": 3.7410774707794188, + "rkd_teacher_similarity_mean": 0.7838800191879273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10360 + }, + { + "epoch": 3.0171661332557465, + "flow_matching_loss": 0.015938551258295776, + "grad_norm": 0.14027395844459534, + "learning_rate": 2.3384694767902804e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01134597733616829, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3651160657405853, + "rkd_teacher_entropy": 3.7261403083801268, + "rkd_teacher_similarity_mean": 0.7785442888736724, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10370 + }, + { + "epoch": 3.0200756473668897, + "flow_matching_loss": 0.01608493635430932, + "grad_norm": 0.18775321543216705, + "learning_rate": 2.3370979412843384e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01438564108684659, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37086895406246184, + "rkd_teacher_entropy": 3.7530471801757814, + "rkd_teacher_similarity_mean": 0.7816245794296265, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10380 + }, + { + "epoch": 3.022985161478033, + "flow_matching_loss": 0.016575198713690044, + "grad_norm": 0.12298522889614105, + "learning_rate": 2.3357253886254648e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012798077194020152, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3648982346057892, + "rkd_teacher_entropy": 3.7217166662216186, + "rkd_teacher_similarity_mean": 0.7769966006278992, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10390 + }, + { + "epoch": 3.0258946755891767, + "flow_matching_loss": 0.017038909159600733, + "grad_norm": 0.13405926525592804, + "learning_rate": 2.3343518204814407e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011295385751873254, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3681281000375748, + "rkd_teacher_entropy": 3.7452535390853883, + "rkd_teacher_similarity_mean": 0.7807457625865937, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10400 + }, + { + "epoch": 3.02880418970032, + "flow_matching_loss": 0.016770787350833417, + "grad_norm": 0.13654839992523193, + "learning_rate": 2.3329772385212798e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013404587749391794, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3629298746585846, + "rkd_teacher_entropy": 3.720045876502991, + "rkd_teacher_similarity_mean": 0.77507444024086, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10410 + }, + { + "epoch": 3.0317137038114637, + "flow_matching_loss": 0.01630727117881179, + "grad_norm": 0.1491163969039917, + "learning_rate": 2.3316016444152296e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013499863725155593, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3656132608652115, + "rkd_teacher_entropy": 3.7348418474197387, + "rkd_teacher_similarity_mean": 0.778208339214325, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10420 + }, + { + "epoch": 3.034623217922607, + "flow_matching_loss": 0.013963513262569904, + "grad_norm": 0.12766627967357635, + "learning_rate": 2.3302250398347668e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011400641966611147, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3616804569959641, + "rkd_teacher_entropy": 3.726076436042786, + "rkd_teacher_similarity_mean": 0.773790431022644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10430 + }, + { + "epoch": 3.03753273203375, + "flow_matching_loss": 0.01567955631762743, + "grad_norm": 0.17963019013404846, + "learning_rate": 2.328847426452595e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011621182318776846, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3715533286333084, + "rkd_teacher_entropy": 3.7462701082229612, + "rkd_teacher_similarity_mean": 0.7855341494083404, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10440 + }, + { + "epoch": 3.040442246144894, + "flow_matching_loss": 0.01622276343405247, + "grad_norm": 0.159803107380867, + "learning_rate": 2.3274688059426456e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011805871594697237, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36435532569885254, + "rkd_teacher_entropy": 3.7303741455078123, + "rkd_teacher_similarity_mean": 0.7748840868473053, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10450 + }, + { + "epoch": 3.043351760256037, + "flow_matching_loss": 0.016985134966671468, + "grad_norm": 0.138038769364357, + "learning_rate": 2.3260891799800715e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012621453870087862, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36992804408073426, + "rkd_teacher_entropy": 3.7356449127197267, + "rkd_teacher_similarity_mean": 0.7817821323871612, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10460 + }, + { + "epoch": 3.046261274367181, + "flow_matching_loss": 0.01500955643132329, + "grad_norm": 0.1440836638212204, + "learning_rate": 2.3247085502412482e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013159978482872248, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807607591152191, + "rkd_teacher_entropy": 3.756118655204773, + "rkd_teacher_similarity_mean": 0.7901667594909668, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10470 + }, + { + "epoch": 3.049170788478324, + "flow_matching_loss": 0.015847791731357575, + "grad_norm": 0.14704068005084991, + "learning_rate": 2.3233269184037717e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011345237586647272, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36837359368801115, + "rkd_teacher_entropy": 3.726326894760132, + "rkd_teacher_similarity_mean": 0.7781630337238312, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10480 + }, + { + "epoch": 3.0520803025894674, + "flow_matching_loss": 0.017720959708094598, + "grad_norm": 0.13702945411205292, + "learning_rate": 2.3219442861464547e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012601929251104593, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3749574929475784, + "rkd_teacher_entropy": 3.759778141975403, + "rkd_teacher_similarity_mean": 0.7859615743160248, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10490 + }, + { + "epoch": 3.054989816700611, + "flow_matching_loss": 0.019515508320182562, + "grad_norm": 0.14577716588974, + "learning_rate": 2.3205606551493255e-05, + "loss": 0.0255, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011931717861443758, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3622655123472214, + "rkd_teacher_entropy": 3.7102685928344727, + "rkd_teacher_similarity_mean": 0.7694240391254425, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10500 + }, + { + "epoch": 3.0578993308117544, + "flow_matching_loss": 0.014906004071235657, + "grad_norm": 0.1649666428565979, + "learning_rate": 2.319176027093627e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011511355265974998, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3687268763780594, + "rkd_teacher_entropy": 3.7380274534225464, + "rkd_teacher_similarity_mean": 0.7763227701187134, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10510 + }, + { + "epoch": 3.060808844922898, + "flow_matching_loss": 0.015248846914619207, + "grad_norm": 0.137780100107193, + "learning_rate": 2.3177904036618117e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011597390938550233, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36820220947265625, + "rkd_teacher_entropy": 3.7382301807403566, + "rkd_teacher_similarity_mean": 0.7769753813743592, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10520 + }, + { + "epoch": 3.0637183590340413, + "flow_matching_loss": 0.01813477138057351, + "grad_norm": 0.17329896986484528, + "learning_rate": 2.316403786537544e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011616149079054594, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3652269870042801, + "rkd_teacher_entropy": 3.7238025188446047, + "rkd_teacher_similarity_mean": 0.7745717406272888, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10530 + }, + { + "epoch": 3.0666278731451846, + "flow_matching_loss": 0.016854931600391865, + "grad_norm": 0.12548840045928955, + "learning_rate": 2.3150161774056933e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014308938896283508, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3762549549341202, + "rkd_teacher_entropy": 3.7493512868881225, + "rkd_teacher_similarity_mean": 0.7845765769481658, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10540 + }, + { + "epoch": 3.0695373872563283, + "flow_matching_loss": 0.01793190063908696, + "grad_norm": 0.16768625378608704, + "learning_rate": 2.313627577952336e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014447319135069848, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37073529362678526, + "rkd_teacher_entropy": 3.7468291759490966, + "rkd_teacher_similarity_mean": 0.7794072329998016, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10550 + }, + { + "epoch": 3.0724469013674716, + "flow_matching_loss": 0.015036225132644177, + "grad_norm": 0.11344098299741745, + "learning_rate": 2.312237989864752e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0104097212664783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3662495791912079, + "rkd_teacher_entropy": 3.721647787094116, + "rkd_teacher_similarity_mean": 0.7762691378593445, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10560 + }, + { + "epoch": 3.0753564154786153, + "flow_matching_loss": 0.016064203064888715, + "grad_norm": 0.17410176992416382, + "learning_rate": 2.3108474148314205e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014385585440322757, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3649629205465317, + "rkd_teacher_entropy": 3.7205877542495727, + "rkd_teacher_similarity_mean": 0.7751777350902558, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10570 + }, + { + "epoch": 3.0782659295897585, + "flow_matching_loss": 0.014532633684575557, + "grad_norm": 0.16639919579029083, + "learning_rate": 2.309455854542023e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011530849616974592, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37055985927581786, + "rkd_teacher_entropy": 3.7345117330551147, + "rkd_teacher_similarity_mean": 0.7810164391994476, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10580 + }, + { + "epoch": 3.081175443700902, + "flow_matching_loss": 0.01582258576527238, + "grad_norm": 0.18994495272636414, + "learning_rate": 2.308063310687435e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014320154581218958, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36746765971183776, + "rkd_teacher_entropy": 3.7332626581192017, + "rkd_teacher_similarity_mean": 0.7767929852008819, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10590 + }, + { + "epoch": 3.0840849578120455, + "flow_matching_loss": 0.01495587257668376, + "grad_norm": 0.14246392250061035, + "learning_rate": 2.306669784959729e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01398342354223132, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3680866450071335, + "rkd_teacher_entropy": 3.7350533246994018, + "rkd_teacher_similarity_mean": 0.7777144968509674, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10600 + }, + { + "epoch": 3.0869944719231888, + "flow_matching_loss": 0.014881342370063066, + "grad_norm": 0.1309507042169571, + "learning_rate": 2.3052752790521703e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012022615317255259, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3658974379301071, + "rkd_teacher_entropy": 3.713225984573364, + "rkd_teacher_similarity_mean": 0.7762560963630676, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10610 + }, + { + "epoch": 3.0899039860343325, + "flow_matching_loss": 0.017130001820623873, + "grad_norm": 0.16279681026935577, + "learning_rate": 2.3038797946592152e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011878580320626497, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3573353230953217, + "rkd_teacher_entropy": 3.7052842140197755, + "rkd_teacher_similarity_mean": 0.7690108239650726, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10620 + }, + { + "epoch": 3.0928135001454757, + "flow_matching_loss": 0.01595604680478573, + "grad_norm": 0.13593336939811707, + "learning_rate": 2.3024833334765087e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011807895172387362, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36899403631687167, + "rkd_teacher_entropy": 3.7341601610183717, + "rkd_teacher_similarity_mean": 0.7808804869651794, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10630 + }, + { + "epoch": 3.095723014256619, + "flow_matching_loss": 0.017774872668087482, + "grad_norm": 0.12606841325759888, + "learning_rate": 2.301085897200883e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014242023415863513, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3733595937490463, + "rkd_teacher_entropy": 3.752239537239075, + "rkd_teacher_similarity_mean": 0.7846390545368195, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10640 + }, + { + "epoch": 3.0986325283677627, + "flow_matching_loss": 0.01707049021497369, + "grad_norm": 0.15885083377361298, + "learning_rate": 2.299687487530354e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011305481661111116, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36713407635688783, + "rkd_teacher_entropy": 3.7199233055114744, + "rkd_teacher_similarity_mean": 0.7761914789676666, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10650 + }, + { + "epoch": 3.101542042478906, + "flow_matching_loss": 0.013348091673105956, + "grad_norm": 0.12976031005382538, + "learning_rate": 2.2982881061641228e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011768303159624339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3690731942653656, + "rkd_teacher_entropy": 3.7384663581848145, + "rkd_teacher_similarity_mean": 0.7791041254997253, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10660 + }, + { + "epoch": 3.1044515565900497, + "flow_matching_loss": 0.015524404123425484, + "grad_norm": 0.11388273537158966, + "learning_rate": 2.296887754802569e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015848670713603498, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3681186854839325, + "rkd_teacher_entropy": 3.722566604614258, + "rkd_teacher_similarity_mean": 0.7761532425880432, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10670 + }, + { + "epoch": 3.107361070701193, + "flow_matching_loss": 0.017232308629900217, + "grad_norm": 0.1349606215953827, + "learning_rate": 2.295486435147251e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013452523108571767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36208789348602294, + "rkd_teacher_entropy": 3.6991080045700073, + "rkd_teacher_similarity_mean": 0.7672022402286529, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10680 + }, + { + "epoch": 3.110270584812336, + "flow_matching_loss": 0.016652114037424327, + "grad_norm": 0.13358177244663239, + "learning_rate": 2.294084148900905e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013559857849031687, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3608207941055298, + "rkd_teacher_entropy": 3.7051506280899047, + "rkd_teacher_similarity_mean": 0.7697288691997528, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10690 + }, + { + "epoch": 3.11318009892348, + "flow_matching_loss": 0.01656301263719797, + "grad_norm": 0.09746112674474716, + "learning_rate": 2.292680897767441e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01182138416916132, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37266979813575746, + "rkd_teacher_entropy": 3.7393020153045655, + "rkd_teacher_similarity_mean": 0.781684798002243, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10700 + }, + { + "epoch": 3.116089613034623, + "flow_matching_loss": 0.016953186225146057, + "grad_norm": 0.12896938621997833, + "learning_rate": 2.291276683451941e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009675109712406992, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36300942599773406, + "rkd_teacher_entropy": 3.7094869136810305, + "rkd_teacher_similarity_mean": 0.7711534917354583, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10710 + }, + { + "epoch": 3.1189991271457664, + "flow_matching_loss": 0.017564057558774947, + "grad_norm": 0.1607922911643982, + "learning_rate": 2.2898715076606584e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011703571258112788, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36982998847961424, + "rkd_teacher_entropy": 3.7408708333969116, + "rkd_teacher_similarity_mean": 0.780376535654068, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10720 + }, + { + "epoch": 3.12190864125691, + "flow_matching_loss": 0.015840742643922566, + "grad_norm": 0.19741463661193848, + "learning_rate": 2.2884653721010135e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011267364583909511, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3719526082277298, + "rkd_teacher_entropy": 3.7346646070480345, + "rkd_teacher_similarity_mean": 0.7796283066272736, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10730 + }, + { + "epoch": 3.1248181553680534, + "flow_matching_loss": 0.016808459442108868, + "grad_norm": 0.1378905475139618, + "learning_rate": 2.2870582784815946e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011225408222526313, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3704596132040024, + "rkd_teacher_entropy": 3.735011267662048, + "rkd_teacher_similarity_mean": 0.7780075252056122, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10740 + }, + { + "epoch": 3.127727669479197, + "flow_matching_loss": 0.0171203370206058, + "grad_norm": 0.15339714288711548, + "learning_rate": 2.2856502285121525e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010966229904443025, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3752214640378952, + "rkd_teacher_entropy": 3.7471008777618406, + "rkd_teacher_similarity_mean": 0.7823815882205963, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10750 + }, + { + "epoch": 3.1306371835903404, + "flow_matching_loss": 0.016491604689508676, + "grad_norm": 0.1428867131471634, + "learning_rate": 2.2842412239036004e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01441207379102707, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3682592839002609, + "rkd_teacher_entropy": 3.725976800918579, + "rkd_teacher_similarity_mean": 0.775171160697937, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10760 + }, + { + "epoch": 3.133546697701484, + "flow_matching_loss": 0.015732922684401275, + "grad_norm": 0.15383079648017883, + "learning_rate": 2.2828312663680125e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012287248112261295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37668499946594236, + "rkd_teacher_entropy": 3.750902247428894, + "rkd_teacher_similarity_mean": 0.7845189511775971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10770 + }, + { + "epoch": 3.1364562118126273, + "flow_matching_loss": 0.014031450869515539, + "grad_norm": 0.09102959930896759, + "learning_rate": 2.2814203576186194e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011690733581781387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3658410131931305, + "rkd_teacher_entropy": 3.7098998069763183, + "rkd_teacher_similarity_mean": 0.7718838036060334, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10780 + }, + { + "epoch": 3.1393657259237706, + "flow_matching_loss": 0.01521466476842761, + "grad_norm": 0.17269431054592133, + "learning_rate": 2.2800084993698093e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010974542237818241, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3770878970623016, + "rkd_teacher_entropy": 3.738642454147339, + "rkd_teacher_similarity_mean": 0.7830596983432769, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10790 + }, + { + "epoch": 3.1422752400349143, + "flow_matching_loss": 0.01837850045412779, + "grad_norm": 0.15087823569774628, + "learning_rate": 2.2785956933371224e-05, + "loss": 0.0249, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013114999700337648, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3640544146299362, + "rkd_teacher_entropy": 3.7330787658691404, + "rkd_teacher_similarity_mean": 0.7713644504547119, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10800 + }, + { + "epoch": 3.1451847541460576, + "flow_matching_loss": 0.016685942467302085, + "grad_norm": 0.1501755714416504, + "learning_rate": 2.2771819412372505e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010760252084583043, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3691278904676437, + "rkd_teacher_entropy": 3.7153391599655152, + "rkd_teacher_similarity_mean": 0.7761768460273742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10810 + }, + { + "epoch": 3.148094268257201, + "flow_matching_loss": 0.016260041575878858, + "grad_norm": 0.12134461104869843, + "learning_rate": 2.2757672447880374e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01172331920824945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3695611387491226, + "rkd_teacher_entropy": 3.7241159439086915, + "rkd_teacher_similarity_mean": 0.7776544570922852, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10820 + }, + { + "epoch": 3.1510037823683446, + "flow_matching_loss": 0.01519081499427557, + "grad_norm": 0.12546497583389282, + "learning_rate": 2.2743516057084712e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011837388575077056, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3613414794206619, + "rkd_teacher_entropy": 3.704114031791687, + "rkd_teacher_similarity_mean": 0.7699058413505554, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10830 + }, + { + "epoch": 3.153913296479488, + "flow_matching_loss": 0.01584416115656495, + "grad_norm": 0.12699848413467407, + "learning_rate": 2.2729350257186877e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01231130249798298, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36565057635307313, + "rkd_teacher_entropy": 3.714522194862366, + "rkd_teacher_similarity_mean": 0.772778046131134, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10840 + }, + { + "epoch": 3.1568228105906315, + "flow_matching_loss": 0.01694342391565442, + "grad_norm": 0.13904345035552979, + "learning_rate": 2.2715175065399655e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01167697012424469, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37924137711524963, + "rkd_teacher_entropy": 3.7584171533584594, + "rkd_teacher_similarity_mean": 0.7871050000190735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10850 + }, + { + "epoch": 3.159732324701775, + "flow_matching_loss": 0.016286045592278243, + "grad_norm": 0.15357641875743866, + "learning_rate": 2.270099049894723e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013448476791381836, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37389410734176637, + "rkd_teacher_entropy": 3.7463176012039185, + "rkd_teacher_similarity_mean": 0.7828172147274017, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10860 + }, + { + "epoch": 3.162641838812918, + "flow_matching_loss": 0.016119071282446384, + "grad_norm": 0.11460980027914047, + "learning_rate": 2.268679657506519e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00982621479779482, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3727486491203308, + "rkd_teacher_entropy": 3.7441694736480713, + "rkd_teacher_similarity_mean": 0.7827316403388977, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10870 + }, + { + "epoch": 3.1655513529240618, + "flow_matching_loss": 0.0157568228431046, + "grad_norm": 0.1345771700143814, + "learning_rate": 2.2672593311000498e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011101775150746108, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37013640701770784, + "rkd_teacher_entropy": 3.7303062438964845, + "rkd_teacher_similarity_mean": 0.7788178861141205, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10880 + }, + { + "epoch": 3.168460867035205, + "flow_matching_loss": 0.016002358868718147, + "grad_norm": 0.18459390103816986, + "learning_rate": 2.2658380724011452e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011964860092848539, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751103013753891, + "rkd_teacher_entropy": 3.7506274938583375, + "rkd_teacher_similarity_mean": 0.7828396260738373, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10890 + }, + { + "epoch": 3.1713703811463487, + "flow_matching_loss": 0.016258613113313912, + "grad_norm": 0.14085914194583893, + "learning_rate": 2.264415883136769e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012323870323598385, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37556714117527007, + "rkd_teacher_entropy": 3.749129819869995, + "rkd_teacher_similarity_mean": 0.7848937392234803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10900 + }, + { + "epoch": 3.174279895257492, + "flow_matching_loss": 0.01626041568815708, + "grad_norm": 0.15330402553081512, + "learning_rate": 2.262992765035015e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012415846344083548, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36928131282329557, + "rkd_teacher_entropy": 3.73103129863739, + "rkd_teacher_similarity_mean": 0.776422256231308, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10910 + }, + { + "epoch": 3.1771894093686353, + "flow_matching_loss": 0.015986526757478713, + "grad_norm": 0.1332939714193344, + "learning_rate": 2.2615687198251062e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012059091962873936, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3732545763254166, + "rkd_teacher_entropy": 3.7357012271881103, + "rkd_teacher_similarity_mean": 0.7805212616920472, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10920 + }, + { + "epoch": 3.180098923479779, + "flow_matching_loss": 0.01743060341104865, + "grad_norm": 0.19900892674922943, + "learning_rate": 2.2601437492373914e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01349116638302803, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776203185319901, + "rkd_teacher_entropy": 3.752334213256836, + "rkd_teacher_similarity_mean": 0.7836881458759308, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10930 + }, + { + "epoch": 3.1830084375909222, + "flow_matching_loss": 0.015568921249359846, + "grad_norm": 0.1495794802904129, + "learning_rate": 2.2587178550033444e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011299168318510055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3740536630153656, + "rkd_teacher_entropy": 3.7285014152526856, + "rkd_teacher_similarity_mean": 0.7811625719070434, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10940 + }, + { + "epoch": 3.185917951702066, + "flow_matching_loss": 0.014712024200707673, + "grad_norm": 0.17189425230026245, + "learning_rate": 2.2572910388555615e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011716588027775287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36231018602848053, + "rkd_teacher_entropy": 3.722637581825256, + "rkd_teacher_similarity_mean": 0.7722851216793061, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10950 + }, + { + "epoch": 3.188827465813209, + "flow_matching_loss": 0.014943619072437287, + "grad_norm": 0.1376638412475586, + "learning_rate": 2.255863302527758e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013096085004508495, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37068178653717043, + "rkd_teacher_entropy": 3.734910774230957, + "rkd_teacher_similarity_mean": 0.7777344286441803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10960 + }, + { + "epoch": 3.1917369799243525, + "flow_matching_loss": 0.018275530356913806, + "grad_norm": 0.15041989088058472, + "learning_rate": 2.2544346477547685e-05, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013878823723644018, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.365422198176384, + "rkd_teacher_entropy": 3.7132604837417604, + "rkd_teacher_similarity_mean": 0.7753878831863403, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10970 + }, + { + "epoch": 3.194646494035496, + "flow_matching_loss": 0.015506722498685122, + "grad_norm": 0.14306265115737915, + "learning_rate": 2.253005076272544e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013916028570383788, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.367599806189537, + "rkd_teacher_entropy": 3.7247872829437254, + "rkd_teacher_similarity_mean": 0.776232224702835, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10980 + }, + { + "epoch": 3.1975560081466394, + "flow_matching_loss": 0.018142466619610786, + "grad_norm": 0.16722296178340912, + "learning_rate": 2.2515745898181477e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014265819545835256, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3727518290281296, + "rkd_teacher_entropy": 3.7506993055343627, + "rkd_teacher_similarity_mean": 0.7828703939914703, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10990 + }, + { + "epoch": 3.200465522257783, + "flow_matching_loss": 0.01585283251479268, + "grad_norm": 0.1627659797668457, + "learning_rate": 2.250143190129756e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010508348466828465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36787066161632537, + "rkd_teacher_entropy": 3.7288208961486817, + "rkd_teacher_similarity_mean": 0.7785828709602356, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11000 + }, + { + "epoch": 3.2033750363689264, + "flow_matching_loss": 0.017327221017330884, + "grad_norm": 0.18706610798835754, + "learning_rate": 2.2487108789466547e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013424910884350539, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3697406738996506, + "rkd_teacher_entropy": 3.7366241693496702, + "rkd_teacher_similarity_mean": 0.7796981394290924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11010 + }, + { + "epoch": 3.2062845504800697, + "flow_matching_loss": 0.017609849199652673, + "grad_norm": 0.17314310371875763, + "learning_rate": 2.247277658009236e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011964548658579589, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36552017033100126, + "rkd_teacher_entropy": 3.729153108596802, + "rkd_teacher_similarity_mean": 0.7765205264091491, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11020 + }, + { + "epoch": 3.2091940645912134, + "flow_matching_loss": 0.015785959921777247, + "grad_norm": 0.15772876143455505, + "learning_rate": 2.245843529059e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012641837494447828, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36185087263584137, + "rkd_teacher_entropy": 3.712039828300476, + "rkd_teacher_similarity_mean": 0.7716527819633484, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11030 + }, + { + "epoch": 3.2121035787023566, + "flow_matching_loss": 0.015186027996242047, + "grad_norm": 0.17160138487815857, + "learning_rate": 2.244408493838547e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011927208676934243, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751280128955841, + "rkd_teacher_entropy": 3.7457714319229125, + "rkd_teacher_similarity_mean": 0.7835110604763031, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11040 + }, + { + "epoch": 3.2150130928135003, + "flow_matching_loss": 0.017073033936321737, + "grad_norm": 0.13573502004146576, + "learning_rate": 2.242972554091581e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012467882130295038, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3707899421453476, + "rkd_teacher_entropy": 3.743003582954407, + "rkd_teacher_similarity_mean": 0.7797406673431396, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11050 + }, + { + "epoch": 3.2179226069246436, + "flow_matching_loss": 0.01623437674716115, + "grad_norm": 0.13714927434921265, + "learning_rate": 2.2415357115629045e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014740690030157566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36597212553024294, + "rkd_teacher_entropy": 3.7222041130065917, + "rkd_teacher_similarity_mean": 0.7741823554039001, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11060 + }, + { + "epoch": 3.220832121035787, + "flow_matching_loss": 0.015340990852564573, + "grad_norm": 0.1387641429901123, + "learning_rate": 2.2400979679984162e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01349707911722362, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3710590720176697, + "rkd_teacher_entropy": 3.7346361875534058, + "rkd_teacher_similarity_mean": 0.7793139100074769, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11070 + }, + { + "epoch": 3.2237416351469306, + "flow_matching_loss": 0.016551857721060513, + "grad_norm": 0.14468678832054138, + "learning_rate": 2.2386593251451096e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011060586897656322, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3686490297317505, + "rkd_teacher_entropy": 3.7122074842453, + "rkd_teacher_similarity_mean": 0.7762157499790192, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11080 + }, + { + "epoch": 3.226651149258074, + "flow_matching_loss": 0.015449207089841367, + "grad_norm": 0.150364950299263, + "learning_rate": 2.2372197847510722e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012393925059586763, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3630111366510391, + "rkd_teacher_entropy": 3.7074491500854494, + "rkd_teacher_similarity_mean": 0.7709721565246582, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11090 + }, + { + "epoch": 3.2295606633692175, + "flow_matching_loss": 0.016224271338433027, + "grad_norm": 0.1273088902235031, + "learning_rate": 2.2357793485654813e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011859382223337888, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3625965744256973, + "rkd_teacher_entropy": 3.708240437507629, + "rkd_teacher_similarity_mean": 0.7710096180438996, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11100 + }, + { + "epoch": 3.232470177480361, + "flow_matching_loss": 0.01607340797781944, + "grad_norm": 0.13571901619434357, + "learning_rate": 2.2343380183386017e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011546090617775917, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751525580883026, + "rkd_teacher_entropy": 3.7474002122879027, + "rkd_teacher_similarity_mean": 0.7837210834026337, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11110 + }, + { + "epoch": 3.235379691591504, + "flow_matching_loss": 0.016334227193146943, + "grad_norm": 0.1479404866695404, + "learning_rate": 2.232895795821787e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010315783880650997, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696924805641174, + "rkd_teacher_entropy": 3.731163215637207, + "rkd_teacher_similarity_mean": 0.7789634525775909, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11120 + }, + { + "epoch": 3.2382892057026478, + "flow_matching_loss": 0.017687646858394145, + "grad_norm": 0.11359786987304688, + "learning_rate": 2.2314526827674723e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014007506705820561, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3680710047483444, + "rkd_teacher_entropy": 3.725146222114563, + "rkd_teacher_similarity_mean": 0.7736299574375153, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11130 + }, + { + "epoch": 3.241198719813791, + "flow_matching_loss": 0.014976764284074306, + "grad_norm": 0.15697774291038513, + "learning_rate": 2.230008680929177e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011921802442520857, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3666736513376236, + "rkd_teacher_entropy": 3.7255523681640623, + "rkd_teacher_similarity_mean": 0.7763223230838776, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11140 + }, + { + "epoch": 3.2441082339249343, + "flow_matching_loss": 0.014110073819756508, + "grad_norm": 0.1275210827589035, + "learning_rate": 2.2285637920614987e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011135254334658385, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3698795348405838, + "rkd_teacher_entropy": 3.7282599925994875, + "rkd_teacher_similarity_mean": 0.7773995816707611, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11150 + }, + { + "epoch": 3.247017748036078, + "flow_matching_loss": 0.01642880802974105, + "grad_norm": 0.14816971123218536, + "learning_rate": 2.2271180179201143e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010811376105993985, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36996329128742217, + "rkd_teacher_entropy": 3.7256065607070923, + "rkd_teacher_similarity_mean": 0.7769731640815735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11160 + }, + { + "epoch": 3.2499272621472213, + "flow_matching_loss": 0.017700884211808442, + "grad_norm": 0.15288248658180237, + "learning_rate": 2.225671360261775e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011189249530434608, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37472830414772035, + "rkd_teacher_entropy": 3.743554162979126, + "rkd_teacher_similarity_mean": 0.7827579438686371, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11170 + }, + { + "epoch": 3.252836776258365, + "flow_matching_loss": 0.015209248941391706, + "grad_norm": 0.15381231904029846, + "learning_rate": 2.2242238208443068e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01173760574311018, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37278619706630706, + "rkd_teacher_entropy": 3.7376606702804565, + "rkd_teacher_similarity_mean": 0.7801394641399384, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11180 + }, + { + "epoch": 3.2557462903695082, + "flow_matching_loss": 0.018581773061305283, + "grad_norm": 0.10703036934137344, + "learning_rate": 2.2227754014266063e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01439810274168849, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3598641574382782, + "rkd_teacher_entropy": 3.706641101837158, + "rkd_teacher_similarity_mean": 0.7682377934455872, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11190 + }, + { + "epoch": 3.258655804480652, + "flow_matching_loss": 0.01653337515890598, + "grad_norm": 0.1241876631975174, + "learning_rate": 2.22132610376864e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010411584144458174, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37032116055488584, + "rkd_teacher_entropy": 3.7241180419921873, + "rkd_teacher_similarity_mean": 0.7768036484718323, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11200 + }, + { + "epoch": 3.261565318591795, + "flow_matching_loss": 0.01700713075697422, + "grad_norm": 0.11647561937570572, + "learning_rate": 2.219875929631441e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013154394365847111, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37424097061157224, + "rkd_teacher_entropy": 3.739677333831787, + "rkd_teacher_similarity_mean": 0.7809386849403381, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11210 + }, + { + "epoch": 3.2644748327029385, + "flow_matching_loss": 0.014116849191486836, + "grad_norm": 0.09857438504695892, + "learning_rate": 2.2184248807771074e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010175474733114243, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718418091535568, + "rkd_teacher_entropy": 3.73563289642334, + "rkd_teacher_similarity_mean": 0.7804081082344055, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11220 + }, + { + "epoch": 3.267384346814082, + "flow_matching_loss": 0.020694775320589543, + "grad_norm": 0.1467650830745697, + "learning_rate": 2.216972958968801e-05, + "loss": 0.0272, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012965545477345585, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3723194092512131, + "rkd_teacher_entropy": 3.7436579942703245, + "rkd_teacher_similarity_mean": 0.7813229858875275, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11230 + }, + { + "epoch": 3.2702938609252254, + "flow_matching_loss": 0.01629397375509143, + "grad_norm": 0.12759283185005188, + "learning_rate": 2.215520165970743e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015254255384206772, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3673848152160645, + "rkd_teacher_entropy": 3.7273269653320313, + "rkd_teacher_similarity_mean": 0.7742425918579101, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11240 + }, + { + "epoch": 3.2732033750363687, + "flow_matching_loss": 0.01699673170223832, + "grad_norm": 0.09999293088912964, + "learning_rate": 2.2140665035482143e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01548927784897387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3694308787584305, + "rkd_teacher_entropy": 3.725046706199646, + "rkd_teacher_similarity_mean": 0.7767628192901611, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11250 + }, + { + "epoch": 3.2761128891475124, + "flow_matching_loss": 0.01613536160439253, + "grad_norm": 0.15122398734092712, + "learning_rate": 2.2126119734675518e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013340573199093342, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3633694678544998, + "rkd_teacher_entropy": 3.704774785041809, + "rkd_teacher_similarity_mean": 0.7710461914539337, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11260 + }, + { + "epoch": 3.2790224032586557, + "flow_matching_loss": 0.015580416843295097, + "grad_norm": 0.15808463096618652, + "learning_rate": 2.2111565774961463e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01260942779481411, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3667734980583191, + "rkd_teacher_entropy": 3.7122074365615845, + "rkd_teacher_similarity_mean": 0.7723573267459869, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11270 + }, + { + "epoch": 3.2819319173697994, + "flow_matching_loss": 0.014603589475154877, + "grad_norm": 0.12107711285352707, + "learning_rate": 2.2097003174024417e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01338759222999215, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37860559225082396, + "rkd_teacher_entropy": 3.743682074546814, + "rkd_teacher_similarity_mean": 0.7834259986877441, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11280 + }, + { + "epoch": 3.2848414314809427, + "flow_matching_loss": 0.013950884249061346, + "grad_norm": 0.14253228902816772, + "learning_rate": 2.2082431949559315e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010334342904388904, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37403833866119385, + "rkd_teacher_entropy": 3.7312883615493773, + "rkd_teacher_similarity_mean": 0.7794475495815277, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11290 + }, + { + "epoch": 3.2877509455920864, + "flow_matching_loss": 0.015846953820437194, + "grad_norm": 0.13655106723308563, + "learning_rate": 2.2067852119271558e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014029531460255384, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3732526957988739, + "rkd_teacher_entropy": 3.729327178001404, + "rkd_teacher_similarity_mean": 0.7792814075946808, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11300 + }, + { + "epoch": 3.2906604597032296, + "flow_matching_loss": 0.016636493615806103, + "grad_norm": 0.13912096619606018, + "learning_rate": 2.2053263700877026e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01407099300995469, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37033788561820985, + "rkd_teacher_entropy": 3.7316678047180174, + "rkd_teacher_similarity_mean": 0.7772893786430359, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11310 + }, + { + "epoch": 3.293569973814373, + "flow_matching_loss": 0.014724183734506369, + "grad_norm": 0.1414567083120346, + "learning_rate": 2.2038666712102015e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011841185204684735, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36206725239753723, + "rkd_teacher_entropy": 3.694257044792175, + "rkd_teacher_similarity_mean": 0.7700668573379517, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11320 + }, + { + "epoch": 3.2964794879255166, + "flow_matching_loss": 0.014804037939757108, + "grad_norm": 0.10875510424375534, + "learning_rate": 2.2024061170683246e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012578826770186425, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37048570811748505, + "rkd_teacher_entropy": 3.733018946647644, + "rkd_teacher_similarity_mean": 0.7782558739185333, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11330 + }, + { + "epoch": 3.29938900203666, + "flow_matching_loss": 0.01759812356904149, + "grad_norm": 0.1202872171998024, + "learning_rate": 2.200944709436783e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01426857030019164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3654798597097397, + "rkd_teacher_entropy": 3.7314000606536863, + "rkd_teacher_similarity_mean": 0.7731497406959533, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11340 + }, + { + "epoch": 3.302298516147803, + "flow_matching_loss": 0.016774211451411246, + "grad_norm": 0.11940468102693558, + "learning_rate": 2.1994824500913246e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011383639229461551, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36801971197128297, + "rkd_teacher_entropy": 3.718735122680664, + "rkd_teacher_similarity_mean": 0.776947295665741, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11350 + }, + { + "epoch": 3.305208030258947, + "flow_matching_loss": 0.01743605136871338, + "grad_norm": 0.21161910891532898, + "learning_rate": 2.1980193408087322e-05, + "loss": 0.0247, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014446968585252762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37379964888095857, + "rkd_teacher_entropy": 3.7506075143814086, + "rkd_teacher_similarity_mean": 0.781065845489502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11360 + }, + { + "epoch": 3.30811754437009, + "flow_matching_loss": 0.016722963098436593, + "grad_norm": 0.10645856708288193, + "learning_rate": 2.1965553833668224e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012184873223304749, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3754213571548462, + "rkd_teacher_entropy": 3.7393163681030273, + "rkd_teacher_similarity_mean": 0.7824422657489777, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11370 + }, + { + "epoch": 3.311027058481234, + "flow_matching_loss": 0.01659828647971153, + "grad_norm": 0.15145204961299896, + "learning_rate": 2.195090579544441e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013335788622498512, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37205816209316256, + "rkd_teacher_entropy": 3.720375728607178, + "rkd_teacher_similarity_mean": 0.7776007413864136, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11380 + }, + { + "epoch": 3.313936572592377, + "flow_matching_loss": 0.017003816924989222, + "grad_norm": 0.1690245419740677, + "learning_rate": 2.193624931121462e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011799735482782125, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37393724024295805, + "rkd_teacher_entropy": 3.742732524871826, + "rkd_teacher_similarity_mean": 0.7786846578121185, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11390 + }, + { + "epoch": 3.3168460867035203, + "flow_matching_loss": 0.01640245784074068, + "grad_norm": 0.14237450063228607, + "learning_rate": 2.1921584398787872e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010386785166338086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3716810554265976, + "rkd_teacher_entropy": 3.730803108215332, + "rkd_teacher_similarity_mean": 0.7791166067123413, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11400 + }, + { + "epoch": 3.319755600814664, + "flow_matching_loss": 0.0172367830760777, + "grad_norm": 0.1521245837211609, + "learning_rate": 2.1906911075983418e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012896605208516121, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36728990972042086, + "rkd_teacher_entropy": 3.7242576837539674, + "rkd_teacher_similarity_mean": 0.7762825429439545, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11410 + }, + { + "epoch": 3.3226651149258073, + "flow_matching_loss": 0.014900624006986617, + "grad_norm": 0.14727945625782013, + "learning_rate": 2.1892229360630728e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01091813389211893, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3615477353334427, + "rkd_teacher_entropy": 3.697187066078186, + "rkd_teacher_similarity_mean": 0.7702633678913117, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11420 + }, + { + "epoch": 3.325574629036951, + "flow_matching_loss": 0.013464630395174027, + "grad_norm": 0.11979749798774719, + "learning_rate": 2.187753927056947e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010489188879728318, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37403964102268217, + "rkd_teacher_entropy": 3.7252082586288453, + "rkd_teacher_similarity_mean": 0.7803950130939483, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11430 + }, + { + "epoch": 3.3284841431480943, + "flow_matching_loss": 0.014623339474201202, + "grad_norm": 0.1329999417066574, + "learning_rate": 2.186284082364949e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011321864370256663, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779676556587219, + "rkd_teacher_entropy": 3.7395066261291503, + "rkd_teacher_similarity_mean": 0.7826336920261383, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11440 + }, + { + "epoch": 3.3313936572592375, + "flow_matching_loss": 0.016128494404256344, + "grad_norm": 0.11552593857049942, + "learning_rate": 2.1848134037730786e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011388028226792812, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3671345740556717, + "rkd_teacher_entropy": 3.7156602144241333, + "rkd_teacher_similarity_mean": 0.7705216884613038, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11450 + }, + { + "epoch": 3.3343031713703812, + "flow_matching_loss": 0.016513525135815145, + "grad_norm": 0.14135293662548065, + "learning_rate": 2.183341893068349e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011587204597890376, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3678230822086334, + "rkd_teacher_entropy": 3.725287842750549, + "rkd_teacher_similarity_mean": 0.7743186175823211, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11460 + }, + { + "epoch": 3.3372126854815245, + "flow_matching_loss": 0.0147119109518826, + "grad_norm": 0.17044654488563538, + "learning_rate": 2.1818695520387842e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01088624563999474, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36962416768074036, + "rkd_teacher_entropy": 3.719467616081238, + "rkd_teacher_similarity_mean": 0.7754210293292999, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11470 + }, + { + "epoch": 3.340122199592668, + "flow_matching_loss": 0.01514841541647911, + "grad_norm": 0.13133090734481812, + "learning_rate": 2.1803963824734173e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012823968334123493, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37616826593875885, + "rkd_teacher_entropy": 3.7373713731765745, + "rkd_teacher_similarity_mean": 0.7810623586177826, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11480 + }, + { + "epoch": 3.3430317137038115, + "flow_matching_loss": 0.014768574200570584, + "grad_norm": 0.16165918111801147, + "learning_rate": 2.1789223861622887e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010522076580673455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37421357035636904, + "rkd_teacher_entropy": 3.7382548093795775, + "rkd_teacher_similarity_mean": 0.7798379242420197, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11490 + }, + { + "epoch": 3.3459412278149547, + "flow_matching_loss": 0.015051058493554592, + "grad_norm": 0.15713344514369965, + "learning_rate": 2.1774475648964428e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011821462213993073, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36951742470264437, + "rkd_teacher_entropy": 3.728960132598877, + "rkd_teacher_similarity_mean": 0.7745237231254578, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11500 + }, + { + "epoch": 3.3488507419260984, + "flow_matching_loss": 0.01609084280207753, + "grad_norm": 0.1484377533197403, + "learning_rate": 2.1759719204679267e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012223698943853379, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37818990349769593, + "rkd_teacher_entropy": 3.734566879272461, + "rkd_teacher_similarity_mean": 0.7836888790130615, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11510 + }, + { + "epoch": 3.3517602560372417, + "flow_matching_loss": 0.017830477468669413, + "grad_norm": 0.1109967827796936, + "learning_rate": 2.174495454669787e-05, + "loss": 0.0253, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014883624482899904, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3616875737905502, + "rkd_teacher_entropy": 3.7070056676864622, + "rkd_teacher_similarity_mean": 0.7681513667106629, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11520 + }, + { + "epoch": 3.3546697701483854, + "flow_matching_loss": 0.018799330480396746, + "grad_norm": 0.13904647529125214, + "learning_rate": 2.1730181692960692e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010331138595938682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3734720677137375, + "rkd_teacher_entropy": 3.724260187149048, + "rkd_teacher_similarity_mean": 0.7780578851699829, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11530 + }, + { + "epoch": 3.3575792842595287, + "flow_matching_loss": 0.017660639993846417, + "grad_norm": 0.5116881728172302, + "learning_rate": 2.171540066141814e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012553027551621198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3728009879589081, + "rkd_teacher_entropy": 3.724194049835205, + "rkd_teacher_similarity_mean": 0.7755563676357269, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11540 + }, + { + "epoch": 3.360488798370672, + "flow_matching_loss": 0.01845592921599746, + "grad_norm": 0.11522529274225235, + "learning_rate": 2.170061147003056e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011054284311830998, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3646220266819, + "rkd_teacher_entropy": 3.712294316291809, + "rkd_teacher_similarity_mean": 0.7708429276943207, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11550 + }, + { + "epoch": 3.3633983124818156, + "flow_matching_loss": 0.017212639190256597, + "grad_norm": 0.13260453939437866, + "learning_rate": 2.1685814136768225e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010904575977474452, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37762947380542755, + "rkd_teacher_entropy": 3.738904285430908, + "rkd_teacher_similarity_mean": 0.781719422340393, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11560 + }, + { + "epoch": 3.366307826592959, + "flow_matching_loss": 0.015320097841322423, + "grad_norm": 0.27057015895843506, + "learning_rate": 2.167100867961128e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01307284557260573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3747886836528778, + "rkd_teacher_entropy": 3.732500672340393, + "rkd_teacher_similarity_mean": 0.7803473114967346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11570 + }, + { + "epoch": 3.369217340704102, + "flow_matching_loss": 0.017444784101098777, + "grad_norm": 0.10358233004808426, + "learning_rate": 2.1656195116549756e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012183012161403894, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3793516784906387, + "rkd_teacher_entropy": 3.7491158962249758, + "rkd_teacher_similarity_mean": 0.7845959365367889, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11580 + }, + { + "epoch": 3.372126854815246, + "flow_matching_loss": 0.017401023767888546, + "grad_norm": 0.11265432089567184, + "learning_rate": 2.1641373465583527e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012469817232340575, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3639842629432678, + "rkd_teacher_entropy": 3.700884532928467, + "rkd_teacher_similarity_mean": 0.7681896388530731, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11590 + }, + { + "epoch": 3.375036368926389, + "flow_matching_loss": 0.014673009514808655, + "grad_norm": 0.12420494854450226, + "learning_rate": 2.1626543744722292e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010765011422336102, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37072518467903137, + "rkd_teacher_entropy": 3.7330570459365844, + "rkd_teacher_similarity_mean": 0.7776252627372742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11600 + }, + { + "epoch": 3.377945883037533, + "flow_matching_loss": 0.01841020453721285, + "grad_norm": 0.28349989652633667, + "learning_rate": 2.161170597198557e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.015955768711864948, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37250584065914155, + "rkd_teacher_entropy": 3.73225200176239, + "rkd_teacher_similarity_mean": 0.7789819955825805, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11610 + }, + { + "epoch": 3.380855397148676, + "flow_matching_loss": 0.018555624503642322, + "grad_norm": 0.14855900406837463, + "learning_rate": 2.1596860165402645e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014227294176816941, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37339048385620116, + "rkd_teacher_entropy": 3.7319210529327393, + "rkd_teacher_similarity_mean": 0.7776309132575989, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11620 + }, + { + "epoch": 3.38376491125982, + "flow_matching_loss": 0.020289899408817293, + "grad_norm": 0.16523301601409912, + "learning_rate": 2.1582006343012576e-05, + "loss": 0.0264, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01220773784443736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3784129947423935, + "rkd_teacher_entropy": 3.748710060119629, + "rkd_teacher_similarity_mean": 0.7834204435348511, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11630 + }, + { + "epoch": 3.386674425370963, + "flow_matching_loss": 0.016106033697724342, + "grad_norm": 0.224776491522789, + "learning_rate": 2.156714452286416e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01113767409697175, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37095958888530733, + "rkd_teacher_entropy": 3.730732560157776, + "rkd_teacher_similarity_mean": 0.7771928668022156, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11640 + }, + { + "epoch": 3.3895839394821063, + "flow_matching_loss": 0.016434041038155555, + "grad_norm": 0.11836668103933334, + "learning_rate": 2.155227472301591e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010917822737246752, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37186495065689085, + "rkd_teacher_entropy": 3.7305318832397463, + "rkd_teacher_similarity_mean": 0.779545533657074, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11650 + }, + { + "epoch": 3.39249345359325, + "flow_matching_loss": 0.015655353479087353, + "grad_norm": 0.12504127621650696, + "learning_rate": 2.1537396961536027e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013898659870028496, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3725006580352783, + "rkd_teacher_entropy": 3.7278477907180787, + "rkd_teacher_similarity_mean": 0.7803434431552887, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11660 + }, + { + "epoch": 3.3954029677043933, + "flow_matching_loss": 0.016056258603930472, + "grad_norm": 0.13704365491867065, + "learning_rate": 2.1522511256502403e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010784575156867504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3674101710319519, + "rkd_teacher_entropy": 3.7216368675231934, + "rkd_teacher_similarity_mean": 0.7741820573806762, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11670 + }, + { + "epoch": 3.3983124818155366, + "flow_matching_loss": 0.014683993346989156, + "grad_norm": 0.15141238272190094, + "learning_rate": 2.1507617626002566e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0122046054340899, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3738469958305359, + "rkd_teacher_entropy": 3.7423034429550173, + "rkd_teacher_similarity_mean": 0.7813556909561157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11680 + }, + { + "epoch": 3.4012219959266803, + "flow_matching_loss": 0.01638701083138585, + "grad_norm": 0.16126948595046997, + "learning_rate": 2.1492716088133685e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012596962135285139, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36453458070755007, + "rkd_teacher_entropy": 3.7173500537872313, + "rkd_teacher_similarity_mean": 0.7731684267520904, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11690 + }, + { + "epoch": 3.4041315100378235, + "flow_matching_loss": 0.017537318170070648, + "grad_norm": 0.14824412763118744, + "learning_rate": 2.1477806661002536e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011833366472274065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37515461444854736, + "rkd_teacher_entropy": 3.757162261009216, + "rkd_teacher_similarity_mean": 0.7834401607513428, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11700 + }, + { + "epoch": 3.4070410241489673, + "flow_matching_loss": 0.015555818099528551, + "grad_norm": 0.15266340970993042, + "learning_rate": 2.146288936272548e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01025103908032179, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37338232398033144, + "rkd_teacher_entropy": 3.741445302963257, + "rkd_teacher_similarity_mean": 0.7815225481986999, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11710 + }, + { + "epoch": 3.4099505382601105, + "flow_matching_loss": 0.015635763574391604, + "grad_norm": 0.15344202518463135, + "learning_rate": 2.1447964211428433e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012646905286237598, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37838591635227203, + "rkd_teacher_entropy": 3.7586069822311403, + "rkd_teacher_similarity_mean": 0.7880408048629761, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11720 + }, + { + "epoch": 3.4128600523712542, + "flow_matching_loss": 0.017434874922037123, + "grad_norm": 0.15820953249931335, + "learning_rate": 2.1433031225246865e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012165513634681702, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36694356203079226, + "rkd_teacher_entropy": 3.718330216407776, + "rkd_teacher_similarity_mean": 0.7750306844711303, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11730 + }, + { + "epoch": 3.4157695664823975, + "flow_matching_loss": 0.015757315792143345, + "grad_norm": 0.11161687225103378, + "learning_rate": 2.1418090422325766e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011232558824121951, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36998274326324465, + "rkd_teacher_entropy": 3.7303219079971313, + "rkd_teacher_similarity_mean": 0.7772067546844482, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11740 + }, + { + "epoch": 3.4186790805935408, + "flow_matching_loss": 0.017087510228157042, + "grad_norm": 0.13645470142364502, + "learning_rate": 2.1403141820819623e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011234527546912431, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36636221706867217, + "rkd_teacher_entropy": 3.7233564853668213, + "rkd_teacher_similarity_mean": 0.7751844227313995, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11750 + }, + { + "epoch": 3.4215885947046845, + "flow_matching_loss": 0.016092830523848533, + "grad_norm": 0.1215062290430069, + "learning_rate": 2.1388185438892377e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012408702913671733, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3681194394826889, + "rkd_teacher_entropy": 3.72164843082428, + "rkd_teacher_similarity_mean": 0.7762138485908509, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11760 + }, + { + "epoch": 3.4244981088158277, + "flow_matching_loss": 0.01588099030777812, + "grad_norm": 0.10721499472856522, + "learning_rate": 2.1373221294717465e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011697473190724849, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3651642441749573, + "rkd_teacher_entropy": 3.7177024602890016, + "rkd_teacher_similarity_mean": 0.7723737001419068, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11770 + }, + { + "epoch": 3.427407622926971, + "flow_matching_loss": 0.013455434795469045, + "grad_norm": 0.11432085931301117, + "learning_rate": 2.1358249406477724e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011159273982048034, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36089802980422975, + "rkd_teacher_entropy": 3.7006407022476195, + "rkd_teacher_similarity_mean": 0.7701328337192536, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11780 + }, + { + "epoch": 3.4303171370381147, + "flow_matching_loss": 0.016499844565987586, + "grad_norm": 0.15343905985355377, + "learning_rate": 2.1343269792365408e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011500466801226138, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3659133106470108, + "rkd_teacher_entropy": 3.7244616508483888, + "rkd_teacher_similarity_mean": 0.774784117937088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11790 + }, + { + "epoch": 3.433226651149258, + "flow_matching_loss": 0.01738377334550023, + "grad_norm": 0.14521272480487823, + "learning_rate": 2.132828247058217e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012462679157033562, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3715075433254242, + "rkd_teacher_entropy": 3.735256886482239, + "rkd_teacher_similarity_mean": 0.7789308845996856, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11800 + }, + { + "epoch": 3.4361361652604017, + "flow_matching_loss": 0.01711186980828643, + "grad_norm": 0.16787980496883392, + "learning_rate": 2.1313287459339004e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01106840679422021, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3744964063167572, + "rkd_teacher_entropy": 3.748096251487732, + "rkd_teacher_similarity_mean": 0.7807828664779664, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11810 + }, + { + "epoch": 3.439045679371545, + "flow_matching_loss": 0.016645442135632037, + "grad_norm": 0.16492554545402527, + "learning_rate": 2.1298284776856276e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012535397987812757, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36537585854530336, + "rkd_teacher_entropy": 3.703755021095276, + "rkd_teacher_similarity_mean": 0.768928861618042, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11820 + }, + { + "epoch": 3.4419551934826886, + "flow_matching_loss": 0.017455867026001215, + "grad_norm": 0.14857600629329681, + "learning_rate": 2.128327444136365e-05, + "loss": 0.024, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013057627901434898, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3654616951942444, + "rkd_teacher_entropy": 3.7182870149612426, + "rkd_teacher_similarity_mean": 0.7710378348827363, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11830 + }, + { + "epoch": 3.444864707593832, + "flow_matching_loss": 0.01800785940140486, + "grad_norm": 0.1723877638578415, + "learning_rate": 2.1268256471100105e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011293078493326902, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36980644464492796, + "rkd_teacher_entropy": 3.733622980117798, + "rkd_teacher_similarity_mean": 0.7787646651268005, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11840 + }, + { + "epoch": 3.447774221704975, + "flow_matching_loss": 0.01667874716222286, + "grad_norm": 0.14569303393363953, + "learning_rate": 2.1253230884313893e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014240335579961539, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3605885148048401, + "rkd_teacher_entropy": 3.7145121812820436, + "rkd_teacher_similarity_mean": 0.7671128332614898, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11850 + }, + { + "epoch": 3.450683735816119, + "flow_matching_loss": 0.014769233390688896, + "grad_norm": 0.16906706988811493, + "learning_rate": 2.123819769926251e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010597785376012326, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37683064937591554, + "rkd_teacher_entropy": 3.752369427680969, + "rkd_teacher_similarity_mean": 0.7833414793014526, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11860 + }, + { + "epoch": 3.453593249927262, + "flow_matching_loss": 0.017678200639784335, + "grad_norm": 0.16333997249603271, + "learning_rate": 2.1223156934212702e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012272535730153323, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36741678416728973, + "rkd_teacher_entropy": 3.7066346406936646, + "rkd_teacher_similarity_mean": 0.7744943022727966, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11870 + }, + { + "epoch": 3.4565027640384054, + "flow_matching_loss": 0.016437707282602788, + "grad_norm": 0.14214900135993958, + "learning_rate": 2.1208108607440418e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011794728552922606, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3703942060470581, + "rkd_teacher_entropy": 3.728390693664551, + "rkd_teacher_similarity_mean": 0.7772679805755616, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11880 + }, + { + "epoch": 3.459412278149549, + "flow_matching_loss": 0.01650994597002864, + "grad_norm": 0.15381471812725067, + "learning_rate": 2.119305273723078e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012615648750215768, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3573761165142059, + "rkd_teacher_entropy": 3.6997377395629885, + "rkd_teacher_similarity_mean": 0.764689028263092, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11890 + }, + { + "epoch": 3.4623217922606924, + "flow_matching_loss": 0.01596301784738898, + "grad_norm": 0.1317291259765625, + "learning_rate": 2.1177989341878106e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013720933347940445, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3671194642782211, + "rkd_teacher_entropy": 3.7058690071105955, + "rkd_teacher_similarity_mean": 0.7717514872550965, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11900 + }, + { + "epoch": 3.465231306371836, + "flow_matching_loss": 0.01651493664830923, + "grad_norm": 0.11858255416154861, + "learning_rate": 2.116291843968583e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013491459470242263, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37079732716083524, + "rkd_teacher_entropy": 3.732695531845093, + "rkd_teacher_similarity_mean": 0.7785857737064361, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11910 + }, + { + "epoch": 3.4681408204829793, + "flow_matching_loss": 0.016111852414906026, + "grad_norm": 0.12933602929115295, + "learning_rate": 2.114784004896653e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0127090435475111, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36784928739070893, + "rkd_teacher_entropy": 3.7247772455215453, + "rkd_teacher_similarity_mean": 0.7748754024505615, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11920 + }, + { + "epoch": 3.4710503345941226, + "flow_matching_loss": 0.019858215283602477, + "grad_norm": 0.13140568137168884, + "learning_rate": 2.113275418804187e-05, + "loss": 0.0258, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01192195164039731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3703216344118118, + "rkd_teacher_entropy": 3.725407934188843, + "rkd_teacher_similarity_mean": 0.7776712775230408, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11930 + }, + { + "epoch": 3.4739598487052663, + "flow_matching_loss": 0.020299236197024582, + "grad_norm": 0.15806877613067627, + "learning_rate": 2.1117660875242583e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011216339049860835, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.368392875790596, + "rkd_teacher_entropy": 3.7356640338897704, + "rkd_teacher_similarity_mean": 0.7775718927383423, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11940 + }, + { + "epoch": 3.4768693628164096, + "flow_matching_loss": 0.01612688796594739, + "grad_norm": 0.18812529742717743, + "learning_rate": 2.1102560128908478e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01294195419177413, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36523250341415403, + "rkd_teacher_entropy": 3.719330334663391, + "rkd_teacher_similarity_mean": 0.7747248470783233, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11950 + }, + { + "epoch": 3.4797788769275533, + "flow_matching_loss": 0.019134760461747648, + "grad_norm": 0.1710696816444397, + "learning_rate": 2.1087451967388384e-05, + "loss": 0.0259, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013555168733000755, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3678541243076324, + "rkd_teacher_entropy": 3.724047136306763, + "rkd_teacher_similarity_mean": 0.7735684990882874, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11960 + }, + { + "epoch": 3.4826883910386965, + "flow_matching_loss": 0.015637082513421774, + "grad_norm": 0.13241799175739288, + "learning_rate": 2.1072336409040135e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011799392849206924, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37914619147777556, + "rkd_teacher_entropy": 3.749550628662109, + "rkd_teacher_similarity_mean": 0.7841753423213959, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11970 + }, + { + "epoch": 3.48559790514984, + "flow_matching_loss": 0.016495992708951236, + "grad_norm": 0.18436507880687714, + "learning_rate": 2.1057213472230573e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012219201866537332, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3670455276966095, + "rkd_teacher_entropy": 3.7239842414855957, + "rkd_teacher_similarity_mean": 0.7740232646465302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11980 + }, + { + "epoch": 3.4885074192609835, + "flow_matching_loss": 0.014075474441051483, + "grad_norm": 0.13982965052127838, + "learning_rate": 2.1042083175335478e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011847228370606899, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37489035427570344, + "rkd_teacher_entropy": 3.7435532331466677, + "rkd_teacher_similarity_mean": 0.7831664264202118, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11990 + }, + { + "epoch": 3.4914169333721268, + "flow_matching_loss": 0.017202452383935453, + "grad_norm": 0.12169593572616577, + "learning_rate": 2.1026945536739595e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012015375215560198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37711439430713656, + "rkd_teacher_entropy": 3.744812250137329, + "rkd_teacher_similarity_mean": 0.7858767151832581, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12000 + }, + { + "epoch": 3.4943264474832705, + "flow_matching_loss": 0.01804105918854475, + "grad_norm": 0.1355847865343094, + "learning_rate": 2.1011800574836586e-05, + "loss": 0.0238, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011531493440270425, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3644977480173111, + "rkd_teacher_entropy": 3.7229596376419067, + "rkd_teacher_similarity_mean": 0.773764306306839, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12010 + }, + { + "epoch": 3.4972359615944137, + "flow_matching_loss": 0.014784027449786663, + "grad_norm": 0.13976815342903137, + "learning_rate": 2.0996648308028992e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011809685919433831, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36870752573013305, + "rkd_teacher_entropy": 3.721140503883362, + "rkd_teacher_similarity_mean": 0.776476389169693, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12020 + }, + { + "epoch": 3.500145475705557, + "flow_matching_loss": 0.015752214659005403, + "grad_norm": 0.14991648495197296, + "learning_rate": 2.0981488754728266e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012620670953765512, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3632611483335495, + "rkd_teacher_entropy": 3.706258535385132, + "rkd_teacher_similarity_mean": 0.7701781451702118, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12030 + }, + { + "epoch": 3.5030549898167007, + "flow_matching_loss": 0.015223751217126847, + "grad_norm": 0.10708577930927277, + "learning_rate": 2.0966321933354685e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010530275339260698, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3693684071302414, + "rkd_teacher_entropy": 3.7297260999679565, + "rkd_teacher_similarity_mean": 0.7784341275691986, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12040 + }, + { + "epoch": 3.505964503927844, + "flow_matching_loss": 0.01625065477564931, + "grad_norm": 0.1273881196975708, + "learning_rate": 2.095114786233736e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010354498960077762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37629647850990294, + "rkd_teacher_entropy": 3.747083830833435, + "rkd_teacher_similarity_mean": 0.7843368768692016, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12050 + }, + { + "epoch": 3.5088740180389877, + "flow_matching_loss": 0.017488913889974356, + "grad_norm": 0.1357932984828949, + "learning_rate": 2.0935966560114236e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013488131295889615, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3736090898513794, + "rkd_teacher_entropy": 3.7353019237518312, + "rkd_teacher_similarity_mean": 0.7803787231445313, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12060 + }, + { + "epoch": 3.511783532150131, + "flow_matching_loss": 0.013998489174991847, + "grad_norm": 0.11975625157356262, + "learning_rate": 2.092077804513201e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012033979501575231, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36394173204898833, + "rkd_teacher_entropy": 3.7133974552154543, + "rkd_teacher_similarity_mean": 0.7693958759307862, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12070 + }, + { + "epoch": 3.514693046261274, + "flow_matching_loss": 0.015545297600328922, + "grad_norm": 0.1685580015182495, + "learning_rate": 2.0905582335846167e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011710084602236747, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37071917951107025, + "rkd_teacher_entropy": 3.728669619560242, + "rkd_teacher_similarity_mean": 0.7757861733436584, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12080 + }, + { + "epoch": 3.517602560372418, + "flow_matching_loss": 0.014808839652687311, + "grad_norm": 0.15300656855106354, + "learning_rate": 2.0890379450720927e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011256480496376753, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3692028045654297, + "rkd_teacher_entropy": 3.730622982978821, + "rkd_teacher_similarity_mean": 0.7753978669643402, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12090 + }, + { + "epoch": 3.520512074483561, + "flow_matching_loss": 0.017031276226043703, + "grad_norm": 0.12608763575553894, + "learning_rate": 2.087516940822923e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012303830310702323, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36555907130241394, + "rkd_teacher_entropy": 3.7261505842208864, + "rkd_teacher_similarity_mean": 0.7715632557868958, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12100 + }, + { + "epoch": 3.5234215885947044, + "flow_matching_loss": 0.016727576032280922, + "grad_norm": 0.13708890974521637, + "learning_rate": 2.085995222685271e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012714279536157846, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696559816598892, + "rkd_teacher_entropy": 3.7341434717178346, + "rkd_teacher_similarity_mean": 0.7763536274433136, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12110 + }, + { + "epoch": 3.526331102705848, + "flow_matching_loss": 0.016451359447091817, + "grad_norm": 0.15147219598293304, + "learning_rate": 2.084472792508167e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012923483876511455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38027745187282563, + "rkd_teacher_entropy": 3.754538822174072, + "rkd_teacher_similarity_mean": 0.7874181926250458, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12120 + }, + { + "epoch": 3.5292406168169914, + "flow_matching_loss": 0.016074314154684542, + "grad_norm": 0.13668088614940643, + "learning_rate": 2.082949652141508e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012935637449845671, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37132405042648314, + "rkd_teacher_entropy": 3.7290331602096556, + "rkd_teacher_similarity_mean": 0.7758851289749146, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12130 + }, + { + "epoch": 3.532150130928135, + "flow_matching_loss": 0.01600095946341753, + "grad_norm": 0.1388683021068573, + "learning_rate": 2.081425803436054e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.014254129864275456, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.370511919260025, + "rkd_teacher_entropy": 3.7242136001586914, + "rkd_teacher_similarity_mean": 0.7768755435943604, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12140 + }, + { + "epoch": 3.5350596450392784, + "flow_matching_loss": 0.014875693060457707, + "grad_norm": 0.1585804522037506, + "learning_rate": 2.079901248243423e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010628514271229506, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37305649518966677, + "rkd_teacher_entropy": 3.7357295513153077, + "rkd_teacher_similarity_mean": 0.780073368549347, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12150 + }, + { + "epoch": 3.537969159150422, + "flow_matching_loss": 0.016972444579005243, + "grad_norm": 0.11671935021877289, + "learning_rate": 2.078375988416095e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010479002352803945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.35979644060134885, + "rkd_teacher_entropy": 3.687787413597107, + "rkd_teacher_similarity_mean": 0.7667399883270264, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12160 + }, + { + "epoch": 3.5408786732615654, + "flow_matching_loss": 0.014769160654395819, + "grad_norm": 0.1341078132390976, + "learning_rate": 2.076850025807404e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01175870755687356, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3738215208053589, + "rkd_teacher_entropy": 3.739223504066467, + "rkd_teacher_similarity_mean": 0.7799661755561829, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12170 + }, + { + "epoch": 3.5437881873727086, + "flow_matching_loss": 0.017411436699330807, + "grad_norm": 0.17191068828105927, + "learning_rate": 2.0753233622715374e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010691654216498137, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3660181611776352, + "rkd_teacher_entropy": 3.70993332862854, + "rkd_teacher_similarity_mean": 0.7721150696277619, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12180 + }, + { + "epoch": 3.5466977014838523, + "flow_matching_loss": 0.01458381349220872, + "grad_norm": 0.13581788539886475, + "learning_rate": 2.073795999663536e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013980801776051521, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37163380682468417, + "rkd_teacher_entropy": 3.74792857170105, + "rkd_teacher_similarity_mean": 0.7779293715953827, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12190 + }, + { + "epoch": 3.5496072155949956, + "flow_matching_loss": 0.01708038877695799, + "grad_norm": 0.2955053448677063, + "learning_rate": 2.07226793983929e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012055409234017133, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36960357427597046, + "rkd_teacher_entropy": 3.7226964473724364, + "rkd_teacher_similarity_mean": 0.7753674209117889, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12200 + }, + { + "epoch": 3.552516729706139, + "flow_matching_loss": 0.019425347819924353, + "grad_norm": 0.1692366749048233, + "learning_rate": 2.070739184655536e-05, + "loss": 0.0257, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012578755570575594, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3694184601306915, + "rkd_teacher_entropy": 3.729476284980774, + "rkd_teacher_similarity_mean": 0.7773495614528656, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12210 + }, + { + "epoch": 3.5554262438172826, + "flow_matching_loss": 0.013978428021073342, + "grad_norm": 0.15684673190116882, + "learning_rate": 2.069209735969855e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010156415309756995, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3683777391910553, + "rkd_teacher_entropy": 3.717908024787903, + "rkd_teacher_similarity_mean": 0.773938000202179, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12220 + }, + { + "epoch": 3.558335757928426, + "flow_matching_loss": 0.016156448982656002, + "grad_norm": 0.1317538172006607, + "learning_rate": 2.067679595640672e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009775652177631855, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3721334844827652, + "rkd_teacher_entropy": 3.7267729520797728, + "rkd_teacher_similarity_mean": 0.7776320397853851, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12230 + }, + { + "epoch": 3.5612452720395695, + "flow_matching_loss": 0.01622290341183543, + "grad_norm": 0.1787513792514801, + "learning_rate": 2.066148765527252e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012178934272378683, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37548812925815583, + "rkd_teacher_entropy": 3.733501601219177, + "rkd_teacher_similarity_mean": 0.7804130673408508, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12240 + }, + { + "epoch": 3.564154786150713, + "flow_matching_loss": 0.014975045062601566, + "grad_norm": 0.11709590256214142, + "learning_rate": 2.0646172474896976e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010563358571380377, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696181893348694, + "rkd_teacher_entropy": 3.7083940505981445, + "rkd_teacher_similarity_mean": 0.7743981301784515, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12250 + }, + { + "epoch": 3.5670643002618565, + "flow_matching_loss": 0.01600204184651375, + "grad_norm": 0.15323226153850555, + "learning_rate": 2.063085043388947e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012363322684541345, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37340353429317474, + "rkd_teacher_entropy": 3.7319819927215576, + "rkd_teacher_similarity_mean": 0.7803841292858124, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12260 + }, + { + "epoch": 3.5699738143729998, + "flow_matching_loss": 0.018042146787047388, + "grad_norm": 0.14918240904808044, + "learning_rate": 2.0615521550867732e-05, + "loss": 0.0244, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01264089704491198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3671412914991379, + "rkd_teacher_entropy": 3.723814368247986, + "rkd_teacher_similarity_mean": 0.7746541738510132, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12270 + }, + { + "epoch": 3.572883328484143, + "flow_matching_loss": 0.01388373589143157, + "grad_norm": 0.12285537272691727, + "learning_rate": 2.0600185844457803e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009846651367843151, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3669269949197769, + "rkd_teacher_entropy": 3.7221899032592773, + "rkd_teacher_similarity_mean": 0.7740996599197387, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12280 + }, + { + "epoch": 3.5757928425952867, + "flow_matching_loss": 0.012465569470077754, + "grad_norm": 0.11315879970788956, + "learning_rate": 2.058484333329401e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010664234682917596, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37093555331230166, + "rkd_teacher_entropy": 3.7288716793060304, + "rkd_teacher_similarity_mean": 0.7768582224845886, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12290 + }, + { + "epoch": 3.57870235670643, + "flow_matching_loss": 0.018510120920836926, + "grad_norm": 0.15848201513290405, + "learning_rate": 2.0569494036018955e-05, + "loss": 0.0242, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011309429351240397, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3642045646905899, + "rkd_teacher_entropy": 3.7111934185028077, + "rkd_teacher_similarity_mean": 0.7720563650131226, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12300 + }, + { + "epoch": 3.5816118708175733, + "flow_matching_loss": 0.017979237530380488, + "grad_norm": 0.12458734214305878, + "learning_rate": 2.055413797128347e-05, + "loss": 0.0241, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012152036093175412, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36558976471424104, + "rkd_teacher_entropy": 3.7210116386413574, + "rkd_teacher_similarity_mean": 0.773030138015747, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12310 + }, + { + "epoch": 3.584521384928717, + "flow_matching_loss": 0.015281155984848738, + "grad_norm": 0.12731358408927917, + "learning_rate": 2.0538775157746634e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011409078631550074, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36710463762283324, + "rkd_teacher_entropy": 3.712411403656006, + "rkd_teacher_similarity_mean": 0.7730693399906159, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12320 + }, + { + "epoch": 3.5874308990398602, + "flow_matching_loss": 0.014724684227257968, + "grad_norm": 0.17383116483688354, + "learning_rate": 2.0523405614075706e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012610518792644142, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741634160280228, + "rkd_teacher_entropy": 3.723464751243591, + "rkd_teacher_similarity_mean": 0.7786193192005157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12330 + }, + { + "epoch": 3.590340413151004, + "flow_matching_loss": 0.01632676925510168, + "grad_norm": 0.12786196172237396, + "learning_rate": 2.0508029358946132e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01215335838496685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3693156659603119, + "rkd_teacher_entropy": 3.7224817514419555, + "rkd_teacher_similarity_mean": 0.7763559520244598, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12340 + }, + { + "epoch": 3.593249927262147, + "flow_matching_loss": 0.017582206148654224, + "grad_norm": 0.12442600727081299, + "learning_rate": 2.0492646411041515e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011566137429326773, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3739159941673279, + "rkd_teacher_entropy": 3.7326260566711427, + "rkd_teacher_similarity_mean": 0.7796426236629486, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12350 + }, + { + "epoch": 3.596159441373291, + "flow_matching_loss": 0.016867069620639087, + "grad_norm": 0.12730996310710907, + "learning_rate": 2.0477256789053587e-05, + "loss": 0.0227, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011742001585662364, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36258732378482816, + "rkd_teacher_entropy": 3.7044313192367553, + "rkd_teacher_similarity_mean": 0.7675879955291748, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12360 + }, + { + "epoch": 3.599068955484434, + "flow_matching_loss": 0.015284246765077114, + "grad_norm": 0.13658452033996582, + "learning_rate": 2.0461860511682194e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012668830715119839, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37439452707767484, + "rkd_teacher_entropy": 3.7456032037734985, + "rkd_teacher_similarity_mean": 0.7821827232837677, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12370 + }, + { + "epoch": 3.6019784695955774, + "flow_matching_loss": 0.015041189081966878, + "grad_norm": 0.11222492158412933, + "learning_rate": 2.0446457597635254e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010807228088378907, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37352106869220736, + "rkd_teacher_entropy": 3.738391375541687, + "rkd_teacher_similarity_mean": 0.7801564574241638, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12380 + }, + { + "epoch": 3.604887983706721, + "flow_matching_loss": 0.015435223095119, + "grad_norm": 0.11384399235248566, + "learning_rate": 2.0431048065628763e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011630322597920895, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718808561563492, + "rkd_teacher_entropy": 3.7293986797332765, + "rkd_teacher_similarity_mean": 0.777183997631073, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12390 + }, + { + "epoch": 3.6077974978178644, + "flow_matching_loss": 0.015340857207775116, + "grad_norm": 0.18564586341381073, + "learning_rate": 2.0415631934386764e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011100427713245153, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3734480828046799, + "rkd_teacher_entropy": 3.7373990297317503, + "rkd_teacher_similarity_mean": 0.7806609570980072, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12400 + }, + { + "epoch": 3.6107070119290077, + "flow_matching_loss": 0.013455722108483314, + "grad_norm": 0.14318908751010895, + "learning_rate": 2.04002092226413e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010995520185679198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36844528913497926, + "rkd_teacher_entropy": 3.7075052499771117, + "rkd_teacher_similarity_mean": 0.7772374272346496, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12410 + }, + { + "epoch": 3.6136165260401514, + "flow_matching_loss": 0.014993053674697877, + "grad_norm": 0.12910115718841553, + "learning_rate": 2.038477994913242e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01152823083102703, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3715170830488205, + "rkd_teacher_entropy": 3.7361034870147707, + "rkd_teacher_similarity_mean": 0.7794008195400238, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12420 + }, + { + "epoch": 3.6165260401512946, + "flow_matching_loss": 0.0175377007573843, + "grad_norm": 0.10694091022014618, + "learning_rate": 2.036934413260816e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0119585195556283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3668984830379486, + "rkd_teacher_entropy": 3.7154320955276487, + "rkd_teacher_similarity_mean": 0.7710711896419525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12430 + }, + { + "epoch": 3.619435554262438, + "flow_matching_loss": 0.013629633653908967, + "grad_norm": 0.12224764376878738, + "learning_rate": 2.0353901791824473e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009155199909582735, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3835227429866791, + "rkd_teacher_entropy": 3.7566275119781496, + "rkd_teacher_similarity_mean": 0.7871088504791259, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12440 + }, + { + "epoch": 3.6223450683735816, + "flow_matching_loss": 0.014999908208847047, + "grad_norm": 0.18428365886211395, + "learning_rate": 2.0338452945545275e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011739816842600703, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785223126411438, + "rkd_teacher_entropy": 3.7578691959381105, + "rkd_teacher_similarity_mean": 0.783822900056839, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12450 + }, + { + "epoch": 3.6252545824847253, + "flow_matching_loss": 0.012862258404493333, + "grad_norm": 0.11051425337791443, + "learning_rate": 2.0322997612542366e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009777227556332946, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741734832525253, + "rkd_teacher_entropy": 3.723629879951477, + "rkd_teacher_similarity_mean": 0.7770108997821807, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12460 + }, + { + "epoch": 3.6281640965958686, + "flow_matching_loss": 0.016804858576506376, + "grad_norm": 0.12801556289196014, + "learning_rate": 2.0307535811595427e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011350797116756439, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37995968461036683, + "rkd_teacher_entropy": 3.7424031257629395, + "rkd_teacher_similarity_mean": 0.7834783852100372, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12470 + }, + { + "epoch": 3.631073610707012, + "flow_matching_loss": 0.014266944769769908, + "grad_norm": 0.11339418590068817, + "learning_rate": 2.0292067561492013e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011047527752816677, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711626559495926, + "rkd_teacher_entropy": 3.7248639345169066, + "rkd_teacher_similarity_mean": 0.7750619888305664, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12480 + }, + { + "epoch": 3.6339831248181556, + "flow_matching_loss": 0.016133711393922567, + "grad_norm": 0.10407350212335587, + "learning_rate": 2.02765928810275e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010118939727544785, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37259304225444795, + "rkd_teacher_entropy": 3.723494291305542, + "rkd_teacher_similarity_mean": 0.7761052966117858, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12490 + }, + { + "epoch": 3.636892638929299, + "flow_matching_loss": 0.015322514157742263, + "grad_norm": 0.1304091513156891, + "learning_rate": 2.0261111789005087e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011311334790661931, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37328424453735354, + "rkd_teacher_entropy": 3.731111741065979, + "rkd_teacher_similarity_mean": 0.776114946603775, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12500 + }, + { + "epoch": 3.639802153040442, + "flow_matching_loss": 0.016586929094046354, + "grad_norm": 0.20565085113048553, + "learning_rate": 2.024562430423576e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012587928213179111, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38031225502490995, + "rkd_teacher_entropy": 3.7423583269119263, + "rkd_teacher_similarity_mean": 0.7830873131752014, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12510 + }, + { + "epoch": 3.642711667151586, + "flow_matching_loss": 0.014216337632387877, + "grad_norm": 0.16783402860164642, + "learning_rate": 2.0230130445538273e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011121765384450555, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776838183403015, + "rkd_teacher_entropy": 3.7348214626312255, + "rkd_teacher_similarity_mean": 0.780744856595993, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12520 + }, + { + "epoch": 3.645621181262729, + "flow_matching_loss": 0.017006370052695275, + "grad_norm": 0.14947918057441711, + "learning_rate": 2.0214630231739127e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012614528788253665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3695468634366989, + "rkd_teacher_entropy": 3.7219333171844484, + "rkd_teacher_similarity_mean": 0.7733623087406158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12530 + }, + { + "epoch": 3.6485306953738723, + "flow_matching_loss": 0.013621176313608884, + "grad_norm": 0.16248570382595062, + "learning_rate": 2.0199123681672543e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011710924562066793, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.373540061712265, + "rkd_teacher_entropy": 3.7438430547714234, + "rkd_teacher_similarity_mean": 0.7770028948783875, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12540 + }, + { + "epoch": 3.651440209485016, + "flow_matching_loss": 0.015279698558151722, + "grad_norm": 0.1757381409406662, + "learning_rate": 2.0183610814180437e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011026639165356756, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3803148478269577, + "rkd_teacher_entropy": 3.750607419013977, + "rkd_teacher_similarity_mean": 0.7837640404701233, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12550 + }, + { + "epoch": 3.6543497235961593, + "flow_matching_loss": 0.017370785120874643, + "grad_norm": 0.12146089971065521, + "learning_rate": 2.016809164811241e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011116389371454715, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37048549950122833, + "rkd_teacher_entropy": 3.7118446588516236, + "rkd_teacher_similarity_mean": 0.7742692291736603, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12560 + }, + { + "epoch": 3.657259237707303, + "flow_matching_loss": 0.015843328554183245, + "grad_norm": 0.1524045318365097, + "learning_rate": 2.015256620232571e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010290388902649283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36790207028388977, + "rkd_teacher_entropy": 3.7165917634963987, + "rkd_teacher_similarity_mean": 0.770542997121811, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12570 + }, + { + "epoch": 3.6601687518184463, + "flow_matching_loss": 0.016831097658723593, + "grad_norm": 0.16714569926261902, + "learning_rate": 2.0137034495685222e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01018671654164791, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718527764081955, + "rkd_teacher_entropy": 3.7158781766891478, + "rkd_teacher_similarity_mean": 0.7740284323692321, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12580 + }, + { + "epoch": 3.66307826592959, + "flow_matching_loss": 0.015207550395280123, + "grad_norm": 0.11570478975772858, + "learning_rate": 2.012149654706343e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01050524702295661, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36353068947792055, + "rkd_teacher_entropy": 3.7105345010757445, + "rkd_teacher_similarity_mean": 0.7680027186870575, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12590 + }, + { + "epoch": 3.6659877800407332, + "flow_matching_loss": 0.014120858628302813, + "grad_norm": 0.13931138813495636, + "learning_rate": 2.010595237534041e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011458862200379371, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38022594153881073, + "rkd_teacher_entropy": 3.7489718198776245, + "rkd_teacher_similarity_mean": 0.7848828971385956, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12600 + }, + { + "epoch": 3.6688972941518765, + "flow_matching_loss": 0.012560417409986258, + "grad_norm": 0.13568878173828125, + "learning_rate": 2.0090401999403793e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011527981888502837, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3614726483821869, + "rkd_teacher_entropy": 3.6964171171188354, + "rkd_teacher_similarity_mean": 0.7644523024559021, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12610 + }, + { + "epoch": 3.67180680826302, + "flow_matching_loss": 0.015902589540928602, + "grad_norm": 0.16094328463077545, + "learning_rate": 2.007484543814875e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01196564882993698, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3684795618057251, + "rkd_teacher_entropy": 3.7159354209899904, + "rkd_teacher_similarity_mean": 0.7724640429019928, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12620 + }, + { + "epoch": 3.6747163223741635, + "flow_matching_loss": 0.01539705554023385, + "grad_norm": 0.17985771596431732, + "learning_rate": 2.0059282710477972e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009742346359416842, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3724541634321213, + "rkd_teacher_entropy": 3.7278759241104127, + "rkd_teacher_similarity_mean": 0.7772321105003357, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12630 + }, + { + "epoch": 3.6776258364853067, + "flow_matching_loss": 0.0162557952105999, + "grad_norm": 0.13135233521461487, + "learning_rate": 2.0043713835301647e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01015187120065093, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3604944109916687, + "rkd_teacher_entropy": 3.678380036354065, + "rkd_teacher_similarity_mean": 0.7655716657638549, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12640 + }, + { + "epoch": 3.6805353505964504, + "flow_matching_loss": 0.014301320165395736, + "grad_norm": 0.15458521246910095, + "learning_rate": 2.0028138831537417e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010734194796532393, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3742706149816513, + "rkd_teacher_entropy": 3.7327348947525025, + "rkd_teacher_similarity_mean": 0.779298049211502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12650 + }, + { + "epoch": 3.6834448647075937, + "flow_matching_loss": 0.0158895798958838, + "grad_norm": 0.11895199120044708, + "learning_rate": 2.0012557718110387e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010581650212407112, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36682490110397337, + "rkd_teacher_entropy": 3.7125202894210814, + "rkd_teacher_similarity_mean": 0.7720271050930023, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12660 + }, + { + "epoch": 3.6863543788187374, + "flow_matching_loss": 0.016593385953456163, + "grad_norm": 0.11634619534015656, + "learning_rate": 1.9996970513953077e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01007112991064787, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3739132255315781, + "rkd_teacher_entropy": 3.739001441001892, + "rkd_teacher_similarity_mean": 0.7798273086547851, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12670 + }, + { + "epoch": 3.6892638929298807, + "flow_matching_loss": 0.01508984286338091, + "grad_norm": 0.16039994359016418, + "learning_rate": 1.9981377238005405e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010032410733401775, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3766219764947891, + "rkd_teacher_entropy": 3.7491134643554687, + "rkd_teacher_similarity_mean": 0.7827606976032258, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12680 + }, + { + "epoch": 3.6921734070410244, + "flow_matching_loss": 0.01624022857286036, + "grad_norm": 0.12365619093179703, + "learning_rate": 1.9965777909214674e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01115107536315918, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.380137699842453, + "rkd_teacher_entropy": 3.7518309116363526, + "rkd_teacher_similarity_mean": 0.7848161995410919, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12690 + }, + { + "epoch": 3.6950829211521676, + "flow_matching_loss": 0.01379461344331503, + "grad_norm": 0.10491682589054108, + "learning_rate": 1.9950172546535545e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009576549241319298, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37514265775680544, + "rkd_teacher_entropy": 3.722262167930603, + "rkd_teacher_similarity_mean": 0.7775838673114777, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12700 + }, + { + "epoch": 3.697992435263311, + "flow_matching_loss": 0.015716297179460527, + "grad_norm": 0.28002312779426575, + "learning_rate": 1.9934561168930002e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012951906397938728, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718985378742218, + "rkd_teacher_entropy": 3.720586156845093, + "rkd_teacher_similarity_mean": 0.776433390378952, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12710 + }, + { + "epoch": 3.7009019493744546, + "flow_matching_loss": 0.016879810206592082, + "grad_norm": 0.12085336446762085, + "learning_rate": 1.991894379536734e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012143409671261906, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3773921996355057, + "rkd_teacher_entropy": 3.7420613050460814, + "rkd_teacher_similarity_mean": 0.7813933551311493, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12720 + }, + { + "epoch": 3.703811463485598, + "flow_matching_loss": 0.017232516873627902, + "grad_norm": 0.12311717867851257, + "learning_rate": 1.9903320444824137e-05, + "loss": 0.0235, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012528616283088923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3744040846824646, + "rkd_teacher_entropy": 3.733067750930786, + "rkd_teacher_similarity_mean": 0.77778080701828, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12730 + }, + { + "epoch": 3.706720977596741, + "flow_matching_loss": 0.014056818373501302, + "grad_norm": 0.12216614931821823, + "learning_rate": 1.9887691136284245e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009548907866701484, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37769988775253294, + "rkd_teacher_entropy": 3.7405813217163084, + "rkd_teacher_similarity_mean": 0.7822275161743164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12740 + }, + { + "epoch": 3.709630491707885, + "flow_matching_loss": 0.014736837428063154, + "grad_norm": 0.1113939955830574, + "learning_rate": 1.9872055888738745e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010808962211012841, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37163202166557313, + "rkd_teacher_entropy": 3.7287478923797606, + "rkd_teacher_similarity_mean": 0.7758602559566498, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12750 + }, + { + "epoch": 3.712540005819028, + "flow_matching_loss": 0.016716928128153084, + "grad_norm": 0.10566107928752899, + "learning_rate": 1.985641472118593e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010406866995617747, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36853623688220977, + "rkd_teacher_entropy": 3.714534950256348, + "rkd_teacher_similarity_mean": 0.7732069909572601, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12760 + }, + { + "epoch": 3.715449519930172, + "flow_matching_loss": 0.016773106902837752, + "grad_norm": 0.14614197611808777, + "learning_rate": 1.9840767652631294e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011288262298330664, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36726984977722166, + "rkd_teacher_entropy": 3.7062687635421754, + "rkd_teacher_similarity_mean": 0.7704534113407135, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12770 + }, + { + "epoch": 3.718359034041315, + "flow_matching_loss": 0.016558031551539898, + "grad_norm": 0.14867942035198212, + "learning_rate": 1.9825114702087513e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010534095298498868, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3698772817850113, + "rkd_teacher_entropy": 3.7197648525238036, + "rkd_teacher_similarity_mean": 0.7761036217212677, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12780 + }, + { + "epoch": 3.7212685481524588, + "flow_matching_loss": 0.017158931586891413, + "grad_norm": 0.15431754291057587, + "learning_rate": 1.9809455888574388e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011464969627559185, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3639619708061218, + "rkd_teacher_entropy": 3.7161706924438476, + "rkd_teacher_similarity_mean": 0.7702441811561584, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12790 + }, + { + "epoch": 3.724178062263602, + "flow_matching_loss": 0.015529799833893776, + "grad_norm": 0.13471026718616486, + "learning_rate": 1.9793791231118864e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010559577960520983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3714666128158569, + "rkd_teacher_entropy": 3.726162838935852, + "rkd_teacher_similarity_mean": 0.7759029865264893, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12800 + }, + { + "epoch": 3.7270875763747453, + "flow_matching_loss": 0.01416573477908969, + "grad_norm": 0.10918261110782623, + "learning_rate": 1.9778120748754958e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012243855278939009, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834799498319626, + "rkd_teacher_entropy": 3.754631280899048, + "rkd_teacher_similarity_mean": 0.7872083127498627, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12810 + }, + { + "epoch": 3.729997090485889, + "flow_matching_loss": 0.015780420042574406, + "grad_norm": 0.12455785274505615, + "learning_rate": 1.97624444605238e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010566665465012193, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36868380606174467, + "rkd_teacher_entropy": 3.718268132209778, + "rkd_teacher_similarity_mean": 0.7721189320087433, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12820 + }, + { + "epoch": 3.7329066045970323, + "flow_matching_loss": 0.015445412788540124, + "grad_norm": 0.22560839354991913, + "learning_rate": 1.9746762385473552e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011278106225654482, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3705593317747116, + "rkd_teacher_entropy": 3.726512622833252, + "rkd_teacher_similarity_mean": 0.7764894485473632, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12830 + }, + { + "epoch": 3.7358161187081755, + "flow_matching_loss": 0.015239145047962666, + "grad_norm": 0.14226034283638, + "learning_rate": 1.9731074542659414e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012198706436902285, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3686825066804886, + "rkd_teacher_entropy": 3.72751407623291, + "rkd_teacher_similarity_mean": 0.7761148095130921, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12840 + }, + { + "epoch": 3.7387256328193192, + "flow_matching_loss": 0.017461891192942856, + "grad_norm": 0.16767773032188416, + "learning_rate": 1.9715380951143603e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011247899709269404, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3674995839595795, + "rkd_teacher_entropy": 3.7201713800430296, + "rkd_teacher_similarity_mean": 0.7740019857883453, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12850 + }, + { + "epoch": 3.7416351469304625, + "flow_matching_loss": 0.015409666206687688, + "grad_norm": 0.12943489849567413, + "learning_rate": 1.9699681629995295e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012463762890547514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37610553205013275, + "rkd_teacher_entropy": 3.7414582490921022, + "rkd_teacher_similarity_mean": 0.7827796161174774, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12860 + }, + { + "epoch": 3.744544661041606, + "flow_matching_loss": 0.016016627568751572, + "grad_norm": 0.11657584458589554, + "learning_rate": 1.968397659829066e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012327047903090716, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37240307629108427, + "rkd_teacher_entropy": 3.7307237863540648, + "rkd_teacher_similarity_mean": 0.780850213766098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12870 + }, + { + "epoch": 3.7474541751527495, + "flow_matching_loss": 0.01460026130080223, + "grad_norm": 0.11340302973985672, + "learning_rate": 1.966826587511279e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011642386298626661, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3723535776138306, + "rkd_teacher_entropy": 3.7419881343841555, + "rkd_teacher_similarity_mean": 0.7802111506462097, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12880 + }, + { + "epoch": 3.750363689263893, + "flow_matching_loss": 0.016767628863453864, + "grad_norm": 0.17489108443260193, + "learning_rate": 1.965254947955169e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010069815628230571, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3690867513418198, + "rkd_teacher_entropy": 3.729983425140381, + "rkd_teacher_similarity_mean": 0.777354508638382, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12890 + }, + { + "epoch": 3.7532732033750364, + "flow_matching_loss": 0.01403323169797659, + "grad_norm": 0.11720694601535797, + "learning_rate": 1.963682743070427e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008912663906812668, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696905940771103, + "rkd_teacher_entropy": 3.731856632232666, + "rkd_teacher_similarity_mean": 0.7756549298763276, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12900 + }, + { + "epoch": 3.7561827174861797, + "flow_matching_loss": 0.013777462765574455, + "grad_norm": 0.14263741672039032, + "learning_rate": 1.962109974767429e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011095716152340174, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3750472664833069, + "rkd_teacher_entropy": 3.739442253112793, + "rkd_teacher_similarity_mean": 0.7811864376068115, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12910 + }, + { + "epoch": 3.7590922315973234, + "flow_matching_loss": 0.015544694382697344, + "grad_norm": 0.10234790295362473, + "learning_rate": 1.960536644957238e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010224440880119801, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3700958013534546, + "rkd_teacher_entropy": 3.714539337158203, + "rkd_teacher_similarity_mean": 0.7748665988445282, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12920 + }, + { + "epoch": 3.7620017457084667, + "flow_matching_loss": 0.017399973515421153, + "grad_norm": 0.14514534175395966, + "learning_rate": 1.9589627555515974e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0110562008805573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36951268911361695, + "rkd_teacher_entropy": 3.7456363439559937, + "rkd_teacher_similarity_mean": 0.7771726071834564, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12930 + }, + { + "epoch": 3.76491125981961, + "flow_matching_loss": 0.014631798397749663, + "grad_norm": 0.1176455169916153, + "learning_rate": 1.9573883084629317e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010081107402220369, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3648932188749313, + "rkd_teacher_entropy": 3.717175507545471, + "rkd_teacher_similarity_mean": 0.7716464102268219, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12940 + }, + { + "epoch": 3.7678207739307537, + "flow_matching_loss": 0.01725471215322614, + "grad_norm": 0.164643332362175, + "learning_rate": 1.9558133056043422e-05, + "loss": 0.0232, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011954984068870545, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771516114473343, + "rkd_teacher_entropy": 3.7498369455337524, + "rkd_teacher_similarity_mean": 0.7830959260463715, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12950 + }, + { + "epoch": 3.770730288041897, + "flow_matching_loss": 0.01570026306435466, + "grad_norm": 0.12303905189037323, + "learning_rate": 1.9542377488896062e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011243265308439731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36981998682022094, + "rkd_teacher_entropy": 3.7373260498046874, + "rkd_teacher_similarity_mean": 0.7779335379600525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12960 + }, + { + "epoch": 3.77363980215304, + "flow_matching_loss": 0.015122642368078231, + "grad_norm": 0.158458411693573, + "learning_rate": 1.9526616402331733e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010319117363542319, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3726165443658829, + "rkd_teacher_entropy": 3.722948169708252, + "rkd_teacher_similarity_mean": 0.7783564925193787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12970 + }, + { + "epoch": 3.776549316264184, + "flow_matching_loss": 0.01456842590123415, + "grad_norm": 0.1439143717288971, + "learning_rate": 1.9510849815501638e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010576004534959793, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771438866853714, + "rkd_teacher_entropy": 3.739815592765808, + "rkd_teacher_similarity_mean": 0.7821047961711883, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12980 + }, + { + "epoch": 3.7794588303753276, + "flow_matching_loss": 0.01528967972844839, + "grad_norm": 0.15110445022583008, + "learning_rate": 1.949507774756368e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011379611864686012, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38295907974243165, + "rkd_teacher_entropy": 3.7622236013412476, + "rkd_teacher_similarity_mean": 0.7884308695793152, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12990 + }, + { + "epoch": 3.782368344486471, + "flow_matching_loss": 0.016913429368287325, + "grad_norm": 0.15453873574733734, + "learning_rate": 1.9479300217682394e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013048838544636964, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718926995992661, + "rkd_teacher_entropy": 3.7357832908630373, + "rkd_teacher_similarity_mean": 0.776369160413742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13000 + }, + { + "epoch": 3.785277858597614, + "flow_matching_loss": 0.01600940264761448, + "grad_norm": 0.18918538093566895, + "learning_rate": 1.946351724502898e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012807153724133968, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37804242968559265, + "rkd_teacher_entropy": 3.747541332244873, + "rkd_teacher_similarity_mean": 0.7825640439987183, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13010 + }, + { + "epoch": 3.788187372708758, + "flow_matching_loss": 0.015076080337166786, + "grad_norm": 0.1414804458618164, + "learning_rate": 1.9447728848781227e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010979524999856948, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.375802344083786, + "rkd_teacher_entropy": 3.740629959106445, + "rkd_teacher_similarity_mean": 0.7818481087684631, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13020 + }, + { + "epoch": 3.791096886819901, + "flow_matching_loss": 0.014692592527717352, + "grad_norm": 0.15367422997951508, + "learning_rate": 1.943193504812353e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009992069890722632, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37799044549465177, + "rkd_teacher_entropy": 3.7494885206222532, + "rkd_teacher_similarity_mean": 0.7836720228195191, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13030 + }, + { + "epoch": 3.7940064009310444, + "flow_matching_loss": 0.015136479306966067, + "grad_norm": 0.11659051477909088, + "learning_rate": 1.9416135862246846e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012323795352131128, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37801073491573334, + "rkd_teacher_entropy": 3.7443138360977173, + "rkd_teacher_similarity_mean": 0.783095782995224, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13040 + }, + { + "epoch": 3.796915915042188, + "flow_matching_loss": 0.016480206046253443, + "grad_norm": 0.17303955554962158, + "learning_rate": 1.9400331310348673e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010629879031330346, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37050840854644773, + "rkd_teacher_entropy": 3.7169105768203736, + "rkd_teacher_similarity_mean": 0.7754628121852875, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13050 + }, + { + "epoch": 3.7998254291533313, + "flow_matching_loss": 0.0145063579082489, + "grad_norm": 0.10568898916244507, + "learning_rate": 1.9384521411633033e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010568858683109283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3749067932367325, + "rkd_teacher_entropy": 3.726414346694946, + "rkd_teacher_similarity_mean": 0.779861843585968, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13060 + }, + { + "epoch": 3.8027349432644746, + "flow_matching_loss": 0.013177160918712617, + "grad_norm": 0.1311970353126526, + "learning_rate": 1.936870618531045e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010746586369350553, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3683481186628342, + "rkd_teacher_entropy": 3.721646451950073, + "rkd_teacher_similarity_mean": 0.7733863890171051, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13070 + }, + { + "epoch": 3.8056444573756183, + "flow_matching_loss": 0.017319276928901672, + "grad_norm": 0.1246507316827774, + "learning_rate": 1.9352885650597904e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011575882649049163, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3778739869594574, + "rkd_teacher_entropy": 3.74552059173584, + "rkd_teacher_similarity_mean": 0.7838043570518494, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13080 + }, + { + "epoch": 3.8085539714867616, + "flow_matching_loss": 0.017129750829190014, + "grad_norm": 0.16394075751304626, + "learning_rate": 1.9337059826718847e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01042584483511746, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37569362819194796, + "rkd_teacher_entropy": 3.733713722229004, + "rkd_teacher_similarity_mean": 0.7826297402381897, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13090 + }, + { + "epoch": 3.8114634855979053, + "flow_matching_loss": 0.015396631509065627, + "grad_norm": 0.15083721280097961, + "learning_rate": 1.932122873290314e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010011662309989334, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.378595370054245, + "rkd_teacher_entropy": 3.7557843685150147, + "rkd_teacher_similarity_mean": 0.7839524805545807, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13100 + }, + { + "epoch": 3.8143729997090485, + "flow_matching_loss": 0.01709112711250782, + "grad_norm": 0.1371266096830368, + "learning_rate": 1.9305392388387054e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013698473479598761, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36337281465530397, + "rkd_teacher_entropy": 3.700960397720337, + "rkd_teacher_similarity_mean": 0.7687544763088227, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13110 + }, + { + "epoch": 3.8172825138201922, + "flow_matching_loss": 0.014527873508632183, + "grad_norm": 0.1493767946958542, + "learning_rate": 1.928955081241325e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011245646979659796, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3643338531255722, + "rkd_teacher_entropy": 3.696068048477173, + "rkd_teacher_similarity_mean": 0.769640302658081, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13120 + }, + { + "epoch": 3.8201920279313355, + "flow_matching_loss": 0.016874456219375132, + "grad_norm": 0.13415417075157166, + "learning_rate": 1.9273704024230725e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011857838043943048, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3750746488571167, + "rkd_teacher_entropy": 3.7418395042419434, + "rkd_teacher_similarity_mean": 0.7809567213058471, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13130 + }, + { + "epoch": 3.8231015420424788, + "flow_matching_loss": 0.01371105844154954, + "grad_norm": 0.12390854209661484, + "learning_rate": 1.925785204309483e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00962494993582368, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3740658015012741, + "rkd_teacher_entropy": 3.7327532291412355, + "rkd_teacher_similarity_mean": 0.779061472415924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13140 + }, + { + "epoch": 3.8260110561536225, + "flow_matching_loss": 0.01601986773312092, + "grad_norm": 0.12311316281557083, + "learning_rate": 1.9241994888267212e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010826910939067602, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3759083837270737, + "rkd_teacher_entropy": 3.7333686351776123, + "rkd_teacher_similarity_mean": 0.781464946269989, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13150 + }, + { + "epoch": 3.8289205702647657, + "flow_matching_loss": 0.014743103180080652, + "grad_norm": 0.14350727200508118, + "learning_rate": 1.9226132579015815e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009732016222551465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3658409804105759, + "rkd_teacher_entropy": 3.721444845199585, + "rkd_teacher_similarity_mean": 0.7715868651866913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13160 + }, + { + "epoch": 3.831830084375909, + "flow_matching_loss": 0.01630598045885563, + "grad_norm": 0.1273266077041626, + "learning_rate": 1.9210265134614832e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009848510194569827, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37278704047203065, + "rkd_teacher_entropy": 3.7457159757614136, + "rkd_teacher_similarity_mean": 0.7805448949337006, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13170 + }, + { + "epoch": 3.8347395984870527, + "flow_matching_loss": 0.014980169851332903, + "grad_norm": 0.12144529074430466, + "learning_rate": 1.9194392574344712e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012569431588053704, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36937628090381625, + "rkd_teacher_entropy": 3.7215630292892454, + "rkd_teacher_similarity_mean": 0.7757556796073913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13180 + }, + { + "epoch": 3.837649112598196, + "flow_matching_loss": 0.018474316224455833, + "grad_norm": 0.13842226564884186, + "learning_rate": 1.9178514917492103e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01212508138269186, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3762358695268631, + "rkd_teacher_entropy": 3.7448513984680174, + "rkd_teacher_similarity_mean": 0.7811016142368317, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13190 + }, + { + "epoch": 3.8405586267093397, + "flow_matching_loss": 0.013311672396957875, + "grad_norm": 0.12026293575763702, + "learning_rate": 1.9162632183349866e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0102909030392766, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37205358445644376, + "rkd_teacher_entropy": 3.7372965097427366, + "rkd_teacher_similarity_mean": 0.77813920378685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13200 + }, + { + "epoch": 3.843468140820483, + "flow_matching_loss": 0.015802218578755856, + "grad_norm": 0.12184613198041916, + "learning_rate": 1.914674439121701e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012335249641910195, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36701595187187197, + "rkd_teacher_entropy": 3.7148913383483886, + "rkd_teacher_similarity_mean": 0.7741172432899475, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13210 + }, + { + "epoch": 3.8463776549316266, + "flow_matching_loss": 0.01628242861479521, + "grad_norm": 0.13000336289405823, + "learning_rate": 1.9130851560398715e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010908454470336438, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3742353320121765, + "rkd_teacher_entropy": 3.734815216064453, + "rkd_teacher_similarity_mean": 0.7786187171936035, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13220 + }, + { + "epoch": 3.84928716904277, + "flow_matching_loss": 0.015497923083603381, + "grad_norm": 0.12788571417331696, + "learning_rate": 1.911495371020625e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009255920397117734, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3688615202903748, + "rkd_teacher_entropy": 3.698310899734497, + "rkd_teacher_similarity_mean": 0.77193883061409, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13230 + }, + { + "epoch": 3.852196683153913, + "flow_matching_loss": 0.013900213316082955, + "grad_norm": 0.10752590000629425, + "learning_rate": 1.909905085995702e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0103813492693007, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3666590601205826, + "rkd_teacher_entropy": 3.7261002540588377, + "rkd_teacher_similarity_mean": 0.7713331758975983, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13240 + }, + { + "epoch": 3.855106197265057, + "flow_matching_loss": 0.014684224408119917, + "grad_norm": 0.09513285756111145, + "learning_rate": 1.908314302897448e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011995388194918633, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37248254716396334, + "rkd_teacher_entropy": 3.7294826745986938, + "rkd_teacher_similarity_mean": 0.7784920036792755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13250 + }, + { + "epoch": 3.8580157113762, + "flow_matching_loss": 0.01698426539078355, + "grad_norm": 0.09662104398012161, + "learning_rate": 1.9067230236588142e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010303615126758814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790845721960068, + "rkd_teacher_entropy": 3.7470147371292115, + "rkd_teacher_similarity_mean": 0.7833405256271362, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13260 + }, + { + "epoch": 3.8609252254873434, + "flow_matching_loss": 0.014902540203183889, + "grad_norm": 0.10960080474615097, + "learning_rate": 1.905131250213355e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009467575047165156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3679726868867874, + "rkd_teacher_entropy": 3.7071341037750245, + "rkd_teacher_similarity_mean": 0.7716440856456757, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13270 + }, + { + "epoch": 3.863834739598487, + "flow_matching_loss": 0.01504395343363285, + "grad_norm": 0.11950879544019699, + "learning_rate": 1.9035389844952256e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00933226216584444, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38082200586795806, + "rkd_teacher_entropy": 3.754371094703674, + "rkd_teacher_similarity_mean": 0.7870555877685547, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13280 + }, + { + "epoch": 3.8667442537096304, + "flow_matching_loss": 0.01637336192652583, + "grad_norm": 0.1392933577299118, + "learning_rate": 1.901946228439179e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011608174815773965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37346304655075074, + "rkd_teacher_entropy": 3.7340817213058473, + "rkd_teacher_similarity_mean": 0.7782523572444916, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13290 + }, + { + "epoch": 3.869653767820774, + "flow_matching_loss": 0.013576511479914188, + "grad_norm": 0.1314282864332199, + "learning_rate": 1.9003529839805637e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009213367104530334, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3651388853788376, + "rkd_teacher_entropy": 3.6971961498260497, + "rkd_teacher_similarity_mean": 0.7693547189235688, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13300 + }, + { + "epoch": 3.8725632819319173, + "flow_matching_loss": 0.016529493127018215, + "grad_norm": 0.14410316944122314, + "learning_rate": 1.8987592530553217e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013452759291976691, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37453190982341766, + "rkd_teacher_entropy": 3.728780722618103, + "rkd_teacher_similarity_mean": 0.778769028186798, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13310 + }, + { + "epoch": 3.875472796043061, + "flow_matching_loss": 0.018643570505082606, + "grad_norm": 0.1636057049036026, + "learning_rate": 1.897165037599987e-05, + "loss": 0.0236, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009934761328622699, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3677793353796005, + "rkd_teacher_entropy": 3.7185526371002195, + "rkd_teacher_similarity_mean": 0.7718004167079926, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13320 + }, + { + "epoch": 3.8783823101542043, + "flow_matching_loss": 0.01577622126787901, + "grad_norm": 0.09946759790182114, + "learning_rate": 1.8955703395516814e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011244982946664095, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3647763103246689, + "rkd_teacher_entropy": 3.7107794284820557, + "rkd_teacher_similarity_mean": 0.7684698581695557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13330 + }, + { + "epoch": 3.8812918242653476, + "flow_matching_loss": 0.014182992652058602, + "grad_norm": 0.16121308505535126, + "learning_rate": 1.8939751608481134e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009650106960907578, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3719070881605148, + "rkd_teacher_entropy": 3.734433388710022, + "rkd_teacher_similarity_mean": 0.7773936986923218, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13340 + }, + { + "epoch": 3.8842013383764913, + "flow_matching_loss": 0.014454827830195426, + "grad_norm": 0.16548238694667816, + "learning_rate": 1.892379503427575e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01028385730460286, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3777261644601822, + "rkd_teacher_entropy": 3.7390214443206786, + "rkd_teacher_similarity_mean": 0.7817783296108246, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13350 + }, + { + "epoch": 3.8871108524876345, + "flow_matching_loss": 0.01691121282055974, + "grad_norm": 0.15490218997001648, + "learning_rate": 1.8907833692289412e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011416855175048113, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37140387296676636, + "rkd_teacher_entropy": 3.712435984611511, + "rkd_teacher_similarity_mean": 0.7765304565429687, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13360 + }, + { + "epoch": 3.890020366598778, + "flow_matching_loss": 0.012286657560616731, + "grad_norm": 0.09815873205661774, + "learning_rate": 1.889186760191666e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007323949644342065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833257436752319, + "rkd_teacher_entropy": 3.7640124559402466, + "rkd_teacher_similarity_mean": 0.7890596210956573, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13370 + }, + { + "epoch": 3.8929298807099215, + "flow_matching_loss": 0.013808008655905724, + "grad_norm": 0.12963615357875824, + "learning_rate": 1.887589678255779e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009484446793794631, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37202905416488646, + "rkd_teacher_entropy": 3.7264851570129394, + "rkd_teacher_similarity_mean": 0.7774044811725617, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13380 + }, + { + "epoch": 3.895839394821065, + "flow_matching_loss": 0.014948506653308869, + "grad_norm": 0.14018669724464417, + "learning_rate": 1.8859921253618852e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012998349452391266, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797861635684967, + "rkd_teacher_entropy": 3.7371851921081545, + "rkd_teacher_similarity_mean": 0.7832619369029998, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13390 + }, + { + "epoch": 3.898748908932208, + "flow_matching_loss": 0.01588677875697613, + "grad_norm": 0.13993364572525024, + "learning_rate": 1.884394103451163e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01120453244075179, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3758061438798904, + "rkd_teacher_entropy": 3.736347699165344, + "rkd_teacher_similarity_mean": 0.7791799902915955, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13400 + }, + { + "epoch": 3.9016584230433518, + "flow_matching_loss": 0.015696981362998484, + "grad_norm": 0.12857381999492645, + "learning_rate": 1.8827956144653583e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01200995184481144, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.379523566365242, + "rkd_teacher_entropy": 3.7467149019241335, + "rkd_teacher_similarity_mean": 0.7830213129520416, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13410 + }, + { + "epoch": 3.9045679371544955, + "flow_matching_loss": 0.01699921488761902, + "grad_norm": 0.16868425905704498, + "learning_rate": 1.8811966603467874e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010350663773715496, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38009231984615327, + "rkd_teacher_entropy": 3.7432824611663817, + "rkd_teacher_similarity_mean": 0.7835658013820648, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13420 + }, + { + "epoch": 3.9074774512656387, + "flow_matching_loss": 0.017151215020567177, + "grad_norm": 0.14399707317352295, + "learning_rate": 1.8795972430383293e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009436262119561434, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38605473935604095, + "rkd_teacher_entropy": 3.7554739475250245, + "rkd_teacher_similarity_mean": 0.788420569896698, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13430 + }, + { + "epoch": 3.910386965376782, + "flow_matching_loss": 0.01638432815670967, + "grad_norm": 0.13250242173671722, + "learning_rate": 1.8779973644834273e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008835804462432862, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3791803985834122, + "rkd_teacher_entropy": 3.738855767250061, + "rkd_teacher_similarity_mean": 0.7833008527755737, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13440 + }, + { + "epoch": 3.9132964794879257, + "flow_matching_loss": 0.01423472473397851, + "grad_norm": 0.15388280153274536, + "learning_rate": 1.876397026626085e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01200666599906981, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3757518082857132, + "rkd_teacher_entropy": 3.7356117010116576, + "rkd_teacher_similarity_mean": 0.778983199596405, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13450 + }, + { + "epoch": 3.916205993599069, + "flow_matching_loss": 0.014763394556939601, + "grad_norm": 0.1566433608531952, + "learning_rate": 1.8747962314108633e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00942966560833156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37665618360042574, + "rkd_teacher_entropy": 3.729279613494873, + "rkd_teacher_similarity_mean": 0.7788545072078705, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13460 + }, + { + "epoch": 3.919115507710212, + "flow_matching_loss": 0.016027065832167862, + "grad_norm": 0.1514388918876648, + "learning_rate": 1.873194980782879e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01245034858584404, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3683042943477631, + "rkd_teacher_entropy": 3.707746648788452, + "rkd_teacher_similarity_mean": 0.7701912581920624, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13470 + }, + { + "epoch": 3.922025021821356, + "flow_matching_loss": 0.016567290481179952, + "grad_norm": 0.1272999793291092, + "learning_rate": 1.871593276687804e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01160138687118888, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37274721562862395, + "rkd_teacher_entropy": 3.7301589012145997, + "rkd_teacher_similarity_mean": 0.7777842879295349, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13480 + }, + { + "epoch": 3.924934535932499, + "flow_matching_loss": 0.01477150758728385, + "grad_norm": 0.099301777780056, + "learning_rate": 1.869991121071858e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01007253141142428, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3626770317554474, + "rkd_teacher_entropy": 3.70097234249115, + "rkd_teacher_similarity_mean": 0.7668937504291534, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13490 + }, + { + "epoch": 3.9278440500436425, + "flow_matching_loss": 0.01621488472446799, + "grad_norm": 0.11412551254034042, + "learning_rate": 1.8683885158818117e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010814505023881793, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37977502048015593, + "rkd_teacher_entropy": 3.7544275522232056, + "rkd_teacher_similarity_mean": 0.7854469954967499, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13500 + }, + { + "epoch": 3.930753564154786, + "flow_matching_loss": 0.017730590421706438, + "grad_norm": 0.1962616890668869, + "learning_rate": 1.8667854630649825e-05, + "loss": 0.0237, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01184960212558508, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3698259353637695, + "rkd_teacher_entropy": 3.7282965421676635, + "rkd_teacher_similarity_mean": 0.7762106895446778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13510 + }, + { + "epoch": 3.9336630782659294, + "flow_matching_loss": 0.014318449702113867, + "grad_norm": 0.21112903952598572, + "learning_rate": 1.86518196456923e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011865725740790367, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37652086913585664, + "rkd_teacher_entropy": 3.731820845603943, + "rkd_teacher_similarity_mean": 0.7813159883022308, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13520 + }, + { + "epoch": 3.936572592377073, + "flow_matching_loss": 0.01469118958339095, + "grad_norm": 0.12199520319700241, + "learning_rate": 1.8635780223429565e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012756707472726702, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718650758266449, + "rkd_teacher_entropy": 3.722501254081726, + "rkd_teacher_similarity_mean": 0.776595163345337, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13530 + }, + { + "epoch": 3.9394821064882164, + "flow_matching_loss": 0.015298210736364126, + "grad_norm": 0.19905179738998413, + "learning_rate": 1.8619736383351017e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011293840873986483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3778968811035156, + "rkd_teacher_entropy": 3.7294431209564207, + "rkd_teacher_similarity_mean": 0.7805906414985657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13540 + }, + { + "epoch": 3.94239162059936, + "flow_matching_loss": 0.016305123455822468, + "grad_norm": 0.10940138250589371, + "learning_rate": 1.8603688144951454e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009183853352442383, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37980566918849945, + "rkd_teacher_entropy": 3.74641010761261, + "rkd_teacher_similarity_mean": 0.7821338295936584, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13550 + }, + { + "epoch": 3.9453011347105034, + "flow_matching_loss": 0.015972034353762866, + "grad_norm": 0.1518995463848114, + "learning_rate": 1.8587635527730983e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01309687178581953, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37104594707489014, + "rkd_teacher_entropy": 3.7301443338394167, + "rkd_teacher_similarity_mean": 0.773744773864746, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13560 + }, + { + "epoch": 3.9482106488216466, + "flow_matching_loss": 0.01702670557424426, + "grad_norm": 0.11826323717832565, + "learning_rate": 1.8571578551195056e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01075989487580955, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38120155930519106, + "rkd_teacher_entropy": 3.75784010887146, + "rkd_teacher_similarity_mean": 0.7860692501068115, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13570 + }, + { + "epoch": 3.9511201629327903, + "flow_matching_loss": 0.016155751422047615, + "grad_norm": 0.1265837848186493, + "learning_rate": 1.855551723485441e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011053120251744986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3705127090215683, + "rkd_teacher_entropy": 3.7153679847717287, + "rkd_teacher_similarity_mean": 0.7742209315299988, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13580 + }, + { + "epoch": 3.9540296770439336, + "flow_matching_loss": 0.017857546638697385, + "grad_norm": 0.13813966512680054, + "learning_rate": 1.8539451598225066e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012015644321218133, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37153551280498504, + "rkd_teacher_entropy": 3.7175309658050537, + "rkd_teacher_similarity_mean": 0.7754294037818908, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13590 + }, + { + "epoch": 3.956939191155077, + "flow_matching_loss": 0.014593042619526386, + "grad_norm": 0.16297495365142822, + "learning_rate": 1.8523381660828276e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010788022913038731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832779169082642, + "rkd_teacher_entropy": 3.7613949537277223, + "rkd_teacher_similarity_mean": 0.7865053236484527, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13600 + }, + { + "epoch": 3.9598487052662206, + "flow_matching_loss": 0.013356620352715254, + "grad_norm": 0.1390880048274994, + "learning_rate": 1.850730744219054e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012299151346087455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3659325331449509, + "rkd_teacher_entropy": 3.711005187034607, + "rkd_teacher_similarity_mean": 0.7697761416435241, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13610 + }, + { + "epoch": 3.962758219377364, + "flow_matching_loss": 0.015144695900380612, + "grad_norm": 0.13067252933979034, + "learning_rate": 1.849122896184354e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011951408348977566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38611704409122466, + "rkd_teacher_entropy": 3.7674281358718873, + "rkd_teacher_similarity_mean": 0.7905481517314911, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13620 + }, + { + "epoch": 3.9656677334885075, + "flow_matching_loss": 0.014384785294532776, + "grad_norm": 0.1383674442768097, + "learning_rate": 1.8475146239324146e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010267342161387204, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381190025806427, + "rkd_teacher_entropy": 3.7573662281036375, + "rkd_teacher_similarity_mean": 0.7865514814853668, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13630 + }, + { + "epoch": 3.968577247599651, + "flow_matching_loss": 0.014350075414404273, + "grad_norm": 0.12077854573726654, + "learning_rate": 1.8459059294174396e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010335211548954249, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38198519349098203, + "rkd_teacher_entropy": 3.7631197214126586, + "rkd_teacher_similarity_mean": 0.7862522542476654, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13640 + }, + { + "epoch": 3.9714867617107945, + "flow_matching_loss": 0.016010508965700866, + "grad_norm": 0.14529405534267426, + "learning_rate": 1.844296814594143e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010790446866303682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3770449697971344, + "rkd_teacher_entropy": 3.745694160461426, + "rkd_teacher_similarity_mean": 0.7822417259216309, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13650 + }, + { + "epoch": 3.9743962758219378, + "flow_matching_loss": 0.013239516457542778, + "grad_norm": 0.1449170559644699, + "learning_rate": 1.8426872814177516e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009868098422884941, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3721707880496979, + "rkd_teacher_entropy": 3.720586061477661, + "rkd_teacher_similarity_mean": 0.7782085478305817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13660 + }, + { + "epoch": 3.977305789933081, + "flow_matching_loss": 0.015068812668323517, + "grad_norm": 0.13590942323207855, + "learning_rate": 1.8410773318440003e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011531256791204213, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769674628973007, + "rkd_teacher_entropy": 3.742744493484497, + "rkd_teacher_similarity_mean": 0.7813757538795472, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13670 + }, + { + "epoch": 3.9802153040442247, + "flow_matching_loss": 0.018725858349353076, + "grad_norm": 0.15129226446151733, + "learning_rate": 1.839466967829129e-05, + "loss": 0.0245, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011616248777136207, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3749667227268219, + "rkd_teacher_entropy": 3.7296258926391603, + "rkd_teacher_similarity_mean": 0.7765365183353424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13680 + }, + { + "epoch": 3.983124818155368, + "flow_matching_loss": 0.0161776483990252, + "grad_norm": 0.18225085735321045, + "learning_rate": 1.8378561913298822e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011185552645474672, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37051030099391935, + "rkd_teacher_entropy": 3.7324445486068725, + "rkd_teacher_similarity_mean": 0.7732268989086151, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13690 + }, + { + "epoch": 3.9860343322665113, + "flow_matching_loss": 0.017390536796301603, + "grad_norm": 0.13124968111515045, + "learning_rate": 1.8362450043035053e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010289780143648387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37268832623958587, + "rkd_teacher_entropy": 3.72664532661438, + "rkd_teacher_similarity_mean": 0.7772419214248657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13700 + }, + { + "epoch": 3.988943846377655, + "flow_matching_loss": 0.01646113218739629, + "grad_norm": 0.19352659583091736, + "learning_rate": 1.834633408707742e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011830716580152511, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696891725063324, + "rkd_teacher_entropy": 3.71157820224762, + "rkd_teacher_similarity_mean": 0.7724053919315338, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13710 + }, + { + "epoch": 3.9918533604887982, + "flow_matching_loss": 0.013605925347656011, + "grad_norm": 0.1623125821352005, + "learning_rate": 1.8330214065008336e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012631822284311056, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756447046995163, + "rkd_teacher_entropy": 3.734562611579895, + "rkd_teacher_similarity_mean": 0.7798991799354553, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13720 + }, + { + "epoch": 3.994762874599942, + "flow_matching_loss": 0.017795532755553723, + "grad_norm": 0.1180497333407402, + "learning_rate": 1.831408999641514e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010913603845983744, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3744468629360199, + "rkd_teacher_entropy": 3.743575668334961, + "rkd_teacher_similarity_mean": 0.7814349234104156, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13730 + }, + { + "epoch": 3.997672388711085, + "flow_matching_loss": 0.01498058051802218, + "grad_norm": 0.13793745636940002, + "learning_rate": 1.8297961900890107e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009074490098282696, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3757198750972748, + "rkd_teacher_entropy": 3.7386323690414427, + "rkd_teacher_similarity_mean": 0.7826326847076416, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13740 + }, + { + "epoch": 4.000581902822229, + "flow_matching_loss": 0.01846062997356057, + "grad_norm": 0.16666442155838013, + "learning_rate": 1.8281829798030385e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009804590558633208, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37601647078990935, + "rkd_teacher_entropy": 3.7356969356536864, + "rkd_teacher_similarity_mean": 0.781320995092392, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13750 + }, + { + "epoch": 4.003491416933372, + "flow_matching_loss": 0.016928675770759582, + "grad_norm": 0.14671312272548676, + "learning_rate": 1.8265693707438002e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010437034256756305, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3693655401468277, + "rkd_teacher_entropy": 3.7325311422348024, + "rkd_teacher_similarity_mean": 0.7760548293590546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13760 + }, + { + "epoch": 4.0064009310445154, + "flow_matching_loss": 0.012904087267816066, + "grad_norm": 0.12073297053575516, + "learning_rate": 1.824955364871982e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010034895595163107, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3839434027671814, + "rkd_teacher_entropy": 3.754900884628296, + "rkd_teacher_similarity_mean": 0.789635282754898, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13770 + }, + { + "epoch": 4.009310445155659, + "flow_matching_loss": 0.013781677931547165, + "grad_norm": 0.10529036074876785, + "learning_rate": 1.8233409641487553e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009902828838676214, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3738265931606293, + "rkd_teacher_entropy": 3.7290399789810182, + "rkd_teacher_similarity_mean": 0.7779907763004303, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13780 + }, + { + "epoch": 4.012219959266803, + "flow_matching_loss": 0.014658834133297206, + "grad_norm": 0.10854356735944748, + "learning_rate": 1.8217261705357677e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010277905501425266, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37707637548446654, + "rkd_teacher_entropy": 3.73946099281311, + "rkd_teacher_similarity_mean": 0.7810722351074219, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13790 + }, + { + "epoch": 4.015129473377946, + "flow_matching_loss": 0.014282032381743193, + "grad_norm": 0.11153567582368851, + "learning_rate": 1.8201109859951462e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011323495302349329, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3686435639858246, + "rkd_teacher_entropy": 3.70746169090271, + "rkd_teacher_similarity_mean": 0.7728058099746704, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13800 + }, + { + "epoch": 4.018038987489089, + "flow_matching_loss": 0.014937479514628649, + "grad_norm": 0.1332971453666687, + "learning_rate": 1.818495412489492e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011158416606485843, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37661959528923034, + "rkd_teacher_entropy": 3.745934987068176, + "rkd_teacher_similarity_mean": 0.7810469627380371, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13810 + }, + { + "epoch": 4.020948501600233, + "flow_matching_loss": 0.015796240884810686, + "grad_norm": 0.1392275094985962, + "learning_rate": 1.8168794519818802e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010417125094681979, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3723043292760849, + "rkd_teacher_entropy": 3.7303139686584474, + "rkd_teacher_similarity_mean": 0.7748166918754578, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13820 + }, + { + "epoch": 4.023858015711376, + "flow_matching_loss": 0.016388506256043912, + "grad_norm": 0.12707149982452393, + "learning_rate": 1.8152631064358537e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00992846256121993, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37401165068149567, + "rkd_teacher_entropy": 3.7318083524703978, + "rkd_teacher_similarity_mean": 0.777853262424469, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13830 + }, + { + "epoch": 4.02676752982252, + "flow_matching_loss": 0.015944652911275625, + "grad_norm": 0.1075882837176323, + "learning_rate": 1.8136463778154258e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009775772038847209, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37039579451084137, + "rkd_teacher_entropy": 3.7189499616622923, + "rkd_teacher_similarity_mean": 0.7728965580463409, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13840 + }, + { + "epoch": 4.029677043933663, + "flow_matching_loss": 0.014360595028847456, + "grad_norm": 0.13502229750156403, + "learning_rate": 1.812029268085074e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011338370572775602, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37038361132144926, + "rkd_teacher_entropy": 3.706240344047546, + "rkd_teacher_similarity_mean": 0.7730493366718292, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13850 + }, + { + "epoch": 4.032586558044806, + "flow_matching_loss": 0.012787998653948307, + "grad_norm": 0.12032835185527802, + "learning_rate": 1.8104117792097387e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011696843011304737, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833226442337036, + "rkd_teacher_entropy": 3.746322274208069, + "rkd_teacher_similarity_mean": 0.784771853685379, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13860 + }, + { + "epoch": 4.03549607215595, + "flow_matching_loss": 0.016340218763798476, + "grad_norm": 0.11660096794366837, + "learning_rate": 1.808793913154822e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011421832907944917, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37615311443805693, + "rkd_teacher_entropy": 3.7323344469070436, + "rkd_teacher_similarity_mean": 0.7783890008926392, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13870 + }, + { + "epoch": 4.038405586267094, + "flow_matching_loss": 0.016491325199604036, + "grad_norm": 0.11525686830282211, + "learning_rate": 1.8071756718861838e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010342034557834268, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3693702399730682, + "rkd_teacher_entropy": 3.7110787868499755, + "rkd_teacher_similarity_mean": 0.7726537346839905, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13880 + }, + { + "epoch": 4.041315100378237, + "flow_matching_loss": 0.015322840074077249, + "grad_norm": 0.1098954975605011, + "learning_rate": 1.805557057370139e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010809302050620317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37086027562618257, + "rkd_teacher_entropy": 3.7236769676208494, + "rkd_teacher_similarity_mean": 0.7742769300937653, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13890 + }, + { + "epoch": 4.04422461448938, + "flow_matching_loss": 0.014522869884967805, + "grad_norm": 0.11440279334783554, + "learning_rate": 1.8039380715734574e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00958727546967566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37519600987434387, + "rkd_teacher_entropy": 3.734680414199829, + "rkd_teacher_similarity_mean": 0.7766913175582886, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13900 + }, + { + "epoch": 4.047134128600524, + "flow_matching_loss": 0.01552205104380846, + "grad_norm": 0.1491215080022812, + "learning_rate": 1.802318716463359e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009165081242099405, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3770329296588898, + "rkd_teacher_entropy": 3.7331302881240847, + "rkd_teacher_similarity_mean": 0.7784790515899658, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13910 + }, + { + "epoch": 4.0500436427116675, + "flow_matching_loss": 0.013466744124889374, + "grad_norm": 0.13795103132724762, + "learning_rate": 1.8006989940075138e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010301148984581232, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38294022977352143, + "rkd_teacher_entropy": 3.7497759103775024, + "rkd_teacher_similarity_mean": 0.7829597055912018, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13920 + }, + { + "epoch": 4.05295315682281, + "flow_matching_loss": 0.013457396533340216, + "grad_norm": 0.11561421304941177, + "learning_rate": 1.7990789061740368e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008205846603959798, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3737120687961578, + "rkd_teacher_entropy": 3.719433569908142, + "rkd_teacher_similarity_mean": 0.7750315546989441, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13930 + }, + { + "epoch": 4.055862670933954, + "flow_matching_loss": 0.013577197212725878, + "grad_norm": 0.11731120944023132, + "learning_rate": 1.7974584549314875e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010615613032132386, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3710516393184662, + "rkd_teacher_entropy": 3.7283792734146117, + "rkd_teacher_similarity_mean": 0.7760420501232147, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13940 + }, + { + "epoch": 4.058772185045098, + "flow_matching_loss": 0.01566982362419367, + "grad_norm": 0.1087389886379242, + "learning_rate": 1.7958376422488672e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011273163929581642, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376323801279068, + "rkd_teacher_entropy": 3.743160080909729, + "rkd_teacher_similarity_mean": 0.7796025276184082, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13950 + }, + { + "epoch": 4.0616816991562406, + "flow_matching_loss": 0.016037522908300163, + "grad_norm": 0.12588244676589966, + "learning_rate": 1.7942164700956156e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010472197365015746, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3735767275094986, + "rkd_teacher_entropy": 3.7109511137008666, + "rkd_teacher_similarity_mean": 0.7746840178966522, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13960 + }, + { + "epoch": 4.064591213267384, + "flow_matching_loss": 0.016819192748516797, + "grad_norm": 0.13006941974163055, + "learning_rate": 1.79259494044161e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009683171845972538, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37797262370586393, + "rkd_teacher_entropy": 3.740119981765747, + "rkd_teacher_similarity_mean": 0.7798670887947082, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13970 + }, + { + "epoch": 4.067500727378528, + "flow_matching_loss": 0.014285886473953725, + "grad_norm": 0.11904145032167435, + "learning_rate": 1.7909730552571617e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011359915975481272, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37048945128917693, + "rkd_teacher_entropy": 3.709348368644714, + "rkd_teacher_similarity_mean": 0.773806244134903, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13980 + }, + { + "epoch": 4.070410241489671, + "flow_matching_loss": 0.0148825628682971, + "grad_norm": 0.1355966031551361, + "learning_rate": 1.7893508165130143e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01072338717058301, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796792089939117, + "rkd_teacher_entropy": 3.756636309623718, + "rkd_teacher_similarity_mean": 0.7830577254295349, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13990 + }, + { + "epoch": 4.0733197556008145, + "flow_matching_loss": 0.01304577812552452, + "grad_norm": 0.17899195849895477, + "learning_rate": 1.787728226180341e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01105351336300373, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3774353563785553, + "rkd_teacher_entropy": 3.735537052154541, + "rkd_teacher_similarity_mean": 0.7790608048439026, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14000 + }, + { + "epoch": 4.076229269711958, + "flow_matching_loss": 0.015385897271335125, + "grad_norm": 0.1333572268486023, + "learning_rate": 1.786105286230742e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00967724621295929, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3755516678094864, + "rkd_teacher_entropy": 3.732345199584961, + "rkd_teacher_similarity_mean": 0.7773714005947113, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14010 + }, + { + "epoch": 4.079138783823102, + "flow_matching_loss": 0.016053699236363173, + "grad_norm": 0.09631703794002533, + "learning_rate": 1.784481998636242e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009989002253860235, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815468788146973, + "rkd_teacher_entropy": 3.7541340351104737, + "rkd_teacher_similarity_mean": 0.7858382821083069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14020 + }, + { + "epoch": 4.082048297934245, + "flow_matching_loss": 0.01402664827182889, + "grad_norm": 0.10487597435712814, + "learning_rate": 1.782858365369289e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010205324646085501, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37389721870422366, + "rkd_teacher_entropy": 3.7296464920043944, + "rkd_teacher_similarity_mean": 0.7772086501121521, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14030 + }, + { + "epoch": 4.084957812045388, + "flow_matching_loss": 0.01326902275905013, + "grad_norm": 0.12961424887180328, + "learning_rate": 1.78123438840275e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009879394015297294, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3798615574836731, + "rkd_teacher_entropy": 3.739951729774475, + "rkd_teacher_similarity_mean": 0.7816825151443482, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14040 + }, + { + "epoch": 4.087867326156532, + "flow_matching_loss": 0.017560844495892524, + "grad_norm": 0.1279752403497696, + "learning_rate": 1.779610069709911e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00886209267191589, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37616861760616305, + "rkd_teacher_entropy": 3.7247978687286376, + "rkd_teacher_similarity_mean": 0.7772615432739258, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14050 + }, + { + "epoch": 4.090776840267675, + "flow_matching_loss": 0.01496707322075963, + "grad_norm": 0.13331203162670135, + "learning_rate": 1.7779854112644713e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010603973362594842, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3740265488624573, + "rkd_teacher_entropy": 3.725969099998474, + "rkd_teacher_similarity_mean": 0.7765071451663971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14060 + }, + { + "epoch": 4.093686354378819, + "flow_matching_loss": 0.012826264277100563, + "grad_norm": 0.13449455797672272, + "learning_rate": 1.7763604150405446e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01099755084142089, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797594904899597, + "rkd_teacher_entropy": 3.742350697517395, + "rkd_teacher_similarity_mean": 0.7815613210201263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14070 + }, + { + "epoch": 4.096595868489962, + "flow_matching_loss": 0.013699798751622439, + "grad_norm": 0.16247408092021942, + "learning_rate": 1.7747350830126548e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010428119963034988, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.374086406826973, + "rkd_teacher_entropy": 3.7351043939590456, + "rkd_teacher_similarity_mean": 0.7760993540287018, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14080 + }, + { + "epoch": 4.099505382601105, + "flow_matching_loss": 0.01415942469611764, + "grad_norm": 0.13313892483711243, + "learning_rate": 1.7731094171557332e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010993978381156922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38112047910690305, + "rkd_teacher_entropy": 3.7552173376083373, + "rkd_teacher_similarity_mean": 0.7830600917339325, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14090 + }, + { + "epoch": 4.102414896712249, + "flow_matching_loss": 0.01418915055692196, + "grad_norm": 0.14552201330661774, + "learning_rate": 1.771483419445117e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010937848873436452, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3697071701288223, + "rkd_teacher_entropy": 3.7058793544769286, + "rkd_teacher_similarity_mean": 0.772131621837616, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14100 + }, + { + "epoch": 4.105324410823393, + "flow_matching_loss": 0.014657459128648043, + "grad_norm": 0.158287912607193, + "learning_rate": 1.7698570918565474e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01030123932287097, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3801486939191818, + "rkd_teacher_entropy": 3.7313918352127073, + "rkd_teacher_similarity_mean": 0.7833856165409088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14110 + }, + { + "epoch": 4.108233924934536, + "flow_matching_loss": 0.016318625863641502, + "grad_norm": 0.13684877753257751, + "learning_rate": 1.768230436366165e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009620930766686797, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3754705160856247, + "rkd_teacher_entropy": 3.734120011329651, + "rkd_teacher_similarity_mean": 0.7792627453804016, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14120 + }, + { + "epoch": 4.111143439045679, + "flow_matching_loss": 0.015349076781421899, + "grad_norm": 0.11281248182058334, + "learning_rate": 1.7666034549505102e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011834226828068495, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37795252203941343, + "rkd_teacher_entropy": 3.7307578325271606, + "rkd_teacher_similarity_mean": 0.7801240503787994, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14130 + }, + { + "epoch": 4.114052953156823, + "flow_matching_loss": 0.013491659611463546, + "grad_norm": 0.11444433778524399, + "learning_rate": 1.7649761495865185e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01048396723344922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3720825433731079, + "rkd_teacher_entropy": 3.7169856786727906, + "rkd_teacher_similarity_mean": 0.7737235844135284, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14140 + }, + { + "epoch": 4.1169624672679666, + "flow_matching_loss": 0.013195669651031494, + "grad_norm": 0.17909394204616547, + "learning_rate": 1.7633485222515188e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010978522105142474, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37887475490570066, + "rkd_teacher_entropy": 3.734061098098755, + "rkd_teacher_similarity_mean": 0.7818439781665802, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14150 + }, + { + "epoch": 4.119871981379109, + "flow_matching_loss": 0.015608702041208743, + "grad_norm": 0.15819509327411652, + "learning_rate": 1.761720574923233e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01344409678131342, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.369682651758194, + "rkd_teacher_entropy": 3.719708299636841, + "rkd_teacher_similarity_mean": 0.7741273045539856, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14160 + }, + { + "epoch": 4.122781495490253, + "flow_matching_loss": 0.015112185571342706, + "grad_norm": 0.18196094036102295, + "learning_rate": 1.7600923095797704e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010176544822752476, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37408970594406127, + "rkd_teacher_entropy": 3.7328094005584718, + "rkd_teacher_similarity_mean": 0.7775418877601623, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14170 + }, + { + "epoch": 4.125691009601397, + "flow_matching_loss": 0.014703615568578243, + "grad_norm": 0.13724440336227417, + "learning_rate": 1.758463728199626e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010151743469759823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3722513020038605, + "rkd_teacher_entropy": 3.71713387966156, + "rkd_teacher_similarity_mean": 0.776516568660736, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14180 + }, + { + "epoch": 4.12860052371254, + "flow_matching_loss": 0.015758806373924017, + "grad_norm": 0.11368410289287567, + "learning_rate": 1.7568348327616803e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010389083344489337, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3734601229429245, + "rkd_teacher_entropy": 3.7359422206878663, + "rkd_teacher_similarity_mean": 0.778689181804657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14190 + }, + { + "epoch": 4.131510037823683, + "flow_matching_loss": 0.014956173487007618, + "grad_norm": 0.12521547079086304, + "learning_rate": 1.755205625245195e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010332503216341138, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37427874505519865, + "rkd_teacher_entropy": 3.735784983634949, + "rkd_teacher_similarity_mean": 0.7773090839385987, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14200 + }, + { + "epoch": 4.134419551934827, + "flow_matching_loss": 0.01563997585326433, + "grad_norm": 0.19756026566028595, + "learning_rate": 1.7535761076298104e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010241837333887815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38988593518733977, + "rkd_teacher_entropy": 3.778830909729004, + "rkd_teacher_similarity_mean": 0.7942237377166748, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14210 + }, + { + "epoch": 4.137329066045971, + "flow_matching_loss": 0.015571606066077947, + "grad_norm": 0.11785902827978134, + "learning_rate": 1.7519462818955448e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010654219193384051, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3712605744600296, + "rkd_teacher_entropy": 3.7171356439590455, + "rkd_teacher_similarity_mean": 0.773823493719101, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14220 + }, + { + "epoch": 4.1402385801571135, + "flow_matching_loss": 0.015517968125641346, + "grad_norm": 0.19153881072998047, + "learning_rate": 1.7503161500227896e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009596955310553313, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36627326905727386, + "rkd_teacher_entropy": 3.7010296106338503, + "rkd_teacher_similarity_mean": 0.7687345623970032, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14230 + }, + { + "epoch": 4.143148094268257, + "flow_matching_loss": 0.014315316267311574, + "grad_norm": 0.14285823702812195, + "learning_rate": 1.7486857139923093e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010188642982393503, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3703563392162323, + "rkd_teacher_entropy": 3.715881180763245, + "rkd_teacher_similarity_mean": 0.7746345281600953, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14240 + }, + { + "epoch": 4.146057608379401, + "flow_matching_loss": 0.017014538310468195, + "grad_norm": 0.11879482865333557, + "learning_rate": 1.747054975785236e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01155180442146957, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3728843778371811, + "rkd_teacher_entropy": 3.7183791637420653, + "rkd_teacher_similarity_mean": 0.7759564638137817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14250 + }, + { + "epoch": 4.148967122490544, + "flow_matching_loss": 0.014486552588641644, + "grad_norm": 0.14687849581241608, + "learning_rate": 1.745423937383072e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011191417928785086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37524778246879575, + "rkd_teacher_entropy": 3.737176775932312, + "rkd_teacher_similarity_mean": 0.7780695259571075, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14260 + }, + { + "epoch": 4.1518766366016875, + "flow_matching_loss": 0.015255701541900635, + "grad_norm": 0.1386122703552246, + "learning_rate": 1.7437926007676825e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010670941276475786, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37029520571231844, + "rkd_teacher_entropy": 3.712137055397034, + "rkd_teacher_similarity_mean": 0.7746668100357056, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14270 + }, + { + "epoch": 4.154786150712831, + "flow_matching_loss": 0.014778291806578636, + "grad_norm": 0.14229406416416168, + "learning_rate": 1.742160967921294e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010417284816503525, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37649030089378355, + "rkd_teacher_entropy": 3.7484533309936525, + "rkd_teacher_similarity_mean": 0.7803130567073822, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14280 + }, + { + "epoch": 4.157695664823974, + "flow_matching_loss": 0.013622192293405532, + "grad_norm": 0.11329969763755798, + "learning_rate": 1.7405290408264954e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009889675118029118, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37441569566726685, + "rkd_teacher_entropy": 3.723070240020752, + "rkd_teacher_similarity_mean": 0.7769482910633088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14290 + }, + { + "epoch": 4.160605178935118, + "flow_matching_loss": 0.0156794311478734, + "grad_norm": 0.11812345683574677, + "learning_rate": 1.738896821466232e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009157264605164528, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.380259707570076, + "rkd_teacher_entropy": 3.7461265563964843, + "rkd_teacher_similarity_mean": 0.7824110805988311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14300 + }, + { + "epoch": 4.163514693046261, + "flow_matching_loss": 0.017505618557333947, + "grad_norm": 0.12449466437101364, + "learning_rate": 1.737264311823804e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010742462053894997, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3749756932258606, + "rkd_teacher_entropy": 3.7388675212860107, + "rkd_teacher_similarity_mean": 0.7781614303588867, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14310 + }, + { + "epoch": 4.166424207157405, + "flow_matching_loss": 0.015232600830495357, + "grad_norm": 0.1340719610452652, + "learning_rate": 1.7356315138828645e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008849393483251334, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3731480598449707, + "rkd_teacher_entropy": 3.726710557937622, + "rkd_teacher_similarity_mean": 0.7772019922733306, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14320 + }, + { + "epoch": 4.169333721268548, + "flow_matching_loss": 0.01359362257644534, + "grad_norm": 0.1818353235721588, + "learning_rate": 1.7339984296274174e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012347642052918672, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3738943308591843, + "rkd_teacher_entropy": 3.7343064308166505, + "rkd_teacher_similarity_mean": 0.777538537979126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14330 + }, + { + "epoch": 4.172243235379692, + "flow_matching_loss": 0.017393338214606046, + "grad_norm": 0.12135860323905945, + "learning_rate": 1.7323650610418134e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009672202821820974, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36622214615345, + "rkd_teacher_entropy": 3.7021788358688354, + "rkd_teacher_similarity_mean": 0.7688909649848938, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14340 + }, + { + "epoch": 4.175152749490835, + "flow_matching_loss": 0.013537167385220528, + "grad_norm": 0.11300402134656906, + "learning_rate": 1.730731410110749e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00917549366131425, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37592827081680297, + "rkd_teacher_entropy": 3.7312170267105103, + "rkd_teacher_similarity_mean": 0.7788881480693817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14350 + }, + { + "epoch": 4.178062263601978, + "flow_matching_loss": 0.01518548782914877, + "grad_norm": 0.09356258809566498, + "learning_rate": 1.7290974788192655e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010066078696399926, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3724906504154205, + "rkd_teacher_entropy": 3.727108597755432, + "rkd_teacher_similarity_mean": 0.7756564438343048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14360 + }, + { + "epoch": 4.180971777713122, + "flow_matching_loss": 0.01363256648182869, + "grad_norm": 0.09168477356433868, + "learning_rate": 1.727463269152743e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010081886500120162, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741672098636627, + "rkd_teacher_entropy": 3.727121353149414, + "rkd_teacher_similarity_mean": 0.7764004528522491, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14370 + }, + { + "epoch": 4.183881291824266, + "flow_matching_loss": 0.014549921825528144, + "grad_norm": 0.11442852765321732, + "learning_rate": 1.7258287830968996e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01210718285292387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785181432962418, + "rkd_teacher_entropy": 3.7426384687423706, + "rkd_teacher_similarity_mean": 0.7828293323516846, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14380 + }, + { + "epoch": 4.186790805935408, + "flow_matching_loss": 0.016289746668189765, + "grad_norm": 0.13450880348682404, + "learning_rate": 1.7241940226377908e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013035726267844439, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756413757801056, + "rkd_teacher_entropy": 3.744697642326355, + "rkd_teacher_similarity_mean": 0.7804718613624573, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14390 + }, + { + "epoch": 4.189700320046552, + "flow_matching_loss": 0.013775769528001547, + "grad_norm": 0.14406751096248627, + "learning_rate": 1.7225589897618043e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009263140568509697, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3841124624013901, + "rkd_teacher_entropy": 3.7616646528244018, + "rkd_teacher_similarity_mean": 0.7890206873416901, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14400 + }, + { + "epoch": 4.192609834157696, + "flow_matching_loss": 0.013309289701282978, + "grad_norm": 0.13690033555030823, + "learning_rate": 1.7209236864556588e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009946118993684649, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37162777185440066, + "rkd_teacher_entropy": 3.717318296432495, + "rkd_teacher_similarity_mean": 0.7752223551273346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14410 + }, + { + "epoch": 4.195519348268839, + "flow_matching_loss": 0.012427355442196131, + "grad_norm": 0.11516553908586502, + "learning_rate": 1.719288114706403e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01080837775953114, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3752314329147339, + "rkd_teacher_entropy": 3.7381345987319947, + "rkd_teacher_similarity_mean": 0.7809359014034272, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14420 + }, + { + "epoch": 4.198428862379982, + "flow_matching_loss": 0.015086014475673436, + "grad_norm": 0.1601075381040573, + "learning_rate": 1.7176522765014104e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010065183509141207, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37207752764225005, + "rkd_teacher_entropy": 3.7285886287689207, + "rkd_teacher_similarity_mean": 0.7752116680145263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14430 + }, + { + "epoch": 4.201338376491126, + "flow_matching_loss": 0.0156519983895123, + "grad_norm": 0.13045744597911835, + "learning_rate": 1.7160161738283782e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009538638405501842, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37250945866107943, + "rkd_teacher_entropy": 3.7191076993942263, + "rkd_teacher_similarity_mean": 0.7771481692790985, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14440 + }, + { + "epoch": 4.20424789060227, + "flow_matching_loss": 0.013270324934273959, + "grad_norm": 0.1175103411078453, + "learning_rate": 1.714379808675326e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008864072198048235, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38317382633686065, + "rkd_teacher_entropy": 3.751845598220825, + "rkd_teacher_similarity_mean": 0.7868875384330749, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14450 + }, + { + "epoch": 4.207157404713413, + "flow_matching_loss": 0.014021305460482835, + "grad_norm": 0.10314985364675522, + "learning_rate": 1.712743183030592e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009464222425594925, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3792425483465195, + "rkd_teacher_entropy": 3.737868309020996, + "rkd_teacher_similarity_mean": 0.7840732872486115, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14460 + }, + { + "epoch": 4.210066918824556, + "flow_matching_loss": 0.013636220432817935, + "grad_norm": 0.11536600440740585, + "learning_rate": 1.7111062988828294e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009731623902916908, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3713082432746887, + "rkd_teacher_entropy": 3.7176583051681518, + "rkd_teacher_similarity_mean": 0.7749309360980987, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14470 + }, + { + "epoch": 4.2129764329357, + "flow_matching_loss": 0.01289661331102252, + "grad_norm": 0.14321130514144897, + "learning_rate": 1.709469158221008e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01204322585836053, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37889666557312013, + "rkd_teacher_entropy": 3.7471452236175535, + "rkd_teacher_similarity_mean": 0.7817315399646759, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14480 + }, + { + "epoch": 4.215885947046843, + "flow_matching_loss": 0.015303219202905893, + "grad_norm": 0.12297330796718597, + "learning_rate": 1.7078317630344083e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012274818681180476, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36578335165977477, + "rkd_teacher_entropy": 3.7058955907821653, + "rkd_teacher_similarity_mean": 0.7686726748943329, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14490 + }, + { + "epoch": 4.2187954611579865, + "flow_matching_loss": 0.014023606851696967, + "grad_norm": 0.11311503499746323, + "learning_rate": 1.706194115312618e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011610351968556643, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37369326055049895, + "rkd_teacher_entropy": 3.718092107772827, + "rkd_teacher_similarity_mean": 0.777001142501831, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14500 + }, + { + "epoch": 4.22170497526913, + "flow_matching_loss": 0.016350304428488015, + "grad_norm": 0.11510965973138809, + "learning_rate": 1.704556217045536e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008413696940988303, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37092083394527436, + "rkd_teacher_entropy": 3.73450608253479, + "rkd_teacher_similarity_mean": 0.775104820728302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14510 + }, + { + "epoch": 4.224614489380274, + "flow_matching_loss": 0.014863657020032405, + "grad_norm": 0.15727689862251282, + "learning_rate": 1.7029180702233612e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011227057222276926, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36862106919288634, + "rkd_teacher_entropy": 3.711537742614746, + "rkd_teacher_similarity_mean": 0.7724881529808044, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14520 + }, + { + "epoch": 4.227524003491417, + "flow_matching_loss": 0.014815638400614261, + "grad_norm": 0.11070343106985092, + "learning_rate": 1.7012796768365975e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009545009257271886, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3770877569913864, + "rkd_teacher_entropy": 3.746459126472473, + "rkd_teacher_similarity_mean": 0.7816346764564515, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14530 + }, + { + "epoch": 4.2304335176025605, + "flow_matching_loss": 0.013334749359637499, + "grad_norm": 0.1438145637512207, + "learning_rate": 1.6996410388760465e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009998566051945091, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3637160688638687, + "rkd_teacher_entropy": 3.7005541563034057, + "rkd_teacher_similarity_mean": 0.7677813529968261, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14540 + }, + { + "epoch": 4.233343031713704, + "flow_matching_loss": 0.015755777433514594, + "grad_norm": 0.1178770437836647, + "learning_rate": 1.698002158332809e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010792454844340682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36863775849342345, + "rkd_teacher_entropy": 3.71707923412323, + "rkd_teacher_similarity_mean": 0.7733059585094452, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14550 + }, + { + "epoch": 4.236252545824847, + "flow_matching_loss": 0.01533033261075616, + "grad_norm": 0.12221774458885193, + "learning_rate": 1.6963630371982783e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009777797246351838, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711456060409546, + "rkd_teacher_entropy": 3.7218781471252442, + "rkd_teacher_similarity_mean": 0.7756200015544892, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14560 + }, + { + "epoch": 4.239162059935991, + "flow_matching_loss": 0.014538315776735544, + "grad_norm": 0.09108775109052658, + "learning_rate": 1.6947236774641416e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011474137846380471, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3836202621459961, + "rkd_teacher_entropy": 3.762449622154236, + "rkd_teacher_similarity_mean": 0.7880782008171081, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14570 + }, + { + "epoch": 4.242071574047134, + "flow_matching_loss": 0.013782007619738579, + "grad_norm": 0.12938198447227478, + "learning_rate": 1.6930840811223755e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01317190919071436, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3714040875434875, + "rkd_teacher_entropy": 3.728512477874756, + "rkd_teacher_similarity_mean": 0.7755855083465576, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14580 + }, + { + "epoch": 4.244981088158277, + "flow_matching_loss": 0.01474847961217165, + "grad_norm": 0.15246756374835968, + "learning_rate": 1.6914442501652448e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009696334786713123, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794345796108246, + "rkd_teacher_entropy": 3.7470367431640623, + "rkd_teacher_similarity_mean": 0.7826167345046997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14590 + }, + { + "epoch": 4.247890602269421, + "flow_matching_loss": 0.013662670506164432, + "grad_norm": 0.11304792761802673, + "learning_rate": 1.6898041865852974e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008752019051462412, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38359432220458983, + "rkd_teacher_entropy": 3.7534857034683227, + "rkd_teacher_similarity_mean": 0.7873842418193817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14600 + }, + { + "epoch": 4.250800116380565, + "flow_matching_loss": 0.01589602753520012, + "grad_norm": 0.13842374086380005, + "learning_rate": 1.6881638923753663e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011643890617415309, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37569211721420287, + "rkd_teacher_entropy": 3.7317826747894287, + "rkd_teacher_similarity_mean": 0.7780649960041046, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14610 + }, + { + "epoch": 4.2537096304917075, + "flow_matching_loss": 0.014113169722259044, + "grad_norm": 0.11977146565914154, + "learning_rate": 1.6865233695285632e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009586796117946505, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3759002715349197, + "rkd_teacher_entropy": 3.7408386707305907, + "rkd_teacher_similarity_mean": 0.7802694737911224, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14620 + }, + { + "epoch": 4.256619144602851, + "flow_matching_loss": 0.014062142604961992, + "grad_norm": 0.1132366731762886, + "learning_rate": 1.6848826200382782e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009607620351016522, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3863894671201706, + "rkd_teacher_entropy": 3.7639909029006957, + "rkd_teacher_similarity_mean": 0.789835947751999, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14630 + }, + { + "epoch": 4.259528658713995, + "flow_matching_loss": 0.01416702475398779, + "grad_norm": 0.1005806252360344, + "learning_rate": 1.6832416458981762e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012229709001258016, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3755396634340286, + "rkd_teacher_entropy": 3.725923538208008, + "rkd_teacher_similarity_mean": 0.777705067396164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14640 + }, + { + "epoch": 4.262438172825139, + "flow_matching_loss": 0.013340998627245425, + "grad_norm": 0.1436891108751297, + "learning_rate": 1.681600449102196e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011957807466387749, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3727555572986603, + "rkd_teacher_entropy": 3.736246180534363, + "rkd_teacher_similarity_mean": 0.7753357946872711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14650 + }, + { + "epoch": 4.265347686936281, + "flow_matching_loss": 0.014227580279111862, + "grad_norm": 0.13877996802330017, + "learning_rate": 1.6799590316445468e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013002854119986296, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36944899559020994, + "rkd_teacher_entropy": 3.7169685125350953, + "rkd_teacher_similarity_mean": 0.7725769102573394, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14660 + }, + { + "epoch": 4.268257201047425, + "flow_matching_loss": 0.017127281147986652, + "grad_norm": 0.1371220052242279, + "learning_rate": 1.678317395519705e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010286042746156455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3685314208269119, + "rkd_teacher_entropy": 3.7261956930160522, + "rkd_teacher_similarity_mean": 0.7730725169181824, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14670 + }, + { + "epoch": 4.271166715158569, + "flow_matching_loss": 0.01588712092489004, + "grad_norm": 0.12581202387809753, + "learning_rate": 1.676675542722413e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012045872863382101, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779373824596405, + "rkd_teacher_entropy": 3.738483357429504, + "rkd_teacher_similarity_mean": 0.7800068020820617, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14680 + }, + { + "epoch": 4.274076229269712, + "flow_matching_loss": 0.013591599371284246, + "grad_norm": 0.13676895201206207, + "learning_rate": 1.6750334752476776e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009666600404307247, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3702730566263199, + "rkd_teacher_entropy": 3.7180458307266235, + "rkd_teacher_similarity_mean": 0.7741635918617249, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14690 + }, + { + "epoch": 4.276985743380855, + "flow_matching_loss": 0.016014031413942576, + "grad_norm": 0.16480699181556702, + "learning_rate": 1.673391195090765e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01105600744485855, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3657893627882004, + "rkd_teacher_entropy": 3.7041566610336303, + "rkd_teacher_similarity_mean": 0.768199360370636, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14700 + }, + { + "epoch": 4.279895257491999, + "flow_matching_loss": 0.01396770952269435, + "grad_norm": 0.11810584366321564, + "learning_rate": 1.6717487042472006e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0101895147934556, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37218964397907256, + "rkd_teacher_entropy": 3.7187650918960573, + "rkd_teacher_similarity_mean": 0.7741472601890564, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14710 + }, + { + "epoch": 4.282804771603142, + "flow_matching_loss": 0.014389269426465035, + "grad_norm": 0.13410022854804993, + "learning_rate": 1.6701060047127655e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010384318511933088, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36704470217227936, + "rkd_teacher_entropy": 3.721642518043518, + "rkd_teacher_similarity_mean": 0.7719187617301941, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14720 + }, + { + "epoch": 4.285714285714286, + "flow_matching_loss": 0.01655795956030488, + "grad_norm": 0.13726715743541718, + "learning_rate": 1.6684630984834947e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009036131203174591, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807789981365204, + "rkd_teacher_entropy": 3.7598187208175657, + "rkd_teacher_similarity_mean": 0.7868428826332092, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14730 + }, + { + "epoch": 4.288623799825429, + "flow_matching_loss": 0.01378492908552289, + "grad_norm": 0.1529059112071991, + "learning_rate": 1.666819987555675e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010290948813781143, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3750351846218109, + "rkd_teacher_entropy": 3.7337710857391357, + "rkd_teacher_similarity_mean": 0.7775433778762817, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14740 + }, + { + "epoch": 4.291533313936573, + "flow_matching_loss": 0.012989801354706287, + "grad_norm": 0.11483964323997498, + "learning_rate": 1.6651766739258392e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009898651717230677, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3708086162805557, + "rkd_teacher_entropy": 3.717670226097107, + "rkd_teacher_similarity_mean": 0.774653959274292, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14750 + }, + { + "epoch": 4.294442828047716, + "flow_matching_loss": 0.015542750526219607, + "grad_norm": 0.15265367925167084, + "learning_rate": 1.6635331595907704e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010522052086889744, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3829713076353073, + "rkd_teacher_entropy": 3.7507882118225098, + "rkd_teacher_similarity_mean": 0.786741441488266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14760 + }, + { + "epoch": 4.2973523421588595, + "flow_matching_loss": 0.013857942726463079, + "grad_norm": 0.12221498042345047, + "learning_rate": 1.6618894465474923e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00899627972394228, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38744165897369387, + "rkd_teacher_entropy": 3.772655487060547, + "rkd_teacher_similarity_mean": 0.7895776271820069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14770 + }, + { + "epoch": 4.300261856270003, + "flow_matching_loss": 0.015046078339219093, + "grad_norm": 0.1349911093711853, + "learning_rate": 1.660245536793271e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010888546705245972, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36867386400699614, + "rkd_teacher_entropy": 3.7059704542160032, + "rkd_teacher_similarity_mean": 0.7703880727291107, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14780 + }, + { + "epoch": 4.303171370381146, + "flow_matching_loss": 0.01335379360243678, + "grad_norm": 0.11605080217123032, + "learning_rate": 1.6586014323256126e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010656183771789073, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37715800702571867, + "rkd_teacher_entropy": 3.7401901483535767, + "rkd_teacher_similarity_mean": 0.7800839662551879, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14790 + }, + { + "epoch": 4.30608088449229, + "flow_matching_loss": 0.015483813919126987, + "grad_norm": 0.12017567455768585, + "learning_rate": 1.656957135142259e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01003628051839769, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37653300166130066, + "rkd_teacher_entropy": 3.737642693519592, + "rkd_teacher_similarity_mean": 0.7804544985294342, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14800 + }, + { + "epoch": 4.3089903986034335, + "flow_matching_loss": 0.015297482069581748, + "grad_norm": 0.16548708081245422, + "learning_rate": 1.655312647241186e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012529407627880573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37219110429286956, + "rkd_teacher_entropy": 3.721591901779175, + "rkd_teacher_similarity_mean": 0.7755938231945038, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14810 + }, + { + "epoch": 4.311899912714576, + "flow_matching_loss": 0.013565401639789343, + "grad_norm": 0.13082003593444824, + "learning_rate": 1.6536679706206015e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009249975765123963, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3805710315704346, + "rkd_teacher_entropy": 3.756063532829285, + "rkd_teacher_similarity_mean": 0.7844438195228577, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14820 + }, + { + "epoch": 4.31480942682572, + "flow_matching_loss": 0.016842988226562737, + "grad_norm": 0.12516985833644867, + "learning_rate": 1.6520231072789427e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010914093349128962, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37860783338546755, + "rkd_teacher_entropy": 3.745474433898926, + "rkd_teacher_similarity_mean": 0.7820626735687256, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14830 + }, + { + "epoch": 4.317718940936864, + "flow_matching_loss": 0.015373860951513052, + "grad_norm": 0.12250129133462906, + "learning_rate": 1.6503780592148737e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009935187362134456, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38173108696937563, + "rkd_teacher_entropy": 3.7514649629592896, + "rkd_teacher_similarity_mean": 0.784916216135025, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14840 + }, + { + "epoch": 4.320628455048007, + "flow_matching_loss": 0.013365941774100065, + "grad_norm": 0.08969735354185104, + "learning_rate": 1.648732828427283e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009480690397322179, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38042122423648833, + "rkd_teacher_entropy": 3.7458637952804565, + "rkd_teacher_similarity_mean": 0.7846597731113434, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14850 + }, + { + "epoch": 4.32353796915915, + "flow_matching_loss": 0.014498188719153404, + "grad_norm": 0.15350134670734406, + "learning_rate": 1.647087416915281e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009285934595391154, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741204172372818, + "rkd_teacher_entropy": 3.7221174240112305, + "rkd_teacher_similarity_mean": 0.7792611837387085, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14860 + }, + { + "epoch": 4.326447483270294, + "flow_matching_loss": 0.015409334842115641, + "grad_norm": 0.13985510170459747, + "learning_rate": 1.6454418266781987e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009784969873726368, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815826803445816, + "rkd_teacher_entropy": 3.756572389602661, + "rkd_teacher_similarity_mean": 0.784230399131775, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14870 + }, + { + "epoch": 4.329356997381438, + "flow_matching_loss": 0.016245101299136876, + "grad_norm": 0.1449134796857834, + "learning_rate": 1.6437960597155824e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0104278733022511, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37844604551792144, + "rkd_teacher_entropy": 3.7359793424606322, + "rkd_teacher_similarity_mean": 0.7795104265213013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14880 + }, + { + "epoch": 4.3322665114925805, + "flow_matching_loss": 0.014292478188872337, + "grad_norm": 0.1040719598531723, + "learning_rate": 1.642150118027194e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009412152180448174, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38031678795814516, + "rkd_teacher_entropy": 3.7425498008728026, + "rkd_teacher_similarity_mean": 0.7818394482135773, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14890 + }, + { + "epoch": 4.335176025603724, + "flow_matching_loss": 0.016965133138000965, + "grad_norm": 0.14677655696868896, + "learning_rate": 1.640504003613009e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010163215547800064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37516631484031676, + "rkd_teacher_entropy": 3.7301722526550294, + "rkd_teacher_similarity_mean": 0.7786436855793, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14900 + }, + { + "epoch": 4.338085539714868, + "flow_matching_loss": 0.01550827007740736, + "grad_norm": 0.13266398012638092, + "learning_rate": 1.6388577184732107e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010275027947500348, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3763935208320618, + "rkd_teacher_entropy": 3.740238070487976, + "rkd_teacher_similarity_mean": 0.7806195378303528, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14910 + }, + { + "epoch": 4.340995053826011, + "flow_matching_loss": 0.014643833506852388, + "grad_norm": 0.2043289691209793, + "learning_rate": 1.6372112646081907e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010368510987609625, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3748691827058792, + "rkd_teacher_entropy": 3.724592995643616, + "rkd_teacher_similarity_mean": 0.7789564907550812, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14920 + }, + { + "epoch": 4.343904567937154, + "flow_matching_loss": 0.0173342471010983, + "grad_norm": 0.14947070181369781, + "learning_rate": 1.6355646440185464e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010454110521823167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3693371146917343, + "rkd_teacher_entropy": 3.7172281742095947, + "rkd_teacher_similarity_mean": 0.7714138507843018, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14930 + }, + { + "epoch": 4.346814082048298, + "flow_matching_loss": 0.014931744989007711, + "grad_norm": 0.14729468524456024, + "learning_rate": 1.6339178587050764e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010691393865272403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3798377215862274, + "rkd_teacher_entropy": 3.7400829076766966, + "rkd_teacher_similarity_mean": 0.7826501309871674, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14940 + }, + { + "epoch": 4.349723596159441, + "flow_matching_loss": 0.014185531251132488, + "grad_norm": 0.12281884253025055, + "learning_rate": 1.632270910668781e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010353708593174814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38243423104286195, + "rkd_teacher_entropy": 3.7469136714935303, + "rkd_teacher_similarity_mean": 0.784222137928009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14950 + }, + { + "epoch": 4.352633110270585, + "flow_matching_loss": 0.013259742641821504, + "grad_norm": 0.14700935781002045, + "learning_rate": 1.6306238019108562e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01036113677546382, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36851248145103455, + "rkd_teacher_entropy": 3.7122266054153443, + "rkd_teacher_similarity_mean": 0.7715803444385528, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14960 + }, + { + "epoch": 4.355542624381728, + "flow_matching_loss": 0.014854277297854424, + "grad_norm": 0.10354332625865936, + "learning_rate": 1.6289765344326952e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00880244099535048, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37467728853225707, + "rkd_teacher_entropy": 3.7341042518615724, + "rkd_teacher_similarity_mean": 0.777227395772934, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14970 + }, + { + "epoch": 4.358452138492872, + "flow_matching_loss": 0.015283244475722314, + "grad_norm": 0.10238812118768692, + "learning_rate": 1.6273291102358833e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00931644313968718, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3721136599779129, + "rkd_teacher_entropy": 3.728461813926697, + "rkd_teacher_similarity_mean": 0.7763740241527557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14980 + }, + { + "epoch": 4.361361652604015, + "flow_matching_loss": 0.013997320085763931, + "grad_norm": 0.1475391983985901, + "learning_rate": 1.6256815313221963e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00944659491069615, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3799785614013672, + "rkd_teacher_entropy": 3.7404242753982544, + "rkd_teacher_similarity_mean": 0.782944655418396, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14990 + }, + { + "epoch": 4.364271166715159, + "flow_matching_loss": 0.014219024311751127, + "grad_norm": 0.11193513125181198, + "learning_rate": 1.6240337996935972e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009527725726366043, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3702537387609482, + "rkd_teacher_entropy": 3.720345306396484, + "rkd_teacher_similarity_mean": 0.7742226600646973, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15000 + }, + { + "epoch": 4.367180680826302, + "flow_matching_loss": 0.015118403267115355, + "grad_norm": 0.11930453032255173, + "learning_rate": 1.6223859173522367e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008922286378219724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3706239402294159, + "rkd_teacher_entropy": 3.7179309606552122, + "rkd_teacher_similarity_mean": 0.7745986342430115, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15010 + }, + { + "epoch": 4.370090194937445, + "flow_matching_loss": 0.014454340189695358, + "grad_norm": 0.12297486513853073, + "learning_rate": 1.6207378863004455e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008501440146937966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3699891805648804, + "rkd_teacher_entropy": 3.7149429082870484, + "rkd_teacher_similarity_mean": 0.7721206247806549, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15020 + }, + { + "epoch": 4.372999709048589, + "flow_matching_loss": 0.013181805238127708, + "grad_norm": 0.12500566244125366, + "learning_rate": 1.6190897085407382e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008969300519675016, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769903123378754, + "rkd_teacher_entropy": 3.740230417251587, + "rkd_teacher_similarity_mean": 0.7810337245464325, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15030 + }, + { + "epoch": 4.3759092231597325, + "flow_matching_loss": 0.013504925742745399, + "grad_norm": 0.1224798858165741, + "learning_rate": 1.617441386075805e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010208522994071245, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711162209510803, + "rkd_teacher_entropy": 3.7180665254592897, + "rkd_teacher_similarity_mean": 0.7731184601783753, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15040 + }, + { + "epoch": 4.378818737270876, + "flow_matching_loss": 0.014000342786312103, + "grad_norm": 0.18209879100322723, + "learning_rate": 1.6157929209085142e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009219257486984133, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36756173670291903, + "rkd_teacher_entropy": 3.7054431200027467, + "rkd_teacher_similarity_mean": 0.7722621858119965, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15050 + }, + { + "epoch": 4.381728251382019, + "flow_matching_loss": 0.01451088571920991, + "grad_norm": 0.12035295367240906, + "learning_rate": 1.614144315041906e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00850161500275135, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36779977679252623, + "rkd_teacher_entropy": 3.7138672351837156, + "rkd_teacher_similarity_mean": 0.7745101511478424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15060 + }, + { + "epoch": 4.384637765493163, + "flow_matching_loss": 0.015942166186869146, + "grad_norm": 0.1322745382785797, + "learning_rate": 1.612495570479192e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00895530441775918, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36758745908737184, + "rkd_teacher_entropy": 3.7154831409454347, + "rkd_teacher_similarity_mean": 0.7720082223415374, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15070 + }, + { + "epoch": 4.3875472796043065, + "flow_matching_loss": 0.017940194997936487, + "grad_norm": 0.14271506667137146, + "learning_rate": 1.6108466892237517e-05, + "loss": 0.0225, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009089256171137094, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711231857538223, + "rkd_teacher_entropy": 3.7226574659347533, + "rkd_teacher_similarity_mean": 0.7739729046821594, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15080 + }, + { + "epoch": 4.390456793715449, + "flow_matching_loss": 0.015704238135367633, + "grad_norm": 0.10893964022397995, + "learning_rate": 1.609197673279132e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009122706484049559, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3824561595916748, + "rkd_teacher_entropy": 3.752668595314026, + "rkd_teacher_similarity_mean": 0.7851318299770356, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15090 + }, + { + "epoch": 4.393366307826593, + "flow_matching_loss": 0.015128915011882783, + "grad_norm": 0.22719772160053253, + "learning_rate": 1.6075485246490428e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010310201765969395, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.378653821349144, + "rkd_teacher_entropy": 3.727564573287964, + "rkd_teacher_similarity_mean": 0.7808027267456055, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15100 + }, + { + "epoch": 4.396275821937737, + "flow_matching_loss": 0.015953811863437296, + "grad_norm": 0.10948758572340012, + "learning_rate": 1.605899245337355e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00880142766982317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3662433922290802, + "rkd_teacher_entropy": 3.6976292610168455, + "rkd_teacher_similarity_mean": 0.7682844698429108, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15110 + }, + { + "epoch": 4.3991853360488795, + "flow_matching_loss": 0.01503958310931921, + "grad_norm": 0.12663787603378296, + "learning_rate": 1.6042498373480983e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009069207264110446, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833011656999588, + "rkd_teacher_entropy": 3.7429980754852297, + "rkd_teacher_similarity_mean": 0.7858029723167419, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15120 + }, + { + "epoch": 4.402094850160023, + "flow_matching_loss": 0.013497623056173325, + "grad_norm": 0.1012333333492279, + "learning_rate": 1.602600302685459e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009589331690222025, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37862867712974546, + "rkd_teacher_entropy": 3.7365026235580445, + "rkd_teacher_similarity_mean": 0.7802173912525177, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15130 + }, + { + "epoch": 4.405004364271167, + "flow_matching_loss": 0.015093547850847244, + "grad_norm": 0.15144923329353333, + "learning_rate": 1.6009506433537774e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009403513511642814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3793944984674454, + "rkd_teacher_entropy": 3.7423930883407595, + "rkd_teacher_similarity_mean": 0.7804454982280731, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15140 + }, + { + "epoch": 4.40791387838231, + "flow_matching_loss": 0.01325928196310997, + "grad_norm": 0.09936093538999557, + "learning_rate": 1.599300861357545e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009858730947598815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37901243567466736, + "rkd_teacher_entropy": 3.734257936477661, + "rkd_teacher_similarity_mean": 0.7800258278846741, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15150 + }, + { + "epoch": 4.4108233924934535, + "flow_matching_loss": 0.013678537867963313, + "grad_norm": 0.1783207803964615, + "learning_rate": 1.5976509587014032e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010728087835013866, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3752143979072571, + "rkd_teacher_entropy": 3.7404912948608398, + "rkd_teacher_similarity_mean": 0.7784015893936157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15160 + }, + { + "epoch": 4.413732906604597, + "flow_matching_loss": 0.015614004340022802, + "grad_norm": 0.1230623871088028, + "learning_rate": 1.5960009373901384e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009361476264894008, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3736519247293472, + "rkd_teacher_entropy": 3.7382330656051637, + "rkd_teacher_similarity_mean": 0.7768622934818268, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15170 + }, + { + "epoch": 4.416642420715741, + "flow_matching_loss": 0.014610555209219455, + "grad_norm": 0.1168840080499649, + "learning_rate": 1.5943507994286823e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010206062346696854, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37437501847743987, + "rkd_teacher_entropy": 3.7267938375473024, + "rkd_teacher_similarity_mean": 0.7761412858963013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15180 + }, + { + "epoch": 4.419551934826884, + "flow_matching_loss": 0.01738917026668787, + "grad_norm": 0.11632338166236877, + "learning_rate": 1.5927005468221082e-05, + "loss": 0.0231, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011373423598706722, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37401300966739653, + "rkd_teacher_entropy": 3.7385802984237673, + "rkd_teacher_similarity_mean": 0.776651805639267, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15190 + }, + { + "epoch": 4.422461448938027, + "flow_matching_loss": 0.014441296923905611, + "grad_norm": 0.10592550784349442, + "learning_rate": 1.5910501815756285e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00889873756095767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3689291149377823, + "rkd_teacher_entropy": 3.7122685432434084, + "rkd_teacher_similarity_mean": 0.7731115221977234, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15200 + }, + { + "epoch": 4.425370963049171, + "flow_matching_loss": 0.014102248847484589, + "grad_norm": 0.10558082908391953, + "learning_rate": 1.589399705694593e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009627927839756013, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37363881468772886, + "rkd_teacher_entropy": 3.7264549493789674, + "rkd_teacher_similarity_mean": 0.7772348403930665, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15210 + }, + { + "epoch": 4.428280477160314, + "flow_matching_loss": 0.015314556565135718, + "grad_norm": 0.1393466591835022, + "learning_rate": 1.587749121184485e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00866898475214839, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37828790843486787, + "rkd_teacher_entropy": 3.7428895473480224, + "rkd_teacher_similarity_mean": 0.7818692862987519, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15220 + }, + { + "epoch": 4.431189991271458, + "flow_matching_loss": 0.014858712069690227, + "grad_norm": 0.10677575320005417, + "learning_rate": 1.5860984300509206e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009066859912127256, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769126206636429, + "rkd_teacher_entropy": 3.74169180393219, + "rkd_teacher_similarity_mean": 0.7796757221221924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15230 + }, + { + "epoch": 4.434099505382601, + "flow_matching_loss": 0.014919309597462415, + "grad_norm": 0.16090427339076996, + "learning_rate": 1.5844476342996453e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010741731245070696, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3748519361019135, + "rkd_teacher_entropy": 3.7277031421661375, + "rkd_teacher_similarity_mean": 0.7764780521392822, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15240 + }, + { + "epoch": 4.437009019493744, + "flow_matching_loss": 0.014489034935832024, + "grad_norm": 0.13767759501934052, + "learning_rate": 1.5827967359365306e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01018992173485458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38158081769943236, + "rkd_teacher_entropy": 3.7487473249435426, + "rkd_teacher_similarity_mean": 0.7844948470592499, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15250 + }, + { + "epoch": 4.439918533604888, + "flow_matching_loss": 0.014146215654909611, + "grad_norm": 0.1346767693758011, + "learning_rate": 1.5811457369675758e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008853946253657341, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3932127684354782, + "rkd_teacher_entropy": 3.784602165222168, + "rkd_teacher_similarity_mean": 0.7948694407939911, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15260 + }, + { + "epoch": 4.442828047716032, + "flow_matching_loss": 0.01712539428845048, + "grad_norm": 0.09875178337097168, + "learning_rate": 1.5794946393988982e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009874076070263981, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37052014768123626, + "rkd_teacher_entropy": 3.7148991346359255, + "rkd_teacher_similarity_mean": 0.7715385437011719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15270 + }, + { + "epoch": 4.445737561827175, + "flow_matching_loss": 0.015281282644718886, + "grad_norm": 0.12842141091823578, + "learning_rate": 1.5778434452367382e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008835836872458458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37893490493297577, + "rkd_teacher_entropy": 3.739007592201233, + "rkd_teacher_similarity_mean": 0.7809122025966644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15280 + }, + { + "epoch": 4.448647075938318, + "flow_matching_loss": 0.01402024612762034, + "grad_norm": 0.12370740622282028, + "learning_rate": 1.576192156487452e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009682638198137283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3740471065044403, + "rkd_teacher_entropy": 3.720194435119629, + "rkd_teacher_similarity_mean": 0.7762435555458069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15290 + }, + { + "epoch": 4.451556590049462, + "flow_matching_loss": 0.016038041841238738, + "grad_norm": 0.12256934493780136, + "learning_rate": 1.574540775157511e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00896735447458923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3684228539466858, + "rkd_teacher_entropy": 3.7236098766326906, + "rkd_teacher_similarity_mean": 0.7719910800457, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15300 + }, + { + "epoch": 4.4544661041606055, + "flow_matching_loss": 0.013943443447351456, + "grad_norm": 0.1607077270746231, + "learning_rate": 1.5728893032534998e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01074121561832726, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37638207376003263, + "rkd_teacher_entropy": 3.7393460273742676, + "rkd_teacher_similarity_mean": 0.7799541056156158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15310 + }, + { + "epoch": 4.457375618271748, + "flow_matching_loss": 0.012208898272365331, + "grad_norm": 0.11647288501262665, + "learning_rate": 1.571237742782112e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011061007948592305, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37569603621959685, + "rkd_teacher_entropy": 3.7329517126083376, + "rkd_teacher_similarity_mean": 0.7774542808532715, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15320 + }, + { + "epoch": 4.460285132382892, + "flow_matching_loss": 0.01380906505510211, + "grad_norm": 0.10852773487567902, + "learning_rate": 1.569586095750149e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00887343632057309, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3705942064523697, + "rkd_teacher_entropy": 3.7157249212265016, + "rkd_teacher_similarity_mean": 0.7725063323974609, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15330 + }, + { + "epoch": 4.463194646494036, + "flow_matching_loss": 0.013307081256061792, + "grad_norm": 0.10347610712051392, + "learning_rate": 1.5679343641645193e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009408147539943457, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37789609730243684, + "rkd_teacher_entropy": 3.739603614807129, + "rkd_teacher_similarity_mean": 0.7820912361145019, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15340 + }, + { + "epoch": 4.466104160605179, + "flow_matching_loss": 0.014264166541397571, + "grad_norm": 0.08929148316383362, + "learning_rate": 1.5662825500322304e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009270092938095331, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3762627005577087, + "rkd_teacher_entropy": 3.7353427171707154, + "rkd_teacher_similarity_mean": 0.778393441438675, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15350 + }, + { + "epoch": 4.469013674716322, + "flow_matching_loss": 0.015605249349027872, + "grad_norm": 0.11514899134635925, + "learning_rate": 1.5646306553603932e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010065693687647582, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37762635946273804, + "rkd_teacher_entropy": 3.724547600746155, + "rkd_teacher_similarity_mean": 0.7789165019989014, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15360 + }, + { + "epoch": 4.471923188827466, + "flow_matching_loss": 0.016602396685630082, + "grad_norm": 0.1386973112821579, + "learning_rate": 1.5629786821562154e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00883143008686602, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3823683142662048, + "rkd_teacher_entropy": 3.7454867601394652, + "rkd_teacher_similarity_mean": 0.7832668483257293, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15370 + }, + { + "epoch": 4.47483270293861, + "flow_matching_loss": 0.013571390975266695, + "grad_norm": 0.18024887144565582, + "learning_rate": 1.561326632427001e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010409521637484431, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38619656264781954, + "rkd_teacher_entropy": 3.7569626331329347, + "rkd_teacher_similarity_mean": 0.7868134915828705, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15380 + }, + { + "epoch": 4.4777422170497525, + "flow_matching_loss": 0.014951523300260306, + "grad_norm": 0.11221250146627426, + "learning_rate": 1.5596745081801447e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008476101979613303, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785961329936981, + "rkd_teacher_entropy": 3.7312116861343383, + "rkd_teacher_similarity_mean": 0.7785074830055236, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15390 + }, + { + "epoch": 4.480651731160896, + "flow_matching_loss": 0.014059039438143373, + "grad_norm": 0.10889846831560135, + "learning_rate": 1.5580223114231348e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00964694363065064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38870820701122283, + "rkd_teacher_entropy": 3.766735339164734, + "rkd_teacher_similarity_mean": 0.7891216218471527, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15400 + }, + { + "epoch": 4.48356124527204, + "flow_matching_loss": 0.012524362467229367, + "grad_norm": 0.11781175434589386, + "learning_rate": 1.5563700441635445e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008577362634241581, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3758965343236923, + "rkd_teacher_entropy": 3.7258278131484985, + "rkd_teacher_similarity_mean": 0.775147432088852, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15410 + }, + { + "epoch": 4.486470759383183, + "flow_matching_loss": 0.01748831234872341, + "grad_norm": 0.11617005616426468, + "learning_rate": 1.5547177084090358e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009885013196617365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3730546683073044, + "rkd_teacher_entropy": 3.719114875793457, + "rkd_teacher_similarity_mean": 0.7731002509593964, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15420 + }, + { + "epoch": 4.4893802734943264, + "flow_matching_loss": 0.01364814629778266, + "grad_norm": 0.12834788858890533, + "learning_rate": 1.5530653061673514e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00896607949398458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3787628710269928, + "rkd_teacher_entropy": 3.732171654701233, + "rkd_teacher_similarity_mean": 0.7803175151348114, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15430 + }, + { + "epoch": 4.49228978760547, + "flow_matching_loss": 0.01627160096541047, + "grad_norm": 0.15293185412883759, + "learning_rate": 1.5514128394463167e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009742279862985015, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38585321605205536, + "rkd_teacher_entropy": 3.752011847496033, + "rkd_teacher_similarity_mean": 0.7861347973346711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15440 + }, + { + "epoch": 4.495199301716613, + "flow_matching_loss": 0.014078297186642885, + "grad_norm": 0.1243991032242775, + "learning_rate": 1.549760310253834e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011916434112936258, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37872201204299927, + "rkd_teacher_entropy": 3.7391478300094603, + "rkd_teacher_similarity_mean": 0.778656417131424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15450 + }, + { + "epoch": 4.498108815827757, + "flow_matching_loss": 0.014338752347975969, + "grad_norm": 0.1314624547958374, + "learning_rate": 1.5481077205978816e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009794963151216507, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756098061800003, + "rkd_teacher_entropy": 3.7244986295700073, + "rkd_teacher_similarity_mean": 0.7753144979476929, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15460 + }, + { + "epoch": 4.5010183299389, + "flow_matching_loss": 0.012121718982234598, + "grad_norm": 0.09879501163959503, + "learning_rate": 1.5464550724865135e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010530766937881708, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3773981809616089, + "rkd_teacher_entropy": 3.7310187578201295, + "rkd_teacher_similarity_mean": 0.7777969896793365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15470 + }, + { + "epoch": 4.503927844050043, + "flow_matching_loss": 0.016018231865018606, + "grad_norm": 0.13490331172943115, + "learning_rate": 1.5448023679278517e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010745237488299609, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36925104558467864, + "rkd_teacher_entropy": 3.7061009645462035, + "rkd_teacher_similarity_mean": 0.7683153629302979, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15480 + }, + { + "epoch": 4.506837358161187, + "flow_matching_loss": 0.014751891978085041, + "grad_norm": 0.12999102473258972, + "learning_rate": 1.543149608930088e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00959282200783491, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37670942544937136, + "rkd_teacher_entropy": 3.7155754566192627, + "rkd_teacher_similarity_mean": 0.775581157207489, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15490 + }, + { + "epoch": 4.509746872272331, + "flow_matching_loss": 0.016379248909652235, + "grad_norm": 0.13870513439178467, + "learning_rate": 1.5414967975014805e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009499848773702978, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3766057908535004, + "rkd_teacher_entropy": 3.7389717578887938, + "rkd_teacher_similarity_mean": 0.7769424736499786, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15500 + }, + { + "epoch": 4.512656386383474, + "flow_matching_loss": 0.013787172082811595, + "grad_norm": 0.1928289532661438, + "learning_rate": 1.539843935650351e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011193479597568511, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3872020900249481, + "rkd_teacher_entropy": 3.7538145542144776, + "rkd_teacher_similarity_mean": 0.7873607993125915, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15510 + }, + { + "epoch": 4.515565900494617, + "flow_matching_loss": 0.01576258782297373, + "grad_norm": 0.19517743587493896, + "learning_rate": 1.5381910253850834e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01225799978710711, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37170136868953707, + "rkd_teacher_entropy": 3.7036631107330322, + "rkd_teacher_similarity_mean": 0.7724287748336792, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15520 + }, + { + "epoch": 4.518475414605761, + "flow_matching_loss": 0.01354910722002387, + "grad_norm": 0.15856625139713287, + "learning_rate": 1.5365380687141183e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00820445604622364, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3735939025878906, + "rkd_teacher_entropy": 3.723093867301941, + "rkd_teacher_similarity_mean": 0.7771674513816833, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15530 + }, + { + "epoch": 4.521384928716905, + "flow_matching_loss": 0.014863286353647708, + "grad_norm": 0.1178993508219719, + "learning_rate": 1.5348850676459544e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01197625445201993, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3747714936733246, + "rkd_teacher_entropy": 3.727940893173218, + "rkd_teacher_similarity_mean": 0.7767023205757141, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15540 + }, + { + "epoch": 4.524294442828047, + "flow_matching_loss": 0.01541360216215253, + "grad_norm": 0.09540324658155441, + "learning_rate": 1.5332320241891438e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00805463558062911, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3829026877880096, + "rkd_teacher_entropy": 3.7512523412704466, + "rkd_teacher_similarity_mean": 0.7844394564628601, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15550 + }, + { + "epoch": 4.527203956939191, + "flow_matching_loss": 0.015875359438359736, + "grad_norm": 0.13601325452327728, + "learning_rate": 1.5315789403522908e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00868695848621428, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38099920451641084, + "rkd_teacher_entropy": 3.7467134475708006, + "rkd_teacher_similarity_mean": 0.7820829451084137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15560 + }, + { + "epoch": 4.530113471050335, + "flow_matching_loss": 0.01636986546218395, + "grad_norm": 0.1545836180448532, + "learning_rate": 1.529925818144047e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00964519907720387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796106666326523, + "rkd_teacher_entropy": 3.7377771615982054, + "rkd_teacher_similarity_mean": 0.7801699280738831, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15570 + }, + { + "epoch": 4.5330229851614785, + "flow_matching_loss": 0.01574415750801563, + "grad_norm": 0.10090439021587372, + "learning_rate": 1.5282726595731126e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0097503540571779, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796759009361267, + "rkd_teacher_entropy": 3.7417561769485475, + "rkd_teacher_similarity_mean": 0.7811723113059997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15580 + }, + { + "epoch": 4.535932499272621, + "flow_matching_loss": 0.013691544160246849, + "grad_norm": 0.11201134324073792, + "learning_rate": 1.5266194666482304e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009459485299885273, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38051719665527345, + "rkd_teacher_entropy": 3.7414056301116942, + "rkd_teacher_similarity_mean": 0.7833232939243316, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15590 + }, + { + "epoch": 4.538842013383765, + "flow_matching_loss": 0.015882140677422284, + "grad_norm": 0.1244676411151886, + "learning_rate": 1.5249662413781866e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009829378500580788, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785009890794754, + "rkd_teacher_entropy": 3.741684412956238, + "rkd_teacher_similarity_mean": 0.7794153809547424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15600 + }, + { + "epoch": 4.541751527494909, + "flow_matching_loss": 0.013933605886995793, + "grad_norm": 0.12426184117794037, + "learning_rate": 1.5233129857718054e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011357204895466566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38313576877117156, + "rkd_teacher_entropy": 3.7490069389343263, + "rkd_teacher_similarity_mean": 0.7835538387298584, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15610 + }, + { + "epoch": 4.5446610416060516, + "flow_matching_loss": 0.014055389352142811, + "grad_norm": 0.12923093140125275, + "learning_rate": 1.521659701837948e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00984044736251235, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3748499661684036, + "rkd_teacher_entropy": 3.7168649435043335, + "rkd_teacher_similarity_mean": 0.7753082811832428, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15620 + }, + { + "epoch": 4.547570555717195, + "flow_matching_loss": 0.01318222787231207, + "grad_norm": 0.1302819848060608, + "learning_rate": 1.5200063915855107e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009063492249697446, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37589714825153353, + "rkd_teacher_entropy": 3.730575442314148, + "rkd_teacher_similarity_mean": 0.777761697769165, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15630 + }, + { + "epoch": 4.550480069828339, + "flow_matching_loss": 0.015270688012242318, + "grad_norm": 0.13154533505439758, + "learning_rate": 1.5183530570234212e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009780463110655547, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3696144253015518, + "rkd_teacher_entropy": 3.725606179237366, + "rkd_teacher_similarity_mean": 0.7726665914058686, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15640 + }, + { + "epoch": 4.553389583939482, + "flow_matching_loss": 0.013264918513596059, + "grad_norm": 0.11758255213499069, + "learning_rate": 1.5166997001606361e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008741405699402094, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37958206832408903, + "rkd_teacher_entropy": 3.7407881736755373, + "rkd_teacher_similarity_mean": 0.7819601118564605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15650 + }, + { + "epoch": 4.5562990980506255, + "flow_matching_loss": 0.015433759056031704, + "grad_norm": 0.12282900512218475, + "learning_rate": 1.5150463230061417e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01026671715080738, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3819027662277222, + "rkd_teacher_entropy": 3.7368021965026856, + "rkd_teacher_similarity_mean": 0.7821923732757569, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15660 + }, + { + "epoch": 4.559208612161769, + "flow_matching_loss": 0.013115724641829729, + "grad_norm": 0.11114054918289185, + "learning_rate": 1.5133929275689455e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009297344228252768, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38575259447097776, + "rkd_teacher_entropy": 3.7507796764373778, + "rkd_teacher_similarity_mean": 0.7856497645378113, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15670 + }, + { + "epoch": 4.562118126272912, + "flow_matching_loss": 0.012259263545274734, + "grad_norm": 0.1250104159116745, + "learning_rate": 1.5117395158580795e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01140730078332126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3772607326507568, + "rkd_teacher_entropy": 3.727479600906372, + "rkd_teacher_similarity_mean": 0.777754294872284, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15680 + }, + { + "epoch": 4.565027640384056, + "flow_matching_loss": 0.012593984277918935, + "grad_norm": 0.1230737715959549, + "learning_rate": 1.510086089882595e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008660024590790271, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3725089907646179, + "rkd_teacher_entropy": 3.727301549911499, + "rkd_teacher_similarity_mean": 0.7739364385604859, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15690 + }, + { + "epoch": 4.567937154495199, + "flow_matching_loss": 0.014386411476880311, + "grad_norm": 0.10937044769525528, + "learning_rate": 1.5084326516515599e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009787065908312798, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37048775851726534, + "rkd_teacher_entropy": 3.7255887746810914, + "rkd_teacher_similarity_mean": 0.7721068382263183, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15700 + }, + { + "epoch": 4.570846668606343, + "flow_matching_loss": 0.015155882155522705, + "grad_norm": 0.12405769526958466, + "learning_rate": 1.5067792031740582e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009764804691076278, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751020520925522, + "rkd_teacher_entropy": 3.726980137825012, + "rkd_teacher_similarity_mean": 0.7763887763023376, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15710 + }, + { + "epoch": 4.573756182717486, + "flow_matching_loss": 0.013009465578943492, + "grad_norm": 0.1910630613565445, + "learning_rate": 1.505125746459185e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010389529075473547, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771406650543213, + "rkd_teacher_entropy": 3.715332770347595, + "rkd_teacher_similarity_mean": 0.7761145770549774, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15720 + }, + { + "epoch": 4.57666569682863, + "flow_matching_loss": 0.01360793961212039, + "grad_norm": 0.1271207630634308, + "learning_rate": 1.5034722835160466e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011958919605240226, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741555124521255, + "rkd_teacher_entropy": 3.710551714897156, + "rkd_teacher_similarity_mean": 0.7724993348121643, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15730 + }, + { + "epoch": 4.579575210939773, + "flow_matching_loss": 0.01395355393178761, + "grad_norm": 0.16820019483566284, + "learning_rate": 1.5018188163537566e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010058853402733802, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37917458415031435, + "rkd_teacher_entropy": 3.7314194440841675, + "rkd_teacher_similarity_mean": 0.7788079082965851, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15740 + }, + { + "epoch": 4.582484725050916, + "flow_matching_loss": 0.01514580836519599, + "grad_norm": 0.11335057765245438, + "learning_rate": 1.5001653469814331e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00957249728962779, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38475428223609925, + "rkd_teacher_entropy": 3.7555002689361574, + "rkd_teacher_similarity_mean": 0.7879304051399231, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15750 + }, + { + "epoch": 4.58539423916206, + "flow_matching_loss": 0.013220966793596745, + "grad_norm": 0.183267280459404, + "learning_rate": 1.4985118774081978e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01107135801576078, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37794026732444763, + "rkd_teacher_entropy": 3.743727707862854, + "rkd_teacher_similarity_mean": 0.778018182516098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15760 + }, + { + "epoch": 4.588303753273204, + "flow_matching_loss": 0.015578504605218767, + "grad_norm": 0.10258699208498001, + "learning_rate": 1.4968584096431708e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008960367878898978, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38291306495666505, + "rkd_teacher_entropy": 3.7453433513641357, + "rkd_teacher_similarity_mean": 0.7833908498287201, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15770 + }, + { + "epoch": 4.591213267384346, + "flow_matching_loss": 0.015389527147635817, + "grad_norm": 0.16708984971046448, + "learning_rate": 1.4952049456954731e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01119309151545167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3777422457933426, + "rkd_teacher_entropy": 3.724178504943848, + "rkd_teacher_similarity_mean": 0.7780940473079682, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15780 + }, + { + "epoch": 4.59412278149549, + "flow_matching_loss": 0.015316096507012844, + "grad_norm": 0.11338568478822708, + "learning_rate": 1.4935514875742182e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010203405283391476, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37440033853054044, + "rkd_teacher_entropy": 3.7121567487716676, + "rkd_teacher_similarity_mean": 0.7763710260391236, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15790 + }, + { + "epoch": 4.597032295606634, + "flow_matching_loss": 0.016152418963611127, + "grad_norm": 0.15171489119529724, + "learning_rate": 1.4918980372885143e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010535076400265098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38512060344219207, + "rkd_teacher_entropy": 3.7476577043533323, + "rkd_teacher_similarity_mean": 0.7868298709392547, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15800 + }, + { + "epoch": 4.599941809717777, + "flow_matching_loss": 0.014745459146797656, + "grad_norm": 0.14566177129745483, + "learning_rate": 1.4902445968474591e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009836552944034339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37392421066761017, + "rkd_teacher_entropy": 3.729808211326599, + "rkd_teacher_similarity_mean": 0.7742348492145539, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15810 + }, + { + "epoch": 4.60285132382892, + "flow_matching_loss": 0.014730393886566162, + "grad_norm": 0.13572561740875244, + "learning_rate": 1.4885911682601378e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010352437337860464, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3805942803621292, + "rkd_teacher_entropy": 3.732905316352844, + "rkd_teacher_similarity_mean": 0.7800084292888642, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15820 + }, + { + "epoch": 4.605760837940064, + "flow_matching_loss": 0.013563210517168045, + "grad_norm": 0.15303131937980652, + "learning_rate": 1.4869377535356235e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009962753672152758, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3753315329551697, + "rkd_teacher_entropy": 3.7274018049240114, + "rkd_teacher_similarity_mean": 0.77625013589859, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15830 + }, + { + "epoch": 4.608670352051208, + "flow_matching_loss": 0.014439587108790874, + "grad_norm": 0.1545133739709854, + "learning_rate": 1.4852843546829704e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010449496237561107, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38445780277252195, + "rkd_teacher_entropy": 3.756142735481262, + "rkd_teacher_similarity_mean": 0.7838306427001953, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15840 + }, + { + "epoch": 4.611579866162351, + "flow_matching_loss": 0.015052997879683972, + "grad_norm": 0.11816579103469849, + "learning_rate": 1.483630973711214e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01036246595904231, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37494019865989686, + "rkd_teacher_entropy": 3.719690942764282, + "rkd_teacher_similarity_mean": 0.7760753273963928, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15850 + }, + { + "epoch": 4.614489380273494, + "flow_matching_loss": 0.016411767713725565, + "grad_norm": 0.16706055402755737, + "learning_rate": 1.4819776126293677e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0110137231182307, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37181366980075836, + "rkd_teacher_entropy": 3.7155360698699953, + "rkd_teacher_similarity_mean": 0.7727714598178863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15860 + }, + { + "epoch": 4.617398894384638, + "flow_matching_loss": 0.015338735096156597, + "grad_norm": 0.14613457024097443, + "learning_rate": 1.4803242734464214e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010487271565943956, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38915188908576964, + "rkd_teacher_entropy": 3.7682002067565916, + "rkd_teacher_similarity_mean": 0.7910134315490722, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15870 + }, + { + "epoch": 4.620308408495781, + "flow_matching_loss": 0.014750920888036489, + "grad_norm": 0.16885894536972046, + "learning_rate": 1.4786709581713383e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010306818690150977, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771563023328781, + "rkd_teacher_entropy": 3.72104651927948, + "rkd_teacher_similarity_mean": 0.7785251259803772, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15880 + }, + { + "epoch": 4.6232179226069245, + "flow_matching_loss": 0.016162154823541643, + "grad_norm": 0.12069523334503174, + "learning_rate": 1.4770176688130524e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00939448163844645, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38090561628341674, + "rkd_teacher_entropy": 3.7387437343597414, + "rkd_teacher_similarity_mean": 0.7821550488471984, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15890 + }, + { + "epoch": 4.626127436718068, + "flow_matching_loss": 0.013883457705378532, + "grad_norm": 0.12570935487747192, + "learning_rate": 1.475364407380466e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009797861706465483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3730999231338501, + "rkd_teacher_entropy": 3.7274074077606203, + "rkd_teacher_similarity_mean": 0.7735841333866119, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15900 + }, + { + "epoch": 4.629036950829212, + "flow_matching_loss": 0.013760223239660262, + "grad_norm": 0.13660882413387299, + "learning_rate": 1.4737111758824476e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009457842679694295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834869772195816, + "rkd_teacher_entropy": 3.7445918560028075, + "rkd_teacher_similarity_mean": 0.7828436315059661, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15910 + }, + { + "epoch": 4.631946464940355, + "flow_matching_loss": 0.0141840735450387, + "grad_norm": 0.09960214048624039, + "learning_rate": 1.4720579763278289e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00949152377434075, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3835593819618225, + "rkd_teacher_entropy": 3.747193717956543, + "rkd_teacher_similarity_mean": 0.7825998425483703, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15920 + }, + { + "epoch": 4.6348559790514985, + "flow_matching_loss": 0.014621013123542071, + "grad_norm": 0.16115447878837585, + "learning_rate": 1.4704048107254042e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011063585430383683, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37958898544311526, + "rkd_teacher_entropy": 3.7417094469070435, + "rkd_teacher_similarity_mean": 0.7789925515651703, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15930 + }, + { + "epoch": 4.637765493162642, + "flow_matching_loss": 0.013883651606738568, + "grad_norm": 0.13543568551540375, + "learning_rate": 1.4687516810839246e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008286901889368892, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38085987567901614, + "rkd_teacher_entropy": 3.731465983390808, + "rkd_teacher_similarity_mean": 0.7800683438777923, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15940 + }, + { + "epoch": 4.640675007273785, + "flow_matching_loss": 0.015408386010676622, + "grad_norm": 0.19312308728694916, + "learning_rate": 1.4670985894120997e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009641220048069953, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37419040203094484, + "rkd_teacher_entropy": 3.708554220199585, + "rkd_teacher_similarity_mean": 0.7723486721515656, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15950 + }, + { + "epoch": 4.643584521384929, + "flow_matching_loss": 0.013858056347817182, + "grad_norm": 0.1095922440290451, + "learning_rate": 1.465445537718591e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009888683818280697, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3726299464702606, + "rkd_teacher_entropy": 3.717540431022644, + "rkd_teacher_similarity_mean": 0.7715832531452179, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15960 + }, + { + "epoch": 4.646494035496072, + "flow_matching_loss": 0.014872382301837206, + "grad_norm": 0.15643437206745148, + "learning_rate": 1.463792528012012e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010582889057695865, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38022187650203704, + "rkd_teacher_entropy": 3.7408965110778807, + "rkd_teacher_similarity_mean": 0.7798142611980439, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15970 + }, + { + "epoch": 4.649403549607215, + "flow_matching_loss": 0.015148248337209225, + "grad_norm": 0.15883022546768188, + "learning_rate": 1.4621395623009252e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009358918806537986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37942380607128146, + "rkd_teacher_entropy": 3.734869122505188, + "rkd_teacher_similarity_mean": 0.7793367207050323, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15980 + }, + { + "epoch": 4.652313063718359, + "flow_matching_loss": 0.014988027513027191, + "grad_norm": 0.12493964284658432, + "learning_rate": 1.4604866425938407e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010146064544096589, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37475883662700654, + "rkd_teacher_entropy": 3.7129692316055296, + "rkd_teacher_similarity_mean": 0.7730909705162048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15990 + }, + { + "epoch": 4.655222577829503, + "flow_matching_loss": 0.0131172732450068, + "grad_norm": 0.11826188862323761, + "learning_rate": 1.4588337708992115e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009711493458598851, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3801072001457214, + "rkd_teacher_entropy": 3.734096384048462, + "rkd_teacher_similarity_mean": 0.7811045408248901, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16000 + }, + { + "epoch": 4.6581320919406455, + "flow_matching_loss": 0.012975891679525375, + "grad_norm": 0.12444552034139633, + "learning_rate": 1.4571809492254318e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00969845913350582, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37458775639534, + "rkd_teacher_entropy": 3.7212172746658325, + "rkd_teacher_similarity_mean": 0.7744174182415009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16010 + }, + { + "epoch": 4.661041606051789, + "flow_matching_loss": 0.015349828824400901, + "grad_norm": 0.14681476354599, + "learning_rate": 1.4555281795808371e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010752112232148647, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36977140307426454, + "rkd_teacher_entropy": 3.714458203315735, + "rkd_teacher_similarity_mean": 0.7695097088813782, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16020 + }, + { + "epoch": 4.663951120162933, + "flow_matching_loss": 0.01245715469121933, + "grad_norm": 0.12305935472249985, + "learning_rate": 1.4538754639736966e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010561804566532374, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828378081321716, + "rkd_teacher_entropy": 3.7397852659225466, + "rkd_teacher_similarity_mean": 0.7813620030879974, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16030 + }, + { + "epoch": 4.666860634274077, + "flow_matching_loss": 0.014403530117124318, + "grad_norm": 0.11854508519172668, + "learning_rate": 1.4522228044122174e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009028491890057921, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3819705009460449, + "rkd_teacher_entropy": 3.7360069513320924, + "rkd_teacher_similarity_mean": 0.7798257410526276, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16040 + }, + { + "epoch": 4.669770148385219, + "flow_matching_loss": 0.015157835837453604, + "grad_norm": 0.11698950827121735, + "learning_rate": 1.4505702029045359e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009419140871614218, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3759754180908203, + "rkd_teacher_entropy": 3.7200628519058228, + "rkd_teacher_similarity_mean": 0.7746026337146759, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16050 + }, + { + "epoch": 4.672679662496363, + "flow_matching_loss": 0.01585695706307888, + "grad_norm": 0.15545020997524261, + "learning_rate": 1.4489176614587189e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010184460878372192, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376270654797554, + "rkd_teacher_entropy": 3.7185821771621703, + "rkd_teacher_similarity_mean": 0.7759204149246216, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16060 + }, + { + "epoch": 4.675589176607507, + "flow_matching_loss": 0.014011732302606106, + "grad_norm": 0.1289377063512802, + "learning_rate": 1.4472651820827595e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00982839842326939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797184765338898, + "rkd_teacher_entropy": 3.7381975650787354, + "rkd_teacher_similarity_mean": 0.7798245966434478, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16070 + }, + { + "epoch": 4.67849869071865, + "flow_matching_loss": 0.015011917147785426, + "grad_norm": 0.16455796360969543, + "learning_rate": 1.4456127667845766e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010068231262266636, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3848406821489334, + "rkd_teacher_entropy": 3.759460282325745, + "rkd_teacher_similarity_mean": 0.7842692613601685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16080 + }, + { + "epoch": 4.681408204829793, + "flow_matching_loss": 0.016602852381765842, + "grad_norm": 0.12745018303394318, + "learning_rate": 1.4439604175720104e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00910838320851326, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769101858139038, + "rkd_teacher_entropy": 3.725179982185364, + "rkd_teacher_similarity_mean": 0.7765561878681183, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16090 + }, + { + "epoch": 4.684317718940937, + "flow_matching_loss": 0.012104842299595475, + "grad_norm": 0.12668649852275848, + "learning_rate": 1.4423081364528212e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011377608822658657, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38352551162242887, + "rkd_teacher_entropy": 3.742912244796753, + "rkd_teacher_similarity_mean": 0.7839476704597473, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16100 + }, + { + "epoch": 4.687227233052081, + "flow_matching_loss": 0.014419893641024828, + "grad_norm": 0.1228010505437851, + "learning_rate": 1.4406559254346863e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009289457648992538, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37507741451263427, + "rkd_teacher_entropy": 3.7198467016220094, + "rkd_teacher_similarity_mean": 0.7743182897567749, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16110 + }, + { + "epoch": 4.690136747163224, + "flow_matching_loss": 0.0139307607896626, + "grad_norm": 0.13144776225090027, + "learning_rate": 1.4390037865251978e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01144463438540697, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3773026645183563, + "rkd_teacher_entropy": 3.7309333801269533, + "rkd_teacher_similarity_mean": 0.7781419456005096, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16120 + }, + { + "epoch": 4.693046261274367, + "flow_matching_loss": 0.01423428887501359, + "grad_norm": 0.16304804384708405, + "learning_rate": 1.4373517217318597e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009741526609286667, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3758557468652725, + "rkd_teacher_entropy": 3.7202272415161133, + "rkd_teacher_similarity_mean": 0.7757691979408264, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16130 + }, + { + "epoch": 4.69595577538551, + "flow_matching_loss": 0.015163406264036894, + "grad_norm": 0.1424964964389801, + "learning_rate": 1.4356997330620875e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008586412156000733, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.371686252951622, + "rkd_teacher_entropy": 3.7157196044921874, + "rkd_teacher_similarity_mean": 0.7728459775447846, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16140 + }, + { + "epoch": 4.698865289496654, + "flow_matching_loss": 0.013475139159709215, + "grad_norm": 0.1208588033914566, + "learning_rate": 1.434047822523203e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009331455314531922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37056718170642855, + "rkd_teacher_entropy": 3.703441023826599, + "rkd_teacher_similarity_mean": 0.7700988352298737, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16150 + }, + { + "epoch": 4.7017748036077975, + "flow_matching_loss": 0.013427841290831567, + "grad_norm": 0.13924770057201385, + "learning_rate": 1.4323959921224322e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008730261120945215, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3829014927148819, + "rkd_teacher_entropy": 3.7518976449966432, + "rkd_teacher_similarity_mean": 0.7846022188663483, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16160 + }, + { + "epoch": 4.704684317718941, + "flow_matching_loss": 0.013619246054440736, + "grad_norm": 0.12586592137813568, + "learning_rate": 1.4307442438669066e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008728676894679665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38662590086460114, + "rkd_teacher_entropy": 3.7466922283172606, + "rkd_teacher_similarity_mean": 0.7860237002372742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16170 + }, + { + "epoch": 4.707593831830084, + "flow_matching_loss": 0.015185553953051567, + "grad_norm": 0.19562137126922607, + "learning_rate": 1.4290925797636546e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009924093401059509, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37037399113178254, + "rkd_teacher_entropy": 3.7071274518966675, + "rkd_teacher_similarity_mean": 0.7702322959899902, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16180 + }, + { + "epoch": 4.710503345941228, + "flow_matching_loss": 0.014356924407184123, + "grad_norm": 0.1407824605703354, + "learning_rate": 1.4274410018196039e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008204998029395939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3742996782064438, + "rkd_teacher_entropy": 3.7168766260147095, + "rkd_teacher_similarity_mean": 0.7756316304206848, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16190 + }, + { + "epoch": 4.7134128600523715, + "flow_matching_loss": 0.016550609841942787, + "grad_norm": 0.11304061859846115, + "learning_rate": 1.4257895120415783e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009725377615541219, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3733230382204056, + "rkd_teacher_entropy": 3.7169564008712768, + "rkd_teacher_similarity_mean": 0.7736573159694672, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16200 + }, + { + "epoch": 4.716322374163514, + "flow_matching_loss": 0.015232024621218443, + "grad_norm": 0.12002813816070557, + "learning_rate": 1.4241381124362933e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008734842529520392, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3743092596530914, + "rkd_teacher_entropy": 3.7270323514938353, + "rkd_teacher_similarity_mean": 0.7744444072246551, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16210 + }, + { + "epoch": 4.719231888274658, + "flow_matching_loss": 0.015743286814540625, + "grad_norm": 0.1281672716140747, + "learning_rate": 1.4224868050103546e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008524219505488873, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3774517744779587, + "rkd_teacher_entropy": 3.724272608757019, + "rkd_teacher_similarity_mean": 0.7773021221160888, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16220 + }, + { + "epoch": 4.722141402385802, + "flow_matching_loss": 0.012708025053143501, + "grad_norm": 0.12278128415346146, + "learning_rate": 1.4208355917702573e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00849918145686388, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751368045806885, + "rkd_teacher_entropy": 3.723807621002197, + "rkd_teacher_similarity_mean": 0.7766596257686615, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16230 + }, + { + "epoch": 4.725050916496945, + "flow_matching_loss": 0.01163241765461862, + "grad_norm": 0.1344769448041916, + "learning_rate": 1.41918447472238e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00992805790156126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38248097002506254, + "rkd_teacher_entropy": 3.7473258495330812, + "rkd_teacher_similarity_mean": 0.7828581035137177, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16240 + }, + { + "epoch": 4.727960430608088, + "flow_matching_loss": 0.01532959402538836, + "grad_norm": 0.13042692840099335, + "learning_rate": 1.4175334558729869e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008835595566779375, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3743136912584305, + "rkd_teacher_entropy": 3.712573194503784, + "rkd_teacher_similarity_mean": 0.7744566202163696, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16250 + }, + { + "epoch": 4.730869944719232, + "flow_matching_loss": 0.015415341220796108, + "grad_norm": 0.09515149891376495, + "learning_rate": 1.4158825372282211e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009579639136791229, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832074970006943, + "rkd_teacher_entropy": 3.753696322441101, + "rkd_teacher_similarity_mean": 0.7840272963047028, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16260 + }, + { + "epoch": 4.733779458830376, + "flow_matching_loss": 0.015521780308336019, + "grad_norm": 0.13242818415164948, + "learning_rate": 1.4142317207941042e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008263126527890564, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3775276213884354, + "rkd_teacher_entropy": 3.7350126028060915, + "rkd_teacher_similarity_mean": 0.7777212858200073, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16270 + }, + { + "epoch": 4.7366889729415185, + "flow_matching_loss": 0.014227322302758694, + "grad_norm": 0.09608058631420135, + "learning_rate": 1.4125810085765339e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009408610267564654, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3813483029603958, + "rkd_teacher_entropy": 3.741174817085266, + "rkd_teacher_similarity_mean": 0.7809802472591401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16280 + }, + { + "epoch": 4.739598487052662, + "flow_matching_loss": 0.017900231201201676, + "grad_norm": 0.10969039797782898, + "learning_rate": 1.410930402581281e-05, + "loss": 0.0228, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009787510382011533, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3824721485376358, + "rkd_teacher_entropy": 3.7411683559417725, + "rkd_teacher_similarity_mean": 0.7816174268722534, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16290 + }, + { + "epoch": 4.742508001163806, + "flow_matching_loss": 0.01576307909563184, + "grad_norm": 0.12750943005084991, + "learning_rate": 1.4092799048139876e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00837190099991858, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38128419816493986, + "rkd_teacher_entropy": 3.741334581375122, + "rkd_teacher_similarity_mean": 0.7817054271697998, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16300 + }, + { + "epoch": 4.745417515274949, + "flow_matching_loss": 0.013241302128881216, + "grad_norm": 0.15456311404705048, + "learning_rate": 1.4076295172801647e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01095763836055994, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815041661262512, + "rkd_teacher_entropy": 3.729789113998413, + "rkd_teacher_similarity_mean": 0.780106246471405, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16310 + }, + { + "epoch": 4.748327029386092, + "flow_matching_loss": 0.014060676749795675, + "grad_norm": 0.15004637837409973, + "learning_rate": 1.4059792419851884e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009933442063629627, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36976865530014036, + "rkd_teacher_entropy": 3.696577024459839, + "rkd_teacher_similarity_mean": 0.7667510032653808, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16320 + }, + { + "epoch": 4.751236543497236, + "flow_matching_loss": 0.013389154244214297, + "grad_norm": 0.13719706237316132, + "learning_rate": 1.4043290809342984e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009620753349736333, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3866564095020294, + "rkd_teacher_entropy": 3.759311819076538, + "rkd_teacher_similarity_mean": 0.7864816844463348, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16330 + }, + { + "epoch": 4.754146057608379, + "flow_matching_loss": 0.0161160490475595, + "grad_norm": 0.131195068359375, + "learning_rate": 1.4026790361325958e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011137789767235517, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37457773089408875, + "rkd_teacher_entropy": 3.7231114864349366, + "rkd_teacher_similarity_mean": 0.7748192846775055, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16340 + }, + { + "epoch": 4.757055571719523, + "flow_matching_loss": 0.01355777564458549, + "grad_norm": 0.13671047985553741, + "learning_rate": 1.4010291095850415e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009653085097670554, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38351563513278963, + "rkd_teacher_entropy": 3.7396800994873045, + "rkd_teacher_similarity_mean": 0.7815776824951172, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16350 + }, + { + "epoch": 4.759965085830666, + "flow_matching_loss": 0.015589364897459745, + "grad_norm": 0.23140503466129303, + "learning_rate": 1.3993793032964515e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009531872812658548, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3765517622232437, + "rkd_teacher_entropy": 3.715382790565491, + "rkd_teacher_similarity_mean": 0.7742810845375061, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16360 + }, + { + "epoch": 4.76287459994181, + "flow_matching_loss": 0.012658210564404726, + "grad_norm": 0.11295055598020554, + "learning_rate": 1.3977296192714956e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008415989065542816, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37414821088314054, + "rkd_teacher_entropy": 3.7105417013168336, + "rkd_teacher_similarity_mean": 0.77219358086586, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16370 + }, + { + "epoch": 4.765784114052953, + "flow_matching_loss": 0.01376143041998148, + "grad_norm": 0.14457526803016663, + "learning_rate": 1.396080059514696e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010823921859264373, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756346613168716, + "rkd_teacher_entropy": 3.7341442823410036, + "rkd_teacher_similarity_mean": 0.775861656665802, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16380 + }, + { + "epoch": 4.768693628164097, + "flow_matching_loss": 0.015789516549557448, + "grad_norm": 0.15991194546222687, + "learning_rate": 1.3944306260304232e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009692391892895103, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3809001386165619, + "rkd_teacher_entropy": 3.748418617248535, + "rkd_teacher_similarity_mean": 0.780929046869278, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16390 + }, + { + "epoch": 4.77160314227524, + "flow_matching_loss": 0.013378871511667967, + "grad_norm": 0.13780716061592102, + "learning_rate": 1.3927813208228936e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008276470052078367, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38063486814498904, + "rkd_teacher_entropy": 3.7476635932922364, + "rkd_teacher_similarity_mean": 0.7805987536907196, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16400 + }, + { + "epoch": 4.774512656386383, + "flow_matching_loss": 0.013722518272697926, + "grad_norm": 0.1340203434228897, + "learning_rate": 1.39113214589617e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010423024510964751, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785918205976486, + "rkd_teacher_entropy": 3.7216343879699707, + "rkd_teacher_similarity_mean": 0.7765437662601471, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16410 + }, + { + "epoch": 4.777422170497527, + "flow_matching_loss": 0.014142732322216033, + "grad_norm": 0.09238798171281815, + "learning_rate": 1.3894831032541545e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010137780988588928, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3897802710533142, + "rkd_teacher_entropy": 3.762340807914734, + "rkd_teacher_similarity_mean": 0.7894212424755096, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16420 + }, + { + "epoch": 4.7803316846086705, + "flow_matching_loss": 0.014139777328819037, + "grad_norm": 0.12996646761894226, + "learning_rate": 1.3878341949005895e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009057818073779344, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808200091123581, + "rkd_teacher_entropy": 3.7407387018203737, + "rkd_teacher_similarity_mean": 0.7816007077693939, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16430 + }, + { + "epoch": 4.783241198719814, + "flow_matching_loss": 0.012886220216751098, + "grad_norm": 0.0990016907453537, + "learning_rate": 1.3861854228390546e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008085522847250105, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38057694137096404, + "rkd_teacher_entropy": 3.7262807846069337, + "rkd_teacher_similarity_mean": 0.7790920734405518, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16440 + }, + { + "epoch": 4.786150712830957, + "flow_matching_loss": 0.014697353821247816, + "grad_norm": 0.13993977010250092, + "learning_rate": 1.3845367890729621e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011824290920048951, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38187394142150877, + "rkd_teacher_entropy": 3.7480772733688354, + "rkd_teacher_similarity_mean": 0.7804184794425965, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16450 + }, + { + "epoch": 4.789060226942101, + "flow_matching_loss": 0.011365746147930622, + "grad_norm": 0.10142596811056137, + "learning_rate": 1.3828882956055591e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009140797145664691, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3791505455970764, + "rkd_teacher_entropy": 3.728402590751648, + "rkd_teacher_similarity_mean": 0.7790761590003967, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16460 + }, + { + "epoch": 4.7919697410532445, + "flow_matching_loss": 0.013267110288143157, + "grad_norm": 0.15082894265651703, + "learning_rate": 1.38123994443992e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008341998513787984, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3688425004482269, + "rkd_teacher_entropy": 3.701213812828064, + "rkd_teacher_similarity_mean": 0.768799215555191, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16470 + }, + { + "epoch": 4.794879255164387, + "flow_matching_loss": 0.016054577846080064, + "grad_norm": 0.11860255897045135, + "learning_rate": 1.3795917375789465e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00872161788865924, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38570998311042787, + "rkd_teacher_entropy": 3.759798789024353, + "rkd_teacher_similarity_mean": 0.7853343069553376, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16480 + }, + { + "epoch": 4.797788769275531, + "flow_matching_loss": 0.014632769068703056, + "grad_norm": 0.13938316702842712, + "learning_rate": 1.3779436770253658e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00888771926984191, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38585453033447265, + "rkd_teacher_entropy": 3.7434669017791746, + "rkd_teacher_similarity_mean": 0.7855999708175659, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16490 + }, + { + "epoch": 4.800698283386675, + "flow_matching_loss": 0.011105775088071822, + "grad_norm": 0.11762131750583649, + "learning_rate": 1.3762957647817258e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008660303242504597, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38064335882663725, + "rkd_teacher_entropy": 3.731941485404968, + "rkd_teacher_similarity_mean": 0.7797807812690735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16500 + }, + { + "epoch": 4.8036077974978175, + "flow_matching_loss": 0.014093518955633044, + "grad_norm": 0.14001423120498657, + "learning_rate": 1.374648002850397e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010725110257044434, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37784379422664643, + "rkd_teacher_entropy": 3.7293238639831543, + "rkd_teacher_similarity_mean": 0.7752878129482269, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16510 + }, + { + "epoch": 4.806517311608961, + "flow_matching_loss": 0.01282443581148982, + "grad_norm": 0.13246555626392365, + "learning_rate": 1.3730003932335642e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00806921157054603, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376364865899086, + "rkd_teacher_entropy": 3.714261841773987, + "rkd_teacher_similarity_mean": 0.7771052718162537, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16520 + }, + { + "epoch": 4.809426825720105, + "flow_matching_loss": 0.013858162332326174, + "grad_norm": 0.14249762892723083, + "learning_rate": 1.3713529379332292e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009670824836939573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790391117334366, + "rkd_teacher_entropy": 3.7346038579940797, + "rkd_teacher_similarity_mean": 0.7797327220439911, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16530 + }, + { + "epoch": 4.812336339831248, + "flow_matching_loss": 0.012313148519024254, + "grad_norm": 0.1004844382405281, + "learning_rate": 1.3697056389512054e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.013469133619219064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3777933895587921, + "rkd_teacher_entropy": 3.724235439300537, + "rkd_teacher_similarity_mean": 0.7753196120262146, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16540 + }, + { + "epoch": 4.8152458539423915, + "flow_matching_loss": 0.014188551576808095, + "grad_norm": 0.11632447689771652, + "learning_rate": 1.3680584982891162e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009867553878575564, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843779623508453, + "rkd_teacher_entropy": 3.750957465171814, + "rkd_teacher_similarity_mean": 0.7831149399280548, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16550 + }, + { + "epoch": 4.818155368053535, + "flow_matching_loss": 0.013010069588199258, + "grad_norm": 0.08122096210718155, + "learning_rate": 1.3664115179483921e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008913455903530121, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837573409080505, + "rkd_teacher_entropy": 3.7631559133529664, + "rkd_teacher_similarity_mean": 0.7847122132778168, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16560 + }, + { + "epoch": 4.821064882164679, + "flow_matching_loss": 0.014078429713845254, + "grad_norm": 0.09732647240161896, + "learning_rate": 1.364764699930271e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008656411059200763, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3775928497314453, + "rkd_teacher_entropy": 3.7315646409988403, + "rkd_teacher_similarity_mean": 0.7771987080574035, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16570 + }, + { + "epoch": 4.823974396275822, + "flow_matching_loss": 0.015380576997995377, + "grad_norm": 0.12482428550720215, + "learning_rate": 1.363118046235791e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008751379884779453, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3855846256017685, + "rkd_teacher_entropy": 3.749756097793579, + "rkd_teacher_similarity_mean": 0.78469517827034, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16580 + }, + { + "epoch": 4.826883910386965, + "flow_matching_loss": 0.014670394221320748, + "grad_norm": 0.13682390749454498, + "learning_rate": 1.3614715588657921e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010505404183641076, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3839115649461746, + "rkd_teacher_entropy": 3.7434964418411254, + "rkd_teacher_similarity_mean": 0.7820714890956879, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16590 + }, + { + "epoch": 4.829793424498109, + "flow_matching_loss": 0.016609245631843805, + "grad_norm": 0.11560222506523132, + "learning_rate": 1.3598252398209118e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009795805718749762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37392553091049197, + "rkd_teacher_entropy": 3.7172949075698853, + "rkd_teacher_similarity_mean": 0.7722372055053711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16600 + }, + { + "epoch": 4.832702938609252, + "flow_matching_loss": 0.012984917499125004, + "grad_norm": 0.1437440663576126, + "learning_rate": 1.358179091101582e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009608812164515257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3817150890827179, + "rkd_teacher_entropy": 3.734617495536804, + "rkd_teacher_similarity_mean": 0.7803176164627075, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16610 + }, + { + "epoch": 4.835612452720396, + "flow_matching_loss": 0.014408161770552397, + "grad_norm": 0.15180881321430206, + "learning_rate": 1.3565331147080299e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009216017136350275, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3732057690620422, + "rkd_teacher_entropy": 3.72601854801178, + "rkd_teacher_similarity_mean": 0.7721130430698395, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16620 + }, + { + "epoch": 4.838521966831539, + "flow_matching_loss": 0.01335653504356742, + "grad_norm": 0.13998156785964966, + "learning_rate": 1.3548873126402716e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009160433430224657, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3804167002439499, + "rkd_teacher_entropy": 3.7346246242523193, + "rkd_teacher_similarity_mean": 0.779403555393219, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16630 + }, + { + "epoch": 4.841431480942683, + "flow_matching_loss": 0.0167093088850379, + "grad_norm": 0.1548626720905304, + "learning_rate": 1.3532416868981117e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0087852677796036, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37512449622154237, + "rkd_teacher_entropy": 3.721443939208984, + "rkd_teacher_similarity_mean": 0.7726495504379273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16640 + }, + { + "epoch": 4.844340995053826, + "flow_matching_loss": 0.01399874510243535, + "grad_norm": 0.1444595754146576, + "learning_rate": 1.3515962394811401e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0099829135928303, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3718473017215729, + "rkd_teacher_entropy": 3.7161154985427856, + "rkd_teacher_similarity_mean": 0.7707341432571411, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16650 + }, + { + "epoch": 4.84725050916497, + "flow_matching_loss": 0.014298469666391611, + "grad_norm": 0.14324769377708435, + "learning_rate": 1.3499509723887313e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00755241559818387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789484351873398, + "rkd_teacher_entropy": 3.7305620908737183, + "rkd_teacher_similarity_mean": 0.7780183374881744, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16660 + }, + { + "epoch": 4.850160023276112, + "flow_matching_loss": 0.017321431078016758, + "grad_norm": 0.12436211109161377, + "learning_rate": 1.3483058876200396e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009275308949872852, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.375467449426651, + "rkd_teacher_entropy": 3.729171109199524, + "rkd_teacher_similarity_mean": 0.7743302762508393, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16670 + }, + { + "epoch": 4.853069537387256, + "flow_matching_loss": 0.01422788379713893, + "grad_norm": 0.1502058207988739, + "learning_rate": 1.3466609871739987e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009162752097472549, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3817835658788681, + "rkd_teacher_entropy": 3.7302788734436034, + "rkd_teacher_similarity_mean": 0.7787504255771637, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16680 + }, + { + "epoch": 4.8559790514984, + "flow_matching_loss": 0.017592314071953295, + "grad_norm": 0.145648792386055, + "learning_rate": 1.3450162730493172e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009024878218770026, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808730274438858, + "rkd_teacher_entropy": 3.734318494796753, + "rkd_teacher_similarity_mean": 0.7789843916893006, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16690 + }, + { + "epoch": 4.8588885656095435, + "flow_matching_loss": 0.014172617625445128, + "grad_norm": 0.11728917807340622, + "learning_rate": 1.3433717472444781e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009744907775893808, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38043713569641113, + "rkd_teacher_entropy": 3.73946373462677, + "rkd_teacher_similarity_mean": 0.7801030337810516, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16700 + }, + { + "epoch": 4.861798079720686, + "flow_matching_loss": 0.012683936115354299, + "grad_norm": 0.14019756019115448, + "learning_rate": 1.3417274117577343e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009414061903953552, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797711133956909, + "rkd_teacher_entropy": 3.746284341812134, + "rkd_teacher_similarity_mean": 0.7797246932983398, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16710 + }, + { + "epoch": 4.86470759383183, + "flow_matching_loss": 0.013620913494378328, + "grad_norm": 0.1120588630437851, + "learning_rate": 1.3400832685871102e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009845870966091751, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37958266735076907, + "rkd_teacher_entropy": 3.7265576362609862, + "rkd_teacher_similarity_mean": 0.778642863035202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16720 + }, + { + "epoch": 4.867617107942974, + "flow_matching_loss": 0.014252778515219689, + "grad_norm": 0.1511063426733017, + "learning_rate": 1.3384393197303936e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009560536313802003, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3892184615135193, + "rkd_teacher_entropy": 3.7712430477142336, + "rkd_teacher_similarity_mean": 0.7893241822719574, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16730 + }, + { + "epoch": 4.870526622054117, + "flow_matching_loss": 0.01231320882216096, + "grad_norm": 0.1192445456981659, + "learning_rate": 1.336795567185138e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00806348966434598, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38090392351150515, + "rkd_teacher_entropy": 3.732912063598633, + "rkd_teacher_similarity_mean": 0.7811727285385132, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16740 + }, + { + "epoch": 4.87343613616526, + "flow_matching_loss": 0.015087968576699496, + "grad_norm": 0.10402227193117142, + "learning_rate": 1.3351520129486573e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008026231219992042, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3882671892642975, + "rkd_teacher_entropy": 3.7593446016311645, + "rkd_teacher_similarity_mean": 0.7890138983726501, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16750 + }, + { + "epoch": 4.876345650276404, + "flow_matching_loss": 0.01395147331058979, + "grad_norm": 0.11621315032243729, + "learning_rate": 1.3335086590180252e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009673554915934801, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3767058223485947, + "rkd_teacher_entropy": 3.724952149391174, + "rkd_teacher_similarity_mean": 0.7768664240837098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16760 + }, + { + "epoch": 4.879255164387548, + "flow_matching_loss": 0.014671020023524762, + "grad_norm": 0.13805992901325226, + "learning_rate": 1.3318655073900708e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00888809678144753, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37481142282485963, + "rkd_teacher_entropy": 3.7177685499191284, + "rkd_teacher_similarity_mean": 0.773504251241684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16770 + }, + { + "epoch": 4.8821646784986905, + "flow_matching_loss": 0.013422248046845197, + "grad_norm": 0.14674025774002075, + "learning_rate": 1.3302225600613796e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00938875749707222, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38359551429748534, + "rkd_teacher_entropy": 3.7347490549087525, + "rkd_teacher_similarity_mean": 0.7825739800930023, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16780 + }, + { + "epoch": 4.885074192609834, + "flow_matching_loss": 0.013256442826241254, + "grad_norm": 0.10812338441610336, + "learning_rate": 1.3285798190282869e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007833476178348064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37462441623210907, + "rkd_teacher_entropy": 3.720921182632446, + "rkd_teacher_similarity_mean": 0.7752153635025024, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16790 + }, + { + "epoch": 4.887983706720978, + "flow_matching_loss": 0.014302178844809532, + "grad_norm": 0.14663249254226685, + "learning_rate": 1.3269372862868776e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00866166646592319, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38072731494903567, + "rkd_teacher_entropy": 3.7334802389144897, + "rkd_teacher_similarity_mean": 0.780826848745346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16800 + }, + { + "epoch": 4.890893220832121, + "flow_matching_loss": 0.014242056384682655, + "grad_norm": 0.14487090706825256, + "learning_rate": 1.3252949638329845e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008620346011593939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38241572082042696, + "rkd_teacher_entropy": 3.7319356918334963, + "rkd_teacher_similarity_mean": 0.7819929480552673, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16810 + }, + { + "epoch": 4.8938027349432645, + "flow_matching_loss": 0.015023036394268274, + "grad_norm": 0.15739040076732635, + "learning_rate": 1.3236528536621834e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01024944125674665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37147298753261565, + "rkd_teacher_entropy": 3.7064615726470946, + "rkd_teacher_similarity_mean": 0.7701824486255646, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16820 + }, + { + "epoch": 4.896712249054408, + "flow_matching_loss": 0.015003505814820527, + "grad_norm": 0.1377122402191162, + "learning_rate": 1.3220109577697943e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011551650147885084, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776943475008011, + "rkd_teacher_entropy": 3.7366554737091064, + "rkd_teacher_similarity_mean": 0.7766900837421418, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16830 + }, + { + "epoch": 4.899621763165551, + "flow_matching_loss": 0.012981361709535122, + "grad_norm": 0.10723186284303665, + "learning_rate": 1.3203692781508745e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008861309895291925, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37916495501995084, + "rkd_teacher_entropy": 3.7311230182647703, + "rkd_teacher_similarity_mean": 0.7786562740802765, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16840 + }, + { + "epoch": 4.902531277276695, + "flow_matching_loss": 0.013952212501317262, + "grad_norm": 0.12350258231163025, + "learning_rate": 1.3187278168002198e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009695710986852646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828791409730911, + "rkd_teacher_entropy": 3.752586913108826, + "rkd_teacher_similarity_mean": 0.7829801559448242, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16850 + }, + { + "epoch": 4.905440791387838, + "flow_matching_loss": 0.01373913106508553, + "grad_norm": 0.15413077175617218, + "learning_rate": 1.3170865757123606e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010699744848534466, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38357723951339723, + "rkd_teacher_entropy": 3.7570714950561523, + "rkd_teacher_similarity_mean": 0.783633428812027, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16860 + }, + { + "epoch": 4.908350305498981, + "flow_matching_loss": 0.013747213548049331, + "grad_norm": 0.17179599404335022, + "learning_rate": 1.3154455568815592e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008832198940217495, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38280091881752015, + "rkd_teacher_entropy": 3.7451180934906008, + "rkd_teacher_similarity_mean": 0.7828412413597107, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16870 + }, + { + "epoch": 4.911259819610125, + "flow_matching_loss": 0.013465180061757565, + "grad_norm": 0.1562405377626419, + "learning_rate": 1.3138047623018087e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011532342620193958, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.385765078663826, + "rkd_teacher_entropy": 3.7490031003952025, + "rkd_teacher_similarity_mean": 0.7869066834449768, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16880 + }, + { + "epoch": 4.914169333721269, + "flow_matching_loss": 0.012907614326104521, + "grad_norm": 0.11893073469400406, + "learning_rate": 1.3121641939668293e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007460350822657347, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.387734454870224, + "rkd_teacher_entropy": 3.75541512966156, + "rkd_teacher_similarity_mean": 0.7879203140735627, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16890 + }, + { + "epoch": 4.917078847832412, + "flow_matching_loss": 0.014925088454037904, + "grad_norm": 0.1209561675786972, + "learning_rate": 1.3105238538700659e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009463745541870594, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3852256089448929, + "rkd_teacher_entropy": 3.746286487579346, + "rkd_teacher_similarity_mean": 0.7841696083545685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16900 + }, + { + "epoch": 4.919988361943555, + "flow_matching_loss": 0.012518156692385674, + "grad_norm": 0.11977189779281616, + "learning_rate": 1.3088837440046866e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00835807747207582, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3862293422222137, + "rkd_teacher_entropy": 3.746834063529968, + "rkd_teacher_similarity_mean": 0.7852440178394318, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16910 + }, + { + "epoch": 4.922897876054699, + "flow_matching_loss": 0.01384150218218565, + "grad_norm": 0.13201673328876495, + "learning_rate": 1.3072438663635787e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009558767173439264, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37988159656524656, + "rkd_teacher_entropy": 3.7333298444747927, + "rkd_teacher_similarity_mean": 0.7801700413227082, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16920 + }, + { + "epoch": 4.925807390165843, + "flow_matching_loss": 0.01343133971095085, + "grad_norm": 0.16028118133544922, + "learning_rate": 1.3056042229393497e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010205655917525291, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3762339919805527, + "rkd_teacher_entropy": 3.726604723930359, + "rkd_teacher_similarity_mean": 0.7757419586181641, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16930 + }, + { + "epoch": 4.928716904276985, + "flow_matching_loss": 0.012851472105830907, + "grad_norm": 0.14271849393844604, + "learning_rate": 1.30396481572432e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008989242929965257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37697300016880037, + "rkd_teacher_entropy": 3.7267449617385866, + "rkd_teacher_similarity_mean": 0.7758727192878723, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16940 + }, + { + "epoch": 4.931626418388129, + "flow_matching_loss": 0.012860949523746968, + "grad_norm": 0.1333571970462799, + "learning_rate": 1.3023256467105237e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01008603018708527, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37898306250572206, + "rkd_teacher_entropy": 3.7295298337936402, + "rkd_teacher_similarity_mean": 0.7761946082115173, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16950 + }, + { + "epoch": 4.934535932499273, + "flow_matching_loss": 0.012328368658199907, + "grad_norm": 0.12199517339468002, + "learning_rate": 1.3006867178897067e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00958165810443461, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3905030995607376, + "rkd_teacher_entropy": 3.7643571376800535, + "rkd_teacher_similarity_mean": 0.7904478013515472, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16960 + }, + { + "epoch": 4.9374454466104165, + "flow_matching_loss": 0.012677107937633991, + "grad_norm": 0.1521417498588562, + "learning_rate": 1.2990480312533213e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009462772589176893, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806325703859329, + "rkd_teacher_entropy": 3.741337442398071, + "rkd_teacher_similarity_mean": 0.7796602010726928, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16970 + }, + { + "epoch": 4.940354960721559, + "flow_matching_loss": 0.014202560950070619, + "grad_norm": 0.12151096761226654, + "learning_rate": 1.2974095887925258e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009509910736232996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37287168502807616, + "rkd_teacher_entropy": 3.718819761276245, + "rkd_teacher_similarity_mean": 0.772196364402771, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16980 + }, + { + "epoch": 4.943264474832703, + "flow_matching_loss": 0.014765235595405102, + "grad_norm": 0.11940940469503403, + "learning_rate": 1.2957713924981837e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009570566238835454, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3782710701227188, + "rkd_teacher_entropy": 3.7242436170578004, + "rkd_teacher_similarity_mean": 0.7779425799846649, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16990 + }, + { + "epoch": 4.946173988943847, + "flow_matching_loss": 0.015420214273035526, + "grad_norm": 0.1314716637134552, + "learning_rate": 1.2941334443608572e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008868077816441656, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3745553731918335, + "rkd_teacher_entropy": 3.715060234069824, + "rkd_teacher_similarity_mean": 0.7740764379501343, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17000 + }, + { + "epoch": 4.94908350305499, + "flow_matching_loss": 0.015126832574605942, + "grad_norm": 0.10437019914388657, + "learning_rate": 1.2924957463708073e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011325461231172085, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37612590491771697, + "rkd_teacher_entropy": 3.7158420085906982, + "rkd_teacher_similarity_mean": 0.7754073977470398, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17010 + }, + { + "epoch": 4.951993017166133, + "flow_matching_loss": 0.014110401272773743, + "grad_norm": 0.135992169380188, + "learning_rate": 1.2908583005179924e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01133924089372158, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3706885129213333, + "rkd_teacher_entropy": 3.6964900970458983, + "rkd_teacher_similarity_mean": 0.7692576289176941, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17020 + }, + { + "epoch": 4.954902531277277, + "flow_matching_loss": 0.012580203264951706, + "grad_norm": 0.11525741219520569, + "learning_rate": 1.2892211087920624e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007418857701122761, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3788620352745056, + "rkd_teacher_entropy": 3.7197548389434814, + "rkd_teacher_similarity_mean": 0.7778907120227814, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17030 + }, + { + "epoch": 4.95781204538842, + "flow_matching_loss": 0.014361998904496432, + "grad_norm": 0.13701127469539642, + "learning_rate": 1.287584173182361e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009728659503161907, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832587838172913, + "rkd_teacher_entropy": 3.745869541168213, + "rkd_teacher_similarity_mean": 0.7805972993373871, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17040 + }, + { + "epoch": 4.9607215594995635, + "flow_matching_loss": 0.013095741160213947, + "grad_norm": 0.1537911295890808, + "learning_rate": 1.2859474956779188e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01006995290517807, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3781873404979706, + "rkd_teacher_entropy": 3.7200724124908446, + "rkd_teacher_similarity_mean": 0.7752216517925262, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17050 + }, + { + "epoch": 4.963631073610707, + "flow_matching_loss": 0.014412855450063943, + "grad_norm": 0.11341305822134018, + "learning_rate": 1.2843110782674532e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01080506076104939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39067123234272005, + "rkd_teacher_entropy": 3.755857253074646, + "rkd_teacher_similarity_mean": 0.7895404994487762, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17060 + }, + { + "epoch": 4.96654058772185, + "flow_matching_loss": 0.012047379184514284, + "grad_norm": 0.12186975032091141, + "learning_rate": 1.2826749229393655e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011184925120323897, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37159053683280946, + "rkd_teacher_entropy": 3.7189571619033814, + "rkd_teacher_similarity_mean": 0.7699582517147064, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17070 + }, + { + "epoch": 4.969450101832994, + "flow_matching_loss": 0.014748086407780647, + "grad_norm": 0.11109647899866104, + "learning_rate": 1.2810390316817381e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010463608615100383, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38398513197898865, + "rkd_teacher_entropy": 3.7404237270355223, + "rkd_teacher_similarity_mean": 0.7832005143165588, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17080 + }, + { + "epoch": 4.9723596159441374, + "flow_matching_loss": 0.014270166773349047, + "grad_norm": 0.16093608736991882, + "learning_rate": 1.2794034064823346e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008913145959377288, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776921272277832, + "rkd_teacher_entropy": 3.737158513069153, + "rkd_teacher_similarity_mean": 0.7790281236171722, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17090 + }, + { + "epoch": 4.975269130055281, + "flow_matching_loss": 0.013595944084227086, + "grad_norm": 0.1470358669757843, + "learning_rate": 1.277768049328593e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009438107023015618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38241838216781615, + "rkd_teacher_entropy": 3.7428762435913088, + "rkd_teacher_similarity_mean": 0.7840541660785675, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17100 + }, + { + "epoch": 4.978178644166424, + "flow_matching_loss": 0.01587949087843299, + "grad_norm": 0.1443081647157669, + "learning_rate": 1.2761329622076269e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010610066773369908, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3760995477437973, + "rkd_teacher_entropy": 3.7256712436676027, + "rkd_teacher_similarity_mean": 0.7759821772575378, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17110 + }, + { + "epoch": 4.981088158277568, + "flow_matching_loss": 0.012731395894661546, + "grad_norm": 0.15293219685554504, + "learning_rate": 1.274498147106221e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008307354245334863, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38325766921043397, + "rkd_teacher_entropy": 3.753831481933594, + "rkd_teacher_similarity_mean": 0.7839367926120758, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17120 + }, + { + "epoch": 4.983997672388711, + "flow_matching_loss": 0.014368455111980438, + "grad_norm": 0.0992821678519249, + "learning_rate": 1.272863606010829e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010324353026226163, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37293686866760256, + "rkd_teacher_entropy": 3.7184162616729735, + "rkd_teacher_similarity_mean": 0.773500281572342, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17130 + }, + { + "epoch": 4.986907186499854, + "flow_matching_loss": 0.014841205812990666, + "grad_norm": 0.11770939826965332, + "learning_rate": 1.2712293409075739e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008913952438160778, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3818061649799347, + "rkd_teacher_entropy": 3.7397379875183105, + "rkd_teacher_similarity_mean": 0.781934255361557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17140 + }, + { + "epoch": 4.989816700610998, + "flow_matching_loss": 0.012753861024975777, + "grad_norm": 0.11348981410264969, + "learning_rate": 1.2695953537822413e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007930244272574782, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37998399436473845, + "rkd_teacher_entropy": 3.7316046714782716, + "rkd_teacher_similarity_mean": 0.7786494433879853, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17150 + }, + { + "epoch": 4.992726214722142, + "flow_matching_loss": 0.013516447460278868, + "grad_norm": 0.1051439493894577, + "learning_rate": 1.2679616466202792e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008247841894626618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38898809552192687, + "rkd_teacher_entropy": 3.7649776458740236, + "rkd_teacher_similarity_mean": 0.7889358818531036, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17160 + }, + { + "epoch": 4.995635728833285, + "flow_matching_loss": 0.01355962986126542, + "grad_norm": 0.13986285030841827, + "learning_rate": 1.2663282214067967e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008480604784563184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3811095178127289, + "rkd_teacher_entropy": 3.748435378074646, + "rkd_teacher_similarity_mean": 0.7805524587631225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17170 + }, + { + "epoch": 4.998545242944428, + "flow_matching_loss": 0.015422806516289711, + "grad_norm": 0.12126539647579193, + "learning_rate": 1.264695080126559e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00908871260471642, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3799937814474106, + "rkd_teacher_entropy": 3.7351171493530275, + "rkd_teacher_similarity_mean": 0.7798006296157837, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17180 + }, + { + "epoch": 5.001454757055572, + "flow_matching_loss": 0.012962088780477643, + "grad_norm": 0.16276150941848755, + "learning_rate": 1.263062224763986e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009565274836495519, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38816437125205994, + "rkd_teacher_entropy": 3.765049934387207, + "rkd_teacher_similarity_mean": 0.7895400166511536, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17190 + }, + { + "epoch": 5.004364271166716, + "flow_matching_loss": 0.01297555360943079, + "grad_norm": 0.1164882704615593, + "learning_rate": 1.2614296573031522e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008863970963284373, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3730517625808716, + "rkd_teacher_entropy": 3.7180015325546263, + "rkd_teacher_similarity_mean": 0.7723713219165802, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17200 + }, + { + "epoch": 5.007273785277858, + "flow_matching_loss": 0.01354800621047616, + "grad_norm": 0.13039657473564148, + "learning_rate": 1.259797379727781e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009777013817802072, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37950031757354735, + "rkd_teacher_entropy": 3.738095259666443, + "rkd_teacher_similarity_mean": 0.7790948331356049, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17210 + }, + { + "epoch": 5.010183299389002, + "flow_matching_loss": 0.01584823401644826, + "grad_norm": 0.1599770039319992, + "learning_rate": 1.2581653940212423e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0090183197055012, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37525921761989595, + "rkd_teacher_entropy": 3.7192157745361327, + "rkd_teacher_similarity_mean": 0.7740182042121887, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17220 + }, + { + "epoch": 5.013092813500146, + "flow_matching_loss": 0.015423181280493737, + "grad_norm": 0.12959890067577362, + "learning_rate": 1.2565337021665537e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009655344905331731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37244558036327363, + "rkd_teacher_entropy": 3.7155196189880373, + "rkd_teacher_similarity_mean": 0.7723773956298828, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17230 + }, + { + "epoch": 5.016002327611289, + "flow_matching_loss": 0.013065413385629655, + "grad_norm": 0.16205422580242157, + "learning_rate": 1.2549023061463739e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00837172674946487, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3704313725233078, + "rkd_teacher_entropy": 3.713492822647095, + "rkd_teacher_similarity_mean": 0.7712751865386963, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17240 + }, + { + "epoch": 5.018911841722432, + "flow_matching_loss": 0.014407035894691944, + "grad_norm": 0.10862506181001663, + "learning_rate": 1.2532712079430038e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008938878681510687, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3879507929086685, + "rkd_teacher_entropy": 3.7593552827835084, + "rkd_teacher_similarity_mean": 0.7885557353496552, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17250 + }, + { + "epoch": 5.021821355833576, + "flow_matching_loss": 0.015077515412122012, + "grad_norm": 0.15665197372436523, + "learning_rate": 1.2516404095383813e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008844422921538354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376290962100029, + "rkd_teacher_entropy": 3.72926242351532, + "rkd_teacher_similarity_mean": 0.7764741063117981, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17260 + }, + { + "epoch": 5.024730869944719, + "flow_matching_loss": 0.013493883982300758, + "grad_norm": 0.15571902692317963, + "learning_rate": 1.2500099129140796e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007934113265946507, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37890457212924955, + "rkd_teacher_entropy": 3.7443809270858766, + "rkd_teacher_similarity_mean": 0.7796078264713288, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17270 + }, + { + "epoch": 5.0276403840558626, + "flow_matching_loss": 0.013294189050793648, + "grad_norm": 0.10962450504302979, + "learning_rate": 1.2483797200513065e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006971138110384345, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3867029219865799, + "rkd_teacher_entropy": 3.74734206199646, + "rkd_teacher_similarity_mean": 0.7872196674346924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17280 + }, + { + "epoch": 5.030549898167006, + "flow_matching_loss": 0.013623241521418094, + "grad_norm": 0.24725276231765747, + "learning_rate": 1.2467498329308992e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010382405016571283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807791233062744, + "rkd_teacher_entropy": 3.7433772802352907, + "rkd_teacher_similarity_mean": 0.7786985993385315, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17290 + }, + { + "epoch": 5.03345941227815, + "flow_matching_loss": 0.013487040810287, + "grad_norm": 0.11268060654401779, + "learning_rate": 1.2451202535333253e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008156571816653014, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38264392912387846, + "rkd_teacher_entropy": 3.744997572898865, + "rkd_teacher_similarity_mean": 0.7832855761051178, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17300 + }, + { + "epoch": 5.036368926389293, + "flow_matching_loss": 0.014251429121941328, + "grad_norm": 0.1302998960018158, + "learning_rate": 1.2434909838386768e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010013430565595626, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37854008972644804, + "rkd_teacher_entropy": 3.7316970109939573, + "rkd_teacher_similarity_mean": 0.7787536382675171, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17310 + }, + { + "epoch": 5.0392784405004365, + "flow_matching_loss": 0.014511521346867085, + "grad_norm": 0.1142946183681488, + "learning_rate": 1.2418620258266703e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008248936291784048, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38286162316799166, + "rkd_teacher_entropy": 3.7435333490371705, + "rkd_teacher_similarity_mean": 0.7834066569805145, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17320 + }, + { + "epoch": 5.04218795461158, + "flow_matching_loss": 0.01438254676759243, + "grad_norm": 0.12342676520347595, + "learning_rate": 1.2402333814766432e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009622939582914113, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3793041378259659, + "rkd_teacher_entropy": 3.745529127120972, + "rkd_teacher_similarity_mean": 0.7808767676353454, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17330 + }, + { + "epoch": 5.045097468722723, + "flow_matching_loss": 0.012126568984240294, + "grad_norm": 0.13096767663955688, + "learning_rate": 1.2386050527675515e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009265855746343732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37820799052715304, + "rkd_teacher_entropy": 3.730065178871155, + "rkd_teacher_similarity_mean": 0.7757908940315247, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17340 + }, + { + "epoch": 5.048006982833867, + "flow_matching_loss": 0.013447680324316025, + "grad_norm": 0.13954293727874756, + "learning_rate": 1.2369770416779693e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009277851181104779, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3766685575246811, + "rkd_teacher_entropy": 3.7214000463485717, + "rkd_teacher_similarity_mean": 0.7764924883842468, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17350 + }, + { + "epoch": 5.05091649694501, + "flow_matching_loss": 0.012030708882957698, + "grad_norm": 0.12378671765327454, + "learning_rate": 1.2353493501860828e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009113432560116052, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383644163608551, + "rkd_teacher_entropy": 3.736769127845764, + "rkd_teacher_similarity_mean": 0.7834806799888611, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17360 + }, + { + "epoch": 5.053826011056153, + "flow_matching_loss": 0.01437585512176156, + "grad_norm": 0.12281360477209091, + "learning_rate": 1.2337219802696905e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00795561745762825, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3780752867460251, + "rkd_teacher_entropy": 3.732984018325806, + "rkd_teacher_similarity_mean": 0.7775103628635407, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17370 + }, + { + "epoch": 5.056735525167297, + "flow_matching_loss": 0.013622371107339859, + "grad_norm": 0.2219955325126648, + "learning_rate": 1.2320949339062008e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010559086967259646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38172899186611176, + "rkd_teacher_entropy": 3.725549554824829, + "rkd_teacher_similarity_mean": 0.7807340383529663, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17380 + }, + { + "epoch": 5.059645039278441, + "flow_matching_loss": 0.014354043081402779, + "grad_norm": 0.13941296935081482, + "learning_rate": 1.2304682130726281e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008950373716652393, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37460107207298277, + "rkd_teacher_entropy": 3.7121149778366087, + "rkd_teacher_similarity_mean": 0.7723910450935364, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17390 + }, + { + "epoch": 5.0625545533895835, + "flow_matching_loss": 0.017604065034538506, + "grad_norm": 0.10392685234546661, + "learning_rate": 1.2288418197455913e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009572655335068703, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38039526641368865, + "rkd_teacher_entropy": 3.728247785568237, + "rkd_teacher_similarity_mean": 0.7774824559688568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17400 + }, + { + "epoch": 5.065464067500727, + "flow_matching_loss": 0.012591291498392821, + "grad_norm": 0.10979952663183212, + "learning_rate": 1.2272157559013126e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008668093476444483, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3767998367547989, + "rkd_teacher_entropy": 3.726473331451416, + "rkd_teacher_similarity_mean": 0.7750599980354309, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17410 + }, + { + "epoch": 5.068373581611871, + "flow_matching_loss": 0.012962980289012193, + "grad_norm": 0.17517618834972382, + "learning_rate": 1.2255900235156123e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012088461965322494, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36801314949989317, + "rkd_teacher_entropy": 3.6884913444519043, + "rkd_teacher_similarity_mean": 0.766028743982315, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17420 + }, + { + "epoch": 5.071283095723015, + "flow_matching_loss": 0.013151990715414286, + "grad_norm": 0.11358712613582611, + "learning_rate": 1.2239646245639087e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009306491538882255, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.375700107216835, + "rkd_teacher_entropy": 3.7144850969314573, + "rkd_teacher_similarity_mean": 0.7734631121158599, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17430 + }, + { + "epoch": 5.074192609834157, + "flow_matching_loss": 0.011680473620072008, + "grad_norm": 0.1200895681977272, + "learning_rate": 1.2223395610212142e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009198526851832867, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37604451179504395, + "rkd_teacher_entropy": 3.7227704524993896, + "rkd_teacher_similarity_mean": 0.7732851922512054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17440 + }, + { + "epoch": 5.077102123945301, + "flow_matching_loss": 0.012109056441113352, + "grad_norm": 0.1208265870809555, + "learning_rate": 1.2207148348621348e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008535291673615575, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38570019900798796, + "rkd_teacher_entropy": 3.7373484134674073, + "rkd_teacher_similarity_mean": 0.7843902587890625, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17450 + }, + { + "epoch": 5.080011638056445, + "flow_matching_loss": 0.015244850423187017, + "grad_norm": 0.18033510446548462, + "learning_rate": 1.219090448060866e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010328858997672797, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851484775543213, + "rkd_teacher_entropy": 3.7555730819702147, + "rkd_teacher_similarity_mean": 0.7843149840831757, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17460 + }, + { + "epoch": 5.082921152167588, + "flow_matching_loss": 0.015187813714146615, + "grad_norm": 0.1899062842130661, + "learning_rate": 1.217466402591191e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011073953891173004, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37850408256053925, + "rkd_teacher_entropy": 3.725877857208252, + "rkd_teacher_similarity_mean": 0.7756687939167023, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17470 + }, + { + "epoch": 5.085830666278731, + "flow_matching_loss": 0.01376572735607624, + "grad_norm": 0.11376525461673737, + "learning_rate": 1.2158427004264785e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007966754026710987, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38002326190471647, + "rkd_teacher_entropy": 3.7349440813064576, + "rkd_teacher_similarity_mean": 0.7781764149665833, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17480 + }, + { + "epoch": 5.088740180389875, + "flow_matching_loss": 0.0149643924087286, + "grad_norm": 0.2125585675239563, + "learning_rate": 1.2142193435396788e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01060102223418653, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3727575331926346, + "rkd_teacher_entropy": 3.716449427604675, + "rkd_teacher_similarity_mean": 0.7713153064250946, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17490 + }, + { + "epoch": 5.091649694501018, + "flow_matching_loss": 0.01203946270979941, + "grad_norm": 0.11786309629678726, + "learning_rate": 1.2125963339033234e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010170096438378096, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3816368579864502, + "rkd_teacher_entropy": 3.7194701433181763, + "rkd_teacher_similarity_mean": 0.7786232650279998, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17500 + }, + { + "epoch": 5.094559208612162, + "flow_matching_loss": 0.011995497811585664, + "grad_norm": 0.12616361677646637, + "learning_rate": 1.2109736734895237e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00768658691085875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38524535596370696, + "rkd_teacher_entropy": 3.7402105569839477, + "rkd_teacher_similarity_mean": 0.7820052325725555, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17510 + }, + { + "epoch": 5.097468722723305, + "flow_matching_loss": 0.015672495309263467, + "grad_norm": 0.11756809055805206, + "learning_rate": 1.2093513642699634e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01154782809317112, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797123670578003, + "rkd_teacher_entropy": 3.733273959159851, + "rkd_teacher_similarity_mean": 0.7783105134963989, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17520 + }, + { + "epoch": 5.100378236834449, + "flow_matching_loss": 0.016310966201126577, + "grad_norm": 0.16498340666294098, + "learning_rate": 1.2077294082159024e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009481088118627667, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3818177759647369, + "rkd_teacher_entropy": 3.738908076286316, + "rkd_teacher_similarity_mean": 0.780336344242096, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17530 + }, + { + "epoch": 5.103287750945592, + "flow_matching_loss": 0.015534709393978118, + "grad_norm": 0.1732715219259262, + "learning_rate": 1.2061078072981697e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01034690123051405, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3763683557510376, + "rkd_teacher_entropy": 3.7234197854995728, + "rkd_teacher_similarity_mean": 0.77459437251091, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17540 + }, + { + "epoch": 5.1061972650567355, + "flow_matching_loss": 0.013472894206643105, + "grad_norm": 0.13404296338558197, + "learning_rate": 1.2044865634871626e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009750248864293098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3885359078645706, + "rkd_teacher_entropy": 3.7502471685409544, + "rkd_teacher_similarity_mean": 0.7859886944293976, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17550 + }, + { + "epoch": 5.109106779167879, + "flow_matching_loss": 0.013442547200247646, + "grad_norm": 0.14321471750736237, + "learning_rate": 1.2028656787528468e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009642532747238874, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769762277603149, + "rkd_teacher_entropy": 3.7185678482055664, + "rkd_teacher_similarity_mean": 0.7752749443054199, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17560 + }, + { + "epoch": 5.112016293279022, + "flow_matching_loss": 0.014488064497709275, + "grad_norm": 0.10586103796958923, + "learning_rate": 1.2012451550647491e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007803499139845372, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3805968314409256, + "rkd_teacher_entropy": 3.7242774963378906, + "rkd_teacher_similarity_mean": 0.7795402824878692, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17570 + }, + { + "epoch": 5.114925807390166, + "flow_matching_loss": 0.014396750181913377, + "grad_norm": 0.11705213040113449, + "learning_rate": 1.1996249943919589e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01060307128354907, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38039177656173706, + "rkd_teacher_entropy": 3.737822937965393, + "rkd_teacher_similarity_mean": 0.7796740353107452, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17580 + }, + { + "epoch": 5.1178353215013095, + "flow_matching_loss": 0.015269460529088974, + "grad_norm": 0.12533977627754211, + "learning_rate": 1.1980051987031237e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009220012743026019, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3859958589076996, + "rkd_teacher_entropy": 3.760174798965454, + "rkd_teacher_similarity_mean": 0.7857086181640625, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17590 + }, + { + "epoch": 5.120744835612452, + "flow_matching_loss": 0.013790939748287202, + "grad_norm": 0.12002290040254593, + "learning_rate": 1.1963857699664483e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009793597087264062, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785186856985092, + "rkd_teacher_entropy": 3.7199728012084963, + "rkd_teacher_similarity_mean": 0.7755935907363891, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17600 + }, + { + "epoch": 5.123654349723596, + "flow_matching_loss": 0.012901113275438547, + "grad_norm": 0.14185209572315216, + "learning_rate": 1.1947667101496911e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00929416911676526, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851392984390259, + "rkd_teacher_entropy": 3.744936990737915, + "rkd_teacher_similarity_mean": 0.7844263434410095, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17610 + }, + { + "epoch": 5.12656386383474, + "flow_matching_loss": 0.01160576418042183, + "grad_norm": 0.0980362668633461, + "learning_rate": 1.1931480212201633e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00902949757874012, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3760878622531891, + "rkd_teacher_entropy": 3.7254308700561523, + "rkd_teacher_similarity_mean": 0.7754765272140502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17620 + }, + { + "epoch": 5.129473377945883, + "flow_matching_loss": 0.016217279247939587, + "grad_norm": 0.14441514015197754, + "learning_rate": 1.1915297051447237e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010290625598281622, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.380243769288063, + "rkd_teacher_entropy": 3.7344025373458862, + "rkd_teacher_similarity_mean": 0.7808984160423279, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17630 + }, + { + "epoch": 5.132382892057026, + "flow_matching_loss": 0.015103026572614909, + "grad_norm": 0.15511777997016907, + "learning_rate": 1.1899117638897793e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009014740213751793, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38137860000133517, + "rkd_teacher_entropy": 3.740086889266968, + "rkd_teacher_similarity_mean": 0.7806605398654938, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17640 + }, + { + "epoch": 5.13529240616817, + "flow_matching_loss": 0.013978721108287573, + "grad_norm": 0.13476143777370453, + "learning_rate": 1.1882941994212811e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007750930311158299, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3802230149507523, + "rkd_teacher_entropy": 3.7295631408691405, + "rkd_teacher_similarity_mean": 0.777240127325058, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17650 + }, + { + "epoch": 5.138201920279314, + "flow_matching_loss": 0.014192438777536153, + "grad_norm": 0.1341264396905899, + "learning_rate": 1.1866770137047221e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011674051312729717, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38563952445983884, + "rkd_teacher_entropy": 3.7486432075500487, + "rkd_teacher_similarity_mean": 0.7829001724720002, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17660 + }, + { + "epoch": 5.1411114343904565, + "flow_matching_loss": 0.01143386010080576, + "grad_norm": 0.13938231766223907, + "learning_rate": 1.1850602087051363e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00891919545829296, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38207568824291227, + "rkd_teacher_entropy": 3.7465086460113524, + "rkd_teacher_similarity_mean": 0.7809639930725097, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17670 + }, + { + "epoch": 5.1440209485016, + "flow_matching_loss": 0.014185103774070739, + "grad_norm": 0.1154048889875412, + "learning_rate": 1.183443786387094e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008517738850787281, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832921117544174, + "rkd_teacher_entropy": 3.743834114074707, + "rkd_teacher_similarity_mean": 0.7829627573490143, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17680 + }, + { + "epoch": 5.146930462612744, + "flow_matching_loss": 0.014668884314596653, + "grad_norm": 0.124439537525177, + "learning_rate": 1.1818277487147005e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008085317118093372, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3845983982086182, + "rkd_teacher_entropy": 3.755292463302612, + "rkd_teacher_similarity_mean": 0.7826084613800048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17690 + }, + { + "epoch": 5.149839976723887, + "flow_matching_loss": 0.013253406807780265, + "grad_norm": 0.1368207484483719, + "learning_rate": 1.180212097651594e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009105371916666627, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37512377500534055, + "rkd_teacher_entropy": 3.718036723136902, + "rkd_teacher_similarity_mean": 0.772876626253128, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17700 + }, + { + "epoch": 5.15274949083503, + "flow_matching_loss": 0.0121817359700799, + "grad_norm": 0.11522356420755386, + "learning_rate": 1.1785968351609422e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010523479571565986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3772133529186249, + "rkd_teacher_entropy": 3.7249561071395876, + "rkd_teacher_similarity_mean": 0.7757791757583619, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17710 + }, + { + "epoch": 5.155659004946174, + "flow_matching_loss": 0.013211097288876771, + "grad_norm": 0.1659368872642517, + "learning_rate": 1.1769819632054427e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009508961578831077, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37332228422164915, + "rkd_teacher_entropy": 3.711040163040161, + "rkd_teacher_similarity_mean": 0.7730325698852539, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17720 + }, + { + "epoch": 5.158568519057318, + "flow_matching_loss": 0.013506170362234116, + "grad_norm": 0.11307156085968018, + "learning_rate": 1.1753674837473165e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00890035079792142, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797433406114578, + "rkd_teacher_entropy": 3.7323389530181883, + "rkd_teacher_similarity_mean": 0.777513986825943, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17730 + }, + { + "epoch": 5.161478033168461, + "flow_matching_loss": 0.012533708475530148, + "grad_norm": 0.13699430227279663, + "learning_rate": 1.1737533987483081e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009045438747853041, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3882548391819, + "rkd_teacher_entropy": 3.753548431396484, + "rkd_teacher_similarity_mean": 0.7845323622226715, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17740 + }, + { + "epoch": 5.164387547279604, + "flow_matching_loss": 0.01319617247208953, + "grad_norm": 0.10827087610960007, + "learning_rate": 1.1721397101696835e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010223925346508622, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37425213754177095, + "rkd_teacher_entropy": 3.704734539985657, + "rkd_teacher_similarity_mean": 0.7710069179534912, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17750 + }, + { + "epoch": 5.167297061390748, + "flow_matching_loss": 0.012156358547508716, + "grad_norm": 0.11260081082582474, + "learning_rate": 1.1705264199722257e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009547529323026539, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37898133397102357, + "rkd_teacher_entropy": 3.712634468078613, + "rkd_teacher_similarity_mean": 0.7756736814975739, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17760 + }, + { + "epoch": 5.170206575501891, + "flow_matching_loss": 0.012690457049757242, + "grad_norm": 0.1267855167388916, + "learning_rate": 1.1689135301162356e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009168786741793156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37674006521701814, + "rkd_teacher_entropy": 3.7243220806121826, + "rkd_teacher_similarity_mean": 0.776091730594635, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17770 + }, + { + "epoch": 5.173116089613035, + "flow_matching_loss": 0.013569815270602702, + "grad_norm": 0.18075893819332123, + "learning_rate": 1.1673010425615258e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008422155538573861, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38892556428909303, + "rkd_teacher_entropy": 3.771510887145996, + "rkd_teacher_similarity_mean": 0.7880833625793457, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17780 + }, + { + "epoch": 5.176025603724178, + "flow_matching_loss": 0.014101789612323046, + "grad_norm": 0.11361940950155258, + "learning_rate": 1.1656889592674208e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009954252699390053, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38871280550956727, + "rkd_teacher_entropy": 3.7593741416931152, + "rkd_teacher_similarity_mean": 0.7884069085121155, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17790 + }, + { + "epoch": 5.178935117835321, + "flow_matching_loss": 0.013260298036038875, + "grad_norm": 0.17978034913539886, + "learning_rate": 1.1640772821927533e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009157768962904812, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38580526411533356, + "rkd_teacher_entropy": 3.7599944829940797, + "rkd_teacher_similarity_mean": 0.7842089712619782, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17800 + }, + { + "epoch": 5.181844631946465, + "flow_matching_loss": 0.014259277377277613, + "grad_norm": 0.10084220767021179, + "learning_rate": 1.162466013295864e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008907050406560302, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3822754085063934, + "rkd_teacher_entropy": 3.7284965038299562, + "rkd_teacher_similarity_mean": 0.7804247975349426, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17810 + }, + { + "epoch": 5.1847541460576085, + "flow_matching_loss": 0.014988962654024362, + "grad_norm": 0.12185098975896835, + "learning_rate": 1.160855154534595e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00912405112758279, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38347290754318236, + "rkd_teacher_entropy": 3.747218942642212, + "rkd_teacher_similarity_mean": 0.7810179114341735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17820 + }, + { + "epoch": 5.187663660168752, + "flow_matching_loss": 0.013168144319206477, + "grad_norm": 0.12196336686611176, + "learning_rate": 1.1592447078662931e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007993435254320502, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3772681444883347, + "rkd_teacher_entropy": 3.735242223739624, + "rkd_teacher_similarity_mean": 0.7768269419670105, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17830 + }, + { + "epoch": 5.190573174279895, + "flow_matching_loss": 0.014060045313090085, + "grad_norm": 0.10946115106344223, + "learning_rate": 1.1576346752478025e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011071178875863553, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36878334283828734, + "rkd_teacher_entropy": 3.706330895423889, + "rkd_teacher_similarity_mean": 0.767282509803772, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17840 + }, + { + "epoch": 5.193482688391039, + "flow_matching_loss": 0.013920510560274124, + "grad_norm": 0.1460820585489273, + "learning_rate": 1.1560250586354643e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0105322252959013, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38516572415828704, + "rkd_teacher_entropy": 3.742498850822449, + "rkd_teacher_similarity_mean": 0.782642525434494, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17850 + }, + { + "epoch": 5.1963922025021825, + "flow_matching_loss": 0.012307965848594903, + "grad_norm": 0.09655971080064774, + "learning_rate": 1.1544158599851146e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009018161566928029, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3786826223134995, + "rkd_teacher_entropy": 3.7214436531066895, + "rkd_teacher_similarity_mean": 0.7763688027858734, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17860 + }, + { + "epoch": 5.199301716613325, + "flow_matching_loss": 0.014121485035866499, + "grad_norm": 0.1005667895078659, + "learning_rate": 1.1528070812520809e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009888110449537635, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3784346699714661, + "rkd_teacher_entropy": 3.731073760986328, + "rkd_teacher_similarity_mean": 0.7775943338871002, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17870 + }, + { + "epoch": 5.202211230724469, + "flow_matching_loss": 0.013582426123321056, + "grad_norm": 0.15776288509368896, + "learning_rate": 1.1511987243911821e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009292915975674988, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3793699532747269, + "rkd_teacher_entropy": 3.724137616157532, + "rkd_teacher_similarity_mean": 0.7785329639911651, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17880 + }, + { + "epoch": 5.205120744835613, + "flow_matching_loss": 0.013508111331611871, + "grad_norm": 0.1127653568983078, + "learning_rate": 1.1495907913567228e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008657427225261926, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38344963192939757, + "rkd_teacher_entropy": 3.7435277700424194, + "rkd_teacher_similarity_mean": 0.7813078343868256, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17890 + }, + { + "epoch": 5.2080302589467555, + "flow_matching_loss": 0.012769076693803071, + "grad_norm": 0.10358183830976486, + "learning_rate": 1.1479832841024936e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008525964524596929, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37598236501216886, + "rkd_teacher_entropy": 3.7185336112976075, + "rkd_teacher_similarity_mean": 0.7733235478401184, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17900 + }, + { + "epoch": 5.210939773057899, + "flow_matching_loss": 0.012293753260746599, + "grad_norm": 0.11280578374862671, + "learning_rate": 1.1463762045817675e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009174818126484751, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814845263957977, + "rkd_teacher_entropy": 3.7234806060791015, + "rkd_teacher_similarity_mean": 0.7783586382865906, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17910 + }, + { + "epoch": 5.213849287169043, + "flow_matching_loss": 0.014710001461207867, + "grad_norm": 0.131551131606102, + "learning_rate": 1.1447695547472964e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008730366127565503, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38113083243370055, + "rkd_teacher_entropy": 3.723271036148071, + "rkd_teacher_similarity_mean": 0.7785987436771393, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17920 + }, + { + "epoch": 5.216758801280186, + "flow_matching_loss": 0.01309431130066514, + "grad_norm": 0.1270706206560135, + "learning_rate": 1.1431633365513132e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009117248095571994, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38589411675930024, + "rkd_teacher_entropy": 3.752388834953308, + "rkd_teacher_similarity_mean": 0.7845095038414002, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17930 + }, + { + "epoch": 5.2196683153913295, + "flow_matching_loss": 0.013614220870658755, + "grad_norm": 0.10833869874477386, + "learning_rate": 1.1415575519455235e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009120497666299344, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751454710960388, + "rkd_teacher_entropy": 3.7115674734115602, + "rkd_teacher_similarity_mean": 0.7718338310718537, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17940 + }, + { + "epoch": 5.222577829502473, + "flow_matching_loss": 0.013257387839257718, + "grad_norm": 0.12441888451576233, + "learning_rate": 1.1399522028811069e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009544416377320886, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3846790075302124, + "rkd_teacher_entropy": 3.7361355304718016, + "rkd_teacher_similarity_mean": 0.7804551064968109, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17950 + }, + { + "epoch": 5.225487343613617, + "flow_matching_loss": 0.01265091672539711, + "grad_norm": 0.09460630267858505, + "learning_rate": 1.1383472913087143e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009375325636938214, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38071446120738983, + "rkd_teacher_entropy": 3.7244741439819338, + "rkd_teacher_similarity_mean": 0.7789201438426971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17960 + }, + { + "epoch": 5.22839685772476, + "flow_matching_loss": 0.014213254395872354, + "grad_norm": 0.16215214133262634, + "learning_rate": 1.1367428191784643e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011147741321474313, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37635582089424136, + "rkd_teacher_entropy": 3.7249316930770875, + "rkd_teacher_similarity_mean": 0.7752781510353088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17970 + }, + { + "epoch": 5.231306371835903, + "flow_matching_loss": 0.011488341214135288, + "grad_norm": 0.113278828561306, + "learning_rate": 1.1351387884399413e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009220116399228572, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37415899336338043, + "rkd_teacher_entropy": 3.725803279876709, + "rkd_teacher_similarity_mean": 0.7736021280288696, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17980 + }, + { + "epoch": 5.234215885947047, + "flow_matching_loss": 0.012137906439602376, + "grad_norm": 0.13556723296642303, + "learning_rate": 1.1335352010421953e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008478486165404319, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779113680124283, + "rkd_teacher_entropy": 3.713576340675354, + "rkd_teacher_similarity_mean": 0.7767261564731598, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17990 + }, + { + "epoch": 5.23712540005819, + "flow_matching_loss": 0.01281698802486062, + "grad_norm": 0.16060702502727509, + "learning_rate": 1.1319320589337352e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009575080033391714, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37902542054653166, + "rkd_teacher_entropy": 3.7404367685317994, + "rkd_teacher_similarity_mean": 0.7759436964988708, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18000 + }, + { + "epoch": 5.240034914169334, + "flow_matching_loss": 0.012667362764477729, + "grad_norm": 0.13856761157512665, + "learning_rate": 1.1303293640625299e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008477564994245767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3795406103134155, + "rkd_teacher_entropy": 3.724517893791199, + "rkd_teacher_similarity_mean": 0.7757274210453033, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18010 + }, + { + "epoch": 5.242944428280477, + "flow_matching_loss": 0.012482141656801105, + "grad_norm": 0.1035672128200531, + "learning_rate": 1.1287271183760052e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007216545194387436, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3747359365224838, + "rkd_teacher_entropy": 3.7207808017730715, + "rkd_teacher_similarity_mean": 0.772675758600235, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18020 + }, + { + "epoch": 5.24585394239162, + "flow_matching_loss": 0.013201483525335789, + "grad_norm": 0.13011904060840607, + "learning_rate": 1.1271253238210398e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008297501411288977, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3812661349773407, + "rkd_teacher_entropy": 3.7386024475097654, + "rkd_teacher_similarity_mean": 0.7804487347602844, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18030 + }, + { + "epoch": 5.248763456502764, + "flow_matching_loss": 0.012949493806809187, + "grad_norm": 0.12106882035732269, + "learning_rate": 1.1255239823439663e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007866846118122339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3720558762550354, + "rkd_teacher_entropy": 3.6994276523590086, + "rkd_teacher_similarity_mean": 0.7706445038318634, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18040 + }, + { + "epoch": 5.251672970613908, + "flow_matching_loss": 0.0127259926404804, + "grad_norm": 0.12265560775995255, + "learning_rate": 1.1239230958905652e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007664228556677699, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36835889518260956, + "rkd_teacher_entropy": 3.686557650566101, + "rkd_teacher_similarity_mean": 0.76695117354393, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18050 + }, + { + "epoch": 5.254582484725051, + "flow_matching_loss": 0.012852949649095535, + "grad_norm": 0.14281876385211945, + "learning_rate": 1.1223226664060641e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008490805514156818, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3754016876220703, + "rkd_teacher_entropy": 3.721333932876587, + "rkd_teacher_similarity_mean": 0.7731817901134491, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18060 + }, + { + "epoch": 5.257491998836194, + "flow_matching_loss": 0.013675772305577993, + "grad_norm": 0.11077811568975449, + "learning_rate": 1.1207226958351362e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008596122125163674, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785929620265961, + "rkd_teacher_entropy": 3.7204215049743654, + "rkd_teacher_similarity_mean": 0.777158397436142, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18070 + }, + { + "epoch": 5.260401512947338, + "flow_matching_loss": 0.01335892416536808, + "grad_norm": 0.13723038136959076, + "learning_rate": 1.1191231861218955e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01042874651029706, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776945620775223, + "rkd_teacher_entropy": 3.7303440093994142, + "rkd_teacher_similarity_mean": 0.7756015837192536, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18080 + }, + { + "epoch": 5.2633110270584815, + "flow_matching_loss": 0.0140345417894423, + "grad_norm": 0.14989186823368073, + "learning_rate": 1.1175241392098988e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008791530737653375, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37893401384353637, + "rkd_teacher_entropy": 3.7288742780685427, + "rkd_teacher_similarity_mean": 0.777220630645752, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18090 + }, + { + "epoch": 5.266220541169624, + "flow_matching_loss": 0.012884714407846332, + "grad_norm": 0.09066881984472275, + "learning_rate": 1.1159255570421376e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010661817714571952, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3846151530742645, + "rkd_teacher_entropy": 3.742359924316406, + "rkd_teacher_similarity_mean": 0.7826687216758728, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18100 + }, + { + "epoch": 5.269130055280768, + "flow_matching_loss": 0.013630020339041949, + "grad_norm": 0.11856649816036224, + "learning_rate": 1.1143274415610408e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00922923842445016, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38135120570659636, + "rkd_teacher_entropy": 3.726857542991638, + "rkd_teacher_similarity_mean": 0.7780495882034302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18110 + }, + { + "epoch": 5.272039569391912, + "flow_matching_loss": 0.013034143764525653, + "grad_norm": 0.1275278776884079, + "learning_rate": 1.1127297947084692e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008366781100630761, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38405857384204867, + "rkd_teacher_entropy": 3.7351265430450438, + "rkd_teacher_similarity_mean": 0.7821893036365509, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18120 + }, + { + "epoch": 5.274949083503055, + "flow_matching_loss": 0.01270799282938242, + "grad_norm": 0.13915200531482697, + "learning_rate": 1.1111326184257135e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009615160105749965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37793598175048826, + "rkd_teacher_entropy": 3.727087950706482, + "rkd_teacher_similarity_mean": 0.7768879115581513, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18130 + }, + { + "epoch": 5.277858597614198, + "flow_matching_loss": 0.01623306395485997, + "grad_norm": 0.15161913633346558, + "learning_rate": 1.109535914653495e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010254801763221622, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828824132680893, + "rkd_teacher_entropy": 3.7416993141174317, + "rkd_teacher_similarity_mean": 0.7831296920776367, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18140 + }, + { + "epoch": 5.280768111725342, + "flow_matching_loss": 0.012652783561497927, + "grad_norm": 0.15606562793254852, + "learning_rate": 1.1079396853319582e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00849343785084784, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3778725892305374, + "rkd_teacher_entropy": 3.7233676433563234, + "rkd_teacher_similarity_mean": 0.7774527430534363, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18150 + }, + { + "epoch": 5.283677625836486, + "flow_matching_loss": 0.01252905260771513, + "grad_norm": 0.12306712567806244, + "learning_rate": 1.1063439324006724e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009230631729587912, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376584991812706, + "rkd_teacher_entropy": 3.7198679447174072, + "rkd_teacher_similarity_mean": 0.7731336176395416, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18160 + }, + { + "epoch": 5.2865871399476285, + "flow_matching_loss": 0.015090043330565095, + "grad_norm": 0.09004830569028854, + "learning_rate": 1.1047486577986285e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007988318055868148, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37758033275604247, + "rkd_teacher_entropy": 3.7209566116333006, + "rkd_teacher_similarity_mean": 0.7759427428245544, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18170 + }, + { + "epoch": 5.289496654058772, + "flow_matching_loss": 0.013616878632456064, + "grad_norm": 0.11544401198625565, + "learning_rate": 1.1031538634642353e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010282380878925324, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3844921350479126, + "rkd_teacher_entropy": 3.7431504487991334, + "rkd_teacher_similarity_mean": 0.7827993512153626, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18180 + }, + { + "epoch": 5.292406168169916, + "flow_matching_loss": 0.013580334559082984, + "grad_norm": 0.13113434612751007, + "learning_rate": 1.1015595513353172e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007834433997049927, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37867886424064634, + "rkd_teacher_entropy": 3.7213329792022707, + "rkd_teacher_similarity_mean": 0.7757459104061126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18190 + }, + { + "epoch": 5.295315682281059, + "flow_matching_loss": 0.012355770915746689, + "grad_norm": 0.13196396827697754, + "learning_rate": 1.0999657233491156e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00921402950771153, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38381110727787016, + "rkd_teacher_entropy": 3.738650679588318, + "rkd_teacher_similarity_mean": 0.7811694979667664, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18200 + }, + { + "epoch": 5.2982251963922025, + "flow_matching_loss": 0.013332748878747224, + "grad_norm": 0.12443369626998901, + "learning_rate": 1.0983723814422808e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009932965086773039, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376861771941185, + "rkd_teacher_entropy": 3.7250433206558227, + "rkd_teacher_similarity_mean": 0.7737627148628234, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18210 + }, + { + "epoch": 5.301134710503346, + "flow_matching_loss": 0.01565604591742158, + "grad_norm": 0.1280229240655899, + "learning_rate": 1.0967795275508735e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010043441969901323, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3782039999961853, + "rkd_teacher_entropy": 3.7243154048919678, + "rkd_teacher_similarity_mean": 0.7754981219768524, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18220 + }, + { + "epoch": 5.304044224614489, + "flow_matching_loss": 0.012669198308140039, + "grad_norm": 0.11273205280303955, + "learning_rate": 1.095187163610361e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008883683010935783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789564371109009, + "rkd_teacher_entropy": 3.722281289100647, + "rkd_teacher_similarity_mean": 0.7753477573394776, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18230 + }, + { + "epoch": 5.306953738725633, + "flow_matching_loss": 0.012954015471041202, + "grad_norm": 0.11675840616226196, + "learning_rate": 1.0935952915556163e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009505008300766348, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37509545087814333, + "rkd_teacher_entropy": 3.7029175996780395, + "rkd_teacher_similarity_mean": 0.771062296628952, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18240 + }, + { + "epoch": 5.309863252836776, + "flow_matching_loss": 0.01308218678459525, + "grad_norm": 0.13918539881706238, + "learning_rate": 1.0920039133209137e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00810129689052701, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3792450696229935, + "rkd_teacher_entropy": 3.720754098892212, + "rkd_teacher_similarity_mean": 0.7771376311779022, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18250 + }, + { + "epoch": 5.31277276694792, + "flow_matching_loss": 0.014002700336277485, + "grad_norm": 0.11747805029153824, + "learning_rate": 1.0904130308399283e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009496900066733361, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37557231783866885, + "rkd_teacher_entropy": 3.718769145011902, + "rkd_teacher_similarity_mean": 0.7737293362617492, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18260 + }, + { + "epoch": 5.315682281059063, + "flow_matching_loss": 0.014362925058230757, + "grad_norm": 0.12343527376651764, + "learning_rate": 1.0888226460457318e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010772044537588954, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.372371506690979, + "rkd_teacher_entropy": 3.7091156244277954, + "rkd_teacher_similarity_mean": 0.7716885030269622, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18270 + }, + { + "epoch": 5.318591795170207, + "flow_matching_loss": 0.013341243751347065, + "grad_norm": 0.11720628291368484, + "learning_rate": 1.087232760870792e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008912956342101097, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37662416100502016, + "rkd_teacher_entropy": 3.721777391433716, + "rkd_teacher_similarity_mean": 0.7756480634212494, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18280 + }, + { + "epoch": 5.32150130928135, + "flow_matching_loss": 0.013993869908154011, + "grad_norm": 0.1338822841644287, + "learning_rate": 1.0856433772469686e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00853042989037931, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382981738448143, + "rkd_teacher_entropy": 3.7443817853927612, + "rkd_teacher_similarity_mean": 0.7823749661445618, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18290 + }, + { + "epoch": 5.324410823392493, + "flow_matching_loss": 0.012828848138451577, + "grad_norm": 0.15142405033111572, + "learning_rate": 1.0840544971055135e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009171725017949939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37638792395591736, + "rkd_teacher_entropy": 3.725256896018982, + "rkd_teacher_similarity_mean": 0.7754100263118744, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18300 + }, + { + "epoch": 5.327320337503637, + "flow_matching_loss": 0.014574628416448831, + "grad_norm": 0.12215203046798706, + "learning_rate": 1.0824661223770655e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009312771866098047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38220144510269166, + "rkd_teacher_entropy": 3.741114377975464, + "rkd_teacher_similarity_mean": 0.7816029846668243, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18310 + }, + { + "epoch": 5.330229851614781, + "flow_matching_loss": 0.013029374508187174, + "grad_norm": 0.11130640655755997, + "learning_rate": 1.0808782549916498e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009062583278864621, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3735564351081848, + "rkd_teacher_entropy": 3.7018908739089964, + "rkd_teacher_similarity_mean": 0.7709903359413147, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18320 + }, + { + "epoch": 5.333139365725923, + "flow_matching_loss": 0.015457892417907714, + "grad_norm": 0.1312209665775299, + "learning_rate": 1.079290896878675e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0092045774217695, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3777562350034714, + "rkd_teacher_entropy": 3.7331459522247314, + "rkd_teacher_similarity_mean": 0.7770927250385284, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18330 + }, + { + "epoch": 5.336048879837067, + "flow_matching_loss": 0.013329683523625135, + "grad_norm": 0.12407489120960236, + "learning_rate": 1.07770404996693e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009884884487837553, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3675848990678787, + "rkd_teacher_entropy": 3.7068090200424195, + "rkd_teacher_similarity_mean": 0.7668705880641937, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18340 + }, + { + "epoch": 5.338958393948211, + "flow_matching_loss": 0.011958730034530162, + "grad_norm": 0.1120321974158287, + "learning_rate": 1.0761177161845848e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008096769638359546, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37415086328983305, + "rkd_teacher_entropy": 3.7092689037323, + "rkd_teacher_similarity_mean": 0.7723391652107239, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18350 + }, + { + "epoch": 5.3418679080593545, + "flow_matching_loss": 0.013827039953321218, + "grad_norm": 0.1721898764371872, + "learning_rate": 1.0745318974591841e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010566122736781836, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383791583776474, + "rkd_teacher_entropy": 3.741349196434021, + "rkd_teacher_similarity_mean": 0.7812178075313568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18360 + }, + { + "epoch": 5.344777422170497, + "flow_matching_loss": 0.014247684087604285, + "grad_norm": 0.11670906096696854, + "learning_rate": 1.0729465957176469e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008987881755456329, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.373688268661499, + "rkd_teacher_entropy": 3.720604157447815, + "rkd_teacher_similarity_mean": 0.7739807546138764, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18370 + }, + { + "epoch": 5.347686936281641, + "flow_matching_loss": 0.015400709491223097, + "grad_norm": 0.1177717074751854, + "learning_rate": 1.0713618128862642e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008068457478657365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.391098353266716, + "rkd_teacher_entropy": 3.7708630323410035, + "rkd_teacher_similarity_mean": 0.7907926917076111, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18380 + }, + { + "epoch": 5.350596450392785, + "flow_matching_loss": 0.012714031897485257, + "grad_norm": 0.14647763967514038, + "learning_rate": 1.0697775508906969e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007978872396051884, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3764683246612549, + "rkd_teacher_entropy": 3.7203553438186647, + "rkd_teacher_similarity_mean": 0.7737909257411957, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18390 + }, + { + "epoch": 5.353505964503928, + "flow_matching_loss": 0.013465278781950474, + "grad_norm": 0.15631788969039917, + "learning_rate": 1.068193811655972e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009827521024271845, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3712192565202713, + "rkd_teacher_entropy": 3.701955032348633, + "rkd_teacher_similarity_mean": 0.7696169018745422, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18400 + }, + { + "epoch": 5.356415478615071, + "flow_matching_loss": 0.01529033537954092, + "grad_norm": 0.14294493198394775, + "learning_rate": 1.0666105971064835e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010578727209940552, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38641283810138705, + "rkd_teacher_entropy": 3.755957078933716, + "rkd_teacher_similarity_mean": 0.7852471351623536, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18410 + }, + { + "epoch": 5.359324992726215, + "flow_matching_loss": 0.011695887334644795, + "grad_norm": 0.10791552066802979, + "learning_rate": 1.0650279091659852e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007351101189851761, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3858207553625107, + "rkd_teacher_entropy": 3.7515445709228517, + "rkd_teacher_similarity_mean": 0.7852638959884644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18420 + }, + { + "epoch": 5.362234506837358, + "flow_matching_loss": 0.01424675453454256, + "grad_norm": 0.13102585077285767, + "learning_rate": 1.0634457497575926e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008635618072003127, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3802031308412552, + "rkd_teacher_entropy": 3.733246922492981, + "rkd_teacher_similarity_mean": 0.7785165786743165, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18430 + }, + { + "epoch": 5.3651440209485015, + "flow_matching_loss": 0.01191497640684247, + "grad_norm": 0.09693224728107452, + "learning_rate": 1.061864120803778e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010040859133005143, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37712898552417756, + "rkd_teacher_entropy": 3.7307480335235597, + "rkd_teacher_similarity_mean": 0.7747763812541961, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18440 + }, + { + "epoch": 5.368053535059645, + "flow_matching_loss": 0.013570383936166764, + "grad_norm": 0.16048981249332428, + "learning_rate": 1.0602830242263701e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008477471210062504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38383431136608126, + "rkd_teacher_entropy": 3.746263861656189, + "rkd_teacher_similarity_mean": 0.7812943816184997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18450 + }, + { + "epoch": 5.370963049170788, + "flow_matching_loss": 0.013761724531650543, + "grad_norm": 0.1196364238858223, + "learning_rate": 1.0587024619465506e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00809841244481504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831231564283371, + "rkd_teacher_entropy": 3.7482737064361573, + "rkd_teacher_similarity_mean": 0.780006468296051, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18460 + }, + { + "epoch": 5.373872563281932, + "flow_matching_loss": 0.012588412128388881, + "grad_norm": 0.09887681901454926, + "learning_rate": 1.0571224358848517e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00914995428174734, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37737674713134767, + "rkd_teacher_entropy": 3.718441438674927, + "rkd_teacher_similarity_mean": 0.7761234879493714, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18470 + }, + { + "epoch": 5.3767820773930755, + "flow_matching_loss": 0.013327566627413034, + "grad_norm": 0.10488343983888626, + "learning_rate": 1.0555429479611537e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010579161765053868, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38574734032154084, + "rkd_teacher_entropy": 3.7455800056457518, + "rkd_teacher_similarity_mean": 0.78440762758255, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18480 + }, + { + "epoch": 5.379691591504219, + "flow_matching_loss": 0.013411527127027511, + "grad_norm": 0.11544474214315414, + "learning_rate": 1.0539640000946835e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009212901396676899, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3798815757036209, + "rkd_teacher_entropy": 3.730732297897339, + "rkd_teacher_similarity_mean": 0.77628133893013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18490 + }, + { + "epoch": 5.382601105615362, + "flow_matching_loss": 0.013509061839431524, + "grad_norm": 0.10661774128675461, + "learning_rate": 1.0523855942040111e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007652732450515032, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39305197894573213, + "rkd_teacher_entropy": 3.7611786365509032, + "rkd_teacher_similarity_mean": 0.7894450187683105, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18500 + }, + { + "epoch": 5.385510619726506, + "flow_matching_loss": 0.014372312743216754, + "grad_norm": 0.1103593036532402, + "learning_rate": 1.0508077322070496e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008744461694732308, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37984925508499146, + "rkd_teacher_entropy": 3.7256766319274903, + "rkd_teacher_similarity_mean": 0.7761023819446564, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18510 + }, + { + "epoch": 5.388420133837649, + "flow_matching_loss": 0.014553603995591403, + "grad_norm": 0.15054526925086975, + "learning_rate": 1.0492304160210495e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00944021875038743, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37918714582920077, + "rkd_teacher_entropy": 3.7246917724609374, + "rkd_teacher_similarity_mean": 0.7774586975574493, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18520 + }, + { + "epoch": 5.391329647948792, + "flow_matching_loss": 0.011771418899297715, + "grad_norm": 0.12491007149219513, + "learning_rate": 1.0476536475625985e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008098151721060275, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3812351644039154, + "rkd_teacher_entropy": 3.7423598766326904, + "rkd_teacher_similarity_mean": 0.7795206069946289, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18530 + }, + { + "epoch": 5.394239162059936, + "flow_matching_loss": 0.01399992941878736, + "grad_norm": 0.13267484307289124, + "learning_rate": 1.0460774287476195e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008860028767958283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3896579951047897, + "rkd_teacher_entropy": 3.7602816820144653, + "rkd_teacher_similarity_mean": 0.7882791936397553, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18540 + }, + { + "epoch": 5.39714867617108, + "flow_matching_loss": 0.01276340838521719, + "grad_norm": 0.19547802209854126, + "learning_rate": 1.044501761491366e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009495316399261355, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789449900388718, + "rkd_teacher_entropy": 3.7309582233428955, + "rkd_teacher_similarity_mean": 0.777171540260315, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18550 + }, + { + "epoch": 5.400058190282223, + "flow_matching_loss": 0.012947141379117965, + "grad_norm": 0.12624511122703552, + "learning_rate": 1.0429266477084235e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008628000458702444, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37995139956474305, + "rkd_teacher_entropy": 3.7245315074920655, + "rkd_teacher_similarity_mean": 0.777064448595047, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18560 + }, + { + "epoch": 5.402967704393366, + "flow_matching_loss": 0.014802718814462424, + "grad_norm": 0.3624155521392822, + "learning_rate": 1.0413520893127034e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009783539548516273, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3714540034532547, + "rkd_teacher_entropy": 3.7043917417526244, + "rkd_teacher_similarity_mean": 0.7686971247196197, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18570 + }, + { + "epoch": 5.40587721850451, + "flow_matching_loss": 0.011898368876427413, + "grad_norm": 0.09925292432308197, + "learning_rate": 1.0397780882174424e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01006226260215044, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38224339187145234, + "rkd_teacher_entropy": 3.727614140510559, + "rkd_teacher_similarity_mean": 0.7784531116485596, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18580 + }, + { + "epoch": 5.408786732615654, + "flow_matching_loss": 0.014283118862658739, + "grad_norm": 0.10956304520368576, + "learning_rate": 1.0382046463351998e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009510666783899068, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37644982635974883, + "rkd_teacher_entropy": 3.7198694944381714, + "rkd_teacher_similarity_mean": 0.7748173117637634, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18590 + }, + { + "epoch": 5.411696246726796, + "flow_matching_loss": 0.012910522241145372, + "grad_norm": 0.14633387327194214, + "learning_rate": 1.0366317655778568e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008635741798207164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38645288348197937, + "rkd_teacher_entropy": 3.749543070793152, + "rkd_teacher_similarity_mean": 0.7836173117160797, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18600 + }, + { + "epoch": 5.41460576083794, + "flow_matching_loss": 0.014241408137604595, + "grad_norm": 0.11470958590507507, + "learning_rate": 1.035059447856611e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00723796603269875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3819735050201416, + "rkd_teacher_entropy": 3.7332278966903685, + "rkd_teacher_similarity_mean": 0.7793222725391388, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18610 + }, + { + "epoch": 5.417515274949084, + "flow_matching_loss": 0.012813107669353485, + "grad_norm": 0.1207333505153656, + "learning_rate": 1.0334876950819777e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008646388677880168, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37603800296783446, + "rkd_teacher_entropy": 3.7094939708709718, + "rkd_teacher_similarity_mean": 0.7728450119495391, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18620 + }, + { + "epoch": 5.420424789060227, + "flow_matching_loss": 0.012266995664685965, + "grad_norm": 0.11155904829502106, + "learning_rate": 1.0319165091637837e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00892484113574028, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38306618928909303, + "rkd_teacher_entropy": 3.738801884651184, + "rkd_teacher_similarity_mean": 0.7809026837348938, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18630 + }, + { + "epoch": 5.42333430317137, + "flow_matching_loss": 0.01277228444814682, + "grad_norm": 0.11099078506231308, + "learning_rate": 1.0303458920111686e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011600137129426003, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3865659713745117, + "rkd_teacher_entropy": 3.754498267173767, + "rkd_teacher_similarity_mean": 0.7855047464370728, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18640 + }, + { + "epoch": 5.426243817282514, + "flow_matching_loss": 0.011912190634757281, + "grad_norm": 0.14786669611930847, + "learning_rate": 1.0287758455325803e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008868465619161724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3753966212272644, + "rkd_teacher_entropy": 3.720471215248108, + "rkd_teacher_similarity_mean": 0.772382652759552, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18650 + }, + { + "epoch": 5.429153331393657, + "flow_matching_loss": 0.012557757273316383, + "grad_norm": 0.1255655735731125, + "learning_rate": 1.0272063716357729e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008843016438186168, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37302982807159424, + "rkd_teacher_entropy": 3.6992924928665163, + "rkd_teacher_similarity_mean": 0.7699023962020874, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18660 + }, + { + "epoch": 5.432062845504801, + "flow_matching_loss": 0.010278302989900113, + "grad_norm": 0.20128506422042847, + "learning_rate": 1.0256374722278057e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008814066462218762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3822979599237442, + "rkd_teacher_entropy": 3.7429165601730348, + "rkd_teacher_similarity_mean": 0.7804641723632812, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18670 + }, + { + "epoch": 5.434972359615944, + "flow_matching_loss": 0.013676832150667905, + "grad_norm": 0.11552862077951431, + "learning_rate": 1.0240691492150388e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008259248081594705, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38033050000667573, + "rkd_teacher_entropy": 3.732601594924927, + "rkd_teacher_similarity_mean": 0.7786087274551392, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18680 + }, + { + "epoch": 5.437881873727088, + "flow_matching_loss": 0.0141625945456326, + "grad_norm": 0.10747011005878448, + "learning_rate": 1.0225014045031334e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008060446009039879, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831769526004791, + "rkd_teacher_entropy": 3.7344773530960085, + "rkd_teacher_similarity_mean": 0.7797158896923065, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18690 + }, + { + "epoch": 5.440791387838231, + "flow_matching_loss": 0.013845518324524164, + "grad_norm": 0.11979512125253677, + "learning_rate": 1.0209342399970468e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00832583154551685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38349352180957796, + "rkd_teacher_entropy": 3.736201548576355, + "rkd_teacher_similarity_mean": 0.7802400708198547, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18700 + }, + { + "epoch": 5.4437009019493745, + "flow_matching_loss": 0.013226020243018865, + "grad_norm": 0.15435664355754852, + "learning_rate": 1.019367657601031e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010150186717510223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3865403562784195, + "rkd_teacher_entropy": 3.7521868467330934, + "rkd_teacher_similarity_mean": 0.7833829820156097, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18710 + }, + { + "epoch": 5.446610416060518, + "flow_matching_loss": 0.013943597767502069, + "grad_norm": 0.13190487027168274, + "learning_rate": 1.0178016592186323e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008875722903758288, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3830249547958374, + "rkd_teacher_entropy": 3.751944661140442, + "rkd_teacher_similarity_mean": 0.7804205536842346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18720 + }, + { + "epoch": 5.449519930171661, + "flow_matching_loss": 0.012049028929322959, + "grad_norm": 0.12303576618432999, + "learning_rate": 1.0162362467526861e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010086259432137012, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.375946044921875, + "rkd_teacher_entropy": 3.7178120374679566, + "rkd_teacher_similarity_mean": 0.7738884091377258, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18730 + }, + { + "epoch": 5.452429444282805, + "flow_matching_loss": 0.01586612230166793, + "grad_norm": 0.2670372426509857, + "learning_rate": 1.0146714221053159e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009210101002827287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37603717148303983, + "rkd_teacher_entropy": 3.716880130767822, + "rkd_teacher_similarity_mean": 0.7722383737564087, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18740 + }, + { + "epoch": 5.4553389583939484, + "flow_matching_loss": 0.013206498604267836, + "grad_norm": 0.10252555459737778, + "learning_rate": 1.0131071871779314e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0067725569475442175, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832876443862915, + "rkd_teacher_entropy": 3.7314358949661255, + "rkd_teacher_similarity_mean": 0.7796997964382172, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18750 + }, + { + "epoch": 5.458248472505091, + "flow_matching_loss": 0.01347899977117777, + "grad_norm": 0.15455172955989838, + "learning_rate": 1.0115435438712249e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008652963442727923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820020854473114, + "rkd_teacher_entropy": 3.7413658618927004, + "rkd_teacher_similarity_mean": 0.7801481544971466, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18760 + }, + { + "epoch": 5.461157986616235, + "flow_matching_loss": 0.01376943252980709, + "grad_norm": 0.11494404077529907, + "learning_rate": 1.0099804940851716e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0080279684625566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3799997866153717, + "rkd_teacher_entropy": 3.718731236457825, + "rkd_teacher_similarity_mean": 0.7771088123321533, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18770 + }, + { + "epoch": 5.464067500727379, + "flow_matching_loss": 0.012867078837007283, + "grad_norm": 0.12456350028514862, + "learning_rate": 1.0084180397190238e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009419374447315932, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807175874710083, + "rkd_teacher_entropy": 3.740648365020752, + "rkd_teacher_similarity_mean": 0.7785608291625976, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18780 + }, + { + "epoch": 5.4669770148385215, + "flow_matching_loss": 0.012534532602876425, + "grad_norm": 0.14523883163928986, + "learning_rate": 1.006856182671311e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010832069907337427, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3691648066043854, + "rkd_teacher_entropy": 3.6992979288101195, + "rkd_teacher_similarity_mean": 0.7658529341220855, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18790 + }, + { + "epoch": 5.469886528949665, + "flow_matching_loss": 0.015045744460076093, + "grad_norm": 0.1404614895582199, + "learning_rate": 1.0052949248398367e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010644427174702287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789695888757706, + "rkd_teacher_entropy": 3.742022752761841, + "rkd_teacher_similarity_mean": 0.776829069852829, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18800 + }, + { + "epoch": 5.472796043060809, + "flow_matching_loss": 0.012285224581137299, + "grad_norm": 0.16365207731723785, + "learning_rate": 1.003734268121676e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011241904087364673, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382735612988472, + "rkd_teacher_entropy": 3.743821692466736, + "rkd_teacher_similarity_mean": 0.7800127685070037, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18810 + }, + { + "epoch": 5.475705557171953, + "flow_matching_loss": 0.013715400826185942, + "grad_norm": 0.12585267424583435, + "learning_rate": 1.0021742144131744e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009473306965082884, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779706835746765, + "rkd_teacher_entropy": 3.712653946876526, + "rkd_teacher_similarity_mean": 0.7749922752380372, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18820 + }, + { + "epoch": 5.478615071283095, + "flow_matching_loss": 0.012658458016812802, + "grad_norm": 0.1332731395959854, + "learning_rate": 1.000614765609944e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007922869874164462, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38140084147453307, + "rkd_teacher_entropy": 3.7309242248535157, + "rkd_teacher_similarity_mean": 0.7781542599201202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18830 + }, + { + "epoch": 5.481524585394239, + "flow_matching_loss": 0.013095439225435258, + "grad_norm": 0.1116233617067337, + "learning_rate": 9.990559236068628e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008208224223926664, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38195340633392333, + "rkd_teacher_entropy": 3.7310477256774903, + "rkd_teacher_similarity_mean": 0.7794296562671661, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18840 + }, + { + "epoch": 5.484434099505383, + "flow_matching_loss": 0.014440902415663004, + "grad_norm": 0.1460484266281128, + "learning_rate": 9.974976902980703e-06, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00956505974754691, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806114137172699, + "rkd_teacher_entropy": 3.7299781799316407, + "rkd_teacher_similarity_mean": 0.7789664387702941, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18850 + }, + { + "epoch": 5.487343613616526, + "flow_matching_loss": 0.012021157890558243, + "grad_norm": 0.10936399549245834, + "learning_rate": 9.959400675769668e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009881787979975343, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38478446900844576, + "rkd_teacher_entropy": 3.7439334630966186, + "rkd_teacher_similarity_mean": 0.7839118421077729, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18860 + }, + { + "epoch": 5.490253127727669, + "flow_matching_loss": 0.012652679905295372, + "grad_norm": 0.13491259515285492, + "learning_rate": 9.943830573362106e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007957820408046245, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37447530031204224, + "rkd_teacher_entropy": 3.706662392616272, + "rkd_teacher_similarity_mean": 0.7716808021068573, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18870 + }, + { + "epoch": 5.493162641838813, + "flow_matching_loss": 0.012454340886324643, + "grad_norm": 0.14036567509174347, + "learning_rate": 9.928266614677168e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008271368686109781, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38598743081092834, + "rkd_teacher_entropy": 3.7505409955978393, + "rkd_teacher_similarity_mean": 0.7828863620758056, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18880 + }, + { + "epoch": 5.496072155949957, + "flow_matching_loss": 0.013082344643771648, + "grad_norm": 0.1473378986120224, + "learning_rate": 9.912708818626524e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007535878289490938, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808310925960541, + "rkd_teacher_entropy": 3.7232969760894776, + "rkd_teacher_similarity_mean": 0.7769536375999451, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18890 + }, + { + "epoch": 5.4989816700611, + "flow_matching_loss": 0.011992902029305696, + "grad_norm": 0.09898633509874344, + "learning_rate": 9.897157204114369e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008439156087115407, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37827028632164, + "rkd_teacher_entropy": 3.71618447303772, + "rkd_teacher_similarity_mean": 0.7759004235267639, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18900 + }, + { + "epoch": 5.501891184172243, + "flow_matching_loss": 0.01208510873839259, + "grad_norm": 0.09102459996938705, + "learning_rate": 9.881611790037375e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008396262535825372, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39026943445205686, + "rkd_teacher_entropy": 3.7546655178070067, + "rkd_teacher_similarity_mean": 0.7871259570121765, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18910 + }, + { + "epoch": 5.504800698283387, + "flow_matching_loss": 0.013420696835964918, + "grad_norm": 0.11316368728876114, + "learning_rate": 9.866072595284684e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007984035136178135, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3914047390222549, + "rkd_teacher_entropy": 3.76095871925354, + "rkd_teacher_similarity_mean": 0.7893096148967743, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18920 + }, + { + "epoch": 5.50771021239453, + "flow_matching_loss": 0.013597851619124413, + "grad_norm": 0.13360290229320526, + "learning_rate": 9.850539638737894e-06, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009537342237308621, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831468731164932, + "rkd_teacher_entropy": 3.749320363998413, + "rkd_teacher_similarity_mean": 0.7817737281322479, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18930 + }, + { + "epoch": 5.5106197265056736, + "flow_matching_loss": 0.011292133340612054, + "grad_norm": 0.13204120099544525, + "learning_rate": 9.835012939271006e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009527107235044241, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38446148931980134, + "rkd_teacher_entropy": 3.7457589864730836, + "rkd_teacher_similarity_mean": 0.7814435839653016, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18940 + }, + { + "epoch": 5.513529240616817, + "flow_matching_loss": 0.013134522689506411, + "grad_norm": 0.1551496684551239, + "learning_rate": 9.819492515750418e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009696450503543019, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38133164346218107, + "rkd_teacher_entropy": 3.736689233779907, + "rkd_teacher_similarity_mean": 0.7791008353233337, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18950 + }, + { + "epoch": 5.51643875472796, + "flow_matching_loss": 0.012780394684523345, + "grad_norm": 0.14502191543579102, + "learning_rate": 9.803978387034918e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010342011973261834, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820105969905853, + "rkd_teacher_entropy": 3.740023899078369, + "rkd_teacher_similarity_mean": 0.7781950056552887, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18960 + }, + { + "epoch": 5.519348268839104, + "flow_matching_loss": 0.01485943398438394, + "grad_norm": 0.10400256514549255, + "learning_rate": 9.788470571975624e-06, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008721492905169725, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3740961760282516, + "rkd_teacher_entropy": 3.7053380250930785, + "rkd_teacher_similarity_mean": 0.770030003786087, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18970 + }, + { + "epoch": 5.5222577829502475, + "flow_matching_loss": 0.01485634190030396, + "grad_norm": 0.43800365924835205, + "learning_rate": 9.772969089416008e-06, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009510295605286956, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39118112027645113, + "rkd_teacher_entropy": 3.7552359342575072, + "rkd_teacher_similarity_mean": 0.7882870733737946, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18980 + }, + { + "epoch": 5.52516729706139, + "flow_matching_loss": 0.01352970777079463, + "grad_norm": 0.2085174024105072, + "learning_rate": 9.757473958191822e-06, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009940060134977103, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38184159994125366, + "rkd_teacher_entropy": 3.731858515739441, + "rkd_teacher_similarity_mean": 0.7781624317169189, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18990 + }, + { + "epoch": 5.528076811172534, + "flow_matching_loss": 0.012859220709651708, + "grad_norm": 0.22589385509490967, + "learning_rate": 9.741985197131118e-06, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.012328800233080982, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3783090889453888, + "rkd_teacher_entropy": 3.726004409790039, + "rkd_teacher_similarity_mean": 0.7755810558795929, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19000 + }, + { + "epoch": 5.530986325283678, + "flow_matching_loss": 0.01277137566357851, + "grad_norm": 0.0917467325925827, + "learning_rate": 9.726502825054195e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00812738505192101, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37482483088970187, + "rkd_teacher_entropy": 3.710225057601929, + "rkd_teacher_similarity_mean": 0.7715672671794891, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19010 + }, + { + "epoch": 5.533895839394821, + "flow_matching_loss": 0.011779591627418994, + "grad_norm": 0.13967852294445038, + "learning_rate": 9.711026860773595e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010706005012616515, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3777621895074844, + "rkd_teacher_entropy": 3.7171499252319338, + "rkd_teacher_similarity_mean": 0.774865186214447, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19020 + }, + { + "epoch": 5.536805353505964, + "flow_matching_loss": 0.014793037995696067, + "grad_norm": 0.11782284826040268, + "learning_rate": 9.69555732309408e-06, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007018977543339133, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38128737211227415, + "rkd_teacher_entropy": 3.736110210418701, + "rkd_teacher_similarity_mean": 0.7800243973731995, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19030 + }, + { + "epoch": 5.539714867617108, + "flow_matching_loss": 0.015327908098697662, + "grad_norm": 0.13083600997924805, + "learning_rate": 9.68009423081259e-06, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00897723538801074, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796912968158722, + "rkd_teacher_entropy": 3.7226566314697265, + "rkd_teacher_similarity_mean": 0.7766001105308533, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19040 + }, + { + "epoch": 5.542624381728252, + "flow_matching_loss": 0.013784002047032118, + "grad_norm": 0.15405398607254028, + "learning_rate": 9.664637602718249e-06, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010084160184487701, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37010840475559237, + "rkd_teacher_entropy": 3.7013275623321533, + "rkd_teacher_similarity_mean": 0.767733496427536, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19050 + }, + { + "epoch": 5.5455338958393945, + "flow_matching_loss": 0.015329707972705364, + "grad_norm": 0.12333063781261444, + "learning_rate": 9.649187457592313e-06, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008787836646661162, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37893526554107665, + "rkd_teacher_entropy": 3.7206598997116087, + "rkd_teacher_similarity_mean": 0.7754624843597412, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19060 + }, + { + "epoch": 5.548443409950538, + "flow_matching_loss": 0.013561405846849084, + "grad_norm": 0.14224138855934143, + "learning_rate": 9.63374381420816e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008668359695002436, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37488265335559845, + "rkd_teacher_entropy": 3.7174245595932005, + "rkd_teacher_similarity_mean": 0.7726620256900787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19070 + }, + { + "epoch": 5.551352924061682, + "flow_matching_loss": 0.013888390175998211, + "grad_norm": 0.13254213333129883, + "learning_rate": 9.618306691331279e-06, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009443668508902192, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38182457983493806, + "rkd_teacher_entropy": 3.735246014595032, + "rkd_teacher_similarity_mean": 0.778915923833847, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19080 + }, + { + "epoch": 5.554262438172826, + "flow_matching_loss": 0.013279066188260913, + "grad_norm": 0.12125558406114578, + "learning_rate": 9.602876107719228e-06, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008658945187926292, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3821361094713211, + "rkd_teacher_entropy": 3.729972410202026, + "rkd_teacher_similarity_mean": 0.7784484684467315, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19090 + }, + { + "epoch": 5.557171952283968, + "flow_matching_loss": 0.013661427609622478, + "grad_norm": 0.15890806913375854, + "learning_rate": 9.587452082121621e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008072771411389113, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39213028848171233, + "rkd_teacher_entropy": 3.754428172111511, + "rkd_teacher_similarity_mean": 0.7890199661254883, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19100 + }, + { + "epoch": 5.560081466395112, + "flow_matching_loss": 0.015381667856127023, + "grad_norm": 0.09635421633720398, + "learning_rate": 9.57203463328011e-06, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007641541911289096, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3824262708425522, + "rkd_teacher_entropy": 3.735907292366028, + "rkd_teacher_similarity_mean": 0.7794975340366364, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19110 + }, + { + "epoch": 5.562990980506255, + "flow_matching_loss": 0.014497799985110759, + "grad_norm": 0.18192163109779358, + "learning_rate": 9.556623779928341e-06, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008978388318791986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.378812175989151, + "rkd_teacher_entropy": 3.7281867265701294, + "rkd_teacher_similarity_mean": 0.7748287618160248, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19120 + }, + { + "epoch": 5.565900494617399, + "flow_matching_loss": 0.01387580092996359, + "grad_norm": 0.12955522537231445, + "learning_rate": 9.541219540791949e-06, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008395652566105128, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3758428305387497, + "rkd_teacher_entropy": 3.72027428150177, + "rkd_teacher_similarity_mean": 0.7711961984634399, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19130 + }, + { + "epoch": 5.568810008728542, + "flow_matching_loss": 0.013525421638041735, + "grad_norm": 0.10405471175909042, + "learning_rate": 9.525821934588551e-06, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008647950878366829, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38580126464366915, + "rkd_teacher_entropy": 3.740160369873047, + "rkd_teacher_similarity_mean": 0.7806455612182617, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19140 + }, + { + "epoch": 5.571719522839686, + "flow_matching_loss": 0.013120928686112166, + "grad_norm": 0.12299726903438568, + "learning_rate": 9.510430980027684e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008122536726295948, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37859455645084383, + "rkd_teacher_entropy": 3.7223864793777466, + "rkd_teacher_similarity_mean": 0.774488765001297, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19150 + }, + { + "epoch": 5.574629036950829, + "flow_matching_loss": 0.014550438616424799, + "grad_norm": 0.12615704536437988, + "learning_rate": 9.495046695810809e-06, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009239645907655358, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37243675589561465, + "rkd_teacher_entropy": 3.701863932609558, + "rkd_teacher_similarity_mean": 0.7689580619335175, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19160 + }, + { + "epoch": 5.577538551061973, + "flow_matching_loss": 0.011188456369563938, + "grad_norm": 0.13982124626636505, + "learning_rate": 9.47966910063128e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008425842970609665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38402903974056246, + "rkd_teacher_entropy": 3.743057203292847, + "rkd_teacher_similarity_mean": 0.7819104373455048, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19170 + }, + { + "epoch": 5.580448065173116, + "flow_matching_loss": 0.013287953054532408, + "grad_norm": 0.10610350221395493, + "learning_rate": 9.464298213174325e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007793799927458167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853871405124664, + "rkd_teacher_entropy": 3.74825656414032, + "rkd_teacher_similarity_mean": 0.7831978082656861, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19180 + }, + { + "epoch": 5.583357579284259, + "flow_matching_loss": 0.013622479792684317, + "grad_norm": 0.15436017513275146, + "learning_rate": 9.448934052117024e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009193792287260295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38363475203514097, + "rkd_teacher_entropy": 3.7318838357925417, + "rkd_teacher_similarity_mean": 0.7801267504692078, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19190 + }, + { + "epoch": 5.586267093395403, + "flow_matching_loss": 0.01405185367912054, + "grad_norm": 0.12167134881019592, + "learning_rate": 9.433576636128284e-06, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00867163627408445, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38145291805267334, + "rkd_teacher_entropy": 3.7245012760162353, + "rkd_teacher_similarity_mean": 0.777291214466095, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19200 + }, + { + "epoch": 5.5891766075065465, + "flow_matching_loss": 0.01203127857297659, + "grad_norm": 0.11896775662899017, + "learning_rate": 9.41822598386881e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008044325606897473, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37457223832607267, + "rkd_teacher_entropy": 3.7165631532669066, + "rkd_teacher_similarity_mean": 0.7714685022830963, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19210 + }, + { + "epoch": 5.59208612161769, + "flow_matching_loss": 0.01317534502595663, + "grad_norm": 0.12653449177742004, + "learning_rate": 9.402882113991094e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009042488923296333, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38859296441078184, + "rkd_teacher_entropy": 3.75236599445343, + "rkd_teacher_similarity_mean": 0.7870380997657775, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19220 + }, + { + "epoch": 5.594995635728833, + "flow_matching_loss": 0.013654638547450304, + "grad_norm": 0.15357039868831635, + "learning_rate": 9.387545045139381e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00864489171653986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38071049749851227, + "rkd_teacher_entropy": 3.729410266876221, + "rkd_teacher_similarity_mean": 0.7756984412670136, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19230 + }, + { + "epoch": 5.597905149839977, + "flow_matching_loss": 0.01352435238659382, + "grad_norm": 0.10065099596977234, + "learning_rate": 9.372214795949655e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00892604230903089, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38111899197101595, + "rkd_teacher_entropy": 3.715096640586853, + "rkd_teacher_similarity_mean": 0.7769500494003296, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19240 + }, + { + "epoch": 5.6008146639511205, + "flow_matching_loss": 0.014688512217253447, + "grad_norm": 0.13164405524730682, + "learning_rate": 9.356891385049618e-06, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00934628425166011, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3798754960298538, + "rkd_teacher_entropy": 3.7188730955123903, + "rkd_teacher_similarity_mean": 0.7766865730285645, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19250 + }, + { + "epoch": 5.603724178062263, + "flow_matching_loss": 0.01347896857187152, + "grad_norm": 0.1279960572719574, + "learning_rate": 9.341574831058664e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007206070050597191, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38108249604701994, + "rkd_teacher_entropy": 3.733702373504639, + "rkd_teacher_similarity_mean": 0.7783645987510681, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19260 + }, + { + "epoch": 5.606633692173407, + "flow_matching_loss": 0.010526458639651537, + "grad_norm": 0.11241123825311661, + "learning_rate": 9.326265152587844e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00813293638639152, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37887127697467804, + "rkd_teacher_entropy": 3.7209171056747437, + "rkd_teacher_similarity_mean": 0.7755632162094116, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19270 + }, + { + "epoch": 5.609543206284551, + "flow_matching_loss": 0.01602359674870968, + "grad_norm": 0.1445963829755783, + "learning_rate": 9.310962368239861e-06, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009500655438750982, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37119228541851046, + "rkd_teacher_entropy": 3.6977402687072756, + "rkd_teacher_similarity_mean": 0.7685146868228913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19280 + }, + { + "epoch": 5.6124527203956935, + "flow_matching_loss": 0.012010915111750365, + "grad_norm": 0.11722638458013535, + "learning_rate": 9.295666496609036e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009924058523029088, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37187605202198026, + "rkd_teacher_entropy": 3.693224382400513, + "rkd_teacher_similarity_mean": 0.7686480104923248, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19290 + }, + { + "epoch": 5.615362234506837, + "flow_matching_loss": 0.015085723670199513, + "grad_norm": 0.10512393712997437, + "learning_rate": 9.280377556281306e-06, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007669539423659444, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797950655221939, + "rkd_teacher_entropy": 3.7357019186019897, + "rkd_teacher_similarity_mean": 0.7759090960025787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19300 + }, + { + "epoch": 5.618271748617981, + "flow_matching_loss": 0.01341998428106308, + "grad_norm": 0.1288648247718811, + "learning_rate": 9.265095565834172e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007942059682682157, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37751016616821287, + "rkd_teacher_entropy": 3.7241031646728517, + "rkd_teacher_similarity_mean": 0.7748316466808319, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19310 + }, + { + "epoch": 5.621181262729124, + "flow_matching_loss": 0.015085722086951137, + "grad_norm": 0.12784172594547272, + "learning_rate": 9.249820543836688e-06, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00850396417081356, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38906880021095275, + "rkd_teacher_entropy": 3.7572871446609497, + "rkd_teacher_similarity_mean": 0.7862068891525269, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19320 + }, + { + "epoch": 5.6240907768402675, + "flow_matching_loss": 0.012450969452038408, + "grad_norm": 0.10393154621124268, + "learning_rate": 9.234552508849454e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073652825318276886, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806641161441803, + "rkd_teacher_entropy": 3.718765902519226, + "rkd_teacher_similarity_mean": 0.7784038662910462, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19330 + }, + { + "epoch": 5.627000290951411, + "flow_matching_loss": 0.012981031741946935, + "grad_norm": 0.16821353137493134, + "learning_rate": 9.21929147942456e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008780612982809544, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3850280731916428, + "rkd_teacher_entropy": 3.7401166677474977, + "rkd_teacher_similarity_mean": 0.7815630912780762, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19340 + }, + { + "epoch": 5.629909805062555, + "flow_matching_loss": 0.011984939686954021, + "grad_norm": 0.07950253784656525, + "learning_rate": 9.204037474105611e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010313429869711399, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38402869999408723, + "rkd_teacher_entropy": 3.7346064329147337, + "rkd_teacher_similarity_mean": 0.7808898568153382, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19350 + }, + { + "epoch": 5.632819319173698, + "flow_matching_loss": 0.01237881975248456, + "grad_norm": 0.13105414807796478, + "learning_rate": 9.188790511427653e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007881788862869143, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37943305969238283, + "rkd_teacher_entropy": 3.731962871551514, + "rkd_teacher_similarity_mean": 0.7775873124599457, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19360 + }, + { + "epoch": 5.635728833284841, + "flow_matching_loss": 0.014908539317548274, + "grad_norm": 0.14260262250900269, + "learning_rate": 9.173550609917186e-06, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008850280987098813, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3761145621538162, + "rkd_teacher_entropy": 3.7135435819625853, + "rkd_teacher_similarity_mean": 0.7735241770744323, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19370 + }, + { + "epoch": 5.638638347395985, + "flow_matching_loss": 0.012466501817107201, + "grad_norm": 0.10500238835811615, + "learning_rate": 9.158317788092124e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008926675282418728, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3758701890707016, + "rkd_teacher_entropy": 3.7187222480773925, + "rkd_teacher_similarity_mean": 0.7712684988975524, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19380 + }, + { + "epoch": 5.641547861507128, + "flow_matching_loss": 0.013808830827474593, + "grad_norm": 0.14325004816055298, + "learning_rate": 9.143092064461783e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008418139768764377, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3821381688117981, + "rkd_teacher_entropy": 3.7330617189407347, + "rkd_teacher_similarity_mean": 0.7793964684009552, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19390 + }, + { + "epoch": 5.644457375618272, + "flow_matching_loss": 0.014824899984523654, + "grad_norm": 0.09197399765253067, + "learning_rate": 9.127873457526855e-06, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007411835435777903, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3746271520853043, + "rkd_teacher_entropy": 3.707828497886658, + "rkd_teacher_similarity_mean": 0.7716321647167206, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19400 + }, + { + "epoch": 5.647366889729415, + "flow_matching_loss": 0.012629766389727593, + "grad_norm": 0.11782527714967728, + "learning_rate": 9.112661985779382e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007239839620888233, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3861198425292969, + "rkd_teacher_entropy": 3.738001847267151, + "rkd_teacher_similarity_mean": 0.7826291203498841, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19410 + }, + { + "epoch": 5.650276403840559, + "flow_matching_loss": 0.013164728786796332, + "grad_norm": 0.1607789695262909, + "learning_rate": 9.09745766770274e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008455180516466498, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381211256980896, + "rkd_teacher_entropy": 3.725053000450134, + "rkd_teacher_similarity_mean": 0.777306205034256, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19420 + }, + { + "epoch": 5.653185917951702, + "flow_matching_loss": 0.011446173628792166, + "grad_norm": 0.13886311650276184, + "learning_rate": 9.082260521771601e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007156402058899403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38334407210350036, + "rkd_teacher_entropy": 3.7245224714279175, + "rkd_teacher_similarity_mean": 0.7785859346389771, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19430 + }, + { + "epoch": 5.656095432062846, + "flow_matching_loss": 0.016214672848582266, + "grad_norm": 0.11878680437803268, + "learning_rate": 9.067070566451936e-06, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008836463280022144, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38010933995246887, + "rkd_teacher_entropy": 3.7316935300827025, + "rkd_teacher_similarity_mean": 0.7768234252929688, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19440 + }, + { + "epoch": 5.659004946173989, + "flow_matching_loss": 0.010456589935347437, + "grad_norm": 0.2314227670431137, + "learning_rate": 9.051887820200966e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009205569280311465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815693467855453, + "rkd_teacher_entropy": 3.7285849809646607, + "rkd_teacher_similarity_mean": 0.7785279214382171, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19450 + }, + { + "epoch": 5.661914460285132, + "flow_matching_loss": 0.012953638099133968, + "grad_norm": 0.09167435765266418, + "learning_rate": 9.03671230146717e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008065897226333617, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3760618954896927, + "rkd_teacher_entropy": 3.7171456098556517, + "rkd_teacher_similarity_mean": 0.7738333642482758, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19460 + }, + { + "epoch": 5.664823974396276, + "flow_matching_loss": 0.011775256972759962, + "grad_norm": 0.14501717686653137, + "learning_rate": 9.021544028690228e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007241484196856618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37965276539325715, + "rkd_teacher_entropy": 3.7300116539001467, + "rkd_teacher_similarity_mean": 0.7762395560741424, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19470 + }, + { + "epoch": 5.6677334885074195, + "flow_matching_loss": 0.011663045547902585, + "grad_norm": 0.12373122572898865, + "learning_rate": 9.006383020301024e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007846178347244858, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794318288564682, + "rkd_teacher_entropy": 3.7149338722229004, + "rkd_teacher_similarity_mean": 0.7757667660713196, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19480 + }, + { + "epoch": 5.670643002618562, + "flow_matching_loss": 0.011953389178961516, + "grad_norm": 0.09705579280853271, + "learning_rate": 8.991229294721613e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008405716437846423, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37387254536151887, + "rkd_teacher_entropy": 3.7126100063323975, + "rkd_teacher_similarity_mean": 0.7722801864147186, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19490 + }, + { + "epoch": 5.673552516729706, + "flow_matching_loss": 0.0119519277010113, + "grad_norm": 0.11145836114883423, + "learning_rate": 8.976082870365191e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008937205979600548, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37310686707496643, + "rkd_teacher_entropy": 3.715098428726196, + "rkd_teacher_similarity_mean": 0.7697840988636017, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19500 + }, + { + "epoch": 5.67646203084085, + "flow_matching_loss": 0.015790869202464818, + "grad_norm": 0.09919138997793198, + "learning_rate": 8.960943765636105e-06, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075797148514539, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38873798251152036, + "rkd_teacher_entropy": 3.747452449798584, + "rkd_teacher_similarity_mean": 0.7854893565177917, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19510 + }, + { + "epoch": 5.679371544951993, + "flow_matching_loss": 0.012861695699393749, + "grad_norm": 0.14101958274841309, + "learning_rate": 8.945811998929792e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008478356106206775, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790478765964508, + "rkd_teacher_entropy": 3.7318361520767214, + "rkd_teacher_similarity_mean": 0.7755948305130005, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19520 + }, + { + "epoch": 5.682281059063136, + "flow_matching_loss": 0.014526619948446751, + "grad_norm": 0.16098400950431824, + "learning_rate": 8.93068758863277e-06, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009915601555258035, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779815763235092, + "rkd_teacher_entropy": 3.7245383739471434, + "rkd_teacher_similarity_mean": 0.7728664994239807, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19530 + }, + { + "epoch": 5.68519057317428, + "flow_matching_loss": 0.012531021051108837, + "grad_norm": 0.12949992716312408, + "learning_rate": 8.915570553122628e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008885151846334339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384213799238205, + "rkd_teacher_entropy": 3.7447153329849243, + "rkd_teacher_similarity_mean": 0.7787573218345643, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19540 + }, + { + "epoch": 5.688100087285424, + "flow_matching_loss": 0.013617642968893052, + "grad_norm": 0.12635508179664612, + "learning_rate": 8.900460910767982e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009088261332362891, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38165152370929717, + "rkd_teacher_entropy": 3.73023898601532, + "rkd_teacher_similarity_mean": 0.7794328451156616, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19550 + }, + { + "epoch": 5.6910096013965665, + "flow_matching_loss": 0.013659339770674706, + "grad_norm": 0.12876564264297485, + "learning_rate": 8.885358679928486e-06, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008970748027786612, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37873167395591734, + "rkd_teacher_entropy": 3.7249063730239866, + "rkd_teacher_similarity_mean": 0.7754787683486939, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19560 + }, + { + "epoch": 5.69391911550771, + "flow_matching_loss": 0.013992180395871402, + "grad_norm": 0.09250570833683014, + "learning_rate": 8.870263878954767e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008489728299900889, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853400409221649, + "rkd_teacher_entropy": 3.7456541061401367, + "rkd_teacher_similarity_mean": 0.781973522901535, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19570 + }, + { + "epoch": 5.696828629618854, + "flow_matching_loss": 0.012645735684782267, + "grad_norm": 0.11391222476959229, + "learning_rate": 8.855176526188428e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007133905915543437, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37767561972141267, + "rkd_teacher_entropy": 3.725019645690918, + "rkd_teacher_similarity_mean": 0.774885767698288, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19580 + }, + { + "epoch": 5.699738143729997, + "flow_matching_loss": 0.010832407092675567, + "grad_norm": 0.0972663089632988, + "learning_rate": 8.840096639962033e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007117235567420721, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3829598814249039, + "rkd_teacher_entropy": 3.7420629262924194, + "rkd_teacher_similarity_mean": 0.7810282051563263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19590 + }, + { + "epoch": 5.7026476578411405, + "flow_matching_loss": 0.012758323270827533, + "grad_norm": 0.14484384655952454, + "learning_rate": 8.825024238599056e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007553470553830266, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3827583849430084, + "rkd_teacher_entropy": 3.741688585281372, + "rkd_teacher_similarity_mean": 0.7807952761650085, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19600 + }, + { + "epoch": 5.705557171952284, + "flow_matching_loss": 0.012511234730482101, + "grad_norm": 0.14655445516109467, + "learning_rate": 8.809959340413891e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007762380316853524, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3757111817598343, + "rkd_teacher_entropy": 3.7031610727310182, + "rkd_teacher_similarity_mean": 0.7711996257305145, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19610 + }, + { + "epoch": 5.708466686063428, + "flow_matching_loss": 0.012659303937107324, + "grad_norm": 0.11445263028144836, + "learning_rate": 8.79490196371181e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007945131417363882, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831302046775818, + "rkd_teacher_entropy": 3.734637999534607, + "rkd_teacher_similarity_mean": 0.7797740876674653, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19620 + }, + { + "epoch": 5.711376200174571, + "flow_matching_loss": 0.013786933524534107, + "grad_norm": 0.16087481379508972, + "learning_rate": 8.779852126788949e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008827181532979012, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769822359085083, + "rkd_teacher_entropy": 3.724680709838867, + "rkd_teacher_similarity_mean": 0.7752957880496979, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19630 + }, + { + "epoch": 5.714285714285714, + "flow_matching_loss": 0.011680071800947189, + "grad_norm": 0.1204988956451416, + "learning_rate": 8.764809847932277e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010210780194029212, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3792803794145584, + "rkd_teacher_entropy": 3.7159679889678956, + "rkd_teacher_similarity_mean": 0.7758849680423736, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19640 + }, + { + "epoch": 5.717195228396857, + "flow_matching_loss": 0.0130715636536479, + "grad_norm": 0.11787368357181549, + "learning_rate": 8.749775145419577e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008642144314944745, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.373158660531044, + "rkd_teacher_entropy": 3.7024207592010496, + "rkd_teacher_similarity_mean": 0.7696538150310517, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19650 + }, + { + "epoch": 5.720104742508001, + "flow_matching_loss": 0.014848271198570729, + "grad_norm": 0.12074407190084457, + "learning_rate": 8.734748037519427e-06, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009533168189227581, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3726857274770737, + "rkd_teacher_entropy": 3.702283811569214, + "rkd_teacher_similarity_mean": 0.7681493103504181, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19660 + }, + { + "epoch": 5.723014256619145, + "flow_matching_loss": 0.01576843746006489, + "grad_norm": 0.11544571816921234, + "learning_rate": 8.719728542491195e-06, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008450375404208899, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3846670866012573, + "rkd_teacher_entropy": 3.7349829196929933, + "rkd_teacher_similarity_mean": 0.7811716556549072, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19670 + }, + { + "epoch": 5.725923770730288, + "flow_matching_loss": 0.012657920829951763, + "grad_norm": 0.10774913430213928, + "learning_rate": 8.704716678584976e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00800973568111658, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3754662573337555, + "rkd_teacher_entropy": 3.713579273223877, + "rkd_teacher_similarity_mean": 0.7701625883579254, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19680 + }, + { + "epoch": 5.728833284841431, + "flow_matching_loss": 0.01230585714802146, + "grad_norm": 0.13020573556423187, + "learning_rate": 8.689712464041596e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009658504649996758, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3682782262563705, + "rkd_teacher_entropy": 3.685539484024048, + "rkd_teacher_similarity_mean": 0.7626798629760743, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19690 + }, + { + "epoch": 5.731742798952575, + "flow_matching_loss": 0.012007023487240077, + "grad_norm": 0.09707561880350113, + "learning_rate": 8.674715917092592e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007668300112709403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820430368185043, + "rkd_teacher_entropy": 3.727891707420349, + "rkd_teacher_similarity_mean": 0.7775218248367309, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19700 + }, + { + "epoch": 5.734652313063719, + "flow_matching_loss": 0.01048515820875764, + "grad_norm": 0.09466426074504852, + "learning_rate": 8.65972705596018e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008118197601288558, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3760214686393738, + "rkd_teacher_entropy": 3.718953847885132, + "rkd_teacher_similarity_mean": 0.7714255392551422, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19710 + }, + { + "epoch": 5.737561827174861, + "flow_matching_loss": 0.012955013196915388, + "grad_norm": 0.13255609571933746, + "learning_rate": 8.64474589885725e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077941165771335365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3787777602672577, + "rkd_teacher_entropy": 3.7128023386001585, + "rkd_teacher_similarity_mean": 0.7756453335285187, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19720 + }, + { + "epoch": 5.740471341286005, + "flow_matching_loss": 0.012377058481797576, + "grad_norm": 0.1089390441775322, + "learning_rate": 8.629772463987315e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008348155999556184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3812080442905426, + "rkd_teacher_entropy": 3.7291932821273805, + "rkd_teacher_similarity_mean": 0.7782033026218415, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19730 + }, + { + "epoch": 5.743380855397149, + "flow_matching_loss": 0.012020363006740808, + "grad_norm": 0.1315688192844391, + "learning_rate": 8.614806769544507e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007403360260650515, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37611761391162873, + "rkd_teacher_entropy": 3.7031643390655518, + "rkd_teacher_similarity_mean": 0.772296917438507, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19740 + }, + { + "epoch": 5.7462903695082925, + "flow_matching_loss": 0.012518880842253565, + "grad_norm": 0.10725665092468262, + "learning_rate": 8.59984883371356e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009027901943773032, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3936341851949692, + "rkd_teacher_entropy": 3.774163842201233, + "rkd_teacher_similarity_mean": 0.7899360179901123, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19750 + }, + { + "epoch": 5.749199883619435, + "flow_matching_loss": 0.014708170341327787, + "grad_norm": 0.1568436622619629, + "learning_rate": 8.584898674669772e-06, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010811240086331964, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38040797114372255, + "rkd_teacher_entropy": 3.7342221975326537, + "rkd_teacher_similarity_mean": 0.7769001483917236, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19760 + }, + { + "epoch": 5.752109397730579, + "flow_matching_loss": 0.011751564871519803, + "grad_norm": 0.12029553204774857, + "learning_rate": 8.569956310579001e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007410809583961964, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3869355857372284, + "rkd_teacher_entropy": 3.747155952453613, + "rkd_teacher_similarity_mean": 0.7835229277610779, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19770 + }, + { + "epoch": 5.755018911841723, + "flow_matching_loss": 0.011757925432175399, + "grad_norm": 0.11934084445238113, + "learning_rate": 8.555021759597627e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0078012034296989444, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37331862449645997, + "rkd_teacher_entropy": 3.7034663200378417, + "rkd_teacher_similarity_mean": 0.7696328341960907, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19780 + }, + { + "epoch": 5.757928425952866, + "flow_matching_loss": 0.014148251991719008, + "grad_norm": 0.09708894789218903, + "learning_rate": 8.54009503987253e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007802922232076526, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38767005801200866, + "rkd_teacher_entropy": 3.7602355241775514, + "rkd_teacher_similarity_mean": 0.7845566809177399, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19790 + }, + { + "epoch": 5.760837940064009, + "flow_matching_loss": 0.013426839420571924, + "grad_norm": 0.09823652356863022, + "learning_rate": 8.525176169541095e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074699103832244875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831023633480072, + "rkd_teacher_entropy": 3.7358640909194945, + "rkd_teacher_similarity_mean": 0.7800506532192231, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19800 + }, + { + "epoch": 5.763747454175153, + "flow_matching_loss": 0.01222403608262539, + "grad_norm": 0.09462640434503555, + "learning_rate": 8.510265166731151e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007466241950169206, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38137549757957456, + "rkd_teacher_entropy": 3.724098467826843, + "rkd_teacher_similarity_mean": 0.7779627442359924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19810 + }, + { + "epoch": 5.766656968286296, + "flow_matching_loss": 0.01174438064917922, + "grad_norm": 0.10728514939546585, + "learning_rate": 8.495362049560964e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007538983086124063, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807619035243988, + "rkd_teacher_entropy": 3.722597527503967, + "rkd_teacher_similarity_mean": 0.7753803074359894, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19820 + }, + { + "epoch": 5.7695664823974395, + "flow_matching_loss": 0.014137861412018537, + "grad_norm": 0.10518074035644531, + "learning_rate": 8.480466836139241e-06, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008319454127922654, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376559779047966, + "rkd_teacher_entropy": 3.720485877990723, + "rkd_teacher_similarity_mean": 0.7721875548362732, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19830 + }, + { + "epoch": 5.772475996508583, + "flow_matching_loss": 0.013168206345289946, + "grad_norm": 0.18574601411819458, + "learning_rate": 8.465579544565066e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009757261024788022, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3800730645656586, + "rkd_teacher_entropy": 3.7258639335632324, + "rkd_teacher_similarity_mean": 0.7755549550056458, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19840 + }, + { + "epoch": 5.775385510619726, + "flow_matching_loss": 0.012983829900622367, + "grad_norm": 0.1284366250038147, + "learning_rate": 8.450700192927897e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008460681047290563, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807076930999756, + "rkd_teacher_entropy": 3.7306965827941894, + "rkd_teacher_similarity_mean": 0.7756381273269654, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19850 + }, + { + "epoch": 5.77829502473087, + "flow_matching_loss": 0.01275772014632821, + "grad_norm": 0.15842518210411072, + "learning_rate": 8.435828799307551e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007852876605466009, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3813933789730072, + "rkd_teacher_entropy": 3.7216552257537843, + "rkd_teacher_similarity_mean": 0.7764161825180054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19860 + }, + { + "epoch": 5.7812045388420135, + "flow_matching_loss": 0.012760994024574757, + "grad_norm": 0.10607842355966568, + "learning_rate": 8.420965381774172e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00720506738871336, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381926503777504, + "rkd_teacher_entropy": 3.731474733352661, + "rkd_teacher_similarity_mean": 0.7769722282886505, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19870 + }, + { + "epoch": 5.784114052953157, + "flow_matching_loss": 0.013640410918742418, + "grad_norm": 0.1440388262271881, + "learning_rate": 8.406109958388222e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008464778447523713, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832186937332153, + "rkd_teacher_entropy": 3.741606831550598, + "rkd_teacher_similarity_mean": 0.7792528867721558, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19880 + }, + { + "epoch": 5.7870235670643, + "flow_matching_loss": 0.012499330099672079, + "grad_norm": 0.11304416507482529, + "learning_rate": 8.391262547200434e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007083588745445013, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38173030614852904, + "rkd_teacher_entropy": 3.729708504676819, + "rkd_teacher_similarity_mean": 0.7782362937927246, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19890 + }, + { + "epoch": 5.789933081175444, + "flow_matching_loss": 0.011800467688590287, + "grad_norm": 0.1600377857685089, + "learning_rate": 8.376423166251816e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008193709095939994, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3813056588172913, + "rkd_teacher_entropy": 3.7320719957351685, + "rkd_teacher_similarity_mean": 0.7775849044322968, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19900 + }, + { + "epoch": 5.792842595286587, + "flow_matching_loss": 0.01542117539793253, + "grad_norm": 0.10878007113933563, + "learning_rate": 8.361591833573612e-06, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010364364879205824, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3775384545326233, + "rkd_teacher_entropy": 3.7264731884002686, + "rkd_teacher_similarity_mean": 0.7732062399387359, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19910 + }, + { + "epoch": 5.79575210939773, + "flow_matching_loss": 0.013206079509109259, + "grad_norm": 0.12041886895895004, + "learning_rate": 8.346768567187287e-06, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010137922130525112, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.36978709101676943, + "rkd_teacher_entropy": 3.6926207065582277, + "rkd_teacher_similarity_mean": 0.7650585055351258, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19920 + }, + { + "epoch": 5.798661623508874, + "flow_matching_loss": 0.01680132085457444, + "grad_norm": 0.16641519963741302, + "learning_rate": 8.331953385104516e-06, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009112941473722458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38891824185848234, + "rkd_teacher_entropy": 3.7482427597045898, + "rkd_teacher_similarity_mean": 0.7843394160270691, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19930 + }, + { + "epoch": 5.801571137620018, + "flow_matching_loss": 0.012629251228645444, + "grad_norm": 0.11364465206861496, + "learning_rate": 8.317146305327134e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008858317881822586, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37679278552532197, + "rkd_teacher_entropy": 3.729804515838623, + "rkd_teacher_similarity_mean": 0.7727395236492157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19940 + }, + { + "epoch": 5.804480651731161, + "flow_matching_loss": 0.0127076487056911, + "grad_norm": 0.13334375619888306, + "learning_rate": 8.302347345847146e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075237169861793515, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37295605838298795, + "rkd_teacher_entropy": 3.6974981784820558, + "rkd_teacher_similarity_mean": 0.7689560770988464, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19950 + }, + { + "epoch": 5.807390165842304, + "flow_matching_loss": 0.015549954725429416, + "grad_norm": 0.13060392439365387, + "learning_rate": 8.287556524646683e-06, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009065072657540441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3778143674135208, + "rkd_teacher_entropy": 3.715984010696411, + "rkd_teacher_similarity_mean": 0.7736522197723389, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19960 + }, + { + "epoch": 5.810299679953448, + "flow_matching_loss": 0.011826661275699734, + "grad_norm": 0.12048330903053284, + "learning_rate": 8.272773859697978e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008353218855336308, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3894384652376175, + "rkd_teacher_entropy": 3.7509416341781616, + "rkd_teacher_similarity_mean": 0.7863000273704529, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19970 + }, + { + "epoch": 5.813209194064592, + "flow_matching_loss": 0.013099518790841102, + "grad_norm": 0.15446357429027557, + "learning_rate": 8.257999368963374e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00977100497111678, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37000695168972014, + "rkd_teacher_entropy": 3.6997141361236574, + "rkd_teacher_similarity_mean": 0.7661706268787384, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19980 + }, + { + "epoch": 5.816118708175734, + "flow_matching_loss": 0.011890197452157737, + "grad_norm": 0.09849863499403, + "learning_rate": 8.243233070395266e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009176300559192895, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776979625225067, + "rkd_teacher_entropy": 3.716904711723328, + "rkd_teacher_similarity_mean": 0.7726942241191864, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19990 + }, + { + "epoch": 5.819028222286878, + "flow_matching_loss": 0.013146303687244653, + "grad_norm": 0.11770795285701752, + "learning_rate": 8.2284749819361e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008372526103630661, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37897138893604276, + "rkd_teacher_entropy": 3.7166837453842163, + "rkd_teacher_similarity_mean": 0.7731593906879425, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20000 + }, + { + "epoch": 5.821937736398022, + "flow_matching_loss": 0.010566324787214398, + "grad_norm": 0.11166711151599884, + "learning_rate": 8.213725121518346e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009366948297247291, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3867985337972641, + "rkd_teacher_entropy": 3.74982430934906, + "rkd_teacher_similarity_mean": 0.7830340921878814, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20010 + }, + { + "epoch": 5.824847250509165, + "flow_matching_loss": 0.012576528638601304, + "grad_norm": 0.10709523409605026, + "learning_rate": 8.198983507064469e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009667689353227616, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38463799357414247, + "rkd_teacher_entropy": 3.7459009647369386, + "rkd_teacher_similarity_mean": 0.7804701745510101, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20020 + }, + { + "epoch": 5.827756764620308, + "flow_matching_loss": 0.013619528245180845, + "grad_norm": 0.1605231612920761, + "learning_rate": 8.18425015648692e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007683603884652257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38157136738300323, + "rkd_teacher_entropy": 3.7277655601501465, + "rkd_teacher_similarity_mean": 0.776601767539978, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20030 + }, + { + "epoch": 5.830666278731452, + "flow_matching_loss": 0.012856111582368612, + "grad_norm": 0.1010592132806778, + "learning_rate": 8.169525087688122e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007398891216143966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3890170305967331, + "rkd_teacher_entropy": 3.7555142402648927, + "rkd_teacher_similarity_mean": 0.7855985164642334, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20040 + }, + { + "epoch": 5.833575792842595, + "flow_matching_loss": 0.01038490585051477, + "grad_norm": 0.08891257643699646, + "learning_rate": 8.154808318560413e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007462903391569853, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3858300596475601, + "rkd_teacher_entropy": 3.7433944225311278, + "rkd_teacher_similarity_mean": 0.7827905774116516, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20050 + }, + { + "epoch": 5.836485306953739, + "flow_matching_loss": 0.011392750032246112, + "grad_norm": 0.11526970565319061, + "learning_rate": 8.140099866986058e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00833758655935526, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3761550039052963, + "rkd_teacher_entropy": 3.709128427505493, + "rkd_teacher_similarity_mean": 0.7707850098609924, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20060 + }, + { + "epoch": 5.839394821064882, + "flow_matching_loss": 0.0131675124168396, + "grad_norm": 0.11660576611757278, + "learning_rate": 8.125399750837202e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069615516345947984, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3848283916711807, + "rkd_teacher_entropy": 3.741315174102783, + "rkd_teacher_similarity_mean": 0.7812897622585296, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20070 + }, + { + "epoch": 5.842304335176026, + "flow_matching_loss": 0.012233623955398797, + "grad_norm": 0.12654991447925568, + "learning_rate": 8.110707987975888e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008215357037261128, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3836121201515198, + "rkd_teacher_entropy": 3.7363479852676393, + "rkd_teacher_similarity_mean": 0.7789819955825805, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20080 + }, + { + "epoch": 5.845213849287169, + "flow_matching_loss": 0.012382157519459725, + "grad_norm": 0.09323824942111969, + "learning_rate": 8.096024596253982e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007993357814848423, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785112649202347, + "rkd_teacher_entropy": 3.7294085741043093, + "rkd_teacher_similarity_mean": 0.7751253783702851, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20090 + }, + { + "epoch": 5.8481233633983125, + "flow_matching_loss": 0.011462948564440013, + "grad_norm": 0.11291421204805374, + "learning_rate": 8.081349593513197e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007609512470662594, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3791886121034622, + "rkd_teacher_entropy": 3.7207273721694945, + "rkd_teacher_similarity_mean": 0.7757224082946778, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20100 + }, + { + "epoch": 5.851032877509456, + "flow_matching_loss": 0.013760465430095792, + "grad_norm": 0.11019467562437057, + "learning_rate": 8.066682997585045e-06, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01191969639621675, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38483458161354067, + "rkd_teacher_entropy": 3.731316089630127, + "rkd_teacher_similarity_mean": 0.7787741243839263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20110 + }, + { + "epoch": 5.853942391620599, + "flow_matching_loss": 0.012087987177073956, + "grad_norm": 0.1151127964258194, + "learning_rate": 8.052024826290819e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008801165642216802, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38386330008506775, + "rkd_teacher_entropy": 3.7393487215042116, + "rkd_teacher_similarity_mean": 0.7804936230182647, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20120 + }, + { + "epoch": 5.856851905731743, + "flow_matching_loss": 0.01277244882658124, + "grad_norm": 0.11852554231882095, + "learning_rate": 8.037375097441574e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007738542277365923, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37808714509010316, + "rkd_teacher_entropy": 3.713171124458313, + "rkd_teacher_similarity_mean": 0.7739786744117737, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20130 + }, + { + "epoch": 5.8597614198428865, + "flow_matching_loss": 0.012359694670885801, + "grad_norm": 0.1260802000761032, + "learning_rate": 8.022733828838124e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007785046007484198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3800790041685104, + "rkd_teacher_entropy": 3.729488801956177, + "rkd_teacher_similarity_mean": 0.7753502547740936, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20140 + }, + { + "epoch": 5.86267093395403, + "flow_matching_loss": 0.012189330998808146, + "grad_norm": 0.10757199674844742, + "learning_rate": 8.008101038270988e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009435951244086027, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860460013151169, + "rkd_teacher_entropy": 3.7522663354873655, + "rkd_teacher_similarity_mean": 0.7810676634311676, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20150 + }, + { + "epoch": 5.865580448065173, + "flow_matching_loss": 0.013420058507472276, + "grad_norm": 0.10353989899158478, + "learning_rate": 7.99347674352038e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00849636159837246, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3816546559333801, + "rkd_teacher_entropy": 3.72605881690979, + "rkd_teacher_similarity_mean": 0.777631938457489, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20160 + }, + { + "epoch": 5.868489962176317, + "flow_matching_loss": 0.013353670062497259, + "grad_norm": 0.1557028591632843, + "learning_rate": 7.978860962356202e-06, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008872401807457209, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38201733231544494, + "rkd_teacher_entropy": 3.7320659160614014, + "rkd_teacher_similarity_mean": 0.7775197863578797, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20170 + }, + { + "epoch": 5.8713994762874595, + "flow_matching_loss": 0.011849018931388854, + "grad_norm": 0.11820800602436066, + "learning_rate": 7.964253712537997e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008488601399585604, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3890138864517212, + "rkd_teacher_entropy": 3.7529151916503904, + "rkd_teacher_similarity_mean": 0.7859926283359527, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20180 + }, + { + "epoch": 5.874308990398603, + "flow_matching_loss": 0.013245789799839258, + "grad_norm": 0.11286772787570953, + "learning_rate": 7.949655011814968e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009274814417585731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38398435413837434, + "rkd_teacher_entropy": 3.748105692863464, + "rkd_teacher_similarity_mean": 0.7799741566181183, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20190 + }, + { + "epoch": 5.877218504509747, + "flow_matching_loss": 0.01124775493517518, + "grad_norm": 0.12879203259944916, + "learning_rate": 7.9350648779259e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007175055565312505, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38165177404880524, + "rkd_teacher_entropy": 3.7266987562179565, + "rkd_teacher_similarity_mean": 0.7765174746513367, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20200 + }, + { + "epoch": 5.880128018620891, + "flow_matching_loss": 0.015598047897219658, + "grad_norm": 0.12874381244182587, + "learning_rate": 7.92048332859919e-06, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009959619399160147, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37901231050491335, + "rkd_teacher_entropy": 3.7172356605529786, + "rkd_teacher_similarity_mean": 0.7743483126163483, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20210 + }, + { + "epoch": 5.8830375327320334, + "flow_matching_loss": 0.013924864213913679, + "grad_norm": 0.14543254673480988, + "learning_rate": 7.90591038155278e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008578820992261172, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383905878663063, + "rkd_teacher_entropy": 3.734266519546509, + "rkd_teacher_similarity_mean": 0.7790580868721009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20220 + }, + { + "epoch": 5.885947046843177, + "flow_matching_loss": 0.013914999598637224, + "grad_norm": 0.1603018343448639, + "learning_rate": 7.891346054494194e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007917839055880904, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3775079190731049, + "rkd_teacher_entropy": 3.7160066604614257, + "rkd_teacher_similarity_mean": 0.7728709042072296, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20230 + }, + { + "epoch": 5.888856560954321, + "flow_matching_loss": 0.013159326184540987, + "grad_norm": 0.13354219496250153, + "learning_rate": 7.876790365120447e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069983805064111945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3846045196056366, + "rkd_teacher_entropy": 3.7262555599212646, + "rkd_teacher_similarity_mean": 0.7806929171085357, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20240 + }, + { + "epoch": 5.891766075065464, + "flow_matching_loss": 0.01210056566633284, + "grad_norm": 0.09655974060297012, + "learning_rate": 7.862243331118088e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007405404839664698, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38109869360923765, + "rkd_teacher_entropy": 3.7224839448928835, + "rkd_teacher_similarity_mean": 0.7759125411510468, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20250 + }, + { + "epoch": 5.894675589176607, + "flow_matching_loss": 0.013074309192597866, + "grad_norm": 0.11736705899238586, + "learning_rate": 7.847704970163127e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007687102677300573, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3707922488451004, + "rkd_teacher_entropy": 3.696799302101135, + "rkd_teacher_similarity_mean": 0.7663086235523224, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20260 + }, + { + "epoch": 5.897585103287751, + "flow_matching_loss": 0.012471277359873056, + "grad_norm": 0.11930043995380402, + "learning_rate": 7.833175299921046e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00951870046555996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38630562722682954, + "rkd_teacher_entropy": 3.739263129234314, + "rkd_teacher_similarity_mean": 0.781609708070755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20270 + }, + { + "epoch": 5.900494617398895, + "flow_matching_loss": 0.012200374621897936, + "grad_norm": 0.11421050131320953, + "learning_rate": 7.81865433804676e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009140728740021586, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3900904685258865, + "rkd_teacher_entropy": 3.755889821052551, + "rkd_teacher_similarity_mean": 0.785790079832077, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20280 + }, + { + "epoch": 5.903404131510038, + "flow_matching_loss": 0.013606388121843338, + "grad_norm": 0.09670639783143997, + "learning_rate": 7.80414210218461e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007865410810336471, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39227146506309507, + "rkd_teacher_entropy": 3.761001372337341, + "rkd_teacher_similarity_mean": 0.787931603193283, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20290 + }, + { + "epoch": 5.906313645621181, + "flow_matching_loss": 0.014168772986158729, + "grad_norm": 0.0892348513007164, + "learning_rate": 7.789638609968332e-06, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009508308349177241, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38173575699329376, + "rkd_teacher_entropy": 3.7300345659255982, + "rkd_teacher_similarity_mean": 0.7775320172309875, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20300 + }, + { + "epoch": 5.909223159732325, + "flow_matching_loss": 0.013256749138236046, + "grad_norm": 0.14164994657039642, + "learning_rate": 7.775143879021037e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008584445947781206, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3755730241537094, + "rkd_teacher_entropy": 3.712705135345459, + "rkd_teacher_similarity_mean": 0.7712579846382142, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20310 + }, + { + "epoch": 5.912132673843468, + "flow_matching_loss": 0.010955621022731066, + "grad_norm": 0.12279150635004044, + "learning_rate": 7.760657926955187e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007492058165371418, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38253376483917234, + "rkd_teacher_entropy": 3.747875189781189, + "rkd_teacher_similarity_mean": 0.7778211772441864, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20320 + }, + { + "epoch": 5.915042187954612, + "flow_matching_loss": 0.012253024429082871, + "grad_norm": 0.12377843260765076, + "learning_rate": 7.746180771372584e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007616929989308119, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3861644476652145, + "rkd_teacher_entropy": 3.7316811084747314, + "rkd_teacher_similarity_mean": 0.7811282217502594, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20330 + }, + { + "epoch": 5.917951702065755, + "flow_matching_loss": 0.012860891688615084, + "grad_norm": 0.09609461575746536, + "learning_rate": 7.731712429864325e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00811831085011363, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3791268438100815, + "rkd_teacher_entropy": 3.7223997354507445, + "rkd_teacher_similarity_mean": 0.7740972876548767, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20340 + }, + { + "epoch": 5.920861216176898, + "flow_matching_loss": 0.012619095295667649, + "grad_norm": 0.1042601615190506, + "learning_rate": 7.717252920010828e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009504805598407984, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38104506134986876, + "rkd_teacher_entropy": 3.730399179458618, + "rkd_teacher_similarity_mean": 0.7764212369918824, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20350 + }, + { + "epoch": 5.923770730288042, + "flow_matching_loss": 0.012768777832388879, + "grad_norm": 0.11047431826591492, + "learning_rate": 7.702802259381742e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007257490465417504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39094758331775664, + "rkd_teacher_entropy": 3.7541970729827883, + "rkd_teacher_similarity_mean": 0.7874274849891663, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20360 + }, + { + "epoch": 5.9266802443991855, + "flow_matching_loss": 0.013106369925662876, + "grad_norm": 0.1221964880824089, + "learning_rate": 7.688360465535999e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007665704423561692, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808341383934021, + "rkd_teacher_entropy": 3.7247695684432984, + "rkd_teacher_similarity_mean": 0.7761739253997803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20370 + }, + { + "epoch": 5.929589758510328, + "flow_matching_loss": 0.015571538917720317, + "grad_norm": 0.0943983942270279, + "learning_rate": 7.673927556021734e-06, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009266248578205705, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834609597921371, + "rkd_teacher_entropy": 3.733100914955139, + "rkd_teacher_similarity_mean": 0.7797218322753906, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20380 + }, + { + "epoch": 5.932499272621472, + "flow_matching_loss": 0.010778774274513125, + "grad_norm": 0.11321088671684265, + "learning_rate": 7.659503548376284e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008421429619193076, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38421185314655304, + "rkd_teacher_entropy": 3.728356862068176, + "rkd_teacher_similarity_mean": 0.7788093149662018, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20390 + }, + { + "epoch": 5.935408786732616, + "flow_matching_loss": 0.013223671773448586, + "grad_norm": 0.11098366230726242, + "learning_rate": 7.645088460126193e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008177735889330507, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37883632481098173, + "rkd_teacher_entropy": 3.709611916542053, + "rkd_teacher_similarity_mean": 0.7739854335784913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20400 + }, + { + "epoch": 5.9383183008437594, + "flow_matching_loss": 0.01086219446733594, + "grad_norm": 0.13741979002952576, + "learning_rate": 7.630682308787145e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008424965618178248, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37663254141807556, + "rkd_teacher_entropy": 3.708203649520874, + "rkd_teacher_similarity_mean": 0.7721312522888184, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20410 + }, + { + "epoch": 5.941227814954902, + "flow_matching_loss": 0.011662522982805967, + "grad_norm": 0.1265551745891571, + "learning_rate": 7.6162851118639754e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00780318295583129, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3714607745409012, + "rkd_teacher_entropy": 3.6937426567077636, + "rkd_teacher_similarity_mean": 0.7662532746791839, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20420 + }, + { + "epoch": 5.944137329066046, + "flow_matching_loss": 0.010826400341466069, + "grad_norm": 0.09898646175861359, + "learning_rate": 7.601896886850632e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007297198474407196, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3822585493326187, + "rkd_teacher_entropy": 3.725705885887146, + "rkd_teacher_similarity_mean": 0.7789370656013489, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20430 + }, + { + "epoch": 5.94704684317719, + "flow_matching_loss": 0.012308537401258946, + "grad_norm": 0.10805904865264893, + "learning_rate": 7.587517651230168e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007845295500010252, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38195930421352386, + "rkd_teacher_entropy": 3.7307920455932617, + "rkd_teacher_similarity_mean": 0.7789022147655487, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20440 + }, + { + "epoch": 5.9499563572883325, + "flow_matching_loss": 0.01247979085892439, + "grad_norm": 0.1153484359383583, + "learning_rate": 7.573147422474702e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009090892411768437, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38687934577465055, + "rkd_teacher_entropy": 3.7488922834396363, + "rkd_teacher_similarity_mean": 0.7825014650821686, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20450 + }, + { + "epoch": 5.952865871399476, + "flow_matching_loss": 0.011447486467659473, + "grad_norm": 0.11759158223867416, + "learning_rate": 7.55878621804543e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009046425251290202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808971166610718, + "rkd_teacher_entropy": 3.7208664178848267, + "rkd_teacher_similarity_mean": 0.7760460019111634, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20460 + }, + { + "epoch": 5.95577538551062, + "flow_matching_loss": 0.011781102884560824, + "grad_norm": 0.13392771780490875, + "learning_rate": 7.544434055392564e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009780066693201661, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37480467557907104, + "rkd_teacher_entropy": 3.7001654386520384, + "rkd_teacher_similarity_mean": 0.7691302418708801, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20470 + }, + { + "epoch": 5.958684899621764, + "flow_matching_loss": 0.0156521656550467, + "grad_norm": 0.11103557795286179, + "learning_rate": 7.530090951955334e-06, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008013301948085427, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3775182098150253, + "rkd_teacher_entropy": 3.7217462062835693, + "rkd_teacher_similarity_mean": 0.7734086096286774, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20480 + }, + { + "epoch": 5.961594413732906, + "flow_matching_loss": 0.012675008829683065, + "grad_norm": 0.13014163076877594, + "learning_rate": 7.515756925161959e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01105778911150992, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37397668063640593, + "rkd_teacher_entropy": 3.7097282886505125, + "rkd_teacher_similarity_mean": 0.7705256998538971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20490 + }, + { + "epoch": 5.96450392784405, + "flow_matching_loss": 0.010578470816835762, + "grad_norm": 0.14063219726085663, + "learning_rate": 7.501431992429643e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006614415533840656, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840544313192368, + "rkd_teacher_entropy": 3.741879677772522, + "rkd_teacher_similarity_mean": 0.7809786379337311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20500 + }, + { + "epoch": 5.967413441955194, + "flow_matching_loss": 0.01320060957223177, + "grad_norm": 0.1317034810781479, + "learning_rate": 7.487116171164519e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009483031556010246, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3852041482925415, + "rkd_teacher_entropy": 3.7292593240737917, + "rkd_teacher_similarity_mean": 0.7810056567192077, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20510 + }, + { + "epoch": 5.970322956066337, + "flow_matching_loss": 0.011091277841478587, + "grad_norm": 0.09203962236642838, + "learning_rate": 7.472809478761672e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007742361864075065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789056360721588, + "rkd_teacher_entropy": 3.704839491844177, + "rkd_teacher_similarity_mean": 0.7740397691726685, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20520 + }, + { + "epoch": 5.97323247017748, + "flow_matching_loss": 0.01285361647605896, + "grad_norm": 0.14851859211921692, + "learning_rate": 7.4585119326050775e-06, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011397679010406137, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779775232076645, + "rkd_teacher_entropy": 3.714321517944336, + "rkd_teacher_similarity_mean": 0.7733421981334686, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20530 + }, + { + "epoch": 5.976141984288624, + "flow_matching_loss": 0.013960285251960159, + "grad_norm": 0.1174464225769043, + "learning_rate": 7.444223550067599e-06, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008736643474549055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38514779806137084, + "rkd_teacher_entropy": 3.7392067909240723, + "rkd_teacher_similarity_mean": 0.7804729819297791, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20540 + }, + { + "epoch": 5.979051498399767, + "flow_matching_loss": 0.012042026966810226, + "grad_norm": 0.11035288870334625, + "learning_rate": 7.429944348510964e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007341198856011033, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3818378567695618, + "rkd_teacher_entropy": 3.727781963348389, + "rkd_teacher_similarity_mean": 0.7785741269588471, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20550 + }, + { + "epoch": 5.981961012510911, + "flow_matching_loss": 0.011784915486350656, + "grad_norm": 0.10184518992900848, + "learning_rate": 7.415674345285763e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.011237082770094275, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815559774637222, + "rkd_teacher_entropy": 3.725847935676575, + "rkd_teacher_similarity_mean": 0.776987224817276, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20560 + }, + { + "epoch": 5.984870526622054, + "flow_matching_loss": 0.01308082123287022, + "grad_norm": 0.1356409341096878, + "learning_rate": 7.401413557731387e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008728027064353227, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38673700094223024, + "rkd_teacher_entropy": 3.7430108785629272, + "rkd_teacher_similarity_mean": 0.7839327275753021, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20570 + }, + { + "epoch": 5.987780040733197, + "flow_matching_loss": 0.01369020640850067, + "grad_norm": 0.14946554601192474, + "learning_rate": 7.387162003176037e-06, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0100251623429358, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3781307011842728, + "rkd_teacher_entropy": 3.7136679172515867, + "rkd_teacher_similarity_mean": 0.7731945514678955, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20580 + }, + { + "epoch": 5.990689554844341, + "flow_matching_loss": 0.0123619987629354, + "grad_norm": 0.09961266815662384, + "learning_rate": 7.372919698936697e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007941706571727991, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382231792807579, + "rkd_teacher_entropy": 3.7245117664337157, + "rkd_teacher_similarity_mean": 0.7778062522411346, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20590 + }, + { + "epoch": 5.9935990689554846, + "flow_matching_loss": 0.012625408824533224, + "grad_norm": 0.07963684946298599, + "learning_rate": 7.358686662319104e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008170375321060418, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37973455190658567, + "rkd_teacher_entropy": 3.7263778686523437, + "rkd_teacher_similarity_mean": 0.7769868493080139, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20600 + }, + { + "epoch": 5.996508583066628, + "flow_matching_loss": 0.01270055416971445, + "grad_norm": 0.0982455387711525, + "learning_rate": 7.344462910617752e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010456923814490437, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3734101265668869, + "rkd_teacher_entropy": 3.711397409439087, + "rkd_teacher_similarity_mean": 0.7704635560512543, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20610 + }, + { + "epoch": 5.999418097177771, + "flow_matching_loss": 0.011479985434561968, + "grad_norm": 0.13138483464717865, + "learning_rate": 7.330248461115832e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00813323026522994, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3742755204439163, + "rkd_teacher_entropy": 3.7027250051498415, + "rkd_teacher_similarity_mean": 0.771867835521698, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20620 + }, + { + "epoch": 6.002327611288915, + "flow_matching_loss": 0.013376501947641372, + "grad_norm": 0.13576273620128632, + "learning_rate": 7.316043331085242e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007630267553031445, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37858941555023196, + "rkd_teacher_entropy": 3.7210434913635253, + "rkd_teacher_similarity_mean": 0.7749502241611481, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20630 + }, + { + "epoch": 6.0052371254000585, + "flow_matching_loss": 0.012403300777077676, + "grad_norm": 0.10614428669214249, + "learning_rate": 7.30184753778655e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007396898558363318, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756174921989441, + "rkd_teacher_entropy": 3.705949902534485, + "rkd_teacher_similarity_mean": 0.770842719078064, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20640 + }, + { + "epoch": 6.008146639511201, + "flow_matching_loss": 0.011751709179952741, + "grad_norm": 0.09961822628974915, + "learning_rate": 7.2876610984689935e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008270262181758881, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3869452029466629, + "rkd_teacher_entropy": 3.744496059417725, + "rkd_teacher_similarity_mean": 0.78264000415802, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20650 + }, + { + "epoch": 6.011056153622345, + "flow_matching_loss": 0.01360705066472292, + "grad_norm": 0.17982837557792664, + "learning_rate": 7.273484030370423e-06, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010419613914564252, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808137118816376, + "rkd_teacher_entropy": 3.732722806930542, + "rkd_teacher_similarity_mean": 0.7755084335803986, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20660 + }, + { + "epoch": 6.013965667733489, + "flow_matching_loss": 0.010275288624688983, + "grad_norm": 0.10712473094463348, + "learning_rate": 7.259316350717324e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008670946303755044, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797898530960083, + "rkd_teacher_entropy": 3.7188796281814573, + "rkd_teacher_similarity_mean": 0.7745474696159362, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20670 + }, + { + "epoch": 6.0168751818446315, + "flow_matching_loss": 0.013181357178837061, + "grad_norm": 0.1166844367980957, + "learning_rate": 7.245158076724757e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008226727321743964, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37485322952270506, + "rkd_teacher_entropy": 3.7004061698913575, + "rkd_teacher_similarity_mean": 0.7697198688983917, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20680 + }, + { + "epoch": 6.019784695955775, + "flow_matching_loss": 0.01298974109813571, + "grad_norm": 0.09375645965337753, + "learning_rate": 7.23100922559636e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006761323427781463, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3792999595403671, + "rkd_teacher_entropy": 3.7266032695770264, + "rkd_teacher_similarity_mean": 0.7750715970993042, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20690 + }, + { + "epoch": 6.022694210066919, + "flow_matching_loss": 0.013679360225796699, + "grad_norm": 0.11639488488435745, + "learning_rate": 7.216869814524323e-06, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009910560771822929, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794778138399124, + "rkd_teacher_entropy": 3.728988289833069, + "rkd_teacher_similarity_mean": 0.7746796190738678, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20700 + }, + { + "epoch": 6.025603724178063, + "flow_matching_loss": 0.01178167569451034, + "grad_norm": 0.13700802624225616, + "learning_rate": 7.202739860689357e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008420113008469343, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38375180065631864, + "rkd_teacher_entropy": 3.7408982515335083, + "rkd_teacher_similarity_mean": 0.7791979551315308, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20710 + }, + { + "epoch": 6.0285132382892055, + "flow_matching_loss": 0.014531838661059737, + "grad_norm": 0.13570283353328705, + "learning_rate": 7.188619381260698e-06, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008791991183534265, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37722006142139436, + "rkd_teacher_entropy": 3.7102367162704466, + "rkd_teacher_similarity_mean": 0.7717797040939331, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20720 + }, + { + "epoch": 6.031422752400349, + "flow_matching_loss": 0.012634988315403462, + "grad_norm": 0.0945650264620781, + "learning_rate": 7.174508393396057e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006717392383143306, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38537018597126005, + "rkd_teacher_entropy": 3.7317950248718263, + "rkd_teacher_similarity_mean": 0.7805476546287536, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20730 + }, + { + "epoch": 6.034332266511493, + "flow_matching_loss": 0.011313880095258355, + "grad_norm": 0.10434910655021667, + "learning_rate": 7.160406914241615e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007096079457551241, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38260239362716675, + "rkd_teacher_entropy": 3.7224280834198, + "rkd_teacher_similarity_mean": 0.7781574010849, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20740 + }, + { + "epoch": 6.037241780622636, + "flow_matching_loss": 0.011927418410778046, + "grad_norm": 0.11204686760902405, + "learning_rate": 7.146314960931996e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006430648639798165, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382803675532341, + "rkd_teacher_entropy": 3.7293476104736327, + "rkd_teacher_similarity_mean": 0.7794534981250762, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20750 + }, + { + "epoch": 6.040151294733779, + "flow_matching_loss": 0.010807580780237913, + "grad_norm": 0.1663762927055359, + "learning_rate": 7.132232550590247e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009659282816573977, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382377615571022, + "rkd_teacher_entropy": 3.7253122091293336, + "rkd_teacher_similarity_mean": 0.7769502699375153, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20760 + }, + { + "epoch": 6.043060808844923, + "flow_matching_loss": 0.012628931179642677, + "grad_norm": 0.15348957479000092, + "learning_rate": 7.118159700327839e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008558537950739265, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796692878007889, + "rkd_teacher_entropy": 3.7288136005401613, + "rkd_teacher_similarity_mean": 0.7757457017898559, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20770 + }, + { + "epoch": 6.045970322956066, + "flow_matching_loss": 0.01228565126657486, + "grad_norm": 0.14193738996982574, + "learning_rate": 7.104096427244603e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00834412919357419, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38649257719516755, + "rkd_teacher_entropy": 3.7440719604492188, + "rkd_teacher_similarity_mean": 0.7824809849262238, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20780 + }, + { + "epoch": 6.04887983706721, + "flow_matching_loss": 0.011591987498104573, + "grad_norm": 0.09172511845827103, + "learning_rate": 7.090042748428737e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007681852579116822, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3803725838661194, + "rkd_teacher_entropy": 3.7229575872421266, + "rkd_teacher_similarity_mean": 0.7754150450229644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20790 + }, + { + "epoch": 6.051789351178353, + "flow_matching_loss": 0.01027652621269226, + "grad_norm": 0.22087779641151428, + "learning_rate": 7.075998680956797e-06, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006944826990365982, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834651231765747, + "rkd_teacher_entropy": 3.728385663032532, + "rkd_teacher_similarity_mean": 0.7792148590087891, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20800 + }, + { + "epoch": 6.054698865289497, + "flow_matching_loss": 0.01381876626983285, + "grad_norm": 0.12722475826740265, + "learning_rate": 7.061964241893639e-06, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009748131316155196, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3810981035232544, + "rkd_teacher_entropy": 3.7266285181045533, + "rkd_teacher_similarity_mean": 0.7756540358066559, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20810 + }, + { + "epoch": 6.05760837940064, + "flow_matching_loss": 0.011973205348476767, + "grad_norm": 0.14962168037891388, + "learning_rate": 7.047939448292442e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007578729186207056, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3826885610818863, + "rkd_teacher_entropy": 3.7301672220230104, + "rkd_teacher_similarity_mean": 0.7780223667621613, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20820 + }, + { + "epoch": 6.060517893511784, + "flow_matching_loss": 0.013423051312565803, + "grad_norm": 0.14658431708812714, + "learning_rate": 7.033924317194644e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009576043300330638, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3769139587879181, + "rkd_teacher_entropy": 3.7106929779052735, + "rkd_teacher_similarity_mean": 0.7715892255306244, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20830 + }, + { + "epoch": 6.063427407622927, + "flow_matching_loss": 0.010913477279245853, + "grad_norm": 0.13160954415798187, + "learning_rate": 7.0199188656299524e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007811513962224126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37410436272621156, + "rkd_teacher_entropy": 3.697385859489441, + "rkd_teacher_similarity_mean": 0.7672703504562378, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20840 + }, + { + "epoch": 6.06633692173407, + "flow_matching_loss": 0.012679985770955682, + "grad_norm": 0.1595761924982071, + "learning_rate": 7.005923110616313e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009736676001921296, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38390950858592987, + "rkd_teacher_entropy": 3.729783606529236, + "rkd_teacher_similarity_mean": 0.7792935788631439, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20850 + }, + { + "epoch": 6.069246435845214, + "flow_matching_loss": 0.012402560468763113, + "grad_norm": 0.13473783433437347, + "learning_rate": 6.9919370691598855e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007347044302150607, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38186733722686766, + "rkd_teacher_entropy": 3.7285717010498045, + "rkd_teacher_similarity_mean": 0.7768886864185334, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20860 + }, + { + "epoch": 6.0721559499563575, + "flow_matching_loss": 0.012648365879431366, + "grad_norm": 0.08938035368919373, + "learning_rate": 6.977960758255024e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008132080407813191, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864018201828003, + "rkd_teacher_entropy": 3.7349751710891725, + "rkd_teacher_similarity_mean": 0.7813579678535462, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20870 + }, + { + "epoch": 6.0750654640675, + "flow_matching_loss": 0.0111084986012429, + "grad_norm": 0.09392469376325607, + "learning_rate": 6.963994194884276e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007248044805601239, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3827307939529419, + "rkd_teacher_entropy": 3.721903085708618, + "rkd_teacher_similarity_mean": 0.77756427526474, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20880 + }, + { + "epoch": 6.077974978178644, + "flow_matching_loss": 0.01334378933534026, + "grad_norm": 0.11300693452358246, + "learning_rate": 6.950037396018328e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008675888925790787, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38189320266246796, + "rkd_teacher_entropy": 3.7382647514343263, + "rkd_teacher_similarity_mean": 0.7778551518917084, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20890 + }, + { + "epoch": 6.080884492289788, + "flow_matching_loss": 0.013165890518575907, + "grad_norm": 0.10678370296955109, + "learning_rate": 6.9360903786160056e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007537216925993562, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.386803337931633, + "rkd_teacher_entropy": 3.748734402656555, + "rkd_teacher_similarity_mean": 0.7815213441848755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20900 + }, + { + "epoch": 6.083794006400931, + "flow_matching_loss": 0.013411064818501472, + "grad_norm": 0.1197047084569931, + "learning_rate": 6.9221531596242485e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007267219061031937, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38738382458686826, + "rkd_teacher_entropy": 3.7472851037979127, + "rkd_teacher_similarity_mean": 0.7833461940288544, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20910 + }, + { + "epoch": 6.086703520512074, + "flow_matching_loss": 0.013485890859737993, + "grad_norm": 0.11629678308963776, + "learning_rate": 6.908225755978089e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007573705120012164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37591636180877686, + "rkd_teacher_entropy": 3.704911303520203, + "rkd_teacher_similarity_mean": 0.7713642597198487, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20920 + }, + { + "epoch": 6.089613034623218, + "flow_matching_loss": 0.011644120141863824, + "grad_norm": 0.1430061310529709, + "learning_rate": 6.8943081846006466e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007706076605245471, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38595553040504454, + "rkd_teacher_entropy": 3.733008289337158, + "rkd_teacher_similarity_mean": 0.7816902220249176, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20930 + }, + { + "epoch": 6.092522548734362, + "flow_matching_loss": 0.013357856450602413, + "grad_norm": 0.14688962697982788, + "learning_rate": 6.88040046240307e-06, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010377487260848283, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37848142385482786, + "rkd_teacher_entropy": 3.71572859287262, + "rkd_teacher_similarity_mean": 0.7742978692054748, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20940 + }, + { + "epoch": 6.0954320628455045, + "flow_matching_loss": 0.012843602010980249, + "grad_norm": 0.12104978412389755, + "learning_rate": 6.866502606284566e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008784393640235066, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808945506811142, + "rkd_teacher_entropy": 3.7106333494186403, + "rkd_teacher_similarity_mean": 0.775181120634079, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20950 + }, + { + "epoch": 6.098341576956648, + "flow_matching_loss": 0.013585922215133906, + "grad_norm": 0.13571743667125702, + "learning_rate": 6.852614633132335e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007830397225916386, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37716148495674134, + "rkd_teacher_entropy": 3.714184856414795, + "rkd_teacher_similarity_mean": 0.7708181023597718, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20960 + }, + { + "epoch": 6.101251091067792, + "flow_matching_loss": 0.013736431207507848, + "grad_norm": 0.11758192628622055, + "learning_rate": 6.8387365598215665e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008883112948387862, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790884852409363, + "rkd_teacher_entropy": 3.7106507778167725, + "rkd_teacher_similarity_mean": 0.7731575012207031, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20970 + }, + { + "epoch": 6.104160605178935, + "flow_matching_loss": 0.013069130200892686, + "grad_norm": 0.147654190659523, + "learning_rate": 6.82486840321544e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009215180901810527, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3793120443820953, + "rkd_teacher_entropy": 3.732123684883118, + "rkd_teacher_similarity_mean": 0.7754508912563324, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20980 + }, + { + "epoch": 6.1070701192900785, + "flow_matching_loss": 0.012516666203737259, + "grad_norm": 0.16086839139461517, + "learning_rate": 6.811010180165069e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007488125842064619, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870289593935013, + "rkd_teacher_entropy": 3.7394500732421876, + "rkd_teacher_similarity_mean": 0.7819957137107849, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20990 + }, + { + "epoch": 6.109979633401222, + "flow_matching_loss": 0.010897004511207342, + "grad_norm": 0.10988759249448776, + "learning_rate": 6.797161907509499e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073888431768864395, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38272877037525177, + "rkd_teacher_entropy": 3.7293162107467652, + "rkd_teacher_similarity_mean": 0.777822607755661, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21000 + }, + { + "epoch": 6.112889147512365, + "flow_matching_loss": 0.014285246841609478, + "grad_norm": 0.11552754044532776, + "learning_rate": 6.783323602075688e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007360764965415001, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38504232168197633, + "rkd_teacher_entropy": 3.7365092515945433, + "rkd_teacher_similarity_mean": 0.7810234367847443, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21010 + }, + { + "epoch": 6.115798661623509, + "flow_matching_loss": 0.013873458839952946, + "grad_norm": 0.12187957018613815, + "learning_rate": 6.7694952806784784e-06, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.01050383592955768, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38070766627788544, + "rkd_teacher_entropy": 3.731037425994873, + "rkd_teacher_similarity_mean": 0.7756823539733887, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21020 + }, + { + "epoch": 6.118708175734652, + "flow_matching_loss": 0.011948426300659776, + "grad_norm": 0.14275602996349335, + "learning_rate": 6.7556769601205944e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008592998934909701, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3881377995014191, + "rkd_teacher_entropy": 3.74207866191864, + "rkd_teacher_similarity_mean": 0.7829002618789673, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21030 + }, + { + "epoch": 6.121617689845796, + "flow_matching_loss": 0.013855939358472824, + "grad_norm": 0.11124115437269211, + "learning_rate": 6.741868657192594e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008316437108442187, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3781819462776184, + "rkd_teacher_entropy": 3.7113134622573853, + "rkd_teacher_similarity_mean": 0.7735360622406006, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21040 + }, + { + "epoch": 6.124527203956939, + "flow_matching_loss": 0.012550244107842445, + "grad_norm": 0.11955907940864563, + "learning_rate": 6.728070388672864e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009397597098723055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3849624454975128, + "rkd_teacher_entropy": 3.7377224206924438, + "rkd_teacher_similarity_mean": 0.7794662296772004, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21050 + }, + { + "epoch": 6.127436718068083, + "flow_matching_loss": 0.011711237905547022, + "grad_norm": 0.14043620228767395, + "learning_rate": 6.714282171327604e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009083126485347748, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3816706895828247, + "rkd_teacher_entropy": 3.710370945930481, + "rkd_teacher_similarity_mean": 0.7762827515602112, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21060 + }, + { + "epoch": 6.130346232179226, + "flow_matching_loss": 0.010885373083874583, + "grad_norm": 0.1404000073671341, + "learning_rate": 6.700504021910791e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008223719941452146, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38026801943778993, + "rkd_teacher_entropy": 3.7249576807022096, + "rkd_teacher_similarity_mean": 0.7752637922763824, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21070 + }, + { + "epoch": 6.133255746290369, + "flow_matching_loss": 0.013618146535009146, + "grad_norm": 0.14295485615730286, + "learning_rate": 6.68673595716419e-06, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009603636851534248, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37657153606414795, + "rkd_teacher_entropy": 3.711011862754822, + "rkd_teacher_similarity_mean": 0.7711779117584229, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21080 + }, + { + "epoch": 6.136165260401513, + "flow_matching_loss": 0.011791215371340513, + "grad_norm": 0.16039791703224182, + "learning_rate": 6.6729779938172856e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008767705736681819, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382161808013916, + "rkd_teacher_entropy": 3.723740887641907, + "rkd_teacher_similarity_mean": 0.776260256767273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21090 + }, + { + "epoch": 6.139074774512657, + "flow_matching_loss": 0.012245012586936355, + "grad_norm": 0.14225071668624878, + "learning_rate": 6.659230148587311e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00829685339704156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38309480547904967, + "rkd_teacher_entropy": 3.732524847984314, + "rkd_teacher_similarity_mean": 0.7771695494651795, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21100 + }, + { + "epoch": 6.141984288623799, + "flow_matching_loss": 0.011399592319503427, + "grad_norm": 0.11390151083469391, + "learning_rate": 6.645492438179188e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008046102104708552, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37380801141262054, + "rkd_teacher_entropy": 3.7021164178848265, + "rkd_teacher_similarity_mean": 0.7679087936878204, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21110 + }, + { + "epoch": 6.144893802734943, + "flow_matching_loss": 0.011933950241655111, + "grad_norm": 0.17375752329826355, + "learning_rate": 6.631764879285531e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008071605674922466, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3847703218460083, + "rkd_teacher_entropy": 3.7433942556381226, + "rkd_teacher_similarity_mean": 0.7801277101039886, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21120 + }, + { + "epoch": 6.147803316846087, + "flow_matching_loss": 0.013939299155026674, + "grad_norm": 0.1275339424610138, + "learning_rate": 6.618047488586614e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007832198496907949, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37170313000679017, + "rkd_teacher_entropy": 3.703456735610962, + "rkd_teacher_similarity_mean": 0.7670631051063538, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21130 + }, + { + "epoch": 6.1507128309572305, + "flow_matching_loss": 0.011488091247156263, + "grad_norm": 0.10983671993017197, + "learning_rate": 6.604340282750371e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009409748390316964, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3909462779760361, + "rkd_teacher_entropy": 3.7458613395690916, + "rkd_teacher_similarity_mean": 0.7852275192737579, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21140 + }, + { + "epoch": 6.153622345068373, + "flow_matching_loss": 0.011908420315012335, + "grad_norm": 0.11104673892259598, + "learning_rate": 6.590643278432342e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007192177884280682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3825129896402359, + "rkd_teacher_entropy": 3.7257477760314943, + "rkd_teacher_similarity_mean": 0.7770728409290314, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21150 + }, + { + "epoch": 6.156531859179517, + "flow_matching_loss": 0.011154417414218187, + "grad_norm": 0.10067812353372574, + "learning_rate": 6.576956492275682e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008385503012686969, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834530383348465, + "rkd_teacher_entropy": 3.723828983306885, + "rkd_teacher_similarity_mean": 0.7784559011459351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21160 + }, + { + "epoch": 6.159441373290661, + "flow_matching_loss": 0.012314682407304645, + "grad_norm": 0.11203788965940475, + "learning_rate": 6.563279940911124e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00802017915993929, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3882286578416824, + "rkd_teacher_entropy": 3.7581117153167725, + "rkd_teacher_similarity_mean": 0.7849332690238953, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21170 + }, + { + "epoch": 6.162350887401804, + "flow_matching_loss": 0.012169085908681154, + "grad_norm": 0.19706250727176666, + "learning_rate": 6.549613640956963e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010058450791984797, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779203504323959, + "rkd_teacher_entropy": 3.7046605587005614, + "rkd_teacher_similarity_mean": 0.772208821773529, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21180 + }, + { + "epoch": 6.165260401512947, + "flow_matching_loss": 0.014184643235057592, + "grad_norm": 0.13577784597873688, + "learning_rate": 6.535957609019053e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007518044300377369, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3907202661037445, + "rkd_teacher_entropy": 3.757172179222107, + "rkd_teacher_similarity_mean": 0.7848185777664185, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21190 + }, + { + "epoch": 6.168169915624091, + "flow_matching_loss": 0.011179940216243267, + "grad_norm": 0.10564714670181274, + "learning_rate": 6.5223118616907545e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008927820017561316, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806696206331253, + "rkd_teacher_entropy": 3.7146164894104006, + "rkd_teacher_similarity_mean": 0.7739941716194153, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21200 + }, + { + "epoch": 6.171079429735234, + "flow_matching_loss": 0.012867773324251175, + "grad_norm": 0.14457982778549194, + "learning_rate": 6.508676415552939e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009177527762949467, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37364418506622316, + "rkd_teacher_entropy": 3.702901101112366, + "rkd_teacher_similarity_mean": 0.766153359413147, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21210 + }, + { + "epoch": 6.1739889438463775, + "flow_matching_loss": 0.011018521571531891, + "grad_norm": 0.13125813007354736, + "learning_rate": 6.495051287173952e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010096549522131681, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37381142675876616, + "rkd_teacher_entropy": 3.696153450012207, + "rkd_teacher_similarity_mean": 0.7684024572372437, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21220 + }, + { + "epoch": 6.176898457957521, + "flow_matching_loss": 0.013591381069272757, + "grad_norm": 0.16082599759101868, + "learning_rate": 6.481436493109621e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009147481201216579, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38588852882385255, + "rkd_teacher_entropy": 3.7366825580596923, + "rkd_teacher_similarity_mean": 0.780247712135315, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21230 + }, + { + "epoch": 6.179807972068665, + "flow_matching_loss": 0.012519362801685929, + "grad_norm": 0.11920934170484543, + "learning_rate": 6.467832049903194e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008357359655201435, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3865099161863327, + "rkd_teacher_entropy": 3.734436774253845, + "rkd_teacher_similarity_mean": 0.7809221267700195, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21240 + }, + { + "epoch": 6.182717486179808, + "flow_matching_loss": 0.010078419372439385, + "grad_norm": 0.13593977689743042, + "learning_rate": 6.454237974085361e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008790425071492792, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38286676704883577, + "rkd_teacher_entropy": 3.7306238651275634, + "rkd_teacher_similarity_mean": 0.7779255211353302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21250 + }, + { + "epoch": 6.1856270002909515, + "flow_matching_loss": 0.011059831455349922, + "grad_norm": 0.11565294861793518, + "learning_rate": 6.440654282174203e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008894778834655882, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776513457298279, + "rkd_teacher_entropy": 3.7133979558944703, + "rkd_teacher_similarity_mean": 0.7726341664791108, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21260 + }, + { + "epoch": 6.188536514402095, + "flow_matching_loss": 0.011611889954656363, + "grad_norm": 0.1084827408194542, + "learning_rate": 6.427080990675187e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008274786360561847, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3826861470937729, + "rkd_teacher_entropy": 3.727410626411438, + "rkd_teacher_similarity_mean": 0.778374868631363, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21270 + }, + { + "epoch": 6.191446028513238, + "flow_matching_loss": 0.011165443202480673, + "grad_norm": 0.08071371912956238, + "learning_rate": 6.41351811608114e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072290079668164255, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38102592527866364, + "rkd_teacher_entropy": 3.7154930353164675, + "rkd_teacher_similarity_mean": 0.7757993876934052, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21280 + }, + { + "epoch": 6.194355542624382, + "flow_matching_loss": 0.012001126166433096, + "grad_norm": 0.14015935361385345, + "learning_rate": 6.399965674872228e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008383506443351507, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806298613548279, + "rkd_teacher_entropy": 3.725017023086548, + "rkd_teacher_similarity_mean": 0.7744003117084504, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21290 + }, + { + "epoch": 6.197265056735525, + "flow_matching_loss": 0.012504716077819467, + "grad_norm": 0.08973682671785355, + "learning_rate": 6.386423683515957e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007272079819813371, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3876767694950104, + "rkd_teacher_entropy": 3.746669578552246, + "rkd_teacher_similarity_mean": 0.7837742269039154, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21300 + }, + { + "epoch": 6.200174570846668, + "flow_matching_loss": 0.013996547739952802, + "grad_norm": 0.10216757655143738, + "learning_rate": 6.372892158467119e-06, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008522611949592829, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38972521424293516, + "rkd_teacher_entropy": 3.7594051361083984, + "rkd_teacher_similarity_mean": 0.787410444021225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21310 + }, + { + "epoch": 6.203084084957812, + "flow_matching_loss": 0.011233747098594904, + "grad_norm": 0.16087330877780914, + "learning_rate": 6.359371116167791e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008498901268467307, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38527846336364746, + "rkd_teacher_entropy": 3.7302831411361694, + "rkd_teacher_similarity_mean": 0.7790956437587738, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21320 + }, + { + "epoch": 6.205993599068956, + "flow_matching_loss": 0.011219364823773503, + "grad_norm": 0.1383533775806427, + "learning_rate": 6.345860573047314e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008331032050773502, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38108647167682647, + "rkd_teacher_entropy": 3.7125252723693847, + "rkd_teacher_similarity_mean": 0.7751430094242096, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21330 + }, + { + "epoch": 6.208903113180099, + "flow_matching_loss": 0.012105607148259877, + "grad_norm": 0.11900569498538971, + "learning_rate": 6.332360545522268e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008098638150840998, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3745267242193222, + "rkd_teacher_entropy": 3.6998509883880617, + "rkd_teacher_similarity_mean": 0.768570214509964, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21340 + }, + { + "epoch": 6.211812627291242, + "flow_matching_loss": 0.013935600407421589, + "grad_norm": 0.18390245735645294, + "learning_rate": 6.31887104999647e-06, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00869519105181098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37339467704296114, + "rkd_teacher_entropy": 3.702403116226196, + "rkd_teacher_similarity_mean": 0.768277907371521, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21350 + }, + { + "epoch": 6.214722141402386, + "flow_matching_loss": 0.012488308083266019, + "grad_norm": 0.13972695171833038, + "learning_rate": 6.305392102860924e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007466274639591574, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382967010140419, + "rkd_teacher_entropy": 3.727960228919983, + "rkd_teacher_similarity_mean": 0.7783674776554108, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21360 + }, + { + "epoch": 6.21763165551353, + "flow_matching_loss": 0.011792057193815708, + "grad_norm": 0.15870152413845062, + "learning_rate": 6.291923720493814e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009739619120955468, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833375066518784, + "rkd_teacher_entropy": 3.734060001373291, + "rkd_teacher_similarity_mean": 0.777477765083313, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21370 + }, + { + "epoch": 6.220541169624672, + "flow_matching_loss": 0.011018020706251264, + "grad_norm": 0.1330915242433548, + "learning_rate": 6.278465919260507e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008992029121145606, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37925487756729126, + "rkd_teacher_entropy": 3.722614622116089, + "rkd_teacher_similarity_mean": 0.77350252866745, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21380 + }, + { + "epoch": 6.223450683735816, + "flow_matching_loss": 0.011202674219384789, + "grad_norm": 0.10067185759544373, + "learning_rate": 6.26501871551349e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008359406888484956, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806878387928009, + "rkd_teacher_entropy": 3.7276832103729247, + "rkd_teacher_similarity_mean": 0.775518149137497, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21390 + }, + { + "epoch": 6.22636019784696, + "flow_matching_loss": 0.013149094954133033, + "grad_norm": 0.10889647901058197, + "learning_rate": 6.251582125592394e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009411431802436709, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37731789648532865, + "rkd_teacher_entropy": 3.728253650665283, + "rkd_teacher_similarity_mean": 0.7709510207176209, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21400 + }, + { + "epoch": 6.229269711958103, + "flow_matching_loss": 0.012521619256585837, + "grad_norm": 0.10042431205511093, + "learning_rate": 6.2381561658239386e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009048422006890178, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3871483147144318, + "rkd_teacher_entropy": 3.73353488445282, + "rkd_teacher_similarity_mean": 0.780584990978241, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21410 + }, + { + "epoch": 6.232179226069246, + "flow_matching_loss": 0.012289128778502346, + "grad_norm": 0.10086102038621902, + "learning_rate": 6.2247408525219276e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007452466944232583, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38735922873020173, + "rkd_teacher_entropy": 3.7577529430389403, + "rkd_teacher_similarity_mean": 0.781396895647049, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21420 + }, + { + "epoch": 6.23508874018039, + "flow_matching_loss": 0.011533693317323923, + "grad_norm": 0.11119037866592407, + "learning_rate": 6.2113362019872335e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008472186280414462, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3844716399908066, + "rkd_teacher_entropy": 3.735810089111328, + "rkd_teacher_similarity_mean": 0.7791853010654449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21430 + }, + { + "epoch": 6.237998254291533, + "flow_matching_loss": 0.01233963193371892, + "grad_norm": 0.15107902884483337, + "learning_rate": 6.197942230507772e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007661593658849597, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38351882696151735, + "rkd_teacher_entropy": 3.736190128326416, + "rkd_teacher_similarity_mean": 0.778048861026764, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21440 + }, + { + "epoch": 6.240907768402677, + "flow_matching_loss": 0.010989053454250098, + "grad_norm": 0.11485635489225388, + "learning_rate": 6.184558954358475e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007057622727006674, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38955781161785125, + "rkd_teacher_entropy": 3.749745726585388, + "rkd_teacher_similarity_mean": 0.7849169313907624, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21450 + }, + { + "epoch": 6.24381728251382, + "flow_matching_loss": 0.012128975475206971, + "grad_norm": 0.10100014507770538, + "learning_rate": 6.1711863898012965e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007000959711149335, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3917909383773804, + "rkd_teacher_entropy": 3.7629947662353516, + "rkd_teacher_similarity_mean": 0.7875990629196167, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21460 + }, + { + "epoch": 6.246726796624964, + "flow_matching_loss": 0.013506316021084786, + "grad_norm": 0.1143752932548523, + "learning_rate": 6.157824553085155e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007660247525200248, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806206494569778, + "rkd_teacher_entropy": 3.73189435005188, + "rkd_teacher_similarity_mean": 0.7757160425186157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21470 + }, + { + "epoch": 6.249636310736107, + "flow_matching_loss": 0.012688397709280253, + "grad_norm": 0.10543861985206604, + "learning_rate": 6.144473460445945e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007275784621015191, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38200628757476807, + "rkd_teacher_entropy": 3.733717846870422, + "rkd_teacher_similarity_mean": 0.7771677017211914, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21480 + }, + { + "epoch": 6.2525458248472505, + "flow_matching_loss": 0.012497332599014043, + "grad_norm": 0.1324499249458313, + "learning_rate": 6.131133128106503e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007495285104960203, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808537840843201, + "rkd_teacher_entropy": 3.730029034614563, + "rkd_teacher_similarity_mean": 0.7763552665710449, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21490 + }, + { + "epoch": 6.255455338958394, + "flow_matching_loss": 0.011331382533535361, + "grad_norm": 0.10398648679256439, + "learning_rate": 6.117803572276584e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007770422520115972, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843421846628189, + "rkd_teacher_entropy": 3.7420167446136476, + "rkd_teacher_similarity_mean": 0.7789525330066681, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21500 + }, + { + "epoch": 6.258364853069537, + "flow_matching_loss": 0.013097622757777571, + "grad_norm": 0.14104507863521576, + "learning_rate": 6.104484809152866e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006535449158400297, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771615862846375, + "rkd_teacher_entropy": 3.719578003883362, + "rkd_teacher_similarity_mean": 0.7713676929473877, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21510 + }, + { + "epoch": 6.261274367180681, + "flow_matching_loss": 0.013433069642633199, + "grad_norm": 0.1484571099281311, + "learning_rate": 6.091176854918892e-06, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008401671797037125, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3844198226928711, + "rkd_teacher_entropy": 3.7432897806167604, + "rkd_teacher_similarity_mean": 0.7786290645599365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21520 + }, + { + "epoch": 6.2641838812918245, + "flow_matching_loss": 0.011201625736430288, + "grad_norm": 0.18601547181606293, + "learning_rate": 6.077879725745092e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007661067182198167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38457250595092773, + "rkd_teacher_entropy": 3.719454455375671, + "rkd_teacher_similarity_mean": 0.7786464810371398, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21530 + }, + { + "epoch": 6.267093395402968, + "flow_matching_loss": 0.011796484887599944, + "grad_norm": 0.1269068568944931, + "learning_rate": 6.064593437788727e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00759549573995173, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38689630925655366, + "rkd_teacher_entropy": 3.7498302459716797, + "rkd_teacher_similarity_mean": 0.7816648066043854, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21540 + }, + { + "epoch": 6.270002909514111, + "flow_matching_loss": 0.012731919856742024, + "grad_norm": 0.1341732144355774, + "learning_rate": 6.051318007193881e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008557561924681068, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37717153429985045, + "rkd_teacher_entropy": 3.7065250396728517, + "rkd_teacher_similarity_mean": 0.7711446106433868, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21550 + }, + { + "epoch": 6.272912423625255, + "flow_matching_loss": 0.012408677209168672, + "grad_norm": 0.11521261185407639, + "learning_rate": 6.038053450091469e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007841188600286842, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790042281150818, + "rkd_teacher_entropy": 3.7128850698471068, + "rkd_teacher_similarity_mean": 0.7733743488788605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21560 + }, + { + "epoch": 6.275821937736398, + "flow_matching_loss": 0.011867249244824052, + "grad_norm": 0.11575306206941605, + "learning_rate": 6.0247997825991705e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007596581662073732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3817490667104721, + "rkd_teacher_entropy": 3.7381813526153564, + "rkd_teacher_similarity_mean": 0.7773664832115174, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21570 + }, + { + "epoch": 6.278731451847541, + "flow_matching_loss": 0.012502951826900244, + "grad_norm": 0.10467302054166794, + "learning_rate": 6.011557020821444e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007148409448564053, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815020591020584, + "rkd_teacher_entropy": 3.7241750955581665, + "rkd_teacher_similarity_mean": 0.7757274866104126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21580 + }, + { + "epoch": 6.281640965958685, + "flow_matching_loss": 0.011827542493119837, + "grad_norm": 0.1212804913520813, + "learning_rate": 5.99832518084949e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006604152033105493, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3866893440485001, + "rkd_teacher_entropy": 3.740203619003296, + "rkd_teacher_similarity_mean": 0.781132036447525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21590 + }, + { + "epoch": 6.284550480069829, + "flow_matching_loss": 0.011983619909733534, + "grad_norm": 0.12308963388204575, + "learning_rate": 5.98510427876124e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007441370328888297, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37355736792087557, + "rkd_teacher_entropy": 3.7002377033233644, + "rkd_teacher_similarity_mean": 0.7684787213802338, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21600 + }, + { + "epoch": 6.2874599941809715, + "flow_matching_loss": 0.012920659594237804, + "grad_norm": 0.10137265175580978, + "learning_rate": 5.971894330621344e-06, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010012537147849799, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37354027628898623, + "rkd_teacher_entropy": 3.702097177505493, + "rkd_teacher_similarity_mean": 0.7690911591053009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21610 + }, + { + "epoch": 6.290369508292115, + "flow_matching_loss": 0.011832856899127364, + "grad_norm": 0.1132131963968277, + "learning_rate": 5.958695352481134e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006922475527971983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843198448419571, + "rkd_teacher_entropy": 3.732027459144592, + "rkd_teacher_similarity_mean": 0.7796786069869995, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21620 + }, + { + "epoch": 6.293279022403259, + "flow_matching_loss": 0.011535406718030572, + "grad_norm": 0.12553386390209198, + "learning_rate": 5.945507360378608e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00729389819316566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3842720568180084, + "rkd_teacher_entropy": 3.729090857505798, + "rkd_teacher_similarity_mean": 0.7789693772792816, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21630 + }, + { + "epoch": 6.296188536514402, + "flow_matching_loss": 0.011173173785209656, + "grad_norm": 0.11449620872735977, + "learning_rate": 5.9323303703384225e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007547746459022164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38195153772830964, + "rkd_teacher_entropy": 3.7182668447494507, + "rkd_teacher_similarity_mean": 0.7764009237289429, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21640 + }, + { + "epoch": 6.299098050625545, + "flow_matching_loss": 0.012233347306028009, + "grad_norm": 0.0867556557059288, + "learning_rate": 5.919164398371857e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008556769555434584, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38044138848781583, + "rkd_teacher_entropy": 3.714899706840515, + "rkd_teacher_similarity_mean": 0.7736453175544739, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21650 + }, + { + "epoch": 6.302007564736689, + "flow_matching_loss": 0.01106033050455153, + "grad_norm": 0.08882647752761841, + "learning_rate": 5.906009460476818e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006715529970824719, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3804709643125534, + "rkd_teacher_entropy": 3.7217534303665163, + "rkd_teacher_similarity_mean": 0.7746038258075714, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21660 + }, + { + "epoch": 6.304917078847833, + "flow_matching_loss": 0.012560862069949507, + "grad_norm": 0.10646119713783264, + "learning_rate": 5.892865572637789e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007186914188787341, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37827415466308595, + "rkd_teacher_entropy": 3.7095566034317016, + "rkd_teacher_similarity_mean": 0.7727689325809479, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21670 + }, + { + "epoch": 6.307826592958976, + "flow_matching_loss": 0.013656654860824347, + "grad_norm": 0.1339038610458374, + "learning_rate": 5.8797327508258396e-06, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009042830299586057, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3717892825603485, + "rkd_teacher_entropy": 3.700146484375, + "rkd_teacher_similarity_mean": 0.76521155834198, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21680 + }, + { + "epoch": 6.310736107070119, + "flow_matching_loss": 0.010216719005256891, + "grad_norm": 0.12577080726623535, + "learning_rate": 5.866611010998584e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007669290853664279, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843920469284058, + "rkd_teacher_entropy": 3.724462556838989, + "rkd_teacher_similarity_mean": 0.7786037027835846, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21690 + }, + { + "epoch": 6.313645621181263, + "flow_matching_loss": 0.013245639624074101, + "grad_norm": 0.12306693196296692, + "learning_rate": 5.853500369100172e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008220357168465853, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807913839817047, + "rkd_teacher_entropy": 3.731161093711853, + "rkd_teacher_similarity_mean": 0.7752762198448181, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21700 + }, + { + "epoch": 6.316555135292406, + "flow_matching_loss": 0.01205472219735384, + "grad_norm": 0.10669633746147156, + "learning_rate": 5.840400841061265e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00915695815347135, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771049231290817, + "rkd_teacher_entropy": 3.7183264255523683, + "rkd_teacher_similarity_mean": 0.771333247423172, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21710 + }, + { + "epoch": 6.31946464940355, + "flow_matching_loss": 0.012284757755696773, + "grad_norm": 0.14797618985176086, + "learning_rate": 5.827312442799034e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007640561182051897, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39171873927116396, + "rkd_teacher_entropy": 3.7502753496170045, + "rkd_teacher_similarity_mean": 0.7868120312690735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21720 + }, + { + "epoch": 6.322374163514693, + "flow_matching_loss": 0.011703748628497124, + "grad_norm": 0.12940983474254608, + "learning_rate": 5.814235190217114e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008550546038895846, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38367309272289274, + "rkd_teacher_entropy": 3.7160457134246827, + "rkd_teacher_similarity_mean": 0.7768655061721802, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21730 + }, + { + "epoch": 6.325283677625836, + "flow_matching_loss": 0.010962377302348614, + "grad_norm": 0.09262565523386002, + "learning_rate": 5.801169099205599e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008380322018638253, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832153081893921, + "rkd_teacher_entropy": 3.7160229682922363, + "rkd_teacher_similarity_mean": 0.7761479437351226, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21740 + }, + { + "epoch": 6.32819319173698, + "flow_matching_loss": 0.0125994972884655, + "grad_norm": 0.15181274712085724, + "learning_rate": 5.788114185641022e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008391637913882732, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3911570817232132, + "rkd_teacher_entropy": 3.73863263130188, + "rkd_teacher_similarity_mean": 0.7855484068393708, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21750 + }, + { + "epoch": 6.3311027058481235, + "flow_matching_loss": 0.01212175413966179, + "grad_norm": 0.10663865506649017, + "learning_rate": 5.775070465386328e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010238467203453182, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870486468076706, + "rkd_teacher_entropy": 3.737805795669556, + "rkd_teacher_similarity_mean": 0.7813230335712433, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21760 + }, + { + "epoch": 6.334012219959266, + "flow_matching_loss": 0.01187763810157776, + "grad_norm": 0.1426001638174057, + "learning_rate": 5.7620379542908765e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007429330283775926, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38285543620586393, + "rkd_teacher_entropy": 3.722307586669922, + "rkd_teacher_similarity_mean": 0.7775143980979919, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21770 + }, + { + "epoch": 6.33692173407041, + "flow_matching_loss": 0.012374056968837976, + "grad_norm": 0.1281256526708603, + "learning_rate": 5.749016668190395e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008942026784643531, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37996270656585696, + "rkd_teacher_entropy": 3.710712933540344, + "rkd_teacher_similarity_mean": 0.7729575157165527, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21780 + }, + { + "epoch": 6.339831248181554, + "flow_matching_loss": 0.0099066027905792, + "grad_norm": 0.10349001735448837, + "learning_rate": 5.736006622906973e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00673920544795692, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38800171911716463, + "rkd_teacher_entropy": 3.738475203514099, + "rkd_teacher_similarity_mean": 0.7816262245178223, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21790 + }, + { + "epoch": 6.3427407622926975, + "flow_matching_loss": 0.012781486008316278, + "grad_norm": 0.1467750519514084, + "learning_rate": 5.723007834249034e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008168448600918055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38392570316791536, + "rkd_teacher_entropy": 3.7246105670928955, + "rkd_teacher_similarity_mean": 0.7774551451206207, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21800 + }, + { + "epoch": 6.34565027640384, + "flow_matching_loss": 0.012675828812643886, + "grad_norm": 0.13393819332122803, + "learning_rate": 5.710020318011346e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007464842824265361, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38719004690647124, + "rkd_teacher_entropy": 3.733260154724121, + "rkd_teacher_similarity_mean": 0.7809082508087158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21810 + }, + { + "epoch": 6.348559790514984, + "flow_matching_loss": 0.012237021559849381, + "grad_norm": 0.14155088365077972, + "learning_rate": 5.697044089974955e-06, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010570242255926132, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38212802410125735, + "rkd_teacher_entropy": 3.7276840925216677, + "rkd_teacher_similarity_mean": 0.7746845483779907, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21820 + }, + { + "epoch": 6.351469304626128, + "flow_matching_loss": 0.012739147571846843, + "grad_norm": 0.12039363384246826, + "learning_rate": 5.68407916590721e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075508302077651026, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3817638784646988, + "rkd_teacher_entropy": 3.718761920928955, + "rkd_teacher_similarity_mean": 0.7750889241695404, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21830 + }, + { + "epoch": 6.3543788187372705, + "flow_matching_loss": 0.011852583568543195, + "grad_norm": 0.1331750750541687, + "learning_rate": 5.671125561561713e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006698314705863595, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3738155037164688, + "rkd_teacher_entropy": 3.7035261392593384, + "rkd_teacher_similarity_mean": 0.7672412753105163, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21840 + }, + { + "epoch": 6.357288332848414, + "flow_matching_loss": 0.012968419678509235, + "grad_norm": 0.10053291916847229, + "learning_rate": 5.658183292678315e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00704349996522069, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37707825303077697, + "rkd_teacher_entropy": 3.7048644542694094, + "rkd_teacher_similarity_mean": 0.7706792473793029, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21850 + }, + { + "epoch": 6.360197846959558, + "flow_matching_loss": 0.013134948210790753, + "grad_norm": 0.10813934355974197, + "learning_rate": 5.645252374983091e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007076402101665736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3891059815883636, + "rkd_teacher_entropy": 3.7456947565078735, + "rkd_teacher_similarity_mean": 0.7818143010139466, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21860 + }, + { + "epoch": 6.363107361070702, + "flow_matching_loss": 0.012700879201292991, + "grad_norm": 0.10990343242883682, + "learning_rate": 5.6323328241883224e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007312218286097049, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38557531833648684, + "rkd_teacher_entropy": 3.731450843811035, + "rkd_teacher_similarity_mean": 0.7784176468849182, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21870 + }, + { + "epoch": 6.3660168751818444, + "flow_matching_loss": 0.012575352378189564, + "grad_norm": 0.11948467046022415, + "learning_rate": 5.61942465599249e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009580043656751514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38929844796657564, + "rkd_teacher_entropy": 3.7468308925628664, + "rkd_teacher_similarity_mean": 0.7837294042110443, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21880 + }, + { + "epoch": 6.368926389292988, + "flow_matching_loss": 0.012951467977836728, + "grad_norm": 0.16186796128749847, + "learning_rate": 5.60652788608023e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0100816429592669, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3811442255973816, + "rkd_teacher_entropy": 3.7139624118804933, + "rkd_teacher_similarity_mean": 0.7745883166790009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21890 + }, + { + "epoch": 6.371835903404132, + "flow_matching_loss": 0.011731642019003629, + "grad_norm": 0.08302320539951324, + "learning_rate": 5.593642530122336e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007960817497223615, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38368760645389555, + "rkd_teacher_entropy": 3.728353500366211, + "rkd_teacher_similarity_mean": 0.7785407483577729, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21900 + }, + { + "epoch": 6.374745417515275, + "flow_matching_loss": 0.011691837618127466, + "grad_norm": 0.13049541413784027, + "learning_rate": 5.58076860377573e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.005657046427950263, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39972968995571134, + "rkd_teacher_entropy": 3.776976132392883, + "rkd_teacher_similarity_mean": 0.7945793807506562, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21910 + }, + { + "epoch": 6.377654931626418, + "flow_matching_loss": 0.011399278370663523, + "grad_norm": 0.17686209082603455, + "learning_rate": 5.567906122683439e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008258416363969446, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39089841246604917, + "rkd_teacher_entropy": 3.748264765739441, + "rkd_teacher_similarity_mean": 0.7850627958774566, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21920 + }, + { + "epoch": 6.380564445737562, + "flow_matching_loss": 0.01492781899869442, + "grad_norm": 0.11428774893283844, + "learning_rate": 5.555055102474604e-06, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009780689235776662, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851150363683701, + "rkd_teacher_entropy": 3.7267199993133544, + "rkd_teacher_similarity_mean": 0.7796912372112275, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21930 + }, + { + "epoch": 6.383473959848705, + "flow_matching_loss": 0.012838165462017059, + "grad_norm": 0.10900195688009262, + "learning_rate": 5.542215558764421e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008097720704972744, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833024173974991, + "rkd_teacher_entropy": 3.7332451820373533, + "rkd_teacher_similarity_mean": 0.7777716040611267, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21940 + }, + { + "epoch": 6.386383473959849, + "flow_matching_loss": 0.011830734089016914, + "grad_norm": 0.13559667766094208, + "learning_rate": 5.529387507154138e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007261572265997529, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779466897249222, + "rkd_teacher_entropy": 3.7103270292282104, + "rkd_teacher_similarity_mean": 0.7730096578598022, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21950 + }, + { + "epoch": 6.389292988070992, + "flow_matching_loss": 0.011444671824574471, + "grad_norm": 0.10555577278137207, + "learning_rate": 5.516570963231058e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006590451812371612, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37977713346481323, + "rkd_teacher_entropy": 3.7170995235443116, + "rkd_teacher_similarity_mean": 0.774224704504013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21960 + }, + { + "epoch": 6.392202502182135, + "flow_matching_loss": 0.012282554991543293, + "grad_norm": 0.13118314743041992, + "learning_rate": 5.503765942568484e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006993822474032641, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38728093206882475, + "rkd_teacher_entropy": 3.744588589668274, + "rkd_teacher_similarity_mean": 0.7813795685768128, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21970 + }, + { + "epoch": 6.395112016293279, + "flow_matching_loss": 0.013167926203459501, + "grad_norm": 0.09935963898897171, + "learning_rate": 5.49097246072573e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008318209508433937, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38605771362781527, + "rkd_teacher_entropy": 3.749570441246033, + "rkd_teacher_similarity_mean": 0.7799945652484894, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21980 + }, + { + "epoch": 6.398021530404423, + "flow_matching_loss": 0.011872017197310925, + "grad_norm": 0.10577522218227386, + "learning_rate": 5.4781905332480805e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008285639341920614, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3795837849378586, + "rkd_teacher_entropy": 3.7210363149642944, + "rkd_teacher_similarity_mean": 0.7743766129016876, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21990 + }, + { + "epoch": 6.400931044515566, + "flow_matching_loss": 0.012705219769850373, + "grad_norm": 0.12200034409761429, + "learning_rate": 5.4654201756667795e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008615715987980365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38085782527923584, + "rkd_teacher_entropy": 3.722543740272522, + "rkd_teacher_similarity_mean": 0.7751511573791504, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22000 + }, + { + "epoch": 6.403840558626709, + "flow_matching_loss": 0.011329586058855057, + "grad_norm": 0.15618692338466644, + "learning_rate": 5.452661403499017e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007313825096935034, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37728723883628845, + "rkd_teacher_entropy": 3.7185639142990112, + "rkd_teacher_similarity_mean": 0.7720824301242828, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22010 + }, + { + "epoch": 6.406750072737853, + "flow_matching_loss": 0.01242675594985485, + "grad_norm": 0.1384754329919815, + "learning_rate": 5.4399142322479005e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007490393612533808, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38783007562160493, + "rkd_teacher_entropy": 3.730547308921814, + "rkd_teacher_similarity_mean": 0.7817550361156463, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22020 + }, + { + "epoch": 6.4096595868489965, + "flow_matching_loss": 0.01130312904715538, + "grad_norm": 0.18227802217006683, + "learning_rate": 5.427178677402452e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00773957185447216, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37328779995441436, + "rkd_teacher_entropy": 3.703774428367615, + "rkd_teacher_similarity_mean": 0.767600679397583, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22030 + }, + { + "epoch": 6.412569100960139, + "flow_matching_loss": 0.011214395891875029, + "grad_norm": 0.16678257286548615, + "learning_rate": 5.41445475443757e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008895411202684046, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38626521825790405, + "rkd_teacher_entropy": 3.738714408874512, + "rkd_teacher_similarity_mean": 0.7804295241832733, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22040 + }, + { + "epoch": 6.415478615071283, + "flow_matching_loss": 0.01276660468429327, + "grad_norm": 0.11986333131790161, + "learning_rate": 5.4017424788140194e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00830393061041832, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3821855872869492, + "rkd_teacher_entropy": 3.727911376953125, + "rkd_teacher_similarity_mean": 0.7771552681922913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22050 + }, + { + "epoch": 6.418388129182427, + "flow_matching_loss": 0.00975370043888688, + "grad_norm": 0.11812718212604523, + "learning_rate": 5.389041865978414e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007699239021167159, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3871142417192459, + "rkd_teacher_entropy": 3.737507939338684, + "rkd_teacher_similarity_mean": 0.7804812729358673, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22060 + }, + { + "epoch": 6.4212976432935704, + "flow_matching_loss": 0.012210333673283457, + "grad_norm": 0.11624744534492493, + "learning_rate": 5.37635293136319e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007887003524228931, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831554114818573, + "rkd_teacher_entropy": 3.7265460968017576, + "rkd_teacher_similarity_mean": 0.7766455471515655, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22070 + }, + { + "epoch": 6.424207157404713, + "flow_matching_loss": 0.011508988216519356, + "grad_norm": 0.11576834321022034, + "learning_rate": 5.363675690386609e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009327413933351635, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381451216340065, + "rkd_teacher_entropy": 3.715389776229858, + "rkd_teacher_similarity_mean": 0.7754658281803131, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22080 + }, + { + "epoch": 6.427116671515857, + "flow_matching_loss": 0.01128550893627107, + "grad_norm": 0.14828848838806152, + "learning_rate": 5.351010158452708e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006262593623250723, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38838891983032225, + "rkd_teacher_entropy": 3.7411589860916137, + "rkd_teacher_similarity_mean": 0.7821758449077606, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22090 + }, + { + "epoch": 6.430026185627001, + "flow_matching_loss": 0.01170653197914362, + "grad_norm": 0.09554338455200195, + "learning_rate": 5.338356350951308e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008182441582903266, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3926006704568863, + "rkd_teacher_entropy": 3.756012201309204, + "rkd_teacher_similarity_mean": 0.7857619285583496, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22100 + }, + { + "epoch": 6.4329356997381435, + "flow_matching_loss": 0.012857799185439944, + "grad_norm": 0.12592138350009918, + "learning_rate": 5.325714283257974e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008228880679234862, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38562256991863253, + "rkd_teacher_entropy": 3.73685462474823, + "rkd_teacher_similarity_mean": 0.779132080078125, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22110 + }, + { + "epoch": 6.435845213849287, + "flow_matching_loss": 0.010332257905974983, + "grad_norm": 0.11734951287508011, + "learning_rate": 5.313083970734013e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00865992708131671, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794094353914261, + "rkd_teacher_entropy": 3.7113285303115844, + "rkd_teacher_similarity_mean": 0.7718883275985717, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22120 + }, + { + "epoch": 6.438754727960431, + "flow_matching_loss": 0.013139444589614867, + "grad_norm": 0.09817422181367874, + "learning_rate": 5.300465428726439e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007079030340537429, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39022551774978637, + "rkd_teacher_entropy": 3.7498174905776978, + "rkd_teacher_similarity_mean": 0.7839028537273407, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22130 + }, + { + "epoch": 6.441664242071574, + "flow_matching_loss": 0.011505168303847313, + "grad_norm": 0.12043794989585876, + "learning_rate": 5.287858672567979e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007354791089892387, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3791699200868607, + "rkd_teacher_entropy": 3.710330677032471, + "rkd_teacher_similarity_mean": 0.7722023606300354, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22140 + }, + { + "epoch": 6.444573756182717, + "flow_matching_loss": 0.011983741680160165, + "grad_norm": 0.1547611951828003, + "learning_rate": 5.275263717577028e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007211320800706744, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3882352977991104, + "rkd_teacher_entropy": 3.747745156288147, + "rkd_teacher_similarity_mean": 0.7827746868133545, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22150 + }, + { + "epoch": 6.447483270293861, + "flow_matching_loss": 0.014692473690956831, + "grad_norm": 0.09866537153720856, + "learning_rate": 5.2626805790576435e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065354253631085156, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3795166403055191, + "rkd_teacher_entropy": 3.7250657081604004, + "rkd_teacher_similarity_mean": 0.7734712600708008, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22160 + }, + { + "epoch": 6.450392784405004, + "flow_matching_loss": 0.01214124714024365, + "grad_norm": 0.13795851171016693, + "learning_rate": 5.250109272299523e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007041143300011754, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.391112157702446, + "rkd_teacher_entropy": 3.7480466604232787, + "rkd_teacher_similarity_mean": 0.7847600400447845, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22170 + }, + { + "epoch": 6.453302298516148, + "flow_matching_loss": 0.011676614219322801, + "grad_norm": 0.10057157278060913, + "learning_rate": 5.237549812577987e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007196045387536288, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37784840166568756, + "rkd_teacher_entropy": 3.7151808738708496, + "rkd_teacher_similarity_mean": 0.7702130258083344, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22180 + }, + { + "epoch": 6.456211812627291, + "flow_matching_loss": 0.010610855976119637, + "grad_norm": 0.10969075560569763, + "learning_rate": 5.225002215153973e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00871046823449433, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37884439826011657, + "rkd_teacher_entropy": 3.719309687614441, + "rkd_teacher_similarity_mean": 0.7724323511123657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22190 + }, + { + "epoch": 6.459121326738435, + "flow_matching_loss": 0.011792016960680485, + "grad_norm": 0.1443798691034317, + "learning_rate": 5.21246649527399e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007065335987135768, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38319266140460967, + "rkd_teacher_entropy": 3.7354987382888796, + "rkd_teacher_similarity_mean": 0.7764358401298523, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22200 + }, + { + "epoch": 6.462030840849578, + "flow_matching_loss": 0.014425724791362882, + "grad_norm": 0.10737115144729614, + "learning_rate": 5.199942668170118e-06, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00787831749767065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3842576265335083, + "rkd_teacher_entropy": 3.7350208044052122, + "rkd_teacher_similarity_mean": 0.7773861169815064, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22210 + }, + { + "epoch": 6.464940354960722, + "flow_matching_loss": 0.010954098030924796, + "grad_norm": 0.11709430813789368, + "learning_rate": 5.187430749059986e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006728263245895505, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38770530819892884, + "rkd_teacher_entropy": 3.741483521461487, + "rkd_teacher_similarity_mean": 0.7814802527427673, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22220 + }, + { + "epoch": 6.467849869071865, + "flow_matching_loss": 0.01100891288369894, + "grad_norm": 0.10482905060052872, + "learning_rate": 5.174930753146763e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065555709414184095, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3920259654521942, + "rkd_teacher_entropy": 3.7482333898544313, + "rkd_teacher_similarity_mean": 0.7850316286087036, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22230 + }, + { + "epoch": 6.470759383183008, + "flow_matching_loss": 0.010782382264733315, + "grad_norm": 0.11923310160636902, + "learning_rate": 5.162442695619114e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00803911592811346, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.389053413271904, + "rkd_teacher_entropy": 3.749398112297058, + "rkd_teacher_similarity_mean": 0.782400494813919, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22240 + }, + { + "epoch": 6.473668897294152, + "flow_matching_loss": 0.010894565936177969, + "grad_norm": 0.1067514717578888, + "learning_rate": 5.149966591651215e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006257672002539039, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37974908351898196, + "rkd_teacher_entropy": 3.7145771741867066, + "rkd_teacher_similarity_mean": 0.7732984602451325, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22250 + }, + { + "epoch": 6.4765784114052956, + "flow_matching_loss": 0.01136760707013309, + "grad_norm": 0.14092111587524414, + "learning_rate": 5.137502456402705e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00770082944072783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3838124513626099, + "rkd_teacher_entropy": 3.7240226030349732, + "rkd_teacher_similarity_mean": 0.7775490462779999, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22260 + }, + { + "epoch": 6.479487925516438, + "flow_matching_loss": 0.012025015335530043, + "grad_norm": 0.11771614849567413, + "learning_rate": 5.125050305018683e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074972737114876505, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37987745106220244, + "rkd_teacher_entropy": 3.7179964542388917, + "rkd_teacher_similarity_mean": 0.7740643084049225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22270 + }, + { + "epoch": 6.482397439627582, + "flow_matching_loss": 0.012962551601231099, + "grad_norm": 0.12519878149032593, + "learning_rate": 5.112610152629687e-06, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009203637391328812, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38257372081279756, + "rkd_teacher_entropy": 3.729960584640503, + "rkd_teacher_similarity_mean": 0.7762545704841614, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22280 + }, + { + "epoch": 6.485306953738726, + "flow_matching_loss": 0.011170272808521986, + "grad_norm": 0.10393264144659042, + "learning_rate": 5.10018201435167e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008046362083405256, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3822164922952652, + "rkd_teacher_entropy": 3.7244425058364867, + "rkd_teacher_similarity_mean": 0.7753047227859498, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22290 + }, + { + "epoch": 6.488216467849869, + "flow_matching_loss": 0.013107192795723676, + "grad_norm": 0.14403994381427765, + "learning_rate": 5.087765905286004e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008229572186246514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38126365542411805, + "rkd_teacher_entropy": 3.7110084533691405, + "rkd_teacher_similarity_mean": 0.7737255692481995, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22300 + }, + { + "epoch": 6.491125981961012, + "flow_matching_loss": 0.011886210506781935, + "grad_norm": 0.09762248396873474, + "learning_rate": 5.0753618405194245e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008175073517486453, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820976674556732, + "rkd_teacher_entropy": 3.7233683586120607, + "rkd_teacher_similarity_mean": 0.7747895777225494, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22310 + }, + { + "epoch": 6.494035496072156, + "flow_matching_loss": 0.011577557912096382, + "grad_norm": 0.13641969859600067, + "learning_rate": 5.062969835124042e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008230410376563668, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3809196203947067, + "rkd_teacher_entropy": 3.727152109146118, + "rkd_teacher_similarity_mean": 0.7748187124729157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22320 + }, + { + "epoch": 6.4969450101833, + "flow_matching_loss": 0.013884240575134755, + "grad_norm": 0.09767906367778778, + "learning_rate": 5.05058990415731e-06, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009153930051252247, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808966904878616, + "rkd_teacher_entropy": 3.730340600013733, + "rkd_teacher_similarity_mean": 0.7733899176120758, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22330 + }, + { + "epoch": 6.4998545242944425, + "flow_matching_loss": 0.01244991309940815, + "grad_norm": 0.1396806836128235, + "learning_rate": 5.038222062662007e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00811995891854167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39017283022403715, + "rkd_teacher_entropy": 3.7299665927886965, + "rkd_teacher_similarity_mean": 0.783279824256897, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22340 + }, + { + "epoch": 6.502764038405586, + "flow_matching_loss": 0.013330574845895171, + "grad_norm": 0.129248708486557, + "learning_rate": 5.025866325666237e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00798179511912167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38597950637340545, + "rkd_teacher_entropy": 3.7340288400650024, + "rkd_teacher_similarity_mean": 0.7787954449653626, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22350 + }, + { + "epoch": 6.50567355251673, + "flow_matching_loss": 0.010084331315010787, + "grad_norm": 0.0958157554268837, + "learning_rate": 5.013522708183383e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008125603618100285, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38567401468753815, + "rkd_teacher_entropy": 3.7342376470565797, + "rkd_teacher_similarity_mean": 0.7783859670162201, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22360 + }, + { + "epoch": 6.508583066627873, + "flow_matching_loss": 0.012986555881798267, + "grad_norm": 0.11078930646181107, + "learning_rate": 5.001191225212096e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007080439105629921, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38230914175510405, + "rkd_teacher_entropy": 3.7294825315475464, + "rkd_teacher_similarity_mean": 0.7766905665397644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22370 + }, + { + "epoch": 6.5114925807390165, + "flow_matching_loss": 0.011698021367192269, + "grad_norm": 0.11554448306560516, + "learning_rate": 4.9888718917363e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008443581825122237, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815519720315933, + "rkd_teacher_entropy": 3.729893445968628, + "rkd_teacher_similarity_mean": 0.7762500584125519, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22380 + }, + { + "epoch": 6.51440209485016, + "flow_matching_loss": 0.013298176694661379, + "grad_norm": 0.10909150540828705, + "learning_rate": 4.9765647227251395e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006621189974248409, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808626443147659, + "rkd_teacher_entropy": 3.7100647926330566, + "rkd_teacher_similarity_mean": 0.7743308305740356, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22390 + }, + { + "epoch": 6.517311608961304, + "flow_matching_loss": 0.011791341193020343, + "grad_norm": 0.1219521015882492, + "learning_rate": 4.964269733132992e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010157329961657524, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868550568819046, + "rkd_teacher_entropy": 3.7471837043762206, + "rkd_teacher_similarity_mean": 0.7799518883228302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22400 + }, + { + "epoch": 6.520221123072447, + "flow_matching_loss": 0.01321880631148815, + "grad_norm": 0.12396540492773056, + "learning_rate": 4.951986937899428e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006431052880361676, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828554391860962, + "rkd_teacher_entropy": 3.7270755767822266, + "rkd_teacher_similarity_mean": 0.7758879005908966, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22410 + }, + { + "epoch": 6.52313063718359, + "flow_matching_loss": 0.013392324186861515, + "grad_norm": 0.11178907006978989, + "learning_rate": 4.9397163519492e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068291874136775736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3809810698032379, + "rkd_teacher_entropy": 3.7230865001678466, + "rkd_teacher_similarity_mean": 0.773485517501831, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22420 + }, + { + "epoch": 6.526040151294734, + "flow_matching_loss": 0.011425834521651268, + "grad_norm": 0.1462448388338089, + "learning_rate": 4.9274579901922275e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008197298413142562, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3922592490911484, + "rkd_teacher_entropy": 3.7556877374649047, + "rkd_teacher_similarity_mean": 0.785375440120697, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22430 + }, + { + "epoch": 6.528949665405877, + "flow_matching_loss": 0.012043660879135132, + "grad_norm": 0.13528433442115784, + "learning_rate": 4.9152118675235705e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007737078936770558, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3856495350599289, + "rkd_teacher_entropy": 3.7228262662887572, + "rkd_teacher_similarity_mean": 0.7791716814041137, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22440 + }, + { + "epoch": 6.531859179517021, + "flow_matching_loss": 0.01278137881308794, + "grad_norm": 0.08209846168756485, + "learning_rate": 4.902977998823432e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007628952711820602, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3890861600637436, + "rkd_teacher_entropy": 3.7399330377578734, + "rkd_teacher_similarity_mean": 0.7821415483951568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22450 + }, + { + "epoch": 6.534768693628164, + "flow_matching_loss": 0.013322769803926349, + "grad_norm": 0.08398997783660889, + "learning_rate": 4.890756398957114e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006475133448839187, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3846439689397812, + "rkd_teacher_entropy": 3.7296308279037476, + "rkd_teacher_similarity_mean": 0.7784640371799469, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22460 + }, + { + "epoch": 6.537678207739307, + "flow_matching_loss": 0.010501539893448352, + "grad_norm": 0.10087960958480835, + "learning_rate": 4.8785470827750075e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008435715455561876, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37802793383598327, + "rkd_teacher_entropy": 3.7028799772262575, + "rkd_teacher_similarity_mean": 0.7705552518367768, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22470 + }, + { + "epoch": 6.540587721850451, + "flow_matching_loss": 0.010737359337508679, + "grad_norm": 0.0933627039194107, + "learning_rate": 4.866350065112588e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006819499842822552, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843695133924484, + "rkd_teacher_entropy": 3.729019117355347, + "rkd_teacher_similarity_mean": 0.7774018824100495, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22480 + }, + { + "epoch": 6.543497235961595, + "flow_matching_loss": 0.010068383859470486, + "grad_norm": 0.12452055513858795, + "learning_rate": 4.854165360790381e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008286698302254081, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38656907677650454, + "rkd_teacher_entropy": 3.7372947454452516, + "rkd_teacher_similarity_mean": 0.779758071899414, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22490 + }, + { + "epoch": 6.546406750072737, + "flow_matching_loss": 0.011594938347116113, + "grad_norm": 0.1483432799577713, + "learning_rate": 4.8419929846139425e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007239674031734466, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38246325254440305, + "rkd_teacher_entropy": 3.7176027297973633, + "rkd_teacher_similarity_mean": 0.7745544731616973, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22500 + }, + { + "epoch": 6.549316264183881, + "flow_matching_loss": 0.012151230359449983, + "grad_norm": 0.12333832681179047, + "learning_rate": 4.829832951373872e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00893493858166039, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37633754312992096, + "rkd_teacher_entropy": 3.714508628845215, + "rkd_teacher_similarity_mean": 0.7688801050186157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22510 + }, + { + "epoch": 6.552225778295025, + "flow_matching_loss": 0.013257428724318742, + "grad_norm": 0.09294387698173523, + "learning_rate": 4.817685275845746e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006953953625634312, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3865246832370758, + "rkd_teacher_entropy": 3.7389464139938355, + "rkd_teacher_similarity_mean": 0.7794990301132202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22520 + }, + { + "epoch": 6.5551352924061685, + "flow_matching_loss": 0.010028111655265093, + "grad_norm": 0.11099270731210709, + "learning_rate": 4.805549972790143e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008540393318980932, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37971151471138, + "rkd_teacher_entropy": 3.7231136083602907, + "rkd_teacher_similarity_mean": 0.7718241572380066, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22530 + }, + { + "epoch": 6.558044806517311, + "flow_matching_loss": 0.01231778454966843, + "grad_norm": 0.12473887950181961, + "learning_rate": 4.7934270569525966e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077680536080151795, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834768205881119, + "rkd_teacher_entropy": 3.7168612241744996, + "rkd_teacher_similarity_mean": 0.7760625541210174, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22540 + }, + { + "epoch": 6.560954320628455, + "flow_matching_loss": 0.01244242493994534, + "grad_norm": 0.09403647482395172, + "learning_rate": 4.7813165430635874e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007556705456227064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3879539012908936, + "rkd_teacher_entropy": 3.7363902807235716, + "rkd_teacher_similarity_mean": 0.7801589131355285, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22550 + }, + { + "epoch": 6.563863834739599, + "flow_matching_loss": 0.010331444162875413, + "grad_norm": 0.09982707351446152, + "learning_rate": 4.769218445838544e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007153445016592741, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864268273115158, + "rkd_teacher_entropy": 3.735321116447449, + "rkd_teacher_similarity_mean": 0.7801399886608124, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22560 + }, + { + "epoch": 6.566773348850742, + "flow_matching_loss": 0.011726538185030222, + "grad_norm": 0.10417623817920685, + "learning_rate": 4.757132779977787e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008236793102696538, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38175615966320037, + "rkd_teacher_entropy": 3.725579118728638, + "rkd_teacher_similarity_mean": 0.7750892400741577, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22570 + }, + { + "epoch": 6.569682862961885, + "flow_matching_loss": 0.012592471670359373, + "grad_norm": 0.12418779730796814, + "learning_rate": 4.745059560166542e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007968764891847968, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38133672177791594, + "rkd_teacher_entropy": 3.7295389652252195, + "rkd_teacher_similarity_mean": 0.7759494185447693, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22580 + }, + { + "epoch": 6.572592377073029, + "flow_matching_loss": 0.011378932651132346, + "grad_norm": 0.1350075602531433, + "learning_rate": 4.732998801074911e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00906241750344634, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3907361477613449, + "rkd_teacher_entropy": 3.748870372772217, + "rkd_teacher_similarity_mean": 0.783402931690216, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22590 + }, + { + "epoch": 6.575501891184173, + "flow_matching_loss": 0.011208899132907391, + "grad_norm": 0.12929853796958923, + "learning_rate": 4.7209505173578445e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006318765319883823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840735852718353, + "rkd_teacher_entropy": 3.7292684078216554, + "rkd_teacher_similarity_mean": 0.7761163592338562, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22600 + }, + { + "epoch": 6.5784114052953155, + "flow_matching_loss": 0.01391811678186059, + "grad_norm": 0.111345574259758, + "learning_rate": 4.7089147236551555e-06, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009977806778624653, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38847701251506805, + "rkd_teacher_entropy": 3.74108943939209, + "rkd_teacher_similarity_mean": 0.7800719916820527, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22610 + }, + { + "epoch": 6.581320919406459, + "flow_matching_loss": 0.012919893767684699, + "grad_norm": 0.1194966733455658, + "learning_rate": 4.696891434591464e-06, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00974031542427838, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.388324448466301, + "rkd_teacher_entropy": 3.7416351556777956, + "rkd_teacher_similarity_mean": 0.780311506986618, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22620 + }, + { + "epoch": 6.584230433517602, + "flow_matching_loss": 0.012552284449338914, + "grad_norm": 0.11996407061815262, + "learning_rate": 4.684880664776199e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009241467621177436, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3802788496017456, + "rkd_teacher_entropy": 3.720534634590149, + "rkd_teacher_similarity_mean": 0.7718320190906525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22630 + }, + { + "epoch": 6.587139947628746, + "flow_matching_loss": 0.010879927780479193, + "grad_norm": 0.11843399703502655, + "learning_rate": 4.6728824288035784e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010555576300248504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3924314647912979, + "rkd_teacher_entropy": 3.756316137313843, + "rkd_teacher_similarity_mean": 0.7849250257015228, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22640 + }, + { + "epoch": 6.5900494617398895, + "flow_matching_loss": 0.012141715921461581, + "grad_norm": 0.10397157818078995, + "learning_rate": 4.660896741252586e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008201075717806816, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39111349880695345, + "rkd_teacher_entropy": 3.7548155307769777, + "rkd_teacher_similarity_mean": 0.783770614862442, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22650 + }, + { + "epoch": 6.592958975851033, + "flow_matching_loss": 0.012726266914978624, + "grad_norm": 0.15994331240653992, + "learning_rate": 4.6489236166869714e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006905405316501856, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3798079460859299, + "rkd_teacher_entropy": 3.7182899475097657, + "rkd_teacher_similarity_mean": 0.7727404832839966, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22660 + }, + { + "epoch": 6.595868489962176, + "flow_matching_loss": 0.013639394938945771, + "grad_norm": 0.09922130405902863, + "learning_rate": 4.6369630696552e-06, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008861839724704623, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38017775416374205, + "rkd_teacher_entropy": 3.7116559028625487, + "rkd_teacher_similarity_mean": 0.7734803080558776, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22670 + }, + { + "epoch": 6.59877800407332, + "flow_matching_loss": 0.011522690393030643, + "grad_norm": 0.10809771716594696, + "learning_rate": 4.625015114690474e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008780743600800634, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38378584682941436, + "rkd_teacher_entropy": 3.7339298725128174, + "rkd_teacher_similarity_mean": 0.7770243883132935, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22680 + }, + { + "epoch": 6.601687518184463, + "flow_matching_loss": 0.01281037675216794, + "grad_norm": 0.10617242753505707, + "learning_rate": 4.613079766310682e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00840524840168655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831514656543732, + "rkd_teacher_entropy": 3.7241778135299684, + "rkd_teacher_similarity_mean": 0.7752171814441681, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22690 + }, + { + "epoch": 6.604597032295606, + "flow_matching_loss": 0.011983634484931827, + "grad_norm": 0.09974369406700134, + "learning_rate": 4.601157039018396e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007515752036124468, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38314777314662934, + "rkd_teacher_entropy": 3.735300898551941, + "rkd_teacher_similarity_mean": 0.7767763674259186, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22700 + }, + { + "epoch": 6.60750654640675, + "flow_matching_loss": 0.01365788746625185, + "grad_norm": 0.11525147408246994, + "learning_rate": 4.589246947300849e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007067392952740193, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38849870562553407, + "rkd_teacher_entropy": 3.7374141693115233, + "rkd_teacher_similarity_mean": 0.7821198523044586, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22710 + }, + { + "epoch": 6.610416060517894, + "flow_matching_loss": 0.012935075024142862, + "grad_norm": 0.178154855966568, + "learning_rate": 4.577349505629936e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008411963982507587, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38734470307826996, + "rkd_teacher_entropy": 3.74359610080719, + "rkd_teacher_similarity_mean": 0.7808930277824402, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22720 + }, + { + "epoch": 6.613325574629037, + "flow_matching_loss": 0.011129004880785942, + "grad_norm": 0.0911908820271492, + "learning_rate": 4.565464728462165e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008410448161885142, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3865381509065628, + "rkd_teacher_entropy": 3.7462138652801515, + "rkd_teacher_similarity_mean": 0.7798836052417755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22730 + }, + { + "epoch": 6.61623508874018, + "flow_matching_loss": 0.012892916053533553, + "grad_norm": 0.11407628655433655, + "learning_rate": 4.553592630238663e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008008089056238532, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37975128591060636, + "rkd_teacher_entropy": 3.698879337310791, + "rkd_teacher_similarity_mean": 0.7715690910816193, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22740 + }, + { + "epoch": 6.619144602851324, + "flow_matching_loss": 0.011959121469408274, + "grad_norm": 0.15423281490802765, + "learning_rate": 4.541733225385146e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0102191929705441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38837496340274813, + "rkd_teacher_entropy": 3.739996004104614, + "rkd_teacher_similarity_mean": 0.7796910405158997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22750 + }, + { + "epoch": 6.622054116962468, + "flow_matching_loss": 0.012491523195058108, + "grad_norm": 0.11315981298685074, + "learning_rate": 4.529886528311905e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077975635882467035, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3797433704137802, + "rkd_teacher_entropy": 3.711987543106079, + "rkd_teacher_similarity_mean": 0.7709598064422607, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22760 + }, + { + "epoch": 6.62496363107361, + "flow_matching_loss": 0.012433401215821505, + "grad_norm": 0.10120510309934616, + "learning_rate": 4.5180525534138045e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008273246046155692, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37829514443874357, + "rkd_teacher_entropy": 3.694607877731323, + "rkd_teacher_similarity_mean": 0.7706990897655487, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22770 + }, + { + "epoch": 6.627873145184754, + "flow_matching_loss": 0.012435090309008957, + "grad_norm": 0.11148754507303238, + "learning_rate": 4.506231315070235e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009302953630685807, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38199783861637115, + "rkd_teacher_entropy": 3.7236917495727537, + "rkd_teacher_similarity_mean": 0.7737395286560058, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22780 + }, + { + "epoch": 6.630782659295898, + "flow_matching_loss": 0.011626767832785845, + "grad_norm": 0.10804009437561035, + "learning_rate": 4.494422827645115e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006374935107305646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39200504422187804, + "rkd_teacher_entropy": 3.7493942260742186, + "rkd_teacher_similarity_mean": 0.7850196361541748, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22790 + }, + { + "epoch": 6.633692173407041, + "flow_matching_loss": 0.010061402432620525, + "grad_norm": 0.11445087194442749, + "learning_rate": 4.482627105486865e-06, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007207409385591746, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39242022931575776, + "rkd_teacher_entropy": 3.7507490158081054, + "rkd_teacher_similarity_mean": 0.7860605001449585, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22800 + }, + { + "epoch": 6.636601687518184, + "flow_matching_loss": 0.011733666108921171, + "grad_norm": 0.14432671666145325, + "learning_rate": 4.470844162928412e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007186207640916109, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37957305312156675, + "rkd_teacher_entropy": 3.7130285024642946, + "rkd_teacher_similarity_mean": 0.7732462882995605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22810 + }, + { + "epoch": 6.639511201629328, + "flow_matching_loss": 0.01015481841750443, + "grad_norm": 0.10110113024711609, + "learning_rate": 4.459074014287129e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007822024449706078, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39277176558971405, + "rkd_teacher_entropy": 3.7421977519989014, + "rkd_teacher_similarity_mean": 0.7858995795249939, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22820 + }, + { + "epoch": 6.642420715740471, + "flow_matching_loss": 0.008721323031932116, + "grad_norm": 0.07408366352319717, + "learning_rate": 4.447316673864869e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006249289354309439, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3932115435600281, + "rkd_teacher_entropy": 3.7535999059677123, + "rkd_teacher_similarity_mean": 0.7872459411621093, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22830 + }, + { + "epoch": 6.645330229851615, + "flow_matching_loss": 0.011692307889461517, + "grad_norm": 0.18631397187709808, + "learning_rate": 4.435572155947903e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008848154358565808, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741443991661072, + "rkd_teacher_entropy": 3.706237316131592, + "rkd_teacher_similarity_mean": 0.7671949803829193, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22840 + }, + { + "epoch": 6.648239743962758, + "flow_matching_loss": 0.011320759542286396, + "grad_norm": 0.12355877459049225, + "learning_rate": 4.423840474806929e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010059610940515995, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.387431663274765, + "rkd_teacher_entropy": 3.738378095626831, + "rkd_teacher_similarity_mean": 0.7794516384601593, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22850 + }, + { + "epoch": 6.651149258073902, + "flow_matching_loss": 0.011770610604435206, + "grad_norm": 0.0913923904299736, + "learning_rate": 4.412121644697043e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008033073274418712, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39478965699672697, + "rkd_teacher_entropy": 3.7631723165512083, + "rkd_teacher_similarity_mean": 0.7875403940677643, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22860 + }, + { + "epoch": 6.654058772185045, + "flow_matching_loss": 0.013062047446146608, + "grad_norm": 0.10077299922704697, + "learning_rate": 4.400415679857727e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008666709437966347, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38191369771957395, + "rkd_teacher_entropy": 3.724427008628845, + "rkd_teacher_similarity_mean": 0.7735052585601807, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22870 + }, + { + "epoch": 6.6569682862961885, + "flow_matching_loss": 0.013111061695963145, + "grad_norm": 0.113691546022892, + "learning_rate": 4.388722594512838e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007753105089068413, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831155180931091, + "rkd_teacher_entropy": 3.716593027114868, + "rkd_teacher_similarity_mean": 0.7759298801422119, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22880 + }, + { + "epoch": 6.659877800407332, + "flow_matching_loss": 0.011670574685558677, + "grad_norm": 0.1484437882900238, + "learning_rate": 4.377042402870577e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00799951357766986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38967127203941343, + "rkd_teacher_entropy": 3.7426045417785643, + "rkd_teacher_similarity_mean": 0.7816357493400574, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22890 + }, + { + "epoch": 6.662787314518475, + "flow_matching_loss": 0.011152039933949708, + "grad_norm": 0.09286731481552124, + "learning_rate": 4.365375119123476e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007351715117692947, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37933928370475767, + "rkd_teacher_entropy": 3.7118083477020263, + "rkd_teacher_similarity_mean": 0.7713989615440369, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22900 + }, + { + "epoch": 6.665696828629619, + "flow_matching_loss": 0.01161824050359428, + "grad_norm": 0.10727626085281372, + "learning_rate": 4.353720757448383e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007993008941411972, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38609662353992463, + "rkd_teacher_entropy": 3.726615881919861, + "rkd_teacher_similarity_mean": 0.77886803150177, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22910 + }, + { + "epoch": 6.6686063427407625, + "flow_matching_loss": 0.01300539094954729, + "grad_norm": 0.14696800708770752, + "learning_rate": 4.342079332006445e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006837992509827018, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814334511756897, + "rkd_teacher_entropy": 3.726017427444458, + "rkd_teacher_similarity_mean": 0.7739070773124694, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22920 + }, + { + "epoch": 6.671515856851906, + "flow_matching_loss": 0.012607993278652429, + "grad_norm": 0.09752928465604782, + "learning_rate": 4.330450856943101e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007368799857795238, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3782319039106369, + "rkd_teacher_entropy": 3.7039106130599975, + "rkd_teacher_similarity_mean": 0.7699793756008149, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22930 + }, + { + "epoch": 6.674425370963049, + "flow_matching_loss": 0.012096353713423014, + "grad_norm": 0.15233942866325378, + "learning_rate": 4.318835346388036e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009009894682094455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38713291585445403, + "rkd_teacher_entropy": 3.732119417190552, + "rkd_teacher_similarity_mean": 0.7808400213718414, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22940 + }, + { + "epoch": 6.677334885074193, + "flow_matching_loss": 0.010195689601823687, + "grad_norm": 0.12944217026233673, + "learning_rate": 4.307232814455189e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006735393451526761, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38320358395576476, + "rkd_teacher_entropy": 3.729426407814026, + "rkd_teacher_similarity_mean": 0.7758788704872132, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22950 + }, + { + "epoch": 6.680244399185336, + "flow_matching_loss": 0.010360439587384463, + "grad_norm": 0.10746835172176361, + "learning_rate": 4.29564327524274e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007267007697373628, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38296107947826385, + "rkd_teacher_entropy": 3.714091086387634, + "rkd_teacher_similarity_mean": 0.7747857391834259, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22960 + }, + { + "epoch": 6.683153913296479, + "flow_matching_loss": 0.01199435880407691, + "grad_norm": 0.11958707869052887, + "learning_rate": 4.284066742833061e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008213446009904146, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814697414636612, + "rkd_teacher_entropy": 3.7248575925827025, + "rkd_teacher_similarity_mean": 0.7727732121944427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22970 + }, + { + "epoch": 6.686063427407623, + "flow_matching_loss": 0.012806478980928659, + "grad_norm": 0.12291627377271652, + "learning_rate": 4.272503231292741e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008958883443847298, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853765487670898, + "rkd_teacher_entropy": 3.7373943090438844, + "rkd_teacher_similarity_mean": 0.7769550502300262, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22980 + }, + { + "epoch": 6.688972941518767, + "flow_matching_loss": 0.012633240316063166, + "grad_norm": 0.12238486111164093, + "learning_rate": 4.260952754672532e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008208517404273152, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.376438969373703, + "rkd_teacher_entropy": 3.7085813999176027, + "rkd_teacher_similarity_mean": 0.768987512588501, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22990 + }, + { + "epoch": 6.6918824556299095, + "flow_matching_loss": 0.012008523754775523, + "grad_norm": 0.09492086619138718, + "learning_rate": 4.249415327007353e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008653466776013374, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38309099078178405, + "rkd_teacher_entropy": 3.7265966653823854, + "rkd_teacher_similarity_mean": 0.7756582736968994, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23000 + }, + { + "epoch": 6.694791969741053, + "flow_matching_loss": 0.011518019065260888, + "grad_norm": 0.15162712335586548, + "learning_rate": 4.237890962316264e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007985379081219435, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3880650460720062, + "rkd_teacher_entropy": 3.7469897985458376, + "rkd_teacher_similarity_mean": 0.7816857099533081, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23010 + }, + { + "epoch": 6.697701483852197, + "flow_matching_loss": 0.011144278524443507, + "grad_norm": 0.08868435025215149, + "learning_rate": 4.226379674602452e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008308438258245588, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38450506925582884, + "rkd_teacher_entropy": 3.7300829172134398, + "rkd_teacher_similarity_mean": 0.7779787600040435, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23020 + }, + { + "epoch": 6.70061099796334, + "flow_matching_loss": 0.012609324092045427, + "grad_norm": 0.10933759063482285, + "learning_rate": 4.214881477853227e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069009348750114444, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3866968244314194, + "rkd_teacher_entropy": 3.74332013130188, + "rkd_teacher_similarity_mean": 0.7792049884796143, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23030 + }, + { + "epoch": 6.703520512074483, + "flow_matching_loss": 0.012602887395769358, + "grad_norm": 0.10628820955753326, + "learning_rate": 4.2033963860399745e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00735680884681642, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3826632022857666, + "rkd_teacher_entropy": 3.711228108406067, + "rkd_teacher_similarity_mean": 0.7746249318122864, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23040 + }, + { + "epoch": 6.706430026185627, + "flow_matching_loss": 0.01518087200820446, + "grad_norm": 0.1306179314851761, + "learning_rate": 4.1919244131181696e-06, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00819306941702962, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37732730209827425, + "rkd_teacher_entropy": 3.7088717460632323, + "rkd_teacher_similarity_mean": 0.769459867477417, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23050 + }, + { + "epoch": 6.709339540296771, + "flow_matching_loss": 0.011112779378890991, + "grad_norm": 0.10368102043867111, + "learning_rate": 4.180465573027335e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009044790733605623, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776757508516312, + "rkd_teacher_entropy": 3.7121718168258666, + "rkd_teacher_similarity_mean": 0.7698525726795197, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23060 + }, + { + "epoch": 6.712249054407914, + "flow_matching_loss": 0.011366518586874009, + "grad_norm": 0.13217593729496002, + "learning_rate": 4.169019879691046e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009910725057125092, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39303649961948395, + "rkd_teacher_entropy": 3.7601142168045043, + "rkd_teacher_similarity_mean": 0.7855594456195831, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23070 + }, + { + "epoch": 6.715158568519057, + "flow_matching_loss": 0.01215723268687725, + "grad_norm": 0.13939695060253143, + "learning_rate": 4.157587347016891e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008768357802182436, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3778384953737259, + "rkd_teacher_entropy": 3.7176236629486086, + "rkd_teacher_similarity_mean": 0.769955325126648, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23080 + }, + { + "epoch": 6.718068082630201, + "flow_matching_loss": 0.011518838396295906, + "grad_norm": 0.09843114763498306, + "learning_rate": 4.14616798889649e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007391929812729359, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3890163958072662, + "rkd_teacher_entropy": 3.7435670852661134, + "rkd_teacher_similarity_mean": 0.7814871490001678, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23090 + }, + { + "epoch": 6.720977596741344, + "flow_matching_loss": 0.012780772615224123, + "grad_norm": 0.11793320626020432, + "learning_rate": 4.134761819205425e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071608207654207945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853503555059433, + "rkd_teacher_entropy": 3.7237709283828737, + "rkd_teacher_similarity_mean": 0.7779807031154633, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23100 + }, + { + "epoch": 6.723887110852488, + "flow_matching_loss": 0.012592990836128592, + "grad_norm": 0.09367311745882034, + "learning_rate": 4.1233688518032794e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007597765559330583, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3944475620985031, + "rkd_teacher_entropy": 3.7597256660461427, + "rkd_teacher_similarity_mean": 0.7877131819725036, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23110 + }, + { + "epoch": 6.726796624963631, + "flow_matching_loss": 0.011864992557093501, + "grad_norm": 0.11451452970504761, + "learning_rate": 4.1119891005335795e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007362616481259465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38131932020187376, + "rkd_teacher_entropy": 3.718866801261902, + "rkd_teacher_similarity_mean": 0.7743430435657501, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23120 + }, + { + "epoch": 6.729706139074775, + "flow_matching_loss": 0.01147620789706707, + "grad_norm": 0.11900702863931656, + "learning_rate": 4.1006225792237895e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00724652148783207, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39180499911308286, + "rkd_teacher_entropy": 3.7528306245803833, + "rkd_teacher_similarity_mean": 0.7848369836807251, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23130 + }, + { + "epoch": 6.732615653185918, + "flow_matching_loss": 0.010319687006995083, + "grad_norm": 0.11985904723405838, + "learning_rate": 4.089269301685314e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007829598011448979, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3825560361146927, + "rkd_teacher_entropy": 3.7211926937103272, + "rkd_teacher_similarity_mean": 0.7749386966228485, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23140 + }, + { + "epoch": 6.7355251672970615, + "flow_matching_loss": 0.014134942181408405, + "grad_norm": 0.15027566254138947, + "learning_rate": 4.077929281713453e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071134260855615136, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39290002584457395, + "rkd_teacher_entropy": 3.758902668952942, + "rkd_teacher_similarity_mean": 0.7851213276386261, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23150 + }, + { + "epoch": 6.738434681408204, + "flow_matching_loss": 0.013018170651048423, + "grad_norm": 0.10083382576704025, + "learning_rate": 4.066602533087398e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008480611257255077, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837136834859848, + "rkd_teacher_entropy": 3.7223177433013914, + "rkd_teacher_similarity_mean": 0.7763090431690216, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23160 + }, + { + "epoch": 6.741344195519348, + "flow_matching_loss": 0.010609076730906964, + "grad_norm": 0.10013104975223541, + "learning_rate": 4.0552890695702175e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00736021101474762, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3763185054063797, + "rkd_teacher_entropy": 3.699540686607361, + "rkd_teacher_similarity_mean": 0.768613052368164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23170 + }, + { + "epoch": 6.744253709630492, + "flow_matching_loss": 0.012329061375930905, + "grad_norm": 0.08905713260173798, + "learning_rate": 4.04398890490883e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007186767924576998, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3842202454805374, + "rkd_teacher_entropy": 3.7201650142669678, + "rkd_teacher_similarity_mean": 0.7765065193176269, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23180 + }, + { + "epoch": 6.7471632237416355, + "flow_matching_loss": 0.012852990999817848, + "grad_norm": 0.11337132751941681, + "learning_rate": 4.032702052834013e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006829090416431427, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37914509177207945, + "rkd_teacher_entropy": 3.7159311532974244, + "rkd_teacher_similarity_mean": 0.7716179132461548, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23190 + }, + { + "epoch": 6.750072737852778, + "flow_matching_loss": 0.010832478664815426, + "grad_norm": 0.15041181445121765, + "learning_rate": 4.021428527060352e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008323236368596554, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3816281795501709, + "rkd_teacher_entropy": 3.7152405977249146, + "rkd_teacher_similarity_mean": 0.7747415363788605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23200 + }, + { + "epoch": 6.752982251963922, + "flow_matching_loss": 0.010470231249928474, + "grad_norm": 0.13004350662231445, + "learning_rate": 4.010168341286241e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007201165286824107, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38027755320072176, + "rkd_teacher_entropy": 3.7195656299591064, + "rkd_teacher_similarity_mean": 0.7722574293613433, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23210 + }, + { + "epoch": 6.755891766075066, + "flow_matching_loss": 0.01153233777731657, + "grad_norm": 0.10072281211614609, + "learning_rate": 3.998921509193868e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006778085790574551, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38032808899879456, + "rkd_teacher_entropy": 3.713705134391785, + "rkd_teacher_similarity_mean": 0.7720852673053742, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23220 + }, + { + "epoch": 6.7588012801862085, + "flow_matching_loss": 0.011235094722360372, + "grad_norm": 0.10725084692239761, + "learning_rate": 3.987688044449193e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073678766842931506, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38676972687244415, + "rkd_teacher_entropy": 3.7324132919311523, + "rkd_teacher_similarity_mean": 0.7787757337093353, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23230 + }, + { + "epoch": 6.761710794297352, + "flow_matching_loss": 0.012872201669961215, + "grad_norm": 0.12306446582078934, + "learning_rate": 3.9764679607019385e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008962949411943555, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38313632607460024, + "rkd_teacher_entropy": 3.726352095603943, + "rkd_teacher_similarity_mean": 0.7752854228019714, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23240 + }, + { + "epoch": 6.764620308408496, + "flow_matching_loss": 0.011374519066885113, + "grad_norm": 0.10727757215499878, + "learning_rate": 3.965261271585561e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008243830222636462, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38546193242073057, + "rkd_teacher_entropy": 3.7385550498962403, + "rkd_teacher_similarity_mean": 0.7775510489940644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23250 + }, + { + "epoch": 6.76752982251964, + "flow_matching_loss": 0.013157224841415882, + "grad_norm": 0.088704414665699, + "learning_rate": 3.954067990717251e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008204413205385208, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771370708942413, + "rkd_teacher_entropy": 3.7045151472091673, + "rkd_teacher_similarity_mean": 0.7701968729496003, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23260 + }, + { + "epoch": 6.7704393366307825, + "flow_matching_loss": 0.01039836797863245, + "grad_norm": 0.09045405685901642, + "learning_rate": 3.9428881316978935e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006839922210201621, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38151757419109344, + "rkd_teacher_entropy": 3.728455352783203, + "rkd_teacher_similarity_mean": 0.7740281760692597, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23270 + }, + { + "epoch": 6.773348850741926, + "flow_matching_loss": 0.012346274405717849, + "grad_norm": 0.10975015163421631, + "learning_rate": 3.931721708112075e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008631468657404185, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3845162630081177, + "rkd_teacher_entropy": 3.7209421157836915, + "rkd_teacher_similarity_mean": 0.7767295837402344, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23280 + }, + { + "epoch": 6.77625836485307, + "flow_matching_loss": 0.011179925873875618, + "grad_norm": 0.10508781671524048, + "learning_rate": 3.920568733528047e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007871363731101155, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38550631403923036, + "rkd_teacher_entropy": 3.737279438972473, + "rkd_teacher_similarity_mean": 0.7786372423171997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23290 + }, + { + "epoch": 6.779167878964213, + "flow_matching_loss": 0.011248864606022835, + "grad_norm": 0.10642525553703308, + "learning_rate": 3.909429221497734e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006254259170964361, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3873747080564499, + "rkd_teacher_entropy": 3.7315465450286864, + "rkd_teacher_similarity_mean": 0.7799813330173493, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23300 + }, + { + "epoch": 6.782077393075356, + "flow_matching_loss": 0.011759080272167922, + "grad_norm": 0.10652726888656616, + "learning_rate": 3.898303185556689e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006771556427702307, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864617347717285, + "rkd_teacher_entropy": 3.738599419593811, + "rkd_teacher_similarity_mean": 0.7792931377887726, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23310 + }, + { + "epoch": 6.7849869071865, + "flow_matching_loss": 0.010012731654569507, + "grad_norm": 0.09419726580381393, + "learning_rate": 3.887190639224097e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068442728370428085, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38389604091644286, + "rkd_teacher_entropy": 3.7158837795257567, + "rkd_teacher_similarity_mean": 0.7758177161216736, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23320 + }, + { + "epoch": 6.787896421297643, + "flow_matching_loss": 0.010984691232442856, + "grad_norm": 0.0972268208861351, + "learning_rate": 3.876091596002746e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008747426234185696, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3825489073991776, + "rkd_teacher_entropy": 3.7208837509155273, + "rkd_teacher_similarity_mean": 0.7737594306468963, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23330 + }, + { + "epoch": 6.790805935408787, + "flow_matching_loss": 0.014002731442451477, + "grad_norm": 0.13457730412483215, + "learning_rate": 3.865006069379019e-06, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010036921221762895, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3821257382631302, + "rkd_teacher_entropy": 3.7169580936431883, + "rkd_teacher_similarity_mean": 0.7735270500183106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23340 + }, + { + "epoch": 6.79371544951993, + "flow_matching_loss": 0.010774647956714034, + "grad_norm": 0.16265639662742615, + "learning_rate": 3.853934072822881e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007972228340804577, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38249306976795194, + "rkd_teacher_entropy": 3.7236027479171754, + "rkd_teacher_similarity_mean": 0.7740074098110199, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23350 + }, + { + "epoch": 6.796624963631073, + "flow_matching_loss": 0.011553598195314407, + "grad_norm": 0.09198736399412155, + "learning_rate": 3.8428756197878514e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007794502936303615, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.380499005317688, + "rkd_teacher_entropy": 3.723663258552551, + "rkd_teacher_similarity_mean": 0.7731997072696686, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23360 + }, + { + "epoch": 6.799534477742217, + "flow_matching_loss": 0.012640446424484253, + "grad_norm": 0.12352652102708817, + "learning_rate": 3.831830723710992e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007589559210464359, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38336238265037537, + "rkd_teacher_entropy": 3.7376761198043824, + "rkd_teacher_similarity_mean": 0.775254738330841, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23370 + }, + { + "epoch": 6.802443991853361, + "flow_matching_loss": 0.011765446653589607, + "grad_norm": 0.08385474979877472, + "learning_rate": 3.820799398012889e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006507612811401486, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807784467935562, + "rkd_teacher_entropy": 3.7070822715759277, + "rkd_teacher_similarity_mean": 0.7727182626724243, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23380 + }, + { + "epoch": 6.805353505964504, + "flow_matching_loss": 0.011653519235551357, + "grad_norm": 0.09514554589986801, + "learning_rate": 3.80978165609765e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009040126577019691, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37603452801704407, + "rkd_teacher_entropy": 3.6884601354599, + "rkd_teacher_similarity_mean": 0.7667163848876953, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23390 + }, + { + "epoch": 6.808263020075647, + "flow_matching_loss": 0.010916964523494244, + "grad_norm": 0.11008190363645554, + "learning_rate": 3.798777511352864e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00666955066844821, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37711485028266906, + "rkd_teacher_entropy": 3.696963381767273, + "rkd_teacher_similarity_mean": 0.7692013323307038, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23400 + }, + { + "epoch": 6.811172534186791, + "flow_matching_loss": 0.012363511277362705, + "grad_norm": 0.08631700277328491, + "learning_rate": 3.787786977149613e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071759226731956, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3852492839097977, + "rkd_teacher_entropy": 3.7223952054977416, + "rkd_teacher_similarity_mean": 0.7777710258960724, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23410 + }, + { + "epoch": 6.8140820482979345, + "flow_matching_loss": 0.01302787777967751, + "grad_norm": 0.0911075621843338, + "learning_rate": 3.776810066842427e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008094047661870718, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3872628271579742, + "rkd_teacher_entropy": 3.735875678062439, + "rkd_teacher_similarity_mean": 0.7788398802280426, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23420 + }, + { + "epoch": 6.816991562409077, + "flow_matching_loss": 0.012661924865096808, + "grad_norm": 0.08906637877225876, + "learning_rate": 3.7658467937692866e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008044963236898184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38540423214435576, + "rkd_teacher_entropy": 3.7286919355392456, + "rkd_teacher_similarity_mean": 0.7774422228336334, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23430 + }, + { + "epoch": 6.819901076520221, + "flow_matching_loss": 0.011692295828834177, + "grad_norm": 0.18339282274246216, + "learning_rate": 3.7548971712516e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077524649444967505, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38263978362083434, + "rkd_teacher_entropy": 3.7174035549163817, + "rkd_teacher_similarity_mean": 0.7754179000854492, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23440 + }, + { + "epoch": 6.822810590631365, + "flow_matching_loss": 0.010689921956509352, + "grad_norm": 0.15596504509449005, + "learning_rate": 3.743961212594197e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00975753115490079, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38498035073280334, + "rkd_teacher_entropy": 3.733603072166443, + "rkd_teacher_similarity_mean": 0.7774536430835723, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23450 + }, + { + "epoch": 6.8257201047425085, + "flow_matching_loss": 0.012766159232705831, + "grad_norm": 0.10763953626155853, + "learning_rate": 3.7330389310852975e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073005716316401955, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3848329484462738, + "rkd_teacher_entropy": 3.7220396041870116, + "rkd_teacher_similarity_mean": 0.7762586355209351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23460 + }, + { + "epoch": 6.828629618853651, + "flow_matching_loss": 0.01304415320046246, + "grad_norm": 0.10247629135847092, + "learning_rate": 3.7221303399965008e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008004351425915957, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864825040102005, + "rkd_teacher_entropy": 3.7213260173797607, + "rkd_teacher_similarity_mean": 0.7784124851226807, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23470 + }, + { + "epoch": 6.831539132964795, + "flow_matching_loss": 0.012733738403767347, + "grad_norm": 0.11627493053674698, + "learning_rate": 3.711235452582775e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006471173651516437, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3795126438140869, + "rkd_teacher_entropy": 3.71298463344574, + "rkd_teacher_similarity_mean": 0.772027188539505, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23480 + }, + { + "epoch": 6.834448647075939, + "flow_matching_loss": 0.010994576988741756, + "grad_norm": 0.11002270132303238, + "learning_rate": 3.7003542820824347e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008067317865788936, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3871783912181854, + "rkd_teacher_entropy": 3.730471301078796, + "rkd_teacher_similarity_mean": 0.7798334658145905, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23490 + }, + { + "epoch": 6.8373581611870815, + "flow_matching_loss": 0.012810922460630536, + "grad_norm": 0.085251584649086, + "learning_rate": 3.6894868417171252e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006654781894758344, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3841107219457626, + "rkd_teacher_entropy": 3.7222463369369505, + "rkd_teacher_similarity_mean": 0.7768147885799408, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23500 + }, + { + "epoch": 6.840267675298225, + "flow_matching_loss": 0.011383875925093889, + "grad_norm": 0.11148983985185623, + "learning_rate": 3.678633144691818e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00717290099710226, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38450565934181213, + "rkd_teacher_entropy": 3.7258408069610596, + "rkd_teacher_similarity_mean": 0.7774950981140136, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23510 + }, + { + "epoch": 6.843177189409369, + "flow_matching_loss": 0.013336656801402568, + "grad_norm": 0.11987911909818649, + "learning_rate": 3.667793204194776e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006761748343706131, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38255855441093445, + "rkd_teacher_entropy": 3.716648006439209, + "rkd_teacher_similarity_mean": 0.7738759458065033, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23520 + }, + { + "epoch": 6.846086703520512, + "flow_matching_loss": 0.012957627419382334, + "grad_norm": 0.0957183912396431, + "learning_rate": 3.656967033397544e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007695234380662441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38704400360584257, + "rkd_teacher_entropy": 3.7273272037506104, + "rkd_teacher_similarity_mean": 0.7784408986568451, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23530 + }, + { + "epoch": 6.8489962176316554, + "flow_matching_loss": 0.012874314095824957, + "grad_norm": 0.10212630033493042, + "learning_rate": 3.646154645454948e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069954269099980594, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3801336497068405, + "rkd_teacher_entropy": 3.717845010757446, + "rkd_teacher_similarity_mean": 0.7721951544284821, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23540 + }, + { + "epoch": 6.851905731742799, + "flow_matching_loss": 0.01215023142285645, + "grad_norm": 0.07531862705945969, + "learning_rate": 3.6353560535050524e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007580120442435145, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868255436420441, + "rkd_teacher_entropy": 3.7238250494003298, + "rkd_teacher_similarity_mean": 0.7790562212467194, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23550 + }, + { + "epoch": 6.854815245853942, + "flow_matching_loss": 0.012882132083177567, + "grad_norm": 0.11376272886991501, + "learning_rate": 3.624571270669172e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00697316275909543, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38633506894111636, + "rkd_teacher_entropy": 3.7277674198150637, + "rkd_teacher_similarity_mean": 0.7780345976352692, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23560 + }, + { + "epoch": 6.857724759965086, + "flow_matching_loss": 0.013051567692309618, + "grad_norm": 0.12249263375997543, + "learning_rate": 3.6138003100518296e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00694155409000814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814038097858429, + "rkd_teacher_entropy": 3.711775016784668, + "rkd_teacher_similarity_mean": 0.7732426404953003, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23570 + }, + { + "epoch": 6.860634274076229, + "flow_matching_loss": 0.01077967043966055, + "grad_norm": 0.13252976536750793, + "learning_rate": 3.6030431847407595e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008310555666685104, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3830393135547638, + "rkd_teacher_entropy": 3.7254253149032595, + "rkd_teacher_similarity_mean": 0.7752902269363403, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23580 + }, + { + "epoch": 6.863543788187373, + "flow_matching_loss": 0.011842449475079776, + "grad_norm": 0.10441474616527557, + "learning_rate": 3.592299907806881e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007009889604523778, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38055301904678346, + "rkd_teacher_entropy": 3.7207210302352904, + "rkd_teacher_similarity_mean": 0.7734787225723266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23590 + }, + { + "epoch": 6.866453302298516, + "flow_matching_loss": 0.011730282893404364, + "grad_norm": 0.09882143139839172, + "learning_rate": 3.5815704923042892e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006491572223603725, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39151139557361603, + "rkd_teacher_entropy": 3.7454806566238403, + "rkd_teacher_similarity_mean": 0.78389111161232, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23600 + }, + { + "epoch": 6.86936281640966, + "flow_matching_loss": 0.01125256041996181, + "grad_norm": 0.10537517070770264, + "learning_rate": 3.5708549512702392e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00683689028955996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38477143049240115, + "rkd_teacher_entropy": 3.72171413898468, + "rkd_teacher_similarity_mean": 0.7771630704402923, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23610 + }, + { + "epoch": 6.872272330520803, + "flow_matching_loss": 0.012203497719019652, + "grad_norm": 0.11442768573760986, + "learning_rate": 3.5601532977251217e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071588302962481976, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3919807463884354, + "rkd_teacher_entropy": 3.7562084674835203, + "rkd_teacher_similarity_mean": 0.7848459959030152, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23620 + }, + { + "epoch": 6.875181844631946, + "flow_matching_loss": 0.01153737735003233, + "grad_norm": 0.1130928248167038, + "learning_rate": 3.5494655446724544e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006834212830290199, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38941471874713895, + "rkd_teacher_entropy": 3.7375033378601072, + "rkd_teacher_similarity_mean": 0.7817561328411102, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23630 + }, + { + "epoch": 6.87809135874309, + "flow_matching_loss": 0.010434860875830055, + "grad_norm": 0.09501174092292786, + "learning_rate": 3.538791705098866e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007699423655867577, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38593790531158445, + "rkd_teacher_entropy": 3.721694827079773, + "rkd_teacher_similarity_mean": 0.7774738132953644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23640 + }, + { + "epoch": 6.881000872854234, + "flow_matching_loss": 0.011405441677197814, + "grad_norm": 0.16008742153644562, + "learning_rate": 3.5281317919740718e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065417247358709575, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3924216091632843, + "rkd_teacher_entropy": 3.7441511154174805, + "rkd_teacher_similarity_mean": 0.7852082133293152, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23650 + }, + { + "epoch": 6.883910386965377, + "flow_matching_loss": 0.014186250977218151, + "grad_norm": 0.09762801975011826, + "learning_rate": 3.5174858182508825e-06, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006371472496539354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39165384471416476, + "rkd_teacher_entropy": 3.7442235231399534, + "rkd_teacher_similarity_mean": 0.7844007015228271, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23660 + }, + { + "epoch": 6.88681990107652, + "flow_matching_loss": 0.012199616245925426, + "grad_norm": 0.11250723898410797, + "learning_rate": 3.506853796865153e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074815625790506605, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3912068635225296, + "rkd_teacher_entropy": 3.744300293922424, + "rkd_teacher_similarity_mean": 0.7829273521900177, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23670 + }, + { + "epoch": 6.889729415187664, + "flow_matching_loss": 0.010715917451307178, + "grad_norm": 0.1087375283241272, + "learning_rate": 3.496235740735789e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0079752576071769, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38231529891490934, + "rkd_teacher_entropy": 3.7201396942138674, + "rkd_teacher_similarity_mean": 0.7740721642971039, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23680 + }, + { + "epoch": 6.892638929298807, + "flow_matching_loss": 0.01088112904690206, + "grad_norm": 0.11768537759780884, + "learning_rate": 3.485631662764738e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006818966520950198, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3922503113746643, + "rkd_teacher_entropy": 3.7490972518920898, + "rkd_teacher_similarity_mean": 0.7829891741275787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23690 + }, + { + "epoch": 6.89554844340995, + "flow_matching_loss": 0.010487572709098458, + "grad_norm": 0.12586969137191772, + "learning_rate": 3.475041575836952e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007211597403511405, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833730459213257, + "rkd_teacher_entropy": 3.725579595565796, + "rkd_teacher_similarity_mean": 0.7741553068161011, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23700 + }, + { + "epoch": 6.898457957521094, + "flow_matching_loss": 0.011314492067322135, + "grad_norm": 0.11244166642427444, + "learning_rate": 3.4644654928203796e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00633809482678771, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38444986641407014, + "rkd_teacher_entropy": 3.7303874015808107, + "rkd_teacher_similarity_mean": 0.776267284154892, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23710 + }, + { + "epoch": 6.901367471632238, + "flow_matching_loss": 0.011567222001031042, + "grad_norm": 0.10093928873538971, + "learning_rate": 3.4539034265659663e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008952609729021788, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3768439829349518, + "rkd_teacher_entropy": 3.7097185850143433, + "rkd_teacher_similarity_mean": 0.7690149009227752, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23720 + }, + { + "epoch": 6.904276985743381, + "flow_matching_loss": 0.011730387900024652, + "grad_norm": 0.14091411232948303, + "learning_rate": 3.4433553899076163e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077746223192662, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837727874517441, + "rkd_teacher_entropy": 3.7196008205413817, + "rkd_teacher_similarity_mean": 0.7759006917476654, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23730 + }, + { + "epoch": 6.907186499854524, + "flow_matching_loss": 0.012203292595222593, + "grad_norm": 0.10244865715503693, + "learning_rate": 3.432821395662189e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00844797738827765, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3854812681674957, + "rkd_teacher_entropy": 3.7223036527633666, + "rkd_teacher_similarity_mean": 0.7783871531486511, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23740 + }, + { + "epoch": 6.910096013965668, + "flow_matching_loss": 0.01283763237297535, + "grad_norm": 0.11151260137557983, + "learning_rate": 3.4223014566294785e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007713668700307608, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384804704785347, + "rkd_teacher_entropy": 3.730634021759033, + "rkd_teacher_similarity_mean": 0.7777058959007264, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23750 + }, + { + "epoch": 6.913005528076811, + "flow_matching_loss": 0.012310652201995254, + "grad_norm": 0.12117505818605423, + "learning_rate": 3.4117955855922e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006556356558576226, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3872439980506897, + "rkd_teacher_entropy": 3.7268858671188356, + "rkd_teacher_similarity_mean": 0.7796712398529053, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23760 + }, + { + "epoch": 6.9159150421879545, + "flow_matching_loss": 0.010961289377883076, + "grad_norm": 0.11876490712165833, + "learning_rate": 3.4013037953159855e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00874719386920333, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870533376932144, + "rkd_teacher_entropy": 3.7423578977584837, + "rkd_teacher_similarity_mean": 0.7792810738086701, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23770 + }, + { + "epoch": 6.918824556299098, + "flow_matching_loss": 0.011617297865450382, + "grad_norm": 0.11396361142396927, + "learning_rate": 3.390826098549345e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007288060290738941, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38234788477420806, + "rkd_teacher_entropy": 3.7227155447006224, + "rkd_teacher_similarity_mean": 0.7741151571273803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23780 + }, + { + "epoch": 6.921734070410242, + "flow_matching_loss": 0.010909150820225477, + "grad_norm": 0.12154991179704666, + "learning_rate": 3.3803625080236684e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008314721938222646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38630121350288393, + "rkd_teacher_entropy": 3.734969663619995, + "rkd_teacher_similarity_mean": 0.7778864085674286, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23790 + }, + { + "epoch": 6.924643584521385, + "flow_matching_loss": 0.011310088541358709, + "grad_norm": 0.1092296913266182, + "learning_rate": 3.369913036453205e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007649119896814227, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38079475462436674, + "rkd_teacher_entropy": 3.711065745353699, + "rkd_teacher_similarity_mean": 0.7728869557380676, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23800 + }, + { + "epoch": 6.927553098632528, + "flow_matching_loss": 0.012415942968800664, + "grad_norm": 0.13149172067642212, + "learning_rate": 3.3594776965350434e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008476249733939767, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38507063388824464, + "rkd_teacher_entropy": 3.734434700012207, + "rkd_teacher_similarity_mean": 0.7773668646812439, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23810 + }, + { + "epoch": 6.930462612743672, + "flow_matching_loss": 0.012402579514309764, + "grad_norm": 0.15154527127742767, + "learning_rate": 3.34905650094911e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007330202404409647, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3896253198385239, + "rkd_teacher_entropy": 3.73783118724823, + "rkd_teacher_similarity_mean": 0.781620341539383, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23820 + }, + { + "epoch": 6.933372126854815, + "flow_matching_loss": 0.01311860978603363, + "grad_norm": 0.11391491442918777, + "learning_rate": 3.338649462358145e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073318080976605415, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384148508310318, + "rkd_teacher_entropy": 3.71972713470459, + "rkd_teacher_similarity_mean": 0.7768464863300324, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23830 + }, + { + "epoch": 6.936281640965959, + "flow_matching_loss": 0.011665159091353416, + "grad_norm": 0.09636228531599045, + "learning_rate": 3.3282565934076765e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008203412918373943, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3857914388179779, + "rkd_teacher_entropy": 3.7396170854568482, + "rkd_teacher_similarity_mean": 0.7784773468971252, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23840 + }, + { + "epoch": 6.939191155077102, + "flow_matching_loss": 0.01284504160284996, + "grad_norm": 0.1441991776227951, + "learning_rate": 3.31787790672602e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008590271323919296, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3706549137830734, + "rkd_teacher_entropy": 3.698388600349426, + "rkd_teacher_similarity_mean": 0.7631815850734711, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23850 + }, + { + "epoch": 6.942100669188245, + "flow_matching_loss": 0.011756902793422341, + "grad_norm": 0.11037515103816986, + "learning_rate": 3.307513414924255e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068637881428003315, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870201587677002, + "rkd_teacher_entropy": 3.733579683303833, + "rkd_teacher_similarity_mean": 0.7799528300762176, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23860 + }, + { + "epoch": 6.945010183299389, + "flow_matching_loss": 0.01001535397954285, + "grad_norm": 0.0930032730102539, + "learning_rate": 3.2971631305962246e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007071828609332443, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38144124746322633, + "rkd_teacher_entropy": 3.721397113800049, + "rkd_teacher_similarity_mean": 0.7739278256893158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23870 + }, + { + "epoch": 6.947919697410533, + "flow_matching_loss": 0.01002638009376824, + "grad_norm": 0.09695777297019958, + "learning_rate": 3.2868270663184964e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007572407554835081, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38773052096366883, + "rkd_teacher_entropy": 3.739545750617981, + "rkd_teacher_similarity_mean": 0.7804506361484528, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23880 + }, + { + "epoch": 6.950829211521675, + "flow_matching_loss": 0.011043951800093054, + "grad_norm": 0.12368952482938766, + "learning_rate": 3.276505234650362e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007637697109021247, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38109275698661804, + "rkd_teacher_entropy": 3.7257443189620973, + "rkd_teacher_similarity_mean": 0.7737291395664215, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23890 + }, + { + "epoch": 6.953738725632819, + "flow_matching_loss": 0.0128581621684134, + "grad_norm": 0.12433397024869919, + "learning_rate": 3.266197648133821e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007171753235161305, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785704016685486, + "rkd_teacher_entropy": 3.705827164649963, + "rkd_teacher_similarity_mean": 0.7708478569984436, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23900 + }, + { + "epoch": 6.956648239743963, + "flow_matching_loss": 0.010615746397525072, + "grad_norm": 0.0851420909166336, + "learning_rate": 3.255904319293562e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00560451946221292, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.391613695025444, + "rkd_teacher_entropy": 3.743678665161133, + "rkd_teacher_similarity_mean": 0.7848074316978455, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23910 + }, + { + "epoch": 6.9595577538551066, + "flow_matching_loss": 0.009813402872532606, + "grad_norm": 0.12376777082681656, + "learning_rate": 3.2456252606369485e-06, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074451185762882234, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38704489171504974, + "rkd_teacher_entropy": 3.7307475566864015, + "rkd_teacher_similarity_mean": 0.7794579088687896, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23920 + }, + { + "epoch": 6.962467267966249, + "flow_matching_loss": 0.012226021196693183, + "grad_norm": 0.11045324057340622, + "learning_rate": 3.235360484654011e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008676175493746996, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37473767399787905, + "rkd_teacher_entropy": 3.7005694627761843, + "rkd_teacher_similarity_mean": 0.7674746870994568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23930 + }, + { + "epoch": 6.965376782077393, + "flow_matching_loss": 0.011764390487223863, + "grad_norm": 0.12913674116134644, + "learning_rate": 3.225110003817418e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007299815351143479, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853975921869278, + "rkd_teacher_entropy": 3.7304786443710327, + "rkd_teacher_similarity_mean": 0.7772289872169494, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23940 + }, + { + "epoch": 6.968286296188537, + "flow_matching_loss": 0.012638124637305737, + "grad_norm": 0.146229088306427, + "learning_rate": 3.214873830582467e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065887219738215205, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38785276710987093, + "rkd_teacher_entropy": 3.752039980888367, + "rkd_teacher_similarity_mean": 0.7809238195419311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23950 + }, + { + "epoch": 6.97119581029968, + "flow_matching_loss": 0.01326219947077334, + "grad_norm": 0.11007668823003769, + "learning_rate": 3.2046519773870803e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00705760894343257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38525543212890623, + "rkd_teacher_entropy": 3.740146827697754, + "rkd_teacher_similarity_mean": 0.777621865272522, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23960 + }, + { + "epoch": 6.974105324410823, + "flow_matching_loss": 0.01275185663253069, + "grad_norm": 0.12237081676721573, + "learning_rate": 3.1944444566517654e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007056554732844234, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38152080178260805, + "rkd_teacher_entropy": 3.726751685142517, + "rkd_teacher_similarity_mean": 0.7746044754981994, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23970 + }, + { + "epoch": 6.977014838521967, + "flow_matching_loss": 0.01059231567196548, + "grad_norm": 0.09254664927721024, + "learning_rate": 3.18425128077963e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007123987469822168, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3867677867412567, + "rkd_teacher_entropy": 3.7292459487915037, + "rkd_teacher_similarity_mean": 0.7794856131076813, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23980 + }, + { + "epoch": 6.979924352633111, + "flow_matching_loss": 0.011382595263421535, + "grad_norm": 0.11440900713205338, + "learning_rate": 3.174072462156342e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007222935231402517, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39179976284503937, + "rkd_teacher_entropy": 3.752220606803894, + "rkd_teacher_similarity_mean": 0.7846402287483215, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23990 + }, + { + "epoch": 6.9828338667442535, + "flow_matching_loss": 0.010846067126840353, + "grad_norm": 0.1314617395401001, + "learning_rate": 3.163908013150124e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008120970474556089, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39279943108558657, + "rkd_teacher_entropy": 3.7568713426589966, + "rkd_teacher_similarity_mean": 0.7854853332042694, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24000 + }, + { + "epoch": 6.985743380855397, + "flow_matching_loss": 0.012550104456022382, + "grad_norm": 0.12612402439117432, + "learning_rate": 3.153757946111741e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007921725464984774, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3762486964464188, + "rkd_teacher_entropy": 3.7092679262161257, + "rkd_teacher_similarity_mean": 0.7690449714660644, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24010 + }, + { + "epoch": 6.988652894966541, + "flow_matching_loss": 0.011434493632987142, + "grad_norm": 0.08181225508451462, + "learning_rate": 3.1436222733744776e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007157671451568604, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38095217049121854, + "rkd_teacher_entropy": 3.7213192224502563, + "rkd_teacher_similarity_mean": 0.77354336977005, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24020 + }, + { + "epoch": 6.991562409077684, + "flow_matching_loss": 0.010977097600698472, + "grad_norm": 0.12402526289224625, + "learning_rate": 3.133501007254138e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007439251057803631, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37963728606700897, + "rkd_teacher_entropy": 3.714875364303589, + "rkd_teacher_similarity_mean": 0.7718853831291199, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24030 + }, + { + "epoch": 6.9944719231888275, + "flow_matching_loss": 0.009197029192000628, + "grad_norm": 0.10929535329341888, + "learning_rate": 3.1233941600490123e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006574835581704974, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39192362427711486, + "rkd_teacher_entropy": 3.7426856756210327, + "rkd_teacher_similarity_mean": 0.7848010540008545, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24040 + }, + { + "epoch": 6.997381437299971, + "flow_matching_loss": 0.011689405748620629, + "grad_norm": 0.1569521576166153, + "learning_rate": 3.113301744039875e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008032602025195956, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833286166191101, + "rkd_teacher_entropy": 3.7426034927368166, + "rkd_teacher_similarity_mean": 0.7770057916641235, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24050 + }, + { + "epoch": 7.000290951411114, + "flow_matching_loss": 0.01104177967645228, + "grad_norm": 0.13825207948684692, + "learning_rate": 3.103223771489959e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006239355821162462, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3850445687770844, + "rkd_teacher_entropy": 3.7322258710861207, + "rkd_teacher_similarity_mean": 0.7775643825531006, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24060 + }, + { + "epoch": 7.003200465522258, + "flow_matching_loss": 0.011516108410432935, + "grad_norm": 0.11457851529121399, + "learning_rate": 3.09316025464495e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006526806065812707, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38801400661468505, + "rkd_teacher_entropy": 3.7387372493743896, + "rkd_teacher_similarity_mean": 0.7808648586273194, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24070 + }, + { + "epoch": 7.006109979633401, + "flow_matching_loss": 0.011975270742550493, + "grad_norm": 0.1219838336110115, + "learning_rate": 3.0831112057329775e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007769489288330078, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3873443633317947, + "rkd_teacher_entropy": 3.736485552787781, + "rkd_teacher_similarity_mean": 0.780108654499054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24080 + }, + { + "epoch": 7.009019493744544, + "flow_matching_loss": 0.01161734303459525, + "grad_norm": 0.12137629091739655, + "learning_rate": 3.073076636964579e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008938528783619403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3803406536579132, + "rkd_teacher_entropy": 3.7081143617630006, + "rkd_teacher_similarity_mean": 0.7724106132984161, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24090 + }, + { + "epoch": 7.011929007855688, + "flow_matching_loss": 0.01231536092236638, + "grad_norm": 0.1263619363307953, + "learning_rate": 3.063056560532698e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006806370709091425, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39154720604419707, + "rkd_teacher_entropy": 3.7445295333862303, + "rkd_teacher_similarity_mean": 0.7841008543968201, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24100 + }, + { + "epoch": 7.014838521966832, + "flow_matching_loss": 0.010396330384537578, + "grad_norm": 0.09066492319107056, + "learning_rate": 3.0530509886126807e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007799904560670257, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38913953602313994, + "rkd_teacher_entropy": 3.7379523515701294, + "rkd_teacher_similarity_mean": 0.7812365293502808, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24110 + }, + { + "epoch": 7.017748036077975, + "flow_matching_loss": 0.01071494072675705, + "grad_norm": 0.14541947841644287, + "learning_rate": 3.043059933362236e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009056257829070092, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3895983874797821, + "rkd_teacher_entropy": 3.7428238153457642, + "rkd_teacher_similarity_mean": 0.780969750881195, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24120 + }, + { + "epoch": 7.020657550189118, + "flow_matching_loss": 0.012310053128749133, + "grad_norm": 0.12263547629117966, + "learning_rate": 3.0330834069214337e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007420023623853922, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37996124029159545, + "rkd_teacher_entropy": 3.722293758392334, + "rkd_teacher_similarity_mean": 0.7726660430431366, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24130 + }, + { + "epoch": 7.023567064300262, + "flow_matching_loss": 0.010492115281522274, + "grad_norm": 0.1150294840335846, + "learning_rate": 3.023121421412703e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008469157153740525, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38589214384555814, + "rkd_teacher_entropy": 3.727157807350159, + "rkd_teacher_similarity_mean": 0.7795808494091034, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24140 + }, + { + "epoch": 7.026476578411406, + "flow_matching_loss": 0.010455231182277203, + "grad_norm": 0.10954969376325607, + "learning_rate": 3.0131739889407896e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007024179073050618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37747335731983184, + "rkd_teacher_entropy": 3.7204483270645143, + "rkd_teacher_similarity_mean": 0.7707915067672729, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24150 + }, + { + "epoch": 7.029386092522548, + "flow_matching_loss": 0.01276087579317391, + "grad_norm": 0.07286535203456879, + "learning_rate": 3.0032411215927645e-06, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008730510296300054, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807560294866562, + "rkd_teacher_entropy": 3.7083389282226564, + "rkd_teacher_similarity_mean": 0.7730212330818176, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24160 + }, + { + "epoch": 7.032295606633692, + "flow_matching_loss": 0.012067752657458186, + "grad_norm": 0.1867358237504959, + "learning_rate": 2.9933228314379975e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0064484755042940375, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38874191641807554, + "rkd_teacher_entropy": 3.7523200035095217, + "rkd_teacher_similarity_mean": 0.7820169270038605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24170 + }, + { + "epoch": 7.035205120744836, + "flow_matching_loss": 0.012861566850915551, + "grad_norm": 0.11386547237634659, + "learning_rate": 2.9834191305281405e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007815659558400512, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38826446831226347, + "rkd_teacher_entropy": 3.744881582260132, + "rkd_teacher_similarity_mean": 0.7812888622283936, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24180 + }, + { + "epoch": 7.038114634855979, + "flow_matching_loss": 0.010131710907444358, + "grad_norm": 0.10461506247520447, + "learning_rate": 2.973530030897135e-06, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007076504174619913, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37597156763076783, + "rkd_teacher_entropy": 3.7115235567092895, + "rkd_teacher_similarity_mean": 0.7683375239372253, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24190 + }, + { + "epoch": 7.041024148967122, + "flow_matching_loss": 0.012142500095069408, + "grad_norm": 0.0926075279712677, + "learning_rate": 2.9636555445611646e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009080534055829047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38807439506053926, + "rkd_teacher_entropy": 3.73379008769989, + "rkd_teacher_similarity_mean": 0.7802984535694122, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24200 + }, + { + "epoch": 7.043933663078266, + "flow_matching_loss": 0.011887376243248583, + "grad_norm": 0.15242961049079895, + "learning_rate": 2.953795683518659e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008134305384010077, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840744525194168, + "rkd_teacher_entropy": 3.7247253179550173, + "rkd_teacher_similarity_mean": 0.7766206085681915, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24210 + }, + { + "epoch": 7.04684317718941, + "flow_matching_loss": 0.01169562409631908, + "grad_norm": 0.13868819177150726, + "learning_rate": 2.9439504597502815e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007529024826362729, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38157977163791656, + "rkd_teacher_entropy": 3.7179577589035033, + "rkd_teacher_similarity_mean": 0.7735823690891266, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24220 + }, + { + "epoch": 7.049752691300553, + "flow_matching_loss": 0.010409072833135724, + "grad_norm": 0.11021027714014053, + "learning_rate": 2.934119885218902e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007718090247362852, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.380493500828743, + "rkd_teacher_entropy": 3.7203240156173707, + "rkd_teacher_similarity_mean": 0.7733473539352417, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24230 + }, + { + "epoch": 7.052662205411696, + "flow_matching_loss": 0.010629818541929126, + "grad_norm": 0.10107947885990143, + "learning_rate": 2.9243039718696045e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006670186901465059, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3842365056276321, + "rkd_teacher_entropy": 3.7322611570358277, + "rkd_teacher_similarity_mean": 0.7776690006256104, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24240 + }, + { + "epoch": 7.05557171952284, + "flow_matching_loss": 0.011767345480620861, + "grad_norm": 0.11726745963096619, + "learning_rate": 2.914502731629641e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008187639992684126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3872701197862625, + "rkd_teacher_entropy": 3.740017819404602, + "rkd_teacher_similarity_mean": 0.7805310964584351, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24250 + }, + { + "epoch": 7.058481233633983, + "flow_matching_loss": 0.011375337187200785, + "grad_norm": 0.08272796124219894, + "learning_rate": 2.904716176408451e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006117470189929008, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38807809054851533, + "rkd_teacher_entropy": 3.742471718788147, + "rkd_teacher_similarity_mean": 0.7818285167217255, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24260 + }, + { + "epoch": 7.0613907477451265, + "flow_matching_loss": 0.011066360212862492, + "grad_norm": 0.08882090449333191, + "learning_rate": 2.8949443180976172e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006733484612777829, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39092029333114625, + "rkd_teacher_entropy": 3.754525637626648, + "rkd_teacher_similarity_mean": 0.783262974023819, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24270 + }, + { + "epoch": 7.06430026185627, + "flow_matching_loss": 0.010732997767627239, + "grad_norm": 0.08617785573005676, + "learning_rate": 2.885187168570864e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073058413807302715, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38328098952770234, + "rkd_teacher_entropy": 3.70927255153656, + "rkd_teacher_similarity_mean": 0.7757140159606933, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24280 + }, + { + "epoch": 7.067209775967413, + "flow_matching_loss": 0.01281128153204918, + "grad_norm": 0.11262419819831848, + "learning_rate": 2.875444739684058e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008008229499682783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3800215840339661, + "rkd_teacher_entropy": 3.7204691410064696, + "rkd_teacher_similarity_mean": 0.7715028166770935, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24290 + }, + { + "epoch": 7.070119290078557, + "flow_matching_loss": 0.012208679597824812, + "grad_norm": 0.09941577911376953, + "learning_rate": 2.865717043275165e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006253931811079383, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39504981637001035, + "rkd_teacher_entropy": 3.753572392463684, + "rkd_teacher_similarity_mean": 0.787998366355896, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24300 + }, + { + "epoch": 7.0730288041897005, + "flow_matching_loss": 0.012389061320573092, + "grad_norm": 0.10610189288854599, + "learning_rate": 2.8560040911642528e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006959708873182535, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3858823090791702, + "rkd_teacher_entropy": 3.7201548337936403, + "rkd_teacher_similarity_mean": 0.7774755179882049, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24310 + }, + { + "epoch": 7.075938318300844, + "flow_matching_loss": 0.011836789082735777, + "grad_norm": 0.1385507434606552, + "learning_rate": 2.846305895153472e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008915491867810488, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37857091426849365, + "rkd_teacher_entropy": 3.696812152862549, + "rkd_teacher_similarity_mean": 0.7703279852867126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24320 + }, + { + "epoch": 7.078847832411987, + "flow_matching_loss": 0.010248713893815875, + "grad_norm": 0.09341026097536087, + "learning_rate": 2.8366224670270487e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0060835697688162325, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37724463641643524, + "rkd_teacher_entropy": 3.7026503801345827, + "rkd_teacher_similarity_mean": 0.7706774830818176, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24330 + }, + { + "epoch": 7.081757346523131, + "flow_matching_loss": 0.01179430317133665, + "grad_norm": 0.11421021074056625, + "learning_rate": 2.8269538185512535e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007405685912817717, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38178664445877075, + "rkd_teacher_entropy": 3.7112329483032225, + "rkd_teacher_similarity_mean": 0.7742101490497589, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24340 + }, + { + "epoch": 7.084666860634274, + "flow_matching_loss": 0.011934975814074277, + "grad_norm": 0.09445248544216156, + "learning_rate": 2.817299961474417e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008090999489650131, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38807431757450106, + "rkd_teacher_entropy": 3.7377063512802122, + "rkd_teacher_similarity_mean": 0.7809824705123901, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24350 + }, + { + "epoch": 7.087576374745417, + "flow_matching_loss": 0.011590358708053828, + "grad_norm": 0.12201762199401855, + "learning_rate": 2.8076609075268816e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006611448619514704, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794531047344208, + "rkd_teacher_entropy": 3.709044575691223, + "rkd_teacher_similarity_mean": 0.7730730831623077, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24360 + }, + { + "epoch": 7.090485888856561, + "flow_matching_loss": 0.010912529332563281, + "grad_norm": 0.10678781569004059, + "learning_rate": 2.798036668421006e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007722386764362455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.389124196767807, + "rkd_teacher_entropy": 3.731052541732788, + "rkd_teacher_similarity_mean": 0.7812552928924561, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24370 + }, + { + "epoch": 7.093395402967705, + "flow_matching_loss": 0.011004655808210372, + "grad_norm": 0.14458055794239044, + "learning_rate": 2.7884272558511433e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006514367740601301, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38058190047740936, + "rkd_teacher_entropy": 3.721484088897705, + "rkd_teacher_similarity_mean": 0.7732756972312927, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24380 + }, + { + "epoch": 7.0963049170788475, + "flow_matching_loss": 0.011632559075951576, + "grad_norm": 0.1684507131576538, + "learning_rate": 2.7788326814936456e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007884044293314218, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3812540501356125, + "rkd_teacher_entropy": 3.71624014377594, + "rkd_teacher_similarity_mean": 0.7737153530120849, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24390 + }, + { + "epoch": 7.099214431189991, + "flow_matching_loss": 0.012039097398519516, + "grad_norm": 0.15532392263412476, + "learning_rate": 2.7692529570068176e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007051589246839285, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38761286437511444, + "rkd_teacher_entropy": 3.7405248880386353, + "rkd_teacher_similarity_mean": 0.780818510055542, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24400 + }, + { + "epoch": 7.102123945301135, + "flow_matching_loss": 0.014023364800959826, + "grad_norm": 0.12406835705041885, + "learning_rate": 2.759688094030933e-06, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008220401685684919, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3767982244491577, + "rkd_teacher_entropy": 3.70576548576355, + "rkd_teacher_similarity_mean": 0.7697927296161652, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24410 + }, + { + "epoch": 7.105033459412278, + "flow_matching_loss": 0.011194620048627257, + "grad_norm": 0.1244746670126915, + "learning_rate": 2.750138104188201e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008338636765256525, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3849059224128723, + "rkd_teacher_entropy": 3.720607352256775, + "rkd_teacher_similarity_mean": 0.777597850561142, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24420 + }, + { + "epoch": 7.107942973523421, + "flow_matching_loss": 0.012628655694425107, + "grad_norm": 0.1727348268032074, + "learning_rate": 2.740602999082759e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007260384922847152, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37974106073379515, + "rkd_teacher_entropy": 3.72128279209137, + "rkd_teacher_similarity_mean": 0.7729778051376343, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24430 + }, + { + "epoch": 7.110852487634565, + "flow_matching_loss": 0.012082539778202773, + "grad_norm": 0.11187993735074997, + "learning_rate": 2.731082790300654e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0064207891467958685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37965166568756104, + "rkd_teacher_entropy": 3.7212708473205565, + "rkd_teacher_similarity_mean": 0.7725215494632721, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24440 + }, + { + "epoch": 7.113762001745709, + "flow_matching_loss": 0.015184810757637024, + "grad_norm": 0.10475685447454453, + "learning_rate": 2.7215774894098474e-06, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008135053096339107, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38088219463825224, + "rkd_teacher_entropy": 3.7203598260879516, + "rkd_teacher_similarity_mean": 0.7730222821235657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24450 + }, + { + "epoch": 7.116671515856852, + "flow_matching_loss": 0.009240245446562767, + "grad_norm": 0.09898893535137177, + "learning_rate": 2.7120871079601696e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00634001842699945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37912689745426176, + "rkd_teacher_entropy": 3.7040650606155396, + "rkd_teacher_similarity_mean": 0.7712484836578369, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24460 + }, + { + "epoch": 7.119581029967995, + "flow_matching_loss": 0.009799918625503778, + "grad_norm": 0.09997380524873734, + "learning_rate": 2.7026116574833314e-06, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006275376537814736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38025895655155184, + "rkd_teacher_entropy": 3.707342600822449, + "rkd_teacher_similarity_mean": 0.7722953021526336, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24470 + }, + { + "epoch": 7.122490544079139, + "flow_matching_loss": 0.012759087327867746, + "grad_norm": 0.09525506943464279, + "learning_rate": 2.6931511494928953e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006679263385012746, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3777734458446503, + "rkd_teacher_entropy": 3.704708480834961, + "rkd_teacher_similarity_mean": 0.769809365272522, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24480 + }, + { + "epoch": 7.125400058190282, + "flow_matching_loss": 0.009557938994839787, + "grad_norm": 0.08577387779951096, + "learning_rate": 2.683705595484275e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0070706109516322614, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38852074146270754, + "rkd_teacher_entropy": 3.746653342247009, + "rkd_teacher_similarity_mean": 0.7814143180847168, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24490 + }, + { + "epoch": 7.128309572301426, + "flow_matching_loss": 0.012298735044896602, + "grad_norm": 0.13007046282291412, + "learning_rate": 2.6742750069347014e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00793696236796677, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38235590159893035, + "rkd_teacher_entropy": 3.7274497032165526, + "rkd_teacher_similarity_mean": 0.7741922676563263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24500 + }, + { + "epoch": 7.131219086412569, + "flow_matching_loss": 0.011600138619542122, + "grad_norm": 0.11315404623746872, + "learning_rate": 2.664859395303239e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00660152924247086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3869969218969345, + "rkd_teacher_entropy": 3.745804190635681, + "rkd_teacher_similarity_mean": 0.7796745121479034, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24510 + }, + { + "epoch": 7.134128600523712, + "flow_matching_loss": 0.011920547299087047, + "grad_norm": 0.08959650248289108, + "learning_rate": 2.655458772030739e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007942010974511504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38701923489570617, + "rkd_teacher_entropy": 3.7379306077957155, + "rkd_teacher_similarity_mean": 0.7795343816280365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24520 + }, + { + "epoch": 7.137038114634856, + "flow_matching_loss": 0.010636231396347284, + "grad_norm": 0.119549959897995, + "learning_rate": 2.6460731485398403e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007443233672529459, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38159007430076597, + "rkd_teacher_entropy": 3.7002480745315554, + "rkd_teacher_similarity_mean": 0.7736294686794281, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24530 + }, + { + "epoch": 7.1399476287459995, + "flow_matching_loss": 0.011025442695245146, + "grad_norm": 0.11695866286754608, + "learning_rate": 2.6367025362349695e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007270435895770788, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384694504737854, + "rkd_teacher_entropy": 3.7325889348983763, + "rkd_teacher_similarity_mean": 0.777380746603012, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24540 + }, + { + "epoch": 7.142857142857143, + "flow_matching_loss": 0.011198944505304098, + "grad_norm": 0.07228541374206543, + "learning_rate": 2.6273469465022965e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007746626948937773, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3807293981313705, + "rkd_teacher_entropy": 3.722565746307373, + "rkd_teacher_similarity_mean": 0.7735887587070465, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24550 + }, + { + "epoch": 7.145766656968286, + "flow_matching_loss": 0.011591347306966782, + "grad_norm": 0.1255396455526352, + "learning_rate": 2.618006390709753e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007274173060432076, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37955104410648344, + "rkd_teacher_entropy": 3.7145327806472777, + "rkd_teacher_similarity_mean": 0.7719205737113952, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24560 + }, + { + "epoch": 7.14867617107943, + "flow_matching_loss": 0.010814458085224032, + "grad_norm": 0.10111917555332184, + "learning_rate": 2.60868088020699e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006692827679216862, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38670255839824674, + "rkd_teacher_entropy": 3.7308295488357546, + "rkd_teacher_similarity_mean": 0.7793847143650054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24570 + }, + { + "epoch": 7.1515856851905735, + "flow_matching_loss": 0.010975087946280836, + "grad_norm": 0.112408347427845, + "learning_rate": 2.599370426325382e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007830051891505718, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38172646164894103, + "rkd_teacher_entropy": 3.72245454788208, + "rkd_teacher_similarity_mean": 0.7744785964488983, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24580 + }, + { + "epoch": 7.154495199301716, + "flow_matching_loss": 0.01166155026294291, + "grad_norm": 0.14442552626132965, + "learning_rate": 2.5900750403780093e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075415498577058315, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3871322810649872, + "rkd_teacher_entropy": 3.7310767650604246, + "rkd_teacher_similarity_mean": 0.7801050186157227, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24590 + }, + { + "epoch": 7.15740471341286, + "flow_matching_loss": 0.011791645735502242, + "grad_norm": 0.09518133848905563, + "learning_rate": 2.580794733659639e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006723715784028172, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3845649093389511, + "rkd_teacher_entropy": 3.7256301641464233, + "rkd_teacher_similarity_mean": 0.7771483600139618, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24600 + }, + { + "epoch": 7.160314227524004, + "flow_matching_loss": 0.01091257417574525, + "grad_norm": 0.11453411728143692, + "learning_rate": 2.5715295174467236e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006930950749665499, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3875723361968994, + "rkd_teacher_entropy": 3.734276843070984, + "rkd_teacher_similarity_mean": 0.7799259305000306, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24610 + }, + { + "epoch": 7.1632237416351465, + "flow_matching_loss": 0.011251647397875786, + "grad_norm": 0.12543067336082458, + "learning_rate": 2.5622794029973746e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00862286938354373, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851644486188889, + "rkd_teacher_entropy": 3.7277074575424196, + "rkd_teacher_similarity_mean": 0.7774802148342133, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24620 + }, + { + "epoch": 7.16613325574629, + "flow_matching_loss": 0.011112382868304849, + "grad_norm": 0.10550322383642197, + "learning_rate": 2.553044401551351e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006598495226353407, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837027072906494, + "rkd_teacher_entropy": 3.722330617904663, + "rkd_teacher_similarity_mean": 0.7763044238090515, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24630 + }, + { + "epoch": 7.169042769857434, + "flow_matching_loss": 0.010399100743234158, + "grad_norm": 0.11285451054573059, + "learning_rate": 2.54382452433005e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006808169768191874, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39620795249938967, + "rkd_teacher_entropy": 3.763314700126648, + "rkd_teacher_similarity_mean": 0.788735544681549, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24640 + }, + { + "epoch": 7.171952283968578, + "flow_matching_loss": 0.009255755878984927, + "grad_norm": 0.114565908908844, + "learning_rate": 2.53461978253649e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068050605244934555, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3950594007968903, + "rkd_teacher_entropy": 3.7643821001052857, + "rkd_teacher_similarity_mean": 0.7868341982364655, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24650 + }, + { + "epoch": 7.1748617980797205, + "flow_matching_loss": 0.012101018149405719, + "grad_norm": 0.1079472079873085, + "learning_rate": 2.5254301873553065e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007100816396996379, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38066497147083284, + "rkd_teacher_entropy": 3.714139771461487, + "rkd_teacher_similarity_mean": 0.7718308091163635, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24660 + }, + { + "epoch": 7.177771312190864, + "flow_matching_loss": 0.009841912752017378, + "grad_norm": 0.10442549735307693, + "learning_rate": 2.5162557499527184e-06, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006210925802588463, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3844163239002228, + "rkd_teacher_entropy": 3.728121256828308, + "rkd_teacher_similarity_mean": 0.7771435022354126, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24670 + }, + { + "epoch": 7.180680826302008, + "flow_matching_loss": 0.010198060143738984, + "grad_norm": 0.16187424957752228, + "learning_rate": 2.5070964814765335e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007626222213730216, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3823185861110687, + "rkd_teacher_entropy": 3.7206998109817504, + "rkd_teacher_similarity_mean": 0.7742940843105316, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24680 + }, + { + "epoch": 7.183590340413151, + "flow_matching_loss": 0.012274343799799681, + "grad_norm": 0.10499146580696106, + "learning_rate": 2.4979523930561295e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006650032475590706, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37927343249320983, + "rkd_teacher_entropy": 3.71875114440918, + "rkd_teacher_similarity_mean": 0.7715256929397583, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24690 + }, + { + "epoch": 7.186499854524294, + "flow_matching_loss": 0.011019530147314072, + "grad_norm": 0.14645227789878845, + "learning_rate": 2.4888234958024333e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008205380337312818, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3825825661420822, + "rkd_teacher_entropy": 3.7131234407424927, + "rkd_teacher_similarity_mean": 0.7750157415866852, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24700 + }, + { + "epoch": 7.189409368635438, + "flow_matching_loss": 0.01295500542037189, + "grad_norm": 0.1446910798549652, + "learning_rate": 2.479709800807915e-06, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009249654691666364, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37368977069854736, + "rkd_teacher_entropy": 3.698233890533447, + "rkd_teacher_similarity_mean": 0.7654811680316925, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24710 + }, + { + "epoch": 7.192318882746581, + "flow_matching_loss": 0.010096057644113898, + "grad_norm": 0.07893311977386475, + "learning_rate": 2.4706113191465767e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007806484261527658, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814277291297913, + "rkd_teacher_entropy": 3.717202091217041, + "rkd_teacher_similarity_mean": 0.7728231132030488, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24720 + }, + { + "epoch": 7.195228396857725, + "flow_matching_loss": 0.010988663090392948, + "grad_norm": 0.1309923380613327, + "learning_rate": 2.46152806187393e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006177967600524426, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38836120069026947, + "rkd_teacher_entropy": 3.7361694812774657, + "rkd_teacher_similarity_mean": 0.7805890679359436, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24730 + }, + { + "epoch": 7.198137910968868, + "flow_matching_loss": 0.011978226574137807, + "grad_norm": 0.12201985716819763, + "learning_rate": 2.452460040026989e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006567465048283339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37721843719482423, + "rkd_teacher_entropy": 3.7042545318603515, + "rkd_teacher_similarity_mean": 0.7697739243507385, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24740 + }, + { + "epoch": 7.201047425080012, + "flow_matching_loss": 0.01131767500191927, + "grad_norm": 0.11699976772069931, + "learning_rate": 2.4434072646242555e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007236053515225649, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3872255325317383, + "rkd_teacher_entropy": 3.732890510559082, + "rkd_teacher_similarity_mean": 0.7794542014598846, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24750 + }, + { + "epoch": 7.203956939191155, + "flow_matching_loss": 0.010650688223540783, + "grad_norm": 0.08516471832990646, + "learning_rate": 2.4343697466657015e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007790673617273569, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38475791215896604, + "rkd_teacher_entropy": 3.721995544433594, + "rkd_teacher_similarity_mean": 0.7761055946350097, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24760 + }, + { + "epoch": 7.206866453302299, + "flow_matching_loss": 0.012743177032098174, + "grad_norm": 0.16299471259117126, + "learning_rate": 2.42534749713277e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008484344882890581, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794980615377426, + "rkd_teacher_entropy": 3.7143076181411745, + "rkd_teacher_similarity_mean": 0.7718150377273559, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24770 + }, + { + "epoch": 7.209775967413442, + "flow_matching_loss": 0.011147610377520323, + "grad_norm": 0.08238378912210464, + "learning_rate": 2.4163405269883425e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006582389306277037, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38877725303173066, + "rkd_teacher_entropy": 3.7426400184631348, + "rkd_teacher_similarity_mean": 0.7812950074672699, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24780 + }, + { + "epoch": 7.212685481524585, + "flow_matching_loss": 0.011951165879145265, + "grad_norm": 0.09718624502420425, + "learning_rate": 2.407348847176735e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007186345010995865, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38638924062252045, + "rkd_teacher_entropy": 3.7382660865783692, + "rkd_teacher_similarity_mean": 0.7789691746234894, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24790 + }, + { + "epoch": 7.215594995635729, + "flow_matching_loss": 0.011371521931141614, + "grad_norm": 0.11150746047496796, + "learning_rate": 2.398372468623688e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008764763316139578, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.386721795797348, + "rkd_teacher_entropy": 3.7265538454055784, + "rkd_teacher_similarity_mean": 0.7786953926086426, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24800 + }, + { + "epoch": 7.2185045097468725, + "flow_matching_loss": 0.011562264384701848, + "grad_norm": 0.14862921833992004, + "learning_rate": 2.3894114022363446e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006695212097838521, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832035094499588, + "rkd_teacher_entropy": 3.7308634757995605, + "rkd_teacher_similarity_mean": 0.7762818455696106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24810 + }, + { + "epoch": 7.221414023858015, + "flow_matching_loss": 0.01207452965900302, + "grad_norm": 0.12610577046871185, + "learning_rate": 2.3804656589032514e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006958247348666191, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3888114869594574, + "rkd_teacher_entropy": 3.742172384262085, + "rkd_teacher_similarity_mean": 0.7814519107341766, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24820 + }, + { + "epoch": 7.224323537969159, + "flow_matching_loss": 0.011929607205092906, + "grad_norm": 0.0888763964176178, + "learning_rate": 2.3715352494943237e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007725029811263084, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3792909771203995, + "rkd_teacher_entropy": 3.6998557090759276, + "rkd_teacher_similarity_mean": 0.7708590447902679, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24830 + }, + { + "epoch": 7.227233052080303, + "flow_matching_loss": 0.010721770953387022, + "grad_norm": 0.10628487914800644, + "learning_rate": 2.3626201848608582e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006617286521941423, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38675000369548795, + "rkd_teacher_entropy": 3.730114150047302, + "rkd_teacher_similarity_mean": 0.7788209438323974, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24840 + }, + { + "epoch": 7.2301425661914465, + "flow_matching_loss": 0.011206282628700137, + "grad_norm": 0.1309744268655777, + "learning_rate": 2.353720475835494e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007874551974236966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38382494151592256, + "rkd_teacher_entropy": 3.7319042921066283, + "rkd_teacher_similarity_mean": 0.7756970763206482, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24850 + }, + { + "epoch": 7.233052080302589, + "flow_matching_loss": 0.016359409503638744, + "grad_norm": 0.11283573508262634, + "learning_rate": 2.344836133232215e-06, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077216182835400105, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38284451961517335, + "rkd_teacher_entropy": 3.7337158918380737, + "rkd_teacher_similarity_mean": 0.7756031632423401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24860 + }, + { + "epoch": 7.235961594413733, + "flow_matching_loss": 0.011018767021596432, + "grad_norm": 0.12508589029312134, + "learning_rate": 2.335967167846342e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008877599006518721, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833146780729294, + "rkd_teacher_entropy": 3.7269098281860353, + "rkd_teacher_similarity_mean": 0.7752464234828949, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24870 + }, + { + "epoch": 7.238871108524877, + "flow_matching_loss": 0.011944916285574435, + "grad_norm": 0.13749246299266815, + "learning_rate": 2.3271135904544993e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008360538771376014, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3834515899419785, + "rkd_teacher_entropy": 3.716149187088013, + "rkd_teacher_similarity_mean": 0.7741420805454254, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24880 + }, + { + "epoch": 7.2417806226360195, + "flow_matching_loss": 0.011773241218179464, + "grad_norm": 0.11676071584224701, + "learning_rate": 2.3182754118146206e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007545446278527379, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38195438385009767, + "rkd_teacher_entropy": 3.720598816871643, + "rkd_teacher_similarity_mean": 0.7733393967151642, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24890 + }, + { + "epoch": 7.244690136747163, + "flow_matching_loss": 0.011204121587797999, + "grad_norm": 0.12899965047836304, + "learning_rate": 2.309452642665923e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007184429001063109, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3852513998746872, + "rkd_teacher_entropy": 3.7297990322113037, + "rkd_teacher_similarity_mean": 0.777765542268753, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24900 + }, + { + "epoch": 7.247599650858307, + "flow_matching_loss": 0.012833805009722709, + "grad_norm": 0.12022972851991653, + "learning_rate": 2.3006452937289065e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071825060527771715, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.394510817527771, + "rkd_teacher_entropy": 3.7384480237960815, + "rkd_teacher_similarity_mean": 0.7861642122268677, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24910 + }, + { + "epoch": 7.25050916496945, + "flow_matching_loss": 0.011840791394934057, + "grad_norm": 0.09756863117218018, + "learning_rate": 2.291853375705327e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007856510719284416, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38600665926933286, + "rkd_teacher_entropy": 3.736766052246094, + "rkd_teacher_similarity_mean": 0.7783276379108429, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24920 + }, + { + "epoch": 7.2534186790805935, + "flow_matching_loss": 0.01218036338686943, + "grad_norm": 0.12189015001058578, + "learning_rate": 2.283076899278197e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0076695912517607216, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38219979107379914, + "rkd_teacher_entropy": 3.7158545017242433, + "rkd_teacher_similarity_mean": 0.7740494072437286, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24930 + }, + { + "epoch": 7.256328193191737, + "flow_matching_loss": 0.011194809945300222, + "grad_norm": 0.14137698709964752, + "learning_rate": 2.274315875111763e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007492864038795233, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37531808018684387, + "rkd_teacher_entropy": 3.7037736654281614, + "rkd_teacher_similarity_mean": 0.7674402952194214, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24940 + }, + { + "epoch": 7.25923770730288, + "flow_matching_loss": 0.010221185581758618, + "grad_norm": 0.10531111061573029, + "learning_rate": 2.265570313851493e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008289904333651066, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3785424500703812, + "rkd_teacher_entropy": 3.699412226676941, + "rkd_teacher_similarity_mean": 0.7697913587093353, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24950 + }, + { + "epoch": 7.262147221414024, + "flow_matching_loss": 0.01239022477529943, + "grad_norm": 0.12124067544937134, + "learning_rate": 2.2568402261240685e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007891653710976243, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38537341058254243, + "rkd_teacher_entropy": 3.7270936965942383, + "rkd_teacher_similarity_mean": 0.7764296233654022, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24960 + }, + { + "epoch": 7.265056735525167, + "flow_matching_loss": 0.012666992424055935, + "grad_norm": 0.10926434397697449, + "learning_rate": 2.248125622537373e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00859177247621119, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37960681319236755, + "rkd_teacher_entropy": 3.715136432647705, + "rkd_teacher_similarity_mean": 0.7721432030200959, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24970 + }, + { + "epoch": 7.267966249636311, + "flow_matching_loss": 0.010798501456156373, + "grad_norm": 0.09647169709205627, + "learning_rate": 2.239426513680467e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065366344060748816, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860152900218964, + "rkd_teacher_entropy": 3.7228721141815186, + "rkd_teacher_similarity_mean": 0.7787584006786347, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24980 + }, + { + "epoch": 7.270875763747454, + "flow_matching_loss": 0.009936365205794573, + "grad_norm": 0.1030752882361412, + "learning_rate": 2.2307429101235915e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006816182378679514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.394443553686142, + "rkd_teacher_entropy": 3.748531174659729, + "rkd_teacher_similarity_mean": 0.7877066731452942, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24990 + }, + { + "epoch": 7.273785277858598, + "flow_matching_loss": 0.01392618091776967, + "grad_norm": 0.09667504578828812, + "learning_rate": 2.222074822418145e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00760756079107523, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3859789282083511, + "rkd_teacher_entropy": 3.727856993675232, + "rkd_teacher_similarity_mean": 0.7782384932041169, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25000 + }, + { + "epoch": 7.276694791969741, + "flow_matching_loss": 0.011134793795645238, + "grad_norm": 0.1548072099685669, + "learning_rate": 2.213422261096668e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009296406991779804, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3829431772232056, + "rkd_teacher_entropy": 3.723909854888916, + "rkd_teacher_similarity_mean": 0.7747154057025909, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25010 + }, + { + "epoch": 7.279604306080884, + "flow_matching_loss": 0.01080597834661603, + "grad_norm": 0.10975048691034317, + "learning_rate": 2.204785236672835e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007388970861211419, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382779660820961, + "rkd_teacher_entropy": 3.729202151298523, + "rkd_teacher_similarity_mean": 0.7746593534946442, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25020 + }, + { + "epoch": 7.282513820192028, + "flow_matching_loss": 0.01232939176261425, + "grad_norm": 0.06861896067857742, + "learning_rate": 2.1961637596414536e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00816046898253262, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37840273082256315, + "rkd_teacher_entropy": 3.72039999961853, + "rkd_teacher_similarity_mean": 0.7700018465518952, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25030 + }, + { + "epoch": 7.285423334303172, + "flow_matching_loss": 0.012625218741595745, + "grad_norm": 0.08600340038537979, + "learning_rate": 2.1875578404784275e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006685529183596372, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843840003013611, + "rkd_teacher_entropy": 3.7143930912017824, + "rkd_teacher_similarity_mean": 0.7766061365604401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25040 + }, + { + "epoch": 7.288332848414315, + "flow_matching_loss": 0.009836743911728263, + "grad_norm": 0.1122782975435257, + "learning_rate": 2.1789674896407583e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007922173803672194, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38523494601249697, + "rkd_teacher_entropy": 3.7245189428329466, + "rkd_teacher_similarity_mean": 0.7782664179801941, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25050 + }, + { + "epoch": 7.291242362525458, + "flow_matching_loss": 0.012775935279205442, + "grad_norm": 0.09339557588100433, + "learning_rate": 2.170392717566534e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006725936615839601, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38546344041824343, + "rkd_teacher_entropy": 3.7303508520126343, + "rkd_teacher_similarity_mean": 0.7781474709510803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25060 + }, + { + "epoch": 7.294151876636602, + "flow_matching_loss": 0.010320072947070002, + "grad_norm": 0.23333361744880676, + "learning_rate": 2.161833534674909e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0081174751278013, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3817755162715912, + "rkd_teacher_entropy": 3.7340555429458617, + "rkd_teacher_similarity_mean": 0.773273503780365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25070 + }, + { + "epoch": 7.2970613907477455, + "flow_matching_loss": 0.013985097547993064, + "grad_norm": 0.11225032061338425, + "learning_rate": 2.1532899513661015e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006669446965679527, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864403635263443, + "rkd_teacher_entropy": 3.7329683780670164, + "rkd_teacher_similarity_mean": 0.7789040207862854, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25080 + }, + { + "epoch": 7.299970904858888, + "flow_matching_loss": 0.010471581295132638, + "grad_norm": 0.10819628834724426, + "learning_rate": 2.1447619780213682e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00720225409604609, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3826002418994904, + "rkd_teacher_entropy": 3.715468502044678, + "rkd_teacher_similarity_mean": 0.7748404800891876, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25090 + }, + { + "epoch": 7.302880418970032, + "flow_matching_loss": 0.010782509902492165, + "grad_norm": 0.2496659755706787, + "learning_rate": 2.136249625003001e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008302126405760646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3888717830181122, + "rkd_teacher_entropy": 3.738774800300598, + "rkd_teacher_similarity_mean": 0.7820743441581726, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25100 + }, + { + "epoch": 7.305789933081176, + "flow_matching_loss": 0.011858734069392085, + "grad_norm": 0.12545965611934662, + "learning_rate": 2.1277529026543107e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008040752680972218, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3867628872394562, + "rkd_teacher_entropy": 3.722242498397827, + "rkd_teacher_similarity_mean": 0.7792950987815856, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25110 + }, + { + "epoch": 7.308699447192319, + "flow_matching_loss": 0.010839136270806193, + "grad_norm": 0.15186788141727448, + "learning_rate": 2.1192718212996188e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007977622328326106, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39147484600543975, + "rkd_teacher_entropy": 3.7470577239990233, + "rkd_teacher_similarity_mean": 0.7840632855892181, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25120 + }, + { + "epoch": 7.311608961303462, + "flow_matching_loss": 0.012214004900306464, + "grad_norm": 0.20196546614170074, + "learning_rate": 2.110806391244235e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010209197411313653, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38430167734622955, + "rkd_teacher_entropy": 3.7296570777893066, + "rkd_teacher_similarity_mean": 0.7753558814525604, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25130 + }, + { + "epoch": 7.314518475414606, + "flow_matching_loss": 0.013277145894244313, + "grad_norm": 0.224783256649971, + "learning_rate": 2.1023566227744596e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007792919408529997, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3748090773820877, + "rkd_teacher_entropy": 3.70497670173645, + "rkd_teacher_similarity_mean": 0.7666163921356202, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25140 + }, + { + "epoch": 7.317427989525749, + "flow_matching_loss": 0.010454041650518775, + "grad_norm": 0.10145900398492813, + "learning_rate": 2.0939225261575563e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006863044714555145, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38892561197280884, + "rkd_teacher_entropy": 3.7403265953063967, + "rkd_teacher_similarity_mean": 0.7814935803413391, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25150 + }, + { + "epoch": 7.3203375036368925, + "flow_matching_loss": 0.010750754084438086, + "grad_norm": 0.10551389306783676, + "learning_rate": 2.0855041116417473e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007284960057586431, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38865975439548495, + "rkd_teacher_entropy": 3.735309028625488, + "rkd_teacher_similarity_mean": 0.7818077266216278, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25160 + }, + { + "epoch": 7.323247017748036, + "flow_matching_loss": 0.010967786842957138, + "grad_norm": 0.08609189838171005, + "learning_rate": 2.0771013894562003e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008363912021741271, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3866369307041168, + "rkd_teacher_entropy": 3.733859395980835, + "rkd_teacher_similarity_mean": 0.7795658707618713, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25170 + }, + { + "epoch": 7.32615653185918, + "flow_matching_loss": 0.011099557671695948, + "grad_norm": 0.17448528110980988, + "learning_rate": 2.0687143698110113e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007700980687513947, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38838675916194915, + "rkd_teacher_entropy": 3.736589241027832, + "rkd_teacher_similarity_mean": 0.780842250585556, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25180 + }, + { + "epoch": 7.329066045970323, + "flow_matching_loss": 0.011384939774870872, + "grad_norm": 0.0977916568517685, + "learning_rate": 2.060343062897208e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007022511400282383, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3920889139175415, + "rkd_teacher_entropy": 3.750122833251953, + "rkd_teacher_similarity_mean": 0.7849238336086273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25190 + }, + { + "epoch": 7.3319755600814664, + "flow_matching_loss": 0.011306793615221977, + "grad_norm": 0.09062175452709198, + "learning_rate": 2.0519874788867127e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0070801023859530686, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38819655776023865, + "rkd_teacher_entropy": 3.7463465690612794, + "rkd_teacher_similarity_mean": 0.7809789121150971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25200 + }, + { + "epoch": 7.33488507419261, + "flow_matching_loss": 0.011837443895637989, + "grad_norm": 0.11749778687953949, + "learning_rate": 2.043647627932347e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007771018333733082, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828938126564026, + "rkd_teacher_entropy": 3.731357789039612, + "rkd_teacher_similarity_mean": 0.7741405665874481, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25210 + }, + { + "epoch": 7.337794588303753, + "flow_matching_loss": 0.011497311387211084, + "grad_norm": 0.10798940807580948, + "learning_rate": 2.0353235201678193e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006516465032473206, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39376446008682253, + "rkd_teacher_entropy": 3.7525326728820803, + "rkd_teacher_similarity_mean": 0.7863560795783997, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25220 + }, + { + "epoch": 7.340704102414897, + "flow_matching_loss": 0.011395534686744212, + "grad_norm": 0.11029732972383499, + "learning_rate": 2.0270151657076995e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006777445552870631, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3979786396026611, + "rkd_teacher_entropy": 3.7675735473632814, + "rkd_teacher_similarity_mean": 0.7903203189373016, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25230 + }, + { + "epoch": 7.34361361652604, + "flow_matching_loss": 0.010257790749892592, + "grad_norm": 0.08553224802017212, + "learning_rate": 2.0187225746474286e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006009511696174741, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3871176511049271, + "rkd_teacher_entropy": 3.736014246940613, + "rkd_teacher_similarity_mean": 0.7802148461341858, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25240 + }, + { + "epoch": 7.346523130637183, + "flow_matching_loss": 0.012715865066275001, + "grad_norm": 0.11798480153083801, + "learning_rate": 2.0104457570632845e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007397337630391121, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3857497155666351, + "rkd_teacher_entropy": 3.7252774238586426, + "rkd_teacher_similarity_mean": 0.7785183846950531, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25250 + }, + { + "epoch": 7.349432644748327, + "flow_matching_loss": 0.0118559414986521, + "grad_norm": 0.10244856774806976, + "learning_rate": 2.0021847230123775e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008076401194557548, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38177505135536194, + "rkd_teacher_entropy": 3.7249219179153443, + "rkd_teacher_similarity_mean": 0.7729985296726227, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25260 + }, + { + "epoch": 7.352342158859471, + "flow_matching_loss": 0.0125113470479846, + "grad_norm": 0.10652043670415878, + "learning_rate": 1.9939394825326494e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006306622410193086, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.385707288980484, + "rkd_teacher_entropy": 3.73071346282959, + "rkd_teacher_similarity_mean": 0.778869491815567, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25270 + }, + { + "epoch": 7.355251672970613, + "flow_matching_loss": 0.010171279218047858, + "grad_norm": 0.1362704038619995, + "learning_rate": 1.9857100456428385e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008630834147334098, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3803455889225006, + "rkd_teacher_entropy": 3.712241220474243, + "rkd_teacher_similarity_mean": 0.7727229595184326, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25280 + }, + { + "epoch": 7.358161187081757, + "flow_matching_loss": 0.010801470279693604, + "grad_norm": 0.09246478974819183, + "learning_rate": 1.977496422342492e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008030588459223508, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837632596492767, + "rkd_teacher_entropy": 3.725326323509216, + "rkd_teacher_similarity_mean": 0.7761004865169525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25290 + }, + { + "epoch": 7.361070701192901, + "flow_matching_loss": 0.009845281764864922, + "grad_norm": 0.09014731645584106, + "learning_rate": 1.9692986226119345e-06, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00737920762039721, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840522915124893, + "rkd_teacher_entropy": 3.721995735168457, + "rkd_teacher_similarity_mean": 0.7762814640998841, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25300 + }, + { + "epoch": 7.363980215304045, + "flow_matching_loss": 0.01207796698436141, + "grad_norm": 0.12425494939088821, + "learning_rate": 1.9611166564122658e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007707922905683518, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3869915157556534, + "rkd_teacher_entropy": 3.7339629411697386, + "rkd_teacher_similarity_mean": 0.7796199560165405, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25310 + }, + { + "epoch": 7.366889729415187, + "flow_matching_loss": 0.010050261858850718, + "grad_norm": 0.1153869479894638, + "learning_rate": 1.9529505336853456e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0067734996322542426, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38295434415340424, + "rkd_teacher_entropy": 3.715622401237488, + "rkd_teacher_similarity_mean": 0.7753939926624298, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25320 + }, + { + "epoch": 7.369799243526331, + "flow_matching_loss": 0.012020444124937057, + "grad_norm": 0.12606292963027954, + "learning_rate": 1.9448002643537833e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006563284946605563, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37461244463920595, + "rkd_teacher_entropy": 3.703065037727356, + "rkd_teacher_similarity_mean": 0.767330938577652, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25330 + }, + { + "epoch": 7.372708757637475, + "flow_matching_loss": 0.011023260932415724, + "grad_norm": 0.09139304608106613, + "learning_rate": 1.9366658583209205e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007366009103134274, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3876467764377594, + "rkd_teacher_entropy": 3.7322799921035767, + "rkd_teacher_similarity_mean": 0.7783583343029022, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25340 + }, + { + "epoch": 7.375618271748618, + "flow_matching_loss": 0.01163197923451662, + "grad_norm": 0.09582328796386719, + "learning_rate": 1.9285473254708363e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0066837920807301995, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38297383189201356, + "rkd_teacher_entropy": 3.7079668760299684, + "rkd_teacher_similarity_mean": 0.7746110081672668, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25350 + }, + { + "epoch": 7.378527785859761, + "flow_matching_loss": 0.010539477970451117, + "grad_norm": 0.10656754672527313, + "learning_rate": 1.9204446756683092e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007539279758930206, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3836217105388641, + "rkd_teacher_entropy": 3.7251294612884522, + "rkd_teacher_similarity_mean": 0.7756916165351868, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25360 + }, + { + "epoch": 7.381437299970905, + "flow_matching_loss": 0.01124340733513236, + "grad_norm": 0.1284605711698532, + "learning_rate": 1.912357918758822e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008168132929131388, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3850834876298904, + "rkd_teacher_entropy": 3.7266913175582888, + "rkd_teacher_similarity_mean": 0.7768725633621216, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25370 + }, + { + "epoch": 7.384346814082049, + "flow_matching_loss": 0.01155584161169827, + "grad_norm": 0.12691019475460052, + "learning_rate": 1.9042870645685478e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007649176754057407, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38835702240467074, + "rkd_teacher_entropy": 3.740049457550049, + "rkd_teacher_similarity_mean": 0.7803967833518982, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25380 + }, + { + "epoch": 7.387256328193192, + "flow_matching_loss": 0.01170925828628242, + "grad_norm": 0.10542384535074234, + "learning_rate": 1.8962321229043322e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008920067455619574, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837865233421326, + "rkd_teacher_entropy": 3.72275710105896, + "rkd_teacher_similarity_mean": 0.7755144357681274, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25390 + }, + { + "epoch": 7.390165842304335, + "flow_matching_loss": 0.010171817848458886, + "grad_norm": 0.10248495638370514, + "learning_rate": 1.8881931035536943e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006429201131686569, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37991128861904144, + "rkd_teacher_entropy": 3.7132832288742064, + "rkd_teacher_similarity_mean": 0.7724078357219696, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25400 + }, + { + "epoch": 7.393075356415479, + "flow_matching_loss": 0.012343777902424335, + "grad_norm": 0.11329325288534164, + "learning_rate": 1.8801700162847952e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075681066606193784, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3877193033695221, + "rkd_teacher_entropy": 3.7424636840820313, + "rkd_teacher_similarity_mean": 0.7794947266578675, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25410 + }, + { + "epoch": 7.395984870526622, + "flow_matching_loss": 0.012025940790772438, + "grad_norm": 0.11674126982688904, + "learning_rate": 1.87216287084645e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006467449152842164, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3774552881717682, + "rkd_teacher_entropy": 3.7110020875930787, + "rkd_teacher_similarity_mean": 0.7697330772876739, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25420 + }, + { + "epoch": 7.3988943846377655, + "flow_matching_loss": 0.011405019834637643, + "grad_norm": 0.15636372566223145, + "learning_rate": 1.8641716769680895e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008041781466454267, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3795099765062332, + "rkd_teacher_entropy": 3.708458924293518, + "rkd_teacher_similarity_mean": 0.7716793775558471, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25430 + }, + { + "epoch": 7.401803898748909, + "flow_matching_loss": 0.01031254269182682, + "grad_norm": 0.1261623054742813, + "learning_rate": 1.8561964443597662e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008375288778916001, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833773732185364, + "rkd_teacher_entropy": 3.725396203994751, + "rkd_teacher_similarity_mean": 0.7755465805530548, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25440 + }, + { + "epoch": 7.404713412860052, + "flow_matching_loss": 0.012103775423020125, + "grad_norm": 0.14670871198177338, + "learning_rate": 1.848237182712147e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009057014668360352, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38935617804527284, + "rkd_teacher_entropy": 3.7345081090927126, + "rkd_teacher_similarity_mean": 0.7821445226669311, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25450 + }, + { + "epoch": 7.407622926971196, + "flow_matching_loss": 0.009652070002630353, + "grad_norm": 0.14136521518230438, + "learning_rate": 1.8402939016964788e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007968629524111748, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37768822312355044, + "rkd_teacher_entropy": 3.6975736141204836, + "rkd_teacher_similarity_mean": 0.7703771233558655, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25460 + }, + { + "epoch": 7.410532441082339, + "flow_matching_loss": 0.012385329324752092, + "grad_norm": 0.09833955019712448, + "learning_rate": 1.832366610964601e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0079850182402879, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38498725891113283, + "rkd_teacher_entropy": 3.7329110622406008, + "rkd_teacher_similarity_mean": 0.7772656977176666, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25470 + }, + { + "epoch": 7.413441955193482, + "flow_matching_loss": 0.012876882217824459, + "grad_norm": 0.09062300622463226, + "learning_rate": 1.8244553201489166e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007607087679207325, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3886076331138611, + "rkd_teacher_entropy": 3.743217396736145, + "rkd_teacher_similarity_mean": 0.7804494380950928, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25480 + }, + { + "epoch": 7.416351469304626, + "flow_matching_loss": 0.011270394222810865, + "grad_norm": 0.1109025776386261, + "learning_rate": 1.8165600388623882e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006495097046718001, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.387805438041687, + "rkd_teacher_entropy": 3.732681155204773, + "rkd_teacher_similarity_mean": 0.7798416376113891, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25490 + }, + { + "epoch": 7.41926098341577, + "flow_matching_loss": 0.012298948783427476, + "grad_norm": 0.13976703584194183, + "learning_rate": 1.8086807766985331e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007282453682273626, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38608341217041015, + "rkd_teacher_entropy": 3.7350677251815796, + "rkd_teacher_similarity_mean": 0.777932596206665, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25500 + }, + { + "epoch": 7.422170497526913, + "flow_matching_loss": 0.011335347127169371, + "grad_norm": 0.1523258239030838, + "learning_rate": 1.8008175432313946e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006590679148212075, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38730559647083285, + "rkd_teacher_entropy": 3.741114687919617, + "rkd_teacher_similarity_mean": 0.7799630582332611, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25510 + }, + { + "epoch": 7.425080011638056, + "flow_matching_loss": 0.011695924773812294, + "grad_norm": 0.11265680193901062, + "learning_rate": 1.7929703480155429e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009579392056912184, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3878352135419846, + "rkd_teacher_entropy": 3.7329239368438722, + "rkd_teacher_similarity_mean": 0.7801149189472198, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25520 + }, + { + "epoch": 7.4279895257492, + "flow_matching_loss": 0.012038905965164303, + "grad_norm": 0.13602176308631897, + "learning_rate": 1.7851392005860595e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008689182624220849, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3848120868206024, + "rkd_teacher_entropy": 3.7250232458114625, + "rkd_teacher_similarity_mean": 0.7769318461418152, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25530 + }, + { + "epoch": 7.430899039860344, + "flow_matching_loss": 0.011481151217594743, + "grad_norm": 0.10712303966283798, + "learning_rate": 1.7773241104585243e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006931881979107856, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3783249109983444, + "rkd_teacher_entropy": 3.7216892719268797, + "rkd_teacher_similarity_mean": 0.7709580302238465, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25540 + }, + { + "epoch": 7.433808553971486, + "flow_matching_loss": 0.012442507594823838, + "grad_norm": 0.09646694362163544, + "learning_rate": 1.7695250871290108e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007163885794579983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3898083746433258, + "rkd_teacher_entropy": 3.746225619316101, + "rkd_teacher_similarity_mean": 0.7818742096424103, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25550 + }, + { + "epoch": 7.43671806808263, + "flow_matching_loss": 0.012389192171394826, + "grad_norm": 0.15465277433395386, + "learning_rate": 1.761742140074074e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008895720401778818, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3924453556537628, + "rkd_teacher_entropy": 3.7459762334823608, + "rkd_teacher_similarity_mean": 0.7841706216335297, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25560 + }, + { + "epoch": 7.439627582193774, + "flow_matching_loss": 0.012746624555438757, + "grad_norm": 0.12044917792081833, + "learning_rate": 1.7539752787507208e-06, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007108732452616095, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794568836688995, + "rkd_teacher_entropy": 3.712918829917908, + "rkd_teacher_similarity_mean": 0.772317236661911, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25570 + }, + { + "epoch": 7.442537096304917, + "flow_matching_loss": 0.012023172806948423, + "grad_norm": 0.151900053024292, + "learning_rate": 1.7462245125964233e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007351002236828208, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38724887669086455, + "rkd_teacher_entropy": 3.7358509063720704, + "rkd_teacher_similarity_mean": 0.7805396974086761, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25580 + }, + { + "epoch": 7.44544661041606, + "flow_matching_loss": 0.01319128843024373, + "grad_norm": 0.09192223846912384, + "learning_rate": 1.7384898510290931e-06, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009097913978621364, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3762120813131332, + "rkd_teacher_entropy": 3.7114855527877806, + "rkd_teacher_similarity_mean": 0.7680026948451996, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25590 + }, + { + "epoch": 7.448356124527204, + "flow_matching_loss": 0.01200944809243083, + "grad_norm": 0.10947000235319138, + "learning_rate": 1.730771303447069e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0063172748778015375, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38322488963603973, + "rkd_teacher_entropy": 3.731966757774353, + "rkd_teacher_similarity_mean": 0.7760264933109283, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25600 + }, + { + "epoch": 7.451265638638348, + "flow_matching_loss": 0.011860210029408336, + "grad_norm": 0.12753701210021973, + "learning_rate": 1.7230688792291204e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00811444097198546, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3764656841754913, + "rkd_teacher_entropy": 3.7058603286743166, + "rkd_teacher_similarity_mean": 0.7687977433204651, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25610 + }, + { + "epoch": 7.454175152749491, + "flow_matching_loss": 0.010915837017819285, + "grad_norm": 0.11454331129789352, + "learning_rate": 1.7153825877344175e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00701062805019319, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833500564098358, + "rkd_teacher_entropy": 3.7291643619537354, + "rkd_teacher_similarity_mean": 0.776061725616455, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25620 + }, + { + "epoch": 7.457084666860634, + "flow_matching_loss": 0.011694197449833155, + "grad_norm": 0.14781762659549713, + "learning_rate": 1.7077124383025278e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00790585963986814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38249906301498415, + "rkd_teacher_entropy": 3.720191407203674, + "rkd_teacher_similarity_mean": 0.7747762441635132, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25630 + }, + { + "epoch": 7.459994180971778, + "flow_matching_loss": 0.010315690655261278, + "grad_norm": 0.13833065330982208, + "learning_rate": 1.7000584402534058e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007185262208804488, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383178174495697, + "rkd_teacher_entropy": 3.721591520309448, + "rkd_teacher_similarity_mean": 0.7762633264064789, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25640 + }, + { + "epoch": 7.462903695082921, + "flow_matching_loss": 0.011491861892864108, + "grad_norm": 0.10624098777770996, + "learning_rate": 1.6924206028873774e-06, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008486402174457907, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37516206204891206, + "rkd_teacher_entropy": 3.7053573608398436, + "rkd_teacher_similarity_mean": 0.7678175508975983, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25650 + }, + { + "epoch": 7.4658132091940645, + "flow_matching_loss": 0.010796150891110301, + "grad_norm": 0.1692027449607849, + "learning_rate": 1.6847989354851434e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007058021053671837, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.387015101313591, + "rkd_teacher_entropy": 3.7391172647476196, + "rkd_teacher_similarity_mean": 0.7789493560791015, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25660 + }, + { + "epoch": 7.468722723305208, + "flow_matching_loss": 0.011749329790472985, + "grad_norm": 0.13952115178108215, + "learning_rate": 1.6771934473077443e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006828463636338711, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38506229519844054, + "rkd_teacher_entropy": 3.723331570625305, + "rkd_teacher_similarity_mean": 0.7774332106113434, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25670 + }, + { + "epoch": 7.471632237416351, + "flow_matching_loss": 0.012570589594542981, + "grad_norm": 0.10684376955032349, + "learning_rate": 1.669604147596563e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007178512448444962, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3799921661615372, + "rkd_teacher_entropy": 3.714459943771362, + "rkd_teacher_similarity_mean": 0.7720466911792755, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25680 + }, + { + "epoch": 7.474541751527495, + "flow_matching_loss": 0.011618255730718374, + "grad_norm": 0.14190898835659027, + "learning_rate": 1.662031045573319e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007763501489534974, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39417934119701387, + "rkd_teacher_entropy": 3.759653329849243, + "rkd_teacher_similarity_mean": 0.7879174292087555, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25690 + }, + { + "epoch": 7.4774512656386385, + "flow_matching_loss": 0.011860067211091518, + "grad_norm": 0.14856483042240143, + "learning_rate": 1.6544741504400402e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068604274652898315, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3876534581184387, + "rkd_teacher_entropy": 3.7416360139846803, + "rkd_teacher_similarity_mean": 0.7804989576339721, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25700 + }, + { + "epoch": 7.480360779749782, + "flow_matching_loss": 0.012521815113723278, + "grad_norm": 0.14266164600849152, + "learning_rate": 1.6469334713790712e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007061652280390263, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3937212109565735, + "rkd_teacher_entropy": 3.761372423171997, + "rkd_teacher_similarity_mean": 0.7860427856445312, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25710 + }, + { + "epoch": 7.483270293860925, + "flow_matching_loss": 0.011188964731991291, + "grad_norm": 0.08360560238361359, + "learning_rate": 1.639409017553048e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007176551967859268, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3824144721031189, + "rkd_teacher_entropy": 3.7190951824188234, + "rkd_teacher_similarity_mean": 0.7740794956684113, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25720 + }, + { + "epoch": 7.486179807972069, + "flow_matching_loss": 0.009734436124563216, + "grad_norm": 0.09300694614648819, + "learning_rate": 1.6319007981048884e-06, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007572185294702649, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38466174602508546, + "rkd_teacher_entropy": 3.724602150917053, + "rkd_teacher_similarity_mean": 0.7769154667854309, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25730 + }, + { + "epoch": 7.489089322083212, + "flow_matching_loss": 0.01257513603195548, + "grad_norm": 0.13388755917549133, + "learning_rate": 1.6244088221577896e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006808879459276796, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3876551389694214, + "rkd_teacher_entropy": 3.729464221000671, + "rkd_teacher_similarity_mean": 0.7798931479454041, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25740 + }, + { + "epoch": 7.491998836194355, + "flow_matching_loss": 0.010684099840000271, + "grad_norm": 0.11499394476413727, + "learning_rate": 1.6169330988152081e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007508880412206054, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38700268864631654, + "rkd_teacher_entropy": 3.7339998483657837, + "rkd_teacher_similarity_mean": 0.7788635194301605, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25750 + }, + { + "epoch": 7.494908350305499, + "flow_matching_loss": 0.01045091524720192, + "grad_norm": 0.11432985961437225, + "learning_rate": 1.6094736371608475e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0067077420186251405, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3886968523263931, + "rkd_teacher_entropy": 3.746441650390625, + "rkd_teacher_similarity_mean": 0.7816631674766541, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25760 + }, + { + "epoch": 7.497817864416643, + "flow_matching_loss": 0.012056730268523098, + "grad_norm": 0.12292537093162537, + "learning_rate": 1.602030446258666e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006941115902736783, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38687017261981965, + "rkd_teacher_entropy": 3.735604667663574, + "rkd_teacher_similarity_mean": 0.7796271204948425, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25770 + }, + { + "epoch": 7.5007273785277855, + "flow_matching_loss": 0.010882728779688478, + "grad_norm": 0.1388218253850937, + "learning_rate": 1.5946035351528388e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007441712310537696, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38311205208301546, + "rkd_teacher_entropy": 3.712124752998352, + "rkd_teacher_similarity_mean": 0.7745228171348572, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25780 + }, + { + "epoch": 7.503636892638929, + "flow_matching_loss": 0.013895878894254565, + "grad_norm": 0.11265376210212708, + "learning_rate": 1.5871929128677621e-06, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009122878778725863, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3913221836090088, + "rkd_teacher_entropy": 3.7391504526138304, + "rkd_teacher_similarity_mean": 0.7838526904582978, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25790 + }, + { + "epoch": 7.506546406750073, + "flow_matching_loss": 0.01158466674387455, + "grad_norm": 0.1302124559879303, + "learning_rate": 1.5797985884080412e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007436803774908185, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38979188203811643, + "rkd_teacher_entropy": 3.7447707414627076, + "rkd_teacher_similarity_mean": 0.7817015588283539, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25800 + }, + { + "epoch": 7.509455920861216, + "flow_matching_loss": 0.010766541445627808, + "grad_norm": 0.11625152081251144, + "learning_rate": 1.572420570758476e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006966368108987808, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38243776857852935, + "rkd_teacher_entropy": 3.7232435941696167, + "rkd_teacher_similarity_mean": 0.7749489784240723, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25810 + }, + { + "epoch": 7.512365434972359, + "flow_matching_loss": 0.011155252205207944, + "grad_norm": 0.13524937629699707, + "learning_rate": 1.5650588688840567e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007434459542855621, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3784397155046463, + "rkd_teacher_entropy": 3.7106839179992677, + "rkd_teacher_similarity_mean": 0.7715585768222809, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25820 + }, + { + "epoch": 7.515274949083503, + "flow_matching_loss": 0.009994907025247812, + "grad_norm": 0.07178343832492828, + "learning_rate": 1.5577134917299413e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0067439058795571325, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3798823684453964, + "rkd_teacher_entropy": 3.7196319341659545, + "rkd_teacher_similarity_mean": 0.7717918515205383, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25830 + }, + { + "epoch": 7.518184463194647, + "flow_matching_loss": 0.012689653038978576, + "grad_norm": 0.1651907116174698, + "learning_rate": 1.5503844482214618e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074820944108068945, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38755469024181366, + "rkd_teacher_entropy": 3.745525336265564, + "rkd_teacher_similarity_mean": 0.7807388782501221, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25840 + }, + { + "epoch": 7.52109397730579, + "flow_matching_loss": 0.010681003145873547, + "grad_norm": 0.08911865949630737, + "learning_rate": 1.5430717472640932e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074746189173311, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38957845568656924, + "rkd_teacher_entropy": 3.7506975412368773, + "rkd_teacher_similarity_mean": 0.781956022977829, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25850 + }, + { + "epoch": 7.524003491416933, + "flow_matching_loss": 0.012003727909177541, + "grad_norm": 0.10414738953113556, + "learning_rate": 1.5357753977434541e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008277687337249517, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870726227760315, + "rkd_teacher_entropy": 3.739206147193909, + "rkd_teacher_similarity_mean": 0.7791441559791565, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25860 + }, + { + "epoch": 7.526913005528077, + "flow_matching_loss": 0.012744676880538463, + "grad_norm": 0.12096499651670456, + "learning_rate": 1.5284954085253043e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008047334803268313, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39218076765537263, + "rkd_teacher_entropy": 3.7642232179641724, + "rkd_teacher_similarity_mean": 0.7847942113876343, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25870 + }, + { + "epoch": 7.52982251963922, + "flow_matching_loss": 0.01119184629060328, + "grad_norm": 0.1798228770494461, + "learning_rate": 1.5212317884555115e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008648670697584748, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3880737662315369, + "rkd_teacher_entropy": 3.7362905979156493, + "rkd_teacher_similarity_mean": 0.7801372885704041, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25880 + }, + { + "epoch": 7.532732033750364, + "flow_matching_loss": 0.013104664161801338, + "grad_norm": 0.11605266481637955, + "learning_rate": 1.5139845463600605e-06, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008132952637970448, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3836459994316101, + "rkd_teacher_entropy": 3.7257890701293945, + "rkd_teacher_similarity_mean": 0.7758702754974365, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25890 + }, + { + "epoch": 7.535641547861507, + "flow_matching_loss": 0.01303138448856771, + "grad_norm": 0.14282764494419098, + "learning_rate": 1.5067536910450352e-06, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00734998662956059, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38568874895572663, + "rkd_teacher_entropy": 3.735634684562683, + "rkd_teacher_similarity_mean": 0.7765756368637085, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25900 + }, + { + "epoch": 7.538551061972651, + "flow_matching_loss": 0.01074359342455864, + "grad_norm": 0.09287993609905243, + "learning_rate": 1.4995392312966044e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007774180825799703, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37870203256607055, + "rkd_teacher_entropy": 3.707195544242859, + "rkd_teacher_similarity_mean": 0.7704299211502075, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25910 + }, + { + "epoch": 7.541460576083794, + "flow_matching_loss": 0.010580517211928963, + "grad_norm": 0.15978246927261353, + "learning_rate": 1.492341175881014e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00897160661406815, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860852599143982, + "rkd_teacher_entropy": 3.726577877998352, + "rkd_teacher_similarity_mean": 0.7781787395477295, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25920 + }, + { + "epoch": 7.5443700901949375, + "flow_matching_loss": 0.010683418717235327, + "grad_norm": 0.12634222209453583, + "learning_rate": 1.4851595335445895e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006878315703943372, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38206655383110044, + "rkd_teacher_entropy": 3.7201634883880614, + "rkd_teacher_similarity_mean": 0.7736570596694946, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25930 + }, + { + "epoch": 7.547279604306081, + "flow_matching_loss": 0.011742730950936675, + "grad_norm": 0.12063296139240265, + "learning_rate": 1.4779943130136953e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007805605651810765, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3802202641963959, + "rkd_teacher_entropy": 3.7068104267120363, + "rkd_teacher_similarity_mean": 0.7730860829353332, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25940 + }, + { + "epoch": 7.550189118417224, + "flow_matching_loss": 0.011417477717623114, + "grad_norm": 0.10357469320297241, + "learning_rate": 1.4708455229947537e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007943101366981864, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38274882435798646, + "rkd_teacher_entropy": 3.7212244510650634, + "rkd_teacher_similarity_mean": 0.776132982969284, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25950 + }, + { + "epoch": 7.553098632528368, + "flow_matching_loss": 0.010439496673643588, + "grad_norm": 0.10685514658689499, + "learning_rate": 1.4637131721742148e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007280465168878436, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38277614712715147, + "rkd_teacher_entropy": 3.7412185192108156, + "rkd_teacher_similarity_mean": 0.7753930985927582, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25960 + }, + { + "epoch": 7.5560081466395115, + "flow_matching_loss": 0.011385131673887373, + "grad_norm": 0.12126704305410385, + "learning_rate": 1.4565972692185626e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007583074877038598, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789615899324417, + "rkd_teacher_entropy": 3.707707905769348, + "rkd_teacher_similarity_mean": 0.7717304706573487, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25970 + }, + { + "epoch": 7.558917660750654, + "flow_matching_loss": 0.013273501908406616, + "grad_norm": 0.08905991166830063, + "learning_rate": 1.4494978227742855e-06, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007251909421756864, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37794652581214905, + "rkd_teacher_entropy": 3.708292102813721, + "rkd_teacher_similarity_mean": 0.7697964489459992, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25980 + }, + { + "epoch": 7.561827174861798, + "flow_matching_loss": 0.01354825748130679, + "grad_norm": 0.13623526692390442, + "learning_rate": 1.442414841467885e-06, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008600359363481403, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38256429731845853, + "rkd_teacher_entropy": 3.7266724824905397, + "rkd_teacher_similarity_mean": 0.7743836581707001, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25990 + }, + { + "epoch": 7.564736688972942, + "flow_matching_loss": 0.011615685280412435, + "grad_norm": 0.11370399594306946, + "learning_rate": 1.4353483339058498e-06, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009973428631201386, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382368203997612, + "rkd_teacher_entropy": 3.706812930107117, + "rkd_teacher_similarity_mean": 0.7747872948646546, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26000 + }, + { + "epoch": 7.5676462030840845, + "flow_matching_loss": 0.012674948945641518, + "grad_norm": 0.12581591308116913, + "learning_rate": 1.4282983086746498e-06, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009264852758497, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3750432997941971, + "rkd_teacher_entropy": 3.698612594604492, + "rkd_teacher_similarity_mean": 0.7674014449119568, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26010 + }, + { + "epoch": 7.570555717195228, + "flow_matching_loss": 0.01126912198960781, + "grad_norm": 0.14093215763568878, + "learning_rate": 1.4212647743407325e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006760746799409389, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37769227623939516, + "rkd_teacher_entropy": 3.7207600355148314, + "rkd_teacher_similarity_mean": 0.7707581937313079, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26020 + }, + { + "epoch": 7.573465231306372, + "flow_matching_loss": 0.01126841241493821, + "grad_norm": 0.1246475800871849, + "learning_rate": 1.4142477394505065e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008307095291092992, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38774811625480654, + "rkd_teacher_entropy": 3.742197036743164, + "rkd_teacher_similarity_mean": 0.7792555570602417, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26030 + }, + { + "epoch": 7.576374745417516, + "flow_matching_loss": 0.012743150303140282, + "grad_norm": 0.1286325752735138, + "learning_rate": 1.4072472125303299e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075330633204430345, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851179212331772, + "rkd_teacher_entropy": 3.7382682085037233, + "rkd_teacher_similarity_mean": 0.7767773151397706, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26040 + }, + { + "epoch": 7.5792842595286585, + "flow_matching_loss": 0.010337491100654007, + "grad_norm": 0.10062089562416077, + "learning_rate": 1.4002632020865031e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007621684204787016, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868813574314117, + "rkd_teacher_entropy": 3.7324809312820433, + "rkd_teacher_similarity_mean": 0.7782686054706573, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26050 + }, + { + "epoch": 7.582193773639802, + "flow_matching_loss": 0.013142708037048579, + "grad_norm": 0.11926785111427307, + "learning_rate": 1.393295716605258e-06, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006179688777774572, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38915023803710935, + "rkd_teacher_entropy": 3.7395142793655394, + "rkd_teacher_similarity_mean": 0.7811441719532013, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26060 + }, + { + "epoch": 7.585103287750946, + "flow_matching_loss": 0.010632219910621642, + "grad_norm": 0.10710281133651733, + "learning_rate": 1.386344764552742e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006972487177699804, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38366853892803193, + "rkd_teacher_entropy": 3.7235219478607178, + "rkd_teacher_similarity_mean": 0.7751234173774719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26070 + }, + { + "epoch": 7.588012801862089, + "flow_matching_loss": 0.011294546304270625, + "grad_norm": 0.10401700437068939, + "learning_rate": 1.3794103543750246e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006505733355879784, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.389411523938179, + "rkd_teacher_entropy": 3.7452989339828493, + "rkd_teacher_similarity_mean": 0.7814628720283509, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26080 + }, + { + "epoch": 7.590922315973232, + "flow_matching_loss": 0.010224721534177661, + "grad_norm": 0.11601544916629791, + "learning_rate": 1.3724924944980637e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00743446066044271, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37864463925361636, + "rkd_teacher_entropy": 3.707476830482483, + "rkd_teacher_similarity_mean": 0.770636397600174, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26090 + }, + { + "epoch": 7.593831830084376, + "flow_matching_loss": 0.010008676908910275, + "grad_norm": 0.11895589530467987, + "learning_rate": 1.365591193327712e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007892528828233481, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814748674631119, + "rkd_teacher_entropy": 3.7146138906478883, + "rkd_teacher_similarity_mean": 0.7735554039478302, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26100 + }, + { + "epoch": 7.59674134419552, + "flow_matching_loss": 0.013793754298239947, + "grad_norm": 0.10816085338592529, + "learning_rate": 1.3587064592496984e-06, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00839156499132514, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38620195388793943, + "rkd_teacher_entropy": 3.727979874610901, + "rkd_teacher_similarity_mean": 0.7781215846538544, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26110 + }, + { + "epoch": 7.599650858306663, + "flow_matching_loss": 0.01299539851024747, + "grad_norm": 0.1203443706035614, + "learning_rate": 1.3518383006296292e-06, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007086763577535749, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38172958195209505, + "rkd_teacher_entropy": 3.7234766483306885, + "rkd_teacher_similarity_mean": 0.7736790299415588, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26120 + }, + { + "epoch": 7.602560372417806, + "flow_matching_loss": 0.010709732305258512, + "grad_norm": 0.10169073194265366, + "learning_rate": 1.344986725812959e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007347774505615234, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37496263086795806, + "rkd_teacher_entropy": 3.6935616731643677, + "rkd_teacher_similarity_mean": 0.766168749332428, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26130 + }, + { + "epoch": 7.605469886528949, + "flow_matching_loss": 0.011256685946136713, + "grad_norm": 0.1362159103155136, + "learning_rate": 1.3381517431250046e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008213265053927898, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37422319650650027, + "rkd_teacher_entropy": 3.7041566610336303, + "rkd_teacher_similarity_mean": 0.7662680089473725, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26140 + }, + { + "epoch": 7.608379400640093, + "flow_matching_loss": 0.011035638675093652, + "grad_norm": 0.10816695541143417, + "learning_rate": 1.3313333608709095e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00890477392822504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37930425703525544, + "rkd_teacher_entropy": 3.7098891973495483, + "rkd_teacher_similarity_mean": 0.7710913717746735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26150 + }, + { + "epoch": 7.611288914751237, + "flow_matching_loss": 0.010860083112493157, + "grad_norm": 0.14374099671840668, + "learning_rate": 1.3245315873356528e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010510837472975255, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38879687488079073, + "rkd_teacher_entropy": 3.744296646118164, + "rkd_teacher_similarity_mean": 0.7814517796039582, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26160 + }, + { + "epoch": 7.61419842886238, + "flow_matching_loss": 0.011086635012179612, + "grad_norm": 0.10709947347640991, + "learning_rate": 1.3177464307840304e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006756765395402908, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3933215767145157, + "rkd_teacher_entropy": 3.754758834838867, + "rkd_teacher_similarity_mean": 0.7862384557723999, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26170 + }, + { + "epoch": 7.617107942973523, + "flow_matching_loss": 0.009701248025521636, + "grad_norm": 0.08855684846639633, + "learning_rate": 1.310977899460642e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00724718919955194, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840925693511963, + "rkd_teacher_entropy": 3.7295364856719972, + "rkd_teacher_similarity_mean": 0.7762902736663818, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26180 + }, + { + "epoch": 7.620017457084667, + "flow_matching_loss": 0.011038621887564659, + "grad_norm": 0.14033415913581848, + "learning_rate": 1.3042260015899006e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007077919086441398, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3776182681322098, + "rkd_teacher_entropy": 3.7118027210235596, + "rkd_teacher_similarity_mean": 0.7696296036243438, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26190 + }, + { + "epoch": 7.6229269711958105, + "flow_matching_loss": 0.011297469958662987, + "grad_norm": 0.152624249458313, + "learning_rate": 1.2974907453759948e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009029047051444649, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3849785178899765, + "rkd_teacher_entropy": 3.7373353958129885, + "rkd_teacher_similarity_mean": 0.7764301180839539, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26200 + }, + { + "epoch": 7.625836485306953, + "flow_matching_loss": 0.011161131178960204, + "grad_norm": 0.08961089700460434, + "learning_rate": 1.2907721390028937e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006818544259294868, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38409301936626433, + "rkd_teacher_entropy": 3.7271373987197878, + "rkd_teacher_similarity_mean": 0.7771805226802826, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26210 + }, + { + "epoch": 7.628745999418097, + "flow_matching_loss": 0.012152049783617258, + "grad_norm": 0.09186338633298874, + "learning_rate": 1.2840701906343417e-06, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009792633261531592, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860514730215073, + "rkd_teacher_entropy": 3.7247422456741335, + "rkd_teacher_similarity_mean": 0.7773301661014557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26220 + }, + { + "epoch": 7.631655513529241, + "flow_matching_loss": 0.011728067509829998, + "grad_norm": 0.11724027991294861, + "learning_rate": 1.2773849084138312e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007751327473670244, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37721492946147916, + "rkd_teacher_entropy": 3.721480059623718, + "rkd_teacher_similarity_mean": 0.7688644468784332, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26230 + }, + { + "epoch": 7.6345650276403845, + "flow_matching_loss": 0.010870951134711504, + "grad_norm": 0.12784834206104279, + "learning_rate": 1.2707163004646177e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006339816330000758, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39514005482196807, + "rkd_teacher_entropy": 3.7472687482833864, + "rkd_teacher_similarity_mean": 0.7866169929504394, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26240 + }, + { + "epoch": 7.637474541751527, + "flow_matching_loss": 0.009962428919970989, + "grad_norm": 0.11447731405496597, + "learning_rate": 1.2640643748896879e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008600774826481939, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39268177151679995, + "rkd_teacher_entropy": 3.753634548187256, + "rkd_teacher_similarity_mean": 0.7847087323665619, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26250 + }, + { + "epoch": 7.640384055862671, + "flow_matching_loss": 0.014237569691613317, + "grad_norm": 0.09851371496915817, + "learning_rate": 1.257429139771753e-06, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007210584776476026, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38382563292980193, + "rkd_teacher_entropy": 3.7223763942718504, + "rkd_teacher_similarity_mean": 0.7753442287445068, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26260 + }, + { + "epoch": 7.643293569973815, + "flow_matching_loss": 0.010148435831069946, + "grad_norm": 0.10104212164878845, + "learning_rate": 1.2508106031732553e-06, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007066213479265571, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3905350089073181, + "rkd_teacher_entropy": 3.7444888591766357, + "rkd_teacher_similarity_mean": 0.7823972702026367, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26270 + }, + { + "epoch": 7.6462030840849575, + "flow_matching_loss": 0.011573661770671605, + "grad_norm": 0.11426182836294174, + "learning_rate": 1.2442087731363366e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007135323202237487, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39081716239452363, + "rkd_teacher_entropy": 3.76071937084198, + "rkd_teacher_similarity_mean": 0.7829907536506653, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26280 + }, + { + "epoch": 7.649112598196101, + "flow_matching_loss": 0.010543215181678533, + "grad_norm": 0.08965786546468735, + "learning_rate": 1.237623657682847e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007380993803963065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37564281523227694, + "rkd_teacher_entropy": 3.705468845367432, + "rkd_teacher_similarity_mean": 0.7675971865653992, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26290 + }, + { + "epoch": 7.652022112307245, + "flow_matching_loss": 0.009479639260098338, + "grad_norm": 0.09475051611661911, + "learning_rate": 1.2310552648143208e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007803793624043464, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39532952606678007, + "rkd_teacher_entropy": 3.7602882623672484, + "rkd_teacher_similarity_mean": 0.787979394197464, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26300 + }, + { + "epoch": 7.654931626418388, + "flow_matching_loss": 0.013660952681675553, + "grad_norm": 0.1269827038049698, + "learning_rate": 1.2245036025119738e-06, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006216966127976775, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3852889180183411, + "rkd_teacher_entropy": 3.725839900970459, + "rkd_teacher_similarity_mean": 0.7778374552726746, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26310 + }, + { + "epoch": 7.6578411405295315, + "flow_matching_loss": 0.011029970878735185, + "grad_norm": 0.11335988342761993, + "learning_rate": 1.2179686787366962e-06, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007540373643860221, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3874691307544708, + "rkd_teacher_entropy": 3.741049575805664, + "rkd_teacher_similarity_mean": 0.7794951379299164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26320 + }, + { + "epoch": 7.660750654640675, + "flow_matching_loss": 0.012816178053617478, + "grad_norm": 0.13926877081394196, + "learning_rate": 1.2114505014290329e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006205400777980685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3799122005701065, + "rkd_teacher_entropy": 3.703780746459961, + "rkd_teacher_similarity_mean": 0.7719128131866455, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26330 + }, + { + "epoch": 7.663660168751818, + "flow_matching_loss": 0.014841142203658819, + "grad_norm": 0.12082234770059586, + "learning_rate": 1.2049490785091833e-06, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007431443547829986, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3796062171459198, + "rkd_teacher_entropy": 3.713659167289734, + "rkd_teacher_similarity_mean": 0.7710829555988312, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26340 + }, + { + "epoch": 7.666569682862962, + "flow_matching_loss": 0.011054791789501906, + "grad_norm": 0.08834996819496155, + "learning_rate": 1.1984644178769949e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007684430293738842, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3849553972482681, + "rkd_teacher_entropy": 3.7249433755874635, + "rkd_teacher_similarity_mean": 0.7765326619148254, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26350 + }, + { + "epoch": 7.669479196974105, + "flow_matching_loss": 0.009319019876420498, + "grad_norm": 0.10233720391988754, + "learning_rate": 1.1919965274119381e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007538140984252095, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37686444222927096, + "rkd_teacher_entropy": 3.7007660388946535, + "rkd_teacher_similarity_mean": 0.7680364668369293, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26360 + }, + { + "epoch": 7.672388711085249, + "flow_matching_loss": 0.011574970465153456, + "grad_norm": 0.1350758820772171, + "learning_rate": 1.18554541497311e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006945286458358168, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.382956063747406, + "rkd_teacher_entropy": 3.725858235359192, + "rkd_teacher_similarity_mean": 0.77534801363945, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26370 + }, + { + "epoch": 7.675298225196392, + "flow_matching_loss": 0.012210377445444464, + "grad_norm": 0.15793201327323914, + "learning_rate": 1.1791110883992213e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00760760810226202, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38092214465141294, + "rkd_teacher_entropy": 3.7199572324752808, + "rkd_teacher_similarity_mean": 0.7731518566608429, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26380 + }, + { + "epoch": 7.678207739307536, + "flow_matching_loss": 0.012677418068051338, + "grad_norm": 0.13683253526687622, + "learning_rate": 1.1726935555085817e-06, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007501670438796282, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37675869166851045, + "rkd_teacher_entropy": 3.701669144630432, + "rkd_teacher_similarity_mean": 0.7690729320049285, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26390 + }, + { + "epoch": 7.681117253418679, + "flow_matching_loss": 0.011809037998318672, + "grad_norm": 0.11588654667139053, + "learning_rate": 1.166292824099105e-06, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008166993083432317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3874409556388855, + "rkd_teacher_entropy": 3.7367977142333983, + "rkd_teacher_similarity_mean": 0.7795087277889252, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26400 + }, + { + "epoch": 7.684026767529822, + "flow_matching_loss": 0.010186386574059726, + "grad_norm": 0.09229831397533417, + "learning_rate": 1.1599089019482768e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072928817942738535, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38094944059848784, + "rkd_teacher_entropy": 3.713474416732788, + "rkd_teacher_similarity_mean": 0.7738846659660339, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26410 + }, + { + "epoch": 7.686936281640966, + "flow_matching_loss": 0.01025008545257151, + "grad_norm": 0.1159633994102478, + "learning_rate": 1.1535417968131718e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007453051954507827, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3788929671049118, + "rkd_teacher_entropy": 3.715269112586975, + "rkd_teacher_similarity_mean": 0.7715029776096344, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26420 + }, + { + "epoch": 7.68984579575211, + "flow_matching_loss": 0.012191755883395671, + "grad_norm": 0.12154688686132431, + "learning_rate": 1.147191516430418e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006905950792133808, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37510153353214265, + "rkd_teacher_entropy": 3.706337809562683, + "rkd_teacher_similarity_mean": 0.7680597960948944, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26430 + }, + { + "epoch": 7.692755309863253, + "flow_matching_loss": 0.011593260383233429, + "grad_norm": 0.12579602003097534, + "learning_rate": 1.140858068516205e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0070856655016541484, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3847159415483475, + "rkd_teacher_entropy": 3.7307440996170045, + "rkd_teacher_similarity_mean": 0.7771421909332276, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26440 + }, + { + "epoch": 7.695664823974396, + "flow_matching_loss": 0.00962227680720389, + "grad_norm": 0.10367748141288757, + "learning_rate": 1.1345414607662736e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00602106717415154, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38269911110401156, + "rkd_teacher_entropy": 3.7149380683898925, + "rkd_teacher_similarity_mean": 0.7745023548603058, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26450 + }, + { + "epoch": 7.69857433808554, + "flow_matching_loss": 0.010132831148803234, + "grad_norm": 0.12378332763910294, + "learning_rate": 1.1282417008558937e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007459621131420136, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38553202748298643, + "rkd_teacher_entropy": 3.739565896987915, + "rkd_teacher_similarity_mean": 0.7776295483112335, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26460 + }, + { + "epoch": 7.7014838521966835, + "flow_matching_loss": 0.011793409707024693, + "grad_norm": 0.142622172832489, + "learning_rate": 1.1219587964398674e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008404615987092256, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3904749810695648, + "rkd_teacher_entropy": 3.7398640394210814, + "rkd_teacher_similarity_mean": 0.7826797127723694, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26470 + }, + { + "epoch": 7.704393366307826, + "flow_matching_loss": 0.01196887595579028, + "grad_norm": 0.14955632388591766, + "learning_rate": 1.1156927551525198e-06, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008294355357065797, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3843852549791336, + "rkd_teacher_entropy": 3.7254969596862795, + "rkd_teacher_similarity_mean": 0.777051717042923, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26480 + }, + { + "epoch": 7.70730288041897, + "flow_matching_loss": 0.011078088264912366, + "grad_norm": 0.12661975622177124, + "learning_rate": 1.109443584607675e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008259123610332608, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3804003089666367, + "rkd_teacher_entropy": 3.7094801664352417, + "rkd_teacher_similarity_mean": 0.7714061796665191, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26490 + }, + { + "epoch": 7.710212394530114, + "flow_matching_loss": 0.011478334385901689, + "grad_norm": 0.125735804438591, + "learning_rate": 1.1032112923986708e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008165119681507349, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870644122362137, + "rkd_teacher_entropy": 3.73159396648407, + "rkd_teacher_similarity_mean": 0.7788291096687316, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26500 + }, + { + "epoch": 7.713121908641257, + "flow_matching_loss": 0.011849288549274205, + "grad_norm": 0.12478114664554596, + "learning_rate": 1.0969958860983299e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007350475061684847, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38219914138317107, + "rkd_teacher_entropy": 3.7193198680877684, + "rkd_teacher_similarity_mean": 0.7735933780670166, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26510 + }, + { + "epoch": 7.7160314227524, + "flow_matching_loss": 0.010086217988282442, + "grad_norm": 0.12895897030830383, + "learning_rate": 1.0907973732589537e-06, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007435241201892495, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3884103953838348, + "rkd_teacher_entropy": 3.732598662376404, + "rkd_teacher_similarity_mean": 0.7802689433097839, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26520 + }, + { + "epoch": 7.718940936863544, + "flow_matching_loss": 0.012398599740117788, + "grad_norm": 0.10651993751525879, + "learning_rate": 1.0846157614123215e-06, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006007615057751536, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3850696533918381, + "rkd_teacher_entropy": 3.7351621627807616, + "rkd_teacher_similarity_mean": 0.7764019727706909, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26530 + }, + { + "epoch": 7.721850450974687, + "flow_matching_loss": 0.010893260035663844, + "grad_norm": 0.10756822675466537, + "learning_rate": 1.078451058069671e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008003422385081648, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828102648258209, + "rkd_teacher_entropy": 3.718899393081665, + "rkd_teacher_similarity_mean": 0.7737128794193268, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26540 + }, + { + "epoch": 7.7247599650858305, + "flow_matching_loss": 0.011118840426206589, + "grad_norm": 0.13292856514453888, + "learning_rate": 1.0723032707217056e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00751675870269537, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3879680633544922, + "rkd_teacher_entropy": 3.722382068634033, + "rkd_teacher_similarity_mean": 0.7791374921798706, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26550 + }, + { + "epoch": 7.727669479196974, + "flow_matching_loss": 0.011175312474370003, + "grad_norm": 0.11818857491016388, + "learning_rate": 1.066172406838558e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0059360448271036145, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38896213471889496, + "rkd_teacher_entropy": 3.74276065826416, + "rkd_teacher_similarity_mean": 0.7810138642787934, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26560 + }, + { + "epoch": 7.730578993308118, + "flow_matching_loss": 0.014781121723353862, + "grad_norm": 0.12743809819221497, + "learning_rate": 1.0600584738698127e-06, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007356313476338983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37246939539909363, + "rkd_teacher_entropy": 3.6929449796676637, + "rkd_teacher_similarity_mean": 0.7648676931858063, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26570 + }, + { + "epoch": 7.733488507419261, + "flow_matching_loss": 0.012212275713682174, + "grad_norm": 0.13556113839149475, + "learning_rate": 1.0539614792444735e-06, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006559777911752463, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3925220608711243, + "rkd_teacher_entropy": 3.744035577774048, + "rkd_teacher_similarity_mean": 0.7842109739780426, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26580 + }, + { + "epoch": 7.7363980215304045, + "flow_matching_loss": 0.010127348452806472, + "grad_norm": 0.08919259905815125, + "learning_rate": 1.0478814303709627e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006625407142564654, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3741392016410828, + "rkd_teacher_entropy": 3.6979924201965333, + "rkd_teacher_similarity_mean": 0.7657944560050964, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26590 + }, + { + "epoch": 7.739307535641548, + "flow_matching_loss": 0.013729290943592787, + "grad_norm": 0.1315964013338089, + "learning_rate": 1.041818334637109e-06, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008685366157442332, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38353607058525085, + "rkd_teacher_entropy": 3.7242231607437133, + "rkd_teacher_similarity_mean": 0.7751267790794373, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26600 + }, + { + "epoch": 7.742217049752691, + "flow_matching_loss": 0.011312825558707117, + "grad_norm": 0.11508090049028397, + "learning_rate": 1.0357721994101526e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006220450112596154, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3913989573717117, + "rkd_teacher_entropy": 3.73910813331604, + "rkd_teacher_similarity_mean": 0.7835370004177094, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26610 + }, + { + "epoch": 7.745126563863835, + "flow_matching_loss": 0.009850504202768206, + "grad_norm": 0.13494381308555603, + "learning_rate": 1.0297430320367135e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008345775725319981, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3888403058052063, + "rkd_teacher_entropy": 3.7371910333633425, + "rkd_teacher_similarity_mean": 0.7813228607177735, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26620 + }, + { + "epoch": 7.748036077974978, + "flow_matching_loss": 0.01242373394779861, + "grad_norm": 0.1462584286928177, + "learning_rate": 1.0237308398428014e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007133951596915722, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840163737535477, + "rkd_teacher_entropy": 3.7299705743789673, + "rkd_teacher_similarity_mean": 0.7748663604259491, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26630 + }, + { + "epoch": 7.750945592086122, + "flow_matching_loss": 0.012065125117078423, + "grad_norm": 0.10656431317329407, + "learning_rate": 1.0177356301337925e-06, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074582613538950685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37959722280502317, + "rkd_teacher_entropy": 3.710368251800537, + "rkd_teacher_similarity_mean": 0.7710795879364014, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26640 + }, + { + "epoch": 7.753855106197265, + "flow_matching_loss": 0.01087770820595324, + "grad_norm": 0.1731499880552292, + "learning_rate": 1.0117574101944348e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0094172615557909, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3912662297487259, + "rkd_teacher_entropy": 3.744757342338562, + "rkd_teacher_similarity_mean": 0.7828219711780549, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26650 + }, + { + "epoch": 7.756764620308409, + "flow_matching_loss": 0.011284730723127722, + "grad_norm": 0.08739510923624039, + "learning_rate": 1.0057961872888293e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068924255203455685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3839153617620468, + "rkd_teacher_entropy": 3.712840270996094, + "rkd_teacher_similarity_mean": 0.7752532958984375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26660 + }, + { + "epoch": 7.7596741344195515, + "flow_matching_loss": 0.011077055428177118, + "grad_norm": 0.09390661120414734, + "learning_rate": 9.998519686604235e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007021900219842792, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3859841197729111, + "rkd_teacher_entropy": 3.73858437538147, + "rkd_teacher_similarity_mean": 0.7787635445594787, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26670 + }, + { + "epoch": 7.762583648530695, + "flow_matching_loss": 0.010977388452738523, + "grad_norm": 0.10579971969127655, + "learning_rate": 9.939247615320047e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007702493155375123, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38658747971057894, + "rkd_teacher_entropy": 3.7279853582382203, + "rkd_teacher_similarity_mean": 0.7786609947681427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26680 + }, + { + "epoch": 7.765493162641839, + "flow_matching_loss": 0.010860132984817028, + "grad_norm": 0.09261088818311691, + "learning_rate": 9.880145731056834e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007848627166822553, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38588091135025027, + "rkd_teacher_entropy": 3.73385808467865, + "rkd_teacher_similarity_mean": 0.7771947920322418, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26690 + }, + { + "epoch": 7.768402676752983, + "flow_matching_loss": 0.011670963419601322, + "grad_norm": 0.1020701602101326, + "learning_rate": 9.821214105629034e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068000452127307655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38932337462902067, + "rkd_teacher_entropy": 3.739919924736023, + "rkd_teacher_similarity_mean": 0.780715036392212, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26700 + }, + { + "epoch": 7.771312190864125, + "flow_matching_loss": 0.011641517141833901, + "grad_norm": 0.09557631611824036, + "learning_rate": 9.762452810644068e-07, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006448377016931772, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38278878629207613, + "rkd_teacher_entropy": 3.7094680309295653, + "rkd_teacher_similarity_mean": 0.774862778186798, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26710 + }, + { + "epoch": 7.774221704975269, + "flow_matching_loss": 0.012341058766469359, + "grad_norm": 0.11526909470558167, + "learning_rate": 9.703861917502487e-07, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007228428544476628, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39608212411403654, + "rkd_teacher_entropy": 3.763465237617493, + "rkd_teacher_similarity_mean": 0.7882317245006562, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26720 + }, + { + "epoch": 7.777131219086413, + "flow_matching_loss": 0.0133488685823977, + "grad_norm": 0.11987154930830002, + "learning_rate": 9.645441497397744e-07, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006760656228289008, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38756135404109954, + "rkd_teacher_entropy": 3.741088032722473, + "rkd_teacher_similarity_mean": 0.7798562526702881, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26730 + }, + { + "epoch": 7.780040733197556, + "flow_matching_loss": 0.011124760145321488, + "grad_norm": 0.10286856442689896, + "learning_rate": 9.587191621316154e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008277982007712126, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37926302552223207, + "rkd_teacher_entropy": 3.708852481842041, + "rkd_teacher_similarity_mean": 0.7706490576267242, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26740 + }, + { + "epoch": 7.782950247308699, + "flow_matching_loss": 0.010310665471479297, + "grad_norm": 0.0894901230931282, + "learning_rate": 9.529112360036802e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0063928840681910515, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38679059445858, + "rkd_teacher_entropy": 3.730584454536438, + "rkd_teacher_similarity_mean": 0.7790124237537384, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26750 + }, + { + "epoch": 7.785859761419843, + "flow_matching_loss": 0.01236600810661912, + "grad_norm": 0.10760121047496796, + "learning_rate": 9.471203784131449e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008369294879958033, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3780383199453354, + "rkd_teacher_entropy": 3.708381247520447, + "rkd_teacher_similarity_mean": 0.7705670654773712, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26760 + }, + { + "epoch": 7.788769275530987, + "flow_matching_loss": 0.011418443033471703, + "grad_norm": 0.07762888818979263, + "learning_rate": 9.41346596396453e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007166862394660712, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37701138854026794, + "rkd_teacher_entropy": 3.699769878387451, + "rkd_teacher_similarity_mean": 0.7684596657752991, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26770 + }, + { + "epoch": 7.79167878964213, + "flow_matching_loss": 0.010813197866082192, + "grad_norm": 0.0746442973613739, + "learning_rate": 9.355898969692889e-07, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006275856215506792, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3818670868873596, + "rkd_teacher_entropy": 3.7133642196655274, + "rkd_teacher_similarity_mean": 0.772962111234665, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26780 + }, + { + "epoch": 7.794588303753273, + "flow_matching_loss": 0.012918712850660086, + "grad_norm": 0.1258925497531891, + "learning_rate": 9.29850287126589e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007421481190249324, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38235667645931243, + "rkd_teacher_entropy": 3.723668336868286, + "rkd_teacher_similarity_mean": 0.7753684222698212, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26790 + }, + { + "epoch": 7.797497817864417, + "flow_matching_loss": 0.012849509483203292, + "grad_norm": 0.10560503602027893, + "learning_rate": 9.24127773842518e-07, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077311786822974685, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38353503942489625, + "rkd_teacher_entropy": 3.7270219802856444, + "rkd_teacher_similarity_mean": 0.7756605505943298, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26800 + }, + { + "epoch": 7.80040733197556, + "flow_matching_loss": 0.010145649034529924, + "grad_norm": 0.11341925710439682, + "learning_rate": 9.18422364070467e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006618937663733959, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3771416336297989, + "rkd_teacher_entropy": 3.7010958433151244, + "rkd_teacher_similarity_mean": 0.7682790756225586, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26810 + }, + { + "epoch": 7.8033168460867035, + "flow_matching_loss": 0.010753951966762543, + "grad_norm": 0.1661437451839447, + "learning_rate": 9.127340647430538e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006882520159706473, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37958727180957796, + "rkd_teacher_entropy": 3.715582180023193, + "rkd_teacher_similarity_mean": 0.7719758570194244, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26820 + }, + { + "epoch": 7.806226360197847, + "flow_matching_loss": 0.011982116429135204, + "grad_norm": 0.09754534810781479, + "learning_rate": 9.070628827720929e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007674015499651432, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39400425255298616, + "rkd_teacher_entropy": 3.7547849893569945, + "rkd_teacher_similarity_mean": 0.7866295635700226, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26830 + }, + { + "epoch": 7.80913587430899, + "flow_matching_loss": 0.009720350988209248, + "grad_norm": 0.11122140288352966, + "learning_rate": 9.014088250486052e-07, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006789670558646321, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.385311684012413, + "rkd_teacher_entropy": 3.716439628601074, + "rkd_teacher_similarity_mean": 0.7780319809913635, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26840 + }, + { + "epoch": 7.812045388420134, + "flow_matching_loss": 0.011785893328487873, + "grad_norm": 0.12328752875328064, + "learning_rate": 8.95771898442807e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009587866254150867, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3750074326992035, + "rkd_teacher_entropy": 3.707083010673523, + "rkd_teacher_similarity_mean": 0.7672226548194885, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26850 + }, + { + "epoch": 7.8149549025312774, + "flow_matching_loss": 0.012076166551560163, + "grad_norm": 0.09096679091453552, + "learning_rate": 8.90152109804091e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007418811554089189, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381951242685318, + "rkd_teacher_entropy": 3.720741605758667, + "rkd_teacher_similarity_mean": 0.7743811190128327, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26860 + }, + { + "epoch": 7.81786441664242, + "flow_matching_loss": 0.010476657561957836, + "grad_norm": 0.11082129925489426, + "learning_rate": 8.845494659610365e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008107071742415428, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39037611782550813, + "rkd_teacher_entropy": 3.750990891456604, + "rkd_teacher_similarity_mean": 0.7826117515563965, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26870 + }, + { + "epoch": 7.820773930753564, + "flow_matching_loss": 0.010941713955253363, + "grad_norm": 0.11641067266464233, + "learning_rate": 8.789639737213812e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.005918176146224141, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38885210156440736, + "rkd_teacher_entropy": 3.734872817993164, + "rkd_teacher_similarity_mean": 0.7815734207630157, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26880 + }, + { + "epoch": 7.823683444864708, + "flow_matching_loss": 0.010218056570738553, + "grad_norm": 0.08308965712785721, + "learning_rate": 8.733956398720244e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072641240432858465, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38036203682422637, + "rkd_teacher_entropy": 3.7163212299346924, + "rkd_teacher_similarity_mean": 0.7722466647624969, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26890 + }, + { + "epoch": 7.826592958975851, + "flow_matching_loss": 0.0105830408167094, + "grad_norm": 0.09121659398078918, + "learning_rate": 8.678444711790157e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006626193923875689, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39236549437046053, + "rkd_teacher_entropy": 3.7408758878707884, + "rkd_teacher_similarity_mean": 0.7837654769420623, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26900 + }, + { + "epoch": 7.829502473086994, + "flow_matching_loss": 0.01085686325095594, + "grad_norm": 0.13430872559547424, + "learning_rate": 8.623104743875493e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007898449525237083, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3902542978525162, + "rkd_teacher_entropy": 3.7460798025131226, + "rkd_teacher_similarity_mean": 0.7821300864219666, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26910 + }, + { + "epoch": 7.832411987198138, + "flow_matching_loss": 0.009987153578549623, + "grad_norm": 0.12992733716964722, + "learning_rate": 8.567936562219547e-07, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007422134838998317, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3783409744501114, + "rkd_teacher_entropy": 3.710276556015015, + "rkd_teacher_similarity_mean": 0.7697218537330628, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26920 + }, + { + "epoch": 7.835321501309282, + "flow_matching_loss": 0.011363419517874718, + "grad_norm": 0.14985448122024536, + "learning_rate": 8.512940233856847e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007892784383147954, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3811991035938263, + "rkd_teacher_entropy": 3.717411684989929, + "rkd_teacher_similarity_mean": 0.7729326784610748, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26930 + }, + { + "epoch": 7.838231015420424, + "flow_matching_loss": 0.009002923546358944, + "grad_norm": 0.10491545498371124, + "learning_rate": 8.458115825613122e-07, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007005844824016094, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3786381155252457, + "rkd_teacher_entropy": 3.7225080728530884, + "rkd_teacher_similarity_mean": 0.770998501777649, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26940 + }, + { + "epoch": 7.841140529531568, + "flow_matching_loss": 0.010847094748169184, + "grad_norm": 0.09881585836410522, + "learning_rate": 8.403463404105199e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007248153956606984, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38688382804393767, + "rkd_teacher_entropy": 3.7373295545578005, + "rkd_teacher_similarity_mean": 0.7790302217006684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26950 + }, + { + "epoch": 7.844050043642712, + "flow_matching_loss": 0.01169423428364098, + "grad_norm": 0.11839324235916138, + "learning_rate": 8.348983035740926e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006935522612184286, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3748113662004471, + "rkd_teacher_entropy": 3.6977402448654173, + "rkd_teacher_similarity_mean": 0.7669339299201965, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26960 + }, + { + "epoch": 7.846959557753856, + "flow_matching_loss": 0.008898345055058599, + "grad_norm": 0.07408514618873596, + "learning_rate": 8.294674786719064e-07, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006300467299297452, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37766215205192566, + "rkd_teacher_entropy": 3.6965713024139406, + "rkd_teacher_similarity_mean": 0.7690922439098358, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26970 + }, + { + "epoch": 7.849869071864998, + "flow_matching_loss": 0.011462731938809156, + "grad_norm": 0.13810105621814728, + "learning_rate": 8.240538723029295e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0075118811801075935, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38626318275928495, + "rkd_teacher_entropy": 3.7320580959320067, + "rkd_teacher_similarity_mean": 0.7779576480388641, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26980 + }, + { + "epoch": 7.852778585976142, + "flow_matching_loss": 0.011522947577759624, + "grad_norm": 0.11702819913625717, + "learning_rate": 8.186574910451983e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007417566375806928, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39057469367980957, + "rkd_teacher_entropy": 3.7487239599227906, + "rkd_teacher_similarity_mean": 0.781971538066864, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26990 + }, + { + "epoch": 7.855688100087286, + "flow_matching_loss": 0.011812136135995388, + "grad_norm": 0.14715607464313507, + "learning_rate": 8.132783414558326e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007790693128481507, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38187675178050995, + "rkd_teacher_entropy": 3.719827079772949, + "rkd_teacher_similarity_mean": 0.7738164365291595, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27000 + }, + { + "epoch": 7.858597614198429, + "flow_matching_loss": 0.010175513243302703, + "grad_norm": 0.080894336104393, + "learning_rate": 8.079164300710023e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0066039014607667925, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3803176760673523, + "rkd_teacher_entropy": 3.702714037895203, + "rkd_teacher_similarity_mean": 0.7726284384727478, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27010 + }, + { + "epoch": 7.861507128309572, + "flow_matching_loss": 0.011276277992874385, + "grad_norm": 0.08796404302120209, + "learning_rate": 8.025717634059326e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006029457040131092, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39080281257629396, + "rkd_teacher_entropy": 3.7433154344558717, + "rkd_teacher_similarity_mean": 0.7832942008972168, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27020 + }, + { + "epoch": 7.864416642420716, + "flow_matching_loss": 0.01173773049376905, + "grad_norm": 0.15511290729045868, + "learning_rate": 7.972443479549035e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068786981981247665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868005573749542, + "rkd_teacher_entropy": 3.7326647520065306, + "rkd_teacher_similarity_mean": 0.7789958238601684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27030 + }, + { + "epoch": 7.867326156531859, + "flow_matching_loss": 0.012159247742965817, + "grad_norm": 0.10805300623178482, + "learning_rate": 7.919341901912236e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006994548719376326, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840007930994034, + "rkd_teacher_entropy": 3.722166156768799, + "rkd_teacher_similarity_mean": 0.7760610163211823, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27040 + }, + { + "epoch": 7.870235670643003, + "flow_matching_loss": 0.011443860176950694, + "grad_norm": 0.14350472390651703, + "learning_rate": 7.866412965672365e-07, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006945110484957695, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38544173538684845, + "rkd_teacher_entropy": 3.725912261009216, + "rkd_teacher_similarity_mean": 0.7778636455535889, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27050 + }, + { + "epoch": 7.873145184754146, + "flow_matching_loss": 0.010991583066061138, + "grad_norm": 0.11294544488191605, + "learning_rate": 7.813656735143044e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007064038910903037, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39156512916088104, + "rkd_teacher_entropy": 3.7471034288406373, + "rkd_teacher_similarity_mean": 0.7831800580024719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27060 + }, + { + "epoch": 7.876054698865289, + "flow_matching_loss": 0.012774025741964578, + "grad_norm": 0.14902178943157196, + "learning_rate": 7.761073274428076e-07, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007859377330169082, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868026494979858, + "rkd_teacher_entropy": 3.737923192977905, + "rkd_teacher_similarity_mean": 0.7784803450107575, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27070 + }, + { + "epoch": 7.878964212976433, + "flow_matching_loss": 0.012763817934319377, + "grad_norm": 0.10714739561080933, + "learning_rate": 7.708662647421355e-07, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007125118607655167, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3756257265806198, + "rkd_teacher_entropy": 3.6985809326171877, + "rkd_teacher_similarity_mean": 0.7669899642467499, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27080 + }, + { + "epoch": 7.8818737270875765, + "flow_matching_loss": 0.010354412952437997, + "grad_norm": 0.1246064156293869, + "learning_rate": 7.65642491780672e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007947691064327956, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3817264586687088, + "rkd_teacher_entropy": 3.6968600034713743, + "rkd_teacher_similarity_mean": 0.7722255468368531, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27090 + }, + { + "epoch": 7.88478324119872, + "flow_matching_loss": 0.011676494404673577, + "grad_norm": 0.09279739856719971, + "learning_rate": 7.604360149057916e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008237149752676486, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3903358519077301, + "rkd_teacher_entropy": 3.7471891403198243, + "rkd_teacher_similarity_mean": 0.7825606524944305, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27100 + }, + { + "epoch": 7.887692755309863, + "flow_matching_loss": 0.010524721816182137, + "grad_norm": 0.13323329389095306, + "learning_rate": 7.552468404438568e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00734391245059669, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3804424047470093, + "rkd_teacher_entropy": 3.7089028358459473, + "rkd_teacher_similarity_mean": 0.7724766612052918, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27110 + }, + { + "epoch": 7.890602269421007, + "flow_matching_loss": 0.01034899246878922, + "grad_norm": 0.07319708168506622, + "learning_rate": 7.500749747002022e-07, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008035821514204145, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815901309251785, + "rkd_teacher_entropy": 3.7087381362915037, + "rkd_teacher_similarity_mean": 0.7730220139026642, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27120 + }, + { + "epoch": 7.89351178353215, + "flow_matching_loss": 0.011995469313114881, + "grad_norm": 0.09616778790950775, + "learning_rate": 7.449204239591345e-07, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068874843418598175, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3873495995998383, + "rkd_teacher_entropy": 3.7370643615722656, + "rkd_teacher_similarity_mean": 0.7791753649711609, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27130 + }, + { + "epoch": 7.896421297643293, + "flow_matching_loss": 0.010762875014916063, + "grad_norm": 0.09688438475131989, + "learning_rate": 7.397831944839167e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007445288542658091, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3850135624408722, + "rkd_teacher_entropy": 3.727444219589233, + "rkd_teacher_similarity_mean": 0.7764395952224732, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27140 + }, + { + "epoch": 7.899330811754437, + "flow_matching_loss": 0.009979851357638837, + "grad_norm": 0.08836798369884491, + "learning_rate": 7.346632925167706e-07, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0067501604091376064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851051926612854, + "rkd_teacher_entropy": 3.724102568626404, + "rkd_teacher_similarity_mean": 0.7764531135559082, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27150 + }, + { + "epoch": 7.902240325865581, + "flow_matching_loss": 0.009313993062824011, + "grad_norm": 0.13904821872711182, + "learning_rate": 7.295607242788566e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007770294509828091, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790448695421219, + "rkd_teacher_entropy": 3.7011081695556642, + "rkd_teacher_similarity_mean": 0.770181804895401, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27160 + }, + { + "epoch": 7.905149839976724, + "flow_matching_loss": 0.010612719738855959, + "grad_norm": 0.10845330357551575, + "learning_rate": 7.244754959702765e-07, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00597945754416287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3836971461772919, + "rkd_teacher_entropy": 3.7193631410598753, + "rkd_teacher_similarity_mean": 0.7762101054191589, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27170 + }, + { + "epoch": 7.908059354087867, + "flow_matching_loss": 0.013128505973145365, + "grad_norm": 0.1284477859735489, + "learning_rate": 7.194076137700628e-07, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007703635515645147, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38786532580852506, + "rkd_teacher_entropy": 3.736797499656677, + "rkd_teacher_similarity_mean": 0.7796966195106506, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27180 + }, + { + "epoch": 7.910968868199011, + "flow_matching_loss": 0.011237421259284019, + "grad_norm": 0.12433739006519318, + "learning_rate": 7.143570838361696e-07, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007416765252128243, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3869599521160126, + "rkd_teacher_entropy": 3.7358460903167723, + "rkd_teacher_similarity_mean": 0.7788503408432007, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27190 + }, + { + "epoch": 7.913878382310154, + "flow_matching_loss": 0.011465910729020834, + "grad_norm": 0.11297446489334106, + "learning_rate": 7.093239123054696e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007224694499745965, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3849447429180145, + "rkd_teacher_entropy": 3.729466962814331, + "rkd_teacher_similarity_mean": 0.776112025976181, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27200 + }, + { + "epoch": 7.916787896421297, + "flow_matching_loss": 0.011999467574059963, + "grad_norm": 0.1250939816236496, + "learning_rate": 7.043081052937389e-07, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008920375909656286, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3889716029167175, + "rkd_teacher_entropy": 3.739480495452881, + "rkd_teacher_similarity_mean": 0.7807250440120697, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27210 + }, + { + "epoch": 7.919697410532441, + "flow_matching_loss": 0.010669113928452134, + "grad_norm": 0.16979794204235077, + "learning_rate": 6.993096688956558e-07, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007539754780009389, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39361933767795565, + "rkd_teacher_entropy": 3.7444321870803834, + "rkd_teacher_similarity_mean": 0.7863846242427825, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27220 + }, + { + "epoch": 7.922606924643585, + "flow_matching_loss": 0.010435711266472936, + "grad_norm": 0.1301736682653427, + "learning_rate": 6.943286091847884e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007736014714464545, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3775076776742935, + "rkd_teacher_entropy": 3.701058840751648, + "rkd_teacher_similarity_mean": 0.7692287862300873, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27230 + }, + { + "epoch": 7.925516438754728, + "flow_matching_loss": 0.010795430792495609, + "grad_norm": 0.10183762013912201, + "learning_rate": 6.89364932213602e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006947850296273828, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38196164071559907, + "rkd_teacher_entropy": 3.7159412145614623, + "rkd_teacher_similarity_mean": 0.772522383928299, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27240 + }, + { + "epoch": 7.928425952865871, + "flow_matching_loss": 0.011902564857155084, + "grad_norm": 0.10834285616874695, + "learning_rate": 6.844186440134253e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006282901857048273, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3846336930990219, + "rkd_teacher_entropy": 3.7235484600067137, + "rkd_teacher_similarity_mean": 0.7771842002868652, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27250 + }, + { + "epoch": 7.931335466977015, + "flow_matching_loss": 0.012925921194255351, + "grad_norm": 0.13383609056472778, + "learning_rate": 6.794897505944692e-07, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007951289229094983, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3783722698688507, + "rkd_teacher_entropy": 3.7032865285873413, + "rkd_teacher_similarity_mean": 0.7701730608940125, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27260 + }, + { + "epoch": 7.934244981088158, + "flow_matching_loss": 0.009998652525246144, + "grad_norm": 0.09466078877449036, + "learning_rate": 6.745782579457993e-07, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006217377679422498, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38778774440288544, + "rkd_teacher_entropy": 3.731006073951721, + "rkd_teacher_similarity_mean": 0.779196149110794, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27270 + }, + { + "epoch": 7.937154495199302, + "flow_matching_loss": 0.011735824309289456, + "grad_norm": 0.09899483621120453, + "learning_rate": 6.696841720353453e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007777280127629638, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38135855495929716, + "rkd_teacher_entropy": 3.7153844356536867, + "rkd_teacher_similarity_mean": 0.7730265378952026, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27280 + }, + { + "epoch": 7.940064009310445, + "flow_matching_loss": 0.01110314391553402, + "grad_norm": 0.11437014490365982, + "learning_rate": 6.648074988098834e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006793783605098724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3905309587717056, + "rkd_teacher_entropy": 3.7494496583938597, + "rkd_teacher_similarity_mean": 0.7820248126983642, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27290 + }, + { + "epoch": 7.942973523421589, + "flow_matching_loss": 0.010815228009596467, + "grad_norm": 0.11264901608228683, + "learning_rate": 6.599482441950322e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00680000598076731, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38862029612064364, + "rkd_teacher_entropy": 3.7318747282028197, + "rkd_teacher_similarity_mean": 0.7803967714309692, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27300 + }, + { + "epoch": 7.945883037532732, + "flow_matching_loss": 0.011805321648716926, + "grad_norm": 0.10568712651729584, + "learning_rate": 6.551064140952417e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007078231824561953, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3751797616481781, + "rkd_teacher_entropy": 3.6955753564834595, + "rkd_teacher_similarity_mean": 0.7662785887718201, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27310 + }, + { + "epoch": 7.9487925516438755, + "flow_matching_loss": 0.011019024532288313, + "grad_norm": 0.10378820449113846, + "learning_rate": 6.502820143937943e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006410611281171441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.379989230632782, + "rkd_teacher_entropy": 3.7053240537643433, + "rkd_teacher_similarity_mean": 0.7713123619556427, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27320 + }, + { + "epoch": 7.951702065755019, + "flow_matching_loss": 0.010389679437503218, + "grad_norm": 0.11925184726715088, + "learning_rate": 6.454750509527874e-07, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068629573099315165, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820469319820404, + "rkd_teacher_entropy": 3.710080790519714, + "rkd_teacher_similarity_mean": 0.7739353537559509, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27330 + }, + { + "epoch": 7.954611579866162, + "flow_matching_loss": 0.01166658652946353, + "grad_norm": 0.07823147624731064, + "learning_rate": 6.406855296131387e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00834965135436505, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3825684130191803, + "rkd_teacher_entropy": 3.7272594213485717, + "rkd_teacher_similarity_mean": 0.7736506998538971, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27340 + }, + { + "epoch": 7.957521093977306, + "flow_matching_loss": 0.010745425336062908, + "grad_norm": 0.09274660795927048, + "learning_rate": 6.359134561945662e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006833136500790715, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38694576919078827, + "rkd_teacher_entropy": 3.722631907463074, + "rkd_teacher_similarity_mean": 0.7790157437324524, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27350 + }, + { + "epoch": 7.9604306080884495, + "flow_matching_loss": 0.010545294266194105, + "grad_norm": 0.1203756183385849, + "learning_rate": 6.311588364955883e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006763007724657655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38869184255599976, + "rkd_teacher_entropy": 3.740858268737793, + "rkd_teacher_similarity_mean": 0.7803653419017792, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27360 + }, + { + "epoch": 7.963340122199592, + "flow_matching_loss": 0.00960159027017653, + "grad_norm": 0.13492310047149658, + "learning_rate": 6.264216762935187e-07, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007623788435012102, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860785305500031, + "rkd_teacher_entropy": 3.7282227754592894, + "rkd_teacher_similarity_mean": 0.7771143198013306, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27370 + }, + { + "epoch": 7.966249636310736, + "flow_matching_loss": 0.01114243669435382, + "grad_norm": 0.1433940827846527, + "learning_rate": 6.21701981344453e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007968457881361246, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38808554112911225, + "rkd_teacher_entropy": 3.7458416223526, + "rkd_teacher_similarity_mean": 0.778793329000473, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27380 + }, + { + "epoch": 7.96915915042188, + "flow_matching_loss": 0.00946068661287427, + "grad_norm": 0.11723359674215317, + "learning_rate": 6.16999757383262e-07, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009105245536193251, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3774193286895752, + "rkd_teacher_entropy": 3.7072246789932253, + "rkd_teacher_similarity_mean": 0.7688124716281891, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27390 + }, + { + "epoch": 7.9720686645330225, + "flow_matching_loss": 0.011128467973321676, + "grad_norm": 0.1558300405740738, + "learning_rate": 6.123150101235952e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006924153864383697, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3888718158006668, + "rkd_teacher_entropy": 3.7362132549285887, + "rkd_teacher_similarity_mean": 0.780348265171051, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27400 + }, + { + "epoch": 7.974978178644166, + "flow_matching_loss": 0.011597902234643697, + "grad_norm": 0.14965040981769562, + "learning_rate": 6.076477452578594e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00686291572637856, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851411730051041, + "rkd_teacher_entropy": 3.731074810028076, + "rkd_teacher_similarity_mean": 0.7775801837444305, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27410 + }, + { + "epoch": 7.97788769275531, + "flow_matching_loss": 0.010473484266549348, + "grad_norm": 0.09662895649671555, + "learning_rate": 6.029979684572262e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00805898690596223, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38631367683410645, + "rkd_teacher_entropy": 3.729449009895325, + "rkd_teacher_similarity_mean": 0.7780264437198638, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27420 + }, + { + "epoch": 7.980797206866454, + "flow_matching_loss": 0.011084647802636027, + "grad_norm": 0.11769746989011765, + "learning_rate": 5.983656853716097e-07, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072212446015328165, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381930410861969, + "rkd_teacher_entropy": 3.714005875587463, + "rkd_teacher_similarity_mean": 0.7732923865318299, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27430 + }, + { + "epoch": 7.9837067209775965, + "flow_matching_loss": 0.012385340873152018, + "grad_norm": 0.11291506141424179, + "learning_rate": 5.937509016296689e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006681235134601593, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38597301244735716, + "rkd_teacher_entropy": 3.7281877040863036, + "rkd_teacher_similarity_mean": 0.7776094377040863, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27440 + }, + { + "epoch": 7.98661623508874, + "flow_matching_loss": 0.012868780130520462, + "grad_norm": 0.1193520724773407, + "learning_rate": 5.89153622838805e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007482289243489504, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3826738566160202, + "rkd_teacher_entropy": 3.7243021011352537, + "rkd_teacher_similarity_mean": 0.7744635045528412, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27450 + }, + { + "epoch": 7.989525749199884, + "flow_matching_loss": 0.012559454515576362, + "grad_norm": 0.10539277642965317, + "learning_rate": 5.845738545851431e-07, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008574312133714557, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38819730281829834, + "rkd_teacher_entropy": 3.7303011655807494, + "rkd_teacher_similarity_mean": 0.7800164759159088, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27460 + }, + { + "epoch": 7.992435263311027, + "flow_matching_loss": 0.010467734187841415, + "grad_norm": 0.13461555540561676, + "learning_rate": 5.800116024335334e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008667993266135455, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38737728297710416, + "rkd_teacher_entropy": 3.731766939163208, + "rkd_teacher_similarity_mean": 0.7788961470127106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27470 + }, + { + "epoch": 7.99534477742217, + "flow_matching_loss": 0.011301963403820992, + "grad_norm": 0.1650114506483078, + "learning_rate": 5.75466871927543e-07, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006820107600651682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3780482321977615, + "rkd_teacher_entropy": 3.702074980735779, + "rkd_teacher_similarity_mean": 0.7693811237812043, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27480 + }, + { + "epoch": 7.998254291533314, + "flow_matching_loss": 0.009917402314022184, + "grad_norm": 0.07144095003604889, + "learning_rate": 5.709396685894463e-07, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.005557006224989891, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3852953851222992, + "rkd_teacher_entropy": 3.717282247543335, + "rkd_teacher_similarity_mean": 0.7768777072429657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27490 + }, + { + "epoch": 8.001163805644458, + "flow_matching_loss": 0.009510350925847889, + "grad_norm": 0.12185651808977127, + "learning_rate": 5.664299979202264e-07, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007252392871305346, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3882690817117691, + "rkd_teacher_entropy": 3.7380961656570433, + "rkd_teacher_similarity_mean": 0.7797013223171234, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27500 + }, + { + "epoch": 8.004073319755602, + "flow_matching_loss": 0.011525917937979102, + "grad_norm": 0.1444643884897232, + "learning_rate": 5.61937865399555e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0070410272106528286, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38749701976776124, + "rkd_teacher_entropy": 3.738798499107361, + "rkd_teacher_similarity_mean": 0.7789188206195832, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27510 + }, + { + "epoch": 8.006982833866743, + "flow_matching_loss": 0.012881548516452313, + "grad_norm": 0.10899093747138977, + "learning_rate": 5.574632764857974e-07, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007202719850465655, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3939851075410843, + "rkd_teacher_entropy": 3.7457940101623537, + "rkd_teacher_similarity_mean": 0.7861191093921661, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27520 + }, + { + "epoch": 8.009892347977887, + "flow_matching_loss": 0.009567921794950963, + "grad_norm": 0.15551148355007172, + "learning_rate": 5.53006236616001e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007329430337995291, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3924935311079025, + "rkd_teacher_entropy": 3.7525992393493652, + "rkd_teacher_similarity_mean": 0.7844771087169647, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27530 + }, + { + "epoch": 8.012801862089031, + "flow_matching_loss": 0.01116325189359486, + "grad_norm": 0.10383404046297073, + "learning_rate": 5.485667512058873e-07, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007456461293622851, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38371920883655547, + "rkd_teacher_entropy": 3.711735463142395, + "rkd_teacher_similarity_mean": 0.7748058199882507, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27540 + }, + { + "epoch": 8.015711376200175, + "flow_matching_loss": 0.010696344496682286, + "grad_norm": 0.07740506529808044, + "learning_rate": 5.441448256498544e-07, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0060556225012987856, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832015097141266, + "rkd_teacher_entropy": 3.7258785486221315, + "rkd_teacher_similarity_mean": 0.7756364107131958, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27550 + }, + { + "epoch": 8.018620890311318, + "flow_matching_loss": 0.012368201743811369, + "grad_norm": 0.10162261873483658, + "learning_rate": 5.397404653209559e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008546878676861524, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3887415796518326, + "rkd_teacher_entropy": 3.7447008371353148, + "rkd_teacher_similarity_mean": 0.7809892475605011, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27560 + }, + { + "epoch": 8.021530404422462, + "flow_matching_loss": 0.010866330889984965, + "grad_norm": 0.09993792325258255, + "learning_rate": 5.35353675570906e-07, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007071441365405917, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806141048669815, + "rkd_teacher_entropy": 3.7049019813537596, + "rkd_teacher_similarity_mean": 0.7720467984676361, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27570 + }, + { + "epoch": 8.024439918533606, + "flow_matching_loss": 0.00916510159149766, + "grad_norm": 0.11285121738910675, + "learning_rate": 5.309844617300674e-07, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006708183791488409, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3848102420568466, + "rkd_teacher_entropy": 3.732927989959717, + "rkd_teacher_similarity_mean": 0.7769410133361816, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27580 + }, + { + "epoch": 8.027349432644748, + "flow_matching_loss": 0.010467326175421477, + "grad_norm": 0.09282782673835754, + "learning_rate": 5.266328291074468e-07, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007925002975389362, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3906760305166245, + "rkd_teacher_entropy": 3.7403762578964233, + "rkd_teacher_similarity_mean": 0.782916271686554, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27590 + }, + { + "epoch": 8.030258946755891, + "flow_matching_loss": 0.011467259004712104, + "grad_norm": 0.11352041363716125, + "learning_rate": 5.222987829906861e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065919761545956135, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3968453615903854, + "rkd_teacher_entropy": 3.75019850730896, + "rkd_teacher_similarity_mean": 0.788865613937378, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27600 + }, + { + "epoch": 8.033168460867035, + "flow_matching_loss": 0.009484484419226646, + "grad_norm": 0.11372265964746475, + "learning_rate": 5.179823286460644e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007431795075535774, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3840709298849106, + "rkd_teacher_entropy": 3.719269943237305, + "rkd_teacher_similarity_mean": 0.7752067565917968, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27610 + }, + { + "epoch": 8.036077974978179, + "flow_matching_loss": 0.012187500949949026, + "grad_norm": 0.10897468775510788, + "learning_rate": 5.13683471318478e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0056798860896378756, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38695946931838987, + "rkd_teacher_entropy": 3.736774778366089, + "rkd_teacher_similarity_mean": 0.7783535599708558, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27620 + }, + { + "epoch": 8.038987489089322, + "flow_matching_loss": 0.01188023779541254, + "grad_norm": 0.17449893057346344, + "learning_rate": 5.094022162314449e-07, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009723195945844055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38027578592300415, + "rkd_teacher_entropy": 3.7049649477005007, + "rkd_teacher_similarity_mean": 0.7711474120616912, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27630 + }, + { + "epoch": 8.041897003200466, + "flow_matching_loss": 0.012506259279325605, + "grad_norm": 0.09974370896816254, + "learning_rate": 5.051385685870924e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006176422769203782, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3952662289142609, + "rkd_teacher_entropy": 3.761360740661621, + "rkd_teacher_similarity_mean": 0.7870341837406158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27640 + }, + { + "epoch": 8.044806517311608, + "flow_matching_loss": 0.010936556803062557, + "grad_norm": 0.09936385601758957, + "learning_rate": 5.008925335661546e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007206665398553014, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3879603773355484, + "rkd_teacher_entropy": 3.7387121677398683, + "rkd_teacher_similarity_mean": 0.7797197937965393, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27650 + }, + { + "epoch": 8.047716031422752, + "flow_matching_loss": 0.011108178040012717, + "grad_norm": 0.10587773472070694, + "learning_rate": 4.966641163279662e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008684576256200671, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3845825672149658, + "rkd_teacher_entropy": 3.721711587905884, + "rkd_teacher_similarity_mean": 0.7759122788906098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27660 + }, + { + "epoch": 8.050625545533896, + "flow_matching_loss": 0.010387086449190975, + "grad_norm": 0.13547196984291077, + "learning_rate": 4.924533220104521e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007016556337475777, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38504491448402406, + "rkd_teacher_entropy": 3.7230141162872314, + "rkd_teacher_similarity_mean": 0.7759874761104584, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27670 + }, + { + "epoch": 8.05353505964504, + "flow_matching_loss": 0.011445456696674228, + "grad_norm": 0.1083945482969284, + "learning_rate": 4.882601557301231e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006213273759931326, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37728515863418577, + "rkd_teacher_entropy": 3.7032339334487916, + "rkd_teacher_similarity_mean": 0.7691280603408813, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27680 + }, + { + "epoch": 8.056444573756183, + "flow_matching_loss": 0.012950481055304408, + "grad_norm": 0.1008479967713356, + "learning_rate": 4.840846225820717e-07, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007463787542656064, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38617165088653566, + "rkd_teacher_entropy": 3.737277054786682, + "rkd_teacher_similarity_mean": 0.7778945982456207, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27690 + }, + { + "epoch": 8.059354087867327, + "flow_matching_loss": 0.009512207889929413, + "grad_norm": 0.06949159502983093, + "learning_rate": 4.79926727639966e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007276592869311571, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38634233772754667, + "rkd_teacher_entropy": 3.7273393869400024, + "rkd_teacher_similarity_mean": 0.7782994687557221, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27700 + }, + { + "epoch": 8.06226360197847, + "flow_matching_loss": 0.011772387800738216, + "grad_norm": 0.07704213261604309, + "learning_rate": 4.7578647595603817e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007960091857239605, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38323759436607363, + "rkd_teacher_entropy": 3.7188778638839723, + "rkd_teacher_similarity_mean": 0.7755148589611054, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27710 + }, + { + "epoch": 8.065173116089612, + "flow_matching_loss": 0.01495602522045374, + "grad_norm": 0.0974087044596672, + "learning_rate": 4.716638725610889e-07, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00859733046963811, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38048590123653414, + "rkd_teacher_entropy": 3.717694902420044, + "rkd_teacher_similarity_mean": 0.7717744708061218, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27720 + }, + { + "epoch": 8.068082630200756, + "flow_matching_loss": 0.011795916082337498, + "grad_norm": 0.10981176048517227, + "learning_rate": 4.6755892246446606e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008019641041755676, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3711052894592285, + "rkd_teacher_entropy": 3.6811441659927366, + "rkd_teacher_similarity_mean": 0.7623501360416413, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27730 + }, + { + "epoch": 8.0709921443119, + "flow_matching_loss": 0.010822695167735218, + "grad_norm": 0.12176230549812317, + "learning_rate": 4.634716306540715e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007517930585891008, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3929847955703735, + "rkd_teacher_entropy": 3.752764844894409, + "rkd_teacher_similarity_mean": 0.7845422208309174, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27740 + }, + { + "epoch": 8.073901658423043, + "flow_matching_loss": 0.01217613210901618, + "grad_norm": 0.1000070720911026, + "learning_rate": 4.5940200209635244e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006233847606927157, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39163063168525697, + "rkd_teacher_entropy": 3.745760774612427, + "rkd_teacher_similarity_mean": 0.7833845257759094, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27750 + }, + { + "epoch": 8.076811172534187, + "flow_matching_loss": 0.011367060802876949, + "grad_norm": 0.1211184412240982, + "learning_rate": 4.5535004173628657e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007324276911094785, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39000177681446074, + "rkd_teacher_entropy": 3.7502444982528687, + "rkd_teacher_similarity_mean": 0.7822092294692993, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27760 + }, + { + "epoch": 8.07972068664533, + "flow_matching_loss": 0.009739561518654228, + "grad_norm": 0.09972485899925232, + "learning_rate": 4.5131575449739225e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007483080495148897, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3912470132112503, + "rkd_teacher_entropy": 3.7489357471466063, + "rkd_teacher_similarity_mean": 0.7825497150421142, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27770 + }, + { + "epoch": 8.082630200756475, + "flow_matching_loss": 0.012271660659462214, + "grad_norm": 0.12108449637889862, + "learning_rate": 4.472991452817099e-07, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007198453787714243, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820148348808289, + "rkd_teacher_entropy": 3.7150208711624146, + "rkd_teacher_similarity_mean": 0.7744656920433044, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27780 + }, + { + "epoch": 8.085539714867616, + "flow_matching_loss": 0.011830340791493654, + "grad_norm": 0.10761945694684982, + "learning_rate": 4.433002189697938e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0076956153381615875, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3870315283536911, + "rkd_teacher_entropy": 3.7341604232788086, + "rkd_teacher_similarity_mean": 0.778700464963913, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27790 + }, + { + "epoch": 8.08844922897876, + "flow_matching_loss": 0.01276200064457953, + "grad_norm": 0.10944898426532745, + "learning_rate": 4.393189804207187e-07, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00901658865623176, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383352467417717, + "rkd_teacher_entropy": 3.7158615589141846, + "rkd_teacher_similarity_mean": 0.7748852670192719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27800 + }, + { + "epoch": 8.091358743089904, + "flow_matching_loss": 0.011334434105083346, + "grad_norm": 0.12202700972557068, + "learning_rate": 4.353554344720651e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007754758698865771, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.374701002240181, + "rkd_teacher_entropy": 3.70006582736969, + "rkd_teacher_similarity_mean": 0.7671901881694794, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27810 + }, + { + "epoch": 8.094268257201048, + "flow_matching_loss": 0.012075435929000377, + "grad_norm": 0.09915022552013397, + "learning_rate": 4.314095859399153e-07, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008024391066282988, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38659175038337706, + "rkd_teacher_entropy": 3.722711110115051, + "rkd_teacher_similarity_mean": 0.7781743764877319, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27820 + }, + { + "epoch": 8.097177771312191, + "flow_matching_loss": 0.01201792280189693, + "grad_norm": 0.08641032129526138, + "learning_rate": 4.274814396188459e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007648705877363682, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3828584969043732, + "rkd_teacher_entropy": 3.735494589805603, + "rkd_teacher_similarity_mean": 0.7750016391277313, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27830 + }, + { + "epoch": 8.100087285423335, + "flow_matching_loss": 0.009583952883258463, + "grad_norm": 0.1302601844072342, + "learning_rate": 4.235710002819271e-07, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008739784266799689, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3836954265832901, + "rkd_teacher_entropy": 3.7401132583618164, + "rkd_teacher_similarity_mean": 0.7754719495773316, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27840 + }, + { + "epoch": 8.102996799534477, + "flow_matching_loss": 0.011283830786123872, + "grad_norm": 0.09366576373577118, + "learning_rate": 4.196782726807097e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008013316802680493, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37329022884368895, + "rkd_teacher_entropy": 3.6850006103515627, + "rkd_teacher_similarity_mean": 0.7650249242782593, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27850 + }, + { + "epoch": 8.10590631364562, + "flow_matching_loss": 0.010513702081516385, + "grad_norm": 0.12090494483709335, + "learning_rate": 4.158032615452251e-07, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0060893311630934475, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3905676156282425, + "rkd_teacher_entropy": 3.7502455949783324, + "rkd_teacher_similarity_mean": 0.7826218485832215, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27860 + }, + { + "epoch": 8.108815827756764, + "flow_matching_loss": 0.011216675210744143, + "grad_norm": 0.0952286347746849, + "learning_rate": 4.1194597158397853e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006715834001079201, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38906040191650393, + "rkd_teacher_entropy": 3.745328688621521, + "rkd_teacher_similarity_mean": 0.7807504057884216, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27870 + }, + { + "epoch": 8.111725341867908, + "flow_matching_loss": 0.012300314195454121, + "grad_norm": 0.10091980546712875, + "learning_rate": 4.081064074839408e-07, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00716605968773365, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3825782984495163, + "rkd_teacher_entropy": 3.7145862579345703, + "rkd_teacher_similarity_mean": 0.7745333135128021, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27880 + }, + { + "epoch": 8.114634855979052, + "flow_matching_loss": 0.01223218897357583, + "grad_norm": 0.12060905992984772, + "learning_rate": 4.042845739105433e-07, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007360100280493498, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38740170896053316, + "rkd_teacher_entropy": 3.7388195276260374, + "rkd_teacher_similarity_mean": 0.7798937797546387, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27890 + }, + { + "epoch": 8.117544370090195, + "flow_matching_loss": 0.011865414539352059, + "grad_norm": 0.1439976841211319, + "learning_rate": 4.004804755076746e-07, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008059095032513142, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3821708083152771, + "rkd_teacher_entropy": 3.7204044103622436, + "rkd_teacher_similarity_mean": 0.7734091222286225, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27900 + }, + { + "epoch": 8.12045388420134, + "flow_matching_loss": 0.012734033912420274, + "grad_norm": 0.10561330616474152, + "learning_rate": 3.9669411689767063e-07, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007592463819310069, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3883502513170242, + "rkd_teacher_entropy": 3.738821601867676, + "rkd_teacher_similarity_mean": 0.7797181904315948, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27910 + }, + { + "epoch": 8.123363398312481, + "flow_matching_loss": 0.013300684699788689, + "grad_norm": 0.1382908821105957, + "learning_rate": 3.929255026813194e-07, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007455182960256934, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3802281767129898, + "rkd_teacher_entropy": 3.7084645509719847, + "rkd_teacher_similarity_mean": 0.7719085693359375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27920 + }, + { + "epoch": 8.126272912423625, + "flow_matching_loss": 0.009837291203439236, + "grad_norm": 0.13981539011001587, + "learning_rate": 3.8917463743783797e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009843533486127853, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37612847089767454, + "rkd_teacher_entropy": 3.702231693267822, + "rkd_teacher_similarity_mean": 0.7682440757751465, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27930 + }, + { + "epoch": 8.129182426534769, + "flow_matching_loss": 0.011222019884735345, + "grad_norm": 0.1633295863866806, + "learning_rate": 3.854415257248839e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007589907199144363, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3855843424797058, + "rkd_teacher_entropy": 3.728225326538086, + "rkd_teacher_similarity_mean": 0.7782874882221222, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27940 + }, + { + "epoch": 8.132091940645912, + "flow_matching_loss": 0.010331253800541163, + "grad_norm": 0.12597763538360596, + "learning_rate": 3.8172617207853864e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071074422914534805, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3839469015598297, + "rkd_teacher_entropy": 3.72492995262146, + "rkd_teacher_similarity_mean": 0.7755350470542908, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27950 + }, + { + "epoch": 8.135001454757056, + "flow_matching_loss": 0.01180259445682168, + "grad_norm": 0.15388992428779602, + "learning_rate": 3.7802858101330773e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007914792839437723, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3808347076177597, + "rkd_teacher_entropy": 3.7118834495544433, + "rkd_teacher_similarity_mean": 0.7720713913440704, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27960 + }, + { + "epoch": 8.1379109688682, + "flow_matching_loss": 0.010268595023080706, + "grad_norm": 0.12312115728855133, + "learning_rate": 3.743487570221121e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007328330539166927, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3850509077310562, + "rkd_teacher_entropy": 3.7266748428344725, + "rkd_teacher_similarity_mean": 0.7759919583797454, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27970 + }, + { + "epoch": 8.140820482979342, + "flow_matching_loss": 0.010545964818447828, + "grad_norm": 0.08579990267753601, + "learning_rate": 3.7068670457628517e-07, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007191265095025301, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3851419001817703, + "rkd_teacher_entropy": 3.728060483932495, + "rkd_teacher_similarity_mean": 0.7768092095851898, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27980 + }, + { + "epoch": 8.143729997090485, + "flow_matching_loss": 0.012506655184552073, + "grad_norm": 0.11159641295671463, + "learning_rate": 3.6704242812556576e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006604558369144797, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38495711982250214, + "rkd_teacher_entropy": 3.7381654024124145, + "rkd_teacher_similarity_mean": 0.7765686631202697, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27990 + }, + { + "epoch": 8.146639511201629, + "flow_matching_loss": 0.01224962449632585, + "grad_norm": 0.09512794762849808, + "learning_rate": 3.634159320980951e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008630541618913412, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39489223062992096, + "rkd_teacher_entropy": 3.7513779401779175, + "rkd_teacher_similarity_mean": 0.7852205812931061, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28000 + }, + { + "epoch": 8.149549025312773, + "flow_matching_loss": 0.012960125925019383, + "grad_norm": 0.09089364111423492, + "learning_rate": 3.5980722090040663e-07, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006887280475348234, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3869902193546295, + "rkd_teacher_entropy": 3.7338259696960447, + "rkd_teacher_similarity_mean": 0.779027771949768, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28010 + }, + { + "epoch": 8.152458539423916, + "flow_matching_loss": 0.01118878466077149, + "grad_norm": 0.1212797537446022, + "learning_rate": 3.5621629891742447e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007956078741699457, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3822765231132507, + "rkd_teacher_entropy": 3.7171093225479126, + "rkd_teacher_similarity_mean": 0.7741960704326629, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28020 + }, + { + "epoch": 8.15536805353506, + "flow_matching_loss": 0.009933642810210586, + "grad_norm": 0.11017650365829468, + "learning_rate": 3.526431705124583e-07, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007431691465899348, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38095981180667876, + "rkd_teacher_entropy": 3.717650628089905, + "rkd_teacher_similarity_mean": 0.7719773113727569, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28030 + }, + { + "epoch": 8.158277567646204, + "flow_matching_loss": 0.011476322496309876, + "grad_norm": 0.15434999763965607, + "learning_rate": 3.4908784002719517e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0062149906065315005, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860921412706375, + "rkd_teacher_entropy": 3.721918296813965, + "rkd_teacher_similarity_mean": 0.7779983103275299, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28040 + }, + { + "epoch": 8.161187081757346, + "flow_matching_loss": 0.011418307526037097, + "grad_norm": 0.07914860546588898, + "learning_rate": 3.4555031178169773e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007270878972485661, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384542441368103, + "rkd_teacher_entropy": 3.7193456411361696, + "rkd_teacher_similarity_mean": 0.7771214306354522, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28050 + }, + { + "epoch": 8.16409659586849, + "flow_matching_loss": 0.01208284036256373, + "grad_norm": 0.128760427236557, + "learning_rate": 3.420305900743942e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0070822078734636305, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3883480966091156, + "rkd_teacher_entropy": 3.739747476577759, + "rkd_teacher_similarity_mean": 0.7803704559803009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28060 + }, + { + "epoch": 8.167006109979633, + "flow_matching_loss": 0.009796523861587048, + "grad_norm": 0.09577732533216476, + "learning_rate": 3.385286791820802e-07, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006703222054056823, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3892574220895767, + "rkd_teacher_entropy": 3.727880048751831, + "rkd_teacher_similarity_mean": 0.78123340010643, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28070 + }, + { + "epoch": 8.169915624090777, + "flow_matching_loss": 0.012672558706253768, + "grad_norm": 0.12256119400262833, + "learning_rate": 3.350445833599086e-07, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007202353281900287, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3765675604343414, + "rkd_teacher_entropy": 3.7049095392227174, + "rkd_teacher_similarity_mean": 0.767990094423294, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28080 + }, + { + "epoch": 8.17282513820192, + "flow_matching_loss": 0.012433382449671626, + "grad_norm": 0.17364011704921722, + "learning_rate": 3.3157830684138303e-07, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006866129999980331, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833568632602692, + "rkd_teacher_entropy": 3.7207527637481688, + "rkd_teacher_similarity_mean": 0.7755897879600525, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28090 + }, + { + "epoch": 8.175734652313064, + "flow_matching_loss": 0.01068531135097146, + "grad_norm": 0.09670458734035492, + "learning_rate": 3.281298538383559e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072065690532326695, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38720424473285675, + "rkd_teacher_entropy": 3.729484438896179, + "rkd_teacher_similarity_mean": 0.7791761815547943, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28100 + }, + { + "epoch": 8.178644166424208, + "flow_matching_loss": 0.013816660130396485, + "grad_norm": 0.1321675330400467, + "learning_rate": 3.2469922854102387e-07, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007854200666770339, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38214462995529175, + "rkd_teacher_entropy": 3.724391222000122, + "rkd_teacher_similarity_mean": 0.77490935921669, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28110 + }, + { + "epoch": 8.18155368053535, + "flow_matching_loss": 0.011272305250167846, + "grad_norm": 0.14019234478473663, + "learning_rate": 3.21286435117919e-07, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006820769561454654, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3898365914821625, + "rkd_teacher_entropy": 3.73619167804718, + "rkd_teacher_similarity_mean": 0.781465619802475, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28120 + }, + { + "epoch": 8.184463194646494, + "flow_matching_loss": 0.011851540068164468, + "grad_norm": 0.10122594982385635, + "learning_rate": 3.1789147771590754e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007377466233447194, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37960920929908754, + "rkd_teacher_entropy": 3.71899893283844, + "rkd_teacher_similarity_mean": 0.7717985868453979, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28130 + }, + { + "epoch": 8.187372708757637, + "flow_matching_loss": 0.011701742699369789, + "grad_norm": 0.07079285383224487, + "learning_rate": 3.14514360460183e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007838310953229666, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3885785281658173, + "rkd_teacher_entropy": 3.73279128074646, + "rkd_teacher_similarity_mean": 0.7809363067150116, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28140 + }, + { + "epoch": 8.190282222868781, + "flow_matching_loss": 0.011843218328431248, + "grad_norm": 0.10582482814788818, + "learning_rate": 3.1115508745426293e-07, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00862611150369048, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.389565309882164, + "rkd_teacher_entropy": 3.7380078792572022, + "rkd_teacher_similarity_mean": 0.7817794680595398, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28150 + }, + { + "epoch": 8.193191736979925, + "flow_matching_loss": 0.011387157160788775, + "grad_norm": 0.11323060840368271, + "learning_rate": 3.0781366277997716e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008330613281577826, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794338136911392, + "rkd_teacher_entropy": 3.699532723426819, + "rkd_teacher_similarity_mean": 0.7711986184120179, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28160 + }, + { + "epoch": 8.196101251091068, + "flow_matching_loss": 0.011359773110598326, + "grad_norm": 0.10401398688554764, + "learning_rate": 3.044900904974762e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008730319794267416, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.388882976770401, + "rkd_teacher_entropy": 3.750664758682251, + "rkd_teacher_similarity_mean": 0.7805565059185028, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28170 + }, + { + "epoch": 8.19901076520221, + "flow_matching_loss": 0.011111512593925, + "grad_norm": 0.1344357281923294, + "learning_rate": 3.011843746452081e-07, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006989992735907435, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38469615280628205, + "rkd_teacher_entropy": 3.7206913948059084, + "rkd_teacher_similarity_mean": 0.7764665365219117, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28180 + }, + { + "epoch": 8.201920279313354, + "flow_matching_loss": 0.01171322949230671, + "grad_norm": 0.12382669001817703, + "learning_rate": 2.9789651923993464e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006543442234396934, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37440383434295654, + "rkd_teacher_entropy": 3.6841747045516966, + "rkd_teacher_similarity_mean": 0.7652676165103912, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28190 + }, + { + "epoch": 8.204829793424498, + "flow_matching_loss": 0.00890962490811944, + "grad_norm": 0.1113886758685112, + "learning_rate": 2.9462652827670855e-07, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006739255273714662, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37796377539634707, + "rkd_teacher_entropy": 3.6988003969192507, + "rkd_teacher_similarity_mean": 0.7709360003471375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28200 + }, + { + "epoch": 8.207739307535642, + "flow_matching_loss": 0.010157929128035903, + "grad_norm": 0.08378695696592331, + "learning_rate": 2.913744057288764e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007521407771855592, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38419841825962064, + "rkd_teacher_entropy": 3.7277577400207518, + "rkd_teacher_similarity_mean": 0.7755418658256531, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28210 + }, + { + "epoch": 8.210648821646785, + "flow_matching_loss": 0.009528950788080692, + "grad_norm": 0.09673460572957993, + "learning_rate": 2.8814015554807396e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007295247726142406, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3909737080335617, + "rkd_teacher_entropy": 3.7381217002868654, + "rkd_teacher_similarity_mean": 0.7828279137611389, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28220 + }, + { + "epoch": 8.213558335757929, + "flow_matching_loss": 0.009163250448182225, + "grad_norm": 0.09364113956689835, + "learning_rate": 2.849237816642192e-07, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.005868289759382606, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3856345862150192, + "rkd_teacher_entropy": 3.717874264717102, + "rkd_teacher_similarity_mean": 0.7778141081333161, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28230 + }, + { + "epoch": 8.216467849869073, + "flow_matching_loss": 0.01140119177289307, + "grad_norm": 0.10395415127277374, + "learning_rate": 2.817252879855109e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006760241696611047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38365050554275515, + "rkd_teacher_entropy": 3.72239830493927, + "rkd_teacher_similarity_mean": 0.7754345238208771, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28240 + }, + { + "epoch": 8.219377363980215, + "flow_matching_loss": 0.011639554845169186, + "grad_norm": 0.09963387250900269, + "learning_rate": 2.785446783984219e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006910134386271238, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815824866294861, + "rkd_teacher_entropy": 3.7104562520980835, + "rkd_teacher_similarity_mean": 0.7732408046722412, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28250 + }, + { + "epoch": 8.222286878091358, + "flow_matching_loss": 0.012387765385210515, + "grad_norm": 0.09137821197509766, + "learning_rate": 2.7538195676769076e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006819983618333936, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3887182831764221, + "rkd_teacher_entropy": 3.7344581842422486, + "rkd_teacher_similarity_mean": 0.7806247174739838, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28260 + }, + { + "epoch": 8.225196392202502, + "flow_matching_loss": 0.012300981301814317, + "grad_norm": 0.11919595301151276, + "learning_rate": 2.722371269363216e-07, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0077840705867856744, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3864900439977646, + "rkd_teacher_entropy": 3.7307735681533813, + "rkd_teacher_similarity_mean": 0.7781561374664306, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28270 + }, + { + "epoch": 8.228105906313646, + "flow_matching_loss": 0.01099190623499453, + "grad_norm": 0.06958635151386261, + "learning_rate": 2.6911019272558125e-07, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006033588061109185, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38858126997947695, + "rkd_teacher_entropy": 3.737963891029358, + "rkd_teacher_similarity_mean": 0.7797573328018188, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28280 + }, + { + "epoch": 8.23101542042479, + "flow_matching_loss": 0.010801541805267333, + "grad_norm": 0.10333853214979172, + "learning_rate": 2.6600115793498857e-07, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00607164204120636, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3961596041917801, + "rkd_teacher_entropy": 3.755606007575989, + "rkd_teacher_similarity_mean": 0.7883150994777679, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28290 + }, + { + "epoch": 8.233924934535933, + "flow_matching_loss": 0.011403807112947107, + "grad_norm": 0.10971488803625107, + "learning_rate": 2.629100263423151e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008447265904396772, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37825803458690643, + "rkd_teacher_entropy": 3.7060444355010986, + "rkd_teacher_similarity_mean": 0.7707605063915253, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28300 + }, + { + "epoch": 8.236834448647077, + "flow_matching_loss": 0.013629142940044404, + "grad_norm": 0.14451727271080017, + "learning_rate": 2.598368017035763e-07, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008123037172481418, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3812971830368042, + "rkd_teacher_entropy": 3.7134217977523805, + "rkd_teacher_similarity_mean": 0.7729359447956086, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28310 + }, + { + "epoch": 8.239743962758219, + "flow_matching_loss": 0.010264572640880942, + "grad_norm": 0.08912748098373413, + "learning_rate": 2.5678148775303e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007993590272963046, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38436746001243594, + "rkd_teacher_entropy": 3.732336735725403, + "rkd_teacher_similarity_mean": 0.7767209649085999, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28320 + }, + { + "epoch": 8.242653476869362, + "flow_matching_loss": 0.009995315689593554, + "grad_norm": 0.1019609346985817, + "learning_rate": 2.537440882031683e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007764697819948196, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868288606405258, + "rkd_teacher_entropy": 3.738714265823364, + "rkd_teacher_similarity_mean": 0.7794604778289795, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28330 + }, + { + "epoch": 8.245562990980506, + "flow_matching_loss": 0.012048173742368818, + "grad_norm": 0.12929010391235352, + "learning_rate": 2.5072460674472385e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007233900902792812, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3887296676635742, + "rkd_teacher_entropy": 3.7451223134994507, + "rkd_teacher_similarity_mean": 0.7805655419826507, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28340 + }, + { + "epoch": 8.24847250509165, + "flow_matching_loss": 0.010438578156754374, + "grad_norm": 0.09973768889904022, + "learning_rate": 2.4772304704664683e-07, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00800694697536528, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38408054411411285, + "rkd_teacher_entropy": 3.72796049118042, + "rkd_teacher_similarity_mean": 0.7754153907299042, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28350 + }, + { + "epoch": 8.251382019202794, + "flow_matching_loss": 0.011815043166279793, + "grad_norm": 0.12267136573791504, + "learning_rate": 2.447394127561181e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006527996668592095, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38689340054988863, + "rkd_teacher_entropy": 3.736999273300171, + "rkd_teacher_similarity_mean": 0.7788553535938263, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28360 + }, + { + "epoch": 8.254291533313937, + "flow_matching_loss": 0.010664530098438263, + "grad_norm": 0.13153626024723053, + "learning_rate": 2.41773707498531e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00965355928055942, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3746126115322113, + "rkd_teacher_entropy": 3.6896480321884155, + "rkd_teacher_similarity_mean": 0.7655064642429352, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28370 + }, + { + "epoch": 8.25720104742508, + "flow_matching_loss": 0.011854922818019985, + "grad_norm": 0.12477966398000717, + "learning_rate": 2.388259348774996e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068931156303733586, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38099991977214814, + "rkd_teacher_entropy": 3.713448405265808, + "rkd_teacher_similarity_mean": 0.7733315587043762, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28380 + }, + { + "epoch": 8.260110561536223, + "flow_matching_loss": 0.011111091868951917, + "grad_norm": 0.09616167843341827, + "learning_rate": 2.358960984748454e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006184205692261457, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3900612950325012, + "rkd_teacher_entropy": 3.7387359857559206, + "rkd_teacher_similarity_mean": 0.7824080765247345, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28390 + }, + { + "epoch": 8.263020075647367, + "flow_matching_loss": 0.009949179226532578, + "grad_norm": 0.13917121291160583, + "learning_rate": 2.3298420185059565e-07, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068791203666478395, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.391117662191391, + "rkd_teacher_entropy": 3.747104811668396, + "rkd_teacher_similarity_mean": 0.7821234822273254, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28400 + }, + { + "epoch": 8.26592958975851, + "flow_matching_loss": 0.01140885315835476, + "grad_norm": 0.14852669835090637, + "learning_rate": 2.3009024854297844e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007474322058260441, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3740207672119141, + "rkd_teacher_entropy": 3.6901469945907595, + "rkd_teacher_similarity_mean": 0.7652066707611084, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28410 + }, + { + "epoch": 8.268839103869654, + "flow_matching_loss": 0.00981003576889634, + "grad_norm": 0.11047516763210297, + "learning_rate": 2.272142420684209e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007426096126437187, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3826215773820877, + "rkd_teacher_entropy": 3.725554847717285, + "rkd_teacher_similarity_mean": 0.7740875661373139, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28420 + }, + { + "epoch": 8.271748617980798, + "flow_matching_loss": 0.010496738320216536, + "grad_norm": 0.10144687443971634, + "learning_rate": 2.243561859215426e-07, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00652351463213563, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3860390543937683, + "rkd_teacher_entropy": 3.729195785522461, + "rkd_teacher_similarity_mean": 0.7779995203018188, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28430 + }, + { + "epoch": 8.274658132091941, + "flow_matching_loss": 0.010021937638521194, + "grad_norm": 0.20994558930397034, + "learning_rate": 2.2151608357514897e-07, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008057506615296006, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.386281818151474, + "rkd_teacher_entropy": 3.725481915473938, + "rkd_teacher_similarity_mean": 0.7774959981441498, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28440 + }, + { + "epoch": 8.277567646203083, + "flow_matching_loss": 0.010642316099256277, + "grad_norm": 0.12918798625469208, + "learning_rate": 2.186939384802361e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007337973639369011, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38004423677921295, + "rkd_teacher_entropy": 3.7162274599075316, + "rkd_teacher_similarity_mean": 0.772541093826294, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28450 + }, + { + "epoch": 8.280477160314227, + "flow_matching_loss": 0.010038219997659326, + "grad_norm": 0.11699526011943817, + "learning_rate": 2.1588975406597266e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006318199913948774, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38841014802455903, + "rkd_teacher_entropy": 3.744347882270813, + "rkd_teacher_similarity_mean": 0.7801349222660064, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28460 + }, + { + "epoch": 8.28338667442537, + "flow_matching_loss": 0.01179236457683146, + "grad_norm": 0.10878560692071915, + "learning_rate": 2.131035337397097e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007043447252362967, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3805606126785278, + "rkd_teacher_entropy": 3.7150039196014406, + "rkd_teacher_similarity_mean": 0.7722487449645996, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28470 + }, + { + "epoch": 8.286296188536515, + "flow_matching_loss": 0.012017027800902724, + "grad_norm": 0.11449660360813141, + "learning_rate": 2.1033528088696575e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006483313627541065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38352041244506835, + "rkd_teacher_entropy": 3.7283818244934084, + "rkd_teacher_similarity_mean": 0.77552809715271, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28480 + }, + { + "epoch": 8.289205702647658, + "flow_matching_loss": 0.009698974108323455, + "grad_norm": 0.11543520539999008, + "learning_rate": 2.0758499887143012e-07, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007835244899615646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3810220450162888, + "rkd_teacher_entropy": 3.7238238573074343, + "rkd_teacher_similarity_mean": 0.773176497220993, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28490 + }, + { + "epoch": 8.292115216758802, + "flow_matching_loss": 0.01323980987071991, + "grad_norm": 0.12253197282552719, + "learning_rate": 2.0485269103495462e-07, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008887381036765873, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.385878786444664, + "rkd_teacher_entropy": 3.7341403722763062, + "rkd_teacher_similarity_mean": 0.7767397582530975, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28500 + }, + { + "epoch": 8.295024730869944, + "flow_matching_loss": 0.011226201523095369, + "grad_norm": 0.1049412414431572, + "learning_rate": 2.021383606975502e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008014181954786181, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3789473384618759, + "rkd_teacher_entropy": 3.719807982444763, + "rkd_teacher_similarity_mean": 0.7710673868656158, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28510 + }, + { + "epoch": 8.297934244981088, + "flow_matching_loss": 0.009882978349924087, + "grad_norm": 0.07764378935098648, + "learning_rate": 1.9944201115738524e-07, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007764850975945592, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38713233172893524, + "rkd_teacher_entropy": 3.732028865814209, + "rkd_teacher_similarity_mean": 0.7790539562702179, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28520 + }, + { + "epoch": 8.300843759092231, + "flow_matching_loss": 0.009945820737630128, + "grad_norm": 0.12076928466558456, + "learning_rate": 1.9676364569077732e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00708274831995368, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38805940449237825, + "rkd_teacher_entropy": 3.725587010383606, + "rkd_teacher_similarity_mean": 0.779858547449112, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28530 + }, + { + "epoch": 8.303753273203375, + "flow_matching_loss": 0.011606898251920938, + "grad_norm": 0.1220112293958664, + "learning_rate": 1.9410326755219477e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007123765116557479, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3801222950220108, + "rkd_teacher_entropy": 3.7055620193481444, + "rkd_teacher_similarity_mean": 0.7715436339378356, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28540 + }, + { + "epoch": 8.306662787314519, + "flow_matching_loss": 0.010275682108476758, + "grad_norm": 0.12259288132190704, + "learning_rate": 1.9146087997424677e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007910174317657948, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38626648783683776, + "rkd_teacher_entropy": 3.732898497581482, + "rkd_teacher_similarity_mean": 0.7779179751873017, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28550 + }, + { + "epoch": 8.309572301425662, + "flow_matching_loss": 0.010621125716716051, + "grad_norm": 0.12314087897539139, + "learning_rate": 1.8883648616768335e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006577090779319406, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3929290384054184, + "rkd_teacher_entropy": 3.738179636001587, + "rkd_teacher_similarity_mean": 0.7849571764469147, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28560 + }, + { + "epoch": 8.312481815536806, + "flow_matching_loss": 0.012237095646560192, + "grad_norm": 0.1569734811782837, + "learning_rate": 1.862300893213903e-07, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008653549477458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3868482381105423, + "rkd_teacher_entropy": 3.730129075050354, + "rkd_teacher_similarity_mean": 0.7796700298786163, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28570 + }, + { + "epoch": 8.315391329647948, + "flow_matching_loss": 0.012696184124797583, + "grad_norm": 0.11628381162881851, + "learning_rate": 1.8364169260238595e-07, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007227738294750452, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38892415165901184, + "rkd_teacher_entropy": 3.7389639139175417, + "rkd_teacher_similarity_mean": 0.7808219611644744, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28580 + }, + { + "epoch": 8.318300843759092, + "flow_matching_loss": 0.01070447931997478, + "grad_norm": 0.15108723938465118, + "learning_rate": 1.8107129915581777e-07, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00663196905516088, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3847081422805786, + "rkd_teacher_entropy": 3.728059935569763, + "rkd_teacher_similarity_mean": 0.7761066854000092, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28590 + }, + { + "epoch": 8.321210357870235, + "flow_matching_loss": 0.011656506080180406, + "grad_norm": 0.09180654585361481, + "learning_rate": 1.785189121049541e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007623000163584947, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3844521015882492, + "rkd_teacher_entropy": 3.723999547958374, + "rkd_teacher_similarity_mean": 0.7763287365436554, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28600 + }, + { + "epoch": 8.32411987198138, + "flow_matching_loss": 0.010304102674126625, + "grad_norm": 0.15650291740894318, + "learning_rate": 1.7598453455118567e-07, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008753028325736522, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3815585166215897, + "rkd_teacher_entropy": 3.714072608947754, + "rkd_teacher_similarity_mean": 0.7727491855621338, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28610 + }, + { + "epoch": 8.327029386092523, + "flow_matching_loss": 0.01119321547448635, + "grad_norm": 0.11994737386703491, + "learning_rate": 1.7346816957402256e-07, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006348423473536968, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38376196324825285, + "rkd_teacher_entropy": 3.7259135961532595, + "rkd_teacher_similarity_mean": 0.7755443930625916, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28620 + }, + { + "epoch": 8.329938900203667, + "flow_matching_loss": 0.011501680873334409, + "grad_norm": 0.10088132321834564, + "learning_rate": 1.7096982023108389e-07, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006047399388626218, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38411367535591123, + "rkd_teacher_entropy": 3.727196550369263, + "rkd_teacher_similarity_mean": 0.7763970792293549, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28630 + }, + { + "epoch": 8.33284841431481, + "flow_matching_loss": 0.011827554972842335, + "grad_norm": 0.11622071266174316, + "learning_rate": 1.6848948955809963e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00745455720461905, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3898027867078781, + "rkd_teacher_entropy": 3.745460033416748, + "rkd_teacher_similarity_mean": 0.7810189485549927, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28640 + }, + { + "epoch": 8.335757928425952, + "flow_matching_loss": 0.01058191992342472, + "grad_norm": 0.1270970106124878, + "learning_rate": 1.66027180568904e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071541038807481526, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38143535852432253, + "rkd_teacher_entropy": 3.7165466070175173, + "rkd_teacher_similarity_mean": 0.772805106639862, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28650 + }, + { + "epoch": 8.338667442537096, + "flow_matching_loss": 0.011004579020664096, + "grad_norm": 0.1204698234796524, + "learning_rate": 1.6358289625543865e-07, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008550812443718313, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3773847073316574, + "rkd_teacher_entropy": 3.704985737800598, + "rkd_teacher_similarity_mean": 0.7688651084899902, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28660 + }, + { + "epoch": 8.34157695664824, + "flow_matching_loss": 0.012149749044328927, + "grad_norm": 0.1143169179558754, + "learning_rate": 1.6115663958773618e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006602272344753146, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3820823341608047, + "rkd_teacher_entropy": 3.7121785163879393, + "rkd_teacher_similarity_mean": 0.7731042206287384, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28670 + }, + { + "epoch": 8.344486470759383, + "flow_matching_loss": 0.009091690368950366, + "grad_norm": 0.11021876335144043, + "learning_rate": 1.5874841351392832e-07, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006015996588394046, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38625346422195433, + "rkd_teacher_entropy": 3.7279195308685305, + "rkd_teacher_similarity_mean": 0.7775644481182098, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28680 + }, + { + "epoch": 8.347395984870527, + "flow_matching_loss": 0.012358731869608165, + "grad_norm": 0.12103882431983948, + "learning_rate": 1.56358220960236e-07, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008689556550234557, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3849372059106827, + "rkd_teacher_entropy": 3.725634813308716, + "rkd_teacher_similarity_mean": 0.7764213681221008, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28690 + }, + { + "epoch": 8.35030549898167, + "flow_matching_loss": 0.011144279735162854, + "grad_norm": 0.10767781734466553, + "learning_rate": 1.5398606483096932e-07, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0062619375064969065, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37928561866283417, + "rkd_teacher_entropy": 3.712009382247925, + "rkd_teacher_similarity_mean": 0.7710265636444091, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28700 + }, + { + "epoch": 8.353215013092813, + "flow_matching_loss": 0.010607738327234984, + "grad_norm": 0.09097093343734741, + "learning_rate": 1.5163194800852265e-07, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006860084738582373, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38344954550266264, + "rkd_teacher_entropy": 3.72544322013855, + "rkd_teacher_similarity_mean": 0.7748569905757904, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28710 + }, + { + "epoch": 8.356124527203956, + "flow_matching_loss": 0.011770853167399764, + "grad_norm": 0.09617724269628525, + "learning_rate": 1.4929587335336614e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007485225657001137, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3818825274705887, + "rkd_teacher_entropy": 3.7248749494552613, + "rkd_teacher_similarity_mean": 0.7739240109920502, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28720 + }, + { + "epoch": 8.3590340413151, + "flow_matching_loss": 0.009907916467636824, + "grad_norm": 0.09269970655441284, + "learning_rate": 1.4697784370405587e-07, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006718193599954248, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832980751991272, + "rkd_teacher_entropy": 3.722310495376587, + "rkd_teacher_similarity_mean": 0.7753368198871613, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28730 + }, + { + "epoch": 8.361943555426244, + "flow_matching_loss": 0.010778383119031787, + "grad_norm": 0.10710733383893967, + "learning_rate": 1.4467786187721376e-07, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006610956462100148, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38971272110939026, + "rkd_teacher_entropy": 3.7388144016265867, + "rkd_teacher_similarity_mean": 0.7812258183956147, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28740 + }, + { + "epoch": 8.364853069537387, + "flow_matching_loss": 0.011705112457275391, + "grad_norm": 0.1733032763004303, + "learning_rate": 1.4239593066753265e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008121488243341446, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38812213838100434, + "rkd_teacher_entropy": 3.736887550354004, + "rkd_teacher_similarity_mean": 0.779534912109375, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28750 + }, + { + "epoch": 8.367762583648531, + "flow_matching_loss": 0.012821065541356803, + "grad_norm": 0.08496200293302536, + "learning_rate": 1.4013205284777953e-07, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006911364151164889, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38103118240833284, + "rkd_teacher_entropy": 3.7190804719924926, + "rkd_teacher_similarity_mean": 0.7722862303256989, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28760 + }, + { + "epoch": 8.370672097759675, + "flow_matching_loss": 0.010923251416534186, + "grad_norm": 0.10932600498199463, + "learning_rate": 1.3788623116877397e-07, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007676324155181646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38530764579772947, + "rkd_teacher_entropy": 3.7242175817489622, + "rkd_teacher_similarity_mean": 0.7775384187698364, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28770 + }, + { + "epoch": 8.373581611870817, + "flow_matching_loss": 0.01173359239473939, + "grad_norm": 0.08661562949419022, + "learning_rate": 1.3565846835940477e-07, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006630623014643788, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38599316477775575, + "rkd_teacher_entropy": 3.7363638401031496, + "rkd_teacher_similarity_mean": 0.7782043159008026, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28780 + }, + { + "epoch": 8.37649112598196, + "flow_matching_loss": 0.01083923727273941, + "grad_norm": 0.16130217909812927, + "learning_rate": 1.334487671266116e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006784086860716343, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38326157331466676, + "rkd_teacher_entropy": 3.729477047920227, + "rkd_teacher_similarity_mean": 0.7744525611400604, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28790 + }, + { + "epoch": 8.379400640093104, + "flow_matching_loss": 0.010098312143236398, + "grad_norm": 0.07590377330780029, + "learning_rate": 1.3125713015538998e-07, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008221411751583219, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37827988266944884, + "rkd_teacher_entropy": 3.715114402770996, + "rkd_teacher_similarity_mean": 0.7701123356819153, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28800 + }, + { + "epoch": 8.382310154204248, + "flow_matching_loss": 0.011797897377982735, + "grad_norm": 0.11036919057369232, + "learning_rate": 1.290835601087864e-07, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007338021323084832, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3847733438014984, + "rkd_teacher_entropy": 3.729606294631958, + "rkd_teacher_similarity_mean": 0.7764349281787872, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28810 + }, + { + "epoch": 8.385219668315392, + "flow_matching_loss": 0.012601630482822656, + "grad_norm": 0.120791956782341, + "learning_rate": 1.2692805962789323e-07, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006708286050707102, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3923987954854965, + "rkd_teacher_entropy": 3.7506428956985474, + "rkd_teacher_similarity_mean": 0.7854386508464813, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28820 + }, + { + "epoch": 8.388129182426535, + "flow_matching_loss": 0.011852128198370337, + "grad_norm": 0.12207385897636414, + "learning_rate": 1.2479063133184698e-07, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007405104814097285, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790587455034256, + "rkd_teacher_entropy": 3.7159015417098997, + "rkd_teacher_similarity_mean": 0.7706859886646271, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28830 + }, + { + "epoch": 8.391038696537677, + "flow_matching_loss": 0.01070247427560389, + "grad_norm": 0.13411015272140503, + "learning_rate": 1.2267127781782516e-07, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00627660546451807, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38968107402324675, + "rkd_teacher_entropy": 3.741638207435608, + "rkd_teacher_similarity_mean": 0.7820103943347931, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28840 + }, + { + "epoch": 8.393948210648821, + "flow_matching_loss": 0.011787999561056495, + "grad_norm": 0.07388728857040405, + "learning_rate": 1.205700016610395e-07, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0067322256974875925, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3883583337068558, + "rkd_teacher_entropy": 3.7276338815689085, + "rkd_teacher_similarity_mean": 0.7800378024578094, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28850 + }, + { + "epoch": 8.396857724759965, + "flow_matching_loss": 0.011323798540979623, + "grad_norm": 0.07737218588590622, + "learning_rate": 1.1848680541474088e-07, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007639545062556863, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3890127271413803, + "rkd_teacher_entropy": 3.7389028549194334, + "rkd_teacher_similarity_mean": 0.780943500995636, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28860 + }, + { + "epoch": 8.399767238871108, + "flow_matching_loss": 0.01446381858550012, + "grad_norm": 0.15560510754585266, + "learning_rate": 1.1642169161020955e-07, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0078029744792729614, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39171977043151857, + "rkd_teacher_entropy": 3.74496910572052, + "rkd_teacher_similarity_mean": 0.7841781616210938, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28870 + }, + { + "epoch": 8.402676752982252, + "flow_matching_loss": 0.011391533445566893, + "grad_norm": 0.1523996740579605, + "learning_rate": 1.1437466275675156e-07, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008091901801526547, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.389013934135437, + "rkd_teacher_entropy": 3.74772367477417, + "rkd_teacher_similarity_mean": 0.780522221326828, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28880 + }, + { + "epoch": 8.405586267093396, + "flow_matching_loss": 0.009952413849532604, + "grad_norm": 0.11211585253477097, + "learning_rate": 1.1234572134170229e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006999078532680869, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3831209421157837, + "rkd_teacher_entropy": 3.7208943605422973, + "rkd_teacher_similarity_mean": 0.7744238674640656, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28890 + }, + { + "epoch": 8.40849578120454, + "flow_matching_loss": 0.012101230723783375, + "grad_norm": 0.13700690865516663, + "learning_rate": 1.1033486983041463e-07, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007107330905273557, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37650610506534576, + "rkd_teacher_entropy": 3.7088260650634766, + "rkd_teacher_similarity_mean": 0.7683295845985413, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28900 + }, + { + "epoch": 8.411405295315681, + "flow_matching_loss": 0.012856363411992788, + "grad_norm": 0.11039434373378754, + "learning_rate": 1.0834211066626409e-07, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00682437215000391, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38581439256668093, + "rkd_teacher_entropy": 3.7195062160491945, + "rkd_teacher_similarity_mean": 0.7786551952362061, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28910 + }, + { + "epoch": 8.414314809426825, + "flow_matching_loss": 0.010068730963394047, + "grad_norm": 0.11130448430776596, + "learning_rate": 1.0636744627064044e-07, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00678375125862658, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3861886352300644, + "rkd_teacher_entropy": 3.7231343030929565, + "rkd_teacher_similarity_mean": 0.777740740776062, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28920 + }, + { + "epoch": 8.417224323537969, + "flow_matching_loss": 0.012088352162390948, + "grad_norm": 0.1815529763698578, + "learning_rate": 1.0441087904294766e-07, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007477692747488618, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3837013453245163, + "rkd_teacher_entropy": 3.7152230739593506, + "rkd_teacher_similarity_mean": 0.7754927396774292, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28930 + }, + { + "epoch": 8.420133837649113, + "flow_matching_loss": 0.01064185737632215, + "grad_norm": 0.10439032316207886, + "learning_rate": 1.0247241136059904e-07, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006341171311214566, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38542253971099855, + "rkd_teacher_entropy": 3.7265732288360596, + "rkd_teacher_similarity_mean": 0.7767524421215057, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28940 + }, + { + "epoch": 8.423043351760256, + "flow_matching_loss": 0.013929886044934392, + "grad_norm": 0.0730525553226471, + "learning_rate": 1.0055204557901709e-07, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007823848770931363, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3802286386489868, + "rkd_teacher_entropy": 3.7165049076080323, + "rkd_teacher_similarity_mean": 0.7715629518032074, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28950 + }, + { + "epoch": 8.4259528658714, + "flow_matching_loss": 0.012735185120254755, + "grad_norm": 0.10378552973270416, + "learning_rate": 9.864978403162361e-08, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007444979017600417, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3754389941692352, + "rkd_teacher_entropy": 3.702315855026245, + "rkd_teacher_similarity_mean": 0.767490005493164, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28960 + }, + { + "epoch": 8.428862379982544, + "flow_matching_loss": 0.011084867641329765, + "grad_norm": 0.12822021543979645, + "learning_rate": 9.676562902984965e-08, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007652663858607411, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833124041557312, + "rkd_teacher_entropy": 3.7255984783172607, + "rkd_teacher_similarity_mean": 0.7745001554489136, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28970 + }, + { + "epoch": 8.431771894093686, + "flow_matching_loss": 0.011053421813994647, + "grad_norm": 0.1396230310201645, + "learning_rate": 9.489958286311883e-08, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006881083548069, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3830618649721146, + "rkd_teacher_entropy": 3.717877674102783, + "rkd_teacher_similarity_mean": 0.775226104259491, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28980 + }, + { + "epoch": 8.43468140820483, + "flow_matching_loss": 0.010236466163769364, + "grad_norm": 0.09022680670022964, + "learning_rate": 9.30516477988541e-08, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00953482585027814, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38490828573703767, + "rkd_teacher_entropy": 3.7222996950149536, + "rkd_teacher_similarity_mean": 0.777035915851593, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28990 + }, + { + "epoch": 8.437590922315973, + "flow_matching_loss": 0.010480277286842466, + "grad_norm": 0.09231433272361755, + "learning_rate": 9.122182608247098e-08, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006365423370152712, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38826034069061277, + "rkd_teacher_entropy": 3.7383825540542603, + "rkd_teacher_similarity_mean": 0.7799480080604553, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29000 + }, + { + "epoch": 8.440500436427117, + "flow_matching_loss": 0.011232429696246982, + "grad_norm": 0.13294631242752075, + "learning_rate": 8.94101199373759e-08, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008565150294452905, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3794469267129898, + "rkd_teacher_entropy": 3.709939384460449, + "rkd_teacher_similarity_mean": 0.7711418449878693, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29010 + }, + { + "epoch": 8.44340995053826, + "flow_matching_loss": 0.011913444148376584, + "grad_norm": 0.1344338059425354, + "learning_rate": 8.761653156495964e-08, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008460727706551551, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38333870470523834, + "rkd_teacher_entropy": 3.721340370178223, + "rkd_teacher_similarity_mean": 0.7746930122375488, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29020 + }, + { + "epoch": 8.446319464649404, + "flow_matching_loss": 0.011253220913931727, + "grad_norm": 0.11051821708679199, + "learning_rate": 8.584106314460549e-08, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00889009921811521, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38051497340202334, + "rkd_teacher_entropy": 3.707583999633789, + "rkd_teacher_similarity_mean": 0.7709619641304016, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29030 + }, + { + "epoch": 8.449228978760548, + "flow_matching_loss": 0.011042981641367078, + "grad_norm": 0.11501924693584442, + "learning_rate": 8.408371683367111e-08, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007257862808182835, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38502011597156527, + "rkd_teacher_entropy": 3.7306901931762697, + "rkd_teacher_similarity_mean": 0.776881891489029, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29040 + }, + { + "epoch": 8.45213849287169, + "flow_matching_loss": 0.012380427634343504, + "grad_norm": 0.09710667282342911, + "learning_rate": 8.234449476750172e-08, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00673762122169137, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38770087659358976, + "rkd_teacher_entropy": 3.748754453659058, + "rkd_teacher_similarity_mean": 0.7796450912952423, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29050 + }, + { + "epoch": 8.455048006982834, + "flow_matching_loss": 0.01256115366704762, + "grad_norm": 0.13352070748806, + "learning_rate": 8.062339905941351e-08, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0076976996846497055, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3879371345043182, + "rkd_teacher_entropy": 3.7314244508743286, + "rkd_teacher_similarity_mean": 0.7796063721179962, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29060 + }, + { + "epoch": 8.457957521093977, + "flow_matching_loss": 0.012106368131935597, + "grad_norm": 0.14578230679035187, + "learning_rate": 7.89204318007003e-08, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008103293972089887, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37680249512195585, + "rkd_teacher_entropy": 3.7113483905792237, + "rkd_teacher_similarity_mean": 0.768616110086441, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29070 + }, + { + "epoch": 8.460867035205121, + "flow_matching_loss": 0.010670605162158609, + "grad_norm": 0.11199044436216354, + "learning_rate": 7.723559506062849e-08, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007638238975778222, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3811355084180832, + "rkd_teacher_entropy": 3.727893757820129, + "rkd_teacher_similarity_mean": 0.7724045574665069, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29080 + }, + { + "epoch": 8.463776549316265, + "flow_matching_loss": 0.009877663291990756, + "grad_norm": 0.11709147691726685, + "learning_rate": 7.556889088643381e-08, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008805170562118292, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38081088960170745, + "rkd_teacher_entropy": 3.71921820640564, + "rkd_teacher_similarity_mean": 0.7728174030780792, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29090 + }, + { + "epoch": 8.466686063427408, + "flow_matching_loss": 0.01074832952581346, + "grad_norm": 0.0791088119149208, + "learning_rate": 7.392032130331793e-08, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006950180698186159, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38750430643558503, + "rkd_teacher_entropy": 3.740034651756287, + "rkd_teacher_similarity_mean": 0.7791328668594361, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29100 + }, + { + "epoch": 8.46959557753855, + "flow_matching_loss": 0.012234294135123492, + "grad_norm": 0.15742823481559753, + "learning_rate": 7.228988831445015e-08, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006456018565222621, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38242632448673247, + "rkd_teacher_entropy": 3.722073030471802, + "rkd_teacher_similarity_mean": 0.7742799937725067, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29110 + }, + { + "epoch": 8.472505091649694, + "flow_matching_loss": 0.01291643436998129, + "grad_norm": 0.12863954901695251, + "learning_rate": 7.06775939009574e-08, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007336024055257439, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3855456531047821, + "rkd_teacher_entropy": 3.7253068923950194, + "rkd_teacher_similarity_mean": 0.7770747125148774, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29120 + }, + { + "epoch": 8.475414605760838, + "flow_matching_loss": 0.011640837322920561, + "grad_norm": 0.0923350378870964, + "learning_rate": 6.908344002193256e-08, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007814969401806593, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39458167254924775, + "rkd_teacher_entropy": 3.7715782642364504, + "rkd_teacher_similarity_mean": 0.7861266434192657, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29130 + }, + { + "epoch": 8.478324119871981, + "flow_matching_loss": 0.011852105567231774, + "grad_norm": 0.1408645361661911, + "learning_rate": 6.750742861442116e-08, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0076200809795409444, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3910504937171936, + "rkd_teacher_entropy": 3.7456204414367678, + "rkd_teacher_similarity_mean": 0.7833050429821015, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29140 + }, + { + "epoch": 8.481233633983125, + "flow_matching_loss": 0.011762375105172395, + "grad_norm": 0.10394454747438431, + "learning_rate": 6.594956159342636e-08, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008818077435716987, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3913045674562454, + "rkd_teacher_entropy": 3.7383750915527343, + "rkd_teacher_similarity_mean": 0.7820418000221252, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29150 + }, + { + "epoch": 8.484143148094269, + "flow_matching_loss": 0.011973505560308694, + "grad_norm": 0.12685975432395935, + "learning_rate": 6.440984085190394e-08, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006439595762640238, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384260305762291, + "rkd_teacher_entropy": 3.7215145111083983, + "rkd_teacher_similarity_mean": 0.7762024223804473, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29160 + }, + { + "epoch": 8.487052662205413, + "flow_matching_loss": 0.01129774870350957, + "grad_norm": 0.11016387492418289, + "learning_rate": 6.288826826075733e-08, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006675743358209729, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39097572267055514, + "rkd_teacher_entropy": 3.7478295087814333, + "rkd_teacher_similarity_mean": 0.7832195699214936, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29170 + }, + { + "epoch": 8.489962176316554, + "flow_matching_loss": 0.0120387339964509, + "grad_norm": 0.09204164147377014, + "learning_rate": 6.138484566884261e-08, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0070632078219205145, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.384138759970665, + "rkd_teacher_entropy": 3.7301838397979736, + "rkd_teacher_similarity_mean": 0.7755650222301483, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29180 + }, + { + "epoch": 8.492871690427698, + "flow_matching_loss": 0.010898874700069427, + "grad_norm": 0.11625471711158752, + "learning_rate": 5.989957490296183e-08, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00759162618778646, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37387208044528963, + "rkd_teacher_entropy": 3.6977498054504396, + "rkd_teacher_similarity_mean": 0.7650786757469177, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29190 + }, + { + "epoch": 8.495781204538842, + "flow_matching_loss": 0.009367286693304777, + "grad_norm": 0.1012507900595665, + "learning_rate": 5.843245776785466e-08, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007780418917536736, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3889845013618469, + "rkd_teacher_entropy": 3.734914994239807, + "rkd_teacher_similarity_mean": 0.7804878294467926, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29200 + }, + { + "epoch": 8.498690718649986, + "flow_matching_loss": 0.01107481038197875, + "grad_norm": 0.2351917326450348, + "learning_rate": 5.6983496046210115e-08, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008172313496470452, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3861491084098816, + "rkd_teacher_entropy": 3.723770809173584, + "rkd_teacher_similarity_mean": 0.7772974133491516, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29210 + }, + { + "epoch": 8.50160023276113, + "flow_matching_loss": 0.010841257916763426, + "grad_norm": 0.11644468456506729, + "learning_rate": 5.5552691498653165e-08, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006681388895958662, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37947956621646883, + "rkd_teacher_entropy": 3.705336356163025, + "rkd_teacher_similarity_mean": 0.7711190521717072, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29220 + }, + { + "epoch": 8.504509746872273, + "flow_matching_loss": 0.011154913064092397, + "grad_norm": 0.11422452330589294, + "learning_rate": 5.4140045863743106e-08, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0066364670637995005, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3854127019643784, + "rkd_teacher_entropy": 3.7414429426193236, + "rkd_teacher_similarity_mean": 0.7772285163402557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29230 + }, + { + "epoch": 8.507419260983415, + "flow_matching_loss": 0.011800133949145674, + "grad_norm": 0.1303645521402359, + "learning_rate": 5.274556085798188e-08, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007060318766161799, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3848523885011673, + "rkd_teacher_entropy": 3.7282095670700075, + "rkd_teacher_similarity_mean": 0.7772690892219544, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29240 + }, + { + "epoch": 8.510328775094559, + "flow_matching_loss": 0.010428717127069831, + "grad_norm": 0.1170852854847908, + "learning_rate": 5.136923817579742e-08, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007490718131884932, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38336237967014314, + "rkd_teacher_entropy": 3.71786847114563, + "rkd_teacher_similarity_mean": 0.7746684134006501, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29250 + }, + { + "epoch": 8.513238289205702, + "flow_matching_loss": 0.012176455417647957, + "grad_norm": 0.11812956631183624, + "learning_rate": 5.001107948955197e-08, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007134820194914937, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38350079357624056, + "rkd_teacher_entropy": 3.7203065872192385, + "rkd_teacher_similarity_mean": 0.774806672334671, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29260 + }, + { + "epoch": 8.516147803316846, + "flow_matching_loss": 0.011878812965005637, + "grad_norm": 0.12061913311481476, + "learning_rate": 4.867108644953711e-08, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006550916004925966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38318753242492676, + "rkd_teacher_entropy": 3.7277201652526855, + "rkd_teacher_similarity_mean": 0.7742167234420776, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29270 + }, + { + "epoch": 8.51905731742799, + "flow_matching_loss": 0.012609911849722266, + "grad_norm": 0.14858219027519226, + "learning_rate": 4.734926068397038e-08, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007140739960595966, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38472109436988833, + "rkd_teacher_entropy": 3.725367546081543, + "rkd_teacher_similarity_mean": 0.7764360249042511, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29280 + }, + { + "epoch": 8.521966831539133, + "flow_matching_loss": 0.011750681465491653, + "grad_norm": 0.12134017795324326, + "learning_rate": 4.604560379899536e-08, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007551658665761352, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37993173599243163, + "rkd_teacher_entropy": 3.7149553537368774, + "rkd_teacher_similarity_mean": 0.7715726912021637, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29290 + }, + { + "epoch": 8.524876345650277, + "flow_matching_loss": 0.010888922587037086, + "grad_norm": 0.10631760954856873, + "learning_rate": 4.476011737867658e-08, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006862823572009802, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383350795507431, + "rkd_teacher_entropy": 3.7223359823226927, + "rkd_teacher_similarity_mean": 0.7752520322799683, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29300 + }, + { + "epoch": 8.52778585976142, + "flow_matching_loss": 0.010503100464120507, + "grad_norm": 0.09561152756214142, + "learning_rate": 4.349280298500291e-08, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072613752912729975, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3814003884792328, + "rkd_teacher_entropy": 3.7247435569763185, + "rkd_teacher_similarity_mean": 0.7725457310676574, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29310 + }, + { + "epoch": 8.530695373872563, + "flow_matching_loss": 0.012672221893444658, + "grad_norm": 0.14671795070171356, + "learning_rate": 4.224366215787923e-08, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007586014829576016, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853751689195633, + "rkd_teacher_entropy": 3.7305187702178957, + "rkd_teacher_similarity_mean": 0.7764507472515106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29320 + }, + { + "epoch": 8.533604887983707, + "flow_matching_loss": 0.010351837985217572, + "grad_norm": 0.11327611654996872, + "learning_rate": 4.101269641513139e-08, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006983285769820213, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3886938840150833, + "rkd_teacher_entropy": 3.738249731063843, + "rkd_teacher_similarity_mean": 0.7806714057922364, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29330 + }, + { + "epoch": 8.53651440209485, + "flow_matching_loss": 0.011674049496650695, + "grad_norm": 0.09769134223461151, + "learning_rate": 3.979990725249627e-08, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007343699596822262, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38760875463485717, + "rkd_teacher_entropy": 3.739812994003296, + "rkd_teacher_similarity_mean": 0.7798780977725983, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29340 + }, + { + "epoch": 8.539423916205994, + "flow_matching_loss": 0.01243522334843874, + "grad_norm": 0.09999188780784607, + "learning_rate": 3.860529614363006e-08, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0060975612606853245, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3779792904853821, + "rkd_teacher_entropy": 3.7048935890197754, + "rkd_teacher_similarity_mean": 0.7703149855136872, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29350 + }, + { + "epoch": 8.542333430317138, + "flow_matching_loss": 0.011472384678199887, + "grad_norm": 0.08991950005292892, + "learning_rate": 3.742886454009664e-08, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007151726027950644, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38356323838233947, + "rkd_teacher_entropy": 3.7355547904968263, + "rkd_teacher_similarity_mean": 0.7757891118526459, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29360 + }, + { + "epoch": 8.545242944428281, + "flow_matching_loss": 0.011063034879043698, + "grad_norm": 0.1486295908689499, + "learning_rate": 3.627061387137087e-08, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007526492001488805, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3830509543418884, + "rkd_teacher_entropy": 3.726792812347412, + "rkd_teacher_similarity_mean": 0.7751644730567933, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29370 + }, + { + "epoch": 8.548152458539423, + "flow_matching_loss": 0.01017747693695128, + "grad_norm": 0.11147546023130417, + "learning_rate": 3.5130545544835305e-08, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065688406582921745, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3792934328317642, + "rkd_teacher_entropy": 3.717082118988037, + "rkd_teacher_similarity_mean": 0.7713960468769073, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29380 + }, + { + "epoch": 8.551061972650567, + "flow_matching_loss": 0.011720246309414506, + "grad_norm": 0.11740359663963318, + "learning_rate": 3.400866094578348e-08, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009437348181381821, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3863163083791733, + "rkd_teacher_entropy": 3.723750686645508, + "rkd_teacher_similarity_mean": 0.7776390314102173, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29390 + }, + { + "epoch": 8.55397148676171, + "flow_matching_loss": 0.011055859178304673, + "grad_norm": 0.13103337585926056, + "learning_rate": 3.290496143740829e-08, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006494983239099384, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3872544467449188, + "rkd_teacher_entropy": 3.7340821981430055, + "rkd_teacher_similarity_mean": 0.7791908919811249, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29400 + }, + { + "epoch": 8.556881000872854, + "flow_matching_loss": 0.010604304727166891, + "grad_norm": 0.09507401287555695, + "learning_rate": 3.18194483608103e-08, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00635792464017868, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39151269793510435, + "rkd_teacher_entropy": 3.746563673019409, + "rkd_teacher_similarity_mean": 0.7836815536022186, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29410 + }, + { + "epoch": 8.559790514983998, + "flow_matching_loss": 0.011496999161317944, + "grad_norm": 0.13894371688365936, + "learning_rate": 3.075212303498942e-08, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007317621493712068, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38761248588562014, + "rkd_teacher_entropy": 3.7399022817611693, + "rkd_teacher_similarity_mean": 0.7797263264656067, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29420 + }, + { + "epoch": 8.562700029095142, + "flow_matching_loss": 0.014764165738597512, + "grad_norm": 0.1422668695449829, + "learning_rate": 2.9702986756846574e-08, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006823110673576593, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3894021838903427, + "rkd_teacher_entropy": 3.7434689521789553, + "rkd_teacher_similarity_mean": 0.7817084074020386, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29430 + }, + { + "epoch": 8.565609543206284, + "flow_matching_loss": 0.007966351602226496, + "grad_norm": 0.0832567811012268, + "learning_rate": 2.867204080118202e-08, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007610069308429957, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39295758306980133, + "rkd_teacher_entropy": 3.749098610877991, + "rkd_teacher_similarity_mean": 0.7844661474227905, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29440 + }, + { + "epoch": 8.568519057317427, + "flow_matching_loss": 0.009793144557625056, + "grad_norm": 0.11293632537126541, + "learning_rate": 2.7659286420693708e-08, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006201241817325354, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37809633314609525, + "rkd_teacher_entropy": 3.70041766166687, + "rkd_teacher_similarity_mean": 0.7698014676570892, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29450 + }, + { + "epoch": 8.571428571428571, + "flow_matching_loss": 0.013300682790577412, + "grad_norm": 0.19607166945934296, + "learning_rate": 2.6664724845968934e-08, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007636182941496372, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37843588292598723, + "rkd_teacher_entropy": 3.718850564956665, + "rkd_teacher_similarity_mean": 0.770687735080719, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29460 + }, + { + "epoch": 8.574338085539715, + "flow_matching_loss": 0.011210038512945174, + "grad_norm": 0.10245152562856674, + "learning_rate": 2.5688357285499343e-08, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007754211546853185, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37527830004692075, + "rkd_teacher_entropy": 3.6954694509506227, + "rkd_teacher_similarity_mean": 0.7670266211032868, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29470 + }, + { + "epoch": 8.577247599650859, + "flow_matching_loss": 0.011205650540068746, + "grad_norm": 0.10563233494758606, + "learning_rate": 2.473018492565926e-08, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00810050629079342, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3804079741239548, + "rkd_teacher_entropy": 3.715534210205078, + "rkd_teacher_similarity_mean": 0.7720138907432557, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29480 + }, + { + "epoch": 8.580157113762002, + "flow_matching_loss": 0.011505385395139456, + "grad_norm": 0.09779319912195206, + "learning_rate": 2.3790208930720702e-08, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069317211862653496, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38080267012119295, + "rkd_teacher_entropy": 3.7084865093231203, + "rkd_teacher_similarity_mean": 0.7720682203769684, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29490 + }, + { + "epoch": 8.583066627873146, + "flow_matching_loss": 0.011542698834091425, + "grad_norm": 0.1126200333237648, + "learning_rate": 2.2868430442843368e-08, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.009038955997675657, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38297865092754363, + "rkd_teacher_entropy": 3.719112277030945, + "rkd_teacher_similarity_mean": 0.7732403934001922, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29500 + }, + { + "epoch": 8.585976141984288, + "flow_matching_loss": 0.010815003560855985, + "grad_norm": 0.11576104909181595, + "learning_rate": 2.196485058207298e-08, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00674851736985147, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.379980605840683, + "rkd_teacher_entropy": 3.7062023639678956, + "rkd_teacher_similarity_mean": 0.772257399559021, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29510 + }, + { + "epoch": 8.588885656095432, + "flow_matching_loss": 0.01137327952310443, + "grad_norm": 0.15979541838169098, + "learning_rate": 2.1079470446346282e-08, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008019738644361497, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.378297758102417, + "rkd_teacher_entropy": 3.7124284505844116, + "rkd_teacher_similarity_mean": 0.7701433956623077, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29520 + }, + { + "epoch": 8.591795170206575, + "flow_matching_loss": 0.01046698521822691, + "grad_norm": 0.12270940095186234, + "learning_rate": 2.0212291111482707e-08, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00634907481726259, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38895462155342103, + "rkd_teacher_entropy": 3.7455903053283692, + "rkd_teacher_similarity_mean": 0.7812676787376404, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29530 + }, + { + "epoch": 8.594704684317719, + "flow_matching_loss": 0.011855471320450306, + "grad_norm": 0.11948671191930771, + "learning_rate": 1.9363313631187707e-08, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0073862828779965636, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38142247796058654, + "rkd_teacher_entropy": 3.7162653684616087, + "rkd_teacher_similarity_mean": 0.7734184622764587, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29540 + }, + { + "epoch": 8.597614198428863, + "flow_matching_loss": 0.009980516508221626, + "grad_norm": 0.10937918722629547, + "learning_rate": 1.853253903704777e-08, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007555572269484401, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3801256090402603, + "rkd_teacher_entropy": 3.7182479381561278, + "rkd_teacher_similarity_mean": 0.7720747411251068, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29550 + }, + { + "epoch": 8.600523712540006, + "flow_matching_loss": 0.012249161954969168, + "grad_norm": 0.10368434339761734, + "learning_rate": 1.7719968338533733e-08, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0068782948888838295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38090294003486636, + "rkd_teacher_entropy": 3.72284791469574, + "rkd_teacher_similarity_mean": 0.7733129143714905, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29560 + }, + { + "epoch": 8.603433226651148, + "flow_matching_loss": 0.010557022970169782, + "grad_norm": 0.11703947931528091, + "learning_rate": 1.6925602522992467e-08, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00659662731923163, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3833734005689621, + "rkd_teacher_entropy": 3.7210849046707155, + "rkd_teacher_similarity_mean": 0.7755400896072387, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29570 + }, + { + "epoch": 8.606342740762292, + "flow_matching_loss": 0.013113794196397067, + "grad_norm": 0.11053510755300522, + "learning_rate": 1.6149442555658533e-08, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006666915211826563, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38763999938964844, + "rkd_teacher_entropy": 3.7388965368270872, + "rkd_teacher_similarity_mean": 0.7795215249061584, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29580 + }, + { + "epoch": 8.609252254873436, + "flow_matching_loss": 0.010614672442898154, + "grad_norm": 0.1126529648900032, + "learning_rate": 1.5391489379635858e-08, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008198542473837733, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38118553459644317, + "rkd_teacher_entropy": 3.7155778884887694, + "rkd_teacher_similarity_mean": 0.7725447118282318, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29590 + }, + { + "epoch": 8.61216176898458, + "flow_matching_loss": 0.011419929703697563, + "grad_norm": 0.10122617334127426, + "learning_rate": 1.4651743915909399e-08, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007009625062346458, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37706065773963926, + "rkd_teacher_entropy": 3.7050514221191406, + "rkd_teacher_similarity_mean": 0.7688880741596222, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29600 + }, + { + "epoch": 8.615071283095723, + "flow_matching_loss": 0.011112033575773238, + "grad_norm": 0.2505241334438324, + "learning_rate": 1.3930207063340139e-08, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.010211695823818446, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37492958903312684, + "rkd_teacher_entropy": 3.685455346107483, + "rkd_teacher_similarity_mean": 0.7662770032882691, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29610 + }, + { + "epoch": 8.617980797206867, + "flow_matching_loss": 0.011516490858048201, + "grad_norm": 0.09923720359802246, + "learning_rate": 1.322687969866343e-08, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008136999420821666, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3805969625711441, + "rkd_teacher_entropy": 3.716630291938782, + "rkd_teacher_similarity_mean": 0.7722559571266174, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29620 + }, + { + "epoch": 8.62089031131801, + "flow_matching_loss": 0.011585491197183728, + "grad_norm": 0.10794331133365631, + "learning_rate": 1.2541762676488989e-08, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006384103232994676, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38650526106357574, + "rkd_teacher_entropy": 3.731509566307068, + "rkd_teacher_similarity_mean": 0.7782055914402009, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29630 + }, + { + "epoch": 8.623799825429153, + "flow_matching_loss": 0.01206163028255105, + "grad_norm": 0.14886072278022766, + "learning_rate": 1.1874856829297564e-08, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007221148489043117, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38471111953258513, + "rkd_teacher_entropy": 3.720711874961853, + "rkd_teacher_similarity_mean": 0.7760495126247406, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29640 + }, + { + "epoch": 8.626709339540296, + "flow_matching_loss": 0.011148530151695013, + "grad_norm": 0.12201259285211563, + "learning_rate": 1.1226162967442611e-08, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00711129680275917, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39076903462409973, + "rkd_teacher_entropy": 3.756744146347046, + "rkd_teacher_similarity_mean": 0.7831060707569122, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29650 + }, + { + "epoch": 8.62961885365144, + "flow_matching_loss": 0.010315346345305444, + "grad_norm": 0.09048330783843994, + "learning_rate": 1.059568187914861e-08, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0071605219505727295, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3816535651683807, + "rkd_teacher_entropy": 3.7083993911743165, + "rkd_teacher_similarity_mean": 0.7739474356174469, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29660 + }, + { + "epoch": 8.632528367762584, + "flow_matching_loss": 0.009549018973484636, + "grad_norm": 0.10183452814817429, + "learning_rate": 9.983414330511087e-09, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069027218036353585, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38592388927936555, + "rkd_teacher_entropy": 3.720619010925293, + "rkd_teacher_similarity_mean": 0.7784642100334167, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29670 + }, + { + "epoch": 8.635437881873727, + "flow_matching_loss": 0.01146479146555066, + "grad_norm": 0.1192392110824585, + "learning_rate": 9.389361065489932e-09, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007651584502309561, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38635733127593996, + "rkd_teacher_entropy": 3.7371922731399536, + "rkd_teacher_similarity_mean": 0.7780709981918335, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29680 + }, + { + "epoch": 8.638347395984871, + "flow_matching_loss": 0.01165384533815086, + "grad_norm": 0.11284995824098587, + "learning_rate": 8.81352280591774e-09, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007046216819435358, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38749792277812956, + "rkd_teacher_entropy": 3.734757137298584, + "rkd_teacher_similarity_mean": 0.7790615320205688, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29690 + }, + { + "epoch": 8.641256910096015, + "flow_matching_loss": 0.012392390333116055, + "grad_norm": 0.1299225240945816, + "learning_rate": 8.255900251491478e-09, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0074113575275987385, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38614852726459503, + "rkd_teacher_entropy": 3.7396332263946532, + "rkd_teacher_similarity_mean": 0.7780836880207062, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29700 + }, + { + "epoch": 8.644166424207157, + "flow_matching_loss": 0.010964149795472621, + "grad_norm": 0.12411071360111237, + "learning_rate": 7.716494079775816e-09, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007742578443139791, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38377649784088136, + "rkd_teacher_entropy": 3.7250305652618407, + "rkd_teacher_similarity_mean": 0.7747213423252106, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29710 + }, + { + "epoch": 8.6470759383183, + "flow_matching_loss": 0.010274721449241042, + "grad_norm": 0.08820724487304688, + "learning_rate": 7.195304946199799e-09, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006880670087412, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38792670965194703, + "rkd_teacher_entropy": 3.738611912727356, + "rkd_teacher_similarity_mean": 0.7802331030368805, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29720 + }, + { + "epoch": 8.649985452429444, + "flow_matching_loss": 0.010967800114303827, + "grad_norm": 0.11283551901578903, + "learning_rate": 6.692333484056845e-09, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0072938668541610244, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37989675998687744, + "rkd_teacher_entropy": 3.7150619506835936, + "rkd_teacher_similarity_mean": 0.7721236288547516, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29730 + }, + { + "epoch": 8.652894966540588, + "flow_matching_loss": 0.009392953151836992, + "grad_norm": 0.12150668352842331, + "learning_rate": 6.207580304506411e-09, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006884219218045473, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39144970178604127, + "rkd_teacher_entropy": 3.751978278160095, + "rkd_teacher_similarity_mean": 0.7835311233997345, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29740 + }, + { + "epoch": 8.655804480651732, + "flow_matching_loss": 0.01199608128517866, + "grad_norm": 0.10807021707296371, + "learning_rate": 5.741045996567329e-09, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007810142869129777, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3920996218919754, + "rkd_teacher_entropy": 3.7511887311935426, + "rkd_teacher_similarity_mean": 0.7844054579734803, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29750 + }, + { + "epoch": 8.658713994762875, + "flow_matching_loss": 0.011580420006066561, + "grad_norm": 0.10252340137958527, + "learning_rate": 5.2927311271244725e-09, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0065458237659186125, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38892418444156646, + "rkd_teacher_entropy": 3.7340691089630127, + "rkd_teacher_similarity_mean": 0.7804988622665405, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29760 + }, + { + "epoch": 8.661623508874017, + "flow_matching_loss": 0.011354021402075887, + "grad_norm": 0.10984804481267929, + "learning_rate": 4.8626362409204265e-09, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007512003090232611, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.391362464427948, + "rkd_teacher_entropy": 3.755884623527527, + "rkd_teacher_similarity_mean": 0.7833062887191773, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29770 + }, + { + "epoch": 8.664533022985161, + "flow_matching_loss": 0.011854692734777928, + "grad_norm": 0.11992087960243225, + "learning_rate": 4.4507618605638126e-09, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007627677079290152, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3832158476114273, + "rkd_teacher_entropy": 3.7249541759490965, + "rkd_teacher_similarity_mean": 0.7751523733139039, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29780 + }, + { + "epoch": 8.667442537096305, + "flow_matching_loss": 0.011112461518496274, + "grad_norm": 0.0875791609287262, + "learning_rate": 4.057108486519301e-09, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006031603971496225, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39259504675865176, + "rkd_teacher_entropy": 3.754382514953613, + "rkd_teacher_similarity_mean": 0.7850192070007325, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29790 + }, + { + "epoch": 8.670352051207448, + "flow_matching_loss": 0.011597097758203745, + "grad_norm": 0.08867911994457245, + "learning_rate": 3.6816765971126043e-09, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007078324677422643, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3856646537780762, + "rkd_teacher_entropy": 3.7274399995803833, + "rkd_teacher_similarity_mean": 0.7775757014751434, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29800 + }, + { + "epoch": 8.673261565318592, + "flow_matching_loss": 0.012121481355279684, + "grad_norm": 0.13772200047969818, + "learning_rate": 3.324466648528812e-09, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008060700725764036, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39275827407836916, + "rkd_teacher_entropy": 3.7446675300598145, + "rkd_teacher_similarity_mean": 0.7856773674488068, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29810 + }, + { + "epoch": 8.676171079429736, + "flow_matching_loss": 0.010738871572539211, + "grad_norm": 0.11940106004476547, + "learning_rate": 2.9854790748123917e-09, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0069709689356386665, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3821768671274185, + "rkd_teacher_entropy": 3.71035475730896, + "rkd_teacher_similarity_mean": 0.7736259043216706, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29820 + }, + { + "epoch": 8.67908059354088, + "flow_matching_loss": 0.011205986421555281, + "grad_norm": 0.09690549224615097, + "learning_rate": 2.664714287865522e-09, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006699333153665066, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3791149497032166, + "rkd_teacher_entropy": 3.7113735675811768, + "rkd_teacher_similarity_mean": 0.7711422979831696, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29830 + }, + { + "epoch": 8.681990107652021, + "flow_matching_loss": 0.011386843863874674, + "grad_norm": 0.1253664493560791, + "learning_rate": 2.362172677446428e-09, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006393209984526038, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3805448651313782, + "rkd_teacher_entropy": 3.716738200187683, + "rkd_teacher_similarity_mean": 0.77206591963768, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29840 + }, + { + "epoch": 8.684899621763165, + "flow_matching_loss": 0.011434337729588151, + "grad_norm": 0.09976641088724136, + "learning_rate": 2.0778546111727137e-09, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00816395073197782, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3717171847820282, + "rkd_teacher_entropy": 3.6818990468978883, + "rkd_teacher_similarity_mean": 0.7628986120224, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29850 + }, + { + "epoch": 8.687809135874309, + "flow_matching_loss": 0.01223265342414379, + "grad_norm": 0.08426757901906967, + "learning_rate": 1.811760434516363e-09, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00641160337254405, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39036391377449037, + "rkd_teacher_entropy": 3.7472246170043944, + "rkd_teacher_similarity_mean": 0.7820142269134521, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29860 + }, + { + "epoch": 8.690718649985453, + "flow_matching_loss": 0.010139769688248635, + "grad_norm": 0.09311851114034653, + "learning_rate": 1.5638904708087377e-09, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007075987430289388, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.383686837553978, + "rkd_teacher_entropy": 3.7073249578475953, + "rkd_teacher_similarity_mean": 0.774622631072998, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29870 + }, + { + "epoch": 8.693628164096596, + "flow_matching_loss": 0.011998335411772133, + "grad_norm": 0.11247999221086502, + "learning_rate": 1.3342450212355805e-09, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008082111459225416, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3927763670682907, + "rkd_teacher_entropy": 3.741911792755127, + "rkd_teacher_similarity_mean": 0.783479756116867, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29880 + }, + { + "epoch": 8.69653767820774, + "flow_matching_loss": 0.011838866770267487, + "grad_norm": 0.11913620680570602, + "learning_rate": 1.122824364835351e-09, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007450686302036047, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3806079179048538, + "rkd_teacher_entropy": 3.709203839302063, + "rkd_teacher_similarity_mean": 0.7731602489948273, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29890 + }, + { + "epoch": 8.699447192318882, + "flow_matching_loss": 0.011477812938392163, + "grad_norm": 0.11617159843444824, + "learning_rate": 9.296287585042196e-10, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007537311594933272, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38172546923160555, + "rkd_teacher_entropy": 3.722455382347107, + "rkd_teacher_similarity_mean": 0.7738928377628327, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29900 + }, + { + "epoch": 8.702356706430026, + "flow_matching_loss": 0.010907941078767181, + "grad_norm": 0.09861396253108978, + "learning_rate": 7.546584369960697e-10, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007227080268785357, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38841213285923004, + "rkd_teacher_entropy": 3.736688828468323, + "rkd_teacher_similarity_mean": 0.780543977022171, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29910 + }, + { + "epoch": 8.70526622054117, + "flow_matching_loss": 0.011848638020455837, + "grad_norm": 0.20061206817626953, + "learning_rate": 5.97913612912504e-10, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007299601915292442, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.39148170948028566, + "rkd_teacher_entropy": 3.745669460296631, + "rkd_teacher_similarity_mean": 0.7822297394275666, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29920 + }, + { + "epoch": 8.708175734652313, + "flow_matching_loss": 0.0137074357829988, + "grad_norm": 0.159026101231575, + "learning_rate": 4.593944767161684e-10, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007620182959362865, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3940088927745819, + "rkd_teacher_entropy": 3.7652610778808593, + "rkd_teacher_similarity_mean": 0.7860059976577759, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29930 + }, + { + "epoch": 8.711085248763457, + "flow_matching_loss": 0.011813784344121813, + "grad_norm": 0.1293010115623474, + "learning_rate": 3.391011967207591e-10, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00791970700956881, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38513065576553346, + "rkd_teacher_entropy": 3.7275498151779174, + "rkd_teacher_similarity_mean": 0.777497285604477, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29940 + }, + { + "epoch": 8.7139947628746, + "flow_matching_loss": 0.011804960761219263, + "grad_norm": 0.1158352941274643, + "learning_rate": 2.370339190910231e-10, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.008100425824522972, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3790010452270508, + "rkd_teacher_entropy": 3.7111784696578978, + "rkd_teacher_similarity_mean": 0.7714356541633606, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29950 + }, + { + "epoch": 8.716904276985744, + "flow_matching_loss": 0.010170925501734018, + "grad_norm": 0.12408147752285004, + "learning_rate": 1.531927678510847e-10, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00672221570275724, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.381695830821991, + "rkd_teacher_entropy": 3.711856317520142, + "rkd_teacher_similarity_mean": 0.7732881784439087, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29960 + }, + { + "epoch": 8.719813791096886, + "flow_matching_loss": 0.011240958468988538, + "grad_norm": 0.14843764901161194, + "learning_rate": 8.757784487611886e-11, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007801295863464475, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.38110822141170503, + "rkd_teacher_entropy": 3.7180797815322877, + "rkd_teacher_similarity_mean": 0.7730478167533874, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29970 + }, + { + "epoch": 8.72272330520803, + "flow_matching_loss": 0.010479235369712115, + "grad_norm": 0.11000607907772064, + "learning_rate": 4.018922989235119e-11, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.007983490265905857, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37890926003456116, + "rkd_teacher_entropy": 3.70150740146637, + "rkd_teacher_similarity_mean": 0.7701482594013214, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29980 + }, + { + "epoch": 8.725632819319173, + "flow_matching_loss": 0.010113120032474398, + "grad_norm": 0.11606922000646591, + "learning_rate": 1.1026980482053972e-11, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.00643055303953588, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.3853887438774109, + "rkd_teacher_entropy": 3.724218511581421, + "rkd_teacher_similarity_mean": 0.7776706457138062, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29990 + }, + { + "epoch": 8.728542333430317, + "flow_matching_loss": 0.00974874128587544, + "grad_norm": 0.10865951329469681, + "learning_rate": 9.113208188082922e-14, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.006394014367833734, + "rkd_loss_weight": 0.5, + "rkd_relation_mode_id": 0.0, + "rkd_student_similarity_mean": 0.37584108412265776, + "rkd_teacher_entropy": 3.7003595352172853, + "rkd_teacher_similarity_mean": 0.7685786664485932, + "rkd_vlm_temp": 0.10000000149011612, + "step": 30000 + }, + { + "epoch": 8.728542333430317, + "step": 30000, + "total_flos": 0.0, + "train_loss": 0.021408223356306554, + "train_runtime": 64583.413, + "train_samples_per_second": 59.458, + "train_steps_per_second": 0.465 + } + ], + "logging_steps": 10, + "max_steps": 30000, + "num_input_tokens_seen": 0, + "num_train_epochs": 9, + "save_steps": 1, + "stateful_callbacks": { + "TrainerControl": { + "args": { + "should_epoch_stop": false, + "should_evaluate": false, + "should_log": false, + "should_save": false, + "should_training_stop": false + }, + "attributes": {} + } + }, + "total_flos": 0.0, + "train_batch_size": 64, + "trial_name": null, + "trial_params": null +} diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/training_args.bin b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/training_args.bin new file mode 100644 index 0000000000000000000000000000000000000000..5716cfa09b778d3dab2227f966713a5cde9a562e --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/phase3/training_args.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81eebb9d349c763816678aed2bcf4587d72ae90ac2610069274f0ab675b78dec +size 6033 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/resolved_config.yaml b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20ecb2a0806118d064e485c60aaa0439b9c9b8a5 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/resolved_config.yaml @@ -0,0 +1,34 @@ +experiment_name: rkd_phase3_aux_fixed_0p5 +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - aux_fixed_0p5 + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_rkd_fixed_0p5 + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: true + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.5 + rkd_action_temp: 0.1 + rkd_vlm_temp: 0.1 + rkd_relation_mode: token_pair_mean +resolved_sweep: + loss_strategy: aux_fixed_0p5 + rkd_temp: 0.1 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/rkd_phase3_aux_fixed_0p5.yaml b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/rkd_phase3_aux_fixed_0p5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0e7c9d209760f42e14553c76d6c9359cae65ac7 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_aux_fixed_0p5__rkd_temp_0.1/rkd_phase3_aux_fixed_0p5.yaml @@ -0,0 +1,31 @@ +experiment_name: rkd_phase3_aux_fixed_0p5 +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_${sweep.rkd_temp}/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - aux_fixed_0p5 + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_rkd_fixed_0p5 + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: true + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.5 + rkd_action_temp: ${sweep.rkd_temp} + rkd_vlm_temp: ${sweep.rkd_temp} + rkd_relation_mode: token_pair_mean diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/config.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dedbde23e6cb79842ffdcb0de81f7d8a76764842 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/config.json @@ -0,0 +1,73 @@ +{ + "action_dim": 32, + "action_head_cfg": { + "action_dim": 32, + "action_horizon": 16, + "add_pos_embed": true, + "backbone_embedding_dim": 2048, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "cross_attention_dim": 2048, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 16, + "output_dim": 1024, + "positional_embeddings": null + }, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "max_action_dim": 32, + "max_state_dim": 64, + "model_dtype": "float32", + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_inference_timesteps": 4, + "num_target_vision_tokens": 32, + "num_timestep_buckets": 1000, + "tune_diffusion_model": true, + "tune_projector": true, + "use_vlln": true, + "vl_self_attention_cfg": { + "attention_head_dim": 64, + "dropout": 0.2, + "final_dropout": true, + "num_attention_heads": 32, + "num_layers": 4, + "positional_embeddings": null + } + }, + "action_horizon": 16, + "architectures": [ + "GR00T_N1_5_RKD" + ], + "attn_implementation": null, + "backbone_cfg": { + "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops", + "load_bf16": false, + "project_to_dim": null, + "reproject_vision": false, + "select_layer": 12, + "tune_llm": false, + "tune_visual": true, + "use_flash_attention": true + }, + "compute_dtype": "bfloat16", + "hidden_size": 2048, + "model_dtype": "float32", + "model_type": "gr00t_n1_5", + "rkd_action_temp": 0.1, + "rkd_enabled": false, + "rkd_fm_loss_weight": 1.0, + "rkd_loss_weight": 0.0, + "rkd_loss_weight_end": 0.0, + "rkd_loss_weight_schedule": null, + "rkd_loss_weight_start": 0.1, + "rkd_relation_mode": "token_pair_mean", + "rkd_vlm_temp": 0.1, + "torch_dtype": "bfloat16", + "transformers_version": "4.51.3" +} diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/experiment_cfg/metadata.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/experiment_cfg/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..300eb070963337016e16465f50ba8351ea2eb25c --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/experiment_cfg/metadata.json @@ -0,0 +1,431 @@ +{ + "new_embodiment": { + "statistics": { + "state": { + "base_position": { + "max": [ + 7.3139495849609375, + 0.4876587688922882, + 0.7196521759033203 + ], + "min": [ + -4.94293737411499, + -6.890198230743408, + 0.6996827125549316 + ], + "mean": [ + 2.749288365724937, + -2.0455216239909983, + 0.700532551020533 + ], + "std": [ + 1.6786295897046262, + 1.312897969434244, + 0.00133751758906258 + ], + "q01": [ + -1.4241907881148037, + -5.1716547935950885, + 0.6999670898768614 + ], + "q99": [ + 6.198111545831555, + -0.5873531334104489, + 0.7038833014242587 + ] + }, + "base_rotation": { + "max": [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + "min": [ + 0.0, + 0.0, + -1.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0, + 0.23084999587450247, + 0.6238431088581847 + ], + "std": [ + 0.0, + 0.0, + 0.6556404371644047, + 0.3572252105732042 + ], + "q01": [ + 0.0, + 0.0, + -0.9999999999999999, + 1.7482354593273349e-06 + ], + "q99": [ + 0.0, + 0.0, + 0.9999999999999999, + 0.9999999999999999 + ] + }, + "end_effector_position_relative": { + "max": [ + 0.9014528393745422, + 0.8003877401351929, + 0.9829942584037781 + ], + "min": [ + -0.37471598386764526, + -0.8472502827644348, + -0.25070279836654663 + ], + "mean": [ + 0.28667332601863704, + -0.038315473170876704, + 0.45974658906777444 + ], + "std": [ + 0.17067058828305154, + 0.23569952037784195, + 0.21950702354181487 + ], + "q01": [ + 0.015172948963784228, + -0.44450502063220615, + 0.23314444103329338 + ], + "q99": [ + 0.5609069689572412, + 0.38454179128009547, + 0.7028102736473852 + ] + }, + "end_effector_rotation_relative": { + "max": [ + 0.9999998807907104, + 0.9984455108642578, + 0.9434727430343628, + 0.9062229990959167 + ], + "min": [ + -0.9999930262565613, + -0.9988337755203247, + -0.9618149995803833, + 2.1872274658107926e-07 + ], + "mean": [ + -0.25672297401336, + 0.024425335806687216, + -0.08740977164483847, + 0.16608739644018397 + ], + "std": [ + 0.7932585208392383, + 0.3102260195580416, + 0.3772472576315148, + 0.17451959300158773 + ], + "q01": [ + -0.99379006987882, + -0.5478102050038828, + -0.6101777952971636, + 0.002274085014134748 + ], + "q99": [ + 0.8804856038896288, + 0.5910611092873037, + 0.5216058042993562, + 0.5231965974012255 + ] + }, + "gripper_qpos": { + "max": [ + 0.055869169533252716, + 0.010916369967162609 + ], + "min": [ + -0.011436971835792065, + -0.05664053186774254 + ], + "mean": [ + 0.031651551516052555, + -0.03161481387920421 + ], + "std": [ + 0.013119769222217526, + 0.01306078225192402 + ], + "q01": [ + 0.0060999246446777336, + -0.04062601653964198 + ], + "q99": [ + 0.04054891621517283, + -0.0059163567113456345 + ] + } + }, + "action": { + "base_motion": { + "max": [ + 1.0, + 1.0, + 1.0, + 0.0 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0 + ], + "mean": [ + 0.008144896753718373, + -0.00018893135146078263, + -0.0008739062727221845, + 0.0 + ], + "std": [ + 0.11030045424364411, + 0.10148082570313594, + 0.08975698373467506, + 0.0 + ], + "q01": [ + -0.07287373067581518, + -0.09446994199569948, + -0.07702818259249572, + 0.0 + ], + "q99": [ + 0.04485485414407898, + 0.09626941605965177, + 0.07610665906122742, + 0.0 + ] + }, + "control_mode": { + "max": [ + 1.0 + ], + "min": [ + -1.0 + ], + "mean": [ + -0.9221974313425939 + ], + "std": [ + 0.38670194342612674 + ], + "q01": [ + -1.0 + ], + "q99": [ + -0.384693946883099 + ] + }, + "end_effector_position": { + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "mean": [ + 0.01976129923017491, + -0.020870631344490034, + -0.05993476517349181 + ], + "std": [ + 0.4347024990804053, + 0.4221662976569997, + 0.3845506843044066 + ], + "q01": [ + -0.8835792939767807, + -0.9280919251713778, + -0.783361071470956 + ], + "q99": [ + 0.7622084438449307, + 0.8625125252609077, + 0.7470974753250706 + ] + }, + "end_effector_rotation": { + "max": [ + 1.0, + 1.0, + 1.0 + ], + "min": [ + -1.0, + -1.0, + -1.0 + ], + "mean": [ + 0.008089673068544335, + -0.026498254627927348, + 0.0029083551743059005 + ], + "std": [ + 0.11216734503733773, + 0.13206002613798629, + 0.12615870412692864 + ], + "q01": [ + -0.2814627972846672, + -0.4342386516115439, + -0.34489755628340574 + ], + "q99": [ + 0.31879353266939386, + 0.28411797683220563, + 0.3597718671669894 + ] + }, + "gripper_close": { + "max": [ + 1.0 + ], + "min": [ + -1.0 + ], + "mean": [ + -0.3824228874769045 + ], + "std": [ + 0.9240015096469786 + ], + "q01": [ + -1.0 + ], + "q99": [ + 0.5597272305813592 + ] + } + } + }, + "modalities": { + "video": { + "robot0_eye_in_hand": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + }, + "robot0_agentview_left": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + }, + "robot0_agentview_right": { + "resolution": [ + 256, + 256 + ], + "channels": 3, + "fps": 20.0 + } + }, + "state": { + "base_position": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "base_rotation": { + "absolute": true, + "rotation_type": "quaternion", + "shape": [ + 4 + ], + "continuous": true + }, + "end_effector_position_relative": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "end_effector_rotation_relative": { + "absolute": true, + "rotation_type": "quaternion", + "shape": [ + 4 + ], + "continuous": true + }, + "gripper_qpos": { + "absolute": true, + "rotation_type": null, + "shape": [ + 2 + ], + "continuous": true + } + }, + "action": { + "base_motion": { + "absolute": true, + "rotation_type": null, + "shape": [ + 4 + ], + "continuous": true + }, + "control_mode": { + "absolute": true, + "rotation_type": null, + "shape": [ + 1 + ], + "continuous": true + }, + "end_effector_position": { + "absolute": true, + "rotation_type": null, + "shape": [ + 3 + ], + "continuous": true + }, + "end_effector_rotation": { + "absolute": true, + "rotation_type": "axis_angle", + "shape": [ + 3 + ], + "continuous": true + }, + "gripper_close": { + "absolute": true, + "rotation_type": null, + "shape": [ + 1 + ], + "continuous": true + } + } + }, + "embodiment_tag": "new_embodiment" + } +} \ No newline at end of file diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model-00001-of-00002.safetensors b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model-00001-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..1b0778e50c12868cc98b7a026bd5238ee41e4dc0 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model-00001-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3fc2fed5a85711e415a5d42bf8ac34838e56fa4c37785901eab619b380b8cee +size 4999367032 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model-00002-of-00002.safetensors b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model-00002-of-00002.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..3f930902ac2df196080a29222f04f9d009e6c960 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model-00002-of-00002.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1631cd64b6ef79d2f11f00c01a11e67fafc42abee9bffb120d1a414269223f00 +size 2586705312 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model.safetensors.index.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model.safetensors.index.json new file mode 100644 index 0000000000000000000000000000000000000000..5ef5f247b61eb93e89601c7da8334fc087e19750 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/model.safetensors.index.json @@ -0,0 +1,906 @@ +{ + "metadata": { + "total_size": 7585939328 + }, + "weight_map": { + "action_head.action_decoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.action_decoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W1.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W2.b": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.W": "model-00002-of-00002.safetensors", + "action_head.action_encoder.W3.b": "model-00002-of-00002.safetensors", + "action_head.future_tokens.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_1.weight": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.bias": "model-00002-of-00002.safetensors", + "action_head.model.proj_out_2.weight": "model-00002-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_1.weight": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.bias": "model-00001-of-00002.safetensors", + "action_head.model.timestep_encoder.timestep_embedder.linear_2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.0.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.1.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.10.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.11.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.12.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.13.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.14.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.bias": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.15.norm1.linear.weight": "model-00002-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.2.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.3.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.4.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.5.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.6.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.7.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.8.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_k.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_out.0.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_q.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.attn1.to_v.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.0.proj.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.ff.net.2.weight": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.bias": "model-00001-of-00002.safetensors", + "action_head.model.transformer_blocks.9.norm1.linear.weight": "model-00001-of-00002.safetensors", + "action_head.position_embedding.weight": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer1.b": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.W": "model-00002-of-00002.safetensors", + "action_head.state_encoder.layer2.b": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.0.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.1.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.2.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm1.weight": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.bias": "model-00002-of-00002.safetensors", + "action_head.vl_self_attention.transformer_blocks.3.norm3.weight": "model-00002-of-00002.safetensors", + "action_head.vlln.bias": "model-00002-of-00002.safetensors", + "action_head.vlln.weight": "model-00002-of-00002.safetensors", + "backbone.eagle_model.language_model.lm_head.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.embed_tokens.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.input_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.down_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.gate_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.mlp.up_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.post_attention_layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.o_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.language_model.model.norm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.mlp1.0.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.patch_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.embeddings.position_embedding.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.0.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.1.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.10.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.11.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.12.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.13.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.14.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.15.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.16.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.17.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.18.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.19.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.2.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.20.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.21.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.22.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.23.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.24.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.25.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.26.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.3.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.4.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.5.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.6.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.7.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.8.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.layer_norm2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.k_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.q_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.encoder.layers.9.self_attn.v_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.in_proj_weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.attention.out_proj.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.layernorm.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc1.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.mlp.fc2.weight": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.head.probe": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.bias": "model-00001-of-00002.safetensors", + "backbone.eagle_model.vision_model.vision_model.post_layernorm.weight": "model-00001-of-00002.safetensors" + } +} diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/trainer_state.json b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/trainer_state.json new file mode 100644 index 0000000000000000000000000000000000000000..468b2f043394555bac7916f05ec604387f0943b8 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/trainer_state.json @@ -0,0 +1,42043 @@ +{ + "best_global_step": null, + "best_metric": null, + "best_model_checkpoint": null, + "epoch": 8.728542333430317, + "eval_steps": 500, + "global_step": 30000, + "is_hyper_param_search": false, + "is_local_process_zero": true, + "is_world_process_zero": true, + "log_history": [ + { + "epoch": 0.002909514111143439, + "flow_matching_loss": 0.14225925877690315, + "grad_norm": 1.0302211046218872, + "learning_rate": 1.8e-07, + "loss": 0.1423, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10 + }, + { + "epoch": 0.005819028222286878, + "flow_matching_loss": 0.1364294208586216, + "grad_norm": 0.9206054210662842, + "learning_rate": 3.8e-07, + "loss": 0.1364, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20 + }, + { + "epoch": 0.008728542333430317, + "flow_matching_loss": 0.13088232651352882, + "grad_norm": 1.2347948551177979, + "learning_rate": 5.800000000000001e-07, + "loss": 0.1309, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 30 + }, + { + "epoch": 0.011638056444573755, + "flow_matching_loss": 0.0995367206633091, + "grad_norm": 0.6225452423095703, + "learning_rate": 7.799999999999999e-07, + "loss": 0.0995, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 40 + }, + { + "epoch": 0.014547570555717195, + "flow_matching_loss": 0.09850174374878407, + "grad_norm": 0.8424219489097595, + "learning_rate": 9.8e-07, + "loss": 0.0985, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 50 + }, + { + "epoch": 0.017457084666860634, + "flow_matching_loss": 0.10292289629578591, + "grad_norm": 0.8238568902015686, + "learning_rate": 1.18e-06, + "loss": 0.1029, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 60 + }, + { + "epoch": 0.020366598778004074, + "flow_matching_loss": 0.1092187874019146, + "grad_norm": 0.9516245722770691, + "learning_rate": 1.38e-06, + "loss": 0.1092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 70 + }, + { + "epoch": 0.02327611288914751, + "flow_matching_loss": 0.08106040954589844, + "grad_norm": 0.6817306280136108, + "learning_rate": 1.5800000000000001e-06, + "loss": 0.0811, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 80 + }, + { + "epoch": 0.02618562700029095, + "flow_matching_loss": 0.08700762204825878, + "grad_norm": 0.6195932030677795, + "learning_rate": 1.7800000000000001e-06, + "loss": 0.087, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 90 + }, + { + "epoch": 0.02909514111143439, + "flow_matching_loss": 0.07466066516935825, + "grad_norm": 0.3186725378036499, + "learning_rate": 1.98e-06, + "loss": 0.0747, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 100 + }, + { + "epoch": 0.03200465522257783, + "flow_matching_loss": 0.07968395575881004, + "grad_norm": 0.38805848360061646, + "learning_rate": 2.1800000000000003e-06, + "loss": 0.0797, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 110 + }, + { + "epoch": 0.03491416933372127, + "flow_matching_loss": 0.06653223112225533, + "grad_norm": 0.28799566626548767, + "learning_rate": 2.38e-06, + "loss": 0.0665, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 120 + }, + { + "epoch": 0.037823683444864704, + "flow_matching_loss": 0.06756638400256634, + "grad_norm": 0.343150794506073, + "learning_rate": 2.58e-06, + "loss": 0.0676, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 130 + }, + { + "epoch": 0.04073319755600815, + "flow_matching_loss": 0.06953472532331943, + "grad_norm": 0.22345253825187683, + "learning_rate": 2.78e-06, + "loss": 0.0695, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 140 + }, + { + "epoch": 0.043642711667151585, + "flow_matching_loss": 0.07081644758582115, + "grad_norm": 0.4851153492927551, + "learning_rate": 2.98e-06, + "loss": 0.0708, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 150 + }, + { + "epoch": 0.04655222577829502, + "flow_matching_loss": 0.06566073447465896, + "grad_norm": 0.34013962745666504, + "learning_rate": 3.18e-06, + "loss": 0.0657, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 160 + }, + { + "epoch": 0.049461739889438465, + "flow_matching_loss": 0.05333101749420166, + "grad_norm": 0.3748604655265808, + "learning_rate": 3.38e-06, + "loss": 0.0533, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 170 + }, + { + "epoch": 0.0523712540005819, + "flow_matching_loss": 0.04932974874973297, + "grad_norm": 0.3424091041088104, + "learning_rate": 3.58e-06, + "loss": 0.0493, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 180 + }, + { + "epoch": 0.055280768111725345, + "flow_matching_loss": 0.05123838968575001, + "grad_norm": 0.29210543632507324, + "learning_rate": 3.7800000000000002e-06, + "loss": 0.0512, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 190 + }, + { + "epoch": 0.05819028222286878, + "flow_matching_loss": 0.048680562525987625, + "grad_norm": 0.23376905918121338, + "learning_rate": 3.98e-06, + "loss": 0.0487, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 200 + }, + { + "epoch": 0.06109979633401222, + "flow_matching_loss": 0.051320028677582744, + "grad_norm": 0.32194650173187256, + "learning_rate": 4.18e-06, + "loss": 0.0513, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 210 + }, + { + "epoch": 0.06400931044515566, + "flow_matching_loss": 0.04856706336140633, + "grad_norm": 0.22440186142921448, + "learning_rate": 4.3799999999999996e-06, + "loss": 0.0486, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 220 + }, + { + "epoch": 0.06691882455629909, + "flow_matching_loss": 0.05204686298966408, + "grad_norm": 0.22715134918689728, + "learning_rate": 4.58e-06, + "loss": 0.052, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 230 + }, + { + "epoch": 0.06982833866744254, + "flow_matching_loss": 0.052417540550231935, + "grad_norm": 0.3007974326610565, + "learning_rate": 4.78e-06, + "loss": 0.0524, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 240 + }, + { + "epoch": 0.07273785277858598, + "flow_matching_loss": 0.04689922034740448, + "grad_norm": 0.1926310509443283, + "learning_rate": 4.980000000000001e-06, + "loss": 0.0469, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 250 + }, + { + "epoch": 0.07564736688972941, + "flow_matching_loss": 0.04229732900857926, + "grad_norm": 0.1977362185716629, + "learning_rate": 5.18e-06, + "loss": 0.0423, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 260 + }, + { + "epoch": 0.07855688100087285, + "flow_matching_loss": 0.04504072107374668, + "grad_norm": 0.22173961997032166, + "learning_rate": 5.38e-06, + "loss": 0.045, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 270 + }, + { + "epoch": 0.0814663951120163, + "flow_matching_loss": 0.04165991973131895, + "grad_norm": 0.1883135885000229, + "learning_rate": 5.58e-06, + "loss": 0.0417, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 280 + }, + { + "epoch": 0.08437590922315973, + "flow_matching_loss": 0.041352226957678796, + "grad_norm": 0.16704624891281128, + "learning_rate": 5.7800000000000006e-06, + "loss": 0.0414, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 290 + }, + { + "epoch": 0.08728542333430317, + "flow_matching_loss": 0.04580363892018795, + "grad_norm": 0.21152924001216888, + "learning_rate": 5.98e-06, + "loss": 0.0458, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 300 + }, + { + "epoch": 0.09019493744544661, + "flow_matching_loss": 0.042818959802389145, + "grad_norm": 0.1846098005771637, + "learning_rate": 6.18e-06, + "loss": 0.0428, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 310 + }, + { + "epoch": 0.09310445155659004, + "flow_matching_loss": 0.03408878557384014, + "grad_norm": 0.20487822592258453, + "learning_rate": 6.38e-06, + "loss": 0.0341, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 320 + }, + { + "epoch": 0.09601396566773349, + "flow_matching_loss": 0.0412188770249486, + "grad_norm": 0.21559859812259674, + "learning_rate": 6.58e-06, + "loss": 0.0412, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 330 + }, + { + "epoch": 0.09892347977887693, + "flow_matching_loss": 0.04644639045000076, + "grad_norm": 0.2308882176876068, + "learning_rate": 6.78e-06, + "loss": 0.0464, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 340 + }, + { + "epoch": 0.10183299389002037, + "flow_matching_loss": 0.03731841742992401, + "grad_norm": 0.21729792654514313, + "learning_rate": 6.98e-06, + "loss": 0.0373, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 350 + }, + { + "epoch": 0.1047425080011638, + "flow_matching_loss": 0.04060106892138719, + "grad_norm": 0.19493350386619568, + "learning_rate": 7.180000000000001e-06, + "loss": 0.0406, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 360 + }, + { + "epoch": 0.10765202211230725, + "flow_matching_loss": 0.03610741458833218, + "grad_norm": 0.15067505836486816, + "learning_rate": 7.3800000000000005e-06, + "loss": 0.0361, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 370 + }, + { + "epoch": 0.11056153622345069, + "flow_matching_loss": 0.034372889809310435, + "grad_norm": 0.18170639872550964, + "learning_rate": 7.5799999999999994e-06, + "loss": 0.0344, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 380 + }, + { + "epoch": 0.11347105033459412, + "flow_matching_loss": 0.032674430124461654, + "grad_norm": 0.16468429565429688, + "learning_rate": 7.780000000000002e-06, + "loss": 0.0327, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 390 + }, + { + "epoch": 0.11638056444573756, + "flow_matching_loss": 0.033433370478451255, + "grad_norm": 0.19397051632404327, + "learning_rate": 7.98e-06, + "loss": 0.0334, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 400 + }, + { + "epoch": 0.11929007855688101, + "flow_matching_loss": 0.035600739531219006, + "grad_norm": 0.15765979886054993, + "learning_rate": 8.18e-06, + "loss": 0.0356, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 410 + }, + { + "epoch": 0.12219959266802444, + "flow_matching_loss": 0.03093924354761839, + "grad_norm": 0.17110179364681244, + "learning_rate": 8.38e-06, + "loss": 0.0309, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 420 + }, + { + "epoch": 0.12510910677916787, + "flow_matching_loss": 0.035609064437448976, + "grad_norm": 0.24317871034145355, + "learning_rate": 8.58e-06, + "loss": 0.0356, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 430 + }, + { + "epoch": 0.12801862089031132, + "flow_matching_loss": 0.0298235934227705, + "grad_norm": 0.1997857540845871, + "learning_rate": 8.78e-06, + "loss": 0.0298, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 440 + }, + { + "epoch": 0.13092813500145475, + "flow_matching_loss": 0.028840086609125137, + "grad_norm": 0.14115406572818756, + "learning_rate": 8.98e-06, + "loss": 0.0288, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 450 + }, + { + "epoch": 0.13383764911259818, + "flow_matching_loss": 0.027365388721227644, + "grad_norm": 0.16348041594028473, + "learning_rate": 9.18e-06, + "loss": 0.0274, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 460 + }, + { + "epoch": 0.13674716322374164, + "flow_matching_loss": 0.02628827914595604, + "grad_norm": 0.11336497217416763, + "learning_rate": 9.38e-06, + "loss": 0.0263, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 470 + }, + { + "epoch": 0.13965667733488507, + "flow_matching_loss": 0.02769978707656264, + "grad_norm": 0.1469680666923523, + "learning_rate": 9.580000000000001e-06, + "loss": 0.0277, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 480 + }, + { + "epoch": 0.1425661914460285, + "flow_matching_loss": 0.025181949697434904, + "grad_norm": 0.18746306002140045, + "learning_rate": 9.780000000000001e-06, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 490 + }, + { + "epoch": 0.14547570555717196, + "flow_matching_loss": 0.025172309018671513, + "grad_norm": 0.14223435521125793, + "learning_rate": 9.980000000000001e-06, + "loss": 0.0252, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 500 + }, + { + "epoch": 0.1483852196683154, + "flow_matching_loss": 0.022338692843914033, + "grad_norm": 0.16112957894802094, + "learning_rate": 1.0179999999999999e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 510 + }, + { + "epoch": 0.15129473377945882, + "flow_matching_loss": 0.025095879472792147, + "grad_norm": 0.15037496387958527, + "learning_rate": 1.0379999999999999e-05, + "loss": 0.0251, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 520 + }, + { + "epoch": 0.15420424789060228, + "flow_matching_loss": 0.02393729016184807, + "grad_norm": 0.14912466704845428, + "learning_rate": 1.058e-05, + "loss": 0.0239, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 530 + }, + { + "epoch": 0.1571137620017457, + "flow_matching_loss": 0.02543952576816082, + "grad_norm": 0.15542134642601013, + "learning_rate": 1.078e-05, + "loss": 0.0254, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 540 + }, + { + "epoch": 0.16002327611288913, + "flow_matching_loss": 0.01997992703691125, + "grad_norm": 0.12255929410457611, + "learning_rate": 1.098e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 550 + }, + { + "epoch": 0.1629327902240326, + "flow_matching_loss": 0.02325614606961608, + "grad_norm": 0.12679557502269745, + "learning_rate": 1.118e-05, + "loss": 0.0233, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 560 + }, + { + "epoch": 0.16584230433517602, + "flow_matching_loss": 0.02295180903747678, + "grad_norm": 0.130495086312294, + "learning_rate": 1.1380000000000001e-05, + "loss": 0.023, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 570 + }, + { + "epoch": 0.16875181844631945, + "flow_matching_loss": 0.022161583043634893, + "grad_norm": 0.12387257069349289, + "learning_rate": 1.1580000000000001e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 580 + }, + { + "epoch": 0.1716613325574629, + "flow_matching_loss": 0.022336392477154732, + "grad_norm": 0.14699828624725342, + "learning_rate": 1.178e-05, + "loss": 0.0223, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 590 + }, + { + "epoch": 0.17457084666860634, + "flow_matching_loss": 0.021784012950956822, + "grad_norm": 0.1305590122938156, + "learning_rate": 1.198e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 600 + }, + { + "epoch": 0.17748036077974977, + "flow_matching_loss": 0.02055709371343255, + "grad_norm": 0.14752525091171265, + "learning_rate": 1.2180000000000002e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 610 + }, + { + "epoch": 0.18038987489089323, + "flow_matching_loss": 0.02087882664054632, + "grad_norm": 0.10987719148397446, + "learning_rate": 1.238e-05, + "loss": 0.0209, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 620 + }, + { + "epoch": 0.18329938900203666, + "flow_matching_loss": 0.022206402011215688, + "grad_norm": 0.11586219817399979, + "learning_rate": 1.258e-05, + "loss": 0.0222, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 630 + }, + { + "epoch": 0.18620890311318009, + "flow_matching_loss": 0.021870860643684865, + "grad_norm": 0.11101977527141571, + "learning_rate": 1.278e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 640 + }, + { + "epoch": 0.18911841722432354, + "flow_matching_loss": 0.020720864925533534, + "grad_norm": 0.1165185496211052, + "learning_rate": 1.298e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 650 + }, + { + "epoch": 0.19202793133546697, + "flow_matching_loss": 0.021430960204452277, + "grad_norm": 0.16145649552345276, + "learning_rate": 1.3180000000000001e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 660 + }, + { + "epoch": 0.1949374454466104, + "flow_matching_loss": 0.01986678997054696, + "grad_norm": 0.1204807236790657, + "learning_rate": 1.338e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 670 + }, + { + "epoch": 0.19784695955775386, + "flow_matching_loss": 0.0192969829775393, + "grad_norm": 0.14143013954162598, + "learning_rate": 1.358e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 680 + }, + { + "epoch": 0.2007564736688973, + "flow_matching_loss": 0.017463242635130882, + "grad_norm": 0.12731626629829407, + "learning_rate": 1.378e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 690 + }, + { + "epoch": 0.20366598778004075, + "flow_matching_loss": 0.018488994054496288, + "grad_norm": 0.11546673625707626, + "learning_rate": 1.3980000000000002e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 700 + }, + { + "epoch": 0.20657550189118418, + "flow_matching_loss": 0.02081359913572669, + "grad_norm": 0.12518906593322754, + "learning_rate": 1.4180000000000001e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 710 + }, + { + "epoch": 0.2094850160023276, + "flow_matching_loss": 0.019308986887335778, + "grad_norm": 0.09874705225229263, + "learning_rate": 1.438e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 720 + }, + { + "epoch": 0.21239453011347106, + "flow_matching_loss": 0.018406324461102484, + "grad_norm": 0.10876460373401642, + "learning_rate": 1.458e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 730 + }, + { + "epoch": 0.2153040442246145, + "flow_matching_loss": 0.020791668258607388, + "grad_norm": 0.09293622523546219, + "learning_rate": 1.4779999999999999e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 740 + }, + { + "epoch": 0.21821355833575792, + "flow_matching_loss": 0.021103259269148113, + "grad_norm": 0.1348692625761032, + "learning_rate": 1.498e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 750 + }, + { + "epoch": 0.22112307244690138, + "flow_matching_loss": 0.019297145679593085, + "grad_norm": 0.13793911039829254, + "learning_rate": 1.518e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 760 + }, + { + "epoch": 0.2240325865580448, + "flow_matching_loss": 0.02339833015576005, + "grad_norm": 0.16953842341899872, + "learning_rate": 1.5380000000000002e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 770 + }, + { + "epoch": 0.22694210066918824, + "flow_matching_loss": 0.018750556837767364, + "grad_norm": 0.1294327974319458, + "learning_rate": 1.558e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 780 + }, + { + "epoch": 0.2298516147803317, + "flow_matching_loss": 0.01814049007371068, + "grad_norm": 0.10751017928123474, + "learning_rate": 1.578e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 790 + }, + { + "epoch": 0.23276112889147513, + "flow_matching_loss": 0.019224211107939482, + "grad_norm": 0.13819974660873413, + "learning_rate": 1.598e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 800 + }, + { + "epoch": 0.23567064300261856, + "flow_matching_loss": 0.016124894563108682, + "grad_norm": 0.07582750171422958, + "learning_rate": 1.618e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 810 + }, + { + "epoch": 0.23858015711376201, + "flow_matching_loss": 0.018694532662630083, + "grad_norm": 0.15202274918556213, + "learning_rate": 1.6380000000000002e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 820 + }, + { + "epoch": 0.24148967122490544, + "flow_matching_loss": 0.018223354406654835, + "grad_norm": 0.12455069273710251, + "learning_rate": 1.658e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 830 + }, + { + "epoch": 0.24439918533604887, + "flow_matching_loss": 0.02039880631491542, + "grad_norm": 0.11947684735059738, + "learning_rate": 1.6780000000000002e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 840 + }, + { + "epoch": 0.24730869944719233, + "flow_matching_loss": 0.019679104443639517, + "grad_norm": 0.1076655462384224, + "learning_rate": 1.698e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 850 + }, + { + "epoch": 0.25021821355833573, + "flow_matching_loss": 0.020089380070567132, + "grad_norm": 0.12615390121936798, + "learning_rate": 1.718e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 860 + }, + { + "epoch": 0.2531277276694792, + "flow_matching_loss": 0.0192214235663414, + "grad_norm": 0.11218589544296265, + "learning_rate": 1.7380000000000003e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 870 + }, + { + "epoch": 0.25603724178062265, + "flow_matching_loss": 0.020560432225465775, + "grad_norm": 0.11318030953407288, + "learning_rate": 1.758e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 880 + }, + { + "epoch": 0.2589467558917661, + "flow_matching_loss": 0.018372605834156275, + "grad_norm": 0.10100064426660538, + "learning_rate": 1.778e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 890 + }, + { + "epoch": 0.2618562700029095, + "flow_matching_loss": 0.02038748115301132, + "grad_norm": 0.09469630569219589, + "learning_rate": 1.798e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 900 + }, + { + "epoch": 0.26476578411405294, + "flow_matching_loss": 0.017898557335138322, + "grad_norm": 0.10480143874883652, + "learning_rate": 1.818e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 910 + }, + { + "epoch": 0.26767529822519637, + "flow_matching_loss": 0.017420357931405304, + "grad_norm": 0.09414758533239365, + "learning_rate": 1.838e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 920 + }, + { + "epoch": 0.27058481233633985, + "flow_matching_loss": 0.019977036863565445, + "grad_norm": 0.1150050014257431, + "learning_rate": 1.8579999999999998e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 930 + }, + { + "epoch": 0.2734943264474833, + "flow_matching_loss": 0.01874326020479202, + "grad_norm": 0.12143668532371521, + "learning_rate": 1.878e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 940 + }, + { + "epoch": 0.2764038405586267, + "flow_matching_loss": 0.018214739672839642, + "grad_norm": 0.1118028312921524, + "learning_rate": 1.898e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 950 + }, + { + "epoch": 0.27931335466977014, + "flow_matching_loss": 0.018483572266995908, + "grad_norm": 0.11712845414876938, + "learning_rate": 1.918e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 960 + }, + { + "epoch": 0.28222286878091357, + "flow_matching_loss": 0.019066415261477232, + "grad_norm": 0.12078267335891724, + "learning_rate": 1.938e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 970 + }, + { + "epoch": 0.285132382892057, + "flow_matching_loss": 0.01621288973838091, + "grad_norm": 0.11815739423036575, + "learning_rate": 1.958e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 980 + }, + { + "epoch": 0.2880418970032005, + "flow_matching_loss": 0.022638817504048347, + "grad_norm": 0.12271939963102341, + "learning_rate": 1.978e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 990 + }, + { + "epoch": 0.2909514111143439, + "flow_matching_loss": 0.017148117627948524, + "grad_norm": 0.12451809644699097, + "learning_rate": 1.9980000000000002e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1000 + }, + { + "epoch": 0.29386092522548735, + "flow_matching_loss": 0.017683959659188987, + "grad_norm": 0.1310984492301941, + "learning_rate": 2.018e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1010 + }, + { + "epoch": 0.2967704393366308, + "flow_matching_loss": 0.022416127659380437, + "grad_norm": 0.13344213366508484, + "learning_rate": 2.038e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1020 + }, + { + "epoch": 0.2996799534477742, + "flow_matching_loss": 0.018149630818516015, + "grad_norm": 0.1130014955997467, + "learning_rate": 2.0580000000000003e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1030 + }, + { + "epoch": 0.30258946755891764, + "flow_matching_loss": 0.016679758112877606, + "grad_norm": 0.09737475961446762, + "learning_rate": 2.078e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1040 + }, + { + "epoch": 0.3054989816700611, + "flow_matching_loss": 0.01701426478102803, + "grad_norm": 0.15240414440631866, + "learning_rate": 2.0980000000000002e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1050 + }, + { + "epoch": 0.30840849578120455, + "flow_matching_loss": 0.015391958318650723, + "grad_norm": 0.10466504096984863, + "learning_rate": 2.118e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1060 + }, + { + "epoch": 0.311318009892348, + "flow_matching_loss": 0.0177485641092062, + "grad_norm": 0.09739460796117783, + "learning_rate": 2.1380000000000002e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1070 + }, + { + "epoch": 0.3142275240034914, + "flow_matching_loss": 0.019492388237267733, + "grad_norm": 0.1539122760295868, + "learning_rate": 2.1580000000000003e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1080 + }, + { + "epoch": 0.31713703811463484, + "flow_matching_loss": 0.017016437277197836, + "grad_norm": 0.13771407306194305, + "learning_rate": 2.178e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1090 + }, + { + "epoch": 0.32004655222577827, + "flow_matching_loss": 0.017436779104173183, + "grad_norm": 0.1001080870628357, + "learning_rate": 2.198e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1100 + }, + { + "epoch": 0.32295606633692175, + "flow_matching_loss": 0.016982329450547694, + "grad_norm": 0.12768331170082092, + "learning_rate": 2.2179999999999998e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1110 + }, + { + "epoch": 0.3258655804480652, + "flow_matching_loss": 0.0167661314830184, + "grad_norm": 0.10164530575275421, + "learning_rate": 2.238e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1120 + }, + { + "epoch": 0.3287750945592086, + "flow_matching_loss": 0.020579851232469082, + "grad_norm": 0.1790698915719986, + "learning_rate": 2.258e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1130 + }, + { + "epoch": 0.33168460867035204, + "flow_matching_loss": 0.018918877001851797, + "grad_norm": 0.12209253758192062, + "learning_rate": 2.278e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1140 + }, + { + "epoch": 0.3345941227814955, + "flow_matching_loss": 0.01599280145019293, + "grad_norm": 0.11503326892852783, + "learning_rate": 2.298e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1150 + }, + { + "epoch": 0.3375036368926389, + "flow_matching_loss": 0.018416828103363515, + "grad_norm": 0.1186671182513237, + "learning_rate": 2.3179999999999998e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1160 + }, + { + "epoch": 0.3404131510037824, + "flow_matching_loss": 0.019913253653794528, + "grad_norm": 0.10750595480203629, + "learning_rate": 2.338e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1170 + }, + { + "epoch": 0.3433226651149258, + "flow_matching_loss": 0.01910897633060813, + "grad_norm": 0.1315360814332962, + "learning_rate": 2.358e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1180 + }, + { + "epoch": 0.34623217922606925, + "flow_matching_loss": 0.01629700493067503, + "grad_norm": 0.1366964727640152, + "learning_rate": 2.378e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1190 + }, + { + "epoch": 0.3491416933372127, + "flow_matching_loss": 0.020511637162417173, + "grad_norm": 0.13228996098041534, + "learning_rate": 2.398e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1200 + }, + { + "epoch": 0.3520512074483561, + "flow_matching_loss": 0.01759385047480464, + "grad_norm": 0.11993329972028732, + "learning_rate": 2.4180000000000002e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1210 + }, + { + "epoch": 0.35496072155949954, + "flow_matching_loss": 0.017283778823912143, + "grad_norm": 0.1445065587759018, + "learning_rate": 2.438e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1220 + }, + { + "epoch": 0.357870235670643, + "flow_matching_loss": 0.018566856812685727, + "grad_norm": 0.10936464369297028, + "learning_rate": 2.4580000000000002e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1230 + }, + { + "epoch": 0.36077974978178645, + "flow_matching_loss": 0.017316082399338482, + "grad_norm": 0.10293403267860413, + "learning_rate": 2.478e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1240 + }, + { + "epoch": 0.3636892638929299, + "flow_matching_loss": 0.01669513378292322, + "grad_norm": 0.11773700267076492, + "learning_rate": 2.498e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1250 + }, + { + "epoch": 0.3665987780040733, + "flow_matching_loss": 0.01822194820269942, + "grad_norm": 0.12024630606174469, + "learning_rate": 2.5180000000000003e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1260 + }, + { + "epoch": 0.36950829211521674, + "flow_matching_loss": 0.016686769016087056, + "grad_norm": 0.10505204647779465, + "learning_rate": 2.538e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1270 + }, + { + "epoch": 0.37241780622636017, + "flow_matching_loss": 0.018987852055579423, + "grad_norm": 0.12429316341876984, + "learning_rate": 2.5580000000000002e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1280 + }, + { + "epoch": 0.37532732033750366, + "flow_matching_loss": 0.0177635008469224, + "grad_norm": 0.13211792707443237, + "learning_rate": 2.578e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1290 + }, + { + "epoch": 0.3782368344486471, + "flow_matching_loss": 0.01673651933670044, + "grad_norm": 0.1398492455482483, + "learning_rate": 2.5980000000000002e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1300 + }, + { + "epoch": 0.3811463485597905, + "flow_matching_loss": 0.015692243445664646, + "grad_norm": 0.10251659154891968, + "learning_rate": 2.618e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1310 + }, + { + "epoch": 0.38405586267093395, + "flow_matching_loss": 0.013950545247644186, + "grad_norm": 0.10460349172353745, + "learning_rate": 2.6379999999999998e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1320 + }, + { + "epoch": 0.3869653767820774, + "flow_matching_loss": 0.02213165620341897, + "grad_norm": 0.13954828679561615, + "learning_rate": 2.658e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1330 + }, + { + "epoch": 0.3898748908932208, + "flow_matching_loss": 0.019317978248000144, + "grad_norm": 0.11148624867200851, + "learning_rate": 2.678e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1340 + }, + { + "epoch": 0.3927844050043643, + "flow_matching_loss": 0.018265829514712097, + "grad_norm": 0.11601624637842178, + "learning_rate": 2.698e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1350 + }, + { + "epoch": 0.3956939191155077, + "flow_matching_loss": 0.017817716021090745, + "grad_norm": 0.10601642727851868, + "learning_rate": 2.718e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1360 + }, + { + "epoch": 0.39860343322665115, + "flow_matching_loss": 0.01792138032615185, + "grad_norm": 0.12130433320999146, + "learning_rate": 2.738e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1370 + }, + { + "epoch": 0.4015129473377946, + "flow_matching_loss": 0.016072531696408987, + "grad_norm": 0.11898497492074966, + "learning_rate": 2.758e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1380 + }, + { + "epoch": 0.404422461448938, + "flow_matching_loss": 0.017683254648000003, + "grad_norm": 0.11341738700866699, + "learning_rate": 2.778e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1390 + }, + { + "epoch": 0.4073319755600815, + "flow_matching_loss": 0.01765706855803728, + "grad_norm": 0.11521114408969879, + "learning_rate": 2.798e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1400 + }, + { + "epoch": 0.4102414896712249, + "flow_matching_loss": 0.016358652152121067, + "grad_norm": 0.15247909724712372, + "learning_rate": 2.818e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1410 + }, + { + "epoch": 0.41315100378236835, + "flow_matching_loss": 0.018105793837457897, + "grad_norm": 0.1203903928399086, + "learning_rate": 2.838e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1420 + }, + { + "epoch": 0.4160605178935118, + "flow_matching_loss": 0.01713567120023072, + "grad_norm": 0.11849996447563171, + "learning_rate": 2.858e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1430 + }, + { + "epoch": 0.4189700320046552, + "flow_matching_loss": 0.01630838979035616, + "grad_norm": 0.13059093058109283, + "learning_rate": 2.8780000000000002e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1440 + }, + { + "epoch": 0.42187954611579864, + "flow_matching_loss": 0.015887576155364513, + "grad_norm": 0.12233996391296387, + "learning_rate": 2.898e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1450 + }, + { + "epoch": 0.42478906022694213, + "flow_matching_loss": 0.021346984151750802, + "grad_norm": 0.13459183275699615, + "learning_rate": 2.9180000000000002e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1460 + }, + { + "epoch": 0.42769857433808556, + "flow_matching_loss": 0.016988978534936906, + "grad_norm": 0.12550559639930725, + "learning_rate": 2.938e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1470 + }, + { + "epoch": 0.430608088449229, + "flow_matching_loss": 0.01936485804617405, + "grad_norm": 0.14719104766845703, + "learning_rate": 2.958e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1480 + }, + { + "epoch": 0.4335176025603724, + "flow_matching_loss": 0.018054505996406078, + "grad_norm": 0.13855956494808197, + "learning_rate": 2.9780000000000003e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1490 + }, + { + "epoch": 0.43642711667151585, + "flow_matching_loss": 0.016490804497152567, + "grad_norm": 0.15527136623859406, + "learning_rate": 2.998e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1500 + }, + { + "epoch": 0.4393366307826593, + "flow_matching_loss": 0.018405808601528406, + "grad_norm": 0.09830749779939651, + "learning_rate": 2.9999992618302022e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1510 + }, + { + "epoch": 0.44224614489380276, + "flow_matching_loss": 0.015667740162461995, + "grad_norm": 0.11619555205106735, + "learning_rate": 2.999996710133069e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1520 + }, + { + "epoch": 0.4451556590049462, + "flow_matching_loss": 0.017952588852494955, + "grad_norm": 0.11062649637460709, + "learning_rate": 2.9999923357984923e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1530 + }, + { + "epoch": 0.4480651731160896, + "flow_matching_loss": 0.01924609625712037, + "grad_norm": 0.1459202766418457, + "learning_rate": 2.9999861388317874e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1540 + }, + { + "epoch": 0.45097468722723305, + "flow_matching_loss": 0.018422599229961634, + "grad_norm": 0.1269904375076294, + "learning_rate": 2.9999781192404847e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1550 + }, + { + "epoch": 0.4538842013383765, + "flow_matching_loss": 0.019637362007051705, + "grad_norm": 0.10905493795871735, + "learning_rate": 2.9999682770343283e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1560 + }, + { + "epoch": 0.4567937154495199, + "flow_matching_loss": 0.019958583824336528, + "grad_norm": 0.11510562151670456, + "learning_rate": 2.9999566122252777e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1570 + }, + { + "epoch": 0.4597032295606634, + "flow_matching_loss": 0.017828892916440964, + "grad_norm": 0.13823387026786804, + "learning_rate": 2.9999431248275065e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1580 + }, + { + "epoch": 0.4626127436718068, + "flow_matching_loss": 0.01841916739940643, + "grad_norm": 0.09787091612815857, + "learning_rate": 2.9999278148574027e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1590 + }, + { + "epoch": 0.46552225778295026, + "flow_matching_loss": 0.02006123708561063, + "grad_norm": 0.13373325765132904, + "learning_rate": 2.9999106823335705e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1600 + }, + { + "epoch": 0.4684317718940937, + "flow_matching_loss": 0.01877670977264643, + "grad_norm": 0.11643511056900024, + "learning_rate": 2.999891727276827e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1610 + }, + { + "epoch": 0.4713412860052371, + "flow_matching_loss": 0.016560380440205337, + "grad_norm": 0.10675247013568878, + "learning_rate": 2.9998709497102037e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1620 + }, + { + "epoch": 0.47425080011638054, + "flow_matching_loss": 0.01964551117271185, + "grad_norm": 0.1356503963470459, + "learning_rate": 2.9998483496589485e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1630 + }, + { + "epoch": 0.47716031422752403, + "flow_matching_loss": 0.016576487012207507, + "grad_norm": 0.12526775896549225, + "learning_rate": 2.9998239271505217e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1640 + }, + { + "epoch": 0.48006982833866746, + "flow_matching_loss": 0.01678770883008838, + "grad_norm": 0.1188277006149292, + "learning_rate": 2.9997976822145995e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1650 + }, + { + "epoch": 0.4829793424498109, + "flow_matching_loss": 0.01611689031124115, + "grad_norm": 0.12208743393421173, + "learning_rate": 2.9997696148830714e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1660 + }, + { + "epoch": 0.4858888565609543, + "flow_matching_loss": 0.018892211467027666, + "grad_norm": 0.12810099124908447, + "learning_rate": 2.9997397251900423e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1670 + }, + { + "epoch": 0.48879837067209775, + "flow_matching_loss": 0.019207936618477105, + "grad_norm": 0.14948207139968872, + "learning_rate": 2.999708013171831e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1680 + }, + { + "epoch": 0.4917078847832412, + "flow_matching_loss": 0.020421580597758292, + "grad_norm": 0.1329367607831955, + "learning_rate": 2.9996744788669705e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1690 + }, + { + "epoch": 0.49461739889438466, + "flow_matching_loss": 0.021080935839563608, + "grad_norm": 0.1488630622625351, + "learning_rate": 2.999639122316208e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1700 + }, + { + "epoch": 0.4975269130055281, + "flow_matching_loss": 0.0181445537135005, + "grad_norm": 0.1522526890039444, + "learning_rate": 2.999601943562505e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1710 + }, + { + "epoch": 0.5004364271166715, + "flow_matching_loss": 0.01747655151411891, + "grad_norm": 0.12665638327598572, + "learning_rate": 2.9995629426510377e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1720 + }, + { + "epoch": 0.503345941227815, + "flow_matching_loss": 0.01830726135522127, + "grad_norm": 0.14482879638671875, + "learning_rate": 2.9995221196291952e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1730 + }, + { + "epoch": 0.5062554553389584, + "flow_matching_loss": 0.017579624243080617, + "grad_norm": 0.11800939589738846, + "learning_rate": 2.999479474546582e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1740 + }, + { + "epoch": 0.5091649694501018, + "flow_matching_loss": 0.019825840648263694, + "grad_norm": 0.12082726508378983, + "learning_rate": 2.9994350074550153e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1750 + }, + { + "epoch": 0.5120744835612453, + "flow_matching_loss": 0.017651144973933698, + "grad_norm": 0.11495491862297058, + "learning_rate": 2.9993887184085273e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1760 + }, + { + "epoch": 0.5149839976723887, + "flow_matching_loss": 0.020295819081366063, + "grad_norm": 0.18104003369808197, + "learning_rate": 2.9993406074633628e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1770 + }, + { + "epoch": 0.5178935117835322, + "flow_matching_loss": 0.016994752176105975, + "grad_norm": 0.11858947575092316, + "learning_rate": 2.9992906746779824e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1780 + }, + { + "epoch": 0.5208030258946756, + "flow_matching_loss": 0.01928311763331294, + "grad_norm": 0.1447647213935852, + "learning_rate": 2.9992389201130576e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1790 + }, + { + "epoch": 0.523712540005819, + "flow_matching_loss": 0.019758323952555657, + "grad_norm": 0.1581759750843048, + "learning_rate": 2.999185343831476e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1800 + }, + { + "epoch": 0.5266220541169625, + "flow_matching_loss": 0.017177330143749715, + "grad_norm": 0.12456949800252914, + "learning_rate": 2.999129945898338e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1810 + }, + { + "epoch": 0.5295315682281059, + "flow_matching_loss": 0.018581698834896087, + "grad_norm": 0.12354572862386703, + "learning_rate": 2.999072726380957e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1820 + }, + { + "epoch": 0.5324410823392494, + "flow_matching_loss": 0.016996429674327372, + "grad_norm": 0.13400150835514069, + "learning_rate": 2.9990136853488603e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1830 + }, + { + "epoch": 0.5353505964503927, + "flow_matching_loss": 0.0204194619320333, + "grad_norm": 0.14621436595916748, + "learning_rate": 2.9989528228737878e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1840 + }, + { + "epoch": 0.5382601105615362, + "flow_matching_loss": 0.01928909681737423, + "grad_norm": 0.14798098802566528, + "learning_rate": 2.9988901390296935e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1850 + }, + { + "epoch": 0.5411696246726797, + "flow_matching_loss": 0.019912144914269448, + "grad_norm": 0.1654617190361023, + "learning_rate": 2.9988256338927442e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1860 + }, + { + "epoch": 0.5440791387838231, + "flow_matching_loss": 0.01784846754744649, + "grad_norm": 0.09578760713338852, + "learning_rate": 2.9987593075413198e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1870 + }, + { + "epoch": 0.5469886528949666, + "flow_matching_loss": 0.017598291486501695, + "grad_norm": 0.10537081956863403, + "learning_rate": 2.9986911600560128e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1880 + }, + { + "epoch": 0.5498981670061099, + "flow_matching_loss": 0.019917648192495106, + "grad_norm": 0.10188949108123779, + "learning_rate": 2.998621191519629e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1890 + }, + { + "epoch": 0.5528076811172534, + "flow_matching_loss": 0.01762251751497388, + "grad_norm": 0.12967510521411896, + "learning_rate": 2.9985494020171873e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1900 + }, + { + "epoch": 0.5557171952283969, + "flow_matching_loss": 0.019148710276931526, + "grad_norm": 0.09854219108819962, + "learning_rate": 2.9984757916359176e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1910 + }, + { + "epoch": 0.5586267093395403, + "flow_matching_loss": 0.018252122774720193, + "grad_norm": 0.10584982484579086, + "learning_rate": 2.998400360465264e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1920 + }, + { + "epoch": 0.5615362234506838, + "flow_matching_loss": 0.019069685693830253, + "grad_norm": 0.11837409436702728, + "learning_rate": 2.998323108596883e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1930 + }, + { + "epoch": 0.5644457375618271, + "flow_matching_loss": 0.01872051814571023, + "grad_norm": 0.10143403708934784, + "learning_rate": 2.9982440361246422e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1940 + }, + { + "epoch": 0.5673552516729706, + "flow_matching_loss": 0.017268381360918284, + "grad_norm": 0.15107397735118866, + "learning_rate": 2.998163143144622e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1950 + }, + { + "epoch": 0.570264765784114, + "flow_matching_loss": 0.017531492188572882, + "grad_norm": 0.10049952566623688, + "learning_rate": 2.9980804297551155e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1960 + }, + { + "epoch": 0.5731742798952575, + "flow_matching_loss": 0.01974145704880357, + "grad_norm": 0.1718038022518158, + "learning_rate": 2.997995896056627e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1970 + }, + { + "epoch": 0.576083794006401, + "flow_matching_loss": 0.018750423565506935, + "grad_norm": 0.12516918778419495, + "learning_rate": 2.997909542151873e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1980 + }, + { + "epoch": 0.5789933081175443, + "flow_matching_loss": 0.02109378706663847, + "grad_norm": 0.10646650940179825, + "learning_rate": 2.9978213681457823e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 1990 + }, + { + "epoch": 0.5819028222286878, + "flow_matching_loss": 0.01752082258462906, + "grad_norm": 0.12165878713130951, + "learning_rate": 2.9977313741454933e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2000 + }, + { + "epoch": 0.5848123363398312, + "flow_matching_loss": 0.016754257306456567, + "grad_norm": 0.14666756987571716, + "learning_rate": 2.997639560260358e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2010 + }, + { + "epoch": 0.5877218504509747, + "flow_matching_loss": 0.020479946024715902, + "grad_norm": 0.10412932932376862, + "learning_rate": 2.9975459266019387e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2020 + }, + { + "epoch": 0.5906313645621182, + "flow_matching_loss": 0.01983494432643056, + "grad_norm": 0.13366621732711792, + "learning_rate": 2.9974504732840092e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2030 + }, + { + "epoch": 0.5935408786732616, + "flow_matching_loss": 0.017865856271237136, + "grad_norm": 0.1285720318555832, + "learning_rate": 2.997353200422555e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2040 + }, + { + "epoch": 0.596450392784405, + "flow_matching_loss": 0.019599419832229615, + "grad_norm": 0.11775477230548859, + "learning_rate": 2.99725410813577e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2050 + }, + { + "epoch": 0.5993599068955484, + "flow_matching_loss": 0.018190357461571695, + "grad_norm": 0.13347001373767853, + "learning_rate": 2.997153196544063e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2060 + }, + { + "epoch": 0.6022694210066919, + "flow_matching_loss": 0.02050515729933977, + "grad_norm": 0.13387484848499298, + "learning_rate": 2.997050465770049e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2070 + }, + { + "epoch": 0.6051789351178353, + "flow_matching_loss": 0.015994651708751917, + "grad_norm": 0.1551148146390915, + "learning_rate": 2.9969459159385562e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2080 + }, + { + "epoch": 0.6080884492289788, + "flow_matching_loss": 0.019599017594009636, + "grad_norm": 0.1393212527036667, + "learning_rate": 2.9968395471766237e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2090 + }, + { + "epoch": 0.6109979633401222, + "flow_matching_loss": 0.01869975132867694, + "grad_norm": 0.12673847377300262, + "learning_rate": 2.996731359613498e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2100 + }, + { + "epoch": 0.6139074774512656, + "flow_matching_loss": 0.017167318426072598, + "grad_norm": 0.11522757261991501, + "learning_rate": 2.996621353380638e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2110 + }, + { + "epoch": 0.6168169915624091, + "flow_matching_loss": 0.01780649498105049, + "grad_norm": 0.1236792653799057, + "learning_rate": 2.9965095286117113e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2120 + }, + { + "epoch": 0.6197265056735525, + "flow_matching_loss": 0.021365887112915517, + "grad_norm": 0.10512261837720871, + "learning_rate": 2.996395885442596e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2130 + }, + { + "epoch": 0.622636019784696, + "flow_matching_loss": 0.017048047576099633, + "grad_norm": 0.13895419239997864, + "learning_rate": 2.996280424011379e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2140 + }, + { + "epoch": 0.6255455338958394, + "flow_matching_loss": 0.017916286177933217, + "grad_norm": 0.10744167864322662, + "learning_rate": 2.9961631444583565e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2150 + }, + { + "epoch": 0.6284550480069828, + "flow_matching_loss": 0.01647380497306585, + "grad_norm": 0.14342333376407623, + "learning_rate": 2.9960440469260347e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2160 + }, + { + "epoch": 0.6313645621181263, + "flow_matching_loss": 0.015958706755191086, + "grad_norm": 0.14826011657714844, + "learning_rate": 2.995923131559128e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2170 + }, + { + "epoch": 0.6342740762292697, + "flow_matching_loss": 0.018434742372483014, + "grad_norm": 0.1689024418592453, + "learning_rate": 2.99580039850456e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2180 + }, + { + "epoch": 0.6371835903404132, + "flow_matching_loss": 0.017265286389738323, + "grad_norm": 0.16042794287204742, + "learning_rate": 2.9956758479114635e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2190 + }, + { + "epoch": 0.6400931044515565, + "flow_matching_loss": 0.022603327874094248, + "grad_norm": 0.1563447266817093, + "learning_rate": 2.9955494799311787e-05, + "loss": 0.0226, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2200 + }, + { + "epoch": 0.6430026185627, + "flow_matching_loss": 0.01886507458984852, + "grad_norm": 0.1212996393442154, + "learning_rate": 2.995421294717254e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2210 + }, + { + "epoch": 0.6459121326738435, + "flow_matching_loss": 0.021044885739684105, + "grad_norm": 0.12099992483854294, + "learning_rate": 2.995291292425448e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2220 + }, + { + "epoch": 0.6488216467849869, + "flow_matching_loss": 0.01739778658375144, + "grad_norm": 0.11515840142965317, + "learning_rate": 2.9951594732137248e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2230 + }, + { + "epoch": 0.6517311608961304, + "flow_matching_loss": 0.018238061293959617, + "grad_norm": 0.14497913420200348, + "learning_rate": 2.995025837242257e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2240 + }, + { + "epoch": 0.6546406750072737, + "flow_matching_loss": 0.01973736537620425, + "grad_norm": 0.12559370696544647, + "learning_rate": 2.994890384673426e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2250 + }, + { + "epoch": 0.6575501891184172, + "flow_matching_loss": 0.01954612210392952, + "grad_norm": 0.12232120335102081, + "learning_rate": 2.9947531156718174e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2260 + }, + { + "epoch": 0.6604597032295607, + "flow_matching_loss": 0.018200361356139182, + "grad_norm": 0.0833243727684021, + "learning_rate": 2.994614030404228e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2270 + }, + { + "epoch": 0.6633692173407041, + "flow_matching_loss": 0.016162098757922648, + "grad_norm": 0.10435459762811661, + "learning_rate": 2.994473129039659e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2280 + }, + { + "epoch": 0.6662787314518476, + "flow_matching_loss": 0.017055956833064555, + "grad_norm": 0.11356592923402786, + "learning_rate": 2.9943304117493183e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2290 + }, + { + "epoch": 0.669188245562991, + "flow_matching_loss": 0.01884867874905467, + "grad_norm": 0.1599697470664978, + "learning_rate": 2.9941858787066207e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2300 + }, + { + "epoch": 0.6720977596741344, + "flow_matching_loss": 0.01906352387741208, + "grad_norm": 0.1252717524766922, + "learning_rate": 2.9940395300871888e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2310 + }, + { + "epoch": 0.6750072737852778, + "flow_matching_loss": 0.019116801116615532, + "grad_norm": 0.1403064876794815, + "learning_rate": 2.993891366068849e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2320 + }, + { + "epoch": 0.6779167878964213, + "flow_matching_loss": 0.0210457150824368, + "grad_norm": 0.12845996022224426, + "learning_rate": 2.993741386831634e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2330 + }, + { + "epoch": 0.6808263020075648, + "flow_matching_loss": 0.01767039792612195, + "grad_norm": 0.12005637586116791, + "learning_rate": 2.9935895925577837e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2340 + }, + { + "epoch": 0.6837358161187082, + "flow_matching_loss": 0.02206036914139986, + "grad_norm": 0.1016865149140358, + "learning_rate": 2.9934359834317425e-05, + "loss": 0.0221, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2350 + }, + { + "epoch": 0.6866453302298516, + "flow_matching_loss": 0.01911716302856803, + "grad_norm": 0.11660469323396683, + "learning_rate": 2.993280559640159e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2360 + }, + { + "epoch": 0.689554844340995, + "flow_matching_loss": 0.016402174532413483, + "grad_norm": 0.11943339556455612, + "learning_rate": 2.9931233213718887e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2370 + }, + { + "epoch": 0.6924643584521385, + "flow_matching_loss": 0.017674767039716245, + "grad_norm": 0.12274634838104248, + "learning_rate": 2.992964268817991e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2380 + }, + { + "epoch": 0.695373872563282, + "flow_matching_loss": 0.01881631501019001, + "grad_norm": 0.12956877052783966, + "learning_rate": 2.9928034021717286e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2390 + }, + { + "epoch": 0.6982833866744254, + "flow_matching_loss": 0.01920726979151368, + "grad_norm": 0.10186807066202164, + "learning_rate": 2.9926407216285707e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2400 + }, + { + "epoch": 0.7011929007855688, + "flow_matching_loss": 0.016595139075070618, + "grad_norm": 0.15633933246135712, + "learning_rate": 2.9924762273861894e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2410 + }, + { + "epoch": 0.7041024148967122, + "flow_matching_loss": 0.022386769764125347, + "grad_norm": 0.09767593443393707, + "learning_rate": 2.992309919644461e-05, + "loss": 0.0224, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2420 + }, + { + "epoch": 0.7070119290078557, + "flow_matching_loss": 0.01875335508957505, + "grad_norm": 0.10976691544055939, + "learning_rate": 2.9921417986054633e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2430 + }, + { + "epoch": 0.7099214431189991, + "flow_matching_loss": 0.018462769407778978, + "grad_norm": 0.11383292078971863, + "learning_rate": 2.9919718644734815e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2440 + }, + { + "epoch": 0.7128309572301426, + "flow_matching_loss": 0.01824923390522599, + "grad_norm": 0.1273704469203949, + "learning_rate": 2.991800117455e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2450 + }, + { + "epoch": 0.715740471341286, + "flow_matching_loss": 0.016800748743116857, + "grad_norm": 0.11977188289165497, + "learning_rate": 2.9916265577587085e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2460 + }, + { + "epoch": 0.7186499854524294, + "flow_matching_loss": 0.018321511428803207, + "grad_norm": 0.13373951613903046, + "learning_rate": 2.9914511855954986e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2470 + }, + { + "epoch": 0.7215594995635729, + "flow_matching_loss": 0.016299482993781568, + "grad_norm": 0.10251066088676453, + "learning_rate": 2.9912740011784626e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2480 + }, + { + "epoch": 0.7244690136747163, + "flow_matching_loss": 0.021907582972198726, + "grad_norm": 0.1535203605890274, + "learning_rate": 2.991095004722898e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2490 + }, + { + "epoch": 0.7273785277858598, + "flow_matching_loss": 0.019086116924881935, + "grad_norm": 0.12171529978513718, + "learning_rate": 2.9909141964463017e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2500 + }, + { + "epoch": 0.7302880418970032, + "flow_matching_loss": 0.019015984144061804, + "grad_norm": 0.10404127091169357, + "learning_rate": 2.990731576568372e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2510 + }, + { + "epoch": 0.7331975560081466, + "flow_matching_loss": 0.0186848197132349, + "grad_norm": 0.11129551380872726, + "learning_rate": 2.99054714531101e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2520 + }, + { + "epoch": 0.7361070701192901, + "flow_matching_loss": 0.0183635825291276, + "grad_norm": 0.11502271890640259, + "learning_rate": 2.9903609028983178e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2530 + }, + { + "epoch": 0.7390165842304335, + "flow_matching_loss": 0.016879034973680974, + "grad_norm": 0.14609062671661377, + "learning_rate": 2.990172849556596e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2540 + }, + { + "epoch": 0.741926098341577, + "flow_matching_loss": 0.020355761889368294, + "grad_norm": 0.11157144606113434, + "learning_rate": 2.989982985514348e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2550 + }, + { + "epoch": 0.7448356124527203, + "flow_matching_loss": 0.020027861557900907, + "grad_norm": 0.0998302698135376, + "learning_rate": 2.9897913110022766e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2560 + }, + { + "epoch": 0.7477451265638638, + "flow_matching_loss": 0.016863956954330205, + "grad_norm": 0.16439709067344666, + "learning_rate": 2.989597826253284e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2570 + }, + { + "epoch": 0.7506546406750073, + "flow_matching_loss": 0.017840021383017303, + "grad_norm": 0.113619364798069, + "learning_rate": 2.989402531502473e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2580 + }, + { + "epoch": 0.7535641547861507, + "flow_matching_loss": 0.015009614638984203, + "grad_norm": 0.11088753491640091, + "learning_rate": 2.989205426987144e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2590 + }, + { + "epoch": 0.7564736688972942, + "flow_matching_loss": 0.02027037339285016, + "grad_norm": 0.11204110085964203, + "learning_rate": 2.9890065129467988e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2600 + }, + { + "epoch": 0.7593831830084375, + "flow_matching_loss": 0.017842566687613727, + "grad_norm": 0.11958728730678558, + "learning_rate": 2.9888057896231364e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2610 + }, + { + "epoch": 0.762292697119581, + "flow_matching_loss": 0.019041432160884143, + "grad_norm": 0.14626844227313995, + "learning_rate": 2.988603257260054e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2620 + }, + { + "epoch": 0.7652022112307245, + "flow_matching_loss": 0.01749272206798196, + "grad_norm": 0.1509806215763092, + "learning_rate": 2.988398916103648e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2630 + }, + { + "epoch": 0.7681117253418679, + "flow_matching_loss": 0.019961762987077237, + "grad_norm": 0.12881611287593842, + "learning_rate": 2.988192766402212e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2640 + }, + { + "epoch": 0.7710212394530114, + "flow_matching_loss": 0.018534233141690493, + "grad_norm": 0.12759165465831757, + "learning_rate": 2.9879848084062378e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2650 + }, + { + "epoch": 0.7739307535641547, + "flow_matching_loss": 0.019128100760281087, + "grad_norm": 0.15520188212394714, + "learning_rate": 2.9877750423684132e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2660 + }, + { + "epoch": 0.7768402676752982, + "flow_matching_loss": 0.01876945812255144, + "grad_norm": 0.1475667953491211, + "learning_rate": 2.987563468543624e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2670 + }, + { + "epoch": 0.7797497817864416, + "flow_matching_loss": 0.019552837871015073, + "grad_norm": 0.13618065416812897, + "learning_rate": 2.9873500871889533e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2680 + }, + { + "epoch": 0.7826592958975851, + "flow_matching_loss": 0.01959187174215913, + "grad_norm": 0.13618551194667816, + "learning_rate": 2.9871348985636778e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2690 + }, + { + "epoch": 0.7855688100087286, + "flow_matching_loss": 0.018541171122342347, + "grad_norm": 0.14367198944091797, + "learning_rate": 2.986917902929273e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2700 + }, + { + "epoch": 0.788478324119872, + "flow_matching_loss": 0.017938484251499177, + "grad_norm": 0.13253791630268097, + "learning_rate": 2.9866991005494095e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2710 + }, + { + "epoch": 0.7913878382310154, + "flow_matching_loss": 0.018203725945204495, + "grad_norm": 0.13413779437541962, + "learning_rate": 2.986478491689952e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2720 + }, + { + "epoch": 0.7942973523421588, + "flow_matching_loss": 0.0183587527833879, + "grad_norm": 0.1395822912454605, + "learning_rate": 2.986256076618961e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2730 + }, + { + "epoch": 0.7972068664533023, + "flow_matching_loss": 0.01780124232172966, + "grad_norm": 0.1116604208946228, + "learning_rate": 2.986031855606692e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2740 + }, + { + "epoch": 0.8001163805644458, + "flow_matching_loss": 0.016977613884955646, + "grad_norm": 0.14716069400310516, + "learning_rate": 2.9858058289255954e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2750 + }, + { + "epoch": 0.8030258946755892, + "flow_matching_loss": 0.017812012694776058, + "grad_norm": 0.1127462163567543, + "learning_rate": 2.985577996850314e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2760 + }, + { + "epoch": 0.8059354087867326, + "flow_matching_loss": 0.021012781746685506, + "grad_norm": 0.09135080128908157, + "learning_rate": 2.9853483596576856e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2770 + }, + { + "epoch": 0.808844922897876, + "flow_matching_loss": 0.01801308020949364, + "grad_norm": 0.12060944736003876, + "learning_rate": 2.9851169176267412e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2780 + }, + { + "epoch": 0.8117544370090195, + "flow_matching_loss": 0.018902742955833673, + "grad_norm": 0.1641746610403061, + "learning_rate": 2.9848836710387044e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2790 + }, + { + "epoch": 0.814663951120163, + "flow_matching_loss": 0.017446600273251532, + "grad_norm": 0.15503886342048645, + "learning_rate": 2.9846486201769917e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2800 + }, + { + "epoch": 0.8175734652313064, + "flow_matching_loss": 0.02135700434446335, + "grad_norm": 0.11851856112480164, + "learning_rate": 2.9844117653272122e-05, + "loss": 0.0214, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2810 + }, + { + "epoch": 0.8204829793424498, + "flow_matching_loss": 0.019811225682497026, + "grad_norm": 0.13695745170116425, + "learning_rate": 2.9841731067771676e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2820 + }, + { + "epoch": 0.8233924934535932, + "flow_matching_loss": 0.01682622907683253, + "grad_norm": 0.10523529350757599, + "learning_rate": 2.9839326448168492e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2830 + }, + { + "epoch": 0.8263020075647367, + "flow_matching_loss": 0.016958277951925994, + "grad_norm": 0.11972343176603317, + "learning_rate": 2.983690379738442e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2840 + }, + { + "epoch": 0.8292115216758801, + "flow_matching_loss": 0.01703619910404086, + "grad_norm": 0.09723418205976486, + "learning_rate": 2.9834463118363204e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2850 + }, + { + "epoch": 0.8321210357870236, + "flow_matching_loss": 0.02059336155653, + "grad_norm": 0.14116546511650085, + "learning_rate": 2.98320044140705e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2860 + }, + { + "epoch": 0.835030549898167, + "flow_matching_loss": 0.019323368184268476, + "grad_norm": 0.14032936096191406, + "learning_rate": 2.9829527687493868e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2870 + }, + { + "epoch": 0.8379400640093104, + "flow_matching_loss": 0.01853645099326968, + "grad_norm": 0.11412616819143295, + "learning_rate": 2.9827032941642765e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2880 + }, + { + "epoch": 0.8408495781204539, + "flow_matching_loss": 0.02046453831717372, + "grad_norm": 0.14126111567020416, + "learning_rate": 2.9824520179548535e-05, + "loss": 0.0205, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2890 + }, + { + "epoch": 0.8437590922315973, + "flow_matching_loss": 0.018442338798195124, + "grad_norm": 0.1113213375210762, + "learning_rate": 2.9821989404264428e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2900 + }, + { + "epoch": 0.8466686063427408, + "flow_matching_loss": 0.01757087083533406, + "grad_norm": 0.1368613839149475, + "learning_rate": 2.9819440618865572e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2910 + }, + { + "epoch": 0.8495781204538843, + "flow_matching_loss": 0.02033111797645688, + "grad_norm": 0.13709203898906708, + "learning_rate": 2.981687382644898e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2920 + }, + { + "epoch": 0.8524876345650276, + "flow_matching_loss": 0.02010077880695462, + "grad_norm": 0.13983026146888733, + "learning_rate": 2.9814289030133556e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2930 + }, + { + "epoch": 0.8553971486761711, + "flow_matching_loss": 0.020570838637650014, + "grad_norm": 0.18167562782764435, + "learning_rate": 2.9811686233060058e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2940 + }, + { + "epoch": 0.8583066627873145, + "flow_matching_loss": 0.018204538989812134, + "grad_norm": 0.13949774205684662, + "learning_rate": 2.9809065438391138e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2950 + }, + { + "epoch": 0.861216176898458, + "flow_matching_loss": 0.019105051551014184, + "grad_norm": 0.1505737006664276, + "learning_rate": 2.9806426649311304e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2960 + }, + { + "epoch": 0.8641256910096013, + "flow_matching_loss": 0.01920619634911418, + "grad_norm": 0.1768021136522293, + "learning_rate": 2.980376986902694e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2970 + }, + { + "epoch": 0.8670352051207448, + "flow_matching_loss": 0.018568666372448205, + "grad_norm": 0.1703641265630722, + "learning_rate": 2.9801095100766276e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2980 + }, + { + "epoch": 0.8699447192318883, + "flow_matching_loss": 0.017676517926156522, + "grad_norm": 0.1720888316631317, + "learning_rate": 2.979840234777942e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 2990 + }, + { + "epoch": 0.8728542333430317, + "flow_matching_loss": 0.01726694293320179, + "grad_norm": 0.1230039969086647, + "learning_rate": 2.979569161333831e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3000 + }, + { + "epoch": 0.8757637474541752, + "flow_matching_loss": 0.017608814314007758, + "grad_norm": 0.17773360013961792, + "learning_rate": 2.9792962900736744e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3010 + }, + { + "epoch": 0.8786732615653186, + "flow_matching_loss": 0.018899221438914537, + "grad_norm": 0.11206775903701782, + "learning_rate": 2.9790216213290372e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3020 + }, + { + "epoch": 0.881582775676462, + "flow_matching_loss": 0.01649183118715882, + "grad_norm": 0.13119596242904663, + "learning_rate": 2.9787451554336672e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3030 + }, + { + "epoch": 0.8844922897876055, + "flow_matching_loss": 0.019183262158185242, + "grad_norm": 0.11956669390201569, + "learning_rate": 2.9784668927234972e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3040 + }, + { + "epoch": 0.8874018038987489, + "flow_matching_loss": 0.017729814071208237, + "grad_norm": 0.13232456147670746, + "learning_rate": 2.9781868335366418e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3050 + }, + { + "epoch": 0.8903113180098924, + "flow_matching_loss": 0.018730002362281083, + "grad_norm": 0.14304646849632263, + "learning_rate": 2.9779049782134e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3060 + }, + { + "epoch": 0.8932208321210358, + "flow_matching_loss": 0.01629202924668789, + "grad_norm": 0.08549551665782928, + "learning_rate": 2.9776213270962523e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3070 + }, + { + "epoch": 0.8961303462321792, + "flow_matching_loss": 0.017466797679662704, + "grad_norm": 0.09546874463558197, + "learning_rate": 2.977335880529861e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3080 + }, + { + "epoch": 0.8990398603433226, + "flow_matching_loss": 0.018716307170689107, + "grad_norm": 0.12646105885505676, + "learning_rate": 2.977048638861072e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3090 + }, + { + "epoch": 0.9019493744544661, + "flow_matching_loss": 0.019491133838891984, + "grad_norm": 0.09364037215709686, + "learning_rate": 2.97675960243891e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3100 + }, + { + "epoch": 0.9048588885656096, + "flow_matching_loss": 0.016829168144613504, + "grad_norm": 0.10026121139526367, + "learning_rate": 2.976468771614582e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3110 + }, + { + "epoch": 0.907768402676753, + "flow_matching_loss": 0.017747671436518432, + "grad_norm": 0.11253880709409714, + "learning_rate": 2.9761761467414736e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3120 + }, + { + "epoch": 0.9106779167878964, + "flow_matching_loss": 0.020795978605747223, + "grad_norm": 0.16228540241718292, + "learning_rate": 2.9758817281751538e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3130 + }, + { + "epoch": 0.9135874308990398, + "flow_matching_loss": 0.01843782216310501, + "grad_norm": 0.15389388799667358, + "learning_rate": 2.975585516273367e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3140 + }, + { + "epoch": 0.9164969450101833, + "flow_matching_loss": 0.01783144325017929, + "grad_norm": 0.11361413449048996, + "learning_rate": 2.975287511396039e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3150 + }, + { + "epoch": 0.9194064591213268, + "flow_matching_loss": 0.017340971156954765, + "grad_norm": 0.11106947064399719, + "learning_rate": 2.9749877139052745e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3160 + }, + { + "epoch": 0.9223159732324702, + "flow_matching_loss": 0.016552799195051194, + "grad_norm": 0.10368972271680832, + "learning_rate": 2.9746861241653555e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3170 + }, + { + "epoch": 0.9252254873436137, + "flow_matching_loss": 0.016362746246159077, + "grad_norm": 0.10557865351438522, + "learning_rate": 2.9743827425427416e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3180 + }, + { + "epoch": 0.928135001454757, + "flow_matching_loss": 0.018823959957808258, + "grad_norm": 0.1184844821691513, + "learning_rate": 2.9740775694060704e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3190 + }, + { + "epoch": 0.9310445155659005, + "flow_matching_loss": 0.017772255185991525, + "grad_norm": 0.08749714493751526, + "learning_rate": 2.973770605126156e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3200 + }, + { + "epoch": 0.9339540296770439, + "flow_matching_loss": 0.019474780932068825, + "grad_norm": 0.11298628896474838, + "learning_rate": 2.9734618500759886e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3210 + }, + { + "epoch": 0.9368635437881874, + "flow_matching_loss": 0.01726264813914895, + "grad_norm": 0.15830756723880768, + "learning_rate": 2.9731513046307356e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3220 + }, + { + "epoch": 0.9397730578993309, + "flow_matching_loss": 0.015193211287260056, + "grad_norm": 0.17769749462604523, + "learning_rate": 2.972838969167738e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3230 + }, + { + "epoch": 0.9426825720104742, + "flow_matching_loss": 0.01726438095793128, + "grad_norm": 0.11057806015014648, + "learning_rate": 2.972524844066513e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3240 + }, + { + "epoch": 0.9455920861216177, + "flow_matching_loss": 0.01656210031360388, + "grad_norm": 0.12323635816574097, + "learning_rate": 2.9722089297087524e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3250 + }, + { + "epoch": 0.9485016002327611, + "flow_matching_loss": 0.018860322330147027, + "grad_norm": 0.13166296482086182, + "learning_rate": 2.971891226478322e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3260 + }, + { + "epoch": 0.9514111143439046, + "flow_matching_loss": 0.017343009263277052, + "grad_norm": 0.11303895711898804, + "learning_rate": 2.9715717347612615e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3270 + }, + { + "epoch": 0.9543206284550481, + "flow_matching_loss": 0.018689927645027637, + "grad_norm": 0.09186290949583054, + "learning_rate": 2.971250454945783e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3280 + }, + { + "epoch": 0.9572301425661914, + "flow_matching_loss": 0.02336185295134783, + "grad_norm": 0.12722483277320862, + "learning_rate": 2.970927387422272e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3290 + }, + { + "epoch": 0.9601396566773349, + "flow_matching_loss": 0.017187914717942475, + "grad_norm": 0.11088071763515472, + "learning_rate": 2.9706025325832858e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3300 + }, + { + "epoch": 0.9630491707884783, + "flow_matching_loss": 0.01830956656485796, + "grad_norm": 0.1379907727241516, + "learning_rate": 2.9702758908235534e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3310 + }, + { + "epoch": 0.9659586848996218, + "flow_matching_loss": 0.020101126842200757, + "grad_norm": 0.13662980496883392, + "learning_rate": 2.9699474625399765e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3320 + }, + { + "epoch": 0.9688681990107652, + "flow_matching_loss": 0.01814293973147869, + "grad_norm": 0.10826198756694794, + "learning_rate": 2.9696172481316246e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3330 + }, + { + "epoch": 0.9717777131219086, + "flow_matching_loss": 0.017892100010067226, + "grad_norm": 0.10406477749347687, + "learning_rate": 2.9692852479997407e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3340 + }, + { + "epoch": 0.9746872272330521, + "flow_matching_loss": 0.01769633758813143, + "grad_norm": 0.12208487093448639, + "learning_rate": 2.9689514625477364e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3350 + }, + { + "epoch": 0.9775967413441955, + "flow_matching_loss": 0.01787793282419443, + "grad_norm": 0.15865665674209595, + "learning_rate": 2.968615892181192e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3360 + }, + { + "epoch": 0.980506255455339, + "flow_matching_loss": 0.01879831412807107, + "grad_norm": 0.11232519894838333, + "learning_rate": 2.9682785373078567e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3370 + }, + { + "epoch": 0.9834157695664824, + "flow_matching_loss": 0.016219968907535076, + "grad_norm": 0.13219484686851501, + "learning_rate": 2.9679393983376493e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3380 + }, + { + "epoch": 0.9863252836776258, + "flow_matching_loss": 0.017001855280250312, + "grad_norm": 0.10820506513118744, + "learning_rate": 2.9675984756826545e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3390 + }, + { + "epoch": 0.9892347977887693, + "flow_matching_loss": 0.020294684637337922, + "grad_norm": 0.14722804725170135, + "learning_rate": 2.9672557697571273e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3400 + }, + { + "epoch": 0.9921443118999127, + "flow_matching_loss": 0.015660424530506135, + "grad_norm": 0.1130589172244072, + "learning_rate": 2.966911280977486e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3410 + }, + { + "epoch": 0.9950538260110562, + "flow_matching_loss": 0.015382340271025896, + "grad_norm": 0.12203380465507507, + "learning_rate": 2.966565009762318e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3420 + }, + { + "epoch": 0.9979633401221996, + "flow_matching_loss": 0.01886834343895316, + "grad_norm": 0.11738094687461853, + "learning_rate": 2.966216956532375e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3430 + }, + { + "epoch": 1.000872854233343, + "flow_matching_loss": 0.021587524842470885, + "grad_norm": 0.12763725221157074, + "learning_rate": 2.9658671217105744e-05, + "loss": 0.0216, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3440 + }, + { + "epoch": 1.0037823683444864, + "flow_matching_loss": 0.01854151748120785, + "grad_norm": 0.1326783001422882, + "learning_rate": 2.965515505721999e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3450 + }, + { + "epoch": 1.00669188245563, + "flow_matching_loss": 0.021870596799999475, + "grad_norm": 0.14837171137332916, + "learning_rate": 2.9651621089938948e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3460 + }, + { + "epoch": 1.0096013965667734, + "flow_matching_loss": 0.016675868816673756, + "grad_norm": 0.10540447384119034, + "learning_rate": 2.9648069319556725e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3470 + }, + { + "epoch": 1.0125109106779169, + "flow_matching_loss": 0.01974469320848584, + "grad_norm": 0.14962196350097656, + "learning_rate": 2.9644499750389057e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3480 + }, + { + "epoch": 1.0154204247890601, + "flow_matching_loss": 0.017809908837080002, + "grad_norm": 0.15070690214633942, + "learning_rate": 2.9640912386773305e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3490 + }, + { + "epoch": 1.0183299389002036, + "flow_matching_loss": 0.017707763612270354, + "grad_norm": 0.1118212565779686, + "learning_rate": 2.9637307233068455e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3500 + }, + { + "epoch": 1.021239453011347, + "flow_matching_loss": 0.017496183514595032, + "grad_norm": 0.08849749714136124, + "learning_rate": 2.9633684293655108e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3510 + }, + { + "epoch": 1.0241489671224906, + "flow_matching_loss": 0.019245264772325753, + "grad_norm": 0.12433681637048721, + "learning_rate": 2.963004357293548e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3520 + }, + { + "epoch": 1.027058481233634, + "flow_matching_loss": 0.019286023546010257, + "grad_norm": 0.10520089417695999, + "learning_rate": 2.962638507533339e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3530 + }, + { + "epoch": 1.0299679953447773, + "flow_matching_loss": 0.017547489237040283, + "grad_norm": 0.1295040100812912, + "learning_rate": 2.962270880529425e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3540 + }, + { + "epoch": 1.0328775094559208, + "flow_matching_loss": 0.017355012893676757, + "grad_norm": 0.12711168825626373, + "learning_rate": 2.9619014767285084e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3550 + }, + { + "epoch": 1.0357870235670643, + "flow_matching_loss": 0.017971318587660788, + "grad_norm": 0.19360779225826263, + "learning_rate": 2.9615302965794488e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3560 + }, + { + "epoch": 1.0386965376782078, + "flow_matching_loss": 0.019124277867376804, + "grad_norm": 0.14716893434524536, + "learning_rate": 2.961157340533266e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3570 + }, + { + "epoch": 1.0416060517893513, + "flow_matching_loss": 0.019699581433087587, + "grad_norm": 0.12407445162534714, + "learning_rate": 2.9607826090431364e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3580 + }, + { + "epoch": 1.0445155659004945, + "flow_matching_loss": 0.018067486956715582, + "grad_norm": 0.12128455191850662, + "learning_rate": 2.9604061025643936e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3590 + }, + { + "epoch": 1.047425080011638, + "flow_matching_loss": 0.018900102004408836, + "grad_norm": 0.12867538630962372, + "learning_rate": 2.9600278215545292e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3600 + }, + { + "epoch": 1.0503345941227815, + "flow_matching_loss": 0.017563747987151147, + "grad_norm": 0.12309913337230682, + "learning_rate": 2.95964776647319e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3610 + }, + { + "epoch": 1.053244108233925, + "flow_matching_loss": 0.016382016148418187, + "grad_norm": 0.08383820950984955, + "learning_rate": 2.9592659377821787e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3620 + }, + { + "epoch": 1.0561536223450685, + "flow_matching_loss": 0.016767074912786485, + "grad_norm": 0.09919514507055283, + "learning_rate": 2.9588823359454528e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3630 + }, + { + "epoch": 1.0590631364562118, + "flow_matching_loss": 0.017881871294230224, + "grad_norm": 0.11666633933782578, + "learning_rate": 2.958496961429126e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3640 + }, + { + "epoch": 1.0619726505673552, + "flow_matching_loss": 0.020420579891651868, + "grad_norm": 0.12420422583818436, + "learning_rate": 2.9581098147014628e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3650 + }, + { + "epoch": 1.0648821646784987, + "flow_matching_loss": 0.018877330888062715, + "grad_norm": 0.13648511469364166, + "learning_rate": 2.9577208962328843e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3660 + }, + { + "epoch": 1.0677916787896422, + "flow_matching_loss": 0.018867215607315302, + "grad_norm": 0.12242329865694046, + "learning_rate": 2.9573302064959633e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3670 + }, + { + "epoch": 1.0707011929007855, + "flow_matching_loss": 0.017514871340245007, + "grad_norm": 0.15443094074726105, + "learning_rate": 2.9569377459654235e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3680 + }, + { + "epoch": 1.073610707011929, + "flow_matching_loss": 0.01829163860529661, + "grad_norm": 0.1412917524576187, + "learning_rate": 2.9565435151181424e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3690 + }, + { + "epoch": 1.0765202211230724, + "flow_matching_loss": 0.018409293983131646, + "grad_norm": 0.12022668123245239, + "learning_rate": 2.9561475144331473e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3700 + }, + { + "epoch": 1.079429735234216, + "flow_matching_loss": 0.01847625132650137, + "grad_norm": 0.11882361769676208, + "learning_rate": 2.9557497443916162e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3710 + }, + { + "epoch": 1.0823392493453594, + "flow_matching_loss": 0.019098229333758356, + "grad_norm": 0.09154797345399857, + "learning_rate": 2.9553502054768774e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3720 + }, + { + "epoch": 1.0852487634565027, + "flow_matching_loss": 0.01684405915439129, + "grad_norm": 0.08873096108436584, + "learning_rate": 2.954948898174409e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3730 + }, + { + "epoch": 1.0881582775676462, + "flow_matching_loss": 0.01824500896036625, + "grad_norm": 0.10010910034179688, + "learning_rate": 2.954545822971836e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3740 + }, + { + "epoch": 1.0910677916787896, + "flow_matching_loss": 0.01886310176923871, + "grad_norm": 0.14276474714279175, + "learning_rate": 2.9541409803589335e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3750 + }, + { + "epoch": 1.0939773057899331, + "flow_matching_loss": 0.01848676409572363, + "grad_norm": 0.13630755245685577, + "learning_rate": 2.9537343708276235e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3760 + }, + { + "epoch": 1.0968868199010766, + "flow_matching_loss": 0.017380976397544146, + "grad_norm": 0.11016030609607697, + "learning_rate": 2.953325994871975e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3770 + }, + { + "epoch": 1.0997963340122199, + "flow_matching_loss": 0.0164749157615006, + "grad_norm": 0.12671388685703278, + "learning_rate": 2.9529158529882023e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3780 + }, + { + "epoch": 1.1027058481233634, + "flow_matching_loss": 0.018378902226686478, + "grad_norm": 0.14068850874900818, + "learning_rate": 2.9525039456746677e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3790 + }, + { + "epoch": 1.1056153622345068, + "flow_matching_loss": 0.01921610375866294, + "grad_norm": 0.11042913049459457, + "learning_rate": 2.952090273431877e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3800 + }, + { + "epoch": 1.1085248763456503, + "flow_matching_loss": 0.01751279691234231, + "grad_norm": 0.12916681170463562, + "learning_rate": 2.9516748367624808e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3810 + }, + { + "epoch": 1.1114343904567938, + "flow_matching_loss": 0.018373768776655197, + "grad_norm": 0.11711672693490982, + "learning_rate": 2.951257636171274e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3820 + }, + { + "epoch": 1.114343904567937, + "flow_matching_loss": 0.01909530544653535, + "grad_norm": 0.10389307141304016, + "learning_rate": 2.9508386721651944e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3830 + }, + { + "epoch": 1.1172534186790806, + "flow_matching_loss": 0.017766175791621208, + "grad_norm": 0.10720574855804443, + "learning_rate": 2.9504179452533228e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3840 + }, + { + "epoch": 1.120162932790224, + "flow_matching_loss": 0.017068102862685917, + "grad_norm": 0.10751038789749146, + "learning_rate": 2.9499954559468826e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3850 + }, + { + "epoch": 1.1230724469013675, + "flow_matching_loss": 0.018511241674423216, + "grad_norm": 0.12652255594730377, + "learning_rate": 2.9495712047592378e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3860 + }, + { + "epoch": 1.1259819610125108, + "flow_matching_loss": 0.019127080496400595, + "grad_norm": 0.12434089183807373, + "learning_rate": 2.949145192205893e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3870 + }, + { + "epoch": 1.1288914751236543, + "flow_matching_loss": 0.017123801447451115, + "grad_norm": 0.18303821980953217, + "learning_rate": 2.9487174188044953e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3880 + }, + { + "epoch": 1.1318009892347978, + "flow_matching_loss": 0.017039996199309827, + "grad_norm": 0.1261482834815979, + "learning_rate": 2.9482878850748276e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3890 + }, + { + "epoch": 1.1347105033459413, + "flow_matching_loss": 0.017864185757935046, + "grad_norm": 0.12544970214366913, + "learning_rate": 2.9478565915388157e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3900 + }, + { + "epoch": 1.1376200174570847, + "flow_matching_loss": 0.020331827737390996, + "grad_norm": 0.10051467269659042, + "learning_rate": 2.9474235387205207e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3910 + }, + { + "epoch": 1.140529531568228, + "flow_matching_loss": 0.021246767789125442, + "grad_norm": 0.1491735726594925, + "learning_rate": 2.946988727146143e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3920 + }, + { + "epoch": 1.1434390456793715, + "flow_matching_loss": 0.016101797856390477, + "grad_norm": 0.1279376596212387, + "learning_rate": 2.9465521573440196e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3930 + }, + { + "epoch": 1.146348559790515, + "flow_matching_loss": 0.017619843129068613, + "grad_norm": 0.14696040749549866, + "learning_rate": 2.946113829844624e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3940 + }, + { + "epoch": 1.1492580739016585, + "flow_matching_loss": 0.016984958201646805, + "grad_norm": 0.09835097938776016, + "learning_rate": 2.945673745180566e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3950 + }, + { + "epoch": 1.152167588012802, + "flow_matching_loss": 0.01893131425604224, + "grad_norm": 0.09929406642913818, + "learning_rate": 2.945231903886589e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3960 + }, + { + "epoch": 1.1550771021239452, + "flow_matching_loss": 0.018034915346652268, + "grad_norm": 0.12485137581825256, + "learning_rate": 2.9447883064995728e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3970 + }, + { + "epoch": 1.1579866162350887, + "flow_matching_loss": 0.022869029454886912, + "grad_norm": 0.12403538078069687, + "learning_rate": 2.9443429535585288e-05, + "loss": 0.0229, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3980 + }, + { + "epoch": 1.1608961303462322, + "flow_matching_loss": 0.021798227727413178, + "grad_norm": 0.1453220397233963, + "learning_rate": 2.9438958456046044e-05, + "loss": 0.0218, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 3990 + }, + { + "epoch": 1.1638056444573757, + "flow_matching_loss": 0.01761287488043308, + "grad_norm": 0.12782448530197144, + "learning_rate": 2.9434469831810765e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4000 + }, + { + "epoch": 1.1667151585685192, + "flow_matching_loss": 0.019739354867488144, + "grad_norm": 0.1044267937541008, + "learning_rate": 2.9429963668333566e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4010 + }, + { + "epoch": 1.1696246726796624, + "flow_matching_loss": 0.017538385652005672, + "grad_norm": 0.1065361425280571, + "learning_rate": 2.9425439971089845e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4020 + }, + { + "epoch": 1.172534186790806, + "flow_matching_loss": 0.01801113784313202, + "grad_norm": 0.1177467405796051, + "learning_rate": 2.9420898745576336e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4030 + }, + { + "epoch": 1.1754437009019494, + "flow_matching_loss": 0.01796904029324651, + "grad_norm": 0.1330590695142746, + "learning_rate": 2.9416339997311044e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4040 + }, + { + "epoch": 1.1783532150130929, + "flow_matching_loss": 0.01664080424234271, + "grad_norm": 0.1164487898349762, + "learning_rate": 2.941176373183329e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4050 + }, + { + "epoch": 1.1812627291242364, + "flow_matching_loss": 0.01864715600386262, + "grad_norm": 0.12026906758546829, + "learning_rate": 2.9407169954703653e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4060 + }, + { + "epoch": 1.1841722432353796, + "flow_matching_loss": 0.018121046014130116, + "grad_norm": 0.1063184142112732, + "learning_rate": 2.9402558671504018e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4070 + }, + { + "epoch": 1.187081757346523, + "flow_matching_loss": 0.018756680376827716, + "grad_norm": 0.10245546698570251, + "learning_rate": 2.9397929887837524e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4080 + }, + { + "epoch": 1.1899912714576666, + "flow_matching_loss": 0.018891167547553777, + "grad_norm": 0.10731279104948044, + "learning_rate": 2.939328360932858e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4090 + }, + { + "epoch": 1.19290078556881, + "flow_matching_loss": 0.018896684981882572, + "grad_norm": 0.09475269913673401, + "learning_rate": 2.938861984162285e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4100 + }, + { + "epoch": 1.1958102996799536, + "flow_matching_loss": 0.019710489362478257, + "grad_norm": 0.09813268482685089, + "learning_rate": 2.938393859038726e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4110 + }, + { + "epoch": 1.1987198137910968, + "flow_matching_loss": 0.017737664096057416, + "grad_norm": 0.10683933645486832, + "learning_rate": 2.9379239861309964e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4120 + }, + { + "epoch": 1.2016293279022403, + "flow_matching_loss": 0.015250006131827832, + "grad_norm": 0.12075313180685043, + "learning_rate": 2.937452366010036e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4130 + }, + { + "epoch": 1.2045388420133838, + "flow_matching_loss": 0.021936855092644692, + "grad_norm": 0.11050035059452057, + "learning_rate": 2.936978999248908e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4140 + }, + { + "epoch": 1.2074483561245273, + "flow_matching_loss": 0.018570278771221638, + "grad_norm": 0.12162062525749207, + "learning_rate": 2.936503886422798e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4150 + }, + { + "epoch": 1.2103578702356708, + "flow_matching_loss": 0.020365523733198644, + "grad_norm": 0.11128842830657959, + "learning_rate": 2.9360270281090122e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4160 + }, + { + "epoch": 1.213267384346814, + "flow_matching_loss": 0.01828188868239522, + "grad_norm": 0.13184483349323273, + "learning_rate": 2.935548424886979e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4170 + }, + { + "epoch": 1.2161768984579575, + "flow_matching_loss": 0.01827843552455306, + "grad_norm": 0.11626160889863968, + "learning_rate": 2.935068077338246e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4180 + }, + { + "epoch": 1.219086412569101, + "flow_matching_loss": 0.016884771082550286, + "grad_norm": 0.10064582526683807, + "learning_rate": 2.934585986046481e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4190 + }, + { + "epoch": 1.2219959266802445, + "flow_matching_loss": 0.016290437895804644, + "grad_norm": 0.12588582932949066, + "learning_rate": 2.93410215159747e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4200 + }, + { + "epoch": 1.2249054407913877, + "flow_matching_loss": 0.016332871839404108, + "grad_norm": 0.10419894009828568, + "learning_rate": 2.933616574579118e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4210 + }, + { + "epoch": 1.2278149549025312, + "flow_matching_loss": 0.01705437945201993, + "grad_norm": 0.1471666544675827, + "learning_rate": 2.933129255581447e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4220 + }, + { + "epoch": 1.2307244690136747, + "flow_matching_loss": 0.016321835666894914, + "grad_norm": 0.11466826498508453, + "learning_rate": 2.9326401951965954e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4230 + }, + { + "epoch": 1.2336339831248182, + "flow_matching_loss": 0.019174142740666866, + "grad_norm": 0.12384199351072311, + "learning_rate": 2.9321493940188165e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4240 + }, + { + "epoch": 1.2365434972359617, + "flow_matching_loss": 0.017094011045992376, + "grad_norm": 0.12108349800109863, + "learning_rate": 2.931656852644482e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4250 + }, + { + "epoch": 1.239453011347105, + "flow_matching_loss": 0.01713517801836133, + "grad_norm": 0.11015075445175171, + "learning_rate": 2.9311625716720748e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4260 + }, + { + "epoch": 1.2423625254582484, + "flow_matching_loss": 0.014687000960111617, + "grad_norm": 0.11559529602527618, + "learning_rate": 2.9306665517021927e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4270 + }, + { + "epoch": 1.245272039569392, + "flow_matching_loss": 0.017890567425638437, + "grad_norm": 0.14358314871788025, + "learning_rate": 2.9301687933375483e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4280 + }, + { + "epoch": 1.2481815536805354, + "flow_matching_loss": 0.018376091215759515, + "grad_norm": 0.09643185883760452, + "learning_rate": 2.929669297182963e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4290 + }, + { + "epoch": 1.2510910677916787, + "flow_matching_loss": 0.017824300937354563, + "grad_norm": 0.11496366560459137, + "learning_rate": 2.929168063845373e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4300 + }, + { + "epoch": 1.2540005819028222, + "flow_matching_loss": 0.018904799409210683, + "grad_norm": 0.11518614739179611, + "learning_rate": 2.9286650939338236e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4310 + }, + { + "epoch": 1.2569100960139656, + "flow_matching_loss": 0.01629252973943949, + "grad_norm": 0.09909454733133316, + "learning_rate": 2.9281603880594706e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4320 + }, + { + "epoch": 1.2598196101251091, + "flow_matching_loss": 0.019428334664553404, + "grad_norm": 0.12573975324630737, + "learning_rate": 2.9276539468355796e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4330 + }, + { + "epoch": 1.2627291242362526, + "flow_matching_loss": 0.019351838901638985, + "grad_norm": 0.16497951745986938, + "learning_rate": 2.9271457708775244e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4340 + }, + { + "epoch": 1.2656386383473959, + "flow_matching_loss": 0.017303714901208876, + "grad_norm": 0.10427472740411758, + "learning_rate": 2.9266358608027863e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4350 + }, + { + "epoch": 1.2685481524585394, + "flow_matching_loss": 0.017304589226841926, + "grad_norm": 0.11155117303133011, + "learning_rate": 2.9261242172309543e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4360 + }, + { + "epoch": 1.2714576665696828, + "flow_matching_loss": 0.017461736872792243, + "grad_norm": 0.13477420806884766, + "learning_rate": 2.925610840783723e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4370 + }, + { + "epoch": 1.2743671806808263, + "flow_matching_loss": 0.01989399651065469, + "grad_norm": 0.12915602326393127, + "learning_rate": 2.9250957320848946e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4380 + }, + { + "epoch": 1.2772766947919698, + "flow_matching_loss": 0.019037080742418767, + "grad_norm": 0.1271073818206787, + "learning_rate": 2.924578891760374e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4390 + }, + { + "epoch": 1.280186208903113, + "flow_matching_loss": 0.019863814860582352, + "grad_norm": 0.11623123288154602, + "learning_rate": 2.924060320438171e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4400 + }, + { + "epoch": 1.2830957230142566, + "flow_matching_loss": 0.02058144984766841, + "grad_norm": 0.15204878151416779, + "learning_rate": 2.9235400187483978e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4410 + }, + { + "epoch": 1.2860052371254, + "flow_matching_loss": 0.018546154256910086, + "grad_norm": 0.10852909088134766, + "learning_rate": 2.9230179873232716e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4420 + }, + { + "epoch": 1.2889147512365435, + "flow_matching_loss": 0.019156702142208815, + "grad_norm": 0.11801527440547943, + "learning_rate": 2.922494226797108e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4430 + }, + { + "epoch": 1.291824265347687, + "flow_matching_loss": 0.018289826437830926, + "grad_norm": 0.11945632845163345, + "learning_rate": 2.9219687378063275e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4440 + }, + { + "epoch": 1.2947337794588303, + "flow_matching_loss": 0.01762980120256543, + "grad_norm": 0.14261256158351898, + "learning_rate": 2.921441520989447e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4450 + }, + { + "epoch": 1.2976432935699738, + "flow_matching_loss": 0.016422323882579803, + "grad_norm": 0.09553389996290207, + "learning_rate": 2.9209125769870854e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4460 + }, + { + "epoch": 1.3005528076811173, + "flow_matching_loss": 0.017019551247358322, + "grad_norm": 0.09322511404752731, + "learning_rate": 2.92038190644196e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4470 + }, + { + "epoch": 1.3034623217922607, + "flow_matching_loss": 0.01969408877193928, + "grad_norm": 0.1594122350215912, + "learning_rate": 2.9198495099988843e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4480 + }, + { + "epoch": 1.3063718359034042, + "flow_matching_loss": 0.018657474033534526, + "grad_norm": 0.13732925057411194, + "learning_rate": 2.9193153883047712e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4490 + }, + { + "epoch": 1.3092813500145475, + "flow_matching_loss": 0.019207644928246736, + "grad_norm": 0.1507687270641327, + "learning_rate": 2.9187795420086287e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4500 + }, + { + "epoch": 1.312190864125691, + "flow_matching_loss": 0.015655381977558135, + "grad_norm": 0.12530545890331268, + "learning_rate": 2.9182419717615602e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4510 + }, + { + "epoch": 1.3151003782368345, + "flow_matching_loss": 0.017526056338101625, + "grad_norm": 0.10778815299272537, + "learning_rate": 2.917702678216765e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4520 + }, + { + "epoch": 1.318009892347978, + "flow_matching_loss": 0.01675285315141082, + "grad_norm": 0.14675283432006836, + "learning_rate": 2.9171616620295347e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4530 + }, + { + "epoch": 1.3209194064591214, + "flow_matching_loss": 0.01728458134457469, + "grad_norm": 0.1374921053647995, + "learning_rate": 2.9166189238572554e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4540 + }, + { + "epoch": 1.3238289205702647, + "flow_matching_loss": 0.01747052064165473, + "grad_norm": 0.10174044221639633, + "learning_rate": 2.9160744643594052e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4550 + }, + { + "epoch": 1.3267384346814082, + "flow_matching_loss": 0.01862889602780342, + "grad_norm": 0.14193445444107056, + "learning_rate": 2.915528284197554e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4560 + }, + { + "epoch": 1.3296479487925517, + "flow_matching_loss": 0.016141804959625007, + "grad_norm": 0.1137268915772438, + "learning_rate": 2.914980384035362e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4570 + }, + { + "epoch": 1.3325574629036951, + "flow_matching_loss": 0.019715428724884985, + "grad_norm": 0.10282805562019348, + "learning_rate": 2.9144307645385787e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4580 + }, + { + "epoch": 1.3354669770148386, + "flow_matching_loss": 0.020746860653162003, + "grad_norm": 0.10790295898914337, + "learning_rate": 2.9138794263750454e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4590 + }, + { + "epoch": 1.338376491125982, + "flow_matching_loss": 0.01731622777879238, + "grad_norm": 0.12596189975738525, + "learning_rate": 2.913326370214688e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4600 + }, + { + "epoch": 1.3412860052371254, + "flow_matching_loss": 0.019716470316052438, + "grad_norm": 0.1071333959698677, + "learning_rate": 2.9127715967295234e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4610 + }, + { + "epoch": 1.3441955193482689, + "flow_matching_loss": 0.018343104980885983, + "grad_norm": 0.12251871079206467, + "learning_rate": 2.912215106593653e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4620 + }, + { + "epoch": 1.3471050334594123, + "flow_matching_loss": 0.017190300580114126, + "grad_norm": 0.08384399116039276, + "learning_rate": 2.911656900483265e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4630 + }, + { + "epoch": 1.3500145475705558, + "flow_matching_loss": 0.016388912126421927, + "grad_norm": 0.11716662347316742, + "learning_rate": 2.9110969790766322e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4640 + }, + { + "epoch": 1.352924061681699, + "flow_matching_loss": 0.017443975154310464, + "grad_norm": 0.13023851811885834, + "learning_rate": 2.910535343054112e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4650 + }, + { + "epoch": 1.3558335757928426, + "flow_matching_loss": 0.016889742016792296, + "grad_norm": 0.1135721206665039, + "learning_rate": 2.909971993098145e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4660 + }, + { + "epoch": 1.358743089903986, + "flow_matching_loss": 0.019884847663342954, + "grad_norm": 0.1291564255952835, + "learning_rate": 2.9094069298932552e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4670 + }, + { + "epoch": 1.3616526040151296, + "flow_matching_loss": 0.01790596842765808, + "grad_norm": 0.1662137657403946, + "learning_rate": 2.908840154126047e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4680 + }, + { + "epoch": 1.364562118126273, + "flow_matching_loss": 0.0203165958635509, + "grad_norm": 0.15340380370616913, + "learning_rate": 2.9082716664852063e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4690 + }, + { + "epoch": 1.3674716322374163, + "flow_matching_loss": 0.01934187076985836, + "grad_norm": 0.1124090924859047, + "learning_rate": 2.9077014676615e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4700 + }, + { + "epoch": 1.3703811463485598, + "flow_matching_loss": 0.01948541309684515, + "grad_norm": 0.1055450513958931, + "learning_rate": 2.9071295583477724e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4710 + }, + { + "epoch": 1.3732906604597033, + "flow_matching_loss": 0.018544196058064698, + "grad_norm": 0.1548328399658203, + "learning_rate": 2.906555939238948e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4720 + }, + { + "epoch": 1.3762001745708465, + "flow_matching_loss": 0.018352568801492452, + "grad_norm": 0.14723578095436096, + "learning_rate": 2.905980611032028e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4730 + }, + { + "epoch": 1.3791096886819902, + "flow_matching_loss": 0.017474641744047403, + "grad_norm": 0.1096917986869812, + "learning_rate": 2.9054035744260904e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4740 + }, + { + "epoch": 1.3820192027931335, + "flow_matching_loss": 0.020584531128406525, + "grad_norm": 0.1690429151058197, + "learning_rate": 2.9048248301222885e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4750 + }, + { + "epoch": 1.384928716904277, + "flow_matching_loss": 0.017707783728837967, + "grad_norm": 0.1405213624238968, + "learning_rate": 2.904244378823852e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4760 + }, + { + "epoch": 1.3878382310154205, + "flow_matching_loss": 0.019632644020020962, + "grad_norm": 0.11703260987997055, + "learning_rate": 2.9036622212360836e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4770 + }, + { + "epoch": 1.3907477451265637, + "flow_matching_loss": 0.020586194843053816, + "grad_norm": 0.17498426139354706, + "learning_rate": 2.9030783580663596e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4780 + }, + { + "epoch": 1.3936572592377072, + "flow_matching_loss": 0.01944136554375291, + "grad_norm": 0.13288383185863495, + "learning_rate": 2.902492790024129e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4790 + }, + { + "epoch": 1.3965667733488507, + "flow_matching_loss": 0.015869903098791837, + "grad_norm": 0.1296989768743515, + "learning_rate": 2.901905517820912e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4800 + }, + { + "epoch": 1.3994762874599942, + "flow_matching_loss": 0.0211954640224576, + "grad_norm": 0.11113158613443375, + "learning_rate": 2.9013165421703e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4810 + }, + { + "epoch": 1.4023858015711377, + "flow_matching_loss": 0.01966251041740179, + "grad_norm": 0.1410837173461914, + "learning_rate": 2.9007258637879534e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4820 + }, + { + "epoch": 1.405295315682281, + "flow_matching_loss": 0.018882767669856547, + "grad_norm": 0.11606752872467041, + "learning_rate": 2.9001334833916025e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4830 + }, + { + "epoch": 1.4082048297934244, + "flow_matching_loss": 0.018653465807437895, + "grad_norm": 0.1687084436416626, + "learning_rate": 2.899539401701046e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4840 + }, + { + "epoch": 1.411114343904568, + "flow_matching_loss": 0.017725193221122027, + "grad_norm": 0.1353481411933899, + "learning_rate": 2.8989436194381474e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4850 + }, + { + "epoch": 1.4140238580157114, + "flow_matching_loss": 0.019181336648762225, + "grad_norm": 0.12047445774078369, + "learning_rate": 2.8983461373268404e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4860 + }, + { + "epoch": 1.4169333721268549, + "flow_matching_loss": 0.01896266369149089, + "grad_norm": 0.09733143448829651, + "learning_rate": 2.8977469560931205e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4870 + }, + { + "epoch": 1.4198428862379981, + "flow_matching_loss": 0.018925290368497372, + "grad_norm": 0.14399518072605133, + "learning_rate": 2.8971460764650502e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4880 + }, + { + "epoch": 1.4227524003491416, + "flow_matching_loss": 0.01747282650321722, + "grad_norm": 0.1235085129737854, + "learning_rate": 2.8965434991727545e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4890 + }, + { + "epoch": 1.4256619144602851, + "flow_matching_loss": 0.01774981142953038, + "grad_norm": 0.10548555105924606, + "learning_rate": 2.895939224948422e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4900 + }, + { + "epoch": 1.4285714285714286, + "flow_matching_loss": 0.01834302954375744, + "grad_norm": 0.13735748827457428, + "learning_rate": 2.895333254526303e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4910 + }, + { + "epoch": 1.431480942682572, + "flow_matching_loss": 0.021696084272116424, + "grad_norm": 0.16122466325759888, + "learning_rate": 2.8947255886427084e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4920 + }, + { + "epoch": 1.4343904567937154, + "flow_matching_loss": 0.019388552475720643, + "grad_norm": 0.11605323851108551, + "learning_rate": 2.8941162280360095e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4930 + }, + { + "epoch": 1.4372999709048588, + "flow_matching_loss": 0.017659914027899504, + "grad_norm": 0.10900957137346268, + "learning_rate": 2.8935051734466368e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4940 + }, + { + "epoch": 1.4402094850160023, + "flow_matching_loss": 0.01953465724363923, + "grad_norm": 0.13580122590065002, + "learning_rate": 2.8928924256170792e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4950 + }, + { + "epoch": 1.4431189991271458, + "flow_matching_loss": 0.01972154062241316, + "grad_norm": 0.09735646843910217, + "learning_rate": 2.8922779852918836e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4960 + }, + { + "epoch": 1.4460285132382893, + "flow_matching_loss": 0.01884894473478198, + "grad_norm": 0.12235104292631149, + "learning_rate": 2.8916618532176526e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4970 + }, + { + "epoch": 1.4489380273494326, + "flow_matching_loss": 0.018228102009743452, + "grad_norm": 0.09880698472261429, + "learning_rate": 2.891044030143045e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4980 + }, + { + "epoch": 1.451847541460576, + "flow_matching_loss": 0.018508773762732744, + "grad_norm": 0.12128704786300659, + "learning_rate": 2.890424516818774e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 4990 + }, + { + "epoch": 1.4547570555717195, + "flow_matching_loss": 0.020232286397367717, + "grad_norm": 0.12237163633108139, + "learning_rate": 2.8898033139976057e-05, + "loss": 0.0202, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5000 + }, + { + "epoch": 1.457666569682863, + "flow_matching_loss": 0.018678249325603247, + "grad_norm": 0.13236048817634583, + "learning_rate": 2.889180422434362e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5010 + }, + { + "epoch": 1.4605760837940065, + "flow_matching_loss": 0.018588855396956205, + "grad_norm": 0.12546192109584808, + "learning_rate": 2.8885558428859136e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5020 + }, + { + "epoch": 1.4634855979051498, + "flow_matching_loss": 0.018600651808083058, + "grad_norm": 0.1301027089357376, + "learning_rate": 2.8879295761111835e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5030 + }, + { + "epoch": 1.4663951120162932, + "flow_matching_loss": 0.018713080789893866, + "grad_norm": 0.08422674238681793, + "learning_rate": 2.8873016228711452e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5040 + }, + { + "epoch": 1.4693046261274367, + "flow_matching_loss": 0.01680117007344961, + "grad_norm": 0.1316358745098114, + "learning_rate": 2.8866719839288215e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5050 + }, + { + "epoch": 1.4722141402385802, + "flow_matching_loss": 0.017458917014300822, + "grad_norm": 0.15089048445224762, + "learning_rate": 2.886040660049283e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5060 + }, + { + "epoch": 1.4751236543497237, + "flow_matching_loss": 0.016737972293049096, + "grad_norm": 0.10888548195362091, + "learning_rate": 2.8854076519996467e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5070 + }, + { + "epoch": 1.478033168460867, + "flow_matching_loss": 0.017821234837174415, + "grad_norm": 0.135227769613266, + "learning_rate": 2.884772960549078e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5080 + }, + { + "epoch": 1.4809426825720104, + "flow_matching_loss": 0.01759727019816637, + "grad_norm": 0.10327748954296112, + "learning_rate": 2.8841365864687867e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5090 + }, + { + "epoch": 1.483852196683154, + "flow_matching_loss": 0.017848500330001116, + "grad_norm": 0.09685564041137695, + "learning_rate": 2.8834985305320276e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5100 + }, + { + "epoch": 1.4867617107942974, + "flow_matching_loss": 0.019235530961304904, + "grad_norm": 0.12370991706848145, + "learning_rate": 2.882858793514098e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5110 + }, + { + "epoch": 1.489671224905441, + "flow_matching_loss": 0.017899722792208195, + "grad_norm": 0.10559459775686264, + "learning_rate": 2.8822173761923398e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5120 + }, + { + "epoch": 1.4925807390165842, + "flow_matching_loss": 0.01801924956962466, + "grad_norm": 0.10307577252388, + "learning_rate": 2.8815742793461343e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5130 + }, + { + "epoch": 1.4954902531277277, + "flow_matching_loss": 0.022005259152501823, + "grad_norm": 0.14046402275562286, + "learning_rate": 2.880929503756906e-05, + "loss": 0.022, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5140 + }, + { + "epoch": 1.4983997672388711, + "flow_matching_loss": 0.019608317594975232, + "grad_norm": 0.12968657910823822, + "learning_rate": 2.880283050208117e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5150 + }, + { + "epoch": 1.5013092813500144, + "flow_matching_loss": 0.019111646246165036, + "grad_norm": 0.10211899131536484, + "learning_rate": 2.8796349194852704e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5160 + }, + { + "epoch": 1.504218795461158, + "flow_matching_loss": 0.017152947653084994, + "grad_norm": 0.12162499129772186, + "learning_rate": 2.8789851123759052e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5170 + }, + { + "epoch": 1.5071283095723014, + "flow_matching_loss": 0.016413384955376385, + "grad_norm": 0.07765834033489227, + "learning_rate": 2.8783336296695985e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5180 + }, + { + "epoch": 1.5100378236834449, + "flow_matching_loss": 0.020438850577920675, + "grad_norm": 0.1224256083369255, + "learning_rate": 2.877680472157964e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5190 + }, + { + "epoch": 1.5129473377945883, + "flow_matching_loss": 0.017706526350229977, + "grad_norm": 0.13932345807552338, + "learning_rate": 2.8770256406346483e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5200 + }, + { + "epoch": 1.5158568519057316, + "flow_matching_loss": 0.017535840906202794, + "grad_norm": 0.13878807425498962, + "learning_rate": 2.8763691358953348e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5210 + }, + { + "epoch": 1.5187663660168753, + "flow_matching_loss": 0.01771804681047797, + "grad_norm": 0.1309669017791748, + "learning_rate": 2.8757109587377377e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5220 + }, + { + "epoch": 1.5216758801280186, + "flow_matching_loss": 0.017240467946976423, + "grad_norm": 0.10931576788425446, + "learning_rate": 2.8750511099616047e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5230 + }, + { + "epoch": 1.524585394239162, + "flow_matching_loss": 0.018288439325988292, + "grad_norm": 0.14618836343288422, + "learning_rate": 2.8743895903687143e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5240 + }, + { + "epoch": 1.5274949083503055, + "flow_matching_loss": 0.017978187184780836, + "grad_norm": 0.11265870183706284, + "learning_rate": 2.8737264007628753e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5250 + }, + { + "epoch": 1.5304044224614488, + "flow_matching_loss": 0.019873443711549043, + "grad_norm": 0.10153479129076004, + "learning_rate": 2.8730615419499247e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5260 + }, + { + "epoch": 1.5333139365725925, + "flow_matching_loss": 0.017687778733670712, + "grad_norm": 0.1414843499660492, + "learning_rate": 2.8723950147377303e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5270 + }, + { + "epoch": 1.5362234506837358, + "flow_matching_loss": 0.017918034363538025, + "grad_norm": 0.11647406220436096, + "learning_rate": 2.871726819936184e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5280 + }, + { + "epoch": 1.5391329647948793, + "flow_matching_loss": 0.017541553638875485, + "grad_norm": 0.11522269248962402, + "learning_rate": 2.8710569583572068e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5290 + }, + { + "epoch": 1.5420424789060228, + "flow_matching_loss": 0.017856586165726183, + "grad_norm": 0.12762844562530518, + "learning_rate": 2.870385430814742e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5300 + }, + { + "epoch": 1.544951993017166, + "flow_matching_loss": 0.017345882765948773, + "grad_norm": 0.12362948060035706, + "learning_rate": 2.8697122381247605e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5310 + }, + { + "epoch": 1.5478615071283097, + "flow_matching_loss": 0.018822707422077655, + "grad_norm": 0.09858863800764084, + "learning_rate": 2.8690373811052545e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5320 + }, + { + "epoch": 1.550771021239453, + "flow_matching_loss": 0.016710078716278075, + "grad_norm": 0.11385642737150192, + "learning_rate": 2.8683608605762378e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5330 + }, + { + "epoch": 1.5536805353505965, + "flow_matching_loss": 0.01793990135192871, + "grad_norm": 0.1149938702583313, + "learning_rate": 2.8676826773597485e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5340 + }, + { + "epoch": 1.55659004946174, + "flow_matching_loss": 0.017289914935827256, + "grad_norm": 0.10906250029802322, + "learning_rate": 2.8670028322798413e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5350 + }, + { + "epoch": 1.5594995635728832, + "flow_matching_loss": 0.017796958982944488, + "grad_norm": 0.10611927509307861, + "learning_rate": 2.8663213261625932e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5360 + }, + { + "epoch": 1.562409077684027, + "flow_matching_loss": 0.01757059758529067, + "grad_norm": 0.14298567175865173, + "learning_rate": 2.865638159836098e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5370 + }, + { + "epoch": 1.5653185917951702, + "flow_matching_loss": 0.01827499670907855, + "grad_norm": 0.12820813059806824, + "learning_rate": 2.8649533341304677e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5380 + }, + { + "epoch": 1.5682281059063137, + "flow_matching_loss": 0.019492557644844054, + "grad_norm": 0.1138586550951004, + "learning_rate": 2.8642668498778297e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5390 + }, + { + "epoch": 1.5711376200174572, + "flow_matching_loss": 0.01913336766883731, + "grad_norm": 0.14305326342582703, + "learning_rate": 2.8635787079123268e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5400 + }, + { + "epoch": 1.5740471341286004, + "flow_matching_loss": 0.018590234499424697, + "grad_norm": 0.11686792969703674, + "learning_rate": 2.8628889090701175e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5410 + }, + { + "epoch": 1.576956648239744, + "flow_matching_loss": 0.01893755132332444, + "grad_norm": 0.11200154572725296, + "learning_rate": 2.862197454189371e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5420 + }, + { + "epoch": 1.5798661623508874, + "flow_matching_loss": 0.0173641437664628, + "grad_norm": 0.11852369457483292, + "learning_rate": 2.8615043441102708e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5430 + }, + { + "epoch": 1.5827756764620309, + "flow_matching_loss": 0.016500873304903508, + "grad_norm": 0.12988966703414917, + "learning_rate": 2.860809579675011e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5440 + }, + { + "epoch": 1.5856851905731744, + "flow_matching_loss": 0.01716652624309063, + "grad_norm": 0.11554355919361115, + "learning_rate": 2.860113161727796e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5450 + }, + { + "epoch": 1.5885947046843176, + "flow_matching_loss": 0.01676570251584053, + "grad_norm": 0.10929394513368607, + "learning_rate": 2.8594150911148393e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5460 + }, + { + "epoch": 1.5915042187954611, + "flow_matching_loss": 0.018222691025584936, + "grad_norm": 0.11016879975795746, + "learning_rate": 2.8587153686843626e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5470 + }, + { + "epoch": 1.5944137329066046, + "flow_matching_loss": 0.01828605104237795, + "grad_norm": 0.13461263477802277, + "learning_rate": 2.858013995286594e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5480 + }, + { + "epoch": 1.597323247017748, + "flow_matching_loss": 0.018487650621682405, + "grad_norm": 0.12496311217546463, + "learning_rate": 2.857310971773769e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5490 + }, + { + "epoch": 1.6002327611288916, + "flow_matching_loss": 0.021296583022922276, + "grad_norm": 0.10477197170257568, + "learning_rate": 2.8566062990001274e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5500 + }, + { + "epoch": 1.6031422752400348, + "flow_matching_loss": 0.01652112025767565, + "grad_norm": 0.11169508099555969, + "learning_rate": 2.8558999778219126e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5510 + }, + { + "epoch": 1.6060517893511783, + "flow_matching_loss": 0.017517542466521263, + "grad_norm": 0.10967106372117996, + "learning_rate": 2.8551920090973722e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5520 + }, + { + "epoch": 1.6089613034623218, + "flow_matching_loss": 0.016016213968396188, + "grad_norm": 0.10708407312631607, + "learning_rate": 2.854482393686754e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5530 + }, + { + "epoch": 1.6118708175734653, + "flow_matching_loss": 0.019350944086909294, + "grad_norm": 0.12808774411678314, + "learning_rate": 2.8537711324523086e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5540 + }, + { + "epoch": 1.6147803316846088, + "flow_matching_loss": 0.017649566289037466, + "grad_norm": 0.11875054985284805, + "learning_rate": 2.8530582262582845e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5550 + }, + { + "epoch": 1.617689845795752, + "flow_matching_loss": 0.020703015755861996, + "grad_norm": 0.13829652965068817, + "learning_rate": 2.8523436759709306e-05, + "loss": 0.0207, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5560 + }, + { + "epoch": 1.6205993599068955, + "flow_matching_loss": 0.018715582974255084, + "grad_norm": 0.13729307055473328, + "learning_rate": 2.8516274824584926e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5570 + }, + { + "epoch": 1.623508874018039, + "flow_matching_loss": 0.021316899545490743, + "grad_norm": 0.13265646994113922, + "learning_rate": 2.8509096465912136e-05, + "loss": 0.0213, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5580 + }, + { + "epoch": 1.6264183881291823, + "flow_matching_loss": 0.018324957136064766, + "grad_norm": 0.11827398836612701, + "learning_rate": 2.8501901692413315e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5590 + }, + { + "epoch": 1.629327902240326, + "flow_matching_loss": 0.021509941108524798, + "grad_norm": 0.15860480070114136, + "learning_rate": 2.8494690512830788e-05, + "loss": 0.0215, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5600 + }, + { + "epoch": 1.6322374163514692, + "flow_matching_loss": 0.01956283748149872, + "grad_norm": 0.09324759989976883, + "learning_rate": 2.8487462935926823e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5610 + }, + { + "epoch": 1.6351469304626127, + "flow_matching_loss": 0.017790117114782334, + "grad_norm": 0.10323730856180191, + "learning_rate": 2.8480218970483606e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5620 + }, + { + "epoch": 1.6380564445737562, + "flow_matching_loss": 0.019507969822734596, + "grad_norm": 0.08387977629899979, + "learning_rate": 2.847295862530324e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5630 + }, + { + "epoch": 1.6409659586848995, + "flow_matching_loss": 0.01608278602361679, + "grad_norm": 0.11985165625810623, + "learning_rate": 2.846568190920773e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5640 + }, + { + "epoch": 1.6438754727960432, + "flow_matching_loss": 0.019307557493448257, + "grad_norm": 0.10983937978744507, + "learning_rate": 2.8458388831038965e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5650 + }, + { + "epoch": 1.6467849869071864, + "flow_matching_loss": 0.01643469538539648, + "grad_norm": 0.12107224762439728, + "learning_rate": 2.8451079399658725e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5660 + }, + { + "epoch": 1.64969450101833, + "flow_matching_loss": 0.01952605163678527, + "grad_norm": 0.14524200558662415, + "learning_rate": 2.8443753623948665e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5670 + }, + { + "epoch": 1.6526040151294734, + "flow_matching_loss": 0.01593033941462636, + "grad_norm": 0.10899797081947327, + "learning_rate": 2.8436411512810288e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5680 + }, + { + "epoch": 1.6555135292406167, + "flow_matching_loss": 0.019533184915781023, + "grad_norm": 0.10494972765445709, + "learning_rate": 2.842905307516495e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5690 + }, + { + "epoch": 1.6584230433517604, + "flow_matching_loss": 0.015110163483768702, + "grad_norm": 0.1605600118637085, + "learning_rate": 2.8421678319953854e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5700 + }, + { + "epoch": 1.6613325574629036, + "flow_matching_loss": 0.019985719304531812, + "grad_norm": 0.12394379824399948, + "learning_rate": 2.841428725613801e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5710 + }, + { + "epoch": 1.6642420715740471, + "flow_matching_loss": 0.017939189914613962, + "grad_norm": 0.15299953520298004, + "learning_rate": 2.8406879892698272e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5720 + }, + { + "epoch": 1.6671515856851906, + "flow_matching_loss": 0.023414352908730507, + "grad_norm": 0.13234788179397583, + "learning_rate": 2.8399456238635274e-05, + "loss": 0.0234, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5730 + }, + { + "epoch": 1.6700610997963339, + "flow_matching_loss": 0.018746688868850468, + "grad_norm": 0.13226376473903656, + "learning_rate": 2.8392016302969457e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5740 + }, + { + "epoch": 1.6729706139074776, + "flow_matching_loss": 0.01642669504508376, + "grad_norm": 0.10900190472602844, + "learning_rate": 2.8384560094741055e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5750 + }, + { + "epoch": 1.6758801280186209, + "flow_matching_loss": 0.01617808472365141, + "grad_norm": 0.09268306940793991, + "learning_rate": 2.8377087623010054e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5760 + }, + { + "epoch": 1.6787896421297643, + "flow_matching_loss": 0.017625170201063155, + "grad_norm": 0.12292078137397766, + "learning_rate": 2.8369598896856213e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5770 + }, + { + "epoch": 1.6816991562409078, + "flow_matching_loss": 0.01882141251116991, + "grad_norm": 0.10342784225940704, + "learning_rate": 2.836209392537904e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5780 + }, + { + "epoch": 1.684608670352051, + "flow_matching_loss": 0.014884455874562264, + "grad_norm": 0.10182265937328339, + "learning_rate": 2.8354572717697787e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5790 + }, + { + "epoch": 1.6875181844631948, + "flow_matching_loss": 0.018351303692907096, + "grad_norm": 0.11382370442152023, + "learning_rate": 2.8347035282951428e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5800 + }, + { + "epoch": 1.690427698574338, + "flow_matching_loss": 0.01716772262006998, + "grad_norm": 0.12299605458974838, + "learning_rate": 2.8339481630298653e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5810 + }, + { + "epoch": 1.6933372126854815, + "flow_matching_loss": 0.016312767285853624, + "grad_norm": 0.08584622293710709, + "learning_rate": 2.833191176891787e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5820 + }, + { + "epoch": 1.696246726796625, + "flow_matching_loss": 0.01681730365380645, + "grad_norm": 0.106612928211689, + "learning_rate": 2.832432570800717e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5830 + }, + { + "epoch": 1.6991562409077683, + "flow_matching_loss": 0.01728812837973237, + "grad_norm": 0.10708604753017426, + "learning_rate": 2.8316723456784332e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5840 + }, + { + "epoch": 1.702065755018912, + "flow_matching_loss": 0.017525409907102586, + "grad_norm": 0.14802809059619904, + "learning_rate": 2.8309105024486808e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5850 + }, + { + "epoch": 1.7049752691300553, + "flow_matching_loss": 0.017180466186255218, + "grad_norm": 0.08722318708896637, + "learning_rate": 2.830147042037172e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5860 + }, + { + "epoch": 1.7078847832411987, + "flow_matching_loss": 0.01686340952292085, + "grad_norm": 0.10186614096164703, + "learning_rate": 2.8293819653715816e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5870 + }, + { + "epoch": 1.7107942973523422, + "flow_matching_loss": 0.018405831791460513, + "grad_norm": 0.11390599608421326, + "learning_rate": 2.828615273381551e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5880 + }, + { + "epoch": 1.7137038114634855, + "flow_matching_loss": 0.014399162493646145, + "grad_norm": 0.09542735666036606, + "learning_rate": 2.827846966998683e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5890 + }, + { + "epoch": 1.7166133255746292, + "flow_matching_loss": 0.01861698031425476, + "grad_norm": 0.10446255654096603, + "learning_rate": 2.8270770471565422e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5900 + }, + { + "epoch": 1.7195228396857725, + "flow_matching_loss": 0.016821698658168314, + "grad_norm": 0.1293599009513855, + "learning_rate": 2.826305514790654e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5910 + }, + { + "epoch": 1.722432353796916, + "flow_matching_loss": 0.01891922689974308, + "grad_norm": 0.12630809843540192, + "learning_rate": 2.825532370838503e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5920 + }, + { + "epoch": 1.7253418679080594, + "flow_matching_loss": 0.020561072137206794, + "grad_norm": 0.15727198123931885, + "learning_rate": 2.824757616239532e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5930 + }, + { + "epoch": 1.7282513820192027, + "flow_matching_loss": 0.01902940133586526, + "grad_norm": 0.11455181241035461, + "learning_rate": 2.8239812519351404e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5940 + }, + { + "epoch": 1.7311608961303462, + "flow_matching_loss": 0.020115755032747984, + "grad_norm": 0.14493584632873535, + "learning_rate": 2.823203278868685e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5950 + }, + { + "epoch": 1.7340704102414897, + "flow_matching_loss": 0.017539278604090214, + "grad_norm": 0.16382361948490143, + "learning_rate": 2.8224236979854752e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5960 + }, + { + "epoch": 1.7369799243526332, + "flow_matching_loss": 0.016589265037328004, + "grad_norm": 0.10973601043224335, + "learning_rate": 2.821642510232776e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5970 + }, + { + "epoch": 1.7398894384637766, + "flow_matching_loss": 0.01568861696869135, + "grad_norm": 0.08300400525331497, + "learning_rate": 2.8208597165598046e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5980 + }, + { + "epoch": 1.74279895257492, + "flow_matching_loss": 0.017427812889218332, + "grad_norm": 0.16062241792678833, + "learning_rate": 2.8200753179177285e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 5990 + }, + { + "epoch": 1.7457084666860634, + "flow_matching_loss": 0.016856996435672046, + "grad_norm": 0.10600907355546951, + "learning_rate": 2.819289315259666e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6000 + }, + { + "epoch": 1.7486179807972069, + "flow_matching_loss": 0.01860795170068741, + "grad_norm": 0.12223726511001587, + "learning_rate": 2.8185017095406845e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6010 + }, + { + "epoch": 1.7515274949083504, + "flow_matching_loss": 0.017628257069736718, + "grad_norm": 0.11050815880298615, + "learning_rate": 2.8177125017177998e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6020 + }, + { + "epoch": 1.7544370090194938, + "flow_matching_loss": 0.02081706067547202, + "grad_norm": 0.13940469920635223, + "learning_rate": 2.8169216927499727e-05, + "loss": 0.0208, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6030 + }, + { + "epoch": 1.757346523130637, + "flow_matching_loss": 0.01552439210936427, + "grad_norm": 0.11710615456104279, + "learning_rate": 2.816129283598112e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6040 + }, + { + "epoch": 1.7602560372417806, + "flow_matching_loss": 0.01717127626761794, + "grad_norm": 0.10429741442203522, + "learning_rate": 2.815335275225068e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6050 + }, + { + "epoch": 1.763165551352924, + "flow_matching_loss": 0.017278613429516552, + "grad_norm": 0.10221046954393387, + "learning_rate": 2.8145396685956374e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6060 + }, + { + "epoch": 1.7660750654640673, + "flow_matching_loss": 0.017093739844858645, + "grad_norm": 0.12596718966960907, + "learning_rate": 2.813742464676556e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6070 + }, + { + "epoch": 1.768984579575211, + "flow_matching_loss": 0.021153592504560947, + "grad_norm": 0.12534445524215698, + "learning_rate": 2.8129436644365025e-05, + "loss": 0.0212, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6080 + }, + { + "epoch": 1.7718940936863543, + "flow_matching_loss": 0.017484479304403066, + "grad_norm": 0.105809286236763, + "learning_rate": 2.8121432688460938e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6090 + }, + { + "epoch": 1.7748036077974978, + "flow_matching_loss": 0.01679418282583356, + "grad_norm": 0.11297567933797836, + "learning_rate": 2.8113412788778867e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6100 + }, + { + "epoch": 1.7777131219086413, + "flow_matching_loss": 0.019109909515827896, + "grad_norm": 0.11551922559738159, + "learning_rate": 2.8105376955063744e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6110 + }, + { + "epoch": 1.7806226360197845, + "flow_matching_loss": 0.01928710350766778, + "grad_norm": 0.12137347459793091, + "learning_rate": 2.8097325197079862e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6120 + }, + { + "epoch": 1.7835321501309283, + "flow_matching_loss": 0.018203885946422815, + "grad_norm": 0.0907687395811081, + "learning_rate": 2.808925752461087e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6130 + }, + { + "epoch": 1.7864416642420715, + "flow_matching_loss": 0.01826290963217616, + "grad_norm": 0.11915338784456253, + "learning_rate": 2.808117394745975e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6140 + }, + { + "epoch": 1.789351178353215, + "flow_matching_loss": 0.01614266959950328, + "grad_norm": 0.11217167973518372, + "learning_rate": 2.807307447544881e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6150 + }, + { + "epoch": 1.7922606924643585, + "flow_matching_loss": 0.017663425486534833, + "grad_norm": 0.09008045494556427, + "learning_rate": 2.806495911841967e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6160 + }, + { + "epoch": 1.7951702065755017, + "flow_matching_loss": 0.015332175139337777, + "grad_norm": 0.08052733540534973, + "learning_rate": 2.8056827886233255e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6170 + }, + { + "epoch": 1.7980797206866455, + "flow_matching_loss": 0.017585289012640715, + "grad_norm": 0.15248875319957733, + "learning_rate": 2.8048680788769783e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6180 + }, + { + "epoch": 1.8009892347977887, + "flow_matching_loss": 0.017513188533484936, + "grad_norm": 0.1371944397687912, + "learning_rate": 2.8040517835928742e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6190 + }, + { + "epoch": 1.8038987489089322, + "flow_matching_loss": 0.017416626773774625, + "grad_norm": 0.12009342759847641, + "learning_rate": 2.803233903762889e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6200 + }, + { + "epoch": 1.8068082630200757, + "flow_matching_loss": 0.017893504444509746, + "grad_norm": 0.07848326861858368, + "learning_rate": 2.8024144403808235e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6210 + }, + { + "epoch": 1.809717777131219, + "flow_matching_loss": 0.016462088748812675, + "grad_norm": 0.09369352459907532, + "learning_rate": 2.8015933944424037e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6220 + }, + { + "epoch": 1.8126272912423627, + "flow_matching_loss": 0.01730093788355589, + "grad_norm": 0.13067547976970673, + "learning_rate": 2.800770766945277e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6230 + }, + { + "epoch": 1.815536805353506, + "flow_matching_loss": 0.01837323447689414, + "grad_norm": 0.09569252282381058, + "learning_rate": 2.7999465588890135e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6240 + }, + { + "epoch": 1.8184463194646494, + "flow_matching_loss": 0.016202999744564295, + "grad_norm": 0.1250062733888626, + "learning_rate": 2.799120771275105e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6250 + }, + { + "epoch": 1.821355833575793, + "flow_matching_loss": 0.016586280521005393, + "grad_norm": 0.11580802500247955, + "learning_rate": 2.7982934051069597e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6260 + }, + { + "epoch": 1.8242653476869362, + "flow_matching_loss": 0.01672255024313927, + "grad_norm": 0.12801416218280792, + "learning_rate": 2.7974644613899063e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6270 + }, + { + "epoch": 1.8271748617980799, + "flow_matching_loss": 0.014880016446113586, + "grad_norm": 0.13099925220012665, + "learning_rate": 2.796633941131189e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6280 + }, + { + "epoch": 1.8300843759092231, + "flow_matching_loss": 0.018233840819448233, + "grad_norm": 0.11579989641904831, + "learning_rate": 2.795801845339969e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6290 + }, + { + "epoch": 1.8329938900203666, + "flow_matching_loss": 0.01688207108527422, + "grad_norm": 0.10951969772577286, + "learning_rate": 2.7949681750273208e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6300 + }, + { + "epoch": 1.83590340413151, + "flow_matching_loss": 0.016217350587248804, + "grad_norm": 0.09346123039722443, + "learning_rate": 2.7941329312062322e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6310 + }, + { + "epoch": 1.8388129182426534, + "flow_matching_loss": 0.016733193304389715, + "grad_norm": 0.10832978785037994, + "learning_rate": 2.7932961148916037e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6320 + }, + { + "epoch": 1.841722432353797, + "flow_matching_loss": 0.01879751365631819, + "grad_norm": 0.10815019905567169, + "learning_rate": 2.7924577271002456e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6330 + }, + { + "epoch": 1.8446319464649403, + "flow_matching_loss": 0.016188827250152825, + "grad_norm": 0.1148715689778328, + "learning_rate": 2.7916177688508782e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6340 + }, + { + "epoch": 1.8475414605760838, + "flow_matching_loss": 0.020991199649870396, + "grad_norm": 0.08606725186109543, + "learning_rate": 2.7907762411641302e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6350 + }, + { + "epoch": 1.8504509746872273, + "flow_matching_loss": 0.01606339681893587, + "grad_norm": 0.0924275740981102, + "learning_rate": 2.7899331450625367e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6360 + }, + { + "epoch": 1.8533604887983706, + "flow_matching_loss": 0.016284707840532063, + "grad_norm": 0.12790676951408386, + "learning_rate": 2.7890884815705397e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6370 + }, + { + "epoch": 1.8562700029095143, + "flow_matching_loss": 0.017275767400860786, + "grad_norm": 0.10732022672891617, + "learning_rate": 2.788242251714484e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6380 + }, + { + "epoch": 1.8591795170206575, + "flow_matching_loss": 0.018755065090954304, + "grad_norm": 0.10189679265022278, + "learning_rate": 2.787394456522619e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6390 + }, + { + "epoch": 1.862089031131801, + "flow_matching_loss": 0.01990004684776068, + "grad_norm": 0.11766950786113739, + "learning_rate": 2.7865450970250965e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6400 + }, + { + "epoch": 1.8649985452429445, + "flow_matching_loss": 0.01878608874976635, + "grad_norm": 0.17411038279533386, + "learning_rate": 2.7856941742539676e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6410 + }, + { + "epoch": 1.8679080593540878, + "flow_matching_loss": 0.01842458713799715, + "grad_norm": 0.10925261676311493, + "learning_rate": 2.784841689243184e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6420 + }, + { + "epoch": 1.8708175734652313, + "flow_matching_loss": 0.017378245387226342, + "grad_norm": 0.12856583297252655, + "learning_rate": 2.783987643028595e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6430 + }, + { + "epoch": 1.8737270875763747, + "flow_matching_loss": 0.018823392689228058, + "grad_norm": 0.10015350580215454, + "learning_rate": 2.783132036647948e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6440 + }, + { + "epoch": 1.8766366016875182, + "flow_matching_loss": 0.018006050772964955, + "grad_norm": 0.08441519737243652, + "learning_rate": 2.7822748711408852e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6450 + }, + { + "epoch": 1.8795461157986617, + "flow_matching_loss": 0.017847912665456534, + "grad_norm": 0.11122148483991623, + "learning_rate": 2.7814161475489428e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6460 + }, + { + "epoch": 1.882455629909805, + "flow_matching_loss": 0.016495147533714772, + "grad_norm": 0.15557995438575745, + "learning_rate": 2.780555866915552e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6470 + }, + { + "epoch": 1.8853651440209485, + "flow_matching_loss": 0.01692578326910734, + "grad_norm": 0.11330922693014145, + "learning_rate": 2.7796940302860338e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6480 + }, + { + "epoch": 1.888274658132092, + "flow_matching_loss": 0.018812003638595344, + "grad_norm": 0.12651439011096954, + "learning_rate": 2.7788306387076018e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6490 + }, + { + "epoch": 1.8911841722432354, + "flow_matching_loss": 0.018367813620716333, + "grad_norm": 0.11599776148796082, + "learning_rate": 2.7779656932293584e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6500 + }, + { + "epoch": 1.894093686354379, + "flow_matching_loss": 0.020099096372723578, + "grad_norm": 0.10351859033107758, + "learning_rate": 2.777099194902293e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6510 + }, + { + "epoch": 1.8970032004655222, + "flow_matching_loss": 0.016862448956817388, + "grad_norm": 0.09839875996112823, + "learning_rate": 2.776231144779283e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6520 + }, + { + "epoch": 1.8999127145766657, + "flow_matching_loss": 0.016878596879541873, + "grad_norm": 0.10313794761896133, + "learning_rate": 2.775361543915091e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6530 + }, + { + "epoch": 1.9028222286878091, + "flow_matching_loss": 0.01461391793563962, + "grad_norm": 0.11218715459108353, + "learning_rate": 2.774490393366365e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6540 + }, + { + "epoch": 1.9057317427989524, + "flow_matching_loss": 0.017354187089949846, + "grad_norm": 0.13544796407222748, + "learning_rate": 2.7736176941916346e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6550 + }, + { + "epoch": 1.9086412569100961, + "flow_matching_loss": 0.018263326957821846, + "grad_norm": 0.12265081703662872, + "learning_rate": 2.772743447451311e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6560 + }, + { + "epoch": 1.9115507710212394, + "flow_matching_loss": 0.0183584357611835, + "grad_norm": 0.09606435894966125, + "learning_rate": 2.7718676542076872e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6570 + }, + { + "epoch": 1.9144602851323829, + "flow_matching_loss": 0.01543194018304348, + "grad_norm": 0.11650577187538147, + "learning_rate": 2.770990315524934e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6580 + }, + { + "epoch": 1.9173697992435264, + "flow_matching_loss": 0.01788998506963253, + "grad_norm": 0.11390988528728485, + "learning_rate": 2.7701114324691015e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6590 + }, + { + "epoch": 1.9202793133546696, + "flow_matching_loss": 0.01838357737287879, + "grad_norm": 0.1323898285627365, + "learning_rate": 2.7692310061081145e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6600 + }, + { + "epoch": 1.9231888274658133, + "flow_matching_loss": 0.017492480855435134, + "grad_norm": 0.11903233081102371, + "learning_rate": 2.7683490375117742e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6610 + }, + { + "epoch": 1.9260983415769566, + "flow_matching_loss": 0.019849364645779133, + "grad_norm": 0.1452132761478424, + "learning_rate": 2.7674655277517556e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6620 + }, + { + "epoch": 1.9290078556881, + "flow_matching_loss": 0.01900507789105177, + "grad_norm": 0.12140579521656036, + "learning_rate": 2.7665804779016072e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6630 + }, + { + "epoch": 1.9319173697992436, + "flow_matching_loss": 0.019667327404022217, + "grad_norm": 0.11830097436904907, + "learning_rate": 2.765693889036747e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6640 + }, + { + "epoch": 1.9348268839103868, + "flow_matching_loss": 0.021670359652489424, + "grad_norm": 0.11277128756046295, + "learning_rate": 2.764805762234465e-05, + "loss": 0.0217, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6650 + }, + { + "epoch": 1.9377363980215305, + "flow_matching_loss": 0.01575261140242219, + "grad_norm": 0.14453358948230743, + "learning_rate": 2.7639160985739182e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6660 + }, + { + "epoch": 1.9406459121326738, + "flow_matching_loss": 0.018474088702350854, + "grad_norm": 0.09592021256685257, + "learning_rate": 2.7630248991361317e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6670 + }, + { + "epoch": 1.9435554262438173, + "flow_matching_loss": 0.015779444482177496, + "grad_norm": 0.15383872389793396, + "learning_rate": 2.762132165003998e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6680 + }, + { + "epoch": 1.9464649403549608, + "flow_matching_loss": 0.016789465304464103, + "grad_norm": 0.10910902917385101, + "learning_rate": 2.7612378972622722e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6690 + }, + { + "epoch": 1.949374454466104, + "flow_matching_loss": 0.017333113122731447, + "grad_norm": 0.09790121018886566, + "learning_rate": 2.7603420969975743e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6700 + }, + { + "epoch": 1.9522839685772477, + "flow_matching_loss": 0.019823113083839418, + "grad_norm": 0.1226925477385521, + "learning_rate": 2.7594447652983862e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6710 + }, + { + "epoch": 1.955193482688391, + "flow_matching_loss": 0.020638574939221145, + "grad_norm": 0.13097724318504333, + "learning_rate": 2.7585459032550497e-05, + "loss": 0.0206, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6720 + }, + { + "epoch": 1.9581029967995345, + "flow_matching_loss": 0.018247830960899592, + "grad_norm": 0.1194111630320549, + "learning_rate": 2.7576455119597684e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6730 + }, + { + "epoch": 1.961012510910678, + "flow_matching_loss": 0.017115032859146596, + "grad_norm": 0.09483236074447632, + "learning_rate": 2.7567435925066012e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6740 + }, + { + "epoch": 1.9639220250218212, + "flow_matching_loss": 0.021077724546194075, + "grad_norm": 0.12109430879354477, + "learning_rate": 2.7558401459914665e-05, + "loss": 0.0211, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6750 + }, + { + "epoch": 1.966831539132965, + "flow_matching_loss": 0.01891102408990264, + "grad_norm": 0.15113024413585663, + "learning_rate": 2.7549351735121362e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6760 + }, + { + "epoch": 1.9697410532441082, + "flow_matching_loss": 0.0188824113458395, + "grad_norm": 0.12170333415269852, + "learning_rate": 2.7540286761682377e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6770 + }, + { + "epoch": 1.9726505673552517, + "flow_matching_loss": 0.01818987848237157, + "grad_norm": 0.1391698271036148, + "learning_rate": 2.75312065506125e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6780 + }, + { + "epoch": 1.9755600814663952, + "flow_matching_loss": 0.01699362974613905, + "grad_norm": 0.11985226720571518, + "learning_rate": 2.7522111112945052e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6790 + }, + { + "epoch": 1.9784695955775384, + "flow_matching_loss": 0.017662439215928315, + "grad_norm": 0.11328037828207016, + "learning_rate": 2.751300045973184e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6800 + }, + { + "epoch": 1.9813791096886821, + "flow_matching_loss": 0.019131037499755622, + "grad_norm": 0.10547956079244614, + "learning_rate": 2.750387460204317e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6810 + }, + { + "epoch": 1.9842886237998254, + "flow_matching_loss": 0.02030148794874549, + "grad_norm": 0.12146274000406265, + "learning_rate": 2.7494733550967827e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6820 + }, + { + "epoch": 1.9871981379109689, + "flow_matching_loss": 0.016230526752769946, + "grad_norm": 0.11328304558992386, + "learning_rate": 2.748557731761304e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6830 + }, + { + "epoch": 1.9901076520221124, + "flow_matching_loss": 0.017728983238339425, + "grad_norm": 0.1269104927778244, + "learning_rate": 2.74764059131045e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6840 + }, + { + "epoch": 1.9930171661332556, + "flow_matching_loss": 0.016810919810086488, + "grad_norm": 0.12345997244119644, + "learning_rate": 2.7467219348586322e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6850 + }, + { + "epoch": 1.9959266802443993, + "flow_matching_loss": 0.017703443858772518, + "grad_norm": 0.10053258389234543, + "learning_rate": 2.7458017635221056e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6860 + }, + { + "epoch": 1.9988361943555426, + "flow_matching_loss": 0.01719107748940587, + "grad_norm": 0.11175565421581268, + "learning_rate": 2.7448800784189652e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6870 + }, + { + "epoch": 2.001745708466686, + "flow_matching_loss": 0.017435577884316444, + "grad_norm": 0.11203836649656296, + "learning_rate": 2.7439568806691448e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6880 + }, + { + "epoch": 2.0046552225778296, + "flow_matching_loss": 0.0173146465793252, + "grad_norm": 0.08875032514333725, + "learning_rate": 2.7430321713944167e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6890 + }, + { + "epoch": 2.007564736688973, + "flow_matching_loss": 0.0177831563167274, + "grad_norm": 0.1209065169095993, + "learning_rate": 2.7421059517183906e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6900 + }, + { + "epoch": 2.0104742508001165, + "flow_matching_loss": 0.019692422728985547, + "grad_norm": 0.12342308461666107, + "learning_rate": 2.7411782227665097e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6910 + }, + { + "epoch": 2.01338376491126, + "flow_matching_loss": 0.017796804942190648, + "grad_norm": 0.09782947599887848, + "learning_rate": 2.7402489856660528e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6920 + }, + { + "epoch": 2.016293279022403, + "flow_matching_loss": 0.0190798494964838, + "grad_norm": 0.12003324925899506, + "learning_rate": 2.7393182415461307e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6930 + }, + { + "epoch": 2.019202793133547, + "flow_matching_loss": 0.016001658886671065, + "grad_norm": 0.09373462200164795, + "learning_rate": 2.7383859915376853e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6940 + }, + { + "epoch": 2.02211230724469, + "flow_matching_loss": 0.018405097909271716, + "grad_norm": 0.1339779645204544, + "learning_rate": 2.7374522367734875e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6950 + }, + { + "epoch": 2.0250218213558338, + "flow_matching_loss": 0.01809637062251568, + "grad_norm": 0.12353444844484329, + "learning_rate": 2.7365169783881378e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6960 + }, + { + "epoch": 2.027931335466977, + "flow_matching_loss": 0.017540558241307735, + "grad_norm": 0.09555144608020782, + "learning_rate": 2.735580217518064e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6970 + }, + { + "epoch": 2.0308408495781203, + "flow_matching_loss": 0.0182176829315722, + "grad_norm": 0.11827414482831955, + "learning_rate": 2.7346419553015175e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6980 + }, + { + "epoch": 2.033750363689264, + "flow_matching_loss": 0.015898805763572454, + "grad_norm": 0.10022436827421188, + "learning_rate": 2.733702192878577e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 6990 + }, + { + "epoch": 2.0366598778004072, + "flow_matching_loss": 0.01604837067425251, + "grad_norm": 0.10450313240289688, + "learning_rate": 2.732760931391141e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7000 + }, + { + "epoch": 2.039569391911551, + "flow_matching_loss": 0.018710228707641365, + "grad_norm": 0.11998190730810165, + "learning_rate": 2.731818171982932e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7010 + }, + { + "epoch": 2.042478906022694, + "flow_matching_loss": 0.01585602816194296, + "grad_norm": 0.10168507695198059, + "learning_rate": 2.730873915799491e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7020 + }, + { + "epoch": 2.0453884201338375, + "flow_matching_loss": 0.01588471243157983, + "grad_norm": 0.11879070848226547, + "learning_rate": 2.7299281639881783e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7030 + }, + { + "epoch": 2.048297934244981, + "flow_matching_loss": 0.018196260184049608, + "grad_norm": 0.15618063509464264, + "learning_rate": 2.728980917698172e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7040 + }, + { + "epoch": 2.0512074483561245, + "flow_matching_loss": 0.01692497208714485, + "grad_norm": 0.1212330088019371, + "learning_rate": 2.7280321780804655e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7050 + }, + { + "epoch": 2.054116962467268, + "flow_matching_loss": 0.015437598899006843, + "grad_norm": 0.14177504181861877, + "learning_rate": 2.7270819462878666e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7060 + }, + { + "epoch": 2.0570264765784114, + "flow_matching_loss": 0.01864853873848915, + "grad_norm": 0.11047472804784775, + "learning_rate": 2.7261302234749965e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7070 + }, + { + "epoch": 2.0599359906895547, + "flow_matching_loss": 0.014973581861704588, + "grad_norm": 0.10042482614517212, + "learning_rate": 2.7251770107982888e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7080 + }, + { + "epoch": 2.0628455048006984, + "flow_matching_loss": 0.016965913679450752, + "grad_norm": 0.13323333859443665, + "learning_rate": 2.7242223094159856e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7090 + }, + { + "epoch": 2.0657550189118417, + "flow_matching_loss": 0.016971418354660272, + "grad_norm": 0.0917794406414032, + "learning_rate": 2.7232661204881408e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7100 + }, + { + "epoch": 2.0686645330229854, + "flow_matching_loss": 0.017643373180180787, + "grad_norm": 0.11661705374717712, + "learning_rate": 2.7223084451766123e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7110 + }, + { + "epoch": 2.0715740471341286, + "flow_matching_loss": 0.01741160759702325, + "grad_norm": 0.11489680409431458, + "learning_rate": 2.721349284645067e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7120 + }, + { + "epoch": 2.074483561245272, + "flow_matching_loss": 0.017601636797189714, + "grad_norm": 0.12241008877754211, + "learning_rate": 2.7203886400589752e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7130 + }, + { + "epoch": 2.0773930753564156, + "flow_matching_loss": 0.01667929198592901, + "grad_norm": 0.11048702895641327, + "learning_rate": 2.7194265125856105e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7140 + }, + { + "epoch": 2.080302589467559, + "flow_matching_loss": 0.01579396231099963, + "grad_norm": 0.11603341996669769, + "learning_rate": 2.718462903394049e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7150 + }, + { + "epoch": 2.0832121035787026, + "flow_matching_loss": 0.017431614734232426, + "grad_norm": 0.11444518715143204, + "learning_rate": 2.7174978136551662e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7160 + }, + { + "epoch": 2.086121617689846, + "flow_matching_loss": 0.01820968259125948, + "grad_norm": 0.12235233932733536, + "learning_rate": 2.716531244541637e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7170 + }, + { + "epoch": 2.089031131800989, + "flow_matching_loss": 0.01864355793222785, + "grad_norm": 0.12652893364429474, + "learning_rate": 2.715563197227934e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7180 + }, + { + "epoch": 2.091940645912133, + "flow_matching_loss": 0.017258357349783184, + "grad_norm": 0.11224298924207687, + "learning_rate": 2.714593672890327e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7190 + }, + { + "epoch": 2.094850160023276, + "flow_matching_loss": 0.016845961660146715, + "grad_norm": 0.11340802907943726, + "learning_rate": 2.7136226727068783e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7200 + }, + { + "epoch": 2.0977596741344193, + "flow_matching_loss": 0.017215593438595533, + "grad_norm": 0.0965806245803833, + "learning_rate": 2.712650197857445e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7210 + }, + { + "epoch": 2.100669188245563, + "flow_matching_loss": 0.015753113105893134, + "grad_norm": 0.11355383694171906, + "learning_rate": 2.7116762495236763e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7220 + }, + { + "epoch": 2.1035787023567063, + "flow_matching_loss": 0.018312367051839827, + "grad_norm": 0.09780694544315338, + "learning_rate": 2.7107008288890106e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7230 + }, + { + "epoch": 2.10648821646785, + "flow_matching_loss": 0.01964926775544882, + "grad_norm": 0.13877473771572113, + "learning_rate": 2.709723937138676e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7240 + }, + { + "epoch": 2.1093977305789933, + "flow_matching_loss": 0.015557850990444422, + "grad_norm": 0.08558918535709381, + "learning_rate": 2.7087455754596883e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7250 + }, + { + "epoch": 2.112307244690137, + "flow_matching_loss": 0.015238231793045998, + "grad_norm": 0.12342530488967896, + "learning_rate": 2.7077657450408498e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7260 + }, + { + "epoch": 2.1152167588012802, + "flow_matching_loss": 0.01861100234091282, + "grad_norm": 0.12034720182418823, + "learning_rate": 2.7067844470727456e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7270 + }, + { + "epoch": 2.1181262729124235, + "flow_matching_loss": 0.018320042174309492, + "grad_norm": 0.14450930058956146, + "learning_rate": 2.7058016827477455e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7280 + }, + { + "epoch": 2.121035787023567, + "flow_matching_loss": 0.019580350536853076, + "grad_norm": 0.1508459746837616, + "learning_rate": 2.7048174532600018e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7290 + }, + { + "epoch": 2.1239453011347105, + "flow_matching_loss": 0.01664600530639291, + "grad_norm": 0.13336458802223206, + "learning_rate": 2.7038317598054455e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7300 + }, + { + "epoch": 2.1268548152458537, + "flow_matching_loss": 0.017448041681200267, + "grad_norm": 0.15494240820407867, + "learning_rate": 2.702844603581787e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7310 + }, + { + "epoch": 2.1297643293569974, + "flow_matching_loss": 0.019138309080153702, + "grad_norm": 0.11199840903282166, + "learning_rate": 2.701855985788514e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7320 + }, + { + "epoch": 2.1326738434681407, + "flow_matching_loss": 0.01672644019126892, + "grad_norm": 0.08428388833999634, + "learning_rate": 2.7008659076268912e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7330 + }, + { + "epoch": 2.1355833575792844, + "flow_matching_loss": 0.01748482994735241, + "grad_norm": 0.10863957554101944, + "learning_rate": 2.6998743702999562e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7340 + }, + { + "epoch": 2.1384928716904277, + "flow_matching_loss": 0.017572818975895643, + "grad_norm": 0.11252627521753311, + "learning_rate": 2.6988813750125202e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7350 + }, + { + "epoch": 2.141402385801571, + "flow_matching_loss": 0.02188535388559103, + "grad_norm": 0.12160609662532806, + "learning_rate": 2.6978869229711668e-05, + "loss": 0.0219, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7360 + }, + { + "epoch": 2.1443118999127146, + "flow_matching_loss": 0.020391251612454652, + "grad_norm": 0.13399921357631683, + "learning_rate": 2.6968910153842484e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7370 + }, + { + "epoch": 2.147221414023858, + "flow_matching_loss": 0.01796585349366069, + "grad_norm": 0.11424553394317627, + "learning_rate": 2.6958936534618874e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7380 + }, + { + "epoch": 2.1501309281350016, + "flow_matching_loss": 0.019453843124210835, + "grad_norm": 0.12937243282794952, + "learning_rate": 2.694894838415971e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7390 + }, + { + "epoch": 2.153040442246145, + "flow_matching_loss": 0.01573341470211744, + "grad_norm": 0.09359820932149887, + "learning_rate": 2.6938945714601555e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7400 + }, + { + "epoch": 2.155949956357288, + "flow_matching_loss": 0.01662788288667798, + "grad_norm": 0.1203739270567894, + "learning_rate": 2.6928928538098587e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7410 + }, + { + "epoch": 2.158859470468432, + "flow_matching_loss": 0.017027465626597404, + "grad_norm": 0.11987117677927017, + "learning_rate": 2.6918896866822615e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7420 + }, + { + "epoch": 2.161768984579575, + "flow_matching_loss": 0.016998184099793433, + "grad_norm": 0.12011953443288803, + "learning_rate": 2.690885071296308e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7430 + }, + { + "epoch": 2.164678498690719, + "flow_matching_loss": 0.017352234851568938, + "grad_norm": 0.22696715593338013, + "learning_rate": 2.6898790088726993e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7440 + }, + { + "epoch": 2.167588012801862, + "flow_matching_loss": 0.016599456686526536, + "grad_norm": 0.09946326166391373, + "learning_rate": 2.6888715006338968e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7450 + }, + { + "epoch": 2.1704975269130053, + "flow_matching_loss": 0.01914468817412853, + "grad_norm": 0.11597046256065369, + "learning_rate": 2.6878625478041172e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7460 + }, + { + "epoch": 2.173407041024149, + "flow_matching_loss": 0.016364205814898013, + "grad_norm": 0.09008005261421204, + "learning_rate": 2.6868521516093342e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7470 + }, + { + "epoch": 2.1763165551352923, + "flow_matching_loss": 0.016332461684942245, + "grad_norm": 0.10448575019836426, + "learning_rate": 2.6858403132772745e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7480 + }, + { + "epoch": 2.179226069246436, + "flow_matching_loss": 0.014965881779789924, + "grad_norm": 0.07847945392131805, + "learning_rate": 2.6848270340374162e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7490 + }, + { + "epoch": 2.1821355833575793, + "flow_matching_loss": 0.019818289019167424, + "grad_norm": 0.1262654960155487, + "learning_rate": 2.68381231512099e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7500 + }, + { + "epoch": 2.1850450974687226, + "flow_matching_loss": 0.017626651749014854, + "grad_norm": 0.1284186691045761, + "learning_rate": 2.6827961577609745e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7510 + }, + { + "epoch": 2.1879546115798663, + "flow_matching_loss": 0.018498422298580407, + "grad_norm": 0.13370035588741302, + "learning_rate": 2.681778563192097e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7520 + }, + { + "epoch": 2.1908641256910095, + "flow_matching_loss": 0.016371334716677666, + "grad_norm": 0.09252047538757324, + "learning_rate": 2.6807595326508308e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7530 + }, + { + "epoch": 2.1937736398021532, + "flow_matching_loss": 0.016278231423348187, + "grad_norm": 0.12201910465955734, + "learning_rate": 2.679739067375394e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7540 + }, + { + "epoch": 2.1966831539132965, + "flow_matching_loss": 0.016908212658017875, + "grad_norm": 0.11926143616437912, + "learning_rate": 2.6787171686057487e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7550 + }, + { + "epoch": 2.1995926680244398, + "flow_matching_loss": 0.02035072548314929, + "grad_norm": 0.12285741418600082, + "learning_rate": 2.677693837583597e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7560 + }, + { + "epoch": 2.2025021821355835, + "flow_matching_loss": 0.016251463163644075, + "grad_norm": 0.09542950987815857, + "learning_rate": 2.6766690755523836e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7570 + }, + { + "epoch": 2.2054116962467267, + "flow_matching_loss": 0.01631044326350093, + "grad_norm": 0.11916668713092804, + "learning_rate": 2.675642883757291e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7580 + }, + { + "epoch": 2.2083212103578704, + "flow_matching_loss": 0.01585234310477972, + "grad_norm": 0.14547976851463318, + "learning_rate": 2.674615263445239e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7590 + }, + { + "epoch": 2.2112307244690137, + "flow_matching_loss": 0.017425152007490396, + "grad_norm": 0.13014855980873108, + "learning_rate": 2.673586215864882e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7600 + }, + { + "epoch": 2.214140238580157, + "flow_matching_loss": 0.015853448957204818, + "grad_norm": 0.11864129453897476, + "learning_rate": 2.6725557422666113e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7610 + }, + { + "epoch": 2.2170497526913007, + "flow_matching_loss": 0.016412901133298873, + "grad_norm": 0.10248634964227676, + "learning_rate": 2.6715238439025493e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7620 + }, + { + "epoch": 2.219959266802444, + "flow_matching_loss": 0.017739522084593774, + "grad_norm": 0.1253807246685028, + "learning_rate": 2.6704905220265493e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7630 + }, + { + "epoch": 2.2228687809135876, + "flow_matching_loss": 0.016985352616757154, + "grad_norm": 0.11341836303472519, + "learning_rate": 2.6694557778941947e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7640 + }, + { + "epoch": 2.225778295024731, + "flow_matching_loss": 0.017298088315874337, + "grad_norm": 0.11178072541952133, + "learning_rate": 2.6684196127627977e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7650 + }, + { + "epoch": 2.228687809135874, + "flow_matching_loss": 0.021040929295122624, + "grad_norm": 0.12944476306438446, + "learning_rate": 2.6673820278913963e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7660 + }, + { + "epoch": 2.231597323247018, + "flow_matching_loss": 0.017064191028475763, + "grad_norm": 0.12417172640562057, + "learning_rate": 2.6663430245407544e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7670 + }, + { + "epoch": 2.234506837358161, + "flow_matching_loss": 0.016943248827010392, + "grad_norm": 0.11252865940332413, + "learning_rate": 2.6653026039733585e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7680 + }, + { + "epoch": 2.237416351469305, + "flow_matching_loss": 0.015308880526572467, + "grad_norm": 0.09685195237398148, + "learning_rate": 2.6642607674534176e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7690 + }, + { + "epoch": 2.240325865580448, + "flow_matching_loss": 0.02038820702582598, + "grad_norm": 0.10780320316553116, + "learning_rate": 2.663217516246862e-05, + "loss": 0.0204, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7700 + }, + { + "epoch": 2.2432353796915914, + "flow_matching_loss": 0.018475333880633115, + "grad_norm": 0.11653785407543182, + "learning_rate": 2.66217285162134e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7710 + }, + { + "epoch": 2.246144893802735, + "flow_matching_loss": 0.0163867412135005, + "grad_norm": 0.1258302628993988, + "learning_rate": 2.6611267748462175e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7720 + }, + { + "epoch": 2.2490544079138783, + "flow_matching_loss": 0.01764605762436986, + "grad_norm": 0.1205541118979454, + "learning_rate": 2.6600792871925764e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7730 + }, + { + "epoch": 2.2519639220250216, + "flow_matching_loss": 0.01642740461975336, + "grad_norm": 0.11163084208965302, + "learning_rate": 2.659030389933213e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7740 + }, + { + "epoch": 2.2548734361361653, + "flow_matching_loss": 0.01767342062667012, + "grad_norm": 0.1212669238448143, + "learning_rate": 2.6579800843426358e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7750 + }, + { + "epoch": 2.2577829502473086, + "flow_matching_loss": 0.018280225154012442, + "grad_norm": 0.11847937107086182, + "learning_rate": 2.656928371697067e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7760 + }, + { + "epoch": 2.2606924643584523, + "flow_matching_loss": 0.021008302085101606, + "grad_norm": 0.1453200876712799, + "learning_rate": 2.6558752532744346e-05, + "loss": 0.021, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7770 + }, + { + "epoch": 2.2636019784695955, + "flow_matching_loss": 0.016321035288274287, + "grad_norm": 0.0997810885310173, + "learning_rate": 2.654820730354377e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7780 + }, + { + "epoch": 2.2665114925807393, + "flow_matching_loss": 0.01671474250033498, + "grad_norm": 0.10074617713689804, + "learning_rate": 2.6537648042182406e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7790 + }, + { + "epoch": 2.2694210066918825, + "flow_matching_loss": 0.016072724014520645, + "grad_norm": 0.11585905402898788, + "learning_rate": 2.6527074761490735e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7800 + }, + { + "epoch": 2.2723305208030258, + "flow_matching_loss": 0.017469223774969577, + "grad_norm": 0.11508093029260635, + "learning_rate": 2.6516487474316303e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7810 + }, + { + "epoch": 2.2752400349141695, + "flow_matching_loss": 0.01459194477647543, + "grad_norm": 0.10283304005861282, + "learning_rate": 2.650588619352365e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7820 + }, + { + "epoch": 2.2781495490253127, + "flow_matching_loss": 0.018551703169941904, + "grad_norm": 0.11478381603956223, + "learning_rate": 2.649527093199434e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7830 + }, + { + "epoch": 2.281059063136456, + "flow_matching_loss": 0.015691012237221004, + "grad_norm": 0.08410590142011642, + "learning_rate": 2.6484641702626914e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7840 + }, + { + "epoch": 2.2839685772475997, + "flow_matching_loss": 0.016974741779267787, + "grad_norm": 0.13230544328689575, + "learning_rate": 2.647399851833689e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7850 + }, + { + "epoch": 2.286878091358743, + "flow_matching_loss": 0.017789908032864333, + "grad_norm": 0.11129641532897949, + "learning_rate": 2.6463341392056735e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7860 + }, + { + "epoch": 2.2897876054698867, + "flow_matching_loss": 0.016092444118112326, + "grad_norm": 0.10538889467716217, + "learning_rate": 2.6452670336735867e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7870 + }, + { + "epoch": 2.29269711958103, + "flow_matching_loss": 0.017766276467591526, + "grad_norm": 0.12253779917955399, + "learning_rate": 2.644198536534063e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7880 + }, + { + "epoch": 2.295606633692173, + "flow_matching_loss": 0.019285667780786754, + "grad_norm": 0.15805090963840485, + "learning_rate": 2.6431286490854255e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7890 + }, + { + "epoch": 2.298516147803317, + "flow_matching_loss": 0.018604493513703347, + "grad_norm": 0.14619405567646027, + "learning_rate": 2.6420573726276903e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7900 + }, + { + "epoch": 2.30142566191446, + "flow_matching_loss": 0.01749508883804083, + "grad_norm": 0.12689359486103058, + "learning_rate": 2.6409847084625575e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7910 + }, + { + "epoch": 2.304335176025604, + "flow_matching_loss": 0.016550067346543074, + "grad_norm": 0.10485012084245682, + "learning_rate": 2.6399106578934167e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7920 + }, + { + "epoch": 2.307244690136747, + "flow_matching_loss": 0.0182763846591115, + "grad_norm": 0.10489598661661148, + "learning_rate": 2.63883522222534e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7930 + }, + { + "epoch": 2.3101542042478904, + "flow_matching_loss": 0.017717542126774788, + "grad_norm": 0.10970830917358398, + "learning_rate": 2.6377584027650827e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7940 + }, + { + "epoch": 2.313063718359034, + "flow_matching_loss": 0.017932040989398955, + "grad_norm": 0.10161306709051132, + "learning_rate": 2.636680200821083e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7950 + }, + { + "epoch": 2.3159732324701774, + "flow_matching_loss": 0.018742224480956794, + "grad_norm": 0.12765809893608093, + "learning_rate": 2.635600617703457e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7960 + }, + { + "epoch": 2.318882746581321, + "flow_matching_loss": 0.019150899071246386, + "grad_norm": 0.11000479757785797, + "learning_rate": 2.6345196547240007e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7970 + }, + { + "epoch": 2.3217922606924644, + "flow_matching_loss": 0.016979958303272723, + "grad_norm": 0.10427059233188629, + "learning_rate": 2.6334373131961854e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7980 + }, + { + "epoch": 2.3247017748036076, + "flow_matching_loss": 0.018065969366580246, + "grad_norm": 0.11045176535844803, + "learning_rate": 2.6323535944351583e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 7990 + }, + { + "epoch": 2.3276112889147513, + "flow_matching_loss": 0.01719649164006114, + "grad_norm": 0.12084464728832245, + "learning_rate": 2.63126849975774e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8000 + }, + { + "epoch": 2.3305208030258946, + "flow_matching_loss": 0.014549869671463966, + "grad_norm": 0.12149383127689362, + "learning_rate": 2.6301820304824234e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8010 + }, + { + "epoch": 2.3334303171370383, + "flow_matching_loss": 0.015468165278434753, + "grad_norm": 0.09906771034002304, + "learning_rate": 2.6290941879293703e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8020 + }, + { + "epoch": 2.3363398312481816, + "flow_matching_loss": 0.016727493330836295, + "grad_norm": 0.09298022091388702, + "learning_rate": 2.628004973420412e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8030 + }, + { + "epoch": 2.339249345359325, + "flow_matching_loss": 0.01780713992193341, + "grad_norm": 0.0962812602519989, + "learning_rate": 2.626914388279047e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8040 + }, + { + "epoch": 2.3421588594704685, + "flow_matching_loss": 0.01716128420084715, + "grad_norm": 0.1274179220199585, + "learning_rate": 2.6258224338304394e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8050 + }, + { + "epoch": 2.345068373581612, + "flow_matching_loss": 0.01627832306548953, + "grad_norm": 0.10326581448316574, + "learning_rate": 2.6247291114014166e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8060 + }, + { + "epoch": 2.347977887692755, + "flow_matching_loss": 0.01679211826995015, + "grad_norm": 0.1250070482492447, + "learning_rate": 2.6236344223204683e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8070 + }, + { + "epoch": 2.3508874018038988, + "flow_matching_loss": 0.017765718419104813, + "grad_norm": 0.11026758700609207, + "learning_rate": 2.6225383679177453e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8080 + }, + { + "epoch": 2.353796915915042, + "flow_matching_loss": 0.016825013887137176, + "grad_norm": 0.09353866428136826, + "learning_rate": 2.6214409495250568e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8090 + }, + { + "epoch": 2.3567064300261857, + "flow_matching_loss": 0.01925426861271262, + "grad_norm": 0.11393684148788452, + "learning_rate": 2.620342168475869e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8100 + }, + { + "epoch": 2.359615944137329, + "flow_matching_loss": 0.016017393860965966, + "grad_norm": 0.1440703123807907, + "learning_rate": 2.619242026105306e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8110 + }, + { + "epoch": 2.3625254582484727, + "flow_matching_loss": 0.018704708013683558, + "grad_norm": 0.1289077252149582, + "learning_rate": 2.618140523750143e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8120 + }, + { + "epoch": 2.365434972359616, + "flow_matching_loss": 0.01857182877138257, + "grad_norm": 0.12194701284170151, + "learning_rate": 2.6170376627488103e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8130 + }, + { + "epoch": 2.3683444864707592, + "flow_matching_loss": 0.015521081676706672, + "grad_norm": 0.11265277862548828, + "learning_rate": 2.6159334444413873e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8140 + }, + { + "epoch": 2.371254000581903, + "flow_matching_loss": 0.01757831424474716, + "grad_norm": 0.09469123184680939, + "learning_rate": 2.614827870169604e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8150 + }, + { + "epoch": 2.374163514693046, + "flow_matching_loss": 0.017488662246614696, + "grad_norm": 0.10542560368776321, + "learning_rate": 2.6137209412768367e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8160 + }, + { + "epoch": 2.3770730288041895, + "flow_matching_loss": 0.018438710551708936, + "grad_norm": 0.1111031025648117, + "learning_rate": 2.612612659108109e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8170 + }, + { + "epoch": 2.379982542915333, + "flow_matching_loss": 0.0159702873788774, + "grad_norm": 0.13398845493793488, + "learning_rate": 2.611503025010088e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8180 + }, + { + "epoch": 2.3828920570264764, + "flow_matching_loss": 0.01964768096804619, + "grad_norm": 0.1315792053937912, + "learning_rate": 2.6103920403310832e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8190 + }, + { + "epoch": 2.38580157113762, + "flow_matching_loss": 0.01632993733510375, + "grad_norm": 0.10560508072376251, + "learning_rate": 2.6092797064210465e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8200 + }, + { + "epoch": 2.3887110852487634, + "flow_matching_loss": 0.017378103267401458, + "grad_norm": 0.1177457794547081, + "learning_rate": 2.6081660246315685e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8210 + }, + { + "epoch": 2.391620599359907, + "flow_matching_loss": 0.015335936192423105, + "grad_norm": 0.14700788259506226, + "learning_rate": 2.6070509963158774e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8220 + }, + { + "epoch": 2.3945301134710504, + "flow_matching_loss": 0.015554336737841368, + "grad_norm": 0.10526885092258453, + "learning_rate": 2.6059346228288375e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8230 + }, + { + "epoch": 2.3974396275821936, + "flow_matching_loss": 0.016645537875592708, + "grad_norm": 0.10978873074054718, + "learning_rate": 2.604816905526948e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8240 + }, + { + "epoch": 2.4003491416933374, + "flow_matching_loss": 0.016634763963520528, + "grad_norm": 0.14993520081043243, + "learning_rate": 2.603697845768341e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8250 + }, + { + "epoch": 2.4032586558044806, + "flow_matching_loss": 0.016755477897822856, + "grad_norm": 0.1168566420674324, + "learning_rate": 2.6025774449127792e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8260 + }, + { + "epoch": 2.406168169915624, + "flow_matching_loss": 0.016319870436564087, + "grad_norm": 0.09252508729696274, + "learning_rate": 2.6014557043216562e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8270 + }, + { + "epoch": 2.4090776840267676, + "flow_matching_loss": 0.01692668255418539, + "grad_norm": 0.06976619362831116, + "learning_rate": 2.6003326253579913e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8280 + }, + { + "epoch": 2.411987198137911, + "flow_matching_loss": 0.01910008303821087, + "grad_norm": 0.11430369317531586, + "learning_rate": 2.599208209386432e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8290 + }, + { + "epoch": 2.4148967122490546, + "flow_matching_loss": 0.016802499070763588, + "grad_norm": 0.10502570122480392, + "learning_rate": 2.5980824577732502e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8300 + }, + { + "epoch": 2.417806226360198, + "flow_matching_loss": 0.017808874417096377, + "grad_norm": 0.1350080817937851, + "learning_rate": 2.5969553718863395e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8310 + }, + { + "epoch": 2.4207157404713415, + "flow_matching_loss": 0.01704282369464636, + "grad_norm": 0.11087500303983688, + "learning_rate": 2.595826953095216e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8320 + }, + { + "epoch": 2.423625254582485, + "flow_matching_loss": 0.017194853536784648, + "grad_norm": 0.07983724027872086, + "learning_rate": 2.594697202771014e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8330 + }, + { + "epoch": 2.426534768693628, + "flow_matching_loss": 0.017155701108276845, + "grad_norm": 0.12426573038101196, + "learning_rate": 2.5935661222864888e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8340 + }, + { + "epoch": 2.4294442828047718, + "flow_matching_loss": 0.01898983782157302, + "grad_norm": 0.18057365715503693, + "learning_rate": 2.592433713016008e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8350 + }, + { + "epoch": 2.432353796915915, + "flow_matching_loss": 0.01631089523434639, + "grad_norm": 0.10655892640352249, + "learning_rate": 2.5912999763355553e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8360 + }, + { + "epoch": 2.4352633110270583, + "flow_matching_loss": 0.01454385807737708, + "grad_norm": 0.07412122189998627, + "learning_rate": 2.590164913622729e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8370 + }, + { + "epoch": 2.438172825138202, + "flow_matching_loss": 0.017616424616426228, + "grad_norm": 0.11722438037395477, + "learning_rate": 2.589028526256737e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8380 + }, + { + "epoch": 2.4410823392493453, + "flow_matching_loss": 0.016823140997439624, + "grad_norm": 0.08754735440015793, + "learning_rate": 2.587890815618397e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8390 + }, + { + "epoch": 2.443991853360489, + "flow_matching_loss": 0.016391413891687988, + "grad_norm": 0.08107386529445648, + "learning_rate": 2.5867517830901343e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8400 + }, + { + "epoch": 2.4469013674716322, + "flow_matching_loss": 0.01870110733434558, + "grad_norm": 0.12521617114543915, + "learning_rate": 2.5856114300559812e-05, + "loss": 0.0187, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8410 + }, + { + "epoch": 2.4498108815827755, + "flow_matching_loss": 0.017127951327711343, + "grad_norm": 0.11174993216991425, + "learning_rate": 2.584469757901574e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8420 + }, + { + "epoch": 2.452720395693919, + "flow_matching_loss": 0.015640287939459086, + "grad_norm": 0.13448667526245117, + "learning_rate": 2.5833267680141526e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8430 + }, + { + "epoch": 2.4556299098050625, + "flow_matching_loss": 0.017448112182319165, + "grad_norm": 0.11482925713062286, + "learning_rate": 2.5821824617825564e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8440 + }, + { + "epoch": 2.458539423916206, + "flow_matching_loss": 0.020115241501480342, + "grad_norm": 0.13736563920974731, + "learning_rate": 2.5810368405972265e-05, + "loss": 0.0201, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8450 + }, + { + "epoch": 2.4614489380273494, + "flow_matching_loss": 0.016688069701194762, + "grad_norm": 0.10416774451732635, + "learning_rate": 2.5798899058501996e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8460 + }, + { + "epoch": 2.4643584521384927, + "flow_matching_loss": 0.017670874390751122, + "grad_norm": 0.12004610896110535, + "learning_rate": 2.578741658935111e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8470 + }, + { + "epoch": 2.4672679662496364, + "flow_matching_loss": 0.017229663394391536, + "grad_norm": 0.10343571752309799, + "learning_rate": 2.5775921012471875e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8480 + }, + { + "epoch": 2.4701774803607797, + "flow_matching_loss": 0.0171454980969429, + "grad_norm": 0.11648865044116974, + "learning_rate": 2.5764412341832505e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8490 + }, + { + "epoch": 2.4730869944719234, + "flow_matching_loss": 0.01853074664250016, + "grad_norm": 0.1156066283583641, + "learning_rate": 2.5752890591417125e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8500 + }, + { + "epoch": 2.4759965085830666, + "flow_matching_loss": 0.01678046500310302, + "grad_norm": 0.14164118468761444, + "learning_rate": 2.5741355775225744e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8510 + }, + { + "epoch": 2.47890602269421, + "flow_matching_loss": 0.016858720779418947, + "grad_norm": 0.08325253427028656, + "learning_rate": 2.5729807907274254e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8520 + }, + { + "epoch": 2.4818155368053536, + "flow_matching_loss": 0.016920937970280648, + "grad_norm": 0.1272038072347641, + "learning_rate": 2.5718247001594403e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8530 + }, + { + "epoch": 2.484725050916497, + "flow_matching_loss": 0.018896869756281374, + "grad_norm": 0.12361124157905579, + "learning_rate": 2.5706673072233776e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8540 + }, + { + "epoch": 2.4876345650276406, + "flow_matching_loss": 0.015428144205361604, + "grad_norm": 0.11501457542181015, + "learning_rate": 2.5695086133255795e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8550 + }, + { + "epoch": 2.490544079138784, + "flow_matching_loss": 0.01859405105933547, + "grad_norm": 0.1441567987203598, + "learning_rate": 2.5683486198739687e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8560 + }, + { + "epoch": 2.493453593249927, + "flow_matching_loss": 0.01962322574108839, + "grad_norm": 0.10370060801506042, + "learning_rate": 2.5671873282780452e-05, + "loss": 0.0196, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8570 + }, + { + "epoch": 2.496363107361071, + "flow_matching_loss": 0.0165959938429296, + "grad_norm": 0.1442680060863495, + "learning_rate": 2.5660247399488887e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8580 + }, + { + "epoch": 2.499272621472214, + "flow_matching_loss": 0.016499833576381205, + "grad_norm": 0.1285504549741745, + "learning_rate": 2.564860856299154e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8590 + }, + { + "epoch": 2.5021821355833573, + "flow_matching_loss": 0.015874734986573456, + "grad_norm": 0.14332184195518494, + "learning_rate": 2.5636956787430693e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8600 + }, + { + "epoch": 2.505091649694501, + "flow_matching_loss": 0.01814179727807641, + "grad_norm": 0.12153556197881699, + "learning_rate": 2.5625292086964346e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8610 + }, + { + "epoch": 2.5080011638056443, + "flow_matching_loss": 0.016269380692392588, + "grad_norm": 0.11518413573503494, + "learning_rate": 2.5613614475766212e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8620 + }, + { + "epoch": 2.510910677916788, + "flow_matching_loss": 0.01791418148204684, + "grad_norm": 0.10968419164419174, + "learning_rate": 2.5601923968025694e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8630 + }, + { + "epoch": 2.5138201920279313, + "flow_matching_loss": 0.018147532641887665, + "grad_norm": 0.11626190692186356, + "learning_rate": 2.5590220577947862e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8640 + }, + { + "epoch": 2.516729706139075, + "flow_matching_loss": 0.01697032218798995, + "grad_norm": 0.09577018767595291, + "learning_rate": 2.5578504319753427e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8650 + }, + { + "epoch": 2.5196392202502182, + "flow_matching_loss": 0.016397624183446168, + "grad_norm": 0.0878526046872139, + "learning_rate": 2.556677520767876e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8660 + }, + { + "epoch": 2.5225487343613615, + "flow_matching_loss": 0.018809744529426096, + "grad_norm": 0.11401788145303726, + "learning_rate": 2.5555033255975835e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8670 + }, + { + "epoch": 2.525458248472505, + "flow_matching_loss": 0.01815314432606101, + "grad_norm": 0.10548300296068192, + "learning_rate": 2.5543278478912228e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8680 + }, + { + "epoch": 2.5283677625836485, + "flow_matching_loss": 0.01566471392288804, + "grad_norm": 0.10048138350248337, + "learning_rate": 2.55315108907711e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8690 + }, + { + "epoch": 2.5312772766947917, + "flow_matching_loss": 0.015277326758950948, + "grad_norm": 0.12118951231241226, + "learning_rate": 2.551973050585119e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8700 + }, + { + "epoch": 2.5341867908059355, + "flow_matching_loss": 0.01894361721351743, + "grad_norm": 0.14565297961235046, + "learning_rate": 2.5507937338466768e-05, + "loss": 0.0189, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8710 + }, + { + "epoch": 2.5370963049170787, + "flow_matching_loss": 0.017128375824540854, + "grad_norm": 0.12469197809696198, + "learning_rate": 2.549613140294764e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8720 + }, + { + "epoch": 2.5400058190282224, + "flow_matching_loss": 0.015837787929922343, + "grad_norm": 0.15296585857868195, + "learning_rate": 2.548431271363914e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8730 + }, + { + "epoch": 2.5429153331393657, + "flow_matching_loss": 0.017362258303910492, + "grad_norm": 0.08656017482280731, + "learning_rate": 2.5472481284902092e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8740 + }, + { + "epoch": 2.5458248472505094, + "flow_matching_loss": 0.016038631927222012, + "grad_norm": 0.12120016664266586, + "learning_rate": 2.5460637131112788e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8750 + }, + { + "epoch": 2.5487343613616527, + "flow_matching_loss": 0.016367666982114316, + "grad_norm": 0.12420490384101868, + "learning_rate": 2.5448780266662995e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8760 + }, + { + "epoch": 2.551643875472796, + "flow_matching_loss": 0.01876147845759988, + "grad_norm": 0.09605380147695541, + "learning_rate": 2.5436910705959926e-05, + "loss": 0.0188, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8770 + }, + { + "epoch": 2.5545533895839396, + "flow_matching_loss": 0.017641094885766505, + "grad_norm": 0.11762631684541702, + "learning_rate": 2.542502846342621e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8780 + }, + { + "epoch": 2.557462903695083, + "flow_matching_loss": 0.017622995562851428, + "grad_norm": 0.14830462634563446, + "learning_rate": 2.5413133553499892e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8790 + }, + { + "epoch": 2.560372417806226, + "flow_matching_loss": 0.013978441432118415, + "grad_norm": 0.11422058939933777, + "learning_rate": 2.540122599063442e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8800 + }, + { + "epoch": 2.56328193191737, + "flow_matching_loss": 0.015049460902810096, + "grad_norm": 0.1166207492351532, + "learning_rate": 2.538930578929859e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8810 + }, + { + "epoch": 2.566191446028513, + "flow_matching_loss": 0.017593487072736023, + "grad_norm": 0.10149649530649185, + "learning_rate": 2.537737296397658e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8820 + }, + { + "epoch": 2.569100960139657, + "flow_matching_loss": 0.016708186361938715, + "grad_norm": 0.11151514947414398, + "learning_rate": 2.5365427529167903e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8830 + }, + { + "epoch": 2.5720104742508, + "flow_matching_loss": 0.01949027655646205, + "grad_norm": 0.090674988925457, + "learning_rate": 2.5353469499387375e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8840 + }, + { + "epoch": 2.574919988361944, + "flow_matching_loss": 0.01862436095252633, + "grad_norm": 0.11255960911512375, + "learning_rate": 2.534149888916514e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8850 + }, + { + "epoch": 2.577829502473087, + "flow_matching_loss": 0.01670234967023134, + "grad_norm": 0.13812731206417084, + "learning_rate": 2.5329515713046616e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8860 + }, + { + "epoch": 2.5807390165842303, + "flow_matching_loss": 0.019194807298481463, + "grad_norm": 0.1330675631761551, + "learning_rate": 2.531751998559249e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8870 + }, + { + "epoch": 2.583648530695374, + "flow_matching_loss": 0.01637388952076435, + "grad_norm": 0.12022623419761658, + "learning_rate": 2.5305511721378703e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8880 + }, + { + "epoch": 2.5865580448065173, + "flow_matching_loss": 0.01781469350680709, + "grad_norm": 0.0882648378610611, + "learning_rate": 2.529349093499642e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8890 + }, + { + "epoch": 2.5894675589176606, + "flow_matching_loss": 0.017463036812841892, + "grad_norm": 0.11803599447011948, + "learning_rate": 2.528145764105205e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8900 + }, + { + "epoch": 2.5923770730288043, + "flow_matching_loss": 0.015909133572131397, + "grad_norm": 0.15119528770446777, + "learning_rate": 2.5269411854167166e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8910 + }, + { + "epoch": 2.5952865871399475, + "flow_matching_loss": 0.01797808427363634, + "grad_norm": 0.11939815431833267, + "learning_rate": 2.5257353588978534e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8920 + }, + { + "epoch": 2.598196101251091, + "flow_matching_loss": 0.020275427866727112, + "grad_norm": 0.0978541225194931, + "learning_rate": 2.5245282860138083e-05, + "loss": 0.0203, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8930 + }, + { + "epoch": 2.6011056153622345, + "flow_matching_loss": 0.017469173949211835, + "grad_norm": 0.11064127087593079, + "learning_rate": 2.5233199682312894e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8940 + }, + { + "epoch": 2.604015129473378, + "flow_matching_loss": 0.016525054443627597, + "grad_norm": 0.12604659795761108, + "learning_rate": 2.5221104070185163e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8950 + }, + { + "epoch": 2.6069246435845215, + "flow_matching_loss": 0.019326313212513924, + "grad_norm": 0.11338990926742554, + "learning_rate": 2.5208996038452204e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8960 + }, + { + "epoch": 2.6098341576956647, + "flow_matching_loss": 0.019982766918838026, + "grad_norm": 0.10981008410453796, + "learning_rate": 2.5196875601826403e-05, + "loss": 0.02, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8970 + }, + { + "epoch": 2.6127436718068084, + "flow_matching_loss": 0.016192029509693385, + "grad_norm": 0.11876348406076431, + "learning_rate": 2.518474277503525e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8980 + }, + { + "epoch": 2.6156531859179517, + "flow_matching_loss": 0.01822204692289233, + "grad_norm": 0.08736420422792435, + "learning_rate": 2.5172597572821266e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 8990 + }, + { + "epoch": 2.618562700029095, + "flow_matching_loss": 0.01717279041185975, + "grad_norm": 0.1216176375746727, + "learning_rate": 2.5160440009942015e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9000 + }, + { + "epoch": 2.6214722141402387, + "flow_matching_loss": 0.017882788088172674, + "grad_norm": 0.1654921919107437, + "learning_rate": 2.514827010117009e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9010 + }, + { + "epoch": 2.624381728251382, + "flow_matching_loss": 0.01819196091964841, + "grad_norm": 0.13326898217201233, + "learning_rate": 2.5136087861293068e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9020 + }, + { + "epoch": 2.627291242362525, + "flow_matching_loss": 0.018203961942344905, + "grad_norm": 0.11824648827314377, + "learning_rate": 2.5123893305113525e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9030 + }, + { + "epoch": 2.630200756473669, + "flow_matching_loss": 0.016042120195925234, + "grad_norm": 0.11198010295629501, + "learning_rate": 2.5111686447448997e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9040 + }, + { + "epoch": 2.633110270584812, + "flow_matching_loss": 0.01613415712490678, + "grad_norm": 0.09057065099477768, + "learning_rate": 2.5099467303131966e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9050 + }, + { + "epoch": 2.636019784695956, + "flow_matching_loss": 0.016879433393478395, + "grad_norm": 0.10581522434949875, + "learning_rate": 2.508723588700984e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9060 + }, + { + "epoch": 2.638929298807099, + "flow_matching_loss": 0.017717109993100166, + "grad_norm": 0.13838247954845428, + "learning_rate": 2.5074992213944952e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9070 + }, + { + "epoch": 2.641838812918243, + "flow_matching_loss": 0.017181267403066157, + "grad_norm": 0.12982213497161865, + "learning_rate": 2.506273629881451e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9080 + }, + { + "epoch": 2.644748327029386, + "flow_matching_loss": 0.015768775437027215, + "grad_norm": 0.14230825006961823, + "learning_rate": 2.5050468156510617e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9090 + }, + { + "epoch": 2.6476578411405294, + "flow_matching_loss": 0.017283480428159238, + "grad_norm": 0.07906153798103333, + "learning_rate": 2.5038187801940215e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9100 + }, + { + "epoch": 2.650567355251673, + "flow_matching_loss": 0.01628304198384285, + "grad_norm": 0.14100733399391174, + "learning_rate": 2.5025895250025088e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9110 + }, + { + "epoch": 2.6534768693628163, + "flow_matching_loss": 0.01754012396559119, + "grad_norm": 0.11707746982574463, + "learning_rate": 2.501359051570186e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9120 + }, + { + "epoch": 2.6563863834739596, + "flow_matching_loss": 0.0159711766988039, + "grad_norm": 0.08961039781570435, + "learning_rate": 2.500127361392193e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9130 + }, + { + "epoch": 2.6592958975851033, + "flow_matching_loss": 0.015584295522421599, + "grad_norm": 0.08133623749017715, + "learning_rate": 2.49889445596515e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9140 + }, + { + "epoch": 2.6622054116962466, + "flow_matching_loss": 0.01937930416315794, + "grad_norm": 0.11510942876338959, + "learning_rate": 2.497660336787154e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9150 + }, + { + "epoch": 2.6651149258073903, + "flow_matching_loss": 0.01530215060338378, + "grad_norm": 0.09052211791276932, + "learning_rate": 2.496425005357775e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9160 + }, + { + "epoch": 2.6680244399185336, + "flow_matching_loss": 0.017334671318531038, + "grad_norm": 0.09818930923938751, + "learning_rate": 2.4951884631780578e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9170 + }, + { + "epoch": 2.6709339540296773, + "flow_matching_loss": 0.016205344581976533, + "grad_norm": 0.08018790930509567, + "learning_rate": 2.493950711750518e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9180 + }, + { + "epoch": 2.6738434681408205, + "flow_matching_loss": 0.019520527310669424, + "grad_norm": 0.12309391051530838, + "learning_rate": 2.49271175257914e-05, + "loss": 0.0195, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9190 + }, + { + "epoch": 2.676752982251964, + "flow_matching_loss": 0.017270689085125922, + "grad_norm": 0.12243552505970001, + "learning_rate": 2.4914715871693757e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9200 + }, + { + "epoch": 2.6796624963631075, + "flow_matching_loss": 0.0179143819026649, + "grad_norm": 0.15873444080352783, + "learning_rate": 2.4902302170281438e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9210 + }, + { + "epoch": 2.6825720104742508, + "flow_matching_loss": 0.01726808724924922, + "grad_norm": 0.11585845053195953, + "learning_rate": 2.4889876436638252e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9220 + }, + { + "epoch": 2.685481524585394, + "flow_matching_loss": 0.017909670993685723, + "grad_norm": 0.11930511146783829, + "learning_rate": 2.4877438685862643e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9230 + }, + { + "epoch": 2.6883910386965377, + "flow_matching_loss": 0.015285777021199464, + "grad_norm": 0.1148432120680809, + "learning_rate": 2.486498893306765e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9240 + }, + { + "epoch": 2.691300552807681, + "flow_matching_loss": 0.016536886990070342, + "grad_norm": 0.10863346606492996, + "learning_rate": 2.485252719338089e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9250 + }, + { + "epoch": 2.6942100669188247, + "flow_matching_loss": 0.01830021506175399, + "grad_norm": 0.10381485521793365, + "learning_rate": 2.4840053481944563e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9260 + }, + { + "epoch": 2.697119581029968, + "flow_matching_loss": 0.019784092623740434, + "grad_norm": 0.12176644057035446, + "learning_rate": 2.4827567813915398e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9270 + }, + { + "epoch": 2.7000290951411117, + "flow_matching_loss": 0.017168634012341498, + "grad_norm": 0.12746606767177582, + "learning_rate": 2.481507020446466e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9280 + }, + { + "epoch": 2.702938609252255, + "flow_matching_loss": 0.015474267490208148, + "grad_norm": 0.0994492843747139, + "learning_rate": 2.4802560668778122e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9290 + }, + { + "epoch": 2.705848123363398, + "flow_matching_loss": 0.017572528403252363, + "grad_norm": 0.14493130147457123, + "learning_rate": 2.479003922205605e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9300 + }, + { + "epoch": 2.708757637474542, + "flow_matching_loss": 0.01622952679172158, + "grad_norm": 0.13100244104862213, + "learning_rate": 2.4777505879513183e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9310 + }, + { + "epoch": 2.711667151585685, + "flow_matching_loss": 0.014987134747207165, + "grad_norm": 0.10362987220287323, + "learning_rate": 2.4764960656378714e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9320 + }, + { + "epoch": 2.7145766656968284, + "flow_matching_loss": 0.016367993783205748, + "grad_norm": 0.12204281240701675, + "learning_rate": 2.4752403567896274e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9330 + }, + { + "epoch": 2.717486179807972, + "flow_matching_loss": 0.01985733201727271, + "grad_norm": 0.1013481616973877, + "learning_rate": 2.47398346293239e-05, + "loss": 0.0199, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9340 + }, + { + "epoch": 2.7203956939191154, + "flow_matching_loss": 0.01757642375305295, + "grad_norm": 0.10327482223510742, + "learning_rate": 2.4727253855934055e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9350 + }, + { + "epoch": 2.723305208030259, + "flow_matching_loss": 0.01586282504722476, + "grad_norm": 0.09873376786708832, + "learning_rate": 2.4714661263013548e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9360 + }, + { + "epoch": 2.7262147221414024, + "flow_matching_loss": 0.016366875637322663, + "grad_norm": 0.10671724379062653, + "learning_rate": 2.4702056865863575e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9370 + }, + { + "epoch": 2.729124236252546, + "flow_matching_loss": 0.013824605382978916, + "grad_norm": 0.08745046705007553, + "learning_rate": 2.4689440679799672e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9380 + }, + { + "epoch": 2.7320337503636893, + "flow_matching_loss": 0.017320716381073, + "grad_norm": 0.15766166150569916, + "learning_rate": 2.4676812720151678e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9390 + }, + { + "epoch": 2.7349432644748326, + "flow_matching_loss": 0.017824973724782468, + "grad_norm": 0.12940137088298798, + "learning_rate": 2.466417300226377e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9400 + }, + { + "epoch": 2.7378527785859763, + "flow_matching_loss": 0.0184746066108346, + "grad_norm": 0.11980470269918442, + "learning_rate": 2.4651521541494394e-05, + "loss": 0.0185, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9410 + }, + { + "epoch": 2.7407622926971196, + "flow_matching_loss": 0.01584814041852951, + "grad_norm": 0.09810323268175125, + "learning_rate": 2.4638858353216267e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9420 + }, + { + "epoch": 2.743671806808263, + "flow_matching_loss": 0.01571669289842248, + "grad_norm": 0.12834949791431427, + "learning_rate": 2.4626183452816355e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9430 + }, + { + "epoch": 2.7465813209194065, + "flow_matching_loss": 0.017157113738358022, + "grad_norm": 0.10528701543807983, + "learning_rate": 2.4613496855695855e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9440 + }, + { + "epoch": 2.74949083503055, + "flow_matching_loss": 0.017285628151148556, + "grad_norm": 0.127513125538826, + "learning_rate": 2.4600798577270183e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9450 + }, + { + "epoch": 2.752400349141693, + "flow_matching_loss": 0.018260705936700105, + "grad_norm": 0.155390202999115, + "learning_rate": 2.4588088632968944e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9460 + }, + { + "epoch": 2.7553098632528368, + "flow_matching_loss": 0.017510170675814153, + "grad_norm": 0.08039727807044983, + "learning_rate": 2.4575367038235916e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9470 + }, + { + "epoch": 2.7582193773639805, + "flow_matching_loss": 0.016574928909540175, + "grad_norm": 0.1213904470205307, + "learning_rate": 2.4562633808529043e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9480 + }, + { + "epoch": 2.7611288914751237, + "flow_matching_loss": 0.015415260381996632, + "grad_norm": 0.11097124218940735, + "learning_rate": 2.4549888959320396e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9490 + }, + { + "epoch": 2.764038405586267, + "flow_matching_loss": 0.01449674367904663, + "grad_norm": 0.09575482457876205, + "learning_rate": 2.4537132506096162e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9500 + }, + { + "epoch": 2.7669479196974107, + "flow_matching_loss": 0.017224962823092937, + "grad_norm": 0.10754132270812988, + "learning_rate": 2.452436446435664e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9510 + }, + { + "epoch": 2.769857433808554, + "flow_matching_loss": 0.018157665338367223, + "grad_norm": 0.10243146866559982, + "learning_rate": 2.451158484961621e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9520 + }, + { + "epoch": 2.7727669479196972, + "flow_matching_loss": 0.013615569286048412, + "grad_norm": 0.09387919306755066, + "learning_rate": 2.4498793677403304e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9530 + }, + { + "epoch": 2.775676462030841, + "flow_matching_loss": 0.01689282851293683, + "grad_norm": 0.09537921100854874, + "learning_rate": 2.4485990963260398e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9540 + }, + { + "epoch": 2.778585976141984, + "flow_matching_loss": 0.017376971058547498, + "grad_norm": 0.12231787294149399, + "learning_rate": 2.4473176722744e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9550 + }, + { + "epoch": 2.7814954902531275, + "flow_matching_loss": 0.014756333827972413, + "grad_norm": 0.07685177028179169, + "learning_rate": 2.446035097142463e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9560 + }, + { + "epoch": 2.784405004364271, + "flow_matching_loss": 0.016911543626338243, + "grad_norm": 0.1018383577466011, + "learning_rate": 2.444751372488677e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9570 + }, + { + "epoch": 2.7873145184754144, + "flow_matching_loss": 0.018260621838271617, + "grad_norm": 0.1376466602087021, + "learning_rate": 2.443466499872889e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9580 + }, + { + "epoch": 2.790224032586558, + "flow_matching_loss": 0.017728344537317753, + "grad_norm": 0.14645405113697052, + "learning_rate": 2.4421804808563413e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9590 + }, + { + "epoch": 2.7931335466977014, + "flow_matching_loss": 0.016549684666097166, + "grad_norm": 0.1073199212551117, + "learning_rate": 2.440893317001667e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9600 + }, + { + "epoch": 2.796043060808845, + "flow_matching_loss": 0.016059650387614966, + "grad_norm": 0.1044926792383194, + "learning_rate": 2.4396050098728925e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9610 + }, + { + "epoch": 2.7989525749199884, + "flow_matching_loss": 0.017208677902817725, + "grad_norm": 0.10751927644014359, + "learning_rate": 2.4383155610354314e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9620 + }, + { + "epoch": 2.8018620890311317, + "flow_matching_loss": 0.016147077549248934, + "grad_norm": 0.07963055372238159, + "learning_rate": 2.437024972056087e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9630 + }, + { + "epoch": 2.8047716031422754, + "flow_matching_loss": 0.01707923747599125, + "grad_norm": 0.1083112508058548, + "learning_rate": 2.4357332445030452e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9640 + }, + { + "epoch": 2.8076811172534186, + "flow_matching_loss": 0.015715975128114224, + "grad_norm": 0.10296356678009033, + "learning_rate": 2.434440379945878e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9650 + }, + { + "epoch": 2.810590631364562, + "flow_matching_loss": 0.014534167852252722, + "grad_norm": 0.1007218211889267, + "learning_rate": 2.4331463799555366e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9660 + }, + { + "epoch": 2.8135001454757056, + "flow_matching_loss": 0.016051693819463253, + "grad_norm": 0.14925992488861084, + "learning_rate": 2.4318512461043544e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9670 + }, + { + "epoch": 2.816409659586849, + "flow_matching_loss": 0.014403313491493463, + "grad_norm": 0.0982242003083229, + "learning_rate": 2.4305549799660397e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9680 + }, + { + "epoch": 2.8193191736979926, + "flow_matching_loss": 0.015732188429683446, + "grad_norm": 0.10194705426692963, + "learning_rate": 2.429257583115679e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9690 + }, + { + "epoch": 2.822228687809136, + "flow_matching_loss": 0.016141813807189466, + "grad_norm": 0.08815811574459076, + "learning_rate": 2.4279590571297316e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9700 + }, + { + "epoch": 2.8251382019202795, + "flow_matching_loss": 0.016308937687426805, + "grad_norm": 0.11461198329925537, + "learning_rate": 2.4266594035860288e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9710 + }, + { + "epoch": 2.828047716031423, + "flow_matching_loss": 0.01515008695423603, + "grad_norm": 0.10499383509159088, + "learning_rate": 2.425358624063773e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9720 + }, + { + "epoch": 2.830957230142566, + "flow_matching_loss": 0.014447329193353653, + "grad_norm": 0.1211719810962677, + "learning_rate": 2.424056720143532e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9730 + }, + { + "epoch": 2.8338667442537098, + "flow_matching_loss": 0.01931835487484932, + "grad_norm": 0.1261720359325409, + "learning_rate": 2.422753693407244e-05, + "loss": 0.0193, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9740 + }, + { + "epoch": 2.836776258364853, + "flow_matching_loss": 0.017942457739263774, + "grad_norm": 0.15144218504428864, + "learning_rate": 2.421449545438209e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9750 + }, + { + "epoch": 2.8396857724759963, + "flow_matching_loss": 0.01601032931357622, + "grad_norm": 0.0798363909125328, + "learning_rate": 2.4201442778210887e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9760 + }, + { + "epoch": 2.84259528658714, + "flow_matching_loss": 0.01529185576364398, + "grad_norm": 0.11589992791414261, + "learning_rate": 2.418837892141907e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9770 + }, + { + "epoch": 2.8455048006982833, + "flow_matching_loss": 0.018036753684282304, + "grad_norm": 0.10245546698570251, + "learning_rate": 2.4175303899880458e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9780 + }, + { + "epoch": 2.848414314809427, + "flow_matching_loss": 0.018567808158695697, + "grad_norm": 0.1005258858203888, + "learning_rate": 2.4162217729482427e-05, + "loss": 0.0186, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9790 + }, + { + "epoch": 2.8513238289205702, + "flow_matching_loss": 0.015310059394687414, + "grad_norm": 0.12031387537717819, + "learning_rate": 2.4149120426125918e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9800 + }, + { + "epoch": 2.854233343031714, + "flow_matching_loss": 0.014036837173625827, + "grad_norm": 0.09140808880329132, + "learning_rate": 2.413601200572538e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9810 + }, + { + "epoch": 2.857142857142857, + "flow_matching_loss": 0.015287773963063956, + "grad_norm": 0.19344602525234222, + "learning_rate": 2.4122892484208794e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9820 + }, + { + "epoch": 2.8600523712540005, + "flow_matching_loss": 0.016607261262834072, + "grad_norm": 0.13202650845050812, + "learning_rate": 2.4109761877517603e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9830 + }, + { + "epoch": 2.862961885365144, + "flow_matching_loss": 0.01718749515712261, + "grad_norm": 0.10692291706800461, + "learning_rate": 2.4096620201606737e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9840 + }, + { + "epoch": 2.8658713994762874, + "flow_matching_loss": 0.018262246623635292, + "grad_norm": 0.14185424149036407, + "learning_rate": 2.4083467472444573e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9850 + }, + { + "epoch": 2.8687809135874307, + "flow_matching_loss": 0.01589079424738884, + "grad_norm": 0.12075012177228928, + "learning_rate": 2.4070303706012912e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9860 + }, + { + "epoch": 2.8716904276985744, + "flow_matching_loss": 0.017248819302767514, + "grad_norm": 0.11742103844881058, + "learning_rate": 2.4057128918306975e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9870 + }, + { + "epoch": 2.8745999418097177, + "flow_matching_loss": 0.016907858848571777, + "grad_norm": 0.14289240539073944, + "learning_rate": 2.4043943125335373e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9880 + }, + { + "epoch": 2.8775094559208614, + "flow_matching_loss": 0.017009651102125645, + "grad_norm": 0.14428646862506866, + "learning_rate": 2.403074634312008e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9890 + }, + { + "epoch": 2.8804189700320046, + "flow_matching_loss": 0.016107988171279432, + "grad_norm": 0.11932629346847534, + "learning_rate": 2.4017538587696442e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9900 + }, + { + "epoch": 2.8833284841431484, + "flow_matching_loss": 0.015769985411316155, + "grad_norm": 0.108144111931324, + "learning_rate": 2.4004319875113118e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9910 + }, + { + "epoch": 2.8862379982542916, + "flow_matching_loss": 0.019075675029307605, + "grad_norm": 0.09304995089769363, + "learning_rate": 2.3991090221432096e-05, + "loss": 0.0191, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9920 + }, + { + "epoch": 2.889147512365435, + "flow_matching_loss": 0.0193911318667233, + "grad_norm": 0.1339566856622696, + "learning_rate": 2.397784964272865e-05, + "loss": 0.0194, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9930 + }, + { + "epoch": 2.8920570264765786, + "flow_matching_loss": 0.016113188583403826, + "grad_norm": 0.09875457733869553, + "learning_rate": 2.3964598155091335e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9940 + }, + { + "epoch": 2.894966540587722, + "flow_matching_loss": 0.016477853804826737, + "grad_norm": 0.09517369419336319, + "learning_rate": 2.3951335774621952e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9950 + }, + { + "epoch": 2.897876054698865, + "flow_matching_loss": 0.015347142238169909, + "grad_norm": 0.1192518100142479, + "learning_rate": 2.3938062517435548e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9960 + }, + { + "epoch": 2.900785568810009, + "flow_matching_loss": 0.015049157850444316, + "grad_norm": 0.09245350956916809, + "learning_rate": 2.392477839966038e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9970 + }, + { + "epoch": 2.903695082921152, + "flow_matching_loss": 0.016493673250079156, + "grad_norm": 0.10746228694915771, + "learning_rate": 2.3911483437437904e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9980 + }, + { + "epoch": 2.9066045970322953, + "flow_matching_loss": 0.015473786182701588, + "grad_norm": 0.09523898363113403, + "learning_rate": 2.3898177646922757e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 9990 + }, + { + "epoch": 2.909514111143439, + "flow_matching_loss": 0.015913603454828264, + "grad_norm": 0.09920306503772736, + "learning_rate": 2.3884861044282722e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10000 + }, + { + "epoch": 2.9124236252545828, + "flow_matching_loss": 0.014849214535206556, + "grad_norm": 0.0955701470375061, + "learning_rate": 2.3871533645698732e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10010 + }, + { + "epoch": 2.915333139365726, + "flow_matching_loss": 0.017203184124082328, + "grad_norm": 0.12957273423671722, + "learning_rate": 2.3858195467364833e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10020 + }, + { + "epoch": 2.9182426534768693, + "flow_matching_loss": 0.016578496154397725, + "grad_norm": 0.10379441827535629, + "learning_rate": 2.3844846525488166e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10030 + }, + { + "epoch": 2.921152167588013, + "flow_matching_loss": 0.015039786417037248, + "grad_norm": 0.10317853093147278, + "learning_rate": 2.3831486836288957e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10040 + }, + { + "epoch": 2.9240616816991563, + "flow_matching_loss": 0.015323854610323906, + "grad_norm": 0.10603785514831543, + "learning_rate": 2.381811641600048e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10050 + }, + { + "epoch": 2.9269711958102995, + "flow_matching_loss": 0.014806830789893866, + "grad_norm": 0.07813120633363724, + "learning_rate": 2.3804735280869073e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10060 + }, + { + "epoch": 2.9298807099214432, + "flow_matching_loss": 0.014985639695078134, + "grad_norm": 0.11278612911701202, + "learning_rate": 2.3791343447154064e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10070 + }, + { + "epoch": 2.9327902240325865, + "flow_matching_loss": 0.017275875620543956, + "grad_norm": 0.10412251204252243, + "learning_rate": 2.37779409311278e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10080 + }, + { + "epoch": 2.9356997381437298, + "flow_matching_loss": 0.016173718310892583, + "grad_norm": 0.15198558568954468, + "learning_rate": 2.3764527749075596e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10090 + }, + { + "epoch": 2.9386092522548735, + "flow_matching_loss": 0.017573705594986676, + "grad_norm": 0.12445337325334549, + "learning_rate": 2.3751103917295735e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10100 + }, + { + "epoch": 2.9415187663660167, + "flow_matching_loss": 0.016949821542948485, + "grad_norm": 0.1378098875284195, + "learning_rate": 2.373766945209944e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10110 + }, + { + "epoch": 2.9444282804771604, + "flow_matching_loss": 0.016113977506756784, + "grad_norm": 0.14157286286354065, + "learning_rate": 2.3724224369810856e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10120 + }, + { + "epoch": 2.9473377945883037, + "flow_matching_loss": 0.014889325294643641, + "grad_norm": 0.09492664039134979, + "learning_rate": 2.3710768686767015e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10130 + }, + { + "epoch": 2.9502473086994474, + "flow_matching_loss": 0.015929166693240404, + "grad_norm": 0.10405845195055008, + "learning_rate": 2.3697302419317856e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10140 + }, + { + "epoch": 2.9531568228105907, + "flow_matching_loss": 0.014167706668376922, + "grad_norm": 0.09864875674247742, + "learning_rate": 2.3683825583826146e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10150 + }, + { + "epoch": 2.956066336921734, + "flow_matching_loss": 0.016057359986007214, + "grad_norm": 0.11033550649881363, + "learning_rate": 2.3670338196667528e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10160 + }, + { + "epoch": 2.9589758510328776, + "flow_matching_loss": 0.01816624291241169, + "grad_norm": 0.09319154918193817, + "learning_rate": 2.3656840274230443e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10170 + }, + { + "epoch": 2.961885365144021, + "flow_matching_loss": 0.016971613653004168, + "grad_norm": 0.1269596666097641, + "learning_rate": 2.3643331832916133e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10180 + }, + { + "epoch": 2.964794879255164, + "flow_matching_loss": 0.013673876598477363, + "grad_norm": 0.09286914765834808, + "learning_rate": 2.362981288913863e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10190 + }, + { + "epoch": 2.967704393366308, + "flow_matching_loss": 0.014369493536651134, + "grad_norm": 0.11171010881662369, + "learning_rate": 2.3616283459324737e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10200 + }, + { + "epoch": 2.970613907477451, + "flow_matching_loss": 0.015382483694702387, + "grad_norm": 0.08875038474798203, + "learning_rate": 2.3602743559913973e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10210 + }, + { + "epoch": 2.973523421588595, + "flow_matching_loss": 0.017802574206143618, + "grad_norm": 0.11703687161207199, + "learning_rate": 2.35891932073586e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10220 + }, + { + "epoch": 2.976432935699738, + "flow_matching_loss": 0.01510216873139143, + "grad_norm": 0.07936548441648483, + "learning_rate": 2.357563241812357e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10230 + }, + { + "epoch": 2.979342449810882, + "flow_matching_loss": 0.01540873320773244, + "grad_norm": 0.1231141909956932, + "learning_rate": 2.3562061208686522e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10240 + }, + { + "epoch": 2.982251963922025, + "flow_matching_loss": 0.014345954544842244, + "grad_norm": 0.10179100185632706, + "learning_rate": 2.354847959553776e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10250 + }, + { + "epoch": 2.9851614780331683, + "flow_matching_loss": 0.016957647167146206, + "grad_norm": 0.09254663437604904, + "learning_rate": 2.353488759518022e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10260 + }, + { + "epoch": 2.988070992144312, + "flow_matching_loss": 0.016225157491862773, + "grad_norm": 0.09230421483516693, + "learning_rate": 2.352128522412946e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10270 + }, + { + "epoch": 2.9909805062554553, + "flow_matching_loss": 0.017369332909584045, + "grad_norm": 0.09649799764156342, + "learning_rate": 2.3507672498913653e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10280 + }, + { + "epoch": 2.9938900203665986, + "flow_matching_loss": 0.016175585705786942, + "grad_norm": 0.11071715503931046, + "learning_rate": 2.3494049436073537e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10290 + }, + { + "epoch": 2.9967995344777423, + "flow_matching_loss": 0.01579766031354666, + "grad_norm": 0.12082257866859436, + "learning_rate": 2.348041605216242e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10300 + }, + { + "epoch": 2.9997090485888855, + "flow_matching_loss": 0.016219858638942243, + "grad_norm": 0.11026663333177567, + "learning_rate": 2.3466772363746146e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10310 + }, + { + "epoch": 3.0026185627000292, + "flow_matching_loss": 0.014157322701066732, + "grad_norm": 0.15463586151599884, + "learning_rate": 2.345311838740309e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10320 + }, + { + "epoch": 3.0055280768111725, + "flow_matching_loss": 0.01609028745442629, + "grad_norm": 0.1104811429977417, + "learning_rate": 2.343945413972411e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10330 + }, + { + "epoch": 3.0084375909223158, + "flow_matching_loss": 0.015363470651209354, + "grad_norm": 0.13969913125038147, + "learning_rate": 2.3425779637312568e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10340 + }, + { + "epoch": 3.0113471050334595, + "flow_matching_loss": 0.017004496604204177, + "grad_norm": 0.12114706635475159, + "learning_rate": 2.3412094896784264e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10350 + }, + { + "epoch": 3.0142566191446027, + "flow_matching_loss": 0.01613488784059882, + "grad_norm": 0.08815780282020569, + "learning_rate": 2.339839993476745e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10360 + }, + { + "epoch": 3.0171661332557465, + "flow_matching_loss": 0.015494329389184713, + "grad_norm": 0.10923311114311218, + "learning_rate": 2.3384694767902804e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10370 + }, + { + "epoch": 3.0200756473668897, + "flow_matching_loss": 0.015622011851519346, + "grad_norm": 0.11445677280426025, + "learning_rate": 2.3370979412843384e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10380 + }, + { + "epoch": 3.022985161478033, + "flow_matching_loss": 0.01623231088742614, + "grad_norm": 0.11552955955266953, + "learning_rate": 2.3357253886254648e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10390 + }, + { + "epoch": 3.0258946755891767, + "flow_matching_loss": 0.01701922807842493, + "grad_norm": 0.09776727855205536, + "learning_rate": 2.3343518204814407e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10400 + }, + { + "epoch": 3.02880418970032, + "flow_matching_loss": 0.016408712975680827, + "grad_norm": 0.11289579421281815, + "learning_rate": 2.3329772385212798e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10410 + }, + { + "epoch": 3.0317137038114637, + "flow_matching_loss": 0.016320552583783864, + "grad_norm": 0.11846432089805603, + "learning_rate": 2.3316016444152296e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10420 + }, + { + "epoch": 3.034623217922607, + "flow_matching_loss": 0.013564844988286496, + "grad_norm": 0.10605408251285553, + "learning_rate": 2.3302250398347668e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10430 + }, + { + "epoch": 3.03753273203375, + "flow_matching_loss": 0.015081735607236624, + "grad_norm": 0.14682701230049133, + "learning_rate": 2.328847426452595e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10440 + }, + { + "epoch": 3.040442246144894, + "flow_matching_loss": 0.015850806050002574, + "grad_norm": 0.10394571721553802, + "learning_rate": 2.3274688059426456e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10450 + }, + { + "epoch": 3.043351760256037, + "flow_matching_loss": 0.016523298993706702, + "grad_norm": 0.10533665865659714, + "learning_rate": 2.3260891799800715e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10460 + }, + { + "epoch": 3.046261274367181, + "flow_matching_loss": 0.014491425454616546, + "grad_norm": 0.14017775654792786, + "learning_rate": 2.3247085502412482e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10470 + }, + { + "epoch": 3.049170788478324, + "flow_matching_loss": 0.016049580462276936, + "grad_norm": 0.14146260917186737, + "learning_rate": 2.3233269184037717e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10480 + }, + { + "epoch": 3.0520803025894674, + "flow_matching_loss": 0.017199086491018534, + "grad_norm": 0.10080812871456146, + "learning_rate": 2.3219442861464547e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10490 + }, + { + "epoch": 3.054989816700611, + "flow_matching_loss": 0.01923129828646779, + "grad_norm": 0.11803116649389267, + "learning_rate": 2.3205606551493255e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10500 + }, + { + "epoch": 3.0578993308117544, + "flow_matching_loss": 0.014169178158044814, + "grad_norm": 0.09712724387645721, + "learning_rate": 2.319176027093627e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10510 + }, + { + "epoch": 3.060808844922898, + "flow_matching_loss": 0.01446423279121518, + "grad_norm": 0.10195555537939072, + "learning_rate": 2.3177904036618117e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10520 + }, + { + "epoch": 3.0637183590340413, + "flow_matching_loss": 0.01793919885531068, + "grad_norm": 0.12683269381523132, + "learning_rate": 2.316403786537544e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10530 + }, + { + "epoch": 3.0666278731451846, + "flow_matching_loss": 0.016280640102922916, + "grad_norm": 0.09957005083560944, + "learning_rate": 2.3150161774056933e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10540 + }, + { + "epoch": 3.0695373872563283, + "flow_matching_loss": 0.017077024467289446, + "grad_norm": 0.16198007762432098, + "learning_rate": 2.313627577952336e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10550 + }, + { + "epoch": 3.0724469013674716, + "flow_matching_loss": 0.01455292422324419, + "grad_norm": 0.10738177597522736, + "learning_rate": 2.312237989864752e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10560 + }, + { + "epoch": 3.0753564154786153, + "flow_matching_loss": 0.016468039806932212, + "grad_norm": 0.1460958868265152, + "learning_rate": 2.3108474148314205e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10570 + }, + { + "epoch": 3.0782659295897585, + "flow_matching_loss": 0.014296854566782712, + "grad_norm": 0.1117970198392868, + "learning_rate": 2.309455854542023e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10580 + }, + { + "epoch": 3.081175443700902, + "flow_matching_loss": 0.015153780486434698, + "grad_norm": 0.12391966581344604, + "learning_rate": 2.308063310687435e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10590 + }, + { + "epoch": 3.0840849578120455, + "flow_matching_loss": 0.01468268483877182, + "grad_norm": 0.10827428847551346, + "learning_rate": 2.306669784959729e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10600 + }, + { + "epoch": 3.0869944719231888, + "flow_matching_loss": 0.014426593761891126, + "grad_norm": 0.1028318926692009, + "learning_rate": 2.3052752790521703e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10610 + }, + { + "epoch": 3.0899039860343325, + "flow_matching_loss": 0.01708536958321929, + "grad_norm": 0.1553305685520172, + "learning_rate": 2.3038797946592152e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10620 + }, + { + "epoch": 3.0928135001454757, + "flow_matching_loss": 0.01570266978815198, + "grad_norm": 0.08960594981908798, + "learning_rate": 2.3024833334765087e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10630 + }, + { + "epoch": 3.095723014256619, + "flow_matching_loss": 0.017306174524128436, + "grad_norm": 0.09220249950885773, + "learning_rate": 2.301085897200883e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10640 + }, + { + "epoch": 3.0986325283677627, + "flow_matching_loss": 0.01652233423665166, + "grad_norm": 0.0904645100235939, + "learning_rate": 2.299687487530354e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10650 + }, + { + "epoch": 3.101542042478906, + "flow_matching_loss": 0.012902831099927426, + "grad_norm": 0.1036338284611702, + "learning_rate": 2.2982881061641228e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10660 + }, + { + "epoch": 3.1044515565900497, + "flow_matching_loss": 0.01537794889882207, + "grad_norm": 0.08784221112728119, + "learning_rate": 2.296887754802569e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10670 + }, + { + "epoch": 3.107361070701193, + "flow_matching_loss": 0.017256055679172277, + "grad_norm": 0.0983382984995842, + "learning_rate": 2.295486435147251e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10680 + }, + { + "epoch": 3.110270584812336, + "flow_matching_loss": 0.01728434544056654, + "grad_norm": 0.08721211552619934, + "learning_rate": 2.294084148900905e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10690 + }, + { + "epoch": 3.11318009892348, + "flow_matching_loss": 0.01623738557100296, + "grad_norm": 0.07730773836374283, + "learning_rate": 2.292680897767441e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10700 + }, + { + "epoch": 3.116089613034623, + "flow_matching_loss": 0.016753901448100805, + "grad_norm": 0.10497679561376572, + "learning_rate": 2.291276683451941e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10710 + }, + { + "epoch": 3.1189991271457664, + "flow_matching_loss": 0.017009113729000092, + "grad_norm": 0.1228833720088005, + "learning_rate": 2.2898715076606584e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10720 + }, + { + "epoch": 3.12190864125691, + "flow_matching_loss": 0.01558174891397357, + "grad_norm": 0.11017059534788132, + "learning_rate": 2.2884653721010135e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10730 + }, + { + "epoch": 3.1248181553680534, + "flow_matching_loss": 0.016806364338845015, + "grad_norm": 0.11668234318494797, + "learning_rate": 2.2870582784815946e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10740 + }, + { + "epoch": 3.127727669479197, + "flow_matching_loss": 0.016519359406083824, + "grad_norm": 0.11366623640060425, + "learning_rate": 2.2856502285121525e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10750 + }, + { + "epoch": 3.1306371835903404, + "flow_matching_loss": 0.016281138733029367, + "grad_norm": 0.11320523172616959, + "learning_rate": 2.2842412239036004e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10760 + }, + { + "epoch": 3.133546697701484, + "flow_matching_loss": 0.015469781588762999, + "grad_norm": 0.12717784941196442, + "learning_rate": 2.2828312663680125e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10770 + }, + { + "epoch": 3.1364562118126273, + "flow_matching_loss": 0.01346529987640679, + "grad_norm": 0.0734027847647667, + "learning_rate": 2.2814203576186194e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10780 + }, + { + "epoch": 3.1393657259237706, + "flow_matching_loss": 0.014884014055132866, + "grad_norm": 0.14022113382816315, + "learning_rate": 2.2800084993698093e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10790 + }, + { + "epoch": 3.1422752400349143, + "flow_matching_loss": 0.018326377402991055, + "grad_norm": 0.11212347447872162, + "learning_rate": 2.2785956933371224e-05, + "loss": 0.0183, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10800 + }, + { + "epoch": 3.1451847541460576, + "flow_matching_loss": 0.016380319185554982, + "grad_norm": 0.1032390147447586, + "learning_rate": 2.2771819412372505e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10810 + }, + { + "epoch": 3.148094268257201, + "flow_matching_loss": 0.01603439999744296, + "grad_norm": 0.1138683557510376, + "learning_rate": 2.2757672447880374e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10820 + }, + { + "epoch": 3.1510037823683446, + "flow_matching_loss": 0.015013464074581862, + "grad_norm": 0.09427477419376373, + "learning_rate": 2.2743516057084712e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10830 + }, + { + "epoch": 3.153913296479488, + "flow_matching_loss": 0.015089377574622632, + "grad_norm": 0.09240841865539551, + "learning_rate": 2.2729350257186877e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10840 + }, + { + "epoch": 3.1568228105906315, + "flow_matching_loss": 0.016347970347851515, + "grad_norm": 0.11712011694908142, + "learning_rate": 2.2715175065399655e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10850 + }, + { + "epoch": 3.159732324701775, + "flow_matching_loss": 0.016267990786582233, + "grad_norm": 0.11509279906749725, + "learning_rate": 2.270099049894723e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10860 + }, + { + "epoch": 3.162641838812918, + "flow_matching_loss": 0.015852969698607923, + "grad_norm": 0.09870988130569458, + "learning_rate": 2.268679657506519e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10870 + }, + { + "epoch": 3.1655513529240618, + "flow_matching_loss": 0.01566037433221936, + "grad_norm": 0.11314850300550461, + "learning_rate": 2.2672593311000498e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10880 + }, + { + "epoch": 3.168460867035205, + "flow_matching_loss": 0.016510109510272743, + "grad_norm": 0.16896952688694, + "learning_rate": 2.2658380724011452e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10890 + }, + { + "epoch": 3.1713703811463487, + "flow_matching_loss": 0.015753459464758635, + "grad_norm": 0.10769479721784592, + "learning_rate": 2.264415883136769e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10900 + }, + { + "epoch": 3.174279895257492, + "flow_matching_loss": 0.016201383620500564, + "grad_norm": 0.11795151978731155, + "learning_rate": 2.262992765035015e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10910 + }, + { + "epoch": 3.1771894093686353, + "flow_matching_loss": 0.015968635212630033, + "grad_norm": 0.10832501202821732, + "learning_rate": 2.2615687198251062e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10920 + }, + { + "epoch": 3.180098923479779, + "flow_matching_loss": 0.01784907476976514, + "grad_norm": 0.11855950951576233, + "learning_rate": 2.2601437492373914e-05, + "loss": 0.0178, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10930 + }, + { + "epoch": 3.1830084375909222, + "flow_matching_loss": 0.015290245600044727, + "grad_norm": 0.1305363029241562, + "learning_rate": 2.2587178550033444e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10940 + }, + { + "epoch": 3.185917951702066, + "flow_matching_loss": 0.014557142928242683, + "grad_norm": 0.1323063224554062, + "learning_rate": 2.2572910388555615e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10950 + }, + { + "epoch": 3.188827465813209, + "flow_matching_loss": 0.014351745415478945, + "grad_norm": 0.10823141783475876, + "learning_rate": 2.255863302527758e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10960 + }, + { + "epoch": 3.1917369799243525, + "flow_matching_loss": 0.017415872495621442, + "grad_norm": 0.10603147745132446, + "learning_rate": 2.2544346477547685e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10970 + }, + { + "epoch": 3.194646494035496, + "flow_matching_loss": 0.014786365814507008, + "grad_norm": 0.10901816934347153, + "learning_rate": 2.253005076272544e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10980 + }, + { + "epoch": 3.1975560081466394, + "flow_matching_loss": 0.016840331722050905, + "grad_norm": 0.11164656281471252, + "learning_rate": 2.2515745898181477e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 10990 + }, + { + "epoch": 3.200465522257783, + "flow_matching_loss": 0.015592641197144985, + "grad_norm": 0.13321898877620697, + "learning_rate": 2.250143190129756e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11000 + }, + { + "epoch": 3.2033750363689264, + "flow_matching_loss": 0.01701083593070507, + "grad_norm": 0.1422007977962494, + "learning_rate": 2.2487108789466547e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11010 + }, + { + "epoch": 3.2062845504800697, + "flow_matching_loss": 0.017208212707191705, + "grad_norm": 0.12740622460842133, + "learning_rate": 2.247277658009236e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11020 + }, + { + "epoch": 3.2091940645912134, + "flow_matching_loss": 0.01531266774982214, + "grad_norm": 0.10607142001390457, + "learning_rate": 2.245843529059e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11030 + }, + { + "epoch": 3.2121035787023566, + "flow_matching_loss": 0.014866562187671661, + "grad_norm": 0.1014535129070282, + "learning_rate": 2.244408493838547e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11040 + }, + { + "epoch": 3.2150130928135003, + "flow_matching_loss": 0.016287955548614265, + "grad_norm": 0.09172463417053223, + "learning_rate": 2.242972554091581e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11050 + }, + { + "epoch": 3.2179226069246436, + "flow_matching_loss": 0.01572335874661803, + "grad_norm": 0.09966391324996948, + "learning_rate": 2.2415357115629045e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11060 + }, + { + "epoch": 3.220832121035787, + "flow_matching_loss": 0.01525906315073371, + "grad_norm": 0.08891270309686661, + "learning_rate": 2.2400979679984162e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11070 + }, + { + "epoch": 3.2237416351469306, + "flow_matching_loss": 0.016170093696564435, + "grad_norm": 0.1056208461523056, + "learning_rate": 2.2386593251451096e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11080 + }, + { + "epoch": 3.226651149258074, + "flow_matching_loss": 0.015304985549300909, + "grad_norm": 0.12190339714288712, + "learning_rate": 2.2372197847510722e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11090 + }, + { + "epoch": 3.2295606633692175, + "flow_matching_loss": 0.015776392165571453, + "grad_norm": 0.09608672559261322, + "learning_rate": 2.2357793485654813e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11100 + }, + { + "epoch": 3.232470177480361, + "flow_matching_loss": 0.015971156489104032, + "grad_norm": 0.10653864592313766, + "learning_rate": 2.2343380183386017e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11110 + }, + { + "epoch": 3.235379691591504, + "flow_matching_loss": 0.01605784595012665, + "grad_norm": 0.1212184727191925, + "learning_rate": 2.232895795821787e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11120 + }, + { + "epoch": 3.2382892057026478, + "flow_matching_loss": 0.017262243293225767, + "grad_norm": 0.11040208488702774, + "learning_rate": 2.2314526827674723e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11130 + }, + { + "epoch": 3.241198719813791, + "flow_matching_loss": 0.01484544612467289, + "grad_norm": 0.07259376347064972, + "learning_rate": 2.230008680929177e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11140 + }, + { + "epoch": 3.2441082339249343, + "flow_matching_loss": 0.013890008721500636, + "grad_norm": 0.10642580687999725, + "learning_rate": 2.2285637920614987e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11150 + }, + { + "epoch": 3.247017748036078, + "flow_matching_loss": 0.015959319286048414, + "grad_norm": 0.13426224887371063, + "learning_rate": 2.2271180179201143e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11160 + }, + { + "epoch": 3.2499272621472213, + "flow_matching_loss": 0.01739258086308837, + "grad_norm": 0.12544812262058258, + "learning_rate": 2.225671360261775e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11170 + }, + { + "epoch": 3.252836776258365, + "flow_matching_loss": 0.014677560981363058, + "grad_norm": 0.12765437364578247, + "learning_rate": 2.2242238208443068e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11180 + }, + { + "epoch": 3.2557462903695082, + "flow_matching_loss": 0.017693665623664857, + "grad_norm": 0.07944472879171371, + "learning_rate": 2.2227754014266063e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11190 + }, + { + "epoch": 3.258655804480652, + "flow_matching_loss": 0.016363043803721666, + "grad_norm": 0.11809107661247253, + "learning_rate": 2.22132610376864e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11200 + }, + { + "epoch": 3.261565318591795, + "flow_matching_loss": 0.01690827924758196, + "grad_norm": 0.09432444721460342, + "learning_rate": 2.219875929631441e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11210 + }, + { + "epoch": 3.2644748327029385, + "flow_matching_loss": 0.013796814251691103, + "grad_norm": 0.08412843197584152, + "learning_rate": 2.2184248807771074e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11220 + }, + { + "epoch": 3.267384346814082, + "flow_matching_loss": 0.01968916766345501, + "grad_norm": 0.11968673765659332, + "learning_rate": 2.216972958968801e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11230 + }, + { + "epoch": 3.2702938609252254, + "flow_matching_loss": 0.01577149871736765, + "grad_norm": 0.09519749879837036, + "learning_rate": 2.215520165970743e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11240 + }, + { + "epoch": 3.2732033750363687, + "flow_matching_loss": 0.01671551838517189, + "grad_norm": 0.09808485209941864, + "learning_rate": 2.2140665035482143e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11250 + }, + { + "epoch": 3.2761128891475124, + "flow_matching_loss": 0.015832884609699248, + "grad_norm": 0.09095753729343414, + "learning_rate": 2.2126119734675518e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11260 + }, + { + "epoch": 3.2790224032586557, + "flow_matching_loss": 0.01492215171456337, + "grad_norm": 0.08854473382234573, + "learning_rate": 2.2111565774961463e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11270 + }, + { + "epoch": 3.2819319173697994, + "flow_matching_loss": 0.014158283360302448, + "grad_norm": 0.11359351128339767, + "learning_rate": 2.2097003174024417e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11280 + }, + { + "epoch": 3.2848414314809427, + "flow_matching_loss": 0.013300168607383967, + "grad_norm": 0.11306462436914444, + "learning_rate": 2.2082431949559315e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11290 + }, + { + "epoch": 3.2877509455920864, + "flow_matching_loss": 0.01542269652709365, + "grad_norm": 0.09941397607326508, + "learning_rate": 2.2067852119271558e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11300 + }, + { + "epoch": 3.2906604597032296, + "flow_matching_loss": 0.01617670077830553, + "grad_norm": 0.08735094219446182, + "learning_rate": 2.2053263700877026e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11310 + }, + { + "epoch": 3.293569973814373, + "flow_matching_loss": 0.014594618976116181, + "grad_norm": 0.10640956461429596, + "learning_rate": 2.2038666712102015e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11320 + }, + { + "epoch": 3.2964794879255166, + "flow_matching_loss": 0.01463854992762208, + "grad_norm": 0.09939445555210114, + "learning_rate": 2.2024061170683246e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11330 + }, + { + "epoch": 3.29938900203666, + "flow_matching_loss": 0.017520547565072774, + "grad_norm": 0.09190413355827332, + "learning_rate": 2.200944709436783e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11340 + }, + { + "epoch": 3.302298516147803, + "flow_matching_loss": 0.016605683788657188, + "grad_norm": 0.08758918195962906, + "learning_rate": 2.1994824500913246e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11350 + }, + { + "epoch": 3.305208030258947, + "flow_matching_loss": 0.01733467513695359, + "grad_norm": 0.12192657589912415, + "learning_rate": 2.1980193408087322e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11360 + }, + { + "epoch": 3.30811754437009, + "flow_matching_loss": 0.016026739310473204, + "grad_norm": 0.07094099372625351, + "learning_rate": 2.1965553833668224e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11370 + }, + { + "epoch": 3.311027058481234, + "flow_matching_loss": 0.015603459626436233, + "grad_norm": 0.10570017993450165, + "learning_rate": 2.195090579544441e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11380 + }, + { + "epoch": 3.313936572592377, + "flow_matching_loss": 0.016417499259114267, + "grad_norm": 0.09627898037433624, + "learning_rate": 2.193624931121462e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11390 + }, + { + "epoch": 3.3168460867035203, + "flow_matching_loss": 0.01617370443418622, + "grad_norm": 0.0999426618218422, + "learning_rate": 2.1921584398787872e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11400 + }, + { + "epoch": 3.319755600814664, + "flow_matching_loss": 0.01668506385758519, + "grad_norm": 0.10837886482477188, + "learning_rate": 2.1906911075983418e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11410 + }, + { + "epoch": 3.3226651149258073, + "flow_matching_loss": 0.014075467083603143, + "grad_norm": 0.10497800260782242, + "learning_rate": 2.1892229360630728e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11420 + }, + { + "epoch": 3.325574629036951, + "flow_matching_loss": 0.013213207013905048, + "grad_norm": 0.09944234788417816, + "learning_rate": 2.187753927056947e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11430 + }, + { + "epoch": 3.3284841431480943, + "flow_matching_loss": 0.0142201061360538, + "grad_norm": 0.09826266020536423, + "learning_rate": 2.186284082364949e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11440 + }, + { + "epoch": 3.3313936572592375, + "flow_matching_loss": 0.015704954229295253, + "grad_norm": 0.07736480236053467, + "learning_rate": 2.1848134037730786e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11450 + }, + { + "epoch": 3.3343031713703812, + "flow_matching_loss": 0.016376064531505106, + "grad_norm": 0.10978850722312927, + "learning_rate": 2.183341893068349e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11460 + }, + { + "epoch": 3.3372126854815245, + "flow_matching_loss": 0.014282251615077258, + "grad_norm": 0.11577365547418594, + "learning_rate": 2.1818695520387842e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11470 + }, + { + "epoch": 3.340122199592668, + "flow_matching_loss": 0.015633486118167637, + "grad_norm": 0.1050204187631607, + "learning_rate": 2.1803963824734173e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11480 + }, + { + "epoch": 3.3430317137038115, + "flow_matching_loss": 0.014915117342025042, + "grad_norm": 0.12092702090740204, + "learning_rate": 2.1789223861622887e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11490 + }, + { + "epoch": 3.3459412278149547, + "flow_matching_loss": 0.014721533143892884, + "grad_norm": 0.09744253754615784, + "learning_rate": 2.1774475648964428e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11500 + }, + { + "epoch": 3.3488507419260984, + "flow_matching_loss": 0.01593605410307646, + "grad_norm": 0.104285828769207, + "learning_rate": 2.1759719204679267e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11510 + }, + { + "epoch": 3.3517602560372417, + "flow_matching_loss": 0.01768880831077695, + "grad_norm": 0.09403157979249954, + "learning_rate": 2.174495454669787e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11520 + }, + { + "epoch": 3.3546697701483854, + "flow_matching_loss": 0.01790954302996397, + "grad_norm": 0.1291321963071823, + "learning_rate": 2.1730181692960692e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11530 + }, + { + "epoch": 3.3575792842595287, + "flow_matching_loss": 0.017242219857871534, + "grad_norm": 0.1526978462934494, + "learning_rate": 2.171540066141814e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11540 + }, + { + "epoch": 3.360488798370672, + "flow_matching_loss": 0.01786766732111573, + "grad_norm": 0.09811577200889587, + "learning_rate": 2.170061147003056e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11550 + }, + { + "epoch": 3.3633983124818156, + "flow_matching_loss": 0.017222462221980095, + "grad_norm": 0.12258438020944595, + "learning_rate": 2.1685814136768225e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11560 + }, + { + "epoch": 3.366307826592959, + "flow_matching_loss": 0.014989112224429845, + "grad_norm": 0.11350889503955841, + "learning_rate": 2.167100867961128e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11570 + }, + { + "epoch": 3.369217340704102, + "flow_matching_loss": 0.01654973104596138, + "grad_norm": 0.08571121096611023, + "learning_rate": 2.1656195116549756e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11580 + }, + { + "epoch": 3.372126854815246, + "flow_matching_loss": 0.01655862173065543, + "grad_norm": 0.09318820387125015, + "learning_rate": 2.1641373465583527e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11590 + }, + { + "epoch": 3.375036368926389, + "flow_matching_loss": 0.01458280635997653, + "grad_norm": 0.08647318929433823, + "learning_rate": 2.1626543744722292e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11600 + }, + { + "epoch": 3.377945883037533, + "flow_matching_loss": 0.017510615941137075, + "grad_norm": 0.12767256796360016, + "learning_rate": 2.161170597198557e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11610 + }, + { + "epoch": 3.380855397148676, + "flow_matching_loss": 0.018155036866664885, + "grad_norm": 0.11528611183166504, + "learning_rate": 2.1596860165402645e-05, + "loss": 0.0182, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11620 + }, + { + "epoch": 3.38376491125982, + "flow_matching_loss": 0.019737783446908, + "grad_norm": 0.15925383567810059, + "learning_rate": 2.1582006343012576e-05, + "loss": 0.0197, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11630 + }, + { + "epoch": 3.386674425370963, + "flow_matching_loss": 0.01575312977656722, + "grad_norm": 0.11966916918754578, + "learning_rate": 2.156714452286416e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11640 + }, + { + "epoch": 3.3895839394821063, + "flow_matching_loss": 0.015829464606940746, + "grad_norm": 0.10832660645246506, + "learning_rate": 2.155227472301591e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11650 + }, + { + "epoch": 3.39249345359325, + "flow_matching_loss": 0.014844186883419753, + "grad_norm": 0.0992734357714653, + "learning_rate": 2.1537396961536027e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11660 + }, + { + "epoch": 3.3954029677043933, + "flow_matching_loss": 0.01533604208379984, + "grad_norm": 0.12812815606594086, + "learning_rate": 2.1522511256502403e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11670 + }, + { + "epoch": 3.3983124818155366, + "flow_matching_loss": 0.014236377365887166, + "grad_norm": 0.12035436928272247, + "learning_rate": 2.1507617626002566e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11680 + }, + { + "epoch": 3.4012219959266803, + "flow_matching_loss": 0.015786317642778158, + "grad_norm": 0.13158860802650452, + "learning_rate": 2.1492716088133685e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11690 + }, + { + "epoch": 3.4041315100378235, + "flow_matching_loss": 0.01736504528671503, + "grad_norm": 0.13363516330718994, + "learning_rate": 2.1477806661002536e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11700 + }, + { + "epoch": 3.4070410241489673, + "flow_matching_loss": 0.015138384513556957, + "grad_norm": 0.10142884403467178, + "learning_rate": 2.146288936272548e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11710 + }, + { + "epoch": 3.4099505382601105, + "flow_matching_loss": 0.015242229122668505, + "grad_norm": 0.34989601373672485, + "learning_rate": 2.1447964211428433e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11720 + }, + { + "epoch": 3.4128600523712542, + "flow_matching_loss": 0.0170241535641253, + "grad_norm": 0.11715639382600784, + "learning_rate": 2.1433031225246865e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11730 + }, + { + "epoch": 3.4157695664823975, + "flow_matching_loss": 0.015700065810233355, + "grad_norm": 0.09154833853244781, + "learning_rate": 2.1418090422325766e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11740 + }, + { + "epoch": 3.4186790805935408, + "flow_matching_loss": 0.017869207728654146, + "grad_norm": 0.11368411034345627, + "learning_rate": 2.1403141820819623e-05, + "loss": 0.0179, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11750 + }, + { + "epoch": 3.4215885947046845, + "flow_matching_loss": 0.016405953839421273, + "grad_norm": 0.10266360640525818, + "learning_rate": 2.1388185438892377e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11760 + }, + { + "epoch": 3.4244981088158277, + "flow_matching_loss": 0.015153818577528, + "grad_norm": 0.08682899177074432, + "learning_rate": 2.1373221294717465e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11770 + }, + { + "epoch": 3.427407622926971, + "flow_matching_loss": 0.012800399912521243, + "grad_norm": 0.07825707644224167, + "learning_rate": 2.1358249406477724e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11780 + }, + { + "epoch": 3.4303171370381147, + "flow_matching_loss": 0.01617469498887658, + "grad_norm": 0.09889543801546097, + "learning_rate": 2.1343269792365408e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11790 + }, + { + "epoch": 3.433226651149258, + "flow_matching_loss": 0.016675490979105236, + "grad_norm": 0.10586322098970413, + "learning_rate": 2.132828247058217e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11800 + }, + { + "epoch": 3.4361361652604017, + "flow_matching_loss": 0.016912158019840716, + "grad_norm": 0.12708178162574768, + "learning_rate": 2.1313287459339004e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11810 + }, + { + "epoch": 3.439045679371545, + "flow_matching_loss": 0.01652800040319562, + "grad_norm": 0.1320957988500595, + "learning_rate": 2.1298284776856276e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11820 + }, + { + "epoch": 3.4419551934826886, + "flow_matching_loss": 0.017248446587473154, + "grad_norm": 0.11429533362388611, + "learning_rate": 2.128327444136365e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11830 + }, + { + "epoch": 3.444864707593832, + "flow_matching_loss": 0.017392003629356622, + "grad_norm": 0.119548000395298, + "learning_rate": 2.1268256471100105e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11840 + }, + { + "epoch": 3.447774221704975, + "flow_matching_loss": 0.015909214876592158, + "grad_norm": 0.10470490902662277, + "learning_rate": 2.1253230884313893e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11850 + }, + { + "epoch": 3.450683735816119, + "flow_matching_loss": 0.014390006847679614, + "grad_norm": 0.10979165881872177, + "learning_rate": 2.123819769926251e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11860 + }, + { + "epoch": 3.453593249927262, + "flow_matching_loss": 0.017409056425094604, + "grad_norm": 0.1337914764881134, + "learning_rate": 2.1223156934212702e-05, + "loss": 0.0174, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11870 + }, + { + "epoch": 3.4565027640384054, + "flow_matching_loss": 0.016025232523679732, + "grad_norm": 0.11865793913602829, + "learning_rate": 2.1208108607440418e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11880 + }, + { + "epoch": 3.459412278149549, + "flow_matching_loss": 0.016360052675008774, + "grad_norm": 0.10832268744707108, + "learning_rate": 2.119305273723078e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11890 + }, + { + "epoch": 3.4623217922606924, + "flow_matching_loss": 0.015518385265022517, + "grad_norm": 0.09056730568408966, + "learning_rate": 2.1177989341878106e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11900 + }, + { + "epoch": 3.465231306371836, + "flow_matching_loss": 0.016082342807203533, + "grad_norm": 0.10076478123664856, + "learning_rate": 2.116291843968583e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11910 + }, + { + "epoch": 3.4681408204829793, + "flow_matching_loss": 0.015880004968494177, + "grad_norm": 0.08062895387411118, + "learning_rate": 2.114784004896653e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11920 + }, + { + "epoch": 3.4710503345941226, + "flow_matching_loss": 0.01918229544535279, + "grad_norm": 0.11285766959190369, + "learning_rate": 2.113275418804187e-05, + "loss": 0.0192, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11930 + }, + { + "epoch": 3.4739598487052663, + "flow_matching_loss": 0.01976162623614073, + "grad_norm": 0.1092761978507042, + "learning_rate": 2.1117660875242583e-05, + "loss": 0.0198, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11940 + }, + { + "epoch": 3.4768693628164096, + "flow_matching_loss": 0.015651731565594674, + "grad_norm": 0.09430661797523499, + "learning_rate": 2.1102560128908478e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11950 + }, + { + "epoch": 3.4797788769275533, + "flow_matching_loss": 0.01811119643971324, + "grad_norm": 0.12420473247766495, + "learning_rate": 2.1087451967388384e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11960 + }, + { + "epoch": 3.4826883910386965, + "flow_matching_loss": 0.015097404271364212, + "grad_norm": 0.11864235252141953, + "learning_rate": 2.1072336409040135e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11970 + }, + { + "epoch": 3.48559790514984, + "flow_matching_loss": 0.015931916143745183, + "grad_norm": 0.1618892401456833, + "learning_rate": 2.1057213472230573e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11980 + }, + { + "epoch": 3.4885074192609835, + "flow_matching_loss": 0.013359076529741287, + "grad_norm": 0.11249865591526031, + "learning_rate": 2.1042083175335478e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 11990 + }, + { + "epoch": 3.4914169333721268, + "flow_matching_loss": 0.016795751452445985, + "grad_norm": 0.10579863935709, + "learning_rate": 2.1026945536739595e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12000 + }, + { + "epoch": 3.4943264474832705, + "flow_matching_loss": 0.01722372928634286, + "grad_norm": 0.10104722529649734, + "learning_rate": 2.1011800574836586e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12010 + }, + { + "epoch": 3.4972359615944137, + "flow_matching_loss": 0.014072149712592363, + "grad_norm": 0.10120990127325058, + "learning_rate": 2.0996648308028992e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12020 + }, + { + "epoch": 3.500145475705557, + "flow_matching_loss": 0.015233787428587674, + "grad_norm": 0.11451319605112076, + "learning_rate": 2.0981488754728266e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12030 + }, + { + "epoch": 3.5030549898167007, + "flow_matching_loss": 0.015208102948963641, + "grad_norm": 0.08102541416883469, + "learning_rate": 2.0966321933354685e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12040 + }, + { + "epoch": 3.505964503927844, + "flow_matching_loss": 0.015467904135584831, + "grad_norm": 0.0859987810254097, + "learning_rate": 2.095114786233736e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12050 + }, + { + "epoch": 3.5088740180389877, + "flow_matching_loss": 0.017162366211414336, + "grad_norm": 0.09578966349363327, + "learning_rate": 2.0935966560114236e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12060 + }, + { + "epoch": 3.511783532150131, + "flow_matching_loss": 0.013411481026560068, + "grad_norm": 0.09968102723360062, + "learning_rate": 2.092077804513201e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12070 + }, + { + "epoch": 3.514693046261274, + "flow_matching_loss": 0.015034113079309464, + "grad_norm": 0.11199221014976501, + "learning_rate": 2.0905582335846167e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12080 + }, + { + "epoch": 3.517602560372418, + "flow_matching_loss": 0.014419020991772414, + "grad_norm": 0.09741490334272385, + "learning_rate": 2.0890379450720927e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12090 + }, + { + "epoch": 3.520512074483561, + "flow_matching_loss": 0.01610869951546192, + "grad_norm": 0.0962519645690918, + "learning_rate": 2.087516940822923e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12100 + }, + { + "epoch": 3.5234215885947044, + "flow_matching_loss": 0.01655677882954478, + "grad_norm": 0.10872423648834229, + "learning_rate": 2.085995222685271e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12110 + }, + { + "epoch": 3.526331102705848, + "flow_matching_loss": 0.015638524387031793, + "grad_norm": 0.12263917177915573, + "learning_rate": 2.084472792508167e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12120 + }, + { + "epoch": 3.5292406168169914, + "flow_matching_loss": 0.01565742874518037, + "grad_norm": 0.09018901735544205, + "learning_rate": 2.082949652141508e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12130 + }, + { + "epoch": 3.532150130928135, + "flow_matching_loss": 0.015233943518251181, + "grad_norm": 0.09644170105457306, + "learning_rate": 2.081425803436054e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12140 + }, + { + "epoch": 3.5350596450392784, + "flow_matching_loss": 0.014292035810649395, + "grad_norm": 0.11846808344125748, + "learning_rate": 2.079901248243423e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12150 + }, + { + "epoch": 3.537969159150422, + "flow_matching_loss": 0.01640922063961625, + "grad_norm": 0.08424123376607895, + "learning_rate": 2.078375988416095e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12160 + }, + { + "epoch": 3.5408786732615654, + "flow_matching_loss": 0.01429784595966339, + "grad_norm": 0.10869448632001877, + "learning_rate": 2.076850025807404e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12170 + }, + { + "epoch": 3.5437881873727086, + "flow_matching_loss": 0.017622698098421097, + "grad_norm": 0.1264127790927887, + "learning_rate": 2.0753233622715374e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12180 + }, + { + "epoch": 3.5466977014838523, + "flow_matching_loss": 0.01441847812384367, + "grad_norm": 0.1333174854516983, + "learning_rate": 2.073795999663536e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12190 + }, + { + "epoch": 3.5496072155949956, + "flow_matching_loss": 0.01663324926048517, + "grad_norm": 0.139508455991745, + "learning_rate": 2.07226793983929e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12200 + }, + { + "epoch": 3.552516729706139, + "flow_matching_loss": 0.0189741175621748, + "grad_norm": 0.15576444566249847, + "learning_rate": 2.070739184655536e-05, + "loss": 0.019, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12210 + }, + { + "epoch": 3.5554262438172826, + "flow_matching_loss": 0.013761254027485847, + "grad_norm": 0.11478523910045624, + "learning_rate": 2.069209735969855e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12220 + }, + { + "epoch": 3.558335757928426, + "flow_matching_loss": 0.01559392809867859, + "grad_norm": 0.08883674442768097, + "learning_rate": 2.067679595640672e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12230 + }, + { + "epoch": 3.5612452720395695, + "flow_matching_loss": 0.015463666804134846, + "grad_norm": 0.12704430520534515, + "learning_rate": 2.066148765527252e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12240 + }, + { + "epoch": 3.564154786150713, + "flow_matching_loss": 0.014215477928519248, + "grad_norm": 0.08518846333026886, + "learning_rate": 2.0646172474896976e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12250 + }, + { + "epoch": 3.5670643002618565, + "flow_matching_loss": 0.015043587889522314, + "grad_norm": 0.0998697280883789, + "learning_rate": 2.063085043388947e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12260 + }, + { + "epoch": 3.5699738143729998, + "flow_matching_loss": 0.017565208207815885, + "grad_norm": 0.1206086203455925, + "learning_rate": 2.0615521550867732e-05, + "loss": 0.0176, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12270 + }, + { + "epoch": 3.572883328484143, + "flow_matching_loss": 0.013727464899420738, + "grad_norm": 0.08922497183084488, + "learning_rate": 2.0600185844457803e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12280 + }, + { + "epoch": 3.5757928425952867, + "flow_matching_loss": 0.012459278665482998, + "grad_norm": 0.08336110413074493, + "learning_rate": 2.058484333329401e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12290 + }, + { + "epoch": 3.57870235670643, + "flow_matching_loss": 0.018061516620218755, + "grad_norm": 0.09954759478569031, + "learning_rate": 2.0569494036018955e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12300 + }, + { + "epoch": 3.5816118708175733, + "flow_matching_loss": 0.017702016234397887, + "grad_norm": 0.10527937114238739, + "learning_rate": 2.055413797128347e-05, + "loss": 0.0177, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12310 + }, + { + "epoch": 3.584521384928717, + "flow_matching_loss": 0.01533460132777691, + "grad_norm": 0.08797018975019455, + "learning_rate": 2.0538775157746634e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12320 + }, + { + "epoch": 3.5874308990398602, + "flow_matching_loss": 0.01420048801228404, + "grad_norm": 0.08783392608165741, + "learning_rate": 2.0523405614075706e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12330 + }, + { + "epoch": 3.590340413151004, + "flow_matching_loss": 0.01615066612139344, + "grad_norm": 0.07929421216249466, + "learning_rate": 2.0508029358946132e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12340 + }, + { + "epoch": 3.593249927262147, + "flow_matching_loss": 0.017104133125394584, + "grad_norm": 0.08282724022865295, + "learning_rate": 2.0492646411041515e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12350 + }, + { + "epoch": 3.596159441373291, + "flow_matching_loss": 0.01619124272838235, + "grad_norm": 0.0921030193567276, + "learning_rate": 2.0477256789053587e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12360 + }, + { + "epoch": 3.599068955484434, + "flow_matching_loss": 0.014474097639322281, + "grad_norm": 0.0968998521566391, + "learning_rate": 2.0461860511682194e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12370 + }, + { + "epoch": 3.6019784695955774, + "flow_matching_loss": 0.014516891725361348, + "grad_norm": 0.08130753040313721, + "learning_rate": 2.0446457597635254e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12380 + }, + { + "epoch": 3.604887983706721, + "flow_matching_loss": 0.015015012212097644, + "grad_norm": 0.07820946723222733, + "learning_rate": 2.0431048065628763e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12390 + }, + { + "epoch": 3.6077974978178644, + "flow_matching_loss": 0.014915211126208305, + "grad_norm": 0.12011794000864029, + "learning_rate": 2.0415631934386764e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12400 + }, + { + "epoch": 3.6107070119290077, + "flow_matching_loss": 0.012823531776666642, + "grad_norm": 0.11005615442991257, + "learning_rate": 2.04002092226413e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12410 + }, + { + "epoch": 3.6136165260401514, + "flow_matching_loss": 0.014553473237901926, + "grad_norm": 0.11738602817058563, + "learning_rate": 2.038477994913242e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12420 + }, + { + "epoch": 3.6165260401512946, + "flow_matching_loss": 0.01685267323628068, + "grad_norm": 0.10450436919927597, + "learning_rate": 2.036934413260816e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12430 + }, + { + "epoch": 3.619435554262438, + "flow_matching_loss": 0.013167560752481221, + "grad_norm": 0.09380040317773819, + "learning_rate": 2.0353901791824473e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12440 + }, + { + "epoch": 3.6223450683735816, + "flow_matching_loss": 0.014397069811820984, + "grad_norm": 0.09166214615106583, + "learning_rate": 2.0338452945545275e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12450 + }, + { + "epoch": 3.6252545824847253, + "flow_matching_loss": 0.0128556527197361, + "grad_norm": 0.08908912539482117, + "learning_rate": 2.0322997612542366e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12460 + }, + { + "epoch": 3.6281640965958686, + "flow_matching_loss": 0.016481081210076808, + "grad_norm": 0.09361172467470169, + "learning_rate": 2.0307535811595427e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12470 + }, + { + "epoch": 3.631073610707012, + "flow_matching_loss": 0.013706015329807997, + "grad_norm": 0.08646101504564285, + "learning_rate": 2.0292067561492013e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12480 + }, + { + "epoch": 3.6339831248181556, + "flow_matching_loss": 0.01554814837872982, + "grad_norm": 0.0815047174692154, + "learning_rate": 2.02765928810275e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12490 + }, + { + "epoch": 3.636892638929299, + "flow_matching_loss": 0.014732314087450505, + "grad_norm": 0.10158195346593857, + "learning_rate": 2.0261111789005087e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12500 + }, + { + "epoch": 3.639802153040442, + "flow_matching_loss": 0.01613954184576869, + "grad_norm": 0.12751221656799316, + "learning_rate": 2.024562430423576e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12510 + }, + { + "epoch": 3.642711667151586, + "flow_matching_loss": 0.013556438963860273, + "grad_norm": 0.08853493630886078, + "learning_rate": 2.0230130445538273e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12520 + }, + { + "epoch": 3.645621181262729, + "flow_matching_loss": 0.016679420229047538, + "grad_norm": 0.13342075049877167, + "learning_rate": 2.0214630231739127e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12530 + }, + { + "epoch": 3.6485306953738723, + "flow_matching_loss": 0.013378002867102622, + "grad_norm": 0.0960197001695633, + "learning_rate": 2.0199123681672543e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12540 + }, + { + "epoch": 3.651440209485016, + "flow_matching_loss": 0.014959312696009874, + "grad_norm": 0.1200251430273056, + "learning_rate": 2.0183610814180437e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12550 + }, + { + "epoch": 3.6543497235961593, + "flow_matching_loss": 0.017097866348922252, + "grad_norm": 0.09737753868103027, + "learning_rate": 2.016809164811241e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12560 + }, + { + "epoch": 3.657259237707303, + "flow_matching_loss": 0.01554201077669859, + "grad_norm": 0.12423674017190933, + "learning_rate": 2.015256620232571e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12570 + }, + { + "epoch": 3.6601687518184463, + "flow_matching_loss": 0.016303760185837745, + "grad_norm": 0.13500700891017914, + "learning_rate": 2.0137034495685222e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12580 + }, + { + "epoch": 3.66307826592959, + "flow_matching_loss": 0.01472109854221344, + "grad_norm": 0.07170165330171585, + "learning_rate": 2.012149654706343e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12590 + }, + { + "epoch": 3.6659877800407332, + "flow_matching_loss": 0.013675779476761818, + "grad_norm": 0.11289852112531662, + "learning_rate": 2.010595237534041e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12600 + }, + { + "epoch": 3.6688972941518765, + "flow_matching_loss": 0.01234038658440113, + "grad_norm": 0.09177055209875107, + "learning_rate": 2.0090401999403793e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12610 + }, + { + "epoch": 3.67180680826302, + "flow_matching_loss": 0.0153782251290977, + "grad_norm": 0.1268993467092514, + "learning_rate": 2.007484543814875e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12620 + }, + { + "epoch": 3.6747163223741635, + "flow_matching_loss": 0.014954334124922752, + "grad_norm": 0.15566323697566986, + "learning_rate": 2.0059282710477972e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12630 + }, + { + "epoch": 3.6776258364853067, + "flow_matching_loss": 0.015795365255326033, + "grad_norm": 0.1021498516201973, + "learning_rate": 2.0043713835301647e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12640 + }, + { + "epoch": 3.6805353505964504, + "flow_matching_loss": 0.013556689210236072, + "grad_norm": 0.08645237237215042, + "learning_rate": 2.0028138831537417e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12650 + }, + { + "epoch": 3.6834448647075937, + "flow_matching_loss": 0.014937231596559287, + "grad_norm": 0.07485230267047882, + "learning_rate": 2.0012557718110387e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12660 + }, + { + "epoch": 3.6863543788187374, + "flow_matching_loss": 0.01635729232802987, + "grad_norm": 0.08566031605005264, + "learning_rate": 1.9996970513953077e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12670 + }, + { + "epoch": 3.6892638929298807, + "flow_matching_loss": 0.014451387245208025, + "grad_norm": 0.1188388392329216, + "learning_rate": 1.9981377238005405e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12680 + }, + { + "epoch": 3.6921734070410244, + "flow_matching_loss": 0.015452369442209601, + "grad_norm": 0.10480455309152603, + "learning_rate": 1.9965777909214674e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12690 + }, + { + "epoch": 3.6950829211521676, + "flow_matching_loss": 0.0136718793772161, + "grad_norm": 0.10702531039714813, + "learning_rate": 1.9950172546535545e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12700 + }, + { + "epoch": 3.697992435263311, + "flow_matching_loss": 0.01472293185070157, + "grad_norm": 0.09573350846767426, + "learning_rate": 1.9934561168930002e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12710 + }, + { + "epoch": 3.7009019493744546, + "flow_matching_loss": 0.016892467532306908, + "grad_norm": 0.13956193625926971, + "learning_rate": 1.991894379536734e-05, + "loss": 0.0169, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12720 + }, + { + "epoch": 3.703811463485598, + "flow_matching_loss": 0.016556413471698762, + "grad_norm": 0.08730942010879517, + "learning_rate": 1.9903320444824137e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12730 + }, + { + "epoch": 3.706720977596741, + "flow_matching_loss": 0.01350587634369731, + "grad_norm": 0.08327584713697433, + "learning_rate": 1.9887691136284245e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12740 + }, + { + "epoch": 3.709630491707885, + "flow_matching_loss": 0.014172783307731151, + "grad_norm": 0.06474429368972778, + "learning_rate": 1.9872055888738745e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12750 + }, + { + "epoch": 3.712540005819028, + "flow_matching_loss": 0.016069479612633587, + "grad_norm": 0.0851690024137497, + "learning_rate": 1.985641472118593e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12760 + }, + { + "epoch": 3.715449519930172, + "flow_matching_loss": 0.016264053899794816, + "grad_norm": 0.12301934510469437, + "learning_rate": 1.9840767652631294e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12770 + }, + { + "epoch": 3.718359034041315, + "flow_matching_loss": 0.01586805945262313, + "grad_norm": 0.11497297137975693, + "learning_rate": 1.9825114702087513e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12780 + }, + { + "epoch": 3.7212685481524588, + "flow_matching_loss": 0.01608498552814126, + "grad_norm": 0.10951736569404602, + "learning_rate": 1.9809455888574388e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12790 + }, + { + "epoch": 3.724178062263602, + "flow_matching_loss": 0.014861211739480495, + "grad_norm": 0.10459554195404053, + "learning_rate": 1.9793791231118864e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12800 + }, + { + "epoch": 3.7270875763747453, + "flow_matching_loss": 0.013829149212688208, + "grad_norm": 0.09338951855897903, + "learning_rate": 1.9778120748754958e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12810 + }, + { + "epoch": 3.729997090485889, + "flow_matching_loss": 0.01560128815472126, + "grad_norm": 0.09724440425634384, + "learning_rate": 1.97624444605238e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12820 + }, + { + "epoch": 3.7329066045970323, + "flow_matching_loss": 0.014911300502717495, + "grad_norm": 0.11263781040906906, + "learning_rate": 1.9746762385473552e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12830 + }, + { + "epoch": 3.7358161187081755, + "flow_matching_loss": 0.014914166927337647, + "grad_norm": 0.09023615717887878, + "learning_rate": 1.9731074542659414e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12840 + }, + { + "epoch": 3.7387256328193192, + "flow_matching_loss": 0.017079471610486507, + "grad_norm": 0.15643654763698578, + "learning_rate": 1.9715380951143603e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12850 + }, + { + "epoch": 3.7416351469304625, + "flow_matching_loss": 0.015073410607874394, + "grad_norm": 0.11877457052469254, + "learning_rate": 1.9699681629995295e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12860 + }, + { + "epoch": 3.744544661041606, + "flow_matching_loss": 0.014961860980838538, + "grad_norm": 0.09308832138776779, + "learning_rate": 1.968397659829066e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12870 + }, + { + "epoch": 3.7474541751527495, + "flow_matching_loss": 0.014132303092628718, + "grad_norm": 0.09509480744600296, + "learning_rate": 1.966826587511279e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12880 + }, + { + "epoch": 3.750363689263893, + "flow_matching_loss": 0.016032605525106193, + "grad_norm": 0.13070696592330933, + "learning_rate": 1.965254947955169e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12890 + }, + { + "epoch": 3.7532732033750364, + "flow_matching_loss": 0.013193277083337307, + "grad_norm": 0.10051318258047104, + "learning_rate": 1.963682743070427e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12900 + }, + { + "epoch": 3.7561827174861797, + "flow_matching_loss": 0.013252191245555878, + "grad_norm": 0.10015439987182617, + "learning_rate": 1.962109974767429e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12910 + }, + { + "epoch": 3.7590922315973234, + "flow_matching_loss": 0.014970444049686194, + "grad_norm": 0.09453857690095901, + "learning_rate": 1.960536644957238e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12920 + }, + { + "epoch": 3.7620017457084667, + "flow_matching_loss": 0.017016559187322856, + "grad_norm": 0.10559432953596115, + "learning_rate": 1.9589627555515974e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12930 + }, + { + "epoch": 3.76491125981961, + "flow_matching_loss": 0.01421516751870513, + "grad_norm": 0.08892176300287247, + "learning_rate": 1.9573883084629317e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12940 + }, + { + "epoch": 3.7678207739307537, + "flow_matching_loss": 0.016571369115263225, + "grad_norm": 0.13539540767669678, + "learning_rate": 1.9558133056043422e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12950 + }, + { + "epoch": 3.770730288041897, + "flow_matching_loss": 0.014986830577254296, + "grad_norm": 0.08779069036245346, + "learning_rate": 1.9542377488896062e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12960 + }, + { + "epoch": 3.77363980215304, + "flow_matching_loss": 0.014495593961328268, + "grad_norm": 0.12512554228305817, + "learning_rate": 1.9526616402331733e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12970 + }, + { + "epoch": 3.776549316264184, + "flow_matching_loss": 0.013863279670476913, + "grad_norm": 0.13932429254055023, + "learning_rate": 1.9510849815501638e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12980 + }, + { + "epoch": 3.7794588303753276, + "flow_matching_loss": 0.014779492374509573, + "grad_norm": 0.1342982053756714, + "learning_rate": 1.949507774756368e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 12990 + }, + { + "epoch": 3.782368344486471, + "flow_matching_loss": 0.01635559303686023, + "grad_norm": 0.11775277554988861, + "learning_rate": 1.9479300217682394e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13000 + }, + { + "epoch": 3.785277858597614, + "flow_matching_loss": 0.015586163382977247, + "grad_norm": 0.1324656903743744, + "learning_rate": 1.946351724502898e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13010 + }, + { + "epoch": 3.788187372708758, + "flow_matching_loss": 0.014888821123167872, + "grad_norm": 0.09553241729736328, + "learning_rate": 1.9447728848781227e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13020 + }, + { + "epoch": 3.791096886819901, + "flow_matching_loss": 0.014561470597982407, + "grad_norm": 0.1298503875732422, + "learning_rate": 1.943193504812353e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13030 + }, + { + "epoch": 3.7940064009310444, + "flow_matching_loss": 0.014370450284332037, + "grad_norm": 0.1036115363240242, + "learning_rate": 1.9416135862246846e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13040 + }, + { + "epoch": 3.796915915042188, + "flow_matching_loss": 0.015834439918398856, + "grad_norm": 0.12938523292541504, + "learning_rate": 1.9400331310348673e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13050 + }, + { + "epoch": 3.7998254291533313, + "flow_matching_loss": 0.014373838435858488, + "grad_norm": 0.09316036105155945, + "learning_rate": 1.9384521411633033e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13060 + }, + { + "epoch": 3.8027349432644746, + "flow_matching_loss": 0.012474005203694105, + "grad_norm": 0.07261942327022552, + "learning_rate": 1.936870618531045e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13070 + }, + { + "epoch": 3.8056444573756183, + "flow_matching_loss": 0.01663679489865899, + "grad_norm": 0.12206479161977768, + "learning_rate": 1.9352885650597904e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13080 + }, + { + "epoch": 3.8085539714867616, + "flow_matching_loss": 0.016478994768112896, + "grad_norm": 0.1367015689611435, + "learning_rate": 1.9337059826718847e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13090 + }, + { + "epoch": 3.8114634855979053, + "flow_matching_loss": 0.014939140062779188, + "grad_norm": 0.12638244032859802, + "learning_rate": 1.932122873290314e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13100 + }, + { + "epoch": 3.8143729997090485, + "flow_matching_loss": 0.01605419088155031, + "grad_norm": 0.09296728670597076, + "learning_rate": 1.9305392388387054e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13110 + }, + { + "epoch": 3.8172825138201922, + "flow_matching_loss": 0.013836126308888197, + "grad_norm": 0.11206505447626114, + "learning_rate": 1.928955081241325e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13120 + }, + { + "epoch": 3.8201920279313355, + "flow_matching_loss": 0.01604885784909129, + "grad_norm": 0.10046500712633133, + "learning_rate": 1.9273704024230725e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13130 + }, + { + "epoch": 3.8231015420424788, + "flow_matching_loss": 0.013078102935105562, + "grad_norm": 0.08896587789058685, + "learning_rate": 1.925785204309483e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13140 + }, + { + "epoch": 3.8260110561536225, + "flow_matching_loss": 0.01553994119167328, + "grad_norm": 0.1207176223397255, + "learning_rate": 1.9241994888267212e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13150 + }, + { + "epoch": 3.8289205702647657, + "flow_matching_loss": 0.013971534464508295, + "grad_norm": 0.08874422311782837, + "learning_rate": 1.9226132579015815e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13160 + }, + { + "epoch": 3.831830084375909, + "flow_matching_loss": 0.016161711793392895, + "grad_norm": 0.1111154705286026, + "learning_rate": 1.9210265134614832e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13170 + }, + { + "epoch": 3.8347395984870527, + "flow_matching_loss": 0.013958090171217918, + "grad_norm": 0.07663706690073013, + "learning_rate": 1.9194392574344712e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13180 + }, + { + "epoch": 3.837649112598196, + "flow_matching_loss": 0.018393618147820236, + "grad_norm": 0.11234553903341293, + "learning_rate": 1.9178514917492103e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13190 + }, + { + "epoch": 3.8405586267093397, + "flow_matching_loss": 0.012931237556040287, + "grad_norm": 0.10340175777673721, + "learning_rate": 1.9162632183349866e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13200 + }, + { + "epoch": 3.843468140820483, + "flow_matching_loss": 0.014682094007730484, + "grad_norm": 0.10320097953081131, + "learning_rate": 1.914674439121701e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13210 + }, + { + "epoch": 3.8463776549316266, + "flow_matching_loss": 0.01598492795601487, + "grad_norm": 0.09224127233028412, + "learning_rate": 1.9130851560398715e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13220 + }, + { + "epoch": 3.84928716904277, + "flow_matching_loss": 0.015147156082093716, + "grad_norm": 0.1051546186208725, + "learning_rate": 1.911495371020625e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13230 + }, + { + "epoch": 3.852196683153913, + "flow_matching_loss": 0.013709845580160617, + "grad_norm": 0.09246265888214111, + "learning_rate": 1.909905085995702e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13240 + }, + { + "epoch": 3.855106197265057, + "flow_matching_loss": 0.014492574892938138, + "grad_norm": 0.0733845978975296, + "learning_rate": 1.908314302897448e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13250 + }, + { + "epoch": 3.8580157113762, + "flow_matching_loss": 0.016842512786388396, + "grad_norm": 0.07640251517295837, + "learning_rate": 1.9067230236588142e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13260 + }, + { + "epoch": 3.8609252254873434, + "flow_matching_loss": 0.014436493953689932, + "grad_norm": 0.09125591069459915, + "learning_rate": 1.905131250213355e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13270 + }, + { + "epoch": 3.863834739598487, + "flow_matching_loss": 0.014726059418171645, + "grad_norm": 0.0808306410908699, + "learning_rate": 1.9035389844952256e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13280 + }, + { + "epoch": 3.8667442537096304, + "flow_matching_loss": 0.01599479289725423, + "grad_norm": 0.1010303720831871, + "learning_rate": 1.901946228439179e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13290 + }, + { + "epoch": 3.869653767820774, + "flow_matching_loss": 0.013519450277090072, + "grad_norm": 0.12013231217861176, + "learning_rate": 1.9003529839805637e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13300 + }, + { + "epoch": 3.8725632819319173, + "flow_matching_loss": 0.015828480944037437, + "grad_norm": 0.10509360581636429, + "learning_rate": 1.8987592530553217e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13310 + }, + { + "epoch": 3.875472796043061, + "flow_matching_loss": 0.018374251760542394, + "grad_norm": 0.16077789664268494, + "learning_rate": 1.897165037599987e-05, + "loss": 0.0184, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13320 + }, + { + "epoch": 3.8783823101542043, + "flow_matching_loss": 0.015539587289094926, + "grad_norm": 0.0909905731678009, + "learning_rate": 1.8955703395516814e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13330 + }, + { + "epoch": 3.8812918242653476, + "flow_matching_loss": 0.013857252802699805, + "grad_norm": 0.11277403682470322, + "learning_rate": 1.8939751608481134e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13340 + }, + { + "epoch": 3.8842013383764913, + "flow_matching_loss": 0.013969063106924296, + "grad_norm": 0.10810697078704834, + "learning_rate": 1.892379503427575e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13350 + }, + { + "epoch": 3.8871108524876345, + "flow_matching_loss": 0.01670439215376973, + "grad_norm": 0.1142473816871643, + "learning_rate": 1.8907833692289412e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13360 + }, + { + "epoch": 3.890020366598778, + "flow_matching_loss": 0.01226025545038283, + "grad_norm": 0.08496931940317154, + "learning_rate": 1.889186760191666e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13370 + }, + { + "epoch": 3.8929298807099215, + "flow_matching_loss": 0.01332761561498046, + "grad_norm": 0.08247603476047516, + "learning_rate": 1.887589678255779e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13380 + }, + { + "epoch": 3.895839394821065, + "flow_matching_loss": 0.014269076846539974, + "grad_norm": 0.1203392818570137, + "learning_rate": 1.8859921253618852e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13390 + }, + { + "epoch": 3.898748908932208, + "flow_matching_loss": 0.01548715541139245, + "grad_norm": 0.1220681294798851, + "learning_rate": 1.884394103451163e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13400 + }, + { + "epoch": 3.9016584230433518, + "flow_matching_loss": 0.015635475423187016, + "grad_norm": 0.09487415105104446, + "learning_rate": 1.8827956144653583e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13410 + }, + { + "epoch": 3.9045679371544955, + "flow_matching_loss": 0.016296213306486607, + "grad_norm": 0.10933130234479904, + "learning_rate": 1.8811966603467874e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13420 + }, + { + "epoch": 3.9074774512656387, + "flow_matching_loss": 0.01664929846301675, + "grad_norm": 0.1319878250360489, + "learning_rate": 1.8795972430383293e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13430 + }, + { + "epoch": 3.910386965376782, + "flow_matching_loss": 0.016063382476568223, + "grad_norm": 0.10560941696166992, + "learning_rate": 1.8779973644834273e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13440 + }, + { + "epoch": 3.9132964794879257, + "flow_matching_loss": 0.013923507742583751, + "grad_norm": 0.11593717336654663, + "learning_rate": 1.876397026626085e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13450 + }, + { + "epoch": 3.916205993599069, + "flow_matching_loss": 0.014328866358846426, + "grad_norm": 0.14443783462047577, + "learning_rate": 1.8747962314108633e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13460 + }, + { + "epoch": 3.919115507710212, + "flow_matching_loss": 0.015624338574707509, + "grad_norm": 0.11155612021684647, + "learning_rate": 1.873194980782879e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13470 + }, + { + "epoch": 3.922025021821356, + "flow_matching_loss": 0.016375220008194448, + "grad_norm": 0.10098176449537277, + "learning_rate": 1.871593276687804e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13480 + }, + { + "epoch": 3.924934535932499, + "flow_matching_loss": 0.01521866386756301, + "grad_norm": 0.09044811874628067, + "learning_rate": 1.869991121071858e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13490 + }, + { + "epoch": 3.9278440500436425, + "flow_matching_loss": 0.015614152513444423, + "grad_norm": 0.1072198674082756, + "learning_rate": 1.8683885158818117e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13500 + }, + { + "epoch": 3.930753564154786, + "flow_matching_loss": 0.017053922824561595, + "grad_norm": 0.10546001046895981, + "learning_rate": 1.8667854630649825e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13510 + }, + { + "epoch": 3.9336630782659294, + "flow_matching_loss": 0.013583968579769134, + "grad_norm": 0.15029224753379822, + "learning_rate": 1.86518196456923e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13520 + }, + { + "epoch": 3.936572592377073, + "flow_matching_loss": 0.014801163133233786, + "grad_norm": 0.10038940608501434, + "learning_rate": 1.8635780223429565e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13530 + }, + { + "epoch": 3.9394821064882164, + "flow_matching_loss": 0.014725248795002699, + "grad_norm": 0.09799254685640335, + "learning_rate": 1.8619736383351017e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13540 + }, + { + "epoch": 3.94239162059936, + "flow_matching_loss": 0.015595742873847485, + "grad_norm": 0.12206040322780609, + "learning_rate": 1.8603688144951454e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13550 + }, + { + "epoch": 3.9453011347105034, + "flow_matching_loss": 0.015759761445224285, + "grad_norm": 0.13587693870067596, + "learning_rate": 1.8587635527730983e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13560 + }, + { + "epoch": 3.9482106488216466, + "flow_matching_loss": 0.01649460420012474, + "grad_norm": 0.10667497664690018, + "learning_rate": 1.8571578551195056e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13570 + }, + { + "epoch": 3.9511201629327903, + "flow_matching_loss": 0.01558939041569829, + "grad_norm": 0.09073425084352493, + "learning_rate": 1.855551723485441e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13580 + }, + { + "epoch": 3.9540296770439336, + "flow_matching_loss": 0.017199758160859346, + "grad_norm": 0.11935657262802124, + "learning_rate": 1.8539451598225066e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13590 + }, + { + "epoch": 3.956939191155077, + "flow_matching_loss": 0.01428228635340929, + "grad_norm": 0.11116857826709747, + "learning_rate": 1.8523381660828276e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13600 + }, + { + "epoch": 3.9598487052662206, + "flow_matching_loss": 0.012396116089075804, + "grad_norm": 0.08410289883613586, + "learning_rate": 1.850730744219054e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13610 + }, + { + "epoch": 3.962758219377364, + "flow_matching_loss": 0.014594139996916056, + "grad_norm": 0.09887423366308212, + "learning_rate": 1.849122896184354e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13620 + }, + { + "epoch": 3.9656677334885075, + "flow_matching_loss": 0.01412913566455245, + "grad_norm": 0.12050934135913849, + "learning_rate": 1.8475146239324146e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13630 + }, + { + "epoch": 3.968577247599651, + "flow_matching_loss": 0.013726236298680305, + "grad_norm": 0.10409115254878998, + "learning_rate": 1.8459059294174396e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13640 + }, + { + "epoch": 3.9714867617107945, + "flow_matching_loss": 0.015321301482617854, + "grad_norm": 0.11366119980812073, + "learning_rate": 1.844296814594143e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13650 + }, + { + "epoch": 3.9743962758219378, + "flow_matching_loss": 0.012810048507526517, + "grad_norm": 0.11395711451768875, + "learning_rate": 1.8426872814177516e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13660 + }, + { + "epoch": 3.977305789933081, + "flow_matching_loss": 0.014374241139739752, + "grad_norm": 0.09565619379281998, + "learning_rate": 1.8410773318440003e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13670 + }, + { + "epoch": 3.9802153040442247, + "flow_matching_loss": 0.01803002879023552, + "grad_norm": 0.1383570283651352, + "learning_rate": 1.839466967829129e-05, + "loss": 0.018, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13680 + }, + { + "epoch": 3.983124818155368, + "flow_matching_loss": 0.015623649675399065, + "grad_norm": 0.12160788476467133, + "learning_rate": 1.8378561913298822e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13690 + }, + { + "epoch": 3.9860343322665113, + "flow_matching_loss": 0.017160756513476372, + "grad_norm": 0.1095801517367363, + "learning_rate": 1.8362450043035053e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13700 + }, + { + "epoch": 3.988943846377655, + "flow_matching_loss": 0.01659213537350297, + "grad_norm": 0.13532377779483795, + "learning_rate": 1.834633408707742e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13710 + }, + { + "epoch": 3.9918533604887982, + "flow_matching_loss": 0.013146352116018533, + "grad_norm": 0.0967966616153717, + "learning_rate": 1.8330214065008336e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13720 + }, + { + "epoch": 3.994762874599942, + "flow_matching_loss": 0.01723226988688111, + "grad_norm": 0.09786011278629303, + "learning_rate": 1.831408999641514e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13730 + }, + { + "epoch": 3.997672388711085, + "flow_matching_loss": 0.014602485857903958, + "grad_norm": 0.0868372917175293, + "learning_rate": 1.8297961900890107e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13740 + }, + { + "epoch": 4.000581902822229, + "flow_matching_loss": 0.01813554633408785, + "grad_norm": 0.13377943634986877, + "learning_rate": 1.8281829798030385e-05, + "loss": 0.0181, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13750 + }, + { + "epoch": 4.003491416933372, + "flow_matching_loss": 0.016562149208039046, + "grad_norm": 0.10573773086071014, + "learning_rate": 1.8265693707438002e-05, + "loss": 0.0166, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13760 + }, + { + "epoch": 4.0064009310445154, + "flow_matching_loss": 0.012051057908684016, + "grad_norm": 0.09480652958154678, + "learning_rate": 1.824955364871982e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13770 + }, + { + "epoch": 4.009310445155659, + "flow_matching_loss": 0.01361659998074174, + "grad_norm": 0.11244712769985199, + "learning_rate": 1.8233409641487553e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13780 + }, + { + "epoch": 4.012219959266803, + "flow_matching_loss": 0.014026816189289092, + "grad_norm": 0.08481160551309586, + "learning_rate": 1.8217261705357677e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13790 + }, + { + "epoch": 4.015129473377946, + "flow_matching_loss": 0.013428747840225696, + "grad_norm": 0.08509491384029388, + "learning_rate": 1.8201109859951462e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13800 + }, + { + "epoch": 4.018038987489089, + "flow_matching_loss": 0.01436088364571333, + "grad_norm": 0.10745949298143387, + "learning_rate": 1.818495412489492e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13810 + }, + { + "epoch": 4.020948501600233, + "flow_matching_loss": 0.01572133544832468, + "grad_norm": 0.11271646618843079, + "learning_rate": 1.8168794519818802e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13820 + }, + { + "epoch": 4.023858015711376, + "flow_matching_loss": 0.01605182634666562, + "grad_norm": 0.08907665312290192, + "learning_rate": 1.8152631064358537e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13830 + }, + { + "epoch": 4.02676752982252, + "flow_matching_loss": 0.015771651919931174, + "grad_norm": 0.10359078645706177, + "learning_rate": 1.8136463778154258e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13840 + }, + { + "epoch": 4.029677043933663, + "flow_matching_loss": 0.014234870579093695, + "grad_norm": 0.10567271709442139, + "learning_rate": 1.812029268085074e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13850 + }, + { + "epoch": 4.032586558044806, + "flow_matching_loss": 0.012551237177103759, + "grad_norm": 0.09284958243370056, + "learning_rate": 1.8104117792097387e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13860 + }, + { + "epoch": 4.03549607215595, + "flow_matching_loss": 0.015892372000962496, + "grad_norm": 0.10352766513824463, + "learning_rate": 1.808793913154822e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13870 + }, + { + "epoch": 4.038405586267094, + "flow_matching_loss": 0.015866944473236798, + "grad_norm": 0.09036027640104294, + "learning_rate": 1.8071756718861838e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13880 + }, + { + "epoch": 4.041315100378237, + "flow_matching_loss": 0.01546633942052722, + "grad_norm": 0.11463179439306259, + "learning_rate": 1.805557057370139e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13890 + }, + { + "epoch": 4.04422461448938, + "flow_matching_loss": 0.014204859174787999, + "grad_norm": 0.08394740521907806, + "learning_rate": 1.8039380715734574e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13900 + }, + { + "epoch": 4.047134128600524, + "flow_matching_loss": 0.0158247584477067, + "grad_norm": 0.10575193166732788, + "learning_rate": 1.802318716463359e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13910 + }, + { + "epoch": 4.0500436427116675, + "flow_matching_loss": 0.013542835647240282, + "grad_norm": 0.07978207617998123, + "learning_rate": 1.8006989940075138e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13920 + }, + { + "epoch": 4.05295315682281, + "flow_matching_loss": 0.012892359215766192, + "grad_norm": 0.0773196667432785, + "learning_rate": 1.7990789061740368e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13930 + }, + { + "epoch": 4.055862670933954, + "flow_matching_loss": 0.01310161193832755, + "grad_norm": 0.09583462029695511, + "learning_rate": 1.7974584549314875e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13940 + }, + { + "epoch": 4.058772185045098, + "flow_matching_loss": 0.015265368670225144, + "grad_norm": 0.07741191983222961, + "learning_rate": 1.7958376422488672e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13950 + }, + { + "epoch": 4.0616816991562406, + "flow_matching_loss": 0.015202395245432853, + "grad_norm": 0.10395914316177368, + "learning_rate": 1.7942164700956156e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13960 + }, + { + "epoch": 4.064591213267384, + "flow_matching_loss": 0.016197324823588134, + "grad_norm": 0.11588972806930542, + "learning_rate": 1.79259494044161e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13970 + }, + { + "epoch": 4.067500727378528, + "flow_matching_loss": 0.013586666388437151, + "grad_norm": 0.10282105952501297, + "learning_rate": 1.7909730552571617e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13980 + }, + { + "epoch": 4.070410241489671, + "flow_matching_loss": 0.014117323327809572, + "grad_norm": 0.10641921311616898, + "learning_rate": 1.7893508165130143e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 13990 + }, + { + "epoch": 4.0733197556008145, + "flow_matching_loss": 0.012585184816271067, + "grad_norm": 0.10963480919599533, + "learning_rate": 1.787728226180341e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14000 + }, + { + "epoch": 4.076229269711958, + "flow_matching_loss": 0.015192927420139312, + "grad_norm": 0.11396881192922592, + "learning_rate": 1.786105286230742e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14010 + }, + { + "epoch": 4.079138783823102, + "flow_matching_loss": 0.015241117496043444, + "grad_norm": 0.0771174356341362, + "learning_rate": 1.784481998636242e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14020 + }, + { + "epoch": 4.082048297934245, + "flow_matching_loss": 0.013810223154723644, + "grad_norm": 0.07944314181804657, + "learning_rate": 1.782858365369289e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14030 + }, + { + "epoch": 4.084957812045388, + "flow_matching_loss": 0.012855361448600888, + "grad_norm": 0.09936843812465668, + "learning_rate": 1.78123438840275e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14040 + }, + { + "epoch": 4.087867326156532, + "flow_matching_loss": 0.017335046641528608, + "grad_norm": 0.11974071711301804, + "learning_rate": 1.779610069709911e-05, + "loss": 0.0173, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14050 + }, + { + "epoch": 4.090776840267675, + "flow_matching_loss": 0.014559590443968772, + "grad_norm": 0.10619295388460159, + "learning_rate": 1.7779854112644713e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14060 + }, + { + "epoch": 4.093686354378819, + "flow_matching_loss": 0.012464843038469554, + "grad_norm": 0.1026245504617691, + "learning_rate": 1.7763604150405446e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14070 + }, + { + "epoch": 4.096595868489962, + "flow_matching_loss": 0.013523250445723533, + "grad_norm": 0.1048610508441925, + "learning_rate": 1.7747350830126548e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14080 + }, + { + "epoch": 4.099505382601105, + "flow_matching_loss": 0.014087660890072583, + "grad_norm": 0.11352065205574036, + "learning_rate": 1.7731094171557332e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14090 + }, + { + "epoch": 4.102414896712249, + "flow_matching_loss": 0.013792907074093818, + "grad_norm": 0.08669675141572952, + "learning_rate": 1.771483419445117e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14100 + }, + { + "epoch": 4.105324410823393, + "flow_matching_loss": 0.01341251884587109, + "grad_norm": 0.10640200227499008, + "learning_rate": 1.7698570918565474e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14110 + }, + { + "epoch": 4.108233924934536, + "flow_matching_loss": 0.015932545904070138, + "grad_norm": 0.09808482229709625, + "learning_rate": 1.768230436366165e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14120 + }, + { + "epoch": 4.111143439045679, + "flow_matching_loss": 0.014533140324056148, + "grad_norm": 0.08565317839384079, + "learning_rate": 1.7666034549505102e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14130 + }, + { + "epoch": 4.114052953156823, + "flow_matching_loss": 0.013144570495933294, + "grad_norm": 0.09124673902988434, + "learning_rate": 1.7649761495865185e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14140 + }, + { + "epoch": 4.1169624672679666, + "flow_matching_loss": 0.01253513852134347, + "grad_norm": 0.1273316890001297, + "learning_rate": 1.7633485222515188e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14150 + }, + { + "epoch": 4.119871981379109, + "flow_matching_loss": 0.014703873731195926, + "grad_norm": 0.11192576587200165, + "learning_rate": 1.761720574923233e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14160 + }, + { + "epoch": 4.122781495490253, + "flow_matching_loss": 0.014456191938370467, + "grad_norm": 0.09664295613765717, + "learning_rate": 1.7600923095797704e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14170 + }, + { + "epoch": 4.125691009601397, + "flow_matching_loss": 0.01440396746620536, + "grad_norm": 0.10551908612251282, + "learning_rate": 1.758463728199626e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14180 + }, + { + "epoch": 4.12860052371254, + "flow_matching_loss": 0.015050921216607093, + "grad_norm": 0.09630823880434036, + "learning_rate": 1.7568348327616803e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14190 + }, + { + "epoch": 4.131510037823683, + "flow_matching_loss": 0.014375148434191942, + "grad_norm": 0.12063245475292206, + "learning_rate": 1.755205625245195e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14200 + }, + { + "epoch": 4.134419551934827, + "flow_matching_loss": 0.015738660003989935, + "grad_norm": 0.13736651837825775, + "learning_rate": 1.7535761076298104e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14210 + }, + { + "epoch": 4.137329066045971, + "flow_matching_loss": 0.01553860860876739, + "grad_norm": 0.090329609811306, + "learning_rate": 1.7519462818955448e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14220 + }, + { + "epoch": 4.1402385801571135, + "flow_matching_loss": 0.015304768271744252, + "grad_norm": 0.1407233327627182, + "learning_rate": 1.7503161500227896e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14230 + }, + { + "epoch": 4.143148094268257, + "flow_matching_loss": 0.013353696279227733, + "grad_norm": 0.09470424056053162, + "learning_rate": 1.7486857139923093e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14240 + }, + { + "epoch": 4.146057608379401, + "flow_matching_loss": 0.016789561510086058, + "grad_norm": 0.10075113922357559, + "learning_rate": 1.747054975785236e-05, + "loss": 0.0168, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14250 + }, + { + "epoch": 4.148967122490544, + "flow_matching_loss": 0.013824803661555052, + "grad_norm": 0.075185127556324, + "learning_rate": 1.745423937383072e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14260 + }, + { + "epoch": 4.1518766366016875, + "flow_matching_loss": 0.014945708680897951, + "grad_norm": 0.11545305699110031, + "learning_rate": 1.7437926007676825e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14270 + }, + { + "epoch": 4.154786150712831, + "flow_matching_loss": 0.013971356581896544, + "grad_norm": 0.10328049957752228, + "learning_rate": 1.742160967921294e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14280 + }, + { + "epoch": 4.157695664823974, + "flow_matching_loss": 0.013411143189296126, + "grad_norm": 0.09233797341585159, + "learning_rate": 1.7405290408264954e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14290 + }, + { + "epoch": 4.160605178935118, + "flow_matching_loss": 0.015458482317626476, + "grad_norm": 0.08612709492444992, + "learning_rate": 1.738896821466232e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14300 + }, + { + "epoch": 4.163514693046261, + "flow_matching_loss": 0.017512325290590526, + "grad_norm": 0.08533573895692825, + "learning_rate": 1.737264311823804e-05, + "loss": 0.0175, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14310 + }, + { + "epoch": 4.166424207157405, + "flow_matching_loss": 0.014728309027850628, + "grad_norm": 0.11857613176107407, + "learning_rate": 1.7356315138828645e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14320 + }, + { + "epoch": 4.169333721268548, + "flow_matching_loss": 0.013005443662405015, + "grad_norm": 0.08777546882629395, + "learning_rate": 1.7339984296274174e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14330 + }, + { + "epoch": 4.172243235379692, + "flow_matching_loss": 0.017121804971247913, + "grad_norm": 0.07974032312631607, + "learning_rate": 1.7323650610418134e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14340 + }, + { + "epoch": 4.175152749490835, + "flow_matching_loss": 0.013434882834553718, + "grad_norm": 0.09232126921415329, + "learning_rate": 1.730731410110749e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14350 + }, + { + "epoch": 4.178062263601978, + "flow_matching_loss": 0.014723788853734732, + "grad_norm": 0.0799247995018959, + "learning_rate": 1.7290974788192655e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14360 + }, + { + "epoch": 4.180971777713122, + "flow_matching_loss": 0.013275208417326212, + "grad_norm": 0.06988059729337692, + "learning_rate": 1.727463269152743e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14370 + }, + { + "epoch": 4.183881291824266, + "flow_matching_loss": 0.013820525351911783, + "grad_norm": 0.0801973044872284, + "learning_rate": 1.7258287830968996e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14380 + }, + { + "epoch": 4.186790805935408, + "flow_matching_loss": 0.015360962878912688, + "grad_norm": 0.10703194886445999, + "learning_rate": 1.7241940226377908e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14390 + }, + { + "epoch": 4.189700320046552, + "flow_matching_loss": 0.01318818712607026, + "grad_norm": 0.11304827779531479, + "learning_rate": 1.7225589897618043e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14400 + }, + { + "epoch": 4.192609834157696, + "flow_matching_loss": 0.013022521045058966, + "grad_norm": 0.10793134570121765, + "learning_rate": 1.7209236864556588e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14410 + }, + { + "epoch": 4.195519348268839, + "flow_matching_loss": 0.012334758974611759, + "grad_norm": 0.09025761485099792, + "learning_rate": 1.719288114706403e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14420 + }, + { + "epoch": 4.198428862379982, + "flow_matching_loss": 0.014714551251381635, + "grad_norm": 0.11850300431251526, + "learning_rate": 1.7176522765014104e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14430 + }, + { + "epoch": 4.201338376491126, + "flow_matching_loss": 0.015514167863875628, + "grad_norm": 0.10287488251924515, + "learning_rate": 1.7160161738283782e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14440 + }, + { + "epoch": 4.20424789060227, + "flow_matching_loss": 0.013238233607262373, + "grad_norm": 0.09707347303628922, + "learning_rate": 1.714379808675326e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14450 + }, + { + "epoch": 4.207157404713413, + "flow_matching_loss": 0.01378666665405035, + "grad_norm": 0.09037363529205322, + "learning_rate": 1.712743183030592e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14460 + }, + { + "epoch": 4.210066918824556, + "flow_matching_loss": 0.013123942073434591, + "grad_norm": 0.08190464228391647, + "learning_rate": 1.7111062988828294e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14470 + }, + { + "epoch": 4.2129764329357, + "flow_matching_loss": 0.012343161180615425, + "grad_norm": 0.10032717883586884, + "learning_rate": 1.709469158221008e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14480 + }, + { + "epoch": 4.215885947046843, + "flow_matching_loss": 0.014683845825493336, + "grad_norm": 0.08900438249111176, + "learning_rate": 1.7078317630344083e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14490 + }, + { + "epoch": 4.2187954611579865, + "flow_matching_loss": 0.013564261607825756, + "grad_norm": 0.0689251571893692, + "learning_rate": 1.706194115312618e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14500 + }, + { + "epoch": 4.22170497526913, + "flow_matching_loss": 0.015968933794647457, + "grad_norm": 0.08368028700351715, + "learning_rate": 1.704556217045536e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14510 + }, + { + "epoch": 4.224614489380274, + "flow_matching_loss": 0.01433571157976985, + "grad_norm": 0.10197269171476364, + "learning_rate": 1.7029180702233612e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14520 + }, + { + "epoch": 4.227524003491417, + "flow_matching_loss": 0.014339812751859426, + "grad_norm": 0.0947539359331131, + "learning_rate": 1.7012796768365975e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14530 + }, + { + "epoch": 4.2304335176025605, + "flow_matching_loss": 0.012868949491530658, + "grad_norm": 0.11202969402074814, + "learning_rate": 1.6996410388760465e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14540 + }, + { + "epoch": 4.233343031713704, + "flow_matching_loss": 0.015462138783186674, + "grad_norm": 0.09331907331943512, + "learning_rate": 1.698002158332809e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14550 + }, + { + "epoch": 4.236252545824847, + "flow_matching_loss": 0.014466722775250674, + "grad_norm": 0.07465855777263641, + "learning_rate": 1.6963630371982783e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14560 + }, + { + "epoch": 4.239162059935991, + "flow_matching_loss": 0.013901611417531967, + "grad_norm": 0.07020971924066544, + "learning_rate": 1.6947236774641416e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14570 + }, + { + "epoch": 4.242071574047134, + "flow_matching_loss": 0.013186241220682859, + "grad_norm": 0.0862346887588501, + "learning_rate": 1.6930840811223755e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14580 + }, + { + "epoch": 4.244981088158277, + "flow_matching_loss": 0.013978526322171092, + "grad_norm": 0.1148739829659462, + "learning_rate": 1.6914442501652448e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14590 + }, + { + "epoch": 4.247890602269421, + "flow_matching_loss": 0.013158967811614275, + "grad_norm": 0.09374631196260452, + "learning_rate": 1.6898041865852974e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14600 + }, + { + "epoch": 4.250800116380565, + "flow_matching_loss": 0.014934047777205705, + "grad_norm": 0.0965564101934433, + "learning_rate": 1.6881638923753663e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14610 + }, + { + "epoch": 4.2537096304917075, + "flow_matching_loss": 0.013434703554958105, + "grad_norm": 0.09017939865589142, + "learning_rate": 1.6865233695285632e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14620 + }, + { + "epoch": 4.256619144602851, + "flow_matching_loss": 0.013677622703835369, + "grad_norm": 0.08959643542766571, + "learning_rate": 1.6848826200382782e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14630 + }, + { + "epoch": 4.259528658713995, + "flow_matching_loss": 0.013629127480089664, + "grad_norm": 0.08456958085298538, + "learning_rate": 1.6832416458981762e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14640 + }, + { + "epoch": 4.262438172825139, + "flow_matching_loss": 0.012736789137125015, + "grad_norm": 0.08459553867578506, + "learning_rate": 1.681600449102196e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14650 + }, + { + "epoch": 4.265347686936281, + "flow_matching_loss": 0.013288950454443694, + "grad_norm": 0.12533527612686157, + "learning_rate": 1.6799590316445468e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14660 + }, + { + "epoch": 4.268257201047425, + "flow_matching_loss": 0.016694328095763922, + "grad_norm": 0.11553885787725449, + "learning_rate": 1.678317395519705e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14670 + }, + { + "epoch": 4.271166715158569, + "flow_matching_loss": 0.015207646880298853, + "grad_norm": 0.09054823964834213, + "learning_rate": 1.676675542722413e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14680 + }, + { + "epoch": 4.274076229269712, + "flow_matching_loss": 0.012939024344086647, + "grad_norm": 0.09317658841609955, + "learning_rate": 1.6750334752476776e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14690 + }, + { + "epoch": 4.276985743380855, + "flow_matching_loss": 0.015300564561039209, + "grad_norm": 0.0967172235250473, + "learning_rate": 1.673391195090765e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14700 + }, + { + "epoch": 4.279895257491999, + "flow_matching_loss": 0.013556682132184505, + "grad_norm": 0.08057546615600586, + "learning_rate": 1.6717487042472006e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14710 + }, + { + "epoch": 4.282804771603142, + "flow_matching_loss": 0.013858560752123595, + "grad_norm": 0.0867706760764122, + "learning_rate": 1.6701060047127655e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14720 + }, + { + "epoch": 4.285714285714286, + "flow_matching_loss": 0.016313625127077104, + "grad_norm": 0.112516388297081, + "learning_rate": 1.6684630984834947e-05, + "loss": 0.0163, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14730 + }, + { + "epoch": 4.288623799825429, + "flow_matching_loss": 0.013133612228557467, + "grad_norm": 0.07497584074735641, + "learning_rate": 1.666819987555675e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14740 + }, + { + "epoch": 4.291533313936573, + "flow_matching_loss": 0.012525273207575082, + "grad_norm": 0.08542437851428986, + "learning_rate": 1.6651766739258392e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14750 + }, + { + "epoch": 4.294442828047716, + "flow_matching_loss": 0.014879729691892862, + "grad_norm": 0.0993085578083992, + "learning_rate": 1.6635331595907704e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14760 + }, + { + "epoch": 4.2973523421588595, + "flow_matching_loss": 0.013325812853872776, + "grad_norm": 0.09367644786834717, + "learning_rate": 1.6618894465474923e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14770 + }, + { + "epoch": 4.300261856270003, + "flow_matching_loss": 0.013831597287207842, + "grad_norm": 0.09523455798625946, + "learning_rate": 1.660245536793271e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14780 + }, + { + "epoch": 4.303171370381146, + "flow_matching_loss": 0.012756955716758967, + "grad_norm": 0.09149059653282166, + "learning_rate": 1.6586014323256126e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14790 + }, + { + "epoch": 4.30608088449229, + "flow_matching_loss": 0.014707175269722938, + "grad_norm": 0.08838332444429398, + "learning_rate": 1.656957135142259e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14800 + }, + { + "epoch": 4.3089903986034335, + "flow_matching_loss": 0.014281484112143517, + "grad_norm": 0.11782403290271759, + "learning_rate": 1.655312647241186e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14810 + }, + { + "epoch": 4.311899912714576, + "flow_matching_loss": 0.012782498262822628, + "grad_norm": 0.10767863690853119, + "learning_rate": 1.6536679706206015e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14820 + }, + { + "epoch": 4.31480942682572, + "flow_matching_loss": 0.01635288055986166, + "grad_norm": 0.08393342792987823, + "learning_rate": 1.6520231072789427e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14830 + }, + { + "epoch": 4.317718940936864, + "flow_matching_loss": 0.01495280945673585, + "grad_norm": 0.08647552877664566, + "learning_rate": 1.6503780592148737e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14840 + }, + { + "epoch": 4.320628455048007, + "flow_matching_loss": 0.01292788116261363, + "grad_norm": 0.0697045847773552, + "learning_rate": 1.648732828427283e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14850 + }, + { + "epoch": 4.32353796915915, + "flow_matching_loss": 0.014018040988594294, + "grad_norm": 0.10965647548437119, + "learning_rate": 1.647087416915281e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14860 + }, + { + "epoch": 4.326447483270294, + "flow_matching_loss": 0.015019072778522968, + "grad_norm": 0.08559396117925644, + "learning_rate": 1.6454418266781987e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14870 + }, + { + "epoch": 4.329356997381438, + "flow_matching_loss": 0.015388918947428465, + "grad_norm": 0.08652393519878387, + "learning_rate": 1.6437960597155824e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14880 + }, + { + "epoch": 4.3322665114925805, + "flow_matching_loss": 0.013764234213158488, + "grad_norm": 0.10141471773386002, + "learning_rate": 1.642150118027194e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14890 + }, + { + "epoch": 4.335176025603724, + "flow_matching_loss": 0.016464823111891746, + "grad_norm": 0.1322523057460785, + "learning_rate": 1.640504003613009e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14900 + }, + { + "epoch": 4.338085539714868, + "flow_matching_loss": 0.015311828255653382, + "grad_norm": 0.11787395179271698, + "learning_rate": 1.6388577184732107e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14910 + }, + { + "epoch": 4.340995053826011, + "flow_matching_loss": 0.01404941752552986, + "grad_norm": 0.09482201933860779, + "learning_rate": 1.6372112646081907e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14920 + }, + { + "epoch": 4.343904567937154, + "flow_matching_loss": 0.016409405786544085, + "grad_norm": 0.13328388333320618, + "learning_rate": 1.6355646440185464e-05, + "loss": 0.0164, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14930 + }, + { + "epoch": 4.346814082048298, + "flow_matching_loss": 0.014546339400112629, + "grad_norm": 0.10058121383190155, + "learning_rate": 1.6339178587050764e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14940 + }, + { + "epoch": 4.349723596159441, + "flow_matching_loss": 0.013561814837157727, + "grad_norm": 0.10526616871356964, + "learning_rate": 1.632270910668781e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14950 + }, + { + "epoch": 4.352633110270585, + "flow_matching_loss": 0.012657604599371552, + "grad_norm": 0.1013251394033432, + "learning_rate": 1.6306238019108562e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14960 + }, + { + "epoch": 4.355542624381728, + "flow_matching_loss": 0.014912555087357759, + "grad_norm": 0.10121843963861465, + "learning_rate": 1.6289765344326952e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14970 + }, + { + "epoch": 4.358452138492872, + "flow_matching_loss": 0.014659987948834895, + "grad_norm": 0.08623078465461731, + "learning_rate": 1.6273291102358833e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14980 + }, + { + "epoch": 4.361361652604015, + "flow_matching_loss": 0.013663698732852936, + "grad_norm": 0.11186858266592026, + "learning_rate": 1.6256815313221963e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 14990 + }, + { + "epoch": 4.364271166715159, + "flow_matching_loss": 0.013913500308990478, + "grad_norm": 0.08134081214666367, + "learning_rate": 1.6240337996935972e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15000 + }, + { + "epoch": 4.367180680826302, + "flow_matching_loss": 0.014652085769921542, + "grad_norm": 0.10539979487657547, + "learning_rate": 1.6223859173522367e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15010 + }, + { + "epoch": 4.370090194937445, + "flow_matching_loss": 0.014411859028041363, + "grad_norm": 0.09992824494838715, + "learning_rate": 1.6207378863004455e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15020 + }, + { + "epoch": 4.372999709048589, + "flow_matching_loss": 0.012912921607494354, + "grad_norm": 0.0985613539814949, + "learning_rate": 1.6190897085407382e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15030 + }, + { + "epoch": 4.3759092231597325, + "flow_matching_loss": 0.013157941494137048, + "grad_norm": 0.10440394282341003, + "learning_rate": 1.617441386075805e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15040 + }, + { + "epoch": 4.378818737270876, + "flow_matching_loss": 0.013818725757300854, + "grad_norm": 0.1041296049952507, + "learning_rate": 1.6157929209085142e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15050 + }, + { + "epoch": 4.381728251382019, + "flow_matching_loss": 0.014227310940623284, + "grad_norm": 0.08624658733606339, + "learning_rate": 1.614144315041906e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15060 + }, + { + "epoch": 4.384637765493163, + "flow_matching_loss": 0.015419030841439963, + "grad_norm": 0.11277686059474945, + "learning_rate": 1.612495570479192e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15070 + }, + { + "epoch": 4.3875472796043065, + "flow_matching_loss": 0.01701609157025814, + "grad_norm": 0.09305819123983383, + "learning_rate": 1.6108466892237517e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15080 + }, + { + "epoch": 4.390456793715449, + "flow_matching_loss": 0.015121513698250055, + "grad_norm": 0.09322536736726761, + "learning_rate": 1.609197673279132e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15090 + }, + { + "epoch": 4.393366307826593, + "flow_matching_loss": 0.014168405439704657, + "grad_norm": 0.09406200051307678, + "learning_rate": 1.6075485246490428e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15100 + }, + { + "epoch": 4.396275821937737, + "flow_matching_loss": 0.015506627736613154, + "grad_norm": 0.09710133075714111, + "learning_rate": 1.605899245337355e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15110 + }, + { + "epoch": 4.3991853360488795, + "flow_matching_loss": 0.014773550909012556, + "grad_norm": 0.10722094029188156, + "learning_rate": 1.6042498373480983e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15120 + }, + { + "epoch": 4.402094850160023, + "flow_matching_loss": 0.012908846233040094, + "grad_norm": 0.06826818734407425, + "learning_rate": 1.602600302685459e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15130 + }, + { + "epoch": 4.405004364271167, + "flow_matching_loss": 0.014780879765748978, + "grad_norm": 0.2277947962284088, + "learning_rate": 1.6009506433537774e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15140 + }, + { + "epoch": 4.40791387838231, + "flow_matching_loss": 0.012509341817349195, + "grad_norm": 0.06800251454114914, + "learning_rate": 1.599300861357545e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15150 + }, + { + "epoch": 4.4108233924934535, + "flow_matching_loss": 0.013320352043956518, + "grad_norm": 0.13283199071884155, + "learning_rate": 1.5976509587014032e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15160 + }, + { + "epoch": 4.413732906604597, + "flow_matching_loss": 0.015512141212821007, + "grad_norm": 0.12117443978786469, + "learning_rate": 1.5960009373901384e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15170 + }, + { + "epoch": 4.416642420715741, + "flow_matching_loss": 0.01430311007425189, + "grad_norm": 0.09746281802654266, + "learning_rate": 1.5943507994286823e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15180 + }, + { + "epoch": 4.419551934826884, + "flow_matching_loss": 0.017203552275896074, + "grad_norm": 0.09301124513149261, + "learning_rate": 1.5927005468221082e-05, + "loss": 0.0172, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15190 + }, + { + "epoch": 4.422461448938027, + "flow_matching_loss": 0.01422662390395999, + "grad_norm": 0.08641503006219864, + "learning_rate": 1.5910501815756285e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15200 + }, + { + "epoch": 4.425370963049171, + "flow_matching_loss": 0.013572388980537652, + "grad_norm": 0.08248896896839142, + "learning_rate": 1.589399705694593e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15210 + }, + { + "epoch": 4.428280477160314, + "flow_matching_loss": 0.014491278305649757, + "grad_norm": 0.10274947434663773, + "learning_rate": 1.587749121184485e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15220 + }, + { + "epoch": 4.431189991271458, + "flow_matching_loss": 0.014593090396374464, + "grad_norm": 0.0838865339756012, + "learning_rate": 1.5860984300509206e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15230 + }, + { + "epoch": 4.434099505382601, + "flow_matching_loss": 0.014430336747318506, + "grad_norm": 0.11713023483753204, + "learning_rate": 1.5844476342996453e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15240 + }, + { + "epoch": 4.437009019493744, + "flow_matching_loss": 0.013953460287302733, + "grad_norm": 0.10475905984640121, + "learning_rate": 1.5827967359365306e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15250 + }, + { + "epoch": 4.439918533604888, + "flow_matching_loss": 0.013660892844200134, + "grad_norm": 0.10774052888154984, + "learning_rate": 1.5811457369675758e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15260 + }, + { + "epoch": 4.442828047716032, + "flow_matching_loss": 0.016474706400185824, + "grad_norm": 0.07859033346176147, + "learning_rate": 1.5794946393988982e-05, + "loss": 0.0165, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15270 + }, + { + "epoch": 4.445737561827175, + "flow_matching_loss": 0.014661122020334006, + "grad_norm": 0.1006200984120369, + "learning_rate": 1.5778434452367382e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15280 + }, + { + "epoch": 4.448647075938318, + "flow_matching_loss": 0.013713076245039701, + "grad_norm": 0.11268024891614914, + "learning_rate": 1.576192156487452e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15290 + }, + { + "epoch": 4.451556590049462, + "flow_matching_loss": 0.015671943966299295, + "grad_norm": 0.09802274405956268, + "learning_rate": 1.574540775157511e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15300 + }, + { + "epoch": 4.4544661041606055, + "flow_matching_loss": 0.01343757677823305, + "grad_norm": 0.1163216084241867, + "learning_rate": 1.5728893032534998e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15310 + }, + { + "epoch": 4.457375618271748, + "flow_matching_loss": 0.012028874829411507, + "grad_norm": 0.10010166466236115, + "learning_rate": 1.571237742782112e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15320 + }, + { + "epoch": 4.460285132382892, + "flow_matching_loss": 0.013279664143919945, + "grad_norm": 0.09706039726734161, + "learning_rate": 1.569586095750149e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15330 + }, + { + "epoch": 4.463194646494036, + "flow_matching_loss": 0.012766609713435174, + "grad_norm": 0.08449231088161469, + "learning_rate": 1.5679343641645193e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15340 + }, + { + "epoch": 4.466104160605179, + "flow_matching_loss": 0.013757734093815088, + "grad_norm": 0.07299450039863586, + "learning_rate": 1.5662825500322304e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15350 + }, + { + "epoch": 4.469013674716322, + "flow_matching_loss": 0.014710095897316932, + "grad_norm": 0.1056784838438034, + "learning_rate": 1.5646306553603932e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15360 + }, + { + "epoch": 4.471923188827466, + "flow_matching_loss": 0.015837334003299473, + "grad_norm": 0.10966066271066666, + "learning_rate": 1.5629786821562154e-05, + "loss": 0.0158, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15370 + }, + { + "epoch": 4.47483270293861, + "flow_matching_loss": 0.012866911944001913, + "grad_norm": 0.09164725989103317, + "learning_rate": 1.561326632427001e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15380 + }, + { + "epoch": 4.4777422170497525, + "flow_matching_loss": 0.014469465799629688, + "grad_norm": 0.09036429226398468, + "learning_rate": 1.5596745081801447e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15390 + }, + { + "epoch": 4.480651731160896, + "flow_matching_loss": 0.01380253559909761, + "grad_norm": 0.06778760254383087, + "learning_rate": 1.5580223114231348e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15400 + }, + { + "epoch": 4.48356124527204, + "flow_matching_loss": 0.011826498992741108, + "grad_norm": 0.08173377066850662, + "learning_rate": 1.5563700441635445e-05, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15410 + }, + { + "epoch": 4.486470759383183, + "flow_matching_loss": 0.016732972906902434, + "grad_norm": 0.08016747981309891, + "learning_rate": 1.5547177084090358e-05, + "loss": 0.0167, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15420 + }, + { + "epoch": 4.4893802734943264, + "flow_matching_loss": 0.013122332561761142, + "grad_norm": 0.08610442280769348, + "learning_rate": 1.5530653061673514e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15430 + }, + { + "epoch": 4.49228978760547, + "flow_matching_loss": 0.015632234513759613, + "grad_norm": 0.13069316744804382, + "learning_rate": 1.5514128394463167e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15440 + }, + { + "epoch": 4.495199301716613, + "flow_matching_loss": 0.013656121399253606, + "grad_norm": 0.09474366158246994, + "learning_rate": 1.549760310253834e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15450 + }, + { + "epoch": 4.498108815827757, + "flow_matching_loss": 0.013709265366196632, + "grad_norm": 0.09878842532634735, + "learning_rate": 1.5481077205978816e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15460 + }, + { + "epoch": 4.5010183299389, + "flow_matching_loss": 0.011556469555944204, + "grad_norm": 0.07905596494674683, + "learning_rate": 1.5464550724865135e-05, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15470 + }, + { + "epoch": 4.503927844050043, + "flow_matching_loss": 0.015558397863060236, + "grad_norm": 0.09955405443906784, + "learning_rate": 1.5448023679278517e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15480 + }, + { + "epoch": 4.506837358161187, + "flow_matching_loss": 0.01456941021606326, + "grad_norm": 0.1041792631149292, + "learning_rate": 1.543149608930088e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15490 + }, + { + "epoch": 4.509746872272331, + "flow_matching_loss": 0.015616624942049384, + "grad_norm": 0.12393458932638168, + "learning_rate": 1.5414967975014805e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15500 + }, + { + "epoch": 4.512656386383474, + "flow_matching_loss": 0.012745431764051319, + "grad_norm": 0.09613431990146637, + "learning_rate": 1.539843935650351e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15510 + }, + { + "epoch": 4.515565900494617, + "flow_matching_loss": 0.01501560052856803, + "grad_norm": 0.10462842136621475, + "learning_rate": 1.5381910253850834e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15520 + }, + { + "epoch": 4.518475414605761, + "flow_matching_loss": 0.01311639854684472, + "grad_norm": 0.12630659341812134, + "learning_rate": 1.5365380687141183e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15530 + }, + { + "epoch": 4.521384928716905, + "flow_matching_loss": 0.014321621414273978, + "grad_norm": 0.09524786472320557, + "learning_rate": 1.5348850676459544e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15540 + }, + { + "epoch": 4.524294442828047, + "flow_matching_loss": 0.014922485500574113, + "grad_norm": 0.08413031697273254, + "learning_rate": 1.5332320241891438e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15550 + }, + { + "epoch": 4.527203956939191, + "flow_matching_loss": 0.015384927485138178, + "grad_norm": 0.0995662659406662, + "learning_rate": 1.5315789403522908e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15560 + }, + { + "epoch": 4.530113471050335, + "flow_matching_loss": 0.016040927916765212, + "grad_norm": 0.10652495920658112, + "learning_rate": 1.529925818144047e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15570 + }, + { + "epoch": 4.5330229851614785, + "flow_matching_loss": 0.015336411632597446, + "grad_norm": 0.08652906864881516, + "learning_rate": 1.5282726595731126e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15580 + }, + { + "epoch": 4.535932499272621, + "flow_matching_loss": 0.013438694085925818, + "grad_norm": 0.09300113469362259, + "learning_rate": 1.5266194666482304e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15590 + }, + { + "epoch": 4.538842013383765, + "flow_matching_loss": 0.015303739998489618, + "grad_norm": 0.10376466065645218, + "learning_rate": 1.5249662413781866e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15600 + }, + { + "epoch": 4.541751527494909, + "flow_matching_loss": 0.01320973369292915, + "grad_norm": 0.09779448062181473, + "learning_rate": 1.5233129857718054e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15610 + }, + { + "epoch": 4.5446610416060516, + "flow_matching_loss": 0.013628110568970443, + "grad_norm": 0.10581085830926895, + "learning_rate": 1.521659701837948e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15620 + }, + { + "epoch": 4.547570555717195, + "flow_matching_loss": 0.012867427757009864, + "grad_norm": 0.09450872987508774, + "learning_rate": 1.5200063915855107e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15630 + }, + { + "epoch": 4.550480069828339, + "flow_matching_loss": 0.015063230972737074, + "grad_norm": 0.09638464450836182, + "learning_rate": 1.5183530570234212e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15640 + }, + { + "epoch": 4.553389583939482, + "flow_matching_loss": 0.012857357412576676, + "grad_norm": 0.09835323691368103, + "learning_rate": 1.5166997001606361e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15650 + }, + { + "epoch": 4.5562990980506255, + "flow_matching_loss": 0.014895812887698413, + "grad_norm": 0.09525949507951736, + "learning_rate": 1.5150463230061417e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15660 + }, + { + "epoch": 4.559208612161769, + "flow_matching_loss": 0.012824263982474804, + "grad_norm": 0.08729184418916702, + "learning_rate": 1.5133929275689455e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15670 + }, + { + "epoch": 4.562118126272912, + "flow_matching_loss": 0.011947879241779447, + "grad_norm": 0.09003061801195145, + "learning_rate": 1.5117395158580795e-05, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15680 + }, + { + "epoch": 4.565027640384056, + "flow_matching_loss": 0.012236302671954035, + "grad_norm": 0.10478182882070541, + "learning_rate": 1.510086089882595e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15690 + }, + { + "epoch": 4.567937154495199, + "flow_matching_loss": 0.01413670601323247, + "grad_norm": 0.0872734859585762, + "learning_rate": 1.5084326516515599e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15700 + }, + { + "epoch": 4.570846668606343, + "flow_matching_loss": 0.014546662895008921, + "grad_norm": 0.08618330210447311, + "learning_rate": 1.5067792031740582e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15710 + }, + { + "epoch": 4.573756182717486, + "flow_matching_loss": 0.012441736925393344, + "grad_norm": 0.12270689010620117, + "learning_rate": 1.505125746459185e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15720 + }, + { + "epoch": 4.57666569682863, + "flow_matching_loss": 0.013136599585413933, + "grad_norm": 0.09490767866373062, + "learning_rate": 1.5034722835160466e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15730 + }, + { + "epoch": 4.579575210939773, + "flow_matching_loss": 0.013419869588688016, + "grad_norm": 0.11364272981882095, + "learning_rate": 1.5018188163537566e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15740 + }, + { + "epoch": 4.582484725050916, + "flow_matching_loss": 0.014725748728960753, + "grad_norm": 0.09651876986026764, + "learning_rate": 1.5001653469814331e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15750 + }, + { + "epoch": 4.58539423916206, + "flow_matching_loss": 0.012764500454068184, + "grad_norm": 0.140488401055336, + "learning_rate": 1.4985118774081978e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15760 + }, + { + "epoch": 4.588303753273204, + "flow_matching_loss": 0.015016291057690978, + "grad_norm": 0.06708214432001114, + "learning_rate": 1.4968584096431708e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15770 + }, + { + "epoch": 4.591213267384346, + "flow_matching_loss": 0.01499791843816638, + "grad_norm": 0.112321637570858, + "learning_rate": 1.4952049456954731e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15780 + }, + { + "epoch": 4.59412278149549, + "flow_matching_loss": 0.014552188199013471, + "grad_norm": 0.09885261207818985, + "learning_rate": 1.4935514875742182e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15790 + }, + { + "epoch": 4.597032295606634, + "flow_matching_loss": 0.01558470744639635, + "grad_norm": 0.11787936836481094, + "learning_rate": 1.4918980372885143e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15800 + }, + { + "epoch": 4.599941809717777, + "flow_matching_loss": 0.014367120806127787, + "grad_norm": 0.11241105943918228, + "learning_rate": 1.4902445968474591e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15810 + }, + { + "epoch": 4.60285132382892, + "flow_matching_loss": 0.014212593156844377, + "grad_norm": 0.11424101889133453, + "learning_rate": 1.4885911682601378e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15820 + }, + { + "epoch": 4.605760837940064, + "flow_matching_loss": 0.013052385952323674, + "grad_norm": 0.120735302567482, + "learning_rate": 1.4869377535356235e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15830 + }, + { + "epoch": 4.608670352051208, + "flow_matching_loss": 0.013804489746689796, + "grad_norm": 0.1221761405467987, + "learning_rate": 1.4852843546829704e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15840 + }, + { + "epoch": 4.611579866162351, + "flow_matching_loss": 0.014523082319647074, + "grad_norm": 0.08393440395593643, + "learning_rate": 1.483630973711214e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15850 + }, + { + "epoch": 4.614489380273494, + "flow_matching_loss": 0.01593069089576602, + "grad_norm": 0.11085804551839828, + "learning_rate": 1.4819776126293677e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15860 + }, + { + "epoch": 4.617398894384638, + "flow_matching_loss": 0.014634762983769178, + "grad_norm": 0.09966358542442322, + "learning_rate": 1.4803242734464214e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15870 + }, + { + "epoch": 4.620308408495781, + "flow_matching_loss": 0.01402027290314436, + "grad_norm": 0.10922298580408096, + "learning_rate": 1.4786709581713383e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15880 + }, + { + "epoch": 4.6232179226069245, + "flow_matching_loss": 0.015242770314216614, + "grad_norm": 0.1047365665435791, + "learning_rate": 1.4770176688130524e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15890 + }, + { + "epoch": 4.626127436718068, + "flow_matching_loss": 0.01355167357251048, + "grad_norm": 0.1059630885720253, + "learning_rate": 1.475364407380466e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15900 + }, + { + "epoch": 4.629036950829212, + "flow_matching_loss": 0.013124598935246468, + "grad_norm": 0.09963969886302948, + "learning_rate": 1.4737111758824476e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15910 + }, + { + "epoch": 4.631946464940355, + "flow_matching_loss": 0.013937551062554121, + "grad_norm": 0.0838627815246582, + "learning_rate": 1.4720579763278289e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15920 + }, + { + "epoch": 4.6348559790514985, + "flow_matching_loss": 0.014380371104925871, + "grad_norm": 0.12037444859743118, + "learning_rate": 1.4704048107254042e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15930 + }, + { + "epoch": 4.637765493162642, + "flow_matching_loss": 0.013302955869585275, + "grad_norm": 0.09836489707231522, + "learning_rate": 1.4687516810839246e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15940 + }, + { + "epoch": 4.640675007273785, + "flow_matching_loss": 0.014834137540310622, + "grad_norm": 0.1394348293542862, + "learning_rate": 1.4670985894120997e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15950 + }, + { + "epoch": 4.643584521384929, + "flow_matching_loss": 0.013479968719184398, + "grad_norm": 0.14021162688732147, + "learning_rate": 1.465445537718591e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15960 + }, + { + "epoch": 4.646494035496072, + "flow_matching_loss": 0.014397098682820797, + "grad_norm": 0.09716115146875381, + "learning_rate": 1.463792528012012e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15970 + }, + { + "epoch": 4.649403549607215, + "flow_matching_loss": 0.014894761983305216, + "grad_norm": 0.1462082415819168, + "learning_rate": 1.4621395623009252e-05, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15980 + }, + { + "epoch": 4.652313063718359, + "flow_matching_loss": 0.014288240391761065, + "grad_norm": 0.09001126140356064, + "learning_rate": 1.4604866425938407e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 15990 + }, + { + "epoch": 4.655222577829503, + "flow_matching_loss": 0.012426476087421178, + "grad_norm": 0.079747773706913, + "learning_rate": 1.4588337708992115e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16000 + }, + { + "epoch": 4.6581320919406455, + "flow_matching_loss": 0.012390565034002066, + "grad_norm": 0.10037001222372055, + "learning_rate": 1.4571809492254318e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16010 + }, + { + "epoch": 4.661041606051789, + "flow_matching_loss": 0.01501493826508522, + "grad_norm": 0.11616580188274384, + "learning_rate": 1.4555281795808371e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16020 + }, + { + "epoch": 4.663951120162933, + "flow_matching_loss": 0.011651377938687802, + "grad_norm": 0.09656263887882233, + "learning_rate": 1.4538754639736966e-05, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16030 + }, + { + "epoch": 4.666860634274077, + "flow_matching_loss": 0.013701548520475625, + "grad_norm": 0.08735305070877075, + "learning_rate": 1.4522228044122174e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16040 + }, + { + "epoch": 4.669770148385219, + "flow_matching_loss": 0.014667658694088459, + "grad_norm": 0.1114749014377594, + "learning_rate": 1.4505702029045359e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16050 + }, + { + "epoch": 4.672679662496363, + "flow_matching_loss": 0.015281901275739074, + "grad_norm": 0.10348442941904068, + "learning_rate": 1.4489176614587189e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16060 + }, + { + "epoch": 4.675589176607507, + "flow_matching_loss": 0.013769573904573918, + "grad_norm": 0.1009831503033638, + "learning_rate": 1.4472651820827595e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16070 + }, + { + "epoch": 4.67849869071865, + "flow_matching_loss": 0.014222469087690115, + "grad_norm": 0.11574167758226395, + "learning_rate": 1.4456127667845766e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16080 + }, + { + "epoch": 4.681408204829793, + "flow_matching_loss": 0.016069019306451084, + "grad_norm": 0.11115605384111404, + "learning_rate": 1.4439604175720104e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16090 + }, + { + "epoch": 4.684317718940937, + "flow_matching_loss": 0.01139689558185637, + "grad_norm": 0.11783166974782944, + "learning_rate": 1.4423081364528212e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16100 + }, + { + "epoch": 4.687227233052081, + "flow_matching_loss": 0.014171221852302551, + "grad_norm": 0.12680689990520477, + "learning_rate": 1.4406559254346863e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16110 + }, + { + "epoch": 4.690136747163224, + "flow_matching_loss": 0.013080253824591636, + "grad_norm": 0.09345895797014236, + "learning_rate": 1.4390037865251978e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16120 + }, + { + "epoch": 4.693046261274367, + "flow_matching_loss": 0.01363409892655909, + "grad_norm": 0.13390298187732697, + "learning_rate": 1.4373517217318597e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16130 + }, + { + "epoch": 4.69595577538551, + "flow_matching_loss": 0.014394249580800534, + "grad_norm": 0.11579684168100357, + "learning_rate": 1.4356997330620875e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16140 + }, + { + "epoch": 4.698865289496654, + "flow_matching_loss": 0.013387153018265962, + "grad_norm": 0.14431938529014587, + "learning_rate": 1.434047822523203e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16150 + }, + { + "epoch": 4.7017748036077975, + "flow_matching_loss": 0.013037912454456091, + "grad_norm": 0.11871341615915298, + "learning_rate": 1.4323959921224322e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16160 + }, + { + "epoch": 4.704684317718941, + "flow_matching_loss": 0.012958692852407694, + "grad_norm": 0.11319684237241745, + "learning_rate": 1.4307442438669066e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16170 + }, + { + "epoch": 4.707593831830084, + "flow_matching_loss": 0.014341483358293772, + "grad_norm": 0.13698194921016693, + "learning_rate": 1.4290925797636546e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16180 + }, + { + "epoch": 4.710503345941228, + "flow_matching_loss": 0.014034136664122343, + "grad_norm": 0.11290844529867172, + "learning_rate": 1.4274410018196039e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16190 + }, + { + "epoch": 4.7134128600523715, + "flow_matching_loss": 0.016054609324783087, + "grad_norm": 0.09349080175161362, + "learning_rate": 1.4257895120415783e-05, + "loss": 0.0161, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16200 + }, + { + "epoch": 4.716322374163514, + "flow_matching_loss": 0.014743858575820923, + "grad_norm": 0.0876317098736763, + "learning_rate": 1.4241381124362933e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16210 + }, + { + "epoch": 4.719231888274658, + "flow_matching_loss": 0.015598911605775357, + "grad_norm": 0.09931883960962296, + "learning_rate": 1.4224868050103546e-05, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16220 + }, + { + "epoch": 4.722141402385802, + "flow_matching_loss": 0.012308088550344109, + "grad_norm": 0.08314946293830872, + "learning_rate": 1.4208355917702573e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16230 + }, + { + "epoch": 4.725050916496945, + "flow_matching_loss": 0.011332385893911123, + "grad_norm": 0.09410322457551956, + "learning_rate": 1.41918447472238e-05, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16240 + }, + { + "epoch": 4.727960430608088, + "flow_matching_loss": 0.014799386588856578, + "grad_norm": 0.10762792080640793, + "learning_rate": 1.4175334558729869e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16250 + }, + { + "epoch": 4.730869944719232, + "flow_matching_loss": 0.014713657787069678, + "grad_norm": 0.07285374402999878, + "learning_rate": 1.4158825372282211e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16260 + }, + { + "epoch": 4.733779458830376, + "flow_matching_loss": 0.014975079894065857, + "grad_norm": 0.11684978008270264, + "learning_rate": 1.4142317207941042e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16270 + }, + { + "epoch": 4.7366889729415185, + "flow_matching_loss": 0.013813736103475093, + "grad_norm": 0.07330464571714401, + "learning_rate": 1.4125810085765339e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16280 + }, + { + "epoch": 4.739598487052662, + "flow_matching_loss": 0.01701195100322366, + "grad_norm": 0.10588763654232025, + "learning_rate": 1.410930402581281e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16290 + }, + { + "epoch": 4.742508001163806, + "flow_matching_loss": 0.015241517685353756, + "grad_norm": 0.10288577526807785, + "learning_rate": 1.4092799048139876e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16300 + }, + { + "epoch": 4.745417515274949, + "flow_matching_loss": 0.013088088762015105, + "grad_norm": 0.11807297170162201, + "learning_rate": 1.4076295172801647e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16310 + }, + { + "epoch": 4.748327029386092, + "flow_matching_loss": 0.013865357264876366, + "grad_norm": 0.11113367229700089, + "learning_rate": 1.4059792419851884e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16320 + }, + { + "epoch": 4.751236543497236, + "flow_matching_loss": 0.012985918112099171, + "grad_norm": 0.09754546731710434, + "learning_rate": 1.4043290809342984e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16330 + }, + { + "epoch": 4.754146057608379, + "flow_matching_loss": 0.015674892999231815, + "grad_norm": 0.10118324309587479, + "learning_rate": 1.4026790361325958e-05, + "loss": 0.0157, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16340 + }, + { + "epoch": 4.757055571719523, + "flow_matching_loss": 0.012890570098534226, + "grad_norm": 0.11930028349161148, + "learning_rate": 1.4010291095850415e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16350 + }, + { + "epoch": 4.759965085830666, + "flow_matching_loss": 0.014705860614776611, + "grad_norm": 0.13723433017730713, + "learning_rate": 1.3993793032964515e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16360 + }, + { + "epoch": 4.76287459994181, + "flow_matching_loss": 0.012049394845962524, + "grad_norm": 0.08549167215824127, + "learning_rate": 1.3977296192714956e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16370 + }, + { + "epoch": 4.765784114052953, + "flow_matching_loss": 0.013261991878971457, + "grad_norm": 0.12776032090187073, + "learning_rate": 1.396080059514696e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16380 + }, + { + "epoch": 4.768693628164097, + "flow_matching_loss": 0.015533108171075583, + "grad_norm": 0.11179081350564957, + "learning_rate": 1.3944306260304232e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16390 + }, + { + "epoch": 4.77160314227524, + "flow_matching_loss": 0.012658346351236105, + "grad_norm": 0.10729598253965378, + "learning_rate": 1.3927813208228936e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16400 + }, + { + "epoch": 4.774512656386383, + "flow_matching_loss": 0.013315971940755844, + "grad_norm": 0.08934874832630157, + "learning_rate": 1.39113214589617e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16410 + }, + { + "epoch": 4.777422170497527, + "flow_matching_loss": 0.01349358493462205, + "grad_norm": 0.07832368463277817, + "learning_rate": 1.3894831032541545e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16420 + }, + { + "epoch": 4.7803316846086705, + "flow_matching_loss": 0.013625016622245311, + "grad_norm": 0.14593441784381866, + "learning_rate": 1.3878341949005895e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16430 + }, + { + "epoch": 4.783241198719814, + "flow_matching_loss": 0.01212124889716506, + "grad_norm": 0.07160306721925735, + "learning_rate": 1.3861854228390546e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16440 + }, + { + "epoch": 4.786150712830957, + "flow_matching_loss": 0.014203393831849098, + "grad_norm": 0.08998792618513107, + "learning_rate": 1.3845367890729621e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16450 + }, + { + "epoch": 4.789060226942101, + "flow_matching_loss": 0.010729170497506857, + "grad_norm": 0.08385199308395386, + "learning_rate": 1.3828882956055591e-05, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16460 + }, + { + "epoch": 4.7919697410532445, + "flow_matching_loss": 0.012789948005229234, + "grad_norm": 0.10443417727947235, + "learning_rate": 1.38123994443992e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16470 + }, + { + "epoch": 4.794879255164387, + "flow_matching_loss": 0.015474002249538899, + "grad_norm": 0.09295552968978882, + "learning_rate": 1.3795917375789465e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16480 + }, + { + "epoch": 4.797788769275531, + "flow_matching_loss": 0.013863996928557753, + "grad_norm": 0.11616629362106323, + "learning_rate": 1.3779436770253658e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16490 + }, + { + "epoch": 4.800698283386675, + "flow_matching_loss": 0.010623098956421018, + "grad_norm": 0.08515744656324387, + "learning_rate": 1.3762957647817258e-05, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16500 + }, + { + "epoch": 4.8036077974978175, + "flow_matching_loss": 0.013765922095626593, + "grad_norm": 0.1443554013967514, + "learning_rate": 1.374648002850397e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16510 + }, + { + "epoch": 4.806517311608961, + "flow_matching_loss": 0.012131391651928424, + "grad_norm": 0.10411576181650162, + "learning_rate": 1.3730003932335642e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16520 + }, + { + "epoch": 4.809426825720105, + "flow_matching_loss": 0.012942858412861824, + "grad_norm": 0.09706827253103256, + "learning_rate": 1.3713529379332292e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16530 + }, + { + "epoch": 4.812336339831248, + "flow_matching_loss": 0.011874326365068555, + "grad_norm": 0.06720427423715591, + "learning_rate": 1.3697056389512054e-05, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16540 + }, + { + "epoch": 4.8152458539423915, + "flow_matching_loss": 0.013397406833246351, + "grad_norm": 0.0828925371170044, + "learning_rate": 1.3680584982891162e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16550 + }, + { + "epoch": 4.818155368053535, + "flow_matching_loss": 0.01241387720219791, + "grad_norm": 0.05802003666758537, + "learning_rate": 1.3664115179483921e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16560 + }, + { + "epoch": 4.821064882164679, + "flow_matching_loss": 0.013576566334813833, + "grad_norm": 0.09566442668437958, + "learning_rate": 1.364764699930271e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16570 + }, + { + "epoch": 4.823974396275822, + "flow_matching_loss": 0.014723164634779096, + "grad_norm": 0.09562578797340393, + "learning_rate": 1.363118046235791e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16580 + }, + { + "epoch": 4.826883910386965, + "flow_matching_loss": 0.013870160095393658, + "grad_norm": 0.1033022403717041, + "learning_rate": 1.3614715588657921e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16590 + }, + { + "epoch": 4.829793424498109, + "flow_matching_loss": 0.015918120695278048, + "grad_norm": 0.08577700704336166, + "learning_rate": 1.3598252398209118e-05, + "loss": 0.0159, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16600 + }, + { + "epoch": 4.832702938609252, + "flow_matching_loss": 0.01253475435078144, + "grad_norm": 0.0927525982260704, + "learning_rate": 1.358179091101582e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16610 + }, + { + "epoch": 4.835612452720396, + "flow_matching_loss": 0.01351731838658452, + "grad_norm": 0.18806777894496918, + "learning_rate": 1.3565331147080299e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16620 + }, + { + "epoch": 4.838521966831539, + "flow_matching_loss": 0.01270582964643836, + "grad_norm": 0.10653829574584961, + "learning_rate": 1.3548873126402716e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16630 + }, + { + "epoch": 4.841431480942683, + "flow_matching_loss": 0.016016733832657337, + "grad_norm": 0.1327810138463974, + "learning_rate": 1.3532416868981117e-05, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16640 + }, + { + "epoch": 4.844340995053826, + "flow_matching_loss": 0.013339446438476444, + "grad_norm": 0.123851478099823, + "learning_rate": 1.3515962394811401e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16650 + }, + { + "epoch": 4.84725050916497, + "flow_matching_loss": 0.013586110528558492, + "grad_norm": 0.0938539057970047, + "learning_rate": 1.3499509723887313e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16660 + }, + { + "epoch": 4.850160023276112, + "flow_matching_loss": 0.01623067446053028, + "grad_norm": 0.0946577861905098, + "learning_rate": 1.3483058876200396e-05, + "loss": 0.0162, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16670 + }, + { + "epoch": 4.853069537387256, + "flow_matching_loss": 0.013435759674757719, + "grad_norm": 0.11591430753469467, + "learning_rate": 1.3466609871739987e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16680 + }, + { + "epoch": 4.8559790514984, + "flow_matching_loss": 0.01709259217604995, + "grad_norm": 0.117975153028965, + "learning_rate": 1.3450162730493172e-05, + "loss": 0.0171, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16690 + }, + { + "epoch": 4.8588885656095435, + "flow_matching_loss": 0.013746718876063824, + "grad_norm": 0.10344330221414566, + "learning_rate": 1.3433717472444781e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16700 + }, + { + "epoch": 4.861798079720686, + "flow_matching_loss": 0.01226413482800126, + "grad_norm": 0.1071305125951767, + "learning_rate": 1.3417274117577343e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16710 + }, + { + "epoch": 4.86470759383183, + "flow_matching_loss": 0.013163041416555643, + "grad_norm": 0.09840525686740875, + "learning_rate": 1.3400832685871102e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16720 + }, + { + "epoch": 4.867617107942974, + "flow_matching_loss": 0.013481615297496318, + "grad_norm": 0.1278095841407776, + "learning_rate": 1.3384393197303936e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16730 + }, + { + "epoch": 4.870526622054117, + "flow_matching_loss": 0.012124160956591367, + "grad_norm": 0.10119333118200302, + "learning_rate": 1.336795567185138e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16740 + }, + { + "epoch": 4.87343613616526, + "flow_matching_loss": 0.014533275505527854, + "grad_norm": 0.09247959405183792, + "learning_rate": 1.3351520129486573e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16750 + }, + { + "epoch": 4.876345650276404, + "flow_matching_loss": 0.013455455843359231, + "grad_norm": 0.10067133605480194, + "learning_rate": 1.3335086590180252e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16760 + }, + { + "epoch": 4.879255164387548, + "flow_matching_loss": 0.014046972710639238, + "grad_norm": 0.08669709414243698, + "learning_rate": 1.3318655073900708e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16770 + }, + { + "epoch": 4.8821646784986905, + "flow_matching_loss": 0.012788260076195001, + "grad_norm": 0.12216579914093018, + "learning_rate": 1.3302225600613796e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16780 + }, + { + "epoch": 4.885074192609834, + "flow_matching_loss": 0.01296717245131731, + "grad_norm": 0.06164650619029999, + "learning_rate": 1.3285798190282869e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16790 + }, + { + "epoch": 4.887983706720978, + "flow_matching_loss": 0.013692938908934593, + "grad_norm": 0.10482823103666306, + "learning_rate": 1.3269372862868776e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16800 + }, + { + "epoch": 4.890893220832121, + "flow_matching_loss": 0.01375566516071558, + "grad_norm": 0.12547369301319122, + "learning_rate": 1.3252949638329845e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16810 + }, + { + "epoch": 4.8938027349432645, + "flow_matching_loss": 0.014479171019047499, + "grad_norm": 0.10969927906990051, + "learning_rate": 1.3236528536621834e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16820 + }, + { + "epoch": 4.896712249054408, + "flow_matching_loss": 0.014676122553646564, + "grad_norm": 0.1115766242146492, + "learning_rate": 1.3220109577697943e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16830 + }, + { + "epoch": 4.899621763165551, + "flow_matching_loss": 0.01260336684063077, + "grad_norm": 0.08137275278568268, + "learning_rate": 1.3203692781508745e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16840 + }, + { + "epoch": 4.902531277276695, + "flow_matching_loss": 0.013490933086723089, + "grad_norm": 0.09858924150466919, + "learning_rate": 1.3187278168002198e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16850 + }, + { + "epoch": 4.905440791387838, + "flow_matching_loss": 0.013098766515031456, + "grad_norm": 0.11002828925848007, + "learning_rate": 1.3170865757123606e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16860 + }, + { + "epoch": 4.908350305498981, + "flow_matching_loss": 0.013139403844252228, + "grad_norm": 0.1145150363445282, + "learning_rate": 1.3154455568815592e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16870 + }, + { + "epoch": 4.911259819610125, + "flow_matching_loss": 0.012301868665963412, + "grad_norm": 0.08894289284944534, + "learning_rate": 1.3138047623018087e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16880 + }, + { + "epoch": 4.914169333721269, + "flow_matching_loss": 0.012182213040068746, + "grad_norm": 0.09296368062496185, + "learning_rate": 1.3121641939668293e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16890 + }, + { + "epoch": 4.917078847832412, + "flow_matching_loss": 0.014154069544747471, + "grad_norm": 0.11478688567876816, + "learning_rate": 1.3105238538700659e-05, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16900 + }, + { + "epoch": 4.919988361943555, + "flow_matching_loss": 0.0119558522477746, + "grad_norm": 0.0964982733130455, + "learning_rate": 1.3088837440046866e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16910 + }, + { + "epoch": 4.922897876054699, + "flow_matching_loss": 0.013101819436997175, + "grad_norm": 0.11138540506362915, + "learning_rate": 1.3072438663635787e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16920 + }, + { + "epoch": 4.925807390165843, + "flow_matching_loss": 0.01254353653639555, + "grad_norm": 0.10753336548805237, + "learning_rate": 1.3056042229393497e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16930 + }, + { + "epoch": 4.928716904276985, + "flow_matching_loss": 0.012388944439589978, + "grad_norm": 0.1162962019443512, + "learning_rate": 1.30396481572432e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16940 + }, + { + "epoch": 4.931626418388129, + "flow_matching_loss": 0.01232663681730628, + "grad_norm": 0.10450693219900131, + "learning_rate": 1.3023256467105237e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16950 + }, + { + "epoch": 4.934535932499273, + "flow_matching_loss": 0.011759066488593817, + "grad_norm": 0.09518424421548843, + "learning_rate": 1.3006867178897067e-05, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16960 + }, + { + "epoch": 4.9374454466104165, + "flow_matching_loss": 0.012356007099151611, + "grad_norm": 0.12473368644714355, + "learning_rate": 1.2990480312533213e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16970 + }, + { + "epoch": 4.940354960721559, + "flow_matching_loss": 0.013431898411363363, + "grad_norm": 0.09726683050394058, + "learning_rate": 1.2974095887925258e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16980 + }, + { + "epoch": 4.943264474832703, + "flow_matching_loss": 0.014656606875360013, + "grad_norm": 0.09641265869140625, + "learning_rate": 1.2957713924981837e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 16990 + }, + { + "epoch": 4.946173988943847, + "flow_matching_loss": 0.014577750023454428, + "grad_norm": 0.10233958810567856, + "learning_rate": 1.2941334443608572e-05, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17000 + }, + { + "epoch": 4.94908350305499, + "flow_matching_loss": 0.014302019402384758, + "grad_norm": 0.0838126465678215, + "learning_rate": 1.2924957463708073e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17010 + }, + { + "epoch": 4.951993017166133, + "flow_matching_loss": 0.01345576299354434, + "grad_norm": 0.10391155630350113, + "learning_rate": 1.2908583005179924e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17020 + }, + { + "epoch": 4.954902531277277, + "flow_matching_loss": 0.01214368068613112, + "grad_norm": 0.08843434602022171, + "learning_rate": 1.2892211087920624e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17030 + }, + { + "epoch": 4.95781204538842, + "flow_matching_loss": 0.013847856409847736, + "grad_norm": 0.09927240759134293, + "learning_rate": 1.287584173182361e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17040 + }, + { + "epoch": 4.9607215594995635, + "flow_matching_loss": 0.012473684828728437, + "grad_norm": 0.08112713694572449, + "learning_rate": 1.2859474956779188e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17050 + }, + { + "epoch": 4.963631073610707, + "flow_matching_loss": 0.013654587883502245, + "grad_norm": 0.07158425450325012, + "learning_rate": 1.2843110782674532e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17060 + }, + { + "epoch": 4.96654058772185, + "flow_matching_loss": 0.011391172651201487, + "grad_norm": 0.09933117032051086, + "learning_rate": 1.2826749229393655e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17070 + }, + { + "epoch": 4.969450101832994, + "flow_matching_loss": 0.01435070252045989, + "grad_norm": 0.09317280352115631, + "learning_rate": 1.2810390316817381e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17080 + }, + { + "epoch": 4.9723596159441374, + "flow_matching_loss": 0.013480882812291383, + "grad_norm": 0.11670109629631042, + "learning_rate": 1.2794034064823346e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17090 + }, + { + "epoch": 4.975269130055281, + "flow_matching_loss": 0.012695728149265052, + "grad_norm": 0.08874683827161789, + "learning_rate": 1.277768049328593e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17100 + }, + { + "epoch": 4.978178644166424, + "flow_matching_loss": 0.015198657847940921, + "grad_norm": 0.08611509203910828, + "learning_rate": 1.2761329622076269e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17110 + }, + { + "epoch": 4.981088158277568, + "flow_matching_loss": 0.011954124458134175, + "grad_norm": 0.09916068613529205, + "learning_rate": 1.274498147106221e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17120 + }, + { + "epoch": 4.983997672388711, + "flow_matching_loss": 0.014126021321862936, + "grad_norm": 0.08419904857873917, + "learning_rate": 1.272863606010829e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17130 + }, + { + "epoch": 4.986907186499854, + "flow_matching_loss": 0.014773126412183046, + "grad_norm": 0.10451750457286835, + "learning_rate": 1.2712293409075739e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17140 + }, + { + "epoch": 4.989816700610998, + "flow_matching_loss": 0.012511872220784426, + "grad_norm": 0.09222113341093063, + "learning_rate": 1.2695953537822413e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17150 + }, + { + "epoch": 4.992726214722142, + "flow_matching_loss": 0.013165096798911691, + "grad_norm": 0.09187613427639008, + "learning_rate": 1.2679616466202792e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17160 + }, + { + "epoch": 4.995635728833285, + "flow_matching_loss": 0.012962666433304548, + "grad_norm": 0.11663911491632462, + "learning_rate": 1.2663282214067967e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17170 + }, + { + "epoch": 4.998545242944428, + "flow_matching_loss": 0.014489100687205792, + "grad_norm": 0.08270903676748276, + "learning_rate": 1.264695080126559e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17180 + }, + { + "epoch": 5.001454757055572, + "flow_matching_loss": 0.01230576727539301, + "grad_norm": 0.0869586393237114, + "learning_rate": 1.263062224763986e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17190 + }, + { + "epoch": 5.004364271166716, + "flow_matching_loss": 0.012208270747214556, + "grad_norm": 0.0770435482263565, + "learning_rate": 1.2614296573031522e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17200 + }, + { + "epoch": 5.007273785277858, + "flow_matching_loss": 0.012961577903479338, + "grad_norm": 0.09854578226804733, + "learning_rate": 1.259797379727781e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17210 + }, + { + "epoch": 5.010183299389002, + "flow_matching_loss": 0.015192588604986668, + "grad_norm": 0.11740020662546158, + "learning_rate": 1.2581653940212423e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17220 + }, + { + "epoch": 5.013092813500146, + "flow_matching_loss": 0.014777947589755059, + "grad_norm": 0.1019103154540062, + "learning_rate": 1.2565337021665537e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17230 + }, + { + "epoch": 5.016002327611289, + "flow_matching_loss": 0.01256514540873468, + "grad_norm": 0.10536458343267441, + "learning_rate": 1.2549023061463739e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17240 + }, + { + "epoch": 5.018911841722432, + "flow_matching_loss": 0.0140104784630239, + "grad_norm": 0.09047774970531464, + "learning_rate": 1.2532712079430038e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17250 + }, + { + "epoch": 5.021821355833576, + "flow_matching_loss": 0.014678816590458155, + "grad_norm": 0.126299187541008, + "learning_rate": 1.2516404095383813e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17260 + }, + { + "epoch": 5.024730869944719, + "flow_matching_loss": 0.01263755620457232, + "grad_norm": 0.11488138884305954, + "learning_rate": 1.2500099129140796e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17270 + }, + { + "epoch": 5.0276403840558626, + "flow_matching_loss": 0.012920294422656298, + "grad_norm": 0.0997319146990776, + "learning_rate": 1.2483797200513065e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17280 + }, + { + "epoch": 5.030549898167006, + "flow_matching_loss": 0.013056350033730268, + "grad_norm": 0.07929999381303787, + "learning_rate": 1.2467498329308992e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17290 + }, + { + "epoch": 5.03345941227815, + "flow_matching_loss": 0.012782567087560892, + "grad_norm": 0.09494263678789139, + "learning_rate": 1.2451202535333253e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17300 + }, + { + "epoch": 5.036368926389293, + "flow_matching_loss": 0.013984281662851572, + "grad_norm": 0.07818108052015305, + "learning_rate": 1.2434909838386768e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17310 + }, + { + "epoch": 5.0392784405004365, + "flow_matching_loss": 0.014305128995329142, + "grad_norm": 0.1071605458855629, + "learning_rate": 1.2418620258266703e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17320 + }, + { + "epoch": 5.04218795461158, + "flow_matching_loss": 0.014305103989318012, + "grad_norm": 0.09834208339452744, + "learning_rate": 1.2402333814766432e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17330 + }, + { + "epoch": 5.045097468722723, + "flow_matching_loss": 0.011727369483560323, + "grad_norm": 0.10336476564407349, + "learning_rate": 1.2386050527675515e-05, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17340 + }, + { + "epoch": 5.048006982833867, + "flow_matching_loss": 0.012851323466748, + "grad_norm": 0.1074756309390068, + "learning_rate": 1.2369770416779693e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17350 + }, + { + "epoch": 5.05091649694501, + "flow_matching_loss": 0.011673356778919697, + "grad_norm": 0.09806368499994278, + "learning_rate": 1.2353493501860828e-05, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17360 + }, + { + "epoch": 5.053826011056153, + "flow_matching_loss": 0.013892995566129685, + "grad_norm": 0.0952727422118187, + "learning_rate": 1.2337219802696905e-05, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17370 + }, + { + "epoch": 5.056735525167297, + "flow_matching_loss": 0.012819440430030226, + "grad_norm": 0.11023671925067902, + "learning_rate": 1.2320949339062008e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17380 + }, + { + "epoch": 5.059645039278441, + "flow_matching_loss": 0.013522316981106997, + "grad_norm": 0.10984241217374802, + "learning_rate": 1.2304682130726281e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17390 + }, + { + "epoch": 5.0625545533895835, + "flow_matching_loss": 0.017028879188001157, + "grad_norm": 0.09188292175531387, + "learning_rate": 1.2288418197455913e-05, + "loss": 0.017, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17400 + }, + { + "epoch": 5.065464067500727, + "flow_matching_loss": 0.012000946793705225, + "grad_norm": 0.08411124348640442, + "learning_rate": 1.2272157559013126e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17410 + }, + { + "epoch": 5.068373581611871, + "flow_matching_loss": 0.01229877518489957, + "grad_norm": 0.07659868896007538, + "learning_rate": 1.2255900235156123e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17420 + }, + { + "epoch": 5.071283095723015, + "flow_matching_loss": 0.01254574223421514, + "grad_norm": 0.09769595414400101, + "learning_rate": 1.2239646245639087e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17430 + }, + { + "epoch": 5.074192609834157, + "flow_matching_loss": 0.011313372245058417, + "grad_norm": 0.08580949157476425, + "learning_rate": 1.2223395610212142e-05, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17440 + }, + { + "epoch": 5.077102123945301, + "flow_matching_loss": 0.011901383846998214, + "grad_norm": 0.08656532317399979, + "learning_rate": 1.2207148348621348e-05, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17450 + }, + { + "epoch": 5.080011638056445, + "flow_matching_loss": 0.014953261148184538, + "grad_norm": 0.12685513496398926, + "learning_rate": 1.219090448060866e-05, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17460 + }, + { + "epoch": 5.082921152167588, + "flow_matching_loss": 0.014421575982123614, + "grad_norm": 0.09751933813095093, + "learning_rate": 1.217466402591191e-05, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17470 + }, + { + "epoch": 5.085830666278731, + "flow_matching_loss": 0.013304114434868097, + "grad_norm": 0.1103404238820076, + "learning_rate": 1.2158427004264785e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17480 + }, + { + "epoch": 5.088740180389875, + "flow_matching_loss": 0.014313946198672056, + "grad_norm": 0.08667498826980591, + "learning_rate": 1.2142193435396788e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17490 + }, + { + "epoch": 5.091649694501018, + "flow_matching_loss": 0.01147086932323873, + "grad_norm": 0.07952374219894409, + "learning_rate": 1.2125963339033234e-05, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17500 + }, + { + "epoch": 5.094559208612162, + "flow_matching_loss": 0.01154999453574419, + "grad_norm": 0.09265689551830292, + "learning_rate": 1.2109736734895237e-05, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17510 + }, + { + "epoch": 5.097468722723305, + "flow_matching_loss": 0.014758366439491511, + "grad_norm": 0.09220827370882034, + "learning_rate": 1.2093513642699634e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17520 + }, + { + "epoch": 5.100378236834449, + "flow_matching_loss": 0.015547990519553422, + "grad_norm": 0.09567011147737503, + "learning_rate": 1.2077294082159024e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17530 + }, + { + "epoch": 5.103287750945592, + "flow_matching_loss": 0.014714541006833315, + "grad_norm": 0.09267771989107132, + "learning_rate": 1.2061078072981697e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17540 + }, + { + "epoch": 5.1061972650567355, + "flow_matching_loss": 0.012706673191860317, + "grad_norm": 0.10543940961360931, + "learning_rate": 1.2044865634871626e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17550 + }, + { + "epoch": 5.109106779167879, + "flow_matching_loss": 0.01300086067058146, + "grad_norm": 0.07398784160614014, + "learning_rate": 1.2028656787528468e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17560 + }, + { + "epoch": 5.112016293279022, + "flow_matching_loss": 0.01406172988936305, + "grad_norm": 0.08019313961267471, + "learning_rate": 1.2012451550647491e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17570 + }, + { + "epoch": 5.114925807390166, + "flow_matching_loss": 0.013492901250720024, + "grad_norm": 0.09306070953607559, + "learning_rate": 1.1996249943919589e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17580 + }, + { + "epoch": 5.1178353215013095, + "flow_matching_loss": 0.014450007397681475, + "grad_norm": 0.10207946598529816, + "learning_rate": 1.1980051987031237e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17590 + }, + { + "epoch": 5.120744835612452, + "flow_matching_loss": 0.013101595174521207, + "grad_norm": 0.08738230168819427, + "learning_rate": 1.1963857699664483e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17600 + }, + { + "epoch": 5.123654349723596, + "flow_matching_loss": 0.011995642352849245, + "grad_norm": 0.07436336576938629, + "learning_rate": 1.1947667101496911e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17610 + }, + { + "epoch": 5.12656386383474, + "flow_matching_loss": 0.01096249334514141, + "grad_norm": 0.07808852940797806, + "learning_rate": 1.1931480212201633e-05, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17620 + }, + { + "epoch": 5.129473377945883, + "flow_matching_loss": 0.015304964780807496, + "grad_norm": 0.11144695430994034, + "learning_rate": 1.1915297051447237e-05, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17630 + }, + { + "epoch": 5.132382892057026, + "flow_matching_loss": 0.014472926780581475, + "grad_norm": 0.11446122080087662, + "learning_rate": 1.1899117638897793e-05, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17640 + }, + { + "epoch": 5.13529240616817, + "flow_matching_loss": 0.013294869661331176, + "grad_norm": 0.0864376425743103, + "learning_rate": 1.1882941994212811e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17650 + }, + { + "epoch": 5.138201920279314, + "flow_matching_loss": 0.01376112555153668, + "grad_norm": 0.10251691937446594, + "learning_rate": 1.1866770137047221e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17660 + }, + { + "epoch": 5.1411114343904565, + "flow_matching_loss": 0.010778124816715718, + "grad_norm": 0.09634104371070862, + "learning_rate": 1.1850602087051363e-05, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17670 + }, + { + "epoch": 5.1440209485016, + "flow_matching_loss": 0.0136176404543221, + "grad_norm": 0.10176198184490204, + "learning_rate": 1.183443786387094e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17680 + }, + { + "epoch": 5.146930462612744, + "flow_matching_loss": 0.014106120076030492, + "grad_norm": 0.0991615429520607, + "learning_rate": 1.1818277487147005e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17690 + }, + { + "epoch": 5.149839976723887, + "flow_matching_loss": 0.01259047375060618, + "grad_norm": 0.11078058183193207, + "learning_rate": 1.180212097651594e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17700 + }, + { + "epoch": 5.15274949083503, + "flow_matching_loss": 0.011609843233600259, + "grad_norm": 0.08681550621986389, + "learning_rate": 1.1785968351609422e-05, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17710 + }, + { + "epoch": 5.155659004946174, + "flow_matching_loss": 0.012363103963434697, + "grad_norm": 0.11723523586988449, + "learning_rate": 1.1769819632054427e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17720 + }, + { + "epoch": 5.158568519057318, + "flow_matching_loss": 0.012934941798448563, + "grad_norm": 0.08011219650506973, + "learning_rate": 1.1753674837473165e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17730 + }, + { + "epoch": 5.161478033168461, + "flow_matching_loss": 0.011940943542867899, + "grad_norm": 0.1146102100610733, + "learning_rate": 1.1737533987483081e-05, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17740 + }, + { + "epoch": 5.164387547279604, + "flow_matching_loss": 0.012648857338353992, + "grad_norm": 0.07843609899282455, + "learning_rate": 1.1721397101696835e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17750 + }, + { + "epoch": 5.167297061390748, + "flow_matching_loss": 0.01142555931583047, + "grad_norm": 0.07972254604101181, + "learning_rate": 1.1705264199722257e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17760 + }, + { + "epoch": 5.170206575501891, + "flow_matching_loss": 0.012159849051386118, + "grad_norm": 0.09884048998355865, + "learning_rate": 1.1689135301162356e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17770 + }, + { + "epoch": 5.173116089613035, + "flow_matching_loss": 0.012879048660397529, + "grad_norm": 0.1347864866256714, + "learning_rate": 1.1673010425615258e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17780 + }, + { + "epoch": 5.176025603724178, + "flow_matching_loss": 0.013448512647300959, + "grad_norm": 0.10100304335355759, + "learning_rate": 1.1656889592674208e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17790 + }, + { + "epoch": 5.178935117835321, + "flow_matching_loss": 0.012591794412583113, + "grad_norm": 0.08698131889104843, + "learning_rate": 1.1640772821927533e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17800 + }, + { + "epoch": 5.181844631946465, + "flow_matching_loss": 0.01368453772738576, + "grad_norm": 0.0844818726181984, + "learning_rate": 1.162466013295864e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17810 + }, + { + "epoch": 5.1847541460576085, + "flow_matching_loss": 0.014339071605354548, + "grad_norm": 0.10669311136007309, + "learning_rate": 1.160855154534595e-05, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17820 + }, + { + "epoch": 5.187663660168752, + "flow_matching_loss": 0.012507571093738078, + "grad_norm": 0.10968753695487976, + "learning_rate": 1.1592447078662931e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17830 + }, + { + "epoch": 5.190573174279895, + "flow_matching_loss": 0.01341718751937151, + "grad_norm": 0.08175373822450638, + "learning_rate": 1.1576346752478025e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17840 + }, + { + "epoch": 5.193482688391039, + "flow_matching_loss": 0.013196313846856355, + "grad_norm": 0.08783890306949615, + "learning_rate": 1.1560250586354643e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17850 + }, + { + "epoch": 5.1963922025021825, + "flow_matching_loss": 0.011711729411035775, + "grad_norm": 0.08314928412437439, + "learning_rate": 1.1544158599851146e-05, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17860 + }, + { + "epoch": 5.199301716613325, + "flow_matching_loss": 0.01329838172532618, + "grad_norm": 0.08039411902427673, + "learning_rate": 1.1528070812520809e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17870 + }, + { + "epoch": 5.202211230724469, + "flow_matching_loss": 0.012994811357930302, + "grad_norm": 0.09437333792448044, + "learning_rate": 1.1511987243911821e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17880 + }, + { + "epoch": 5.205120744835613, + "flow_matching_loss": 0.013124294579029083, + "grad_norm": 0.10435250401496887, + "learning_rate": 1.1495907913567228e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17890 + }, + { + "epoch": 5.2080302589467555, + "flow_matching_loss": 0.012128455378115178, + "grad_norm": 0.08686204254627228, + "learning_rate": 1.1479832841024936e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17900 + }, + { + "epoch": 5.210939773057899, + "flow_matching_loss": 0.011755528301000595, + "grad_norm": 0.07614754885435104, + "learning_rate": 1.1463762045817675e-05, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17910 + }, + { + "epoch": 5.213849287169043, + "flow_matching_loss": 0.014133806806057692, + "grad_norm": 0.10478116571903229, + "learning_rate": 1.1447695547472964e-05, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17920 + }, + { + "epoch": 5.216758801280186, + "flow_matching_loss": 0.012476619984954595, + "grad_norm": 0.08554032444953918, + "learning_rate": 1.1431633365513132e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17930 + }, + { + "epoch": 5.2196683153913295, + "flow_matching_loss": 0.012866432638838887, + "grad_norm": 0.0841418132185936, + "learning_rate": 1.1415575519455235e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17940 + }, + { + "epoch": 5.222577829502473, + "flow_matching_loss": 0.012156301643699408, + "grad_norm": 0.09153950214385986, + "learning_rate": 1.1399522028811069e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17950 + }, + { + "epoch": 5.225487343613617, + "flow_matching_loss": 0.012302640872076154, + "grad_norm": 0.07892075181007385, + "learning_rate": 1.1383472913087143e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17960 + }, + { + "epoch": 5.22839685772476, + "flow_matching_loss": 0.013681079400703311, + "grad_norm": 0.10744202136993408, + "learning_rate": 1.1367428191784643e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17970 + }, + { + "epoch": 5.231306371835903, + "flow_matching_loss": 0.010673603788018227, + "grad_norm": 0.08501865714788437, + "learning_rate": 1.1351387884399413e-05, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17980 + }, + { + "epoch": 5.234215885947047, + "flow_matching_loss": 0.011438217712566257, + "grad_norm": 0.09446907788515091, + "learning_rate": 1.1335352010421953e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 17990 + }, + { + "epoch": 5.23712540005819, + "flow_matching_loss": 0.0123258201405406, + "grad_norm": 0.13112761080265045, + "learning_rate": 1.1319320589337352e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18000 + }, + { + "epoch": 5.240034914169334, + "flow_matching_loss": 0.012386739067733289, + "grad_norm": 0.10705020278692245, + "learning_rate": 1.1303293640625299e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18010 + }, + { + "epoch": 5.242944428280477, + "flow_matching_loss": 0.012033833330497146, + "grad_norm": 0.08652342855930328, + "learning_rate": 1.1287271183760052e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18020 + }, + { + "epoch": 5.24585394239162, + "flow_matching_loss": 0.012684804387390614, + "grad_norm": 0.09627211838960648, + "learning_rate": 1.1271253238210398e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18030 + }, + { + "epoch": 5.248763456502764, + "flow_matching_loss": 0.012544679455459118, + "grad_norm": 0.10585242509841919, + "learning_rate": 1.1255239823439663e-05, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18040 + }, + { + "epoch": 5.251672970613908, + "flow_matching_loss": 0.012163389986380935, + "grad_norm": 0.08968039602041245, + "learning_rate": 1.1239230958905652e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18050 + }, + { + "epoch": 5.254582484725051, + "flow_matching_loss": 0.012430293019860983, + "grad_norm": 0.0922643393278122, + "learning_rate": 1.1223226664060641e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18060 + }, + { + "epoch": 5.257491998836194, + "flow_matching_loss": 0.013064683973789215, + "grad_norm": 0.08763452619314194, + "learning_rate": 1.1207226958351362e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18070 + }, + { + "epoch": 5.260401512947338, + "flow_matching_loss": 0.012741980794817209, + "grad_norm": 0.10380417108535767, + "learning_rate": 1.1191231861218955e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18080 + }, + { + "epoch": 5.2633110270584815, + "flow_matching_loss": 0.013354895170778036, + "grad_norm": 0.09703955054283142, + "learning_rate": 1.1175241392098988e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18090 + }, + { + "epoch": 5.266220541169624, + "flow_matching_loss": 0.012202121876180172, + "grad_norm": 0.08710526674985886, + "learning_rate": 1.1159255570421376e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18100 + }, + { + "epoch": 5.269130055280768, + "flow_matching_loss": 0.013074017968028784, + "grad_norm": 0.09684326499700546, + "learning_rate": 1.1143274415610408e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18110 + }, + { + "epoch": 5.272039569391912, + "flow_matching_loss": 0.012303201062604786, + "grad_norm": 0.08830156177282333, + "learning_rate": 1.1127297947084692e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18120 + }, + { + "epoch": 5.274949083503055, + "flow_matching_loss": 0.01221186425536871, + "grad_norm": 0.10808537155389786, + "learning_rate": 1.1111326184257135e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18130 + }, + { + "epoch": 5.277858597614198, + "flow_matching_loss": 0.015427729021757841, + "grad_norm": 0.11557599157094955, + "learning_rate": 1.109535914653495e-05, + "loss": 0.0154, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18140 + }, + { + "epoch": 5.280768111725342, + "flow_matching_loss": 0.011726604402065277, + "grad_norm": 0.08533965796232224, + "learning_rate": 1.1079396853319582e-05, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18150 + }, + { + "epoch": 5.283677625836486, + "flow_matching_loss": 0.012210917565971613, + "grad_norm": 0.10163799673318863, + "learning_rate": 1.1063439324006724e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18160 + }, + { + "epoch": 5.2865871399476285, + "flow_matching_loss": 0.014738924987614154, + "grad_norm": 0.10599385201931, + "learning_rate": 1.1047486577986285e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18170 + }, + { + "epoch": 5.289496654058772, + "flow_matching_loss": 0.013164412416517734, + "grad_norm": 0.07890219986438751, + "learning_rate": 1.1031538634642353e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18180 + }, + { + "epoch": 5.292406168169916, + "flow_matching_loss": 0.013209555856883526, + "grad_norm": 0.0888993889093399, + "learning_rate": 1.1015595513353172e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18190 + }, + { + "epoch": 5.295315682281059, + "flow_matching_loss": 0.011825558636337519, + "grad_norm": 0.08231664448976517, + "learning_rate": 1.0999657233491156e-05, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18200 + }, + { + "epoch": 5.2982251963922025, + "flow_matching_loss": 0.012346163671463729, + "grad_norm": 0.09190305322408676, + "learning_rate": 1.0983723814422808e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18210 + }, + { + "epoch": 5.301134710503346, + "flow_matching_loss": 0.015183483809232711, + "grad_norm": 0.08984655141830444, + "learning_rate": 1.0967795275508735e-05, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18220 + }, + { + "epoch": 5.304044224614489, + "flow_matching_loss": 0.012405370408669115, + "grad_norm": 0.07334048300981522, + "learning_rate": 1.095187163610361e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18230 + }, + { + "epoch": 5.306953738725633, + "flow_matching_loss": 0.01274645896628499, + "grad_norm": 0.07913598418235779, + "learning_rate": 1.0935952915556163e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18240 + }, + { + "epoch": 5.309863252836776, + "flow_matching_loss": 0.012654945719987154, + "grad_norm": 0.09846319258213043, + "learning_rate": 1.0920039133209137e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18250 + }, + { + "epoch": 5.31277276694792, + "flow_matching_loss": 0.013278826605528593, + "grad_norm": 0.09826164692640305, + "learning_rate": 1.0904130308399283e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18260 + }, + { + "epoch": 5.315682281059063, + "flow_matching_loss": 0.013619077438488603, + "grad_norm": 0.08610802888870239, + "learning_rate": 1.0888226460457318e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18270 + }, + { + "epoch": 5.318591795170207, + "flow_matching_loss": 0.012559397518634796, + "grad_norm": 0.08103382587432861, + "learning_rate": 1.087232760870792e-05, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18280 + }, + { + "epoch": 5.32150130928135, + "flow_matching_loss": 0.013202419877052307, + "grad_norm": 0.12327422946691513, + "learning_rate": 1.0856433772469686e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18290 + }, + { + "epoch": 5.324410823392493, + "flow_matching_loss": 0.012368915416300297, + "grad_norm": 0.1301952451467514, + "learning_rate": 1.0840544971055135e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18300 + }, + { + "epoch": 5.327320337503637, + "flow_matching_loss": 0.013824804686009884, + "grad_norm": 0.08975528180599213, + "learning_rate": 1.0824661223770655e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18310 + }, + { + "epoch": 5.330229851614781, + "flow_matching_loss": 0.012435166584327816, + "grad_norm": 0.09037020057439804, + "learning_rate": 1.0808782549916498e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18320 + }, + { + "epoch": 5.333139365725923, + "flow_matching_loss": 0.015069311019033194, + "grad_norm": 0.1080988198518753, + "learning_rate": 1.079290896878675e-05, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18330 + }, + { + "epoch": 5.336048879837067, + "flow_matching_loss": 0.012690021004527808, + "grad_norm": 0.08611036837100983, + "learning_rate": 1.07770404996693e-05, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18340 + }, + { + "epoch": 5.338958393948211, + "flow_matching_loss": 0.011447180900722742, + "grad_norm": 0.08815424144268036, + "learning_rate": 1.0761177161845848e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18350 + }, + { + "epoch": 5.3418679080593545, + "flow_matching_loss": 0.013143621291965247, + "grad_norm": 0.09222716838121414, + "learning_rate": 1.0745318974591841e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18360 + }, + { + "epoch": 5.344777422170497, + "flow_matching_loss": 0.013457278814166784, + "grad_norm": 0.09184002131223679, + "learning_rate": 1.0729465957176469e-05, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18370 + }, + { + "epoch": 5.347686936281641, + "flow_matching_loss": 0.01478959759697318, + "grad_norm": 0.08265715092420578, + "learning_rate": 1.0713618128862642e-05, + "loss": 0.0148, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18380 + }, + { + "epoch": 5.350596450392785, + "flow_matching_loss": 0.012125222384929657, + "grad_norm": 0.10362689942121506, + "learning_rate": 1.0697775508906969e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18390 + }, + { + "epoch": 5.353505964503928, + "flow_matching_loss": 0.013083386421203613, + "grad_norm": 0.11232097446918488, + "learning_rate": 1.068193811655972e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18400 + }, + { + "epoch": 5.356415478615071, + "flow_matching_loss": 0.014651818573474884, + "grad_norm": 0.0939527228474617, + "learning_rate": 1.0666105971064835e-05, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18410 + }, + { + "epoch": 5.359324992726215, + "flow_matching_loss": 0.010921208653599024, + "grad_norm": 0.07949653267860413, + "learning_rate": 1.0650279091659852e-05, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18420 + }, + { + "epoch": 5.362234506837358, + "flow_matching_loss": 0.013698000833392144, + "grad_norm": 0.10527363419532776, + "learning_rate": 1.0634457497575926e-05, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18430 + }, + { + "epoch": 5.3651440209485015, + "flow_matching_loss": 0.01135608796030283, + "grad_norm": 0.08194810152053833, + "learning_rate": 1.061864120803778e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18440 + }, + { + "epoch": 5.368053535059645, + "flow_matching_loss": 0.013154496252536774, + "grad_norm": 0.134678915143013, + "learning_rate": 1.0602830242263701e-05, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18450 + }, + { + "epoch": 5.370963049170788, + "flow_matching_loss": 0.013013870175927877, + "grad_norm": 0.06800448149442673, + "learning_rate": 1.0587024619465506e-05, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18460 + }, + { + "epoch": 5.373872563281932, + "flow_matching_loss": 0.012076525948941708, + "grad_norm": 0.07912033051252365, + "learning_rate": 1.0571224358848517e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18470 + }, + { + "epoch": 5.3767820773930755, + "flow_matching_loss": 0.012167616095393897, + "grad_norm": 0.08731824159622192, + "learning_rate": 1.0555429479611537e-05, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18480 + }, + { + "epoch": 5.379691591504219, + "flow_matching_loss": 0.012866538017988205, + "grad_norm": 0.1157475933432579, + "learning_rate": 1.0539640000946835e-05, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18490 + }, + { + "epoch": 5.382601105615362, + "flow_matching_loss": 0.012794194696471094, + "grad_norm": 0.0828990787267685, + "learning_rate": 1.0523855942040111e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18500 + }, + { + "epoch": 5.385510619726506, + "flow_matching_loss": 0.013276635855436324, + "grad_norm": 0.08403382450342178, + "learning_rate": 1.0508077322070496e-05, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18510 + }, + { + "epoch": 5.388420133837649, + "flow_matching_loss": 0.013953112997114658, + "grad_norm": 0.09180136024951935, + "learning_rate": 1.0492304160210495e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18520 + }, + { + "epoch": 5.391329647948792, + "flow_matching_loss": 0.011378694092854857, + "grad_norm": 0.08677752315998077, + "learning_rate": 1.0476536475625985e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18530 + }, + { + "epoch": 5.394239162059936, + "flow_matching_loss": 0.013412416214123368, + "grad_norm": 0.12173666059970856, + "learning_rate": 1.0460774287476195e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18540 + }, + { + "epoch": 5.39714867617108, + "flow_matching_loss": 0.012421904690563678, + "grad_norm": 0.09591816365718842, + "learning_rate": 1.044501761491366e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18550 + }, + { + "epoch": 5.400058190282223, + "flow_matching_loss": 0.012360572628676892, + "grad_norm": 0.09202824532985687, + "learning_rate": 1.0429266477084235e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18560 + }, + { + "epoch": 5.402967704393366, + "flow_matching_loss": 0.013982625864446162, + "grad_norm": 0.3675714135169983, + "learning_rate": 1.0413520893127034e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18570 + }, + { + "epoch": 5.40587721850451, + "flow_matching_loss": 0.011297965468838812, + "grad_norm": 0.062253572046756744, + "learning_rate": 1.0397780882174424e-05, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18580 + }, + { + "epoch": 5.408786732615654, + "flow_matching_loss": 0.013619526848196983, + "grad_norm": 0.0776459276676178, + "learning_rate": 1.0382046463351998e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18590 + }, + { + "epoch": 5.411696246726796, + "flow_matching_loss": 0.01234758971258998, + "grad_norm": 0.1612033247947693, + "learning_rate": 1.0366317655778568e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18600 + }, + { + "epoch": 5.41460576083794, + "flow_matching_loss": 0.013796840235590935, + "grad_norm": 0.10351741313934326, + "learning_rate": 1.035059447856611e-05, + "loss": 0.0138, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18610 + }, + { + "epoch": 5.417515274949084, + "flow_matching_loss": 0.012263966072350741, + "grad_norm": 0.07085785269737244, + "learning_rate": 1.0334876950819777e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18620 + }, + { + "epoch": 5.420424789060227, + "flow_matching_loss": 0.011562310717999935, + "grad_norm": 0.08778242766857147, + "learning_rate": 1.0319165091637837e-05, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18630 + }, + { + "epoch": 5.42333430317137, + "flow_matching_loss": 0.012023473903536797, + "grad_norm": 0.09446145594120026, + "learning_rate": 1.0303458920111686e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18640 + }, + { + "epoch": 5.426243817282514, + "flow_matching_loss": 0.011265383753925561, + "grad_norm": 0.10727079212665558, + "learning_rate": 1.0287758455325803e-05, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18650 + }, + { + "epoch": 5.429153331393657, + "flow_matching_loss": 0.011864918982610106, + "grad_norm": 0.1157301664352417, + "learning_rate": 1.0272063716357729e-05, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18660 + }, + { + "epoch": 5.432062845504801, + "flow_matching_loss": 0.009828570298850536, + "grad_norm": 0.11832752078771591, + "learning_rate": 1.0256374722278057e-05, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18670 + }, + { + "epoch": 5.434972359615944, + "flow_matching_loss": 0.013098973035812377, + "grad_norm": 0.08588169515132904, + "learning_rate": 1.0240691492150388e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18680 + }, + { + "epoch": 5.437881873727088, + "flow_matching_loss": 0.013401652220636606, + "grad_norm": 0.08732558786869049, + "learning_rate": 1.0225014045031334e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18690 + }, + { + "epoch": 5.440791387838231, + "flow_matching_loss": 0.013426411431282759, + "grad_norm": 0.08845347911119461, + "learning_rate": 1.0209342399970468e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18700 + }, + { + "epoch": 5.4437009019493745, + "flow_matching_loss": 0.011956594092771411, + "grad_norm": 0.11275296658277512, + "learning_rate": 1.019367657601031e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18710 + }, + { + "epoch": 5.446610416060518, + "flow_matching_loss": 0.013551555667072534, + "grad_norm": 0.11268962919712067, + "learning_rate": 1.0178016592186323e-05, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18720 + }, + { + "epoch": 5.449519930171661, + "flow_matching_loss": 0.011318753566592931, + "grad_norm": 0.09718998521566391, + "learning_rate": 1.0162362467526861e-05, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18730 + }, + { + "epoch": 5.452429444282805, + "flow_matching_loss": 0.015505451615899802, + "grad_norm": 0.13044457137584686, + "learning_rate": 1.0146714221053159e-05, + "loss": 0.0155, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18740 + }, + { + "epoch": 5.4553389583939484, + "flow_matching_loss": 0.012788981851190328, + "grad_norm": 0.0875764861702919, + "learning_rate": 1.0131071871779314e-05, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18750 + }, + { + "epoch": 5.458248472505091, + "flow_matching_loss": 0.012425195332616568, + "grad_norm": 0.09558699280023575, + "learning_rate": 1.0115435438712249e-05, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18760 + }, + { + "epoch": 5.461157986616235, + "flow_matching_loss": 0.013359317556023598, + "grad_norm": 0.08564650267362595, + "learning_rate": 1.0099804940851716e-05, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18770 + }, + { + "epoch": 5.464067500727379, + "flow_matching_loss": 0.012275191117078066, + "grad_norm": 0.08698111772537231, + "learning_rate": 1.0084180397190238e-05, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18780 + }, + { + "epoch": 5.4669770148385215, + "flow_matching_loss": 0.012134960852563381, + "grad_norm": 0.13770632445812225, + "learning_rate": 1.006856182671311e-05, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18790 + }, + { + "epoch": 5.469886528949665, + "flow_matching_loss": 0.014009172655642032, + "grad_norm": 0.10741031169891357, + "learning_rate": 1.0052949248398367e-05, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18800 + }, + { + "epoch": 5.472796043060809, + "flow_matching_loss": 0.011368820955976845, + "grad_norm": 0.11078038811683655, + "learning_rate": 1.003734268121676e-05, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18810 + }, + { + "epoch": 5.475705557171953, + "flow_matching_loss": 0.013083020551130175, + "grad_norm": 0.10178284347057343, + "learning_rate": 1.0021742144131744e-05, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18820 + }, + { + "epoch": 5.478615071283095, + "flow_matching_loss": 0.011950098443776369, + "grad_norm": 0.1060008704662323, + "learning_rate": 1.000614765609944e-05, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18830 + }, + { + "epoch": 5.481524585394239, + "flow_matching_loss": 0.01257685236632824, + "grad_norm": 0.08798374235630035, + "learning_rate": 9.990559236068628e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18840 + }, + { + "epoch": 5.484434099505383, + "flow_matching_loss": 0.013573036808520556, + "grad_norm": 0.0987946093082428, + "learning_rate": 9.974976902980703e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18850 + }, + { + "epoch": 5.487343613616526, + "flow_matching_loss": 0.01132425907999277, + "grad_norm": 0.07443137466907501, + "learning_rate": 9.959400675769668e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18860 + }, + { + "epoch": 5.490253127727669, + "flow_matching_loss": 0.012161460798233747, + "grad_norm": 0.09562961757183075, + "learning_rate": 9.943830573362106e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18870 + }, + { + "epoch": 5.493162641838813, + "flow_matching_loss": 0.011859263619408011, + "grad_norm": 0.10250081866979599, + "learning_rate": 9.928266614677168e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18880 + }, + { + "epoch": 5.496072155949957, + "flow_matching_loss": 0.012458748370409011, + "grad_norm": 0.11095725744962692, + "learning_rate": 9.912708818626524e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18890 + }, + { + "epoch": 5.4989816700611, + "flow_matching_loss": 0.011478276830166579, + "grad_norm": 0.09521941840648651, + "learning_rate": 9.897157204114369e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18900 + }, + { + "epoch": 5.501891184172243, + "flow_matching_loss": 0.011401640577241778, + "grad_norm": 0.07400225847959518, + "learning_rate": 9.881611790037375e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18910 + }, + { + "epoch": 5.504800698283387, + "flow_matching_loss": 0.012864062190055847, + "grad_norm": 0.10178844630718231, + "learning_rate": 9.866072595284684e-06, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18920 + }, + { + "epoch": 5.50771021239453, + "flow_matching_loss": 0.012877802923321724, + "grad_norm": 0.09575581550598145, + "learning_rate": 9.850539638737894e-06, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18930 + }, + { + "epoch": 5.5106197265056736, + "flow_matching_loss": 0.010877443384379149, + "grad_norm": 0.07796879857778549, + "learning_rate": 9.835012939271006e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18940 + }, + { + "epoch": 5.513529240616817, + "flow_matching_loss": 0.012315433053299785, + "grad_norm": 0.09501955658197403, + "learning_rate": 9.819492515750418e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18950 + }, + { + "epoch": 5.51643875472796, + "flow_matching_loss": 0.012098971102386714, + "grad_norm": 0.08987099677324295, + "learning_rate": 9.803978387034918e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18960 + }, + { + "epoch": 5.519348268839104, + "flow_matching_loss": 0.01401200219988823, + "grad_norm": 0.06380399316549301, + "learning_rate": 9.788470571975624e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18970 + }, + { + "epoch": 5.5222577829502475, + "flow_matching_loss": 0.014286676282063126, + "grad_norm": 0.11634817719459534, + "learning_rate": 9.772969089416008e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18980 + }, + { + "epoch": 5.52516729706139, + "flow_matching_loss": 0.01276943776756525, + "grad_norm": 0.13255883753299713, + "learning_rate": 9.757473958191822e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 18990 + }, + { + "epoch": 5.528076811172534, + "flow_matching_loss": 0.012244427483528853, + "grad_norm": 0.148973748087883, + "learning_rate": 9.741985197131118e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19000 + }, + { + "epoch": 5.530986325283678, + "flow_matching_loss": 0.012235362362116576, + "grad_norm": 0.07289361208677292, + "learning_rate": 9.726502825054195e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19010 + }, + { + "epoch": 5.533895839394821, + "flow_matching_loss": 0.011125072743743658, + "grad_norm": 0.09387798607349396, + "learning_rate": 9.711026860773595e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19020 + }, + { + "epoch": 5.536805353505964, + "flow_matching_loss": 0.014204806042835116, + "grad_norm": 0.07591931521892548, + "learning_rate": 9.69555732309408e-06, + "loss": 0.0142, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19030 + }, + { + "epoch": 5.539714867617108, + "flow_matching_loss": 0.014669247437268496, + "grad_norm": 0.11467548459768295, + "learning_rate": 9.68009423081259e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19040 + }, + { + "epoch": 5.542624381728252, + "flow_matching_loss": 0.013100753771141171, + "grad_norm": 0.0880400538444519, + "learning_rate": 9.664637602718249e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19050 + }, + { + "epoch": 5.5455338958393945, + "flow_matching_loss": 0.014418490882962941, + "grad_norm": 0.09568674862384796, + "learning_rate": 9.649187457592313e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19060 + }, + { + "epoch": 5.548443409950538, + "flow_matching_loss": 0.013014178723096848, + "grad_norm": 0.12995177507400513, + "learning_rate": 9.63374381420816e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19070 + }, + { + "epoch": 5.551352924061682, + "flow_matching_loss": 0.013158690556883812, + "grad_norm": 0.1188635304570198, + "learning_rate": 9.618306691331279e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19080 + }, + { + "epoch": 5.554262438172826, + "flow_matching_loss": 0.012778860004618763, + "grad_norm": 0.10055024921894073, + "learning_rate": 9.602876107719228e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19090 + }, + { + "epoch": 5.557171952283968, + "flow_matching_loss": 0.01308952779509127, + "grad_norm": 0.08707024157047272, + "learning_rate": 9.587452082121621e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19100 + }, + { + "epoch": 5.560081466395112, + "flow_matching_loss": 0.015213866345584392, + "grad_norm": 0.07320329546928406, + "learning_rate": 9.57203463328011e-06, + "loss": 0.0152, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19110 + }, + { + "epoch": 5.562990980506255, + "flow_matching_loss": 0.01359048942103982, + "grad_norm": 0.11042375862598419, + "learning_rate": 9.556623779928341e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19120 + }, + { + "epoch": 5.565900494617399, + "flow_matching_loss": 0.013411036785691976, + "grad_norm": 0.11572422832250595, + "learning_rate": 9.541219540791949e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19130 + }, + { + "epoch": 5.568810008728542, + "flow_matching_loss": 0.012660762667655945, + "grad_norm": 0.09711218625307083, + "learning_rate": 9.525821934588551e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19140 + }, + { + "epoch": 5.571719522839686, + "flow_matching_loss": 0.012435691338032484, + "grad_norm": 0.10695850849151611, + "learning_rate": 9.510430980027684e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19150 + }, + { + "epoch": 5.574629036950829, + "flow_matching_loss": 0.013551910407841206, + "grad_norm": 0.09160186350345612, + "learning_rate": 9.495046695810809e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19160 + }, + { + "epoch": 5.577538551061973, + "flow_matching_loss": 0.010926773166283965, + "grad_norm": 0.11860412359237671, + "learning_rate": 9.47966910063128e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19170 + }, + { + "epoch": 5.580448065173116, + "flow_matching_loss": 0.01274823322892189, + "grad_norm": 0.07198603451251984, + "learning_rate": 9.464298213174325e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19180 + }, + { + "epoch": 5.583357579284259, + "flow_matching_loss": 0.012753590755164624, + "grad_norm": 0.09660815447568893, + "learning_rate": 9.448934052117024e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19190 + }, + { + "epoch": 5.586267093395403, + "flow_matching_loss": 0.013610599702224136, + "grad_norm": 0.09560997784137726, + "learning_rate": 9.433576636128284e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19200 + }, + { + "epoch": 5.5891766075065465, + "flow_matching_loss": 0.011717554088681937, + "grad_norm": 0.09054990857839584, + "learning_rate": 9.41822598386881e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19210 + }, + { + "epoch": 5.59208612161769, + "flow_matching_loss": 0.012644427362829447, + "grad_norm": 0.10554836690425873, + "learning_rate": 9.402882113991094e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19220 + }, + { + "epoch": 5.594995635728833, + "flow_matching_loss": 0.013210058119148016, + "grad_norm": 0.09647461026906967, + "learning_rate": 9.387545045139381e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19230 + }, + { + "epoch": 5.597905149839977, + "flow_matching_loss": 0.012770717218518256, + "grad_norm": 0.08398707956075668, + "learning_rate": 9.372214795949655e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19240 + }, + { + "epoch": 5.6008146639511205, + "flow_matching_loss": 0.014086130168288946, + "grad_norm": 0.09154073894023895, + "learning_rate": 9.356891385049618e-06, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19250 + }, + { + "epoch": 5.603724178062263, + "flow_matching_loss": 0.01255094464868307, + "grad_norm": 0.08012831211090088, + "learning_rate": 9.341574831058664e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19260 + }, + { + "epoch": 5.606633692173407, + "flow_matching_loss": 0.010169844189658762, + "grad_norm": 0.08984517306089401, + "learning_rate": 9.326265152587844e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19270 + }, + { + "epoch": 5.609543206284551, + "flow_matching_loss": 0.015307535231113435, + "grad_norm": 0.10279557853937149, + "learning_rate": 9.310962368239861e-06, + "loss": 0.0153, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19280 + }, + { + "epoch": 5.6124527203956935, + "flow_matching_loss": 0.011405441258102656, + "grad_norm": 0.09187640994787216, + "learning_rate": 9.295666496609036e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19290 + }, + { + "epoch": 5.615362234506837, + "flow_matching_loss": 0.014496869407594204, + "grad_norm": 0.08309623599052429, + "learning_rate": 9.280377556281306e-06, + "loss": 0.0145, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19300 + }, + { + "epoch": 5.618271748617981, + "flow_matching_loss": 0.012775253085419536, + "grad_norm": 0.09065808355808258, + "learning_rate": 9.265095565834172e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19310 + }, + { + "epoch": 5.621181262729124, + "flow_matching_loss": 0.014601189456880093, + "grad_norm": 0.09356224536895752, + "learning_rate": 9.249820543836688e-06, + "loss": 0.0146, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19320 + }, + { + "epoch": 5.6240907768402675, + "flow_matching_loss": 0.011604458699002862, + "grad_norm": 0.07630323618650436, + "learning_rate": 9.234552508849454e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19330 + }, + { + "epoch": 5.627000290951411, + "flow_matching_loss": 0.012632477935403586, + "grad_norm": 0.16076794266700745, + "learning_rate": 9.21929147942456e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19340 + }, + { + "epoch": 5.629909805062555, + "flow_matching_loss": 0.01159667307510972, + "grad_norm": 0.06200012192130089, + "learning_rate": 9.204037474105611e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19350 + }, + { + "epoch": 5.632819319173698, + "flow_matching_loss": 0.01187765020877123, + "grad_norm": 0.08967427909374237, + "learning_rate": 9.188790511427653e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19360 + }, + { + "epoch": 5.635728833284841, + "flow_matching_loss": 0.014328432036563754, + "grad_norm": 0.1495690643787384, + "learning_rate": 9.173550609917186e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19370 + }, + { + "epoch": 5.638638347395985, + "flow_matching_loss": 0.012077800650149583, + "grad_norm": 0.08226808160543442, + "learning_rate": 9.158317788092124e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19380 + }, + { + "epoch": 5.641547861507128, + "flow_matching_loss": 0.013335521286353468, + "grad_norm": 0.11866762489080429, + "learning_rate": 9.143092064461783e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19390 + }, + { + "epoch": 5.644457375618272, + "flow_matching_loss": 0.01426990800537169, + "grad_norm": 0.06708350777626038, + "learning_rate": 9.127873457526855e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19400 + }, + { + "epoch": 5.647366889729415, + "flow_matching_loss": 0.012208228884264826, + "grad_norm": 0.1006716638803482, + "learning_rate": 9.112661985779382e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19410 + }, + { + "epoch": 5.650276403840559, + "flow_matching_loss": 0.01250147381797433, + "grad_norm": 0.0973733589053154, + "learning_rate": 9.09745766770274e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19420 + }, + { + "epoch": 5.653185917951702, + "flow_matching_loss": 0.01102413358166814, + "grad_norm": 0.08051702380180359, + "learning_rate": 9.082260521771601e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19430 + }, + { + "epoch": 5.656095432062846, + "flow_matching_loss": 0.015620003547519445, + "grad_norm": 0.1082240492105484, + "learning_rate": 9.067070566451936e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19440 + }, + { + "epoch": 5.659004946173989, + "flow_matching_loss": 0.009818875836208463, + "grad_norm": 0.16035157442092896, + "learning_rate": 9.051887820200966e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19450 + }, + { + "epoch": 5.661914460285132, + "flow_matching_loss": 0.0123811898753047, + "grad_norm": 0.08086038380861282, + "learning_rate": 9.03671230146717e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19460 + }, + { + "epoch": 5.664823974396276, + "flow_matching_loss": 0.011337942536920309, + "grad_norm": 0.10968830436468124, + "learning_rate": 9.021544028690228e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19470 + }, + { + "epoch": 5.6677334885074195, + "flow_matching_loss": 0.011135875480249524, + "grad_norm": 0.09077269583940506, + "learning_rate": 9.006383020301024e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19480 + }, + { + "epoch": 5.670643002618562, + "flow_matching_loss": 0.011601983150467277, + "grad_norm": 0.08057523518800735, + "learning_rate": 8.991229294721613e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19490 + }, + { + "epoch": 5.673552516729706, + "flow_matching_loss": 0.011438082624226808, + "grad_norm": 0.08948058634996414, + "learning_rate": 8.976082870365191e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19500 + }, + { + "epoch": 5.67646203084085, + "flow_matching_loss": 0.014921818580478429, + "grad_norm": 0.08438330143690109, + "learning_rate": 8.960943765636105e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19510 + }, + { + "epoch": 5.679371544951993, + "flow_matching_loss": 0.011964579392224551, + "grad_norm": 0.11093367636203766, + "learning_rate": 8.945811998929792e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19520 + }, + { + "epoch": 5.682281059063136, + "flow_matching_loss": 0.013943604426458478, + "grad_norm": 0.10556328296661377, + "learning_rate": 8.93068758863277e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19530 + }, + { + "epoch": 5.68519057317428, + "flow_matching_loss": 0.011906106024980545, + "grad_norm": 0.10584404319524765, + "learning_rate": 8.915570553122628e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19540 + }, + { + "epoch": 5.688100087285424, + "flow_matching_loss": 0.013012174051254988, + "grad_norm": 0.09801213443279266, + "learning_rate": 8.900460910767982e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19550 + }, + { + "epoch": 5.6910096013965665, + "flow_matching_loss": 0.012645010743290186, + "grad_norm": 0.07261530309915543, + "learning_rate": 8.885358679928486e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19560 + }, + { + "epoch": 5.69391911550771, + "flow_matching_loss": 0.013409844459965825, + "grad_norm": 0.08455958962440491, + "learning_rate": 8.870263878954767e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19570 + }, + { + "epoch": 5.696828629618854, + "flow_matching_loss": 0.011969614773988724, + "grad_norm": 0.1063515692949295, + "learning_rate": 8.855176526188428e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19580 + }, + { + "epoch": 5.699738143729997, + "flow_matching_loss": 0.010288652824237942, + "grad_norm": 0.08330358564853668, + "learning_rate": 8.840096639962033e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19590 + }, + { + "epoch": 5.7026476578411405, + "flow_matching_loss": 0.012008134787902237, + "grad_norm": 0.11908220499753952, + "learning_rate": 8.825024238599056e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19600 + }, + { + "epoch": 5.705557171952284, + "flow_matching_loss": 0.012021256983280182, + "grad_norm": 0.06890241801738739, + "learning_rate": 8.809959340413891e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19610 + }, + { + "epoch": 5.708466686063428, + "flow_matching_loss": 0.01213174476288259, + "grad_norm": 0.08934292197227478, + "learning_rate": 8.79490196371181e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19620 + }, + { + "epoch": 5.711376200174571, + "flow_matching_loss": 0.013168151630088687, + "grad_norm": 0.1138673946261406, + "learning_rate": 8.779852126788949e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19630 + }, + { + "epoch": 5.714285714285714, + "flow_matching_loss": 0.011079081567004323, + "grad_norm": 0.0883486196398735, + "learning_rate": 8.764809847932277e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19640 + }, + { + "epoch": 5.717195228396857, + "flow_matching_loss": 0.012308370880782604, + "grad_norm": 0.09065216779708862, + "learning_rate": 8.749775145419577e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19650 + }, + { + "epoch": 5.720104742508001, + "flow_matching_loss": 0.014377019368112087, + "grad_norm": 0.09765804558992386, + "learning_rate": 8.734748037519427e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19660 + }, + { + "epoch": 5.723014256619145, + "flow_matching_loss": 0.015121024008840323, + "grad_norm": 0.09870031476020813, + "learning_rate": 8.719728542491195e-06, + "loss": 0.0151, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19670 + }, + { + "epoch": 5.725923770730288, + "flow_matching_loss": 0.012113977782428264, + "grad_norm": 0.09146440029144287, + "learning_rate": 8.704716678584976e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19680 + }, + { + "epoch": 5.728833284841431, + "flow_matching_loss": 0.011406771233305335, + "grad_norm": 0.08205723017454147, + "learning_rate": 8.689712464041596e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19690 + }, + { + "epoch": 5.731742798952575, + "flow_matching_loss": 0.011308905016630889, + "grad_norm": 0.07844457775354385, + "learning_rate": 8.674715917092592e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19700 + }, + { + "epoch": 5.734652313063719, + "flow_matching_loss": 0.009810802293941379, + "grad_norm": 0.07111555337905884, + "learning_rate": 8.65972705596018e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19710 + }, + { + "epoch": 5.737561827174861, + "flow_matching_loss": 0.01209433153271675, + "grad_norm": 0.09333984553813934, + "learning_rate": 8.64474589885725e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19720 + }, + { + "epoch": 5.740471341286005, + "flow_matching_loss": 0.011703001894056797, + "grad_norm": 0.07816439867019653, + "learning_rate": 8.629772463987315e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19730 + }, + { + "epoch": 5.743380855397149, + "flow_matching_loss": 0.011377092357724905, + "grad_norm": 0.08832211792469025, + "learning_rate": 8.614806769544507e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19740 + }, + { + "epoch": 5.7462903695082925, + "flow_matching_loss": 0.011967884097248315, + "grad_norm": 0.07414482533931732, + "learning_rate": 8.59984883371356e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19750 + }, + { + "epoch": 5.749199883619435, + "flow_matching_loss": 0.014006546419113874, + "grad_norm": 0.08747618645429611, + "learning_rate": 8.584898674669772e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19760 + }, + { + "epoch": 5.752109397730579, + "flow_matching_loss": 0.011052126809954644, + "grad_norm": 0.09889934957027435, + "learning_rate": 8.569956310579001e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19770 + }, + { + "epoch": 5.755018911841723, + "flow_matching_loss": 0.011127711506560445, + "grad_norm": 0.09152871370315552, + "learning_rate": 8.555021759597627e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19780 + }, + { + "epoch": 5.757928425952866, + "flow_matching_loss": 0.01342748231254518, + "grad_norm": 0.0701095387339592, + "learning_rate": 8.54009503987253e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19790 + }, + { + "epoch": 5.760837940064009, + "flow_matching_loss": 0.013137497706338763, + "grad_norm": 0.07597081363201141, + "learning_rate": 8.525176169541095e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19800 + }, + { + "epoch": 5.763747454175153, + "flow_matching_loss": 0.011590874940156936, + "grad_norm": 0.08199481666088104, + "learning_rate": 8.510265166731151e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19810 + }, + { + "epoch": 5.766656968286296, + "flow_matching_loss": 0.010906507540494204, + "grad_norm": 0.09415676444768906, + "learning_rate": 8.495362049560964e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19820 + }, + { + "epoch": 5.7695664823974395, + "flow_matching_loss": 0.013283302448689938, + "grad_norm": 0.07333077490329742, + "learning_rate": 8.480466836139241e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19830 + }, + { + "epoch": 5.772475996508583, + "flow_matching_loss": 0.012362607475370168, + "grad_norm": 0.09547282010316849, + "learning_rate": 8.465579544565066e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19840 + }, + { + "epoch": 5.775385510619726, + "flow_matching_loss": 0.012293124198913574, + "grad_norm": 0.11175091564655304, + "learning_rate": 8.450700192927897e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19850 + }, + { + "epoch": 5.77829502473087, + "flow_matching_loss": 0.012116769049316644, + "grad_norm": 0.10965659469366074, + "learning_rate": 8.435828799307551e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19860 + }, + { + "epoch": 5.7812045388420135, + "flow_matching_loss": 0.012200529500842095, + "grad_norm": 0.07468295842409134, + "learning_rate": 8.420965381774172e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19870 + }, + { + "epoch": 5.784114052953157, + "flow_matching_loss": 0.013360826764255762, + "grad_norm": 0.09112486988306046, + "learning_rate": 8.406109958388222e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19880 + }, + { + "epoch": 5.7870235670643, + "flow_matching_loss": 0.011874868534505367, + "grad_norm": 0.10484910011291504, + "learning_rate": 8.391262547200434e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19890 + }, + { + "epoch": 5.789933081175444, + "flow_matching_loss": 0.011454593297094107, + "grad_norm": 0.08130577206611633, + "learning_rate": 8.376423166251816e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19900 + }, + { + "epoch": 5.792842595286587, + "flow_matching_loss": 0.014937087241560221, + "grad_norm": 0.08756908774375916, + "learning_rate": 8.361591833573612e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19910 + }, + { + "epoch": 5.79575210939773, + "flow_matching_loss": 0.012632150016725064, + "grad_norm": 0.09279879927635193, + "learning_rate": 8.346768567187287e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19920 + }, + { + "epoch": 5.798661623508874, + "flow_matching_loss": 0.01601808099076152, + "grad_norm": 0.11818329989910126, + "learning_rate": 8.331953385104516e-06, + "loss": 0.016, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19930 + }, + { + "epoch": 5.801571137620018, + "flow_matching_loss": 0.011993026593700051, + "grad_norm": 0.06862948089838028, + "learning_rate": 8.317146305327134e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19940 + }, + { + "epoch": 5.804480651731161, + "flow_matching_loss": 0.012040439713746309, + "grad_norm": 0.08178557455539703, + "learning_rate": 8.302347345847146e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19950 + }, + { + "epoch": 5.807390165842304, + "flow_matching_loss": 0.0150337690487504, + "grad_norm": 0.10827718675136566, + "learning_rate": 8.287556524646683e-06, + "loss": 0.015, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19960 + }, + { + "epoch": 5.810299679953448, + "flow_matching_loss": 0.010984303196892142, + "grad_norm": 0.09923814237117767, + "learning_rate": 8.272773859697978e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19970 + }, + { + "epoch": 5.813209194064592, + "flow_matching_loss": 0.01240884279832244, + "grad_norm": 0.12481353431940079, + "learning_rate": 8.257999368963374e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19980 + }, + { + "epoch": 5.816118708175734, + "flow_matching_loss": 0.011132633313536644, + "grad_norm": 0.08169686049222946, + "learning_rate": 8.243233070395266e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 19990 + }, + { + "epoch": 5.819028222286878, + "flow_matching_loss": 0.0125181769952178, + "grad_norm": 0.08875484764575958, + "learning_rate": 8.2284749819361e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20000 + }, + { + "epoch": 5.821937736398022, + "flow_matching_loss": 0.00984349027276039, + "grad_norm": 0.07092970609664917, + "learning_rate": 8.213725121518346e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20010 + }, + { + "epoch": 5.824847250509165, + "flow_matching_loss": 0.012202297477051616, + "grad_norm": 0.08807811886072159, + "learning_rate": 8.198983507064469e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20020 + }, + { + "epoch": 5.827756764620308, + "flow_matching_loss": 0.012712442502379417, + "grad_norm": 0.10018454492092133, + "learning_rate": 8.18425015648692e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20030 + }, + { + "epoch": 5.830666278731452, + "flow_matching_loss": 0.012184259807690978, + "grad_norm": 0.07953517884016037, + "learning_rate": 8.169525087688122e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20040 + }, + { + "epoch": 5.833575792842595, + "flow_matching_loss": 0.010132366884499788, + "grad_norm": 0.0696617066860199, + "learning_rate": 8.154808318560413e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20050 + }, + { + "epoch": 5.836485306953739, + "flow_matching_loss": 0.01066336059011519, + "grad_norm": 0.09133025258779526, + "learning_rate": 8.140099866986058e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20060 + }, + { + "epoch": 5.839394821064882, + "flow_matching_loss": 0.012414409453049302, + "grad_norm": 0.10158606618642807, + "learning_rate": 8.125399750837202e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20070 + }, + { + "epoch": 5.842304335176026, + "flow_matching_loss": 0.011801562830805778, + "grad_norm": 0.09235606342554092, + "learning_rate": 8.110707987975888e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20080 + }, + { + "epoch": 5.845213849287169, + "flow_matching_loss": 0.011365466564893723, + "grad_norm": 0.06561256945133209, + "learning_rate": 8.096024596253982e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20090 + }, + { + "epoch": 5.8481233633983125, + "flow_matching_loss": 0.010918273124843836, + "grad_norm": 0.09617340564727783, + "learning_rate": 8.081349593513197e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20100 + }, + { + "epoch": 5.851032877509456, + "flow_matching_loss": 0.013147627050057054, + "grad_norm": 0.09830832481384277, + "learning_rate": 8.066682997585045e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20110 + }, + { + "epoch": 5.853942391620599, + "flow_matching_loss": 0.011666400358080864, + "grad_norm": 0.07758821547031403, + "learning_rate": 8.052024826290819e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20120 + }, + { + "epoch": 5.856851905731743, + "flow_matching_loss": 0.012040620483458043, + "grad_norm": 0.09232937544584274, + "learning_rate": 8.037375097441574e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20130 + }, + { + "epoch": 5.8597614198428865, + "flow_matching_loss": 0.011815273202955723, + "grad_norm": 0.09325791150331497, + "learning_rate": 8.022733828838124e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20140 + }, + { + "epoch": 5.86267093395403, + "flow_matching_loss": 0.01098350309766829, + "grad_norm": 0.08904621750116348, + "learning_rate": 8.008101038270988e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20150 + }, + { + "epoch": 5.865580448065173, + "flow_matching_loss": 0.012754962220788002, + "grad_norm": 0.09116332978010178, + "learning_rate": 7.99347674352038e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20160 + }, + { + "epoch": 5.868489962176317, + "flow_matching_loss": 0.012754165381193162, + "grad_norm": 0.08528846502304077, + "learning_rate": 7.978860962356202e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20170 + }, + { + "epoch": 5.8713994762874595, + "flow_matching_loss": 0.011185204889625312, + "grad_norm": 0.08852757513523102, + "learning_rate": 7.964253712537997e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20180 + }, + { + "epoch": 5.874308990398603, + "flow_matching_loss": 0.012439582962542772, + "grad_norm": 0.07197633385658264, + "learning_rate": 7.949655011814968e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20190 + }, + { + "epoch": 5.877218504509747, + "flow_matching_loss": 0.011053051566705108, + "grad_norm": 0.13707663118839264, + "learning_rate": 7.9350648779259e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20200 + }, + { + "epoch": 5.880128018620891, + "flow_matching_loss": 0.014698293060064316, + "grad_norm": 0.10454870015382767, + "learning_rate": 7.92048332859919e-06, + "loss": 0.0147, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20210 + }, + { + "epoch": 5.8830375327320334, + "flow_matching_loss": 0.013254394847899675, + "grad_norm": 0.10748537629842758, + "learning_rate": 7.90591038155278e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20220 + }, + { + "epoch": 5.885947046843177, + "flow_matching_loss": 0.013195134373381734, + "grad_norm": 0.10328502953052521, + "learning_rate": 7.891346054494194e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20230 + }, + { + "epoch": 5.888856560954321, + "flow_matching_loss": 0.01254894882440567, + "grad_norm": 0.1207226812839508, + "learning_rate": 7.876790365120447e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20240 + }, + { + "epoch": 5.891766075065464, + "flow_matching_loss": 0.011228791577741504, + "grad_norm": 0.07690801471471786, + "learning_rate": 7.862243331118088e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20250 + }, + { + "epoch": 5.894675589176607, + "flow_matching_loss": 0.012318572495132685, + "grad_norm": 0.09458261728286743, + "learning_rate": 7.847704970163127e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20260 + }, + { + "epoch": 5.897585103287751, + "flow_matching_loss": 0.011898390389978886, + "grad_norm": 0.05496837571263313, + "learning_rate": 7.833175299921046e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20270 + }, + { + "epoch": 5.900494617398895, + "flow_matching_loss": 0.011549056693911552, + "grad_norm": 0.07090745121240616, + "learning_rate": 7.81865433804676e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20280 + }, + { + "epoch": 5.903404131510038, + "flow_matching_loss": 0.013188299210742115, + "grad_norm": 0.07540345191955566, + "learning_rate": 7.80414210218461e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20290 + }, + { + "epoch": 5.906313645621181, + "flow_matching_loss": 0.013675689091905951, + "grad_norm": 0.07288141548633575, + "learning_rate": 7.789638609968332e-06, + "loss": 0.0137, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20300 + }, + { + "epoch": 5.909223159732325, + "flow_matching_loss": 0.012396938260644674, + "grad_norm": 0.10145614296197891, + "learning_rate": 7.775143879021037e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20310 + }, + { + "epoch": 5.912132673843468, + "flow_matching_loss": 0.010348434140905739, + "grad_norm": 0.1044478490948677, + "learning_rate": 7.760657926955187e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20320 + }, + { + "epoch": 5.915042187954612, + "flow_matching_loss": 0.011665318906307221, + "grad_norm": 0.07351195067167282, + "learning_rate": 7.746180771372584e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20330 + }, + { + "epoch": 5.917951702065755, + "flow_matching_loss": 0.012272510398179292, + "grad_norm": 0.06362003833055496, + "learning_rate": 7.731712429864325e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20340 + }, + { + "epoch": 5.920861216176898, + "flow_matching_loss": 0.011980218114331365, + "grad_norm": 0.07706247270107269, + "learning_rate": 7.717252920010828e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20350 + }, + { + "epoch": 5.923770730288042, + "flow_matching_loss": 0.012254747981205582, + "grad_norm": 0.07381656765937805, + "learning_rate": 7.702802259381742e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20360 + }, + { + "epoch": 5.9266802443991855, + "flow_matching_loss": 0.012718305364251137, + "grad_norm": 0.10588664561510086, + "learning_rate": 7.688360465535999e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20370 + }, + { + "epoch": 5.929589758510328, + "flow_matching_loss": 0.014865461550652981, + "grad_norm": 0.08103938400745392, + "learning_rate": 7.673927556021734e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20380 + }, + { + "epoch": 5.932499272621472, + "flow_matching_loss": 0.010191539488732814, + "grad_norm": 0.08312752097845078, + "learning_rate": 7.659503548376284e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20390 + }, + { + "epoch": 5.935408786732616, + "flow_matching_loss": 0.012613530224189162, + "grad_norm": 0.09489312022924423, + "learning_rate": 7.645088460126193e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20400 + }, + { + "epoch": 5.9383183008437594, + "flow_matching_loss": 0.010037757316604256, + "grad_norm": 0.0960860475897789, + "learning_rate": 7.630682308787145e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20410 + }, + { + "epoch": 5.941227814954902, + "flow_matching_loss": 0.011111100669950247, + "grad_norm": 0.08781276643276215, + "learning_rate": 7.6162851118639754e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20420 + }, + { + "epoch": 5.944137329066046, + "flow_matching_loss": 0.010045843338593841, + "grad_norm": 0.07666759192943573, + "learning_rate": 7.601896886850632e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20430 + }, + { + "epoch": 5.94704684317719, + "flow_matching_loss": 0.01164603652432561, + "grad_norm": 0.08598534762859344, + "learning_rate": 7.587517651230168e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20440 + }, + { + "epoch": 5.9499563572883325, + "flow_matching_loss": 0.011836367705836893, + "grad_norm": 0.08564503490924835, + "learning_rate": 7.573147422474702e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20450 + }, + { + "epoch": 5.952865871399476, + "flow_matching_loss": 0.01079911906272173, + "grad_norm": 0.08922787755727768, + "learning_rate": 7.55878621804543e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20460 + }, + { + "epoch": 5.95577538551062, + "flow_matching_loss": 0.011266496079042555, + "grad_norm": 0.08377118408679962, + "learning_rate": 7.544434055392564e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20470 + }, + { + "epoch": 5.958684899621764, + "flow_matching_loss": 0.01492113946005702, + "grad_norm": 0.09520430117845535, + "learning_rate": 7.530090951955334e-06, + "loss": 0.0149, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20480 + }, + { + "epoch": 5.961594413732906, + "flow_matching_loss": 0.011627106741070748, + "grad_norm": 0.10775139927864075, + "learning_rate": 7.515756925161959e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20490 + }, + { + "epoch": 5.96450392784405, + "flow_matching_loss": 0.0100356072653085, + "grad_norm": 0.09164918959140778, + "learning_rate": 7.501431992429643e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20500 + }, + { + "epoch": 5.967413441955194, + "flow_matching_loss": 0.012452596332877874, + "grad_norm": 0.10499562323093414, + "learning_rate": 7.487116171164519e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20510 + }, + { + "epoch": 5.970322956066337, + "flow_matching_loss": 0.01040644058957696, + "grad_norm": 0.07375632226467133, + "learning_rate": 7.472809478761672e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20520 + }, + { + "epoch": 5.97323247017748, + "flow_matching_loss": 0.012020971393212676, + "grad_norm": 0.07664290070533752, + "learning_rate": 7.4585119326050775e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20530 + }, + { + "epoch": 5.976141984288624, + "flow_matching_loss": 0.013136891322210431, + "grad_norm": 0.08266623318195343, + "learning_rate": 7.444223550067599e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20540 + }, + { + "epoch": 5.979051498399767, + "flow_matching_loss": 0.011544645391404628, + "grad_norm": 0.08919017761945724, + "learning_rate": 7.429944348510964e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20550 + }, + { + "epoch": 5.981961012510911, + "flow_matching_loss": 0.010881207650527358, + "grad_norm": 0.08375789225101471, + "learning_rate": 7.415674345285763e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20560 + }, + { + "epoch": 5.984870526622054, + "flow_matching_loss": 0.012328943330794572, + "grad_norm": 0.09649732708930969, + "learning_rate": 7.401413557731387e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20570 + }, + { + "epoch": 5.987780040733197, + "flow_matching_loss": 0.013035411108285188, + "grad_norm": 0.11861006170511246, + "learning_rate": 7.387162003176037e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20580 + }, + { + "epoch": 5.990689554844341, + "flow_matching_loss": 0.011589148780331016, + "grad_norm": 0.07576848566532135, + "learning_rate": 7.372919698936697e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20590 + }, + { + "epoch": 5.9935990689554846, + "flow_matching_loss": 0.01192147908732295, + "grad_norm": 0.06503397971391678, + "learning_rate": 7.358686662319104e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20600 + }, + { + "epoch": 5.996508583066628, + "flow_matching_loss": 0.012014347966760397, + "grad_norm": 0.07586459070444107, + "learning_rate": 7.344462910617752e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20610 + }, + { + "epoch": 5.999418097177771, + "flow_matching_loss": 0.010894831782206894, + "grad_norm": 0.10033108294010162, + "learning_rate": 7.330248461115832e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20620 + }, + { + "epoch": 6.002327611288915, + "flow_matching_loss": 0.012707132659852505, + "grad_norm": 0.11693054437637329, + "learning_rate": 7.316043331085242e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20630 + }, + { + "epoch": 6.0052371254000585, + "flow_matching_loss": 0.011679772939532995, + "grad_norm": 0.08287720382213593, + "learning_rate": 7.30184753778655e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20640 + }, + { + "epoch": 6.008146639511201, + "flow_matching_loss": 0.011373887863010168, + "grad_norm": 0.0655846893787384, + "learning_rate": 7.2876610984689935e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20650 + }, + { + "epoch": 6.011056153622345, + "flow_matching_loss": 0.01251099081709981, + "grad_norm": 0.11760853976011276, + "learning_rate": 7.273484030370423e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20660 + }, + { + "epoch": 6.013965667733489, + "flow_matching_loss": 0.00976002961397171, + "grad_norm": 0.05950102210044861, + "learning_rate": 7.259316350717324e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20670 + }, + { + "epoch": 6.0168751818446315, + "flow_matching_loss": 0.012800352741032838, + "grad_norm": 0.08100228756666183, + "learning_rate": 7.245158076724757e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20680 + }, + { + "epoch": 6.019784695955775, + "flow_matching_loss": 0.012409880198538304, + "grad_norm": 0.08452050387859344, + "learning_rate": 7.23100922559636e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20690 + }, + { + "epoch": 6.022694210066919, + "flow_matching_loss": 0.0127424456179142, + "grad_norm": 0.08523258566856384, + "learning_rate": 7.216869814524323e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20700 + }, + { + "epoch": 6.025603724178063, + "flow_matching_loss": 0.011486350186169147, + "grad_norm": 0.09787987172603607, + "learning_rate": 7.202739860689357e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20710 + }, + { + "epoch": 6.0285132382892055, + "flow_matching_loss": 0.013548757694661618, + "grad_norm": 0.10516390949487686, + "learning_rate": 7.188619381260698e-06, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20720 + }, + { + "epoch": 6.031422752400349, + "flow_matching_loss": 0.012106547690927982, + "grad_norm": 0.06513920426368713, + "learning_rate": 7.174508393396057e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20730 + }, + { + "epoch": 6.034332266511493, + "flow_matching_loss": 0.010663943644613028, + "grad_norm": 0.06364993005990982, + "learning_rate": 7.160406914241615e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20740 + }, + { + "epoch": 6.037241780622636, + "flow_matching_loss": 0.011157828802242874, + "grad_norm": 0.0835813656449318, + "learning_rate": 7.146314960931996e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20750 + }, + { + "epoch": 6.040151294733779, + "flow_matching_loss": 0.010318280244246126, + "grad_norm": 0.17028683423995972, + "learning_rate": 7.132232550590247e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20760 + }, + { + "epoch": 6.043060808844923, + "flow_matching_loss": 0.012178931524977088, + "grad_norm": 0.10039900988340378, + "learning_rate": 7.118159700327839e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20770 + }, + { + "epoch": 6.045970322956066, + "flow_matching_loss": 0.011600941978394985, + "grad_norm": 0.09040258079767227, + "learning_rate": 7.104096427244603e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20780 + }, + { + "epoch": 6.04887983706721, + "flow_matching_loss": 0.010933675337582827, + "grad_norm": 0.0742729902267456, + "learning_rate": 7.090042748428737e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20790 + }, + { + "epoch": 6.051789351178353, + "flow_matching_loss": 0.009592717001214623, + "grad_norm": 0.09783879667520523, + "learning_rate": 7.075998680956797e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20800 + }, + { + "epoch": 6.054698865289497, + "flow_matching_loss": 0.013240489549934864, + "grad_norm": 0.1032465472817421, + "learning_rate": 7.061964241893639e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20810 + }, + { + "epoch": 6.05760837940064, + "flow_matching_loss": 0.01130244736559689, + "grad_norm": 0.06827419996261597, + "learning_rate": 7.047939448292442e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20820 + }, + { + "epoch": 6.060517893511784, + "flow_matching_loss": 0.01245967550203204, + "grad_norm": 0.09589783102273941, + "learning_rate": 7.033924317194644e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20830 + }, + { + "epoch": 6.063427407622927, + "flow_matching_loss": 0.010027025733143092, + "grad_norm": 0.07517565786838531, + "learning_rate": 7.0199188656299524e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20840 + }, + { + "epoch": 6.06633692173407, + "flow_matching_loss": 0.012263725558295847, + "grad_norm": 0.08346956223249435, + "learning_rate": 7.005923110616313e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20850 + }, + { + "epoch": 6.069246435845214, + "flow_matching_loss": 0.011976098455488682, + "grad_norm": 0.08847667276859283, + "learning_rate": 6.9919370691598855e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20860 + }, + { + "epoch": 6.0721559499563575, + "flow_matching_loss": 0.011830712901428342, + "grad_norm": 0.0641116350889206, + "learning_rate": 6.977960758255024e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20870 + }, + { + "epoch": 6.0750654640675, + "flow_matching_loss": 0.010460704192519188, + "grad_norm": 0.06819313764572144, + "learning_rate": 6.963994194884276e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20880 + }, + { + "epoch": 6.077974978178644, + "flow_matching_loss": 0.01280171200633049, + "grad_norm": 0.08376046270132065, + "learning_rate": 6.950037396018328e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20890 + }, + { + "epoch": 6.080884492289788, + "flow_matching_loss": 0.012552954349666834, + "grad_norm": 0.08143438398838043, + "learning_rate": 6.9360903786160056e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20900 + }, + { + "epoch": 6.083794006400931, + "flow_matching_loss": 0.012658037524670363, + "grad_norm": 0.08932443708181381, + "learning_rate": 6.9221531596242485e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20910 + }, + { + "epoch": 6.086703520512074, + "flow_matching_loss": 0.012769140070304275, + "grad_norm": 0.06296192854642868, + "learning_rate": 6.908225755978089e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20920 + }, + { + "epoch": 6.089613034623218, + "flow_matching_loss": 0.010880940547212958, + "grad_norm": 0.08691942691802979, + "learning_rate": 6.8943081846006466e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20930 + }, + { + "epoch": 6.092522548734362, + "flow_matching_loss": 0.012575540179386734, + "grad_norm": 0.13666562736034393, + "learning_rate": 6.88040046240307e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20940 + }, + { + "epoch": 6.0954320628455045, + "flow_matching_loss": 0.012306657852604985, + "grad_norm": 0.06740400195121765, + "learning_rate": 6.866502606284566e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20950 + }, + { + "epoch": 6.098341576956648, + "flow_matching_loss": 0.012633411074057221, + "grad_norm": 0.09490441530942917, + "learning_rate": 6.852614633132335e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20960 + }, + { + "epoch": 6.101251091067792, + "flow_matching_loss": 0.012674695625901223, + "grad_norm": 0.08561472594738007, + "learning_rate": 6.8387365598215665e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20970 + }, + { + "epoch": 6.104160605178935, + "flow_matching_loss": 0.012388648930937052, + "grad_norm": 0.0899442657828331, + "learning_rate": 6.82486840321544e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20980 + }, + { + "epoch": 6.1070701192900785, + "flow_matching_loss": 0.0119405931327492, + "grad_norm": 0.12779264152050018, + "learning_rate": 6.811010180165069e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 20990 + }, + { + "epoch": 6.109979633401222, + "flow_matching_loss": 0.010163832362741232, + "grad_norm": 0.06811615079641342, + "learning_rate": 6.797161907509499e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21000 + }, + { + "epoch": 6.112889147512365, + "flow_matching_loss": 0.01334506794810295, + "grad_norm": 0.09475772082805634, + "learning_rate": 6.783323602075688e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21010 + }, + { + "epoch": 6.115798661623509, + "flow_matching_loss": 0.013316689152270555, + "grad_norm": 0.09076914936304092, + "learning_rate": 6.7694952806784784e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21020 + }, + { + "epoch": 6.118708175734652, + "flow_matching_loss": 0.011099311150610447, + "grad_norm": 0.0947985053062439, + "learning_rate": 6.7556769601205944e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21030 + }, + { + "epoch": 6.121617689845796, + "flow_matching_loss": 0.013099400606006385, + "grad_norm": 0.10126527398824692, + "learning_rate": 6.741868657192594e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21040 + }, + { + "epoch": 6.124527203956939, + "flow_matching_loss": 0.011780064087361097, + "grad_norm": 0.09792976081371307, + "learning_rate": 6.728070388672864e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21050 + }, + { + "epoch": 6.127436718068083, + "flow_matching_loss": 0.011140859266743065, + "grad_norm": 0.10605140030384064, + "learning_rate": 6.714282171327604e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21060 + }, + { + "epoch": 6.130346232179226, + "flow_matching_loss": 0.010332921473309397, + "grad_norm": 0.08021676540374756, + "learning_rate": 6.700504021910791e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21070 + }, + { + "epoch": 6.133255746290369, + "flow_matching_loss": 0.012887819763273, + "grad_norm": 0.08269176632165909, + "learning_rate": 6.68673595716419e-06, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21080 + }, + { + "epoch": 6.136165260401513, + "flow_matching_loss": 0.011192223615944385, + "grad_norm": 0.10307405143976212, + "learning_rate": 6.6729779938172856e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21090 + }, + { + "epoch": 6.139074774512657, + "flow_matching_loss": 0.011756569659337402, + "grad_norm": 0.11351605504751205, + "learning_rate": 6.659230148587311e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21100 + }, + { + "epoch": 6.141984288623799, + "flow_matching_loss": 0.010922762984409928, + "grad_norm": 0.09725315868854523, + "learning_rate": 6.645492438179188e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21110 + }, + { + "epoch": 6.144893802734943, + "flow_matching_loss": 0.01135965227149427, + "grad_norm": 0.08678030967712402, + "learning_rate": 6.631764879285531e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21120 + }, + { + "epoch": 6.147803316846087, + "flow_matching_loss": 0.013060018140822648, + "grad_norm": 0.10589206218719482, + "learning_rate": 6.618047488586614e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21130 + }, + { + "epoch": 6.1507128309572305, + "flow_matching_loss": 0.01070905989035964, + "grad_norm": 0.0943266823887825, + "learning_rate": 6.604340282750371e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21140 + }, + { + "epoch": 6.153622345068373, + "flow_matching_loss": 0.011234787292778492, + "grad_norm": 0.0745401456952095, + "learning_rate": 6.590643278432342e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21150 + }, + { + "epoch": 6.156531859179517, + "flow_matching_loss": 0.010420684842392803, + "grad_norm": 0.07132744789123535, + "learning_rate": 6.576956492275682e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21160 + }, + { + "epoch": 6.159441373290661, + "flow_matching_loss": 0.01149638001807034, + "grad_norm": 0.08576790988445282, + "learning_rate": 6.563279940911124e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21170 + }, + { + "epoch": 6.162350887401804, + "flow_matching_loss": 0.011384387128055095, + "grad_norm": 0.12550169229507446, + "learning_rate": 6.549613640956963e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21180 + }, + { + "epoch": 6.165260401512947, + "flow_matching_loss": 0.01333139492198825, + "grad_norm": 0.11114127933979034, + "learning_rate": 6.535957609019053e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21190 + }, + { + "epoch": 6.168169915624091, + "flow_matching_loss": 0.010549452528357506, + "grad_norm": 0.06321746855974197, + "learning_rate": 6.5223118616907545e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21200 + }, + { + "epoch": 6.171079429735234, + "flow_matching_loss": 0.01216070563532412, + "grad_norm": 0.10368432849645615, + "learning_rate": 6.508676415552939e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21210 + }, + { + "epoch": 6.1739889438463775, + "flow_matching_loss": 0.010245049186050893, + "grad_norm": 0.1014949381351471, + "learning_rate": 6.495051287173952e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21220 + }, + { + "epoch": 6.176898457957521, + "flow_matching_loss": 0.012680857302621007, + "grad_norm": 0.11790434271097183, + "learning_rate": 6.481436493109621e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21230 + }, + { + "epoch": 6.179807972068665, + "flow_matching_loss": 0.01151529042981565, + "grad_norm": 0.1012004017829895, + "learning_rate": 6.467832049903194e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21240 + }, + { + "epoch": 6.182717486179808, + "flow_matching_loss": 0.009491873206570745, + "grad_norm": 0.09731099754571915, + "learning_rate": 6.454237974085361e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21250 + }, + { + "epoch": 6.1856270002909515, + "flow_matching_loss": 0.010364616988226771, + "grad_norm": 0.07615441828966141, + "learning_rate": 6.440654282174203e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21260 + }, + { + "epoch": 6.188536514402095, + "flow_matching_loss": 0.010940321534872056, + "grad_norm": 0.09447669237852097, + "learning_rate": 6.427080990675187e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21270 + }, + { + "epoch": 6.191446028513238, + "flow_matching_loss": 0.01067601186223328, + "grad_norm": 0.07755353301763535, + "learning_rate": 6.41351811608114e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21280 + }, + { + "epoch": 6.194355542624382, + "flow_matching_loss": 0.011290461011230945, + "grad_norm": 0.05618343502283096, + "learning_rate": 6.399965674872228e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21290 + }, + { + "epoch": 6.197265056735525, + "flow_matching_loss": 0.011713342973962426, + "grad_norm": 0.07592802494764328, + "learning_rate": 6.386423683515957e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21300 + }, + { + "epoch": 6.200174570846668, + "flow_matching_loss": 0.013122745789587498, + "grad_norm": 0.06898938119411469, + "learning_rate": 6.372892158467119e-06, + "loss": 0.0131, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21310 + }, + { + "epoch": 6.203084084957812, + "flow_matching_loss": 0.010783186089247465, + "grad_norm": 0.10041632503271103, + "learning_rate": 6.359371116167791e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21320 + }, + { + "epoch": 6.205993599068956, + "flow_matching_loss": 0.010585772199556231, + "grad_norm": 0.08014041185379028, + "learning_rate": 6.345860573047314e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21330 + }, + { + "epoch": 6.208903113180099, + "flow_matching_loss": 0.0114755148999393, + "grad_norm": 0.08966895192861557, + "learning_rate": 6.332360545522268e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21340 + }, + { + "epoch": 6.211812627291242, + "flow_matching_loss": 0.013374084932729602, + "grad_norm": 0.11486885696649551, + "learning_rate": 6.31887104999647e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21350 + }, + { + "epoch": 6.214722141402386, + "flow_matching_loss": 0.01171033950522542, + "grad_norm": 0.0976395532488823, + "learning_rate": 6.305392102860924e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21360 + }, + { + "epoch": 6.21763165551353, + "flow_matching_loss": 0.011268947273492813, + "grad_norm": 0.08607465773820877, + "learning_rate": 6.291923720493814e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21370 + }, + { + "epoch": 6.220541169624672, + "flow_matching_loss": 0.010235062800347805, + "grad_norm": 0.09098831564188004, + "learning_rate": 6.278465919260507e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21380 + }, + { + "epoch": 6.223450683735816, + "flow_matching_loss": 0.010600807750597597, + "grad_norm": 0.08074170351028442, + "learning_rate": 6.26501871551349e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21390 + }, + { + "epoch": 6.22636019784696, + "flow_matching_loss": 0.012469356646761298, + "grad_norm": 0.08503996580839157, + "learning_rate": 6.251582125592394e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21400 + }, + { + "epoch": 6.229269711958103, + "flow_matching_loss": 0.011889743665233255, + "grad_norm": 0.06954756379127502, + "learning_rate": 6.2381561658239386e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21410 + }, + { + "epoch": 6.232179226069246, + "flow_matching_loss": 0.011667658714577556, + "grad_norm": 0.0808064192533493, + "learning_rate": 6.2247408525219276e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21420 + }, + { + "epoch": 6.23508874018039, + "flow_matching_loss": 0.010844922764226795, + "grad_norm": 0.09082239121198654, + "learning_rate": 6.2113362019872335e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21430 + }, + { + "epoch": 6.237998254291533, + "flow_matching_loss": 0.011725272797048093, + "grad_norm": 0.07806944102048874, + "learning_rate": 6.197942230507772e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21440 + }, + { + "epoch": 6.240907768402677, + "flow_matching_loss": 0.010514579433947801, + "grad_norm": 0.08225825428962708, + "learning_rate": 6.184558954358475e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21450 + }, + { + "epoch": 6.24381728251382, + "flow_matching_loss": 0.011400430370122195, + "grad_norm": 0.0856337770819664, + "learning_rate": 6.1711863898012965e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21460 + }, + { + "epoch": 6.246726796624964, + "flow_matching_loss": 0.013032142398878932, + "grad_norm": 0.08497568219900131, + "learning_rate": 6.157824553085155e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21470 + }, + { + "epoch": 6.249636310736107, + "flow_matching_loss": 0.011860066652297973, + "grad_norm": 0.0950976237654686, + "learning_rate": 6.144473460445945e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21480 + }, + { + "epoch": 6.2525458248472505, + "flow_matching_loss": 0.011750448867678643, + "grad_norm": 0.10219123214483261, + "learning_rate": 6.131133128106503e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21490 + }, + { + "epoch": 6.255455338958394, + "flow_matching_loss": 0.0108661781065166, + "grad_norm": 0.08901762962341309, + "learning_rate": 6.117803572276584e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21500 + }, + { + "epoch": 6.258364853069537, + "flow_matching_loss": 0.012478479044511914, + "grad_norm": 0.1087462455034256, + "learning_rate": 6.104484809152866e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21510 + }, + { + "epoch": 6.261274367180681, + "flow_matching_loss": 0.012684820778667926, + "grad_norm": 0.11160406470298767, + "learning_rate": 6.091176854918892e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21520 + }, + { + "epoch": 6.2641838812918245, + "flow_matching_loss": 0.010397514374926687, + "grad_norm": 0.11851614713668823, + "learning_rate": 6.077879725745092e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21530 + }, + { + "epoch": 6.267093395402968, + "flow_matching_loss": 0.011275815637782216, + "grad_norm": 0.09597744047641754, + "learning_rate": 6.064593437788727e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21540 + }, + { + "epoch": 6.270002909514111, + "flow_matching_loss": 0.012022794550284743, + "grad_norm": 0.07267867773771286, + "learning_rate": 6.051318007193881e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21550 + }, + { + "epoch": 6.272912423625255, + "flow_matching_loss": 0.01173016568645835, + "grad_norm": 0.08084715902805328, + "learning_rate": 6.038053450091469e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21560 + }, + { + "epoch": 6.275821937736398, + "flow_matching_loss": 0.011128230346366763, + "grad_norm": 0.09299036860466003, + "learning_rate": 6.0247997825991705e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21570 + }, + { + "epoch": 6.278731451847541, + "flow_matching_loss": 0.01179409516043961, + "grad_norm": 0.08442484587430954, + "learning_rate": 6.011557020821444e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21580 + }, + { + "epoch": 6.281640965958685, + "flow_matching_loss": 0.011218790337443352, + "grad_norm": 0.10409735888242722, + "learning_rate": 5.99832518084949e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21590 + }, + { + "epoch": 6.284550480069829, + "flow_matching_loss": 0.011366658937186002, + "grad_norm": 0.09766118973493576, + "learning_rate": 5.98510427876124e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21600 + }, + { + "epoch": 6.2874599941809715, + "flow_matching_loss": 0.01216666167601943, + "grad_norm": 0.08038947731256485, + "learning_rate": 5.971894330621344e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21610 + }, + { + "epoch": 6.290369508292115, + "flow_matching_loss": 0.01125486814416945, + "grad_norm": 0.08805897831916809, + "learning_rate": 5.958695352481134e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21620 + }, + { + "epoch": 6.293279022403259, + "flow_matching_loss": 0.010839745169505477, + "grad_norm": 0.08711669594049454, + "learning_rate": 5.945507360378608e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21630 + }, + { + "epoch": 6.296188536514402, + "flow_matching_loss": 0.010573587706312537, + "grad_norm": 0.07175283879041672, + "learning_rate": 5.9323303703384225e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21640 + }, + { + "epoch": 6.299098050625545, + "flow_matching_loss": 0.011575948679819703, + "grad_norm": 0.07531027495861053, + "learning_rate": 5.919164398371857e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21650 + }, + { + "epoch": 6.302007564736689, + "flow_matching_loss": 0.01023351917974651, + "grad_norm": 0.07858054339885712, + "learning_rate": 5.906009460476818e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21660 + }, + { + "epoch": 6.304917078847833, + "flow_matching_loss": 0.011668968247249722, + "grad_norm": 0.08984016627073288, + "learning_rate": 5.892865572637789e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21670 + }, + { + "epoch": 6.307826592958976, + "flow_matching_loss": 0.01299650240689516, + "grad_norm": 0.09826904535293579, + "learning_rate": 5.8797327508258396e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21680 + }, + { + "epoch": 6.310736107070119, + "flow_matching_loss": 0.00960273453965783, + "grad_norm": 0.09579907357692719, + "learning_rate": 5.866611010998584e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21690 + }, + { + "epoch": 6.313645621181263, + "flow_matching_loss": 0.012548279482871294, + "grad_norm": 0.1212526336312294, + "learning_rate": 5.853500369100172e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21700 + }, + { + "epoch": 6.316555135292406, + "flow_matching_loss": 0.011448815651237964, + "grad_norm": 0.08185328543186188, + "learning_rate": 5.840400841061265e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21710 + }, + { + "epoch": 6.31946464940355, + "flow_matching_loss": 0.011756932362914085, + "grad_norm": 0.08833149075508118, + "learning_rate": 5.827312442799034e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21720 + }, + { + "epoch": 6.322374163514693, + "flow_matching_loss": 0.010946014896035194, + "grad_norm": 0.10584064573049545, + "learning_rate": 5.814235190217114e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21730 + }, + { + "epoch": 6.325283677625836, + "flow_matching_loss": 0.01025648987852037, + "grad_norm": 0.06866036355495453, + "learning_rate": 5.801169099205599e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21740 + }, + { + "epoch": 6.32819319173698, + "flow_matching_loss": 0.012261261790990829, + "grad_norm": 0.10141579806804657, + "learning_rate": 5.788114185641022e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21750 + }, + { + "epoch": 6.3311027058481235, + "flow_matching_loss": 0.01136481324210763, + "grad_norm": 0.07938049733638763, + "learning_rate": 5.775070465386328e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21760 + }, + { + "epoch": 6.334012219959266, + "flow_matching_loss": 0.011258581932634116, + "grad_norm": 0.12892794609069824, + "learning_rate": 5.7620379542908765e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21770 + }, + { + "epoch": 6.33692173407041, + "flow_matching_loss": 0.011842843331396579, + "grad_norm": 0.08950266987085342, + "learning_rate": 5.749016668190395e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21780 + }, + { + "epoch": 6.339831248181554, + "flow_matching_loss": 0.009396243700757622, + "grad_norm": 0.07939404994249344, + "learning_rate": 5.736006622906973e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21790 + }, + { + "epoch": 6.3427407622926975, + "flow_matching_loss": 0.012186518963426351, + "grad_norm": 0.07897129654884338, + "learning_rate": 5.723007834249034e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21800 + }, + { + "epoch": 6.34565027640384, + "flow_matching_loss": 0.012094204127788544, + "grad_norm": 0.10772495716810226, + "learning_rate": 5.710020318011346e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21810 + }, + { + "epoch": 6.348559790514984, + "flow_matching_loss": 0.011546861147508025, + "grad_norm": 0.07279840856790543, + "learning_rate": 5.697044089974955e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21820 + }, + { + "epoch": 6.351469304626128, + "flow_matching_loss": 0.012125702854245902, + "grad_norm": 0.09513156116008759, + "learning_rate": 5.68407916590721e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21830 + }, + { + "epoch": 6.3543788187372705, + "flow_matching_loss": 0.01115786163136363, + "grad_norm": 0.101835697889328, + "learning_rate": 5.671125561561713e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21840 + }, + { + "epoch": 6.357288332848414, + "flow_matching_loss": 0.01231409008614719, + "grad_norm": 0.07954110950231552, + "learning_rate": 5.658183292678315e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21850 + }, + { + "epoch": 6.360197846959558, + "flow_matching_loss": 0.012553428579121829, + "grad_norm": 0.09993920475244522, + "learning_rate": 5.645252374983091e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21860 + }, + { + "epoch": 6.363107361070702, + "flow_matching_loss": 0.012084759026765823, + "grad_norm": 0.07325109094381332, + "learning_rate": 5.6323328241883224e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21870 + }, + { + "epoch": 6.3660168751818444, + "flow_matching_loss": 0.011982382042333484, + "grad_norm": 0.12115991860628128, + "learning_rate": 5.61942465599249e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21880 + }, + { + "epoch": 6.368926389292988, + "flow_matching_loss": 0.012098409561440348, + "grad_norm": 0.10136783868074417, + "learning_rate": 5.60652788608023e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21890 + }, + { + "epoch": 6.371835903404132, + "flow_matching_loss": 0.011047113360837102, + "grad_norm": 0.07001437991857529, + "learning_rate": 5.593642530122336e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21900 + }, + { + "epoch": 6.374745417515275, + "flow_matching_loss": 0.011082045547664166, + "grad_norm": 0.1150030866265297, + "learning_rate": 5.58076860377573e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21910 + }, + { + "epoch": 6.377654931626418, + "flow_matching_loss": 0.0107918088324368, + "grad_norm": 0.10436515510082245, + "learning_rate": 5.567906122683439e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21920 + }, + { + "epoch": 6.380564445737562, + "flow_matching_loss": 0.01442572521045804, + "grad_norm": 0.09895225614309311, + "learning_rate": 5.555055102474604e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21930 + }, + { + "epoch": 6.383473959848705, + "flow_matching_loss": 0.011889209831133484, + "grad_norm": 0.07200530171394348, + "learning_rate": 5.542215558764421e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21940 + }, + { + "epoch": 6.386383473959849, + "flow_matching_loss": 0.011235547997057439, + "grad_norm": 0.11599352955818176, + "learning_rate": 5.529387507154138e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21950 + }, + { + "epoch": 6.389292988070992, + "flow_matching_loss": 0.010597052378579974, + "grad_norm": 0.08315588533878326, + "learning_rate": 5.516570963231058e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21960 + }, + { + "epoch": 6.392202502182135, + "flow_matching_loss": 0.011727713327854872, + "grad_norm": 0.09543527662754059, + "learning_rate": 5.503765942568484e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21970 + }, + { + "epoch": 6.395112016293279, + "flow_matching_loss": 0.012588512990623713, + "grad_norm": 0.08609260618686676, + "learning_rate": 5.49097246072573e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21980 + }, + { + "epoch": 6.398021530404423, + "flow_matching_loss": 0.011346095521003009, + "grad_norm": 0.08010925352573395, + "learning_rate": 5.4781905332480805e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 21990 + }, + { + "epoch": 6.400931044515566, + "flow_matching_loss": 0.012014044728130103, + "grad_norm": 0.09912288188934326, + "learning_rate": 5.4654201756667795e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22000 + }, + { + "epoch": 6.403840558626709, + "flow_matching_loss": 0.0106787312310189, + "grad_norm": 0.11006611585617065, + "learning_rate": 5.452661403499017e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22010 + }, + { + "epoch": 6.406750072737853, + "flow_matching_loss": 0.011773445084691048, + "grad_norm": 0.1288650631904602, + "learning_rate": 5.4399142322479005e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22020 + }, + { + "epoch": 6.4096595868489965, + "flow_matching_loss": 0.010655520856380463, + "grad_norm": 0.0884222537279129, + "learning_rate": 5.427178677402452e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22030 + }, + { + "epoch": 6.412569100960139, + "flow_matching_loss": 0.010730749741196633, + "grad_norm": 0.15334492921829224, + "learning_rate": 5.41445475443757e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22040 + }, + { + "epoch": 6.415478615071283, + "flow_matching_loss": 0.011942423693835736, + "grad_norm": 0.08904440701007843, + "learning_rate": 5.4017424788140194e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22050 + }, + { + "epoch": 6.418388129182427, + "flow_matching_loss": 0.009181219432502986, + "grad_norm": 0.07954440265893936, + "learning_rate": 5.389041865978414e-06, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22060 + }, + { + "epoch": 6.4212976432935704, + "flow_matching_loss": 0.011525912582874298, + "grad_norm": 0.0861334428191185, + "learning_rate": 5.37635293136319e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22070 + }, + { + "epoch": 6.424207157404713, + "flow_matching_loss": 0.010774599853903055, + "grad_norm": 0.08856502920389175, + "learning_rate": 5.363675690386609e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22080 + }, + { + "epoch": 6.427116671515857, + "flow_matching_loss": 0.010682664718478918, + "grad_norm": 0.15673589706420898, + "learning_rate": 5.351010158452708e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22090 + }, + { + "epoch": 6.430026185627001, + "flow_matching_loss": 0.011070765554904938, + "grad_norm": 0.07336179912090302, + "learning_rate": 5.338356350951308e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22100 + }, + { + "epoch": 6.4329356997381435, + "flow_matching_loss": 0.012163966288790106, + "grad_norm": 0.1035350039601326, + "learning_rate": 5.325714283257974e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22110 + }, + { + "epoch": 6.435845213849287, + "flow_matching_loss": 0.00971555821597576, + "grad_norm": 0.08640366792678833, + "learning_rate": 5.313083970734013e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22120 + }, + { + "epoch": 6.438754727960431, + "flow_matching_loss": 0.012314362265169621, + "grad_norm": 0.06889614462852478, + "learning_rate": 5.300465428726439e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22130 + }, + { + "epoch": 6.441664242071574, + "flow_matching_loss": 0.010775111243128776, + "grad_norm": 0.09358470141887665, + "learning_rate": 5.287858672567979e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22140 + }, + { + "epoch": 6.444573756182717, + "flow_matching_loss": 0.011224369378760457, + "grad_norm": 0.14875051379203796, + "learning_rate": 5.275263717577028e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22150 + }, + { + "epoch": 6.447483270293861, + "flow_matching_loss": 0.013866726867854595, + "grad_norm": 0.07413233816623688, + "learning_rate": 5.2626805790576435e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22160 + }, + { + "epoch": 6.450392784405004, + "flow_matching_loss": 0.011259902594611048, + "grad_norm": 0.11279966682195663, + "learning_rate": 5.250109272299523e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22170 + }, + { + "epoch": 6.453302298516148, + "flow_matching_loss": 0.01111222943291068, + "grad_norm": 0.09918291866779327, + "learning_rate": 5.237549812577987e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22180 + }, + { + "epoch": 6.456211812627291, + "flow_matching_loss": 0.00994279426522553, + "grad_norm": 0.07605081796646118, + "learning_rate": 5.225002215153973e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22190 + }, + { + "epoch": 6.459121326738435, + "flow_matching_loss": 0.011084975861012935, + "grad_norm": 0.08650150150060654, + "learning_rate": 5.21246649527399e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22200 + }, + { + "epoch": 6.462030840849578, + "flow_matching_loss": 0.013633152469992638, + "grad_norm": 0.08103469014167786, + "learning_rate": 5.199942668170118e-06, + "loss": 0.0136, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22210 + }, + { + "epoch": 6.464940354960722, + "flow_matching_loss": 0.010383219458162785, + "grad_norm": 0.0884523019194603, + "learning_rate": 5.187430749059986e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22220 + }, + { + "epoch": 6.467849869071865, + "flow_matching_loss": 0.010319841466844082, + "grad_norm": 0.08061377704143524, + "learning_rate": 5.174930753146763e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22230 + }, + { + "epoch": 6.470759383183008, + "flow_matching_loss": 0.010068823350593448, + "grad_norm": 0.0797862708568573, + "learning_rate": 5.162442695619114e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22240 + }, + { + "epoch": 6.473668897294152, + "flow_matching_loss": 0.010281101567670703, + "grad_norm": 0.09874077141284943, + "learning_rate": 5.149966591651215e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22250 + }, + { + "epoch": 6.4765784114052956, + "flow_matching_loss": 0.010436240071430802, + "grad_norm": 0.10289804637432098, + "learning_rate": 5.137502456402705e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22260 + }, + { + "epoch": 6.479487925516438, + "flow_matching_loss": 0.011467621754854917, + "grad_norm": 0.07667193561792374, + "learning_rate": 5.125050305018683e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22270 + }, + { + "epoch": 6.482397439627582, + "flow_matching_loss": 0.012198570137843489, + "grad_norm": 0.07559709250926971, + "learning_rate": 5.112610152629687e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22280 + }, + { + "epoch": 6.485306953738726, + "flow_matching_loss": 0.010687825689092278, + "grad_norm": 0.08368143439292908, + "learning_rate": 5.10018201435167e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22290 + }, + { + "epoch": 6.488216467849869, + "flow_matching_loss": 0.012653528479859233, + "grad_norm": 0.13339997828006744, + "learning_rate": 5.087765905286004e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22300 + }, + { + "epoch": 6.491125981961012, + "flow_matching_loss": 0.01107900864444673, + "grad_norm": 0.08078287541866302, + "learning_rate": 5.0753618405194245e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22310 + }, + { + "epoch": 6.494035496072156, + "flow_matching_loss": 0.010720455786213279, + "grad_norm": 0.08045952022075653, + "learning_rate": 5.062969835124042e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22320 + }, + { + "epoch": 6.4969450101833, + "flow_matching_loss": 0.012879125401377678, + "grad_norm": 0.08925244212150574, + "learning_rate": 5.05058990415731e-06, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22330 + }, + { + "epoch": 6.4998545242944425, + "flow_matching_loss": 0.011799179716035724, + "grad_norm": 0.07649930566549301, + "learning_rate": 5.038222062662007e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22340 + }, + { + "epoch": 6.502764038405586, + "flow_matching_loss": 0.012747511547058821, + "grad_norm": 0.11612297594547272, + "learning_rate": 5.025866325666237e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22350 + }, + { + "epoch": 6.50567355251673, + "flow_matching_loss": 0.009407641692087054, + "grad_norm": 0.06181522086262703, + "learning_rate": 5.013522708183383e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22360 + }, + { + "epoch": 6.508583066627873, + "flow_matching_loss": 0.012347846385091543, + "grad_norm": 0.09430888295173645, + "learning_rate": 5.001191225212096e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22370 + }, + { + "epoch": 6.5114925807390165, + "flow_matching_loss": 0.011016635037958623, + "grad_norm": 0.09242942929267883, + "learning_rate": 4.9888718917363e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22380 + }, + { + "epoch": 6.51440209485016, + "flow_matching_loss": 0.01248755152337253, + "grad_norm": 0.07585655152797699, + "learning_rate": 4.9765647227251395e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22390 + }, + { + "epoch": 6.517311608961304, + "flow_matching_loss": 0.011077865259721875, + "grad_norm": 0.07981709390878677, + "learning_rate": 4.964269733132992e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22400 + }, + { + "epoch": 6.520221123072447, + "flow_matching_loss": 0.012654829490929841, + "grad_norm": 0.09326382726430893, + "learning_rate": 4.951986937899428e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22410 + }, + { + "epoch": 6.52313063718359, + "flow_matching_loss": 0.012793214526027441, + "grad_norm": 0.08017297834157944, + "learning_rate": 4.9397163519492e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22420 + }, + { + "epoch": 6.526040151294734, + "flow_matching_loss": 0.010636837268248201, + "grad_norm": 0.09843003749847412, + "learning_rate": 4.9274579901922275e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22430 + }, + { + "epoch": 6.528949665405877, + "flow_matching_loss": 0.011559302918612957, + "grad_norm": 0.09780231863260269, + "learning_rate": 4.9152118675235705e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22440 + }, + { + "epoch": 6.531859179517021, + "flow_matching_loss": 0.01207087216898799, + "grad_norm": 0.05968950316309929, + "learning_rate": 4.902977998823432e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22450 + }, + { + "epoch": 6.534768693628164, + "flow_matching_loss": 0.012387375580146909, + "grad_norm": 0.06972656399011612, + "learning_rate": 4.890756398957114e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22460 + }, + { + "epoch": 6.537678207739307, + "flow_matching_loss": 0.009887981368228793, + "grad_norm": 0.07725324481725693, + "learning_rate": 4.8785470827750075e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22470 + }, + { + "epoch": 6.540587721850451, + "flow_matching_loss": 0.009928380325436591, + "grad_norm": 0.06568792462348938, + "learning_rate": 4.866350065112588e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22480 + }, + { + "epoch": 6.543497235961595, + "flow_matching_loss": 0.009247791208326816, + "grad_norm": 0.09308744966983795, + "learning_rate": 4.854165360790381e-06, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22490 + }, + { + "epoch": 6.546406750072737, + "flow_matching_loss": 0.011003103666007518, + "grad_norm": 0.09855712205171585, + "learning_rate": 4.8419929846139425e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22500 + }, + { + "epoch": 6.549316264183881, + "flow_matching_loss": 0.011394863622263074, + "grad_norm": 0.09290746599435806, + "learning_rate": 4.829832951373872e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22510 + }, + { + "epoch": 6.552225778295025, + "flow_matching_loss": 0.012391204899176955, + "grad_norm": 0.0805082619190216, + "learning_rate": 4.817685275845746e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22520 + }, + { + "epoch": 6.5551352924061685, + "flow_matching_loss": 0.009441124089062215, + "grad_norm": 0.07354016602039337, + "learning_rate": 4.805549972790143e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22530 + }, + { + "epoch": 6.558044806517311, + "flow_matching_loss": 0.011580225080251694, + "grad_norm": 0.08261801302433014, + "learning_rate": 4.7934270569525966e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22540 + }, + { + "epoch": 6.560954320628455, + "flow_matching_loss": 0.011766653042286634, + "grad_norm": 0.06287550926208496, + "learning_rate": 4.7813165430635874e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22550 + }, + { + "epoch": 6.563863834739599, + "flow_matching_loss": 0.009841383574530483, + "grad_norm": 0.06740948557853699, + "learning_rate": 4.769218445838544e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22560 + }, + { + "epoch": 6.566773348850742, + "flow_matching_loss": 0.011205852497369051, + "grad_norm": 0.06969407200813293, + "learning_rate": 4.757132779977787e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22570 + }, + { + "epoch": 6.569682862961885, + "flow_matching_loss": 0.011757504101842642, + "grad_norm": 0.10610087960958481, + "learning_rate": 4.745059560166542e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22580 + }, + { + "epoch": 6.572592377073029, + "flow_matching_loss": 0.010502815153449774, + "grad_norm": 0.061258189380168915, + "learning_rate": 4.732998801074911e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22590 + }, + { + "epoch": 6.575501891184173, + "flow_matching_loss": 0.010548083996400236, + "grad_norm": 0.09994465112686157, + "learning_rate": 4.7209505173578445e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22600 + }, + { + "epoch": 6.5784114052953155, + "flow_matching_loss": 0.013412550557404757, + "grad_norm": 0.10387054085731506, + "learning_rate": 4.7089147236551555e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22610 + }, + { + "epoch": 6.581320919406459, + "flow_matching_loss": 0.012093914905562997, + "grad_norm": 0.0750691145658493, + "learning_rate": 4.696891434591464e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22620 + }, + { + "epoch": 6.584230433517602, + "flow_matching_loss": 0.011776998033747077, + "grad_norm": 0.08452602475881577, + "learning_rate": 4.684880664776199e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22630 + }, + { + "epoch": 6.587139947628746, + "flow_matching_loss": 0.010456851543858647, + "grad_norm": 0.07324583828449249, + "learning_rate": 4.6728824288035784e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22640 + }, + { + "epoch": 6.5900494617398895, + "flow_matching_loss": 0.011536270845681429, + "grad_norm": 0.0652700737118721, + "learning_rate": 4.660896741252586e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22650 + }, + { + "epoch": 6.592958975851033, + "flow_matching_loss": 0.011907303659245371, + "grad_norm": 0.1283782571554184, + "learning_rate": 4.6489236166869714e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22660 + }, + { + "epoch": 6.595868489962176, + "flow_matching_loss": 0.01250103092752397, + "grad_norm": 0.078663170337677, + "learning_rate": 4.6369630696552e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22670 + }, + { + "epoch": 6.59877800407332, + "flow_matching_loss": 0.010892991535365581, + "grad_norm": 0.08136513829231262, + "learning_rate": 4.625015114690474e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22680 + }, + { + "epoch": 6.601687518184463, + "flow_matching_loss": 0.012381328921765088, + "grad_norm": 0.08033807575702667, + "learning_rate": 4.613079766310682e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22690 + }, + { + "epoch": 6.604597032295606, + "flow_matching_loss": 0.011505196057260036, + "grad_norm": 0.08721455931663513, + "learning_rate": 4.601157039018396e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22700 + }, + { + "epoch": 6.60750654640675, + "flow_matching_loss": 0.012988363485783338, + "grad_norm": 0.09477914124727249, + "learning_rate": 4.589246947300849e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22710 + }, + { + "epoch": 6.610416060517894, + "flow_matching_loss": 0.012289092224091292, + "grad_norm": 0.07276057451963425, + "learning_rate": 4.577349505629936e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22720 + }, + { + "epoch": 6.613325574629037, + "flow_matching_loss": 0.010415376676246525, + "grad_norm": 0.07105410099029541, + "learning_rate": 4.565464728462165e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22730 + }, + { + "epoch": 6.61623508874018, + "flow_matching_loss": 0.012162329349666833, + "grad_norm": 0.0888352319598198, + "learning_rate": 4.553592630238663e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22740 + }, + { + "epoch": 6.619144602851324, + "flow_matching_loss": 0.011341885663568974, + "grad_norm": 0.09938763082027435, + "learning_rate": 4.541733225385146e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22750 + }, + { + "epoch": 6.622054116962468, + "flow_matching_loss": 0.011925596557557584, + "grad_norm": 0.0833558738231659, + "learning_rate": 4.529886528311905e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22760 + }, + { + "epoch": 6.62496363107361, + "flow_matching_loss": 0.011765530239790678, + "grad_norm": 0.11010286211967468, + "learning_rate": 4.5180525534138045e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22770 + }, + { + "epoch": 6.627873145184754, + "flow_matching_loss": 0.011566098127514125, + "grad_norm": 0.08428335189819336, + "learning_rate": 4.506231315070235e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22780 + }, + { + "epoch": 6.630782659295898, + "flow_matching_loss": 0.011093488708138467, + "grad_norm": 0.07989861816167831, + "learning_rate": 4.494422827645115e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22790 + }, + { + "epoch": 6.633692173407041, + "flow_matching_loss": 0.009467706549912691, + "grad_norm": 0.08975334465503693, + "learning_rate": 4.482627105486865e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22800 + }, + { + "epoch": 6.636601687518184, + "flow_matching_loss": 0.01122132265008986, + "grad_norm": 0.09914982318878174, + "learning_rate": 4.470844162928412e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22810 + }, + { + "epoch": 6.639511201629328, + "flow_matching_loss": 0.009590583527460695, + "grad_norm": 0.0629173070192337, + "learning_rate": 4.459074014287129e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22820 + }, + { + "epoch": 6.642420715740471, + "flow_matching_loss": 0.008422672748565674, + "grad_norm": 0.05637024715542793, + "learning_rate": 4.447316673864869e-06, + "loss": 0.0084, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22830 + }, + { + "epoch": 6.645330229851615, + "flow_matching_loss": 0.011080176662653684, + "grad_norm": 0.09609910100698471, + "learning_rate": 4.435572155947903e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22840 + }, + { + "epoch": 6.648239743962758, + "flow_matching_loss": 0.0107316208537668, + "grad_norm": 0.09399297833442688, + "learning_rate": 4.423840474806929e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22850 + }, + { + "epoch": 6.651149258073902, + "flow_matching_loss": 0.010667987074702978, + "grad_norm": 0.053044453263282776, + "learning_rate": 4.412121644697043e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22860 + }, + { + "epoch": 6.654058772185045, + "flow_matching_loss": 0.0124195646494627, + "grad_norm": 0.11898264288902283, + "learning_rate": 4.400415679857727e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22870 + }, + { + "epoch": 6.6569682862961885, + "flow_matching_loss": 0.012257530959323049, + "grad_norm": 0.08474217355251312, + "learning_rate": 4.388722594512838e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22880 + }, + { + "epoch": 6.659877800407332, + "flow_matching_loss": 0.011017944803461433, + "grad_norm": 0.08712253719568253, + "learning_rate": 4.377042402870577e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22890 + }, + { + "epoch": 6.662787314518475, + "flow_matching_loss": 0.01031009159050882, + "grad_norm": 0.06173888221383095, + "learning_rate": 4.365375119123476e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22900 + }, + { + "epoch": 6.665696828629619, + "flow_matching_loss": 0.010823033889755607, + "grad_norm": 0.06654610484838486, + "learning_rate": 4.353720757448383e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22910 + }, + { + "epoch": 6.6686063427407625, + "flow_matching_loss": 0.012180639151483773, + "grad_norm": 0.08440489321947098, + "learning_rate": 4.342079332006445e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22920 + }, + { + "epoch": 6.671515856851906, + "flow_matching_loss": 0.01193054225295782, + "grad_norm": 0.0812985897064209, + "learning_rate": 4.330450856943101e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22930 + }, + { + "epoch": 6.674425370963049, + "flow_matching_loss": 0.011506034201011062, + "grad_norm": 0.12827908992767334, + "learning_rate": 4.318835346388036e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22940 + }, + { + "epoch": 6.677334885074193, + "flow_matching_loss": 0.009703204361721873, + "grad_norm": 0.09270551055669785, + "learning_rate": 4.307232814455189e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22950 + }, + { + "epoch": 6.680244399185336, + "flow_matching_loss": 0.009989169100299478, + "grad_norm": 0.0765332579612732, + "learning_rate": 4.29564327524274e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22960 + }, + { + "epoch": 6.683153913296479, + "flow_matching_loss": 0.011580099118873477, + "grad_norm": 0.11258883029222488, + "learning_rate": 4.284066742833061e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22970 + }, + { + "epoch": 6.686063427407623, + "flow_matching_loss": 0.01223053871653974, + "grad_norm": 0.12033548206090927, + "learning_rate": 4.272503231292741e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22980 + }, + { + "epoch": 6.688972941518767, + "flow_matching_loss": 0.01187106678262353, + "grad_norm": 0.09204790741205215, + "learning_rate": 4.260952754672532e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 22990 + }, + { + "epoch": 6.6918824556299095, + "flow_matching_loss": 0.011475864984095096, + "grad_norm": 0.08849170804023743, + "learning_rate": 4.249415327007353e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23000 + }, + { + "epoch": 6.694791969741053, + "flow_matching_loss": 0.01073339655995369, + "grad_norm": 0.0922626182436943, + "learning_rate": 4.237890962316264e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23010 + }, + { + "epoch": 6.697701483852197, + "flow_matching_loss": 0.010580468643456697, + "grad_norm": 0.08334843814373016, + "learning_rate": 4.226379674602452e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23020 + }, + { + "epoch": 6.70061099796334, + "flow_matching_loss": 0.01172199621796608, + "grad_norm": 0.09365827590227127, + "learning_rate": 4.214881477853227e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23030 + }, + { + "epoch": 6.703520512074483, + "flow_matching_loss": 0.011811712244525551, + "grad_norm": 0.07965003699064255, + "learning_rate": 4.2033963860399745e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23040 + }, + { + "epoch": 6.706430026185627, + "flow_matching_loss": 0.014271824341267347, + "grad_norm": 0.10280219465494156, + "learning_rate": 4.1919244131181696e-06, + "loss": 0.0143, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23050 + }, + { + "epoch": 6.709339540296771, + "flow_matching_loss": 0.010396652668714524, + "grad_norm": 0.09088145941495895, + "learning_rate": 4.180465573027335e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23060 + }, + { + "epoch": 6.712249054407914, + "flow_matching_loss": 0.010586125031113624, + "grad_norm": 0.07778725773096085, + "learning_rate": 4.169019879691046e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23070 + }, + { + "epoch": 6.715158568519057, + "flow_matching_loss": 0.011531132739037275, + "grad_norm": 0.07761160284280777, + "learning_rate": 4.157587347016891e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23080 + }, + { + "epoch": 6.718068082630201, + "flow_matching_loss": 0.01079600565135479, + "grad_norm": 0.07070544362068176, + "learning_rate": 4.14616798889649e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23090 + }, + { + "epoch": 6.720977596741344, + "flow_matching_loss": 0.012056232569739223, + "grad_norm": 0.08249407261610031, + "learning_rate": 4.134761819205425e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23100 + }, + { + "epoch": 6.723887110852488, + "flow_matching_loss": 0.01194944097660482, + "grad_norm": 0.07576063275337219, + "learning_rate": 4.1233688518032794e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23110 + }, + { + "epoch": 6.726796624963631, + "flow_matching_loss": 0.011055088834837079, + "grad_norm": 0.0820385292172432, + "learning_rate": 4.1119891005335795e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23120 + }, + { + "epoch": 6.729706139074775, + "flow_matching_loss": 0.01089092418551445, + "grad_norm": 0.07964558899402618, + "learning_rate": 4.1006225792237895e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23130 + }, + { + "epoch": 6.732615653185918, + "flow_matching_loss": 0.009677800443023443, + "grad_norm": 0.06730075925588608, + "learning_rate": 4.089269301685314e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23140 + }, + { + "epoch": 6.7355251672970615, + "flow_matching_loss": 0.013461261056363583, + "grad_norm": 0.11097561568021774, + "learning_rate": 4.077929281713453e-06, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23150 + }, + { + "epoch": 6.738434681408204, + "flow_matching_loss": 0.012217235006392001, + "grad_norm": 0.09624524414539337, + "learning_rate": 4.066602533087398e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23160 + }, + { + "epoch": 6.741344195519348, + "flow_matching_loss": 0.009687747992575168, + "grad_norm": 0.06851816922426224, + "learning_rate": 4.0552890695702175e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23170 + }, + { + "epoch": 6.744253709630492, + "flow_matching_loss": 0.011547754006460308, + "grad_norm": 0.07701195776462555, + "learning_rate": 4.04398890490883e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23180 + }, + { + "epoch": 6.7471632237416355, + "flow_matching_loss": 0.012241855124011635, + "grad_norm": 0.10618986189365387, + "learning_rate": 4.032702052834013e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23190 + }, + { + "epoch": 6.750072737852778, + "flow_matching_loss": 0.010121636092662811, + "grad_norm": 0.13194997608661652, + "learning_rate": 4.021428527060352e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23200 + }, + { + "epoch": 6.752982251963922, + "flow_matching_loss": 0.010002903593704104, + "grad_norm": 0.09016827493906021, + "learning_rate": 4.010168341286241e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23210 + }, + { + "epoch": 6.755891766075066, + "flow_matching_loss": 0.010899214120581747, + "grad_norm": 0.07723760604858398, + "learning_rate": 3.998921509193868e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23220 + }, + { + "epoch": 6.7588012801862085, + "flow_matching_loss": 0.010214226134121419, + "grad_norm": 0.07280665636062622, + "learning_rate": 3.987688044449193e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23230 + }, + { + "epoch": 6.761710794297352, + "flow_matching_loss": 0.01218939907848835, + "grad_norm": 0.09282784163951874, + "learning_rate": 3.9764679607019385e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23240 + }, + { + "epoch": 6.764620308408496, + "flow_matching_loss": 0.010911249415948987, + "grad_norm": 0.07073479145765305, + "learning_rate": 3.965261271585561e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23250 + }, + { + "epoch": 6.76752982251964, + "flow_matching_loss": 0.012474217219278216, + "grad_norm": 0.07527442276477814, + "learning_rate": 3.954067990717251e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23260 + }, + { + "epoch": 6.7704393366307825, + "flow_matching_loss": 0.01007941304706037, + "grad_norm": 0.07971550524234772, + "learning_rate": 3.9428881316978935e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23270 + }, + { + "epoch": 6.773348850741926, + "flow_matching_loss": 0.011556660244241356, + "grad_norm": 0.10122611373662949, + "learning_rate": 3.931721708112075e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23280 + }, + { + "epoch": 6.77625836485307, + "flow_matching_loss": 0.010837252717465162, + "grad_norm": 0.07101114094257355, + "learning_rate": 3.920568733528047e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23290 + }, + { + "epoch": 6.779167878964213, + "flow_matching_loss": 0.010645807115361094, + "grad_norm": 0.08002332597970963, + "learning_rate": 3.909429221497734e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23300 + }, + { + "epoch": 6.782077393075356, + "flow_matching_loss": 0.01122608664445579, + "grad_norm": 0.09353308379650116, + "learning_rate": 3.898303185556689e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23310 + }, + { + "epoch": 6.7849869071865, + "flow_matching_loss": 0.009396831132471561, + "grad_norm": 0.06439636647701263, + "learning_rate": 3.887190639224097e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23320 + }, + { + "epoch": 6.787896421297643, + "flow_matching_loss": 0.010324652213603258, + "grad_norm": 0.07047499716281891, + "learning_rate": 3.876091596002746e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23330 + }, + { + "epoch": 6.790805935408787, + "flow_matching_loss": 0.01325979814864695, + "grad_norm": 0.11820442229509354, + "learning_rate": 3.865006069379019e-06, + "loss": 0.0133, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23340 + }, + { + "epoch": 6.79371544951993, + "flow_matching_loss": 0.010238879173994065, + "grad_norm": 0.0974336639046669, + "learning_rate": 3.853934072822881e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23350 + }, + { + "epoch": 6.796624963631073, + "flow_matching_loss": 0.01071097794920206, + "grad_norm": 0.06798871606588364, + "learning_rate": 3.8428756197878514e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23360 + }, + { + "epoch": 6.799534477742217, + "flow_matching_loss": 0.011916694045066834, + "grad_norm": 0.10329020023345947, + "learning_rate": 3.831830723710992e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23370 + }, + { + "epoch": 6.802443991853361, + "flow_matching_loss": 0.011032821843400598, + "grad_norm": 0.07221411168575287, + "learning_rate": 3.820799398012889e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23380 + }, + { + "epoch": 6.805353505964504, + "flow_matching_loss": 0.01081612496636808, + "grad_norm": 0.08018379658460617, + "learning_rate": 3.80978165609765e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23390 + }, + { + "epoch": 6.808263020075647, + "flow_matching_loss": 0.010278960177674889, + "grad_norm": 0.08639480918645859, + "learning_rate": 3.798777511352864e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23400 + }, + { + "epoch": 6.811172534186791, + "flow_matching_loss": 0.011544371955096722, + "grad_norm": 0.06624305993318558, + "learning_rate": 3.787786977149613e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23410 + }, + { + "epoch": 6.8140820482979345, + "flow_matching_loss": 0.012251685746014119, + "grad_norm": 0.058668479323387146, + "learning_rate": 3.776810066842427e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23420 + }, + { + "epoch": 6.816991562409077, + "flow_matching_loss": 0.011946497019380331, + "grad_norm": 0.08125001937150955, + "learning_rate": 3.7658467937692866e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23430 + }, + { + "epoch": 6.819901076520221, + "flow_matching_loss": 0.010814223391935229, + "grad_norm": 0.09717031568288803, + "learning_rate": 3.7548971712516e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23440 + }, + { + "epoch": 6.822810590631365, + "flow_matching_loss": 0.009913468221202492, + "grad_norm": 0.10647398978471756, + "learning_rate": 3.743961212594197e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23450 + }, + { + "epoch": 6.8257201047425085, + "flow_matching_loss": 0.011888025654479861, + "grad_norm": 0.08125340938568115, + "learning_rate": 3.7330389310852975e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23460 + }, + { + "epoch": 6.828629618853651, + "flow_matching_loss": 0.01241736845113337, + "grad_norm": 0.0846715122461319, + "learning_rate": 3.7221303399965008e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23470 + }, + { + "epoch": 6.831539132964795, + "flow_matching_loss": 0.012144130747765302, + "grad_norm": 0.1126960963010788, + "learning_rate": 3.711235452582775e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23480 + }, + { + "epoch": 6.834448647075939, + "flow_matching_loss": 0.010124833974987268, + "grad_norm": 0.06997266411781311, + "learning_rate": 3.7003542820824347e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23490 + }, + { + "epoch": 6.8373581611870815, + "flow_matching_loss": 0.012119106901809572, + "grad_norm": 0.06809926778078079, + "learning_rate": 3.6894868417171252e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23500 + }, + { + "epoch": 6.840267675298225, + "flow_matching_loss": 0.010841254284605384, + "grad_norm": 0.11994608491659164, + "learning_rate": 3.678633144691818e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23510 + }, + { + "epoch": 6.843177189409369, + "flow_matching_loss": 0.012581210676580667, + "grad_norm": 0.10248683393001556, + "learning_rate": 3.667793204194776e-06, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23520 + }, + { + "epoch": 6.846086703520512, + "flow_matching_loss": 0.012126138713210822, + "grad_norm": 0.07133582979440689, + "learning_rate": 3.656967033397544e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23530 + }, + { + "epoch": 6.8489962176316554, + "flow_matching_loss": 0.012094262754544616, + "grad_norm": 0.08990766108036041, + "learning_rate": 3.646154645454948e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23540 + }, + { + "epoch": 6.851905731742799, + "flow_matching_loss": 0.011435763258486987, + "grad_norm": 0.07082081586122513, + "learning_rate": 3.6353560535050524e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23550 + }, + { + "epoch": 6.854815245853942, + "flow_matching_loss": 0.012105915416032075, + "grad_norm": 0.07120876014232635, + "learning_rate": 3.624571270669172e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23560 + }, + { + "epoch": 6.857724759965086, + "flow_matching_loss": 0.012210935447365045, + "grad_norm": 0.0748857781291008, + "learning_rate": 3.6138003100518296e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23570 + }, + { + "epoch": 6.860634274076229, + "flow_matching_loss": 0.010348580963909625, + "grad_norm": 0.08670459687709808, + "learning_rate": 3.6030431847407595e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23580 + }, + { + "epoch": 6.863543788187373, + "flow_matching_loss": 0.011021587857976555, + "grad_norm": 0.07580311596393585, + "learning_rate": 3.592299907806881e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23590 + }, + { + "epoch": 6.866453302298516, + "flow_matching_loss": 0.011138342740014195, + "grad_norm": 0.07248753309249878, + "learning_rate": 3.5815704923042892e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23600 + }, + { + "epoch": 6.86936281640966, + "flow_matching_loss": 0.010545067628845573, + "grad_norm": 0.083670474588871, + "learning_rate": 3.5708549512702392e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23610 + }, + { + "epoch": 6.872272330520803, + "flow_matching_loss": 0.011592182377353311, + "grad_norm": 0.08574629575014114, + "learning_rate": 3.5601532977251217e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23620 + }, + { + "epoch": 6.875181844631946, + "flow_matching_loss": 0.01066217515617609, + "grad_norm": 0.09665246307849884, + "learning_rate": 3.5494655446724544e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23630 + }, + { + "epoch": 6.87809135874309, + "flow_matching_loss": 0.009599534654989838, + "grad_norm": 0.0685272291302681, + "learning_rate": 3.538791705098866e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23640 + }, + { + "epoch": 6.881000872854234, + "flow_matching_loss": 0.010618699667975306, + "grad_norm": 0.12925268709659576, + "learning_rate": 3.5281317919740718e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23650 + }, + { + "epoch": 6.883910386965377, + "flow_matching_loss": 0.013359372597187757, + "grad_norm": 0.07995495945215225, + "learning_rate": 3.5174858182508825e-06, + "loss": 0.0134, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23660 + }, + { + "epoch": 6.88681990107652, + "flow_matching_loss": 0.011379339313134552, + "grad_norm": 0.08739277720451355, + "learning_rate": 3.506853796865153e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23670 + }, + { + "epoch": 6.889729415187664, + "flow_matching_loss": 0.01002220194786787, + "grad_norm": 0.08192844688892365, + "learning_rate": 3.496235740735789e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23680 + }, + { + "epoch": 6.892638929298807, + "flow_matching_loss": 0.010260461084544658, + "grad_norm": 0.09682104736566544, + "learning_rate": 3.485631662764738e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23690 + }, + { + "epoch": 6.89554844340995, + "flow_matching_loss": 0.01002786266617477, + "grad_norm": 0.0980064868927002, + "learning_rate": 3.475041575836952e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23700 + }, + { + "epoch": 6.898457957521094, + "flow_matching_loss": 0.010475145047530532, + "grad_norm": 0.0815962627530098, + "learning_rate": 3.4644654928203796e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23710 + }, + { + "epoch": 6.901367471632238, + "flow_matching_loss": 0.010911706974729896, + "grad_norm": 0.08411528170108795, + "learning_rate": 3.4539034265659663e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23720 + }, + { + "epoch": 6.904276985743381, + "flow_matching_loss": 0.010875285882502795, + "grad_norm": 0.08126497268676758, + "learning_rate": 3.4433553899076163e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23730 + }, + { + "epoch": 6.907186499854524, + "flow_matching_loss": 0.01133200153708458, + "grad_norm": 0.06786000728607178, + "learning_rate": 3.432821395662189e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23740 + }, + { + "epoch": 6.910096013965668, + "flow_matching_loss": 0.012286879494786263, + "grad_norm": 0.09845520555973053, + "learning_rate": 3.4223014566294785e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23750 + }, + { + "epoch": 6.913005528076811, + "flow_matching_loss": 0.011760143795982003, + "grad_norm": 0.07330036908388138, + "learning_rate": 3.4117955855922e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23760 + }, + { + "epoch": 6.9159150421879545, + "flow_matching_loss": 0.010231479723006486, + "grad_norm": 0.08959364145994186, + "learning_rate": 3.4013037953159855e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23770 + }, + { + "epoch": 6.918824556299098, + "flow_matching_loss": 0.01084376247599721, + "grad_norm": 0.07847242057323456, + "learning_rate": 3.390826098549345e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23780 + }, + { + "epoch": 6.921734070410242, + "flow_matching_loss": 0.010197694320231676, + "grad_norm": 0.08513540029525757, + "learning_rate": 3.3803625080236684e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23790 + }, + { + "epoch": 6.924643584521385, + "flow_matching_loss": 0.010499625885859131, + "grad_norm": 0.06974711269140244, + "learning_rate": 3.369913036453205e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23800 + }, + { + "epoch": 6.927553098632528, + "flow_matching_loss": 0.011676075961440801, + "grad_norm": 0.09770937263965607, + "learning_rate": 3.3594776965350434e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23810 + }, + { + "epoch": 6.930462612743672, + "flow_matching_loss": 0.011551664723083378, + "grad_norm": 0.08995134383440018, + "learning_rate": 3.34905650094911e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23820 + }, + { + "epoch": 6.933372126854815, + "flow_matching_loss": 0.012225613417103886, + "grad_norm": 0.09423539787530899, + "learning_rate": 3.338649462358145e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23830 + }, + { + "epoch": 6.936281640965959, + "flow_matching_loss": 0.011008459143340588, + "grad_norm": 0.0730515792965889, + "learning_rate": 3.3282565934076765e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23840 + }, + { + "epoch": 6.939191155077102, + "flow_matching_loss": 0.0120245355181396, + "grad_norm": 0.10348555445671082, + "learning_rate": 3.31787790672602e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23850 + }, + { + "epoch": 6.942100669188245, + "flow_matching_loss": 0.011184815084561706, + "grad_norm": 0.08970652520656586, + "learning_rate": 3.307513414924255e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23860 + }, + { + "epoch": 6.945010183299389, + "flow_matching_loss": 0.009487579157575966, + "grad_norm": 0.06792116165161133, + "learning_rate": 3.2971631305962246e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23870 + }, + { + "epoch": 6.947919697410533, + "flow_matching_loss": 0.009355672728270292, + "grad_norm": 0.07984818518161774, + "learning_rate": 3.2868270663184964e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23880 + }, + { + "epoch": 6.950829211521675, + "flow_matching_loss": 0.010270931292325258, + "grad_norm": 0.06928365677595139, + "learning_rate": 3.276505234650362e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23890 + }, + { + "epoch": 6.953738725632819, + "flow_matching_loss": 0.011640360206365585, + "grad_norm": 0.10528211295604706, + "learning_rate": 3.266197648133821e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23900 + }, + { + "epoch": 6.956648239743963, + "flow_matching_loss": 0.009947484964504838, + "grad_norm": 0.06003795936703682, + "learning_rate": 3.255904319293562e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23910 + }, + { + "epoch": 6.9595577538551066, + "flow_matching_loss": 0.009283765684813261, + "grad_norm": 0.08924753963947296, + "learning_rate": 3.2456252606369485e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23920 + }, + { + "epoch": 6.962467267966249, + "flow_matching_loss": 0.011571011180058122, + "grad_norm": 0.09332294017076492, + "learning_rate": 3.235360484654011e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23930 + }, + { + "epoch": 6.965376782077393, + "flow_matching_loss": 0.010936739156022668, + "grad_norm": 0.08220810443162918, + "learning_rate": 3.225110003817418e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23940 + }, + { + "epoch": 6.968286296188537, + "flow_matching_loss": 0.012252351036295295, + "grad_norm": 0.11607050150632858, + "learning_rate": 3.214873830582467e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23950 + }, + { + "epoch": 6.97119581029968, + "flow_matching_loss": 0.012505815364420414, + "grad_norm": 0.08679892122745514, + "learning_rate": 3.2046519773870803e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23960 + }, + { + "epoch": 6.974105324410823, + "flow_matching_loss": 0.012187182577326894, + "grad_norm": 0.08716336637735367, + "learning_rate": 3.1944444566517654e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23970 + }, + { + "epoch": 6.977014838521967, + "flow_matching_loss": 0.010071991989389063, + "grad_norm": 0.07189875096082687, + "learning_rate": 3.18425128077963e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23980 + }, + { + "epoch": 6.979924352633111, + "flow_matching_loss": 0.011012711422517895, + "grad_norm": 0.08757729083299637, + "learning_rate": 3.174072462156342e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 23990 + }, + { + "epoch": 6.9828338667442535, + "flow_matching_loss": 0.010111781815066934, + "grad_norm": 0.10118885338306427, + "learning_rate": 3.163908013150124e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24000 + }, + { + "epoch": 6.985743380855397, + "flow_matching_loss": 0.011727926973253488, + "grad_norm": 0.09407517313957214, + "learning_rate": 3.153757946111741e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24010 + }, + { + "epoch": 6.988652894966541, + "flow_matching_loss": 0.010733365919440985, + "grad_norm": 0.06006624922156334, + "learning_rate": 3.1436222733744776e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24020 + }, + { + "epoch": 6.991562409077684, + "flow_matching_loss": 0.010367905208840966, + "grad_norm": 0.07805611193180084, + "learning_rate": 3.133501007254138e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24030 + }, + { + "epoch": 6.9944719231888275, + "flow_matching_loss": 0.008420035243034363, + "grad_norm": 0.06753720343112946, + "learning_rate": 3.1233941600490123e-06, + "loss": 0.0084, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24040 + }, + { + "epoch": 6.997381437299971, + "flow_matching_loss": 0.010785082541406154, + "grad_norm": 0.134178027510643, + "learning_rate": 3.113301744039875e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24050 + }, + { + "epoch": 7.000290951411114, + "flow_matching_loss": 0.010417314618825913, + "grad_norm": 0.13530133664608002, + "learning_rate": 3.103223771489959e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24060 + }, + { + "epoch": 7.003200465522258, + "flow_matching_loss": 0.010903260763734579, + "grad_norm": 0.09510914981365204, + "learning_rate": 3.09316025464495e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24070 + }, + { + "epoch": 7.006109979633401, + "flow_matching_loss": 0.011449528206139804, + "grad_norm": 0.0814114585518837, + "learning_rate": 3.0831112057329775e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24080 + }, + { + "epoch": 7.009019493744544, + "flow_matching_loss": 0.010949347168207169, + "grad_norm": 0.10379059612751007, + "learning_rate": 3.073076636964579e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24090 + }, + { + "epoch": 7.011929007855688, + "flow_matching_loss": 0.011748891277238726, + "grad_norm": 0.10616760700941086, + "learning_rate": 3.063056560532698e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24100 + }, + { + "epoch": 7.014838521966832, + "flow_matching_loss": 0.00977431503124535, + "grad_norm": 0.07315867394208908, + "learning_rate": 3.0530509886126807e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24110 + }, + { + "epoch": 7.017748036077975, + "flow_matching_loss": 0.009929184522479772, + "grad_norm": 0.06956999748945236, + "learning_rate": 3.043059933362236e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24120 + }, + { + "epoch": 7.020657550189118, + "flow_matching_loss": 0.01144529962912202, + "grad_norm": 0.0940643921494484, + "learning_rate": 3.0330834069214337e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24130 + }, + { + "epoch": 7.023567064300262, + "flow_matching_loss": 0.00985390874557197, + "grad_norm": 0.0829610675573349, + "learning_rate": 3.023121421412703e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24140 + }, + { + "epoch": 7.026476578411406, + "flow_matching_loss": 0.009613724332302809, + "grad_norm": 0.07339176535606384, + "learning_rate": 3.0131739889407896e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24150 + }, + { + "epoch": 7.029386092522548, + "flow_matching_loss": 0.012005461426451803, + "grad_norm": 0.06492514908313751, + "learning_rate": 3.0032411215927645e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24160 + }, + { + "epoch": 7.032295606633692, + "flow_matching_loss": 0.011493833130225539, + "grad_norm": 0.12461719661951065, + "learning_rate": 2.9933228314379975e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24170 + }, + { + "epoch": 7.035205120744836, + "flow_matching_loss": 0.011873520584776998, + "grad_norm": 0.09207703173160553, + "learning_rate": 2.9834191305281405e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24180 + }, + { + "epoch": 7.038114634855979, + "flow_matching_loss": 0.009377620602026581, + "grad_norm": 0.07348955422639847, + "learning_rate": 2.973530030897135e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24190 + }, + { + "epoch": 7.041024148967122, + "flow_matching_loss": 0.011426634108647703, + "grad_norm": 0.06841273605823517, + "learning_rate": 2.9636555445611646e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24200 + }, + { + "epoch": 7.043933663078266, + "flow_matching_loss": 0.011231327103450895, + "grad_norm": 0.10267021507024765, + "learning_rate": 2.953795683518659e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24210 + }, + { + "epoch": 7.04684317718941, + "flow_matching_loss": 0.01128705944865942, + "grad_norm": 0.11002536118030548, + "learning_rate": 2.9439504597502815e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24220 + }, + { + "epoch": 7.049752691300553, + "flow_matching_loss": 0.009457192616537213, + "grad_norm": 0.0585145577788353, + "learning_rate": 2.934119885218902e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24230 + }, + { + "epoch": 7.052662205411696, + "flow_matching_loss": 0.00976691571995616, + "grad_norm": 0.0813470259308815, + "learning_rate": 2.9243039718696045e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24240 + }, + { + "epoch": 7.05557171952284, + "flow_matching_loss": 0.011116021871566772, + "grad_norm": 0.07446782290935516, + "learning_rate": 2.914502731629641e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24250 + }, + { + "epoch": 7.058481233633983, + "flow_matching_loss": 0.010673752892762423, + "grad_norm": 0.06158456578850746, + "learning_rate": 2.904716176408451e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24260 + }, + { + "epoch": 7.0613907477451265, + "flow_matching_loss": 0.010253616143018007, + "grad_norm": 0.06908565014600754, + "learning_rate": 2.8949443180976172e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24270 + }, + { + "epoch": 7.06430026185627, + "flow_matching_loss": 0.009984562220051885, + "grad_norm": 0.07859081029891968, + "learning_rate": 2.885187168570864e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24280 + }, + { + "epoch": 7.067209775967413, + "flow_matching_loss": 0.011997146252542733, + "grad_norm": 0.08893289417028427, + "learning_rate": 2.875444739684058e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24290 + }, + { + "epoch": 7.070119290078557, + "flow_matching_loss": 0.011338194226846099, + "grad_norm": 0.08871117979288101, + "learning_rate": 2.865717043275165e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24300 + }, + { + "epoch": 7.0730288041897005, + "flow_matching_loss": 0.01141949980519712, + "grad_norm": 0.08100089430809021, + "learning_rate": 2.8560040911642528e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24310 + }, + { + "epoch": 7.075938318300844, + "flow_matching_loss": 0.010973148141056299, + "grad_norm": 0.0785112977027893, + "learning_rate": 2.846305895153472e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24320 + }, + { + "epoch": 7.078847832411987, + "flow_matching_loss": 0.009585865819826723, + "grad_norm": 0.06442584842443466, + "learning_rate": 2.8366224670270487e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24330 + }, + { + "epoch": 7.081757346523131, + "flow_matching_loss": 0.010925015620887279, + "grad_norm": 0.08071431517601013, + "learning_rate": 2.8269538185512535e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24340 + }, + { + "epoch": 7.084666860634274, + "flow_matching_loss": 0.011270285677164793, + "grad_norm": 0.0705174058675766, + "learning_rate": 2.817299961474417e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24350 + }, + { + "epoch": 7.087576374745417, + "flow_matching_loss": 0.010840802965685726, + "grad_norm": 0.09256574511528015, + "learning_rate": 2.8076609075268816e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24360 + }, + { + "epoch": 7.090485888856561, + "flow_matching_loss": 0.01025731205008924, + "grad_norm": 0.09258366376161575, + "learning_rate": 2.798036668421006e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24370 + }, + { + "epoch": 7.093395402967705, + "flow_matching_loss": 0.010387195134535432, + "grad_norm": 0.08296608924865723, + "learning_rate": 2.7884272558511433e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24380 + }, + { + "epoch": 7.0963049170788475, + "flow_matching_loss": 0.0108055897988379, + "grad_norm": 0.10234879702329636, + "learning_rate": 2.7788326814936456e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24390 + }, + { + "epoch": 7.099214431189991, + "flow_matching_loss": 0.011294730473309755, + "grad_norm": 0.12200858443975449, + "learning_rate": 2.7692529570068176e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24400 + }, + { + "epoch": 7.102123945301135, + "flow_matching_loss": 0.013021554192528128, + "grad_norm": 0.08750928938388824, + "learning_rate": 2.759688094030933e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24410 + }, + { + "epoch": 7.105033459412278, + "flow_matching_loss": 0.010509929666295648, + "grad_norm": 0.10466496646404266, + "learning_rate": 2.750138104188201e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24420 + }, + { + "epoch": 7.107942973523421, + "flow_matching_loss": 0.01177624212577939, + "grad_norm": 0.11882288753986359, + "learning_rate": 2.740602999082759e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24430 + }, + { + "epoch": 7.110852487634565, + "flow_matching_loss": 0.011259890906512738, + "grad_norm": 0.08687037229537964, + "learning_rate": 2.731082790300654e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24440 + }, + { + "epoch": 7.113762001745709, + "flow_matching_loss": 0.014392505725845694, + "grad_norm": 0.05590429529547691, + "learning_rate": 2.7215774894098474e-06, + "loss": 0.0144, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24450 + }, + { + "epoch": 7.116671515856852, + "flow_matching_loss": 0.008287070272490382, + "grad_norm": 0.0771128311753273, + "learning_rate": 2.7120871079601696e-06, + "loss": 0.0083, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24460 + }, + { + "epoch": 7.119581029967995, + "flow_matching_loss": 0.009111299086362124, + "grad_norm": 0.12120112031698227, + "learning_rate": 2.7026116574833314e-06, + "loss": 0.0091, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24470 + }, + { + "epoch": 7.122490544079139, + "flow_matching_loss": 0.011951182084158064, + "grad_norm": 0.07305938750505447, + "learning_rate": 2.6931511494928953e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24480 + }, + { + "epoch": 7.125400058190282, + "flow_matching_loss": 0.00880127833224833, + "grad_norm": 0.06611683964729309, + "learning_rate": 2.683705595484275e-06, + "loss": 0.0088, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24490 + }, + { + "epoch": 7.128309572301426, + "flow_matching_loss": 0.011540114833042025, + "grad_norm": 0.08587998151779175, + "learning_rate": 2.6742750069347014e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24500 + }, + { + "epoch": 7.131219086412569, + "flow_matching_loss": 0.0108450164552778, + "grad_norm": 0.08415547758340836, + "learning_rate": 2.664859395303239e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24510 + }, + { + "epoch": 7.134128600523712, + "flow_matching_loss": 0.011414532829076052, + "grad_norm": 0.07498940825462341, + "learning_rate": 2.655458772030739e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24520 + }, + { + "epoch": 7.137038114634856, + "flow_matching_loss": 0.010101546440273524, + "grad_norm": 0.06351317465305328, + "learning_rate": 2.6460731485398403e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24530 + }, + { + "epoch": 7.1399476287459995, + "flow_matching_loss": 0.010214608395472169, + "grad_norm": 0.08613194525241852, + "learning_rate": 2.6367025362349695e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24540 + }, + { + "epoch": 7.142857142857143, + "flow_matching_loss": 0.010292784543707967, + "grad_norm": 0.05125262215733528, + "learning_rate": 2.6273469465022965e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24550 + }, + { + "epoch": 7.145766656968286, + "flow_matching_loss": 0.011007519531995058, + "grad_norm": 0.09772385656833649, + "learning_rate": 2.618006390709753e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24560 + }, + { + "epoch": 7.14867617107943, + "flow_matching_loss": 0.010305722430348396, + "grad_norm": 0.07707267254590988, + "learning_rate": 2.60868088020699e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24570 + }, + { + "epoch": 7.1515856851905735, + "flow_matching_loss": 0.010561981704086065, + "grad_norm": 0.09089583903551102, + "learning_rate": 2.599370426325382e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24580 + }, + { + "epoch": 7.154495199301716, + "flow_matching_loss": 0.010365747241303324, + "grad_norm": 0.08810017257928848, + "learning_rate": 2.5900750403780093e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24590 + }, + { + "epoch": 7.15740471341286, + "flow_matching_loss": 0.011079505644738674, + "grad_norm": 0.06948625296354294, + "learning_rate": 2.580794733659639e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24600 + }, + { + "epoch": 7.160314227524004, + "flow_matching_loss": 0.010326996073126793, + "grad_norm": 0.0808246061205864, + "learning_rate": 2.5715295174467236e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24610 + }, + { + "epoch": 7.1632237416351465, + "flow_matching_loss": 0.010737608326599002, + "grad_norm": 0.08522437512874603, + "learning_rate": 2.5622794029973746e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24620 + }, + { + "epoch": 7.16613325574629, + "flow_matching_loss": 0.010320528736338019, + "grad_norm": 0.07603855431079865, + "learning_rate": 2.553044401551351e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24630 + }, + { + "epoch": 7.169042769857434, + "flow_matching_loss": 0.009744251007214188, + "grad_norm": 0.08532565087080002, + "learning_rate": 2.54382452433005e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24640 + }, + { + "epoch": 7.171952283968578, + "flow_matching_loss": 0.00892232870683074, + "grad_norm": 0.06605743616819382, + "learning_rate": 2.53461978253649e-06, + "loss": 0.0089, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24650 + }, + { + "epoch": 7.1748617980797205, + "flow_matching_loss": 0.011323530925437808, + "grad_norm": 0.06990200281143188, + "learning_rate": 2.5254301873553065e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24660 + }, + { + "epoch": 7.177771312190864, + "flow_matching_loss": 0.009544916497543455, + "grad_norm": 0.08838235586881638, + "learning_rate": 2.5162557499527184e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24670 + }, + { + "epoch": 7.180680826302008, + "flow_matching_loss": 0.009735604887828231, + "grad_norm": 0.11835755407810211, + "learning_rate": 2.5070964814765335e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24680 + }, + { + "epoch": 7.183590340413151, + "flow_matching_loss": 0.011467078560963273, + "grad_norm": 0.09747296571731567, + "learning_rate": 2.4979523930561295e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24690 + }, + { + "epoch": 7.186499854524294, + "flow_matching_loss": 0.010279117245227098, + "grad_norm": 0.09922078251838684, + "learning_rate": 2.4888234958024333e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24700 + }, + { + "epoch": 7.189409368635438, + "flow_matching_loss": 0.01230012308806181, + "grad_norm": 0.11235085874795914, + "learning_rate": 2.479709800807915e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24710 + }, + { + "epoch": 7.192318882746581, + "flow_matching_loss": 0.009288288606330752, + "grad_norm": 0.05920058488845825, + "learning_rate": 2.4706113191465767e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24720 + }, + { + "epoch": 7.195228396857725, + "flow_matching_loss": 0.010333077982068062, + "grad_norm": 0.10400555282831192, + "learning_rate": 2.46152806187393e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24730 + }, + { + "epoch": 7.198137910968868, + "flow_matching_loss": 0.011053305258974433, + "grad_norm": 0.08516157418489456, + "learning_rate": 2.452460040026989e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24740 + }, + { + "epoch": 7.201047425080012, + "flow_matching_loss": 0.010571459447965026, + "grad_norm": 0.08252862095832825, + "learning_rate": 2.4434072646242555e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24750 + }, + { + "epoch": 7.203956939191155, + "flow_matching_loss": 0.009844101592898368, + "grad_norm": 0.06092531606554985, + "learning_rate": 2.4343697466657015e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24760 + }, + { + "epoch": 7.206866453302299, + "flow_matching_loss": 0.01166979125700891, + "grad_norm": 0.08698653429746628, + "learning_rate": 2.42534749713277e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24770 + }, + { + "epoch": 7.209775967413442, + "flow_matching_loss": 0.010586240142583848, + "grad_norm": 0.05701411888003349, + "learning_rate": 2.4163405269883425e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24780 + }, + { + "epoch": 7.212685481524585, + "flow_matching_loss": 0.011265575280413031, + "grad_norm": 0.07279737293720245, + "learning_rate": 2.407348847176735e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24790 + }, + { + "epoch": 7.215594995635729, + "flow_matching_loss": 0.010755556169897318, + "grad_norm": 0.05963973328471184, + "learning_rate": 2.398372468623688e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24800 + }, + { + "epoch": 7.2185045097468725, + "flow_matching_loss": 0.010884676268324256, + "grad_norm": 0.1245114877820015, + "learning_rate": 2.3894114022363446e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24810 + }, + { + "epoch": 7.221414023858015, + "flow_matching_loss": 0.011722374754026533, + "grad_norm": 0.11051921546459198, + "learning_rate": 2.3804656589032514e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24820 + }, + { + "epoch": 7.224323537969159, + "flow_matching_loss": 0.011050203535705804, + "grad_norm": 0.08438533544540405, + "learning_rate": 2.3715352494943237e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24830 + }, + { + "epoch": 7.227233052080303, + "flow_matching_loss": 0.010468773357570172, + "grad_norm": 0.07347255945205688, + "learning_rate": 2.3626201848608582e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24840 + }, + { + "epoch": 7.2301425661914465, + "flow_matching_loss": 0.01046050265431404, + "grad_norm": 0.08809838443994522, + "learning_rate": 2.353720475835494e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24850 + }, + { + "epoch": 7.233052080302589, + "flow_matching_loss": 0.01556112514808774, + "grad_norm": 0.09667173027992249, + "learning_rate": 2.344836133232215e-06, + "loss": 0.0156, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24860 + }, + { + "epoch": 7.235961594413733, + "flow_matching_loss": 0.01045988267287612, + "grad_norm": 0.09194821864366531, + "learning_rate": 2.335967167846342e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24870 + }, + { + "epoch": 7.238871108524877, + "flow_matching_loss": 0.011238443991169333, + "grad_norm": 0.1152687817811966, + "learning_rate": 2.3271135904544993e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24880 + }, + { + "epoch": 7.2417806226360195, + "flow_matching_loss": 0.01107856067828834, + "grad_norm": 0.08221770077943802, + "learning_rate": 2.3182754118146206e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24890 + }, + { + "epoch": 7.244690136747163, + "flow_matching_loss": 0.010667225485667587, + "grad_norm": 0.0958031564950943, + "learning_rate": 2.309452642665923e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24900 + }, + { + "epoch": 7.247599650858307, + "flow_matching_loss": 0.012195027433335781, + "grad_norm": 0.07875955104827881, + "learning_rate": 2.3006452937289065e-06, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24910 + }, + { + "epoch": 7.25050916496945, + "flow_matching_loss": 0.011264681536704301, + "grad_norm": 0.07128116488456726, + "learning_rate": 2.291853375705327e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24920 + }, + { + "epoch": 7.2534186790805935, + "flow_matching_loss": 0.011411048518493772, + "grad_norm": 0.09933851659297943, + "learning_rate": 2.283076899278197e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24930 + }, + { + "epoch": 7.256328193191737, + "flow_matching_loss": 0.010618098871782422, + "grad_norm": 0.1253698766231537, + "learning_rate": 2.274315875111763e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24940 + }, + { + "epoch": 7.25923770730288, + "flow_matching_loss": 0.0095904519315809, + "grad_norm": 0.08213027566671371, + "learning_rate": 2.265570313851493e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24950 + }, + { + "epoch": 7.262147221414024, + "flow_matching_loss": 0.011644709529355169, + "grad_norm": 0.12570881843566895, + "learning_rate": 2.2568402261240685e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24960 + }, + { + "epoch": 7.265056735525167, + "flow_matching_loss": 0.011956684337928892, + "grad_norm": 0.09258377552032471, + "learning_rate": 2.248125622537373e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24970 + }, + { + "epoch": 7.267966249636311, + "flow_matching_loss": 0.010059272684156895, + "grad_norm": 0.05688142403960228, + "learning_rate": 2.239426513680467e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24980 + }, + { + "epoch": 7.270875763747454, + "flow_matching_loss": 0.009314622404053808, + "grad_norm": 0.07632072269916534, + "learning_rate": 2.2307429101235915e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 24990 + }, + { + "epoch": 7.273785277858598, + "flow_matching_loss": 0.013204988278448581, + "grad_norm": 0.07881631702184677, + "learning_rate": 2.222074822418145e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25000 + }, + { + "epoch": 7.276694791969741, + "flow_matching_loss": 0.010388088785111904, + "grad_norm": 0.08348645269870758, + "learning_rate": 2.213422261096668e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25010 + }, + { + "epoch": 7.279604306080884, + "flow_matching_loss": 0.010216528177261352, + "grad_norm": 0.08291881531476974, + "learning_rate": 2.204785236672835e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25020 + }, + { + "epoch": 7.282513820192028, + "flow_matching_loss": 0.011575239477679133, + "grad_norm": 0.05017542839050293, + "learning_rate": 2.1961637596414536e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25030 + }, + { + "epoch": 7.285423334303172, + "flow_matching_loss": 0.011980828223749995, + "grad_norm": 0.06115909293293953, + "learning_rate": 2.1875578404784275e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25040 + }, + { + "epoch": 7.288332848414315, + "flow_matching_loss": 0.00926241879351437, + "grad_norm": 0.07765689492225647, + "learning_rate": 2.1789674896407583e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25050 + }, + { + "epoch": 7.291242362525458, + "flow_matching_loss": 0.012326647387817502, + "grad_norm": 0.102405846118927, + "learning_rate": 2.170392717566534e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25060 + }, + { + "epoch": 7.294151876636602, + "flow_matching_loss": 0.009586277836933731, + "grad_norm": 0.11805922538042068, + "learning_rate": 2.161833534674909e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25070 + }, + { + "epoch": 7.2970613907477455, + "flow_matching_loss": 0.0132356193382293, + "grad_norm": 0.09784059226512909, + "learning_rate": 2.1532899513661015e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25080 + }, + { + "epoch": 7.299970904858888, + "flow_matching_loss": 0.009679364040493965, + "grad_norm": 0.08167967945337296, + "learning_rate": 2.1447619780213682e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25090 + }, + { + "epoch": 7.302880418970032, + "flow_matching_loss": 0.010233431961387396, + "grad_norm": 0.08774828165769577, + "learning_rate": 2.136249625003001e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25100 + }, + { + "epoch": 7.305789933081176, + "flow_matching_loss": 0.011245026905089616, + "grad_norm": 0.09506625682115555, + "learning_rate": 2.1277529026543107e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25110 + }, + { + "epoch": 7.308699447192319, + "flow_matching_loss": 0.010254692239686846, + "grad_norm": 0.07676903158426285, + "learning_rate": 2.1192718212996188e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25120 + }, + { + "epoch": 7.311608961303462, + "flow_matching_loss": 0.011412039678543807, + "grad_norm": 0.10854610800743103, + "learning_rate": 2.110806391244235e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25130 + }, + { + "epoch": 7.314518475414606, + "flow_matching_loss": 0.01210892372764647, + "grad_norm": 0.20449216663837433, + "learning_rate": 2.1023566227744596e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25140 + }, + { + "epoch": 7.317427989525749, + "flow_matching_loss": 0.010036832420155406, + "grad_norm": 0.06941600888967514, + "learning_rate": 2.0939225261575563e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25150 + }, + { + "epoch": 7.3203375036368925, + "flow_matching_loss": 0.010189363826066255, + "grad_norm": 0.07510530948638916, + "learning_rate": 2.0855041116417473e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25160 + }, + { + "epoch": 7.323247017748036, + "flow_matching_loss": 0.010252123326063156, + "grad_norm": 0.051585011184215546, + "learning_rate": 2.0771013894562003e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25170 + }, + { + "epoch": 7.32615653185918, + "flow_matching_loss": 0.01039539915509522, + "grad_norm": 0.09509634226560593, + "learning_rate": 2.0687143698110113e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25180 + }, + { + "epoch": 7.329066045970323, + "flow_matching_loss": 0.01058140778914094, + "grad_norm": 0.07048554718494415, + "learning_rate": 2.060343062897208e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25190 + }, + { + "epoch": 7.3319755600814664, + "flow_matching_loss": 0.010585192125290632, + "grad_norm": 0.04654598981142044, + "learning_rate": 2.0519874788867127e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25200 + }, + { + "epoch": 7.33488507419261, + "flow_matching_loss": 0.01116939801722765, + "grad_norm": 0.0893745869398117, + "learning_rate": 2.043647627932347e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25210 + }, + { + "epoch": 7.337794588303753, + "flow_matching_loss": 0.010902536846697331, + "grad_norm": 0.10113382339477539, + "learning_rate": 2.0353235201678193e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25220 + }, + { + "epoch": 7.340704102414897, + "flow_matching_loss": 0.010662519652396441, + "grad_norm": 0.07224833220243454, + "learning_rate": 2.0270151657076995e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25230 + }, + { + "epoch": 7.34361361652604, + "flow_matching_loss": 0.009432089980691671, + "grad_norm": 0.05444084107875824, + "learning_rate": 2.0187225746474286e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25240 + }, + { + "epoch": 7.346523130637183, + "flow_matching_loss": 0.011840014532208443, + "grad_norm": 0.09258125722408295, + "learning_rate": 2.0104457570632845e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25250 + }, + { + "epoch": 7.349432644748327, + "flow_matching_loss": 0.011002354929223657, + "grad_norm": 0.0596432127058506, + "learning_rate": 2.0021847230123775e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25260 + }, + { + "epoch": 7.352342158859471, + "flow_matching_loss": 0.012082133954390884, + "grad_norm": 0.08830776065587997, + "learning_rate": 1.9939394825326494e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25270 + }, + { + "epoch": 7.355251672970613, + "flow_matching_loss": 0.009550017165020108, + "grad_norm": 0.059128232300281525, + "learning_rate": 1.9857100456428385e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25280 + }, + { + "epoch": 7.358161187081757, + "flow_matching_loss": 0.010120759764686228, + "grad_norm": 0.07364723086357117, + "learning_rate": 1.977496422342492e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25290 + }, + { + "epoch": 7.361070701192901, + "flow_matching_loss": 0.00923867798410356, + "grad_norm": 0.07635605335235596, + "learning_rate": 1.9692986226119345e-06, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25300 + }, + { + "epoch": 7.363980215304045, + "flow_matching_loss": 0.011305919755250216, + "grad_norm": 0.09080523997545242, + "learning_rate": 1.9611166564122658e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25310 + }, + { + "epoch": 7.366889729415187, + "flow_matching_loss": 0.009813787508755922, + "grad_norm": 0.08394753187894821, + "learning_rate": 1.9529505336853456e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25320 + }, + { + "epoch": 7.369799243526331, + "flow_matching_loss": 0.011326872510835528, + "grad_norm": 0.11342629045248032, + "learning_rate": 1.9448002643537833e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25330 + }, + { + "epoch": 7.372708757637475, + "flow_matching_loss": 0.01043769959360361, + "grad_norm": 0.07063129544258118, + "learning_rate": 1.9366658583209205e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25340 + }, + { + "epoch": 7.375618271748618, + "flow_matching_loss": 0.01070478348992765, + "grad_norm": 0.08225075900554657, + "learning_rate": 1.9285473254708363e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25350 + }, + { + "epoch": 7.378527785859761, + "flow_matching_loss": 0.010023594088852405, + "grad_norm": 0.06460109353065491, + "learning_rate": 1.9204446756683092e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25360 + }, + { + "epoch": 7.381437299970905, + "flow_matching_loss": 0.010655880300328135, + "grad_norm": 0.08895015716552734, + "learning_rate": 1.912357918758822e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25370 + }, + { + "epoch": 7.384346814082049, + "flow_matching_loss": 0.010675683757290244, + "grad_norm": 0.10176756232976913, + "learning_rate": 1.9042870645685478e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25380 + }, + { + "epoch": 7.387256328193192, + "flow_matching_loss": 0.010950780799612403, + "grad_norm": 0.09364539384841919, + "learning_rate": 1.8962321229043322e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25390 + }, + { + "epoch": 7.390165842304335, + "flow_matching_loss": 0.00960436319001019, + "grad_norm": 0.07788058370351791, + "learning_rate": 1.8881931035536943e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25400 + }, + { + "epoch": 7.393075356415479, + "flow_matching_loss": 0.01170886135660112, + "grad_norm": 0.09176444262266159, + "learning_rate": 1.8801700162847952e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25410 + }, + { + "epoch": 7.395984870526622, + "flow_matching_loss": 0.011159346345812083, + "grad_norm": 0.08354713767766953, + "learning_rate": 1.87216287084645e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25420 + }, + { + "epoch": 7.3988943846377655, + "flow_matching_loss": 0.010686141764745116, + "grad_norm": 0.15161378681659698, + "learning_rate": 1.8641716769680895e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25430 + }, + { + "epoch": 7.401803898748909, + "flow_matching_loss": 0.009470789646729826, + "grad_norm": 0.08923531323671341, + "learning_rate": 1.8561964443597662e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25440 + }, + { + "epoch": 7.404713412860052, + "flow_matching_loss": 0.011362184910103679, + "grad_norm": 0.0804215520620346, + "learning_rate": 1.848237182712147e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25450 + }, + { + "epoch": 7.407622926971196, + "flow_matching_loss": 0.008881090162321924, + "grad_norm": 0.12755082547664642, + "learning_rate": 1.8402939016964788e-06, + "loss": 0.0089, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25460 + }, + { + "epoch": 7.410532441082339, + "flow_matching_loss": 0.011582131497561932, + "grad_norm": 0.07729992270469666, + "learning_rate": 1.832366610964601e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25470 + }, + { + "epoch": 7.413441955193482, + "flow_matching_loss": 0.012062904518097639, + "grad_norm": 0.07254314422607422, + "learning_rate": 1.8244553201489166e-06, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25480 + }, + { + "epoch": 7.416351469304626, + "flow_matching_loss": 0.010602469556033611, + "grad_norm": 0.06825938820838928, + "learning_rate": 1.8165600388623882e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25490 + }, + { + "epoch": 7.41926098341577, + "flow_matching_loss": 0.011551995761692524, + "grad_norm": 0.0961138904094696, + "learning_rate": 1.8086807766985331e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25500 + }, + { + "epoch": 7.422170497526913, + "flow_matching_loss": 0.010415983898565174, + "grad_norm": 0.10153427720069885, + "learning_rate": 1.8008175432313946e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25510 + }, + { + "epoch": 7.425080011638056, + "flow_matching_loss": 0.010995092196390032, + "grad_norm": 0.07887721806764603, + "learning_rate": 1.7929703480155429e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25520 + }, + { + "epoch": 7.4279895257492, + "flow_matching_loss": 0.011324380338191987, + "grad_norm": 0.07149762660264969, + "learning_rate": 1.7851392005860595e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25530 + }, + { + "epoch": 7.430899039860344, + "flow_matching_loss": 0.010766898188740015, + "grad_norm": 0.07279887795448303, + "learning_rate": 1.7773241104585243e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25540 + }, + { + "epoch": 7.433808553971486, + "flow_matching_loss": 0.011591652408242226, + "grad_norm": 0.07800900191068649, + "learning_rate": 1.7695250871290108e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25550 + }, + { + "epoch": 7.43671806808263, + "flow_matching_loss": 0.011582235712558031, + "grad_norm": 0.10329754650592804, + "learning_rate": 1.761742140074074e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25560 + }, + { + "epoch": 7.439627582193774, + "flow_matching_loss": 0.011897864285856485, + "grad_norm": 0.08281160891056061, + "learning_rate": 1.7539752787507208e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25570 + }, + { + "epoch": 7.442537096304917, + "flow_matching_loss": 0.011390478815883398, + "grad_norm": 0.12106910347938538, + "learning_rate": 1.7462245125964233e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25580 + }, + { + "epoch": 7.44544661041606, + "flow_matching_loss": 0.012480122689157724, + "grad_norm": 0.061208512634038925, + "learning_rate": 1.7384898510290931e-06, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25590 + }, + { + "epoch": 7.448356124527204, + "flow_matching_loss": 0.011278374306857585, + "grad_norm": 0.0748673602938652, + "learning_rate": 1.730771303447069e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25600 + }, + { + "epoch": 7.451265638638348, + "flow_matching_loss": 0.011046908237040043, + "grad_norm": 0.08882385492324829, + "learning_rate": 1.7230688792291204e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25610 + }, + { + "epoch": 7.454175152749491, + "flow_matching_loss": 0.00996266002766788, + "grad_norm": 0.08108606934547424, + "learning_rate": 1.7153825877344175e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25620 + }, + { + "epoch": 7.457084666860634, + "flow_matching_loss": 0.01108989054337144, + "grad_norm": 0.11115661263465881, + "learning_rate": 1.7077124383025278e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25630 + }, + { + "epoch": 7.459994180971778, + "flow_matching_loss": 0.009627714473754167, + "grad_norm": 0.0695878341794014, + "learning_rate": 1.7000584402534058e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25640 + }, + { + "epoch": 7.462903695082921, + "flow_matching_loss": 0.010803336137905717, + "grad_norm": 0.09159062802791595, + "learning_rate": 1.6924206028873774e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25650 + }, + { + "epoch": 7.4658132091940645, + "flow_matching_loss": 0.00972650172188878, + "grad_norm": 0.10434017330408096, + "learning_rate": 1.6847989354851434e-06, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25660 + }, + { + "epoch": 7.468722723305208, + "flow_matching_loss": 0.010997522529214621, + "grad_norm": 0.0838671326637268, + "learning_rate": 1.6771934473077443e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25670 + }, + { + "epoch": 7.471632237416351, + "flow_matching_loss": 0.011794340331107378, + "grad_norm": 0.08045455813407898, + "learning_rate": 1.669604147596563e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25680 + }, + { + "epoch": 7.474541751527495, + "flow_matching_loss": 0.010808922350406647, + "grad_norm": 0.10352304577827454, + "learning_rate": 1.662031045573319e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25690 + }, + { + "epoch": 7.4774512656386385, + "flow_matching_loss": 0.011052502784878016, + "grad_norm": 0.06991943717002869, + "learning_rate": 1.6544741504400402e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25700 + }, + { + "epoch": 7.480360779749782, + "flow_matching_loss": 0.011949514038860798, + "grad_norm": 0.11027225852012634, + "learning_rate": 1.6469334713790712e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25710 + }, + { + "epoch": 7.483270293860925, + "flow_matching_loss": 0.010627027181908489, + "grad_norm": 0.06725073605775833, + "learning_rate": 1.639409017553048e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25720 + }, + { + "epoch": 7.486179807972069, + "flow_matching_loss": 0.009293945180252195, + "grad_norm": 0.0647948682308197, + "learning_rate": 1.6319007981048884e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25730 + }, + { + "epoch": 7.489089322083212, + "flow_matching_loss": 0.011669611558318138, + "grad_norm": 0.10221508890390396, + "learning_rate": 1.6244088221577896e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25740 + }, + { + "epoch": 7.491998836194355, + "flow_matching_loss": 0.009845566749572755, + "grad_norm": 0.08647435903549194, + "learning_rate": 1.6169330988152081e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25750 + }, + { + "epoch": 7.494908350305499, + "flow_matching_loss": 0.009814182575792075, + "grad_norm": 0.08056145161390305, + "learning_rate": 1.6094736371608475e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25760 + }, + { + "epoch": 7.497817864416643, + "flow_matching_loss": 0.011131447786465288, + "grad_norm": 0.10527346283197403, + "learning_rate": 1.602030446258666e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25770 + }, + { + "epoch": 7.5007273785277855, + "flow_matching_loss": 0.009970442485064268, + "grad_norm": 0.08854837715625763, + "learning_rate": 1.5946035351528388e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25780 + }, + { + "epoch": 7.503636892638929, + "flow_matching_loss": 0.013236086955294013, + "grad_norm": 0.0682736337184906, + "learning_rate": 1.5871929128677621e-06, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25790 + }, + { + "epoch": 7.506546406750073, + "flow_matching_loss": 0.010816417401656508, + "grad_norm": 0.09509843587875366, + "learning_rate": 1.5797985884080412e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25800 + }, + { + "epoch": 7.509455920861216, + "flow_matching_loss": 0.010050754668191076, + "grad_norm": 0.08386190980672836, + "learning_rate": 1.572420570758476e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25810 + }, + { + "epoch": 7.512365434972359, + "flow_matching_loss": 0.010286259511485697, + "grad_norm": 0.0997748002409935, + "learning_rate": 1.5650588688840567e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25820 + }, + { + "epoch": 7.515274949083503, + "flow_matching_loss": 0.009381599212065338, + "grad_norm": 0.05833974480628967, + "learning_rate": 1.5577134917299413e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25830 + }, + { + "epoch": 7.518184463194647, + "flow_matching_loss": 0.011788468062877654, + "grad_norm": 0.0977567583322525, + "learning_rate": 1.5503844482214618e-06, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25840 + }, + { + "epoch": 7.52109397730579, + "flow_matching_loss": 0.010202787537127733, + "grad_norm": 0.06785143166780472, + "learning_rate": 1.5430717472640932e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25850 + }, + { + "epoch": 7.524003491416933, + "flow_matching_loss": 0.010930344508960844, + "grad_norm": 0.09178242832422256, + "learning_rate": 1.5357753977434541e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25860 + }, + { + "epoch": 7.526913005528077, + "flow_matching_loss": 0.011882254108786582, + "grad_norm": 0.09341680258512497, + "learning_rate": 1.5284954085253043e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25870 + }, + { + "epoch": 7.52982251963922, + "flow_matching_loss": 0.01042450750246644, + "grad_norm": 0.10344169288873672, + "learning_rate": 1.5212317884555115e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25880 + }, + { + "epoch": 7.532732033750364, + "flow_matching_loss": 0.012354637868702412, + "grad_norm": 0.09900335967540741, + "learning_rate": 1.5139845463600605e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25890 + }, + { + "epoch": 7.535641547861507, + "flow_matching_loss": 0.012327997386455536, + "grad_norm": 0.10750563442707062, + "learning_rate": 1.5067536910450352e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25900 + }, + { + "epoch": 7.538551061972651, + "flow_matching_loss": 0.009835414681583643, + "grad_norm": 0.0755409374833107, + "learning_rate": 1.4995392312966044e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25910 + }, + { + "epoch": 7.541460576083794, + "flow_matching_loss": 0.010060911346226931, + "grad_norm": 0.135076105594635, + "learning_rate": 1.492341175881014e-06, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25920 + }, + { + "epoch": 7.5443700901949375, + "flow_matching_loss": 0.010010221134871244, + "grad_norm": 0.0742451548576355, + "learning_rate": 1.4851595335445895e-06, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25930 + }, + { + "epoch": 7.547279604306081, + "flow_matching_loss": 0.010935259889811278, + "grad_norm": 0.09028687328100204, + "learning_rate": 1.4779943130136953e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25940 + }, + { + "epoch": 7.550189118417224, + "flow_matching_loss": 0.010661567794159055, + "grad_norm": 0.08668850362300873, + "learning_rate": 1.4708455229947537e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25950 + }, + { + "epoch": 7.553098632528368, + "flow_matching_loss": 0.0099211307708174, + "grad_norm": 0.09960757195949554, + "learning_rate": 1.4637131721742148e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25960 + }, + { + "epoch": 7.5560081466395115, + "flow_matching_loss": 0.010757334344089032, + "grad_norm": 0.06891967356204987, + "learning_rate": 1.4565972692185626e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25970 + }, + { + "epoch": 7.558917660750654, + "flow_matching_loss": 0.012429093103855848, + "grad_norm": 0.08540686219930649, + "learning_rate": 1.4494978227742855e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25980 + }, + { + "epoch": 7.561827174861798, + "flow_matching_loss": 0.012766955373808741, + "grad_norm": 0.08686978369951248, + "learning_rate": 1.442414841467885e-06, + "loss": 0.0128, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 25990 + }, + { + "epoch": 7.564736688972942, + "flow_matching_loss": 0.0107249915599823, + "grad_norm": 0.09439803659915924, + "learning_rate": 1.4353483339058498e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26000 + }, + { + "epoch": 7.5676462030840845, + "flow_matching_loss": 0.012343596480786801, + "grad_norm": 0.09423589706420898, + "learning_rate": 1.4282983086746498e-06, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26010 + }, + { + "epoch": 7.570555717195228, + "flow_matching_loss": 0.01056934860534966, + "grad_norm": 0.09094973653554916, + "learning_rate": 1.4212647743407325e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26020 + }, + { + "epoch": 7.573465231306372, + "flow_matching_loss": 0.010552792297676205, + "grad_norm": 0.06545908004045486, + "learning_rate": 1.4142477394505065e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26030 + }, + { + "epoch": 7.576374745417516, + "flow_matching_loss": 0.011922508105635643, + "grad_norm": 0.09600334614515305, + "learning_rate": 1.4072472125303299e-06, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26040 + }, + { + "epoch": 7.5792842595286585, + "flow_matching_loss": 0.009576614387333393, + "grad_norm": 0.09225334227085114, + "learning_rate": 1.4002632020865031e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26050 + }, + { + "epoch": 7.582193773639802, + "flow_matching_loss": 0.012425778713077307, + "grad_norm": 0.10997292399406433, + "learning_rate": 1.393295716605258e-06, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26060 + }, + { + "epoch": 7.585103287750946, + "flow_matching_loss": 0.009870579792186618, + "grad_norm": 0.08228828012943268, + "learning_rate": 1.386344764552742e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26070 + }, + { + "epoch": 7.588012801862089, + "flow_matching_loss": 0.010720370430499315, + "grad_norm": 0.08967617899179459, + "learning_rate": 1.3794103543750246e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26080 + }, + { + "epoch": 7.590922315973232, + "flow_matching_loss": 0.009347259346395732, + "grad_norm": 0.09368415921926498, + "learning_rate": 1.3724924944980637e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26090 + }, + { + "epoch": 7.593831830084376, + "flow_matching_loss": 0.009427494648844004, + "grad_norm": 0.08943554013967514, + "learning_rate": 1.365591193327712e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26100 + }, + { + "epoch": 7.59674134419552, + "flow_matching_loss": 0.012740679318085313, + "grad_norm": 0.08024387806653976, + "learning_rate": 1.3587064592496984e-06, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26110 + }, + { + "epoch": 7.599650858306663, + "flow_matching_loss": 0.012033658102154732, + "grad_norm": 0.09818976372480392, + "learning_rate": 1.3518383006296292e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26120 + }, + { + "epoch": 7.602560372417806, + "flow_matching_loss": 0.009888199949637055, + "grad_norm": 0.07515020668506622, + "learning_rate": 1.344986725812959e-06, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26130 + }, + { + "epoch": 7.605469886528949, + "flow_matching_loss": 0.010584631329402327, + "grad_norm": 0.11454799771308899, + "learning_rate": 1.3381517431250046e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26140 + }, + { + "epoch": 7.608379400640093, + "flow_matching_loss": 0.010436961287632584, + "grad_norm": 0.07848295569419861, + "learning_rate": 1.3313333608709095e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26150 + }, + { + "epoch": 7.611288914751237, + "flow_matching_loss": 0.010179597977548837, + "grad_norm": 0.06580851972103119, + "learning_rate": 1.3245315873356528e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26160 + }, + { + "epoch": 7.61419842886238, + "flow_matching_loss": 0.010575949307531118, + "grad_norm": 0.08879414200782776, + "learning_rate": 1.3177464307840304e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26170 + }, + { + "epoch": 7.617107942973523, + "flow_matching_loss": 0.009278622129932046, + "grad_norm": 0.061322376132011414, + "learning_rate": 1.310977899460642e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26180 + }, + { + "epoch": 7.620017457084667, + "flow_matching_loss": 0.010519738728180527, + "grad_norm": 0.08815394341945648, + "learning_rate": 1.3042260015899006e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26190 + }, + { + "epoch": 7.6229269711958105, + "flow_matching_loss": 0.010442874534055591, + "grad_norm": 0.10814233869314194, + "learning_rate": 1.2974907453759948e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26200 + }, + { + "epoch": 7.625836485306953, + "flow_matching_loss": 0.010469349380582572, + "grad_norm": 0.06249936670064926, + "learning_rate": 1.2907721390028937e-06, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26210 + }, + { + "epoch": 7.628745999418097, + "flow_matching_loss": 0.011157125560566783, + "grad_norm": 0.06987465173006058, + "learning_rate": 1.2840701906343417e-06, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26220 + }, + { + "epoch": 7.631655513529241, + "flow_matching_loss": 0.011134703271090984, + "grad_norm": 0.08911057561635971, + "learning_rate": 1.2773849084138312e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26230 + }, + { + "epoch": 7.6345650276403845, + "flow_matching_loss": 0.01030466784723103, + "grad_norm": 0.09501437842845917, + "learning_rate": 1.2707163004646177e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26240 + }, + { + "epoch": 7.637474541751527, + "flow_matching_loss": 0.00926545960828662, + "grad_norm": 0.06778164952993393, + "learning_rate": 1.2640643748896879e-06, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26250 + }, + { + "epoch": 7.640384055862671, + "flow_matching_loss": 0.013548908988013864, + "grad_norm": 0.06415709108114243, + "learning_rate": 1.257429139771753e-06, + "loss": 0.0135, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26260 + }, + { + "epoch": 7.643293569973815, + "flow_matching_loss": 0.009637522557750345, + "grad_norm": 0.0723273828625679, + "learning_rate": 1.2508106031732553e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26270 + }, + { + "epoch": 7.6462030840849575, + "flow_matching_loss": 0.010736212832853198, + "grad_norm": 0.08872174471616745, + "learning_rate": 1.2442087731363366e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26280 + }, + { + "epoch": 7.649112598196101, + "flow_matching_loss": 0.009841704973950982, + "grad_norm": 0.06969030946493149, + "learning_rate": 1.237623657682847e-06, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26290 + }, + { + "epoch": 7.652022112307245, + "flow_matching_loss": 0.009056153148412705, + "grad_norm": 0.07970982044935226, + "learning_rate": 1.2310552648143208e-06, + "loss": 0.0091, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26300 + }, + { + "epoch": 7.654931626418388, + "flow_matching_loss": 0.013032977655529975, + "grad_norm": 0.10341871529817581, + "learning_rate": 1.2245036025119738e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26310 + }, + { + "epoch": 7.6578411405295315, + "flow_matching_loss": 0.010341218579560519, + "grad_norm": 0.08142221719026566, + "learning_rate": 1.2179686787366962e-06, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26320 + }, + { + "epoch": 7.660750654640675, + "flow_matching_loss": 0.011988573474809527, + "grad_norm": 0.10803618282079697, + "learning_rate": 1.2114505014290329e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26330 + }, + { + "epoch": 7.663660168751818, + "flow_matching_loss": 0.01393824378028512, + "grad_norm": 0.09550883620977402, + "learning_rate": 1.2049490785091833e-06, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26340 + }, + { + "epoch": 7.666569682862962, + "flow_matching_loss": 0.010224465653300286, + "grad_norm": 0.06963881105184555, + "learning_rate": 1.1984644178769949e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26350 + }, + { + "epoch": 7.669479196974105, + "flow_matching_loss": 0.008743562549352647, + "grad_norm": 0.07574915140867233, + "learning_rate": 1.1919965274119381e-06, + "loss": 0.0087, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26360 + }, + { + "epoch": 7.672388711085249, + "flow_matching_loss": 0.011002938356250524, + "grad_norm": 0.09576720744371414, + "learning_rate": 1.18554541497311e-06, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26370 + }, + { + "epoch": 7.675298225196392, + "flow_matching_loss": 0.01136328955180943, + "grad_norm": 0.12499340623617172, + "learning_rate": 1.1791110883992213e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26380 + }, + { + "epoch": 7.678207739307536, + "flow_matching_loss": 0.011963466228917242, + "grad_norm": 0.12336928397417068, + "learning_rate": 1.1726935555085817e-06, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26390 + }, + { + "epoch": 7.681117253418679, + "flow_matching_loss": 0.011392465326935053, + "grad_norm": 0.11015760898590088, + "learning_rate": 1.166292824099105e-06, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26400 + }, + { + "epoch": 7.684026767529822, + "flow_matching_loss": 0.00959442388266325, + "grad_norm": 0.07575482875108719, + "learning_rate": 1.1599089019482768e-06, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26410 + }, + { + "epoch": 7.686936281640966, + "flow_matching_loss": 0.009505512192845345, + "grad_norm": 0.0847981795668602, + "learning_rate": 1.1535417968131718e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26420 + }, + { + "epoch": 7.68984579575211, + "flow_matching_loss": 0.011314569413661957, + "grad_norm": 0.07899824529886246, + "learning_rate": 1.147191516430418e-06, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26430 + }, + { + "epoch": 7.692755309863253, + "flow_matching_loss": 0.010751542076468468, + "grad_norm": 0.07815801352262497, + "learning_rate": 1.140858068516205e-06, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26440 + }, + { + "epoch": 7.695664823974396, + "flow_matching_loss": 0.008885849313810468, + "grad_norm": 0.07258578389883041, + "learning_rate": 1.1345414607662736e-06, + "loss": 0.0089, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26450 + }, + { + "epoch": 7.69857433808554, + "flow_matching_loss": 0.009374959021806717, + "grad_norm": 0.07233267277479172, + "learning_rate": 1.1282417008558937e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26460 + }, + { + "epoch": 7.7014838521966835, + "flow_matching_loss": 0.010887867584824563, + "grad_norm": 0.14004559814929962, + "learning_rate": 1.1219587964398674e-06, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26470 + }, + { + "epoch": 7.704393366307826, + "flow_matching_loss": 0.011528504360467196, + "grad_norm": 0.09896834194660187, + "learning_rate": 1.1156927551525198e-06, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26480 + }, + { + "epoch": 7.70730288041897, + "flow_matching_loss": 0.010550996242091059, + "grad_norm": 0.07899800688028336, + "learning_rate": 1.109443584607675e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26490 + }, + { + "epoch": 7.710212394530114, + "flow_matching_loss": 0.010671667708083987, + "grad_norm": 0.16794341802597046, + "learning_rate": 1.1032112923986708e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26500 + }, + { + "epoch": 7.713121908641257, + "flow_matching_loss": 0.011097537400200964, + "grad_norm": 0.0902765691280365, + "learning_rate": 1.0969958860983299e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26510 + }, + { + "epoch": 7.7160314227524, + "flow_matching_loss": 0.009360324498265982, + "grad_norm": 0.1069326177239418, + "learning_rate": 1.0907973732589537e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26520 + }, + { + "epoch": 7.718940936863544, + "flow_matching_loss": 0.01170938010327518, + "grad_norm": 0.07934758812189102, + "learning_rate": 1.0846157614123215e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26530 + }, + { + "epoch": 7.721850450974687, + "flow_matching_loss": 0.010244953818619252, + "grad_norm": 0.08860631287097931, + "learning_rate": 1.078451058069671e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26540 + }, + { + "epoch": 7.7247599650858305, + "flow_matching_loss": 0.010408604424446822, + "grad_norm": 0.10135366022586823, + "learning_rate": 1.0723032707217056e-06, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26550 + }, + { + "epoch": 7.727669479196974, + "flow_matching_loss": 0.010572660295292736, + "grad_norm": 0.10088660567998886, + "learning_rate": 1.066172406838558e-06, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26560 + }, + { + "epoch": 7.730578993308118, + "flow_matching_loss": 0.01395474448800087, + "grad_norm": 0.09047538787126541, + "learning_rate": 1.0600584738698127e-06, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26570 + }, + { + "epoch": 7.733488507419261, + "flow_matching_loss": 0.011573625076562167, + "grad_norm": 0.09466317296028137, + "learning_rate": 1.0539614792444735e-06, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26580 + }, + { + "epoch": 7.7363980215304045, + "flow_matching_loss": 0.009452085895463824, + "grad_norm": 0.10441361367702484, + "learning_rate": 1.0478814303709627e-06, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26590 + }, + { + "epoch": 7.739307535641548, + "flow_matching_loss": 0.012993874354287982, + "grad_norm": 0.11279366910457611, + "learning_rate": 1.041818334637109e-06, + "loss": 0.013, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26600 + }, + { + "epoch": 7.742217049752691, + "flow_matching_loss": 0.010665302770212293, + "grad_norm": 0.08177775144577026, + "learning_rate": 1.0357721994101526e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26610 + }, + { + "epoch": 7.745126563863835, + "flow_matching_loss": 0.009395773010328411, + "grad_norm": 0.10307398438453674, + "learning_rate": 1.0297430320367135e-06, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26620 + }, + { + "epoch": 7.748036077974978, + "flow_matching_loss": 0.011675234045833349, + "grad_norm": 0.1203659176826477, + "learning_rate": 1.0237308398428014e-06, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26630 + }, + { + "epoch": 7.750945592086122, + "flow_matching_loss": 0.01113123893737793, + "grad_norm": 0.10579480975866318, + "learning_rate": 1.0177356301337925e-06, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26640 + }, + { + "epoch": 7.753855106197265, + "flow_matching_loss": 0.010205624485388398, + "grad_norm": 0.18974271416664124, + "learning_rate": 1.0117574101944348e-06, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26650 + }, + { + "epoch": 7.756764620308409, + "flow_matching_loss": 0.010719764046370983, + "grad_norm": 0.06185024231672287, + "learning_rate": 1.0057961872888293e-06, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26660 + }, + { + "epoch": 7.7596741344195515, + "flow_matching_loss": 0.010451520374044777, + "grad_norm": 0.06142352148890495, + "learning_rate": 9.998519686604235e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26670 + }, + { + "epoch": 7.762583648530695, + "flow_matching_loss": 0.010133633436635137, + "grad_norm": 0.06520156562328339, + "learning_rate": 9.939247615320047e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26680 + }, + { + "epoch": 7.765493162641839, + "flow_matching_loss": 0.010344684217125177, + "grad_norm": 0.07317672669887543, + "learning_rate": 9.880145731056834e-07, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26690 + }, + { + "epoch": 7.768402676752983, + "flow_matching_loss": 0.010829373681917786, + "grad_norm": 0.06947194784879684, + "learning_rate": 9.821214105629034e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26700 + }, + { + "epoch": 7.771312190864125, + "flow_matching_loss": 0.010945038544014097, + "grad_norm": 0.07737106084823608, + "learning_rate": 9.762452810644068e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26710 + }, + { + "epoch": 7.774221704975269, + "flow_matching_loss": 0.011531628435477614, + "grad_norm": 0.08208455890417099, + "learning_rate": 9.703861917502487e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26720 + }, + { + "epoch": 7.777131219086413, + "flow_matching_loss": 0.01274509085342288, + "grad_norm": 0.10949670523405075, + "learning_rate": 9.645441497397744e-07, + "loss": 0.0127, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26730 + }, + { + "epoch": 7.780040733197556, + "flow_matching_loss": 0.010219808761030435, + "grad_norm": 0.06906072050333023, + "learning_rate": 9.587191621316154e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26740 + }, + { + "epoch": 7.782950247308699, + "flow_matching_loss": 0.009674431476742028, + "grad_norm": 0.07695379108190536, + "learning_rate": 9.529112360036802e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26750 + }, + { + "epoch": 7.785859761419843, + "flow_matching_loss": 0.011535412911325694, + "grad_norm": 0.0771973505616188, + "learning_rate": 9.471203784131449e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26760 + }, + { + "epoch": 7.788769275530987, + "flow_matching_loss": 0.010848120506852865, + "grad_norm": 0.047223638743162155, + "learning_rate": 9.41346596396453e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26770 + }, + { + "epoch": 7.79167878964213, + "flow_matching_loss": 0.010047357063740492, + "grad_norm": 0.06448470801115036, + "learning_rate": 9.355898969692889e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26780 + }, + { + "epoch": 7.794588303753273, + "flow_matching_loss": 0.012250138120725751, + "grad_norm": 0.08455009013414383, + "learning_rate": 9.29850287126589e-07, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26790 + }, + { + "epoch": 7.797497817864417, + "flow_matching_loss": 0.012054826272651554, + "grad_norm": 0.08696772903203964, + "learning_rate": 9.24127773842518e-07, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26800 + }, + { + "epoch": 7.80040733197556, + "flow_matching_loss": 0.009460432827472687, + "grad_norm": 0.0966099426150322, + "learning_rate": 9.18422364070467e-07, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26810 + }, + { + "epoch": 7.8033168460867035, + "flow_matching_loss": 0.010047118877992034, + "grad_norm": 0.0953376293182373, + "learning_rate": 9.127340647430538e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26820 + }, + { + "epoch": 7.806226360197847, + "flow_matching_loss": 0.011368136759847403, + "grad_norm": 0.08689262717962265, + "learning_rate": 9.070628827720929e-07, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26830 + }, + { + "epoch": 7.80913587430899, + "flow_matching_loss": 0.009300169441848994, + "grad_norm": 0.08365548402070999, + "learning_rate": 9.014088250486052e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26840 + }, + { + "epoch": 7.812045388420134, + "flow_matching_loss": 0.011021867208182812, + "grad_norm": 0.0957966148853302, + "learning_rate": 8.95771898442807e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26850 + }, + { + "epoch": 7.8149549025312774, + "flow_matching_loss": 0.011329722031950951, + "grad_norm": 0.0779063031077385, + "learning_rate": 8.90152109804091e-07, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26860 + }, + { + "epoch": 7.81786441664242, + "flow_matching_loss": 0.009854665212333202, + "grad_norm": 0.06779289245605469, + "learning_rate": 8.845494659610365e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26870 + }, + { + "epoch": 7.820773930753564, + "flow_matching_loss": 0.010156639385968447, + "grad_norm": 0.0862494707107544, + "learning_rate": 8.789639737213812e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26880 + }, + { + "epoch": 7.823683444864708, + "flow_matching_loss": 0.009594912454485894, + "grad_norm": 0.06710470467805862, + "learning_rate": 8.733956398720244e-07, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26890 + }, + { + "epoch": 7.826592958975851, + "flow_matching_loss": 0.009820724371820688, + "grad_norm": 0.09999793022871017, + "learning_rate": 8.678444711790157e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26900 + }, + { + "epoch": 7.829502473086994, + "flow_matching_loss": 0.010142599046230317, + "grad_norm": 0.09066606312990189, + "learning_rate": 8.623104743875493e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26910 + }, + { + "epoch": 7.832411987198138, + "flow_matching_loss": 0.009153251349925996, + "grad_norm": 0.08647461980581284, + "learning_rate": 8.567936562219547e-07, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26920 + }, + { + "epoch": 7.835321501309282, + "flow_matching_loss": 0.01066573872230947, + "grad_norm": 0.09926164895296097, + "learning_rate": 8.512940233856847e-07, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26930 + }, + { + "epoch": 7.838231015420424, + "flow_matching_loss": 0.008554361015558242, + "grad_norm": 0.07676723599433899, + "learning_rate": 8.458115825613122e-07, + "loss": 0.0086, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26940 + }, + { + "epoch": 7.841140529531568, + "flow_matching_loss": 0.010173173667863012, + "grad_norm": 0.0724632665514946, + "learning_rate": 8.403463404105199e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26950 + }, + { + "epoch": 7.844050043642712, + "flow_matching_loss": 0.010857781441882253, + "grad_norm": 0.09397035837173462, + "learning_rate": 8.348983035740926e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26960 + }, + { + "epoch": 7.846959557753856, + "flow_matching_loss": 0.00830046129412949, + "grad_norm": 0.0545288547873497, + "learning_rate": 8.294674786719064e-07, + "loss": 0.0083, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26970 + }, + { + "epoch": 7.849869071864998, + "flow_matching_loss": 0.010871522780507802, + "grad_norm": 0.10522744804620743, + "learning_rate": 8.240538723029295e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26980 + }, + { + "epoch": 7.852778585976142, + "flow_matching_loss": 0.010598705615848303, + "grad_norm": 0.10240088403224945, + "learning_rate": 8.186574910451983e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 26990 + }, + { + "epoch": 7.855688100087286, + "flow_matching_loss": 0.011171821225434541, + "grad_norm": 0.0720023587346077, + "learning_rate": 8.132783414558326e-07, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27000 + }, + { + "epoch": 7.858597614198429, + "flow_matching_loss": 0.009653197973966599, + "grad_norm": 0.06143203005194664, + "learning_rate": 8.079164300710023e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27010 + }, + { + "epoch": 7.861507128309572, + "flow_matching_loss": 0.010458236141130329, + "grad_norm": 0.05833840370178223, + "learning_rate": 8.025717634059326e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27020 + }, + { + "epoch": 7.864416642420716, + "flow_matching_loss": 0.01093439250253141, + "grad_norm": 0.0689409151673317, + "learning_rate": 7.972443479549035e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27030 + }, + { + "epoch": 7.867326156531859, + "flow_matching_loss": 0.01151165128685534, + "grad_norm": 0.08411417156457901, + "learning_rate": 7.919341901912236e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27040 + }, + { + "epoch": 7.870235670643003, + "flow_matching_loss": 0.010692118061706423, + "grad_norm": 0.09530320763587952, + "learning_rate": 7.866412965672365e-07, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27050 + }, + { + "epoch": 7.873145184754146, + "flow_matching_loss": 0.01012338101863861, + "grad_norm": 0.096785768866539, + "learning_rate": 7.813656735143044e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27060 + }, + { + "epoch": 7.876054698865289, + "flow_matching_loss": 0.011852948181331157, + "grad_norm": 0.09148827940225601, + "learning_rate": 7.761073274428076e-07, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27070 + }, + { + "epoch": 7.878964212976433, + "flow_matching_loss": 0.012102203210815787, + "grad_norm": 0.07596560567617416, + "learning_rate": 7.708662647421355e-07, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27080 + }, + { + "epoch": 7.8818737270875765, + "flow_matching_loss": 0.00974657298065722, + "grad_norm": 0.059337317943573, + "learning_rate": 7.65642491780672e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27090 + }, + { + "epoch": 7.88478324119872, + "flow_matching_loss": 0.010850212443619967, + "grad_norm": 0.06685364991426468, + "learning_rate": 7.604360149057916e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27100 + }, + { + "epoch": 7.887692755309863, + "flow_matching_loss": 0.00976546793244779, + "grad_norm": 0.11360291391611099, + "learning_rate": 7.552468404438568e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27110 + }, + { + "epoch": 7.890602269421007, + "flow_matching_loss": 0.00988703900948167, + "grad_norm": 0.054576050490140915, + "learning_rate": 7.500749747002022e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27120 + }, + { + "epoch": 7.89351178353215, + "flow_matching_loss": 0.011334010679274798, + "grad_norm": 0.08423212915658951, + "learning_rate": 7.449204239591345e-07, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27130 + }, + { + "epoch": 7.896421297643293, + "flow_matching_loss": 0.010082857729867101, + "grad_norm": 0.07792870700359344, + "learning_rate": 7.397831944839167e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27140 + }, + { + "epoch": 7.899330811754437, + "flow_matching_loss": 0.009325619647279381, + "grad_norm": 0.07433664798736572, + "learning_rate": 7.346632925167706e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27150 + }, + { + "epoch": 7.902240325865581, + "flow_matching_loss": 0.008619047421962022, + "grad_norm": 0.07231301069259644, + "learning_rate": 7.295607242788566e-07, + "loss": 0.0086, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27160 + }, + { + "epoch": 7.905149839976724, + "flow_matching_loss": 0.009831398352980613, + "grad_norm": 0.07906166464090347, + "learning_rate": 7.244754959702765e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27170 + }, + { + "epoch": 7.908059354087867, + "flow_matching_loss": 0.012285450100898742, + "grad_norm": 0.10515879094600677, + "learning_rate": 7.194076137700628e-07, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27180 + }, + { + "epoch": 7.910968868199011, + "flow_matching_loss": 0.01061322633177042, + "grad_norm": 0.08028138428926468, + "learning_rate": 7.143570838361696e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27190 + }, + { + "epoch": 7.913878382310154, + "flow_matching_loss": 0.010762796644121409, + "grad_norm": 0.06898660957813263, + "learning_rate": 7.093239123054696e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27200 + }, + { + "epoch": 7.916787896421297, + "flow_matching_loss": 0.011212585074827076, + "grad_norm": 0.08065547049045563, + "learning_rate": 7.043081052937389e-07, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27210 + }, + { + "epoch": 7.919697410532441, + "flow_matching_loss": 0.009865417703986168, + "grad_norm": 0.07575105130672455, + "learning_rate": 6.993096688956558e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27220 + }, + { + "epoch": 7.922606924643585, + "flow_matching_loss": 0.009833095502108336, + "grad_norm": 0.0963323637843132, + "learning_rate": 6.943286091847884e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27230 + }, + { + "epoch": 7.925516438754728, + "flow_matching_loss": 0.010118394531309605, + "grad_norm": 0.07064323872327805, + "learning_rate": 6.89364932213602e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27240 + }, + { + "epoch": 7.928425952865871, + "flow_matching_loss": 0.01110367993824184, + "grad_norm": 0.09594036638736725, + "learning_rate": 6.844186440134253e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27250 + }, + { + "epoch": 7.931335466977015, + "flow_matching_loss": 0.011987202102318406, + "grad_norm": 0.09123623371124268, + "learning_rate": 6.794897505944692e-07, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27260 + }, + { + "epoch": 7.934244981088158, + "flow_matching_loss": 0.009241143194958567, + "grad_norm": 0.07669957727193832, + "learning_rate": 6.745782579457993e-07, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27270 + }, + { + "epoch": 7.937154495199302, + "flow_matching_loss": 0.010999450786039233, + "grad_norm": 0.0685543492436409, + "learning_rate": 6.696841720353453e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27280 + }, + { + "epoch": 7.940064009310445, + "flow_matching_loss": 0.010450912872329354, + "grad_norm": 0.09096186608076096, + "learning_rate": 6.648074988098834e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27290 + }, + { + "epoch": 7.942973523421589, + "flow_matching_loss": 0.010229143220931292, + "grad_norm": 0.06419625878334045, + "learning_rate": 6.599482441950322e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27300 + }, + { + "epoch": 7.945883037532732, + "flow_matching_loss": 0.01101533928886056, + "grad_norm": 0.0791768729686737, + "learning_rate": 6.551064140952417e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27310 + }, + { + "epoch": 7.9487925516438755, + "flow_matching_loss": 0.010400097351521254, + "grad_norm": 0.08217409998178482, + "learning_rate": 6.502820143937943e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27320 + }, + { + "epoch": 7.951702065755019, + "flow_matching_loss": 0.00987398880533874, + "grad_norm": 0.13251152634620667, + "learning_rate": 6.454750509527874e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27330 + }, + { + "epoch": 7.954611579866162, + "flow_matching_loss": 0.010843186639249325, + "grad_norm": 0.06485698372125626, + "learning_rate": 6.406855296131387e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27340 + }, + { + "epoch": 7.957521093977306, + "flow_matching_loss": 0.009976244065910578, + "grad_norm": 0.07259882241487503, + "learning_rate": 6.359134561945662e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27350 + }, + { + "epoch": 7.9604306080884495, + "flow_matching_loss": 0.009825913049280644, + "grad_norm": 0.07441537082195282, + "learning_rate": 6.311588364955883e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27360 + }, + { + "epoch": 7.963340122199592, + "flow_matching_loss": 0.009052017424255609, + "grad_norm": 0.06588102132081985, + "learning_rate": 6.264216762935187e-07, + "loss": 0.0091, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27370 + }, + { + "epoch": 7.966249636310736, + "flow_matching_loss": 0.010276450775563717, + "grad_norm": 0.0918654203414917, + "learning_rate": 6.21701981344453e-07, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27380 + }, + { + "epoch": 7.96915915042188, + "flow_matching_loss": 0.008706364082172513, + "grad_norm": 0.0987846851348877, + "learning_rate": 6.16999757383262e-07, + "loss": 0.0087, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27390 + }, + { + "epoch": 7.9720686645330225, + "flow_matching_loss": 0.010075021535158157, + "grad_norm": 0.08995100855827332, + "learning_rate": 6.123150101235952e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27400 + }, + { + "epoch": 7.974978178644166, + "flow_matching_loss": 0.010908256005495786, + "grad_norm": 0.18427173793315887, + "learning_rate": 6.076477452578594e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27410 + }, + { + "epoch": 7.97788769275531, + "flow_matching_loss": 0.009688466694206, + "grad_norm": 0.0742814764380455, + "learning_rate": 6.029979684572262e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27420 + }, + { + "epoch": 7.980797206866454, + "flow_matching_loss": 0.010608135396614671, + "grad_norm": 0.09990149736404419, + "learning_rate": 5.983656853716097e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27430 + }, + { + "epoch": 7.9837067209775965, + "flow_matching_loss": 0.011456883838400244, + "grad_norm": 0.0886082798242569, + "learning_rate": 5.937509016296689e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27440 + }, + { + "epoch": 7.98661623508874, + "flow_matching_loss": 0.012102286983281373, + "grad_norm": 0.08372605592012405, + "learning_rate": 5.89153622838805e-07, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27450 + }, + { + "epoch": 7.989525749199884, + "flow_matching_loss": 0.011814064532518386, + "grad_norm": 0.07907722890377045, + "learning_rate": 5.845738545851431e-07, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27460 + }, + { + "epoch": 7.992435263311027, + "flow_matching_loss": 0.00979932202026248, + "grad_norm": 0.09454092383384705, + "learning_rate": 5.800116024335334e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27470 + }, + { + "epoch": 7.99534477742217, + "flow_matching_loss": 0.010456276591867208, + "grad_norm": 0.11347765475511551, + "learning_rate": 5.75466871927543e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27480 + }, + { + "epoch": 7.998254291533314, + "flow_matching_loss": 0.009291144669987261, + "grad_norm": 0.04396914318203926, + "learning_rate": 5.709396685894463e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27490 + }, + { + "epoch": 8.001163805644458, + "flow_matching_loss": 0.008515428705140948, + "grad_norm": 0.08982586860656738, + "learning_rate": 5.664299979202264e-07, + "loss": 0.0085, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27500 + }, + { + "epoch": 8.004073319755602, + "flow_matching_loss": 0.010667217569425702, + "grad_norm": 0.07970887422561646, + "learning_rate": 5.61937865399555e-07, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27510 + }, + { + "epoch": 8.006982833866743, + "flow_matching_loss": 0.012247133441269398, + "grad_norm": 0.08284691721200943, + "learning_rate": 5.574632764857974e-07, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27520 + }, + { + "epoch": 8.009892347977887, + "flow_matching_loss": 0.009054601285606622, + "grad_norm": 0.08507928252220154, + "learning_rate": 5.53006236616001e-07, + "loss": 0.0091, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27530 + }, + { + "epoch": 8.012801862089031, + "flow_matching_loss": 0.010482650436460971, + "grad_norm": 0.078523188829422, + "learning_rate": 5.485667512058873e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27540 + }, + { + "epoch": 8.015711376200175, + "flow_matching_loss": 0.009949415177106857, + "grad_norm": 0.05013362690806389, + "learning_rate": 5.441448256498544e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27550 + }, + { + "epoch": 8.018620890311318, + "flow_matching_loss": 0.011537791416049003, + "grad_norm": 0.09012627601623535, + "learning_rate": 5.397404653209559e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27560 + }, + { + "epoch": 8.021530404422462, + "flow_matching_loss": 0.010237397952005267, + "grad_norm": 0.0822276622056961, + "learning_rate": 5.35353675570906e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27570 + }, + { + "epoch": 8.024439918533606, + "flow_matching_loss": 0.008610648103058338, + "grad_norm": 0.07952919602394104, + "learning_rate": 5.309844617300674e-07, + "loss": 0.0086, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27580 + }, + { + "epoch": 8.027349432644748, + "flow_matching_loss": 0.009690072294324637, + "grad_norm": 0.0722038745880127, + "learning_rate": 5.266328291074468e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27590 + }, + { + "epoch": 8.030258946755891, + "flow_matching_loss": 0.010779311088845134, + "grad_norm": 0.09365008026361465, + "learning_rate": 5.222987829906861e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27600 + }, + { + "epoch": 8.033168460867035, + "flow_matching_loss": 0.008760520443320274, + "grad_norm": 0.07981136441230774, + "learning_rate": 5.179823286460644e-07, + "loss": 0.0088, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27610 + }, + { + "epoch": 8.036077974978179, + "flow_matching_loss": 0.011548977624624968, + "grad_norm": 0.08453898876905441, + "learning_rate": 5.13683471318478e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27620 + }, + { + "epoch": 8.038987489089322, + "flow_matching_loss": 0.011043009394779802, + "grad_norm": 0.10264462232589722, + "learning_rate": 5.094022162314449e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27630 + }, + { + "epoch": 8.041897003200466, + "flow_matching_loss": 0.011671472946181894, + "grad_norm": 0.07610004395246506, + "learning_rate": 5.051385685870924e-07, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27640 + }, + { + "epoch": 8.044806517311608, + "flow_matching_loss": 0.009916653903201223, + "grad_norm": 0.07993102818727493, + "learning_rate": 5.008925335661546e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27650 + }, + { + "epoch": 8.047716031422752, + "flow_matching_loss": 0.010414453828707338, + "grad_norm": 0.07011323422193527, + "learning_rate": 4.966641163279662e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27660 + }, + { + "epoch": 8.050625545533896, + "flow_matching_loss": 0.009677958441898227, + "grad_norm": 0.07348698377609253, + "learning_rate": 4.924533220104521e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27670 + }, + { + "epoch": 8.05353505964504, + "flow_matching_loss": 0.010772737814113498, + "grad_norm": 0.07330601662397385, + "learning_rate": 4.882601557301231e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27680 + }, + { + "epoch": 8.056444573756183, + "flow_matching_loss": 0.012296390440315007, + "grad_norm": 0.07146850228309631, + "learning_rate": 4.840846225820717e-07, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27690 + }, + { + "epoch": 8.059354087867327, + "flow_matching_loss": 0.008724489249289036, + "grad_norm": 0.0576055571436882, + "learning_rate": 4.79926727639966e-07, + "loss": 0.0087, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27700 + }, + { + "epoch": 8.06226360197847, + "flow_matching_loss": 0.011051440658047796, + "grad_norm": 0.06967280805110931, + "learning_rate": 4.7578647595603817e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27710 + }, + { + "epoch": 8.065173116089612, + "flow_matching_loss": 0.014066977752372622, + "grad_norm": 0.0838192030787468, + "learning_rate": 4.716638725610889e-07, + "loss": 0.0141, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27720 + }, + { + "epoch": 8.068082630200756, + "flow_matching_loss": 0.010972997872158885, + "grad_norm": 0.07860556989908218, + "learning_rate": 4.6755892246446606e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27730 + }, + { + "epoch": 8.0709921443119, + "flow_matching_loss": 0.010102142766118049, + "grad_norm": 0.10097620636224747, + "learning_rate": 4.634716306540715e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27740 + }, + { + "epoch": 8.073901658423043, + "flow_matching_loss": 0.011210377886891365, + "grad_norm": 0.08401531726121902, + "learning_rate": 4.5940200209635244e-07, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27750 + }, + { + "epoch": 8.076811172534187, + "flow_matching_loss": 0.010557749355211855, + "grad_norm": 0.07820303738117218, + "learning_rate": 4.5535004173628657e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27760 + }, + { + "epoch": 8.07972068664533, + "flow_matching_loss": 0.009215686935931444, + "grad_norm": 0.06895983219146729, + "learning_rate": 4.5131575449739225e-07, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27770 + }, + { + "epoch": 8.082630200756475, + "flow_matching_loss": 0.011579205142334103, + "grad_norm": 0.081414595246315, + "learning_rate": 4.472991452817099e-07, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27780 + }, + { + "epoch": 8.085539714867616, + "flow_matching_loss": 0.010945895966142417, + "grad_norm": 0.07186565548181534, + "learning_rate": 4.433002189697938e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27790 + }, + { + "epoch": 8.08844922897876, + "flow_matching_loss": 0.012004082323983312, + "grad_norm": 0.09446801245212555, + "learning_rate": 4.393189804207187e-07, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27800 + }, + { + "epoch": 8.091358743089904, + "flow_matching_loss": 0.010406631184741855, + "grad_norm": 0.08768774569034576, + "learning_rate": 4.353554344720651e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27810 + }, + { + "epoch": 8.094268257201048, + "flow_matching_loss": 0.011237580562010407, + "grad_norm": 0.06473082304000854, + "learning_rate": 4.314095859399153e-07, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27820 + }, + { + "epoch": 8.097177771312191, + "flow_matching_loss": 0.011290136864408851, + "grad_norm": 0.053707800805568695, + "learning_rate": 4.274814396188459e-07, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27830 + }, + { + "epoch": 8.100087285423335, + "flow_matching_loss": 0.008906767843291164, + "grad_norm": 0.09567337483167648, + "learning_rate": 4.235710002819271e-07, + "loss": 0.0089, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27840 + }, + { + "epoch": 8.102996799534477, + "flow_matching_loss": 0.01038186983205378, + "grad_norm": 0.069412462413311, + "learning_rate": 4.196782726807097e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27850 + }, + { + "epoch": 8.10590631364562, + "flow_matching_loss": 0.009792650630697609, + "grad_norm": 0.1115160584449768, + "learning_rate": 4.158032615452251e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27860 + }, + { + "epoch": 8.108815827756764, + "flow_matching_loss": 0.010508062038570642, + "grad_norm": 0.07726871222257614, + "learning_rate": 4.1194597158397853e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27870 + }, + { + "epoch": 8.111725341867908, + "flow_matching_loss": 0.011464590160176157, + "grad_norm": 0.07468496263027191, + "learning_rate": 4.081064074839408e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27880 + }, + { + "epoch": 8.114634855979052, + "flow_matching_loss": 0.011533314688131213, + "grad_norm": 0.09395170211791992, + "learning_rate": 4.042845739105433e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27890 + }, + { + "epoch": 8.117544370090195, + "flow_matching_loss": 0.011086584022268652, + "grad_norm": 0.09332346171140671, + "learning_rate": 4.004804755076746e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27900 + }, + { + "epoch": 8.12045388420134, + "flow_matching_loss": 0.011912047397345304, + "grad_norm": 0.08729557693004608, + "learning_rate": 3.9669411689767063e-07, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27910 + }, + { + "epoch": 8.123363398312481, + "flow_matching_loss": 0.012545792385935783, + "grad_norm": 0.10916139930486679, + "learning_rate": 3.929255026813194e-07, + "loss": 0.0125, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27920 + }, + { + "epoch": 8.126272912423625, + "flow_matching_loss": 0.009341215575113892, + "grad_norm": 0.07576776295900345, + "learning_rate": 3.8917463743783797e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27930 + }, + { + "epoch": 8.129182426534769, + "flow_matching_loss": 0.010522042494267225, + "grad_norm": 0.07337220758199692, + "learning_rate": 3.854415257248839e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27940 + }, + { + "epoch": 8.132091940645912, + "flow_matching_loss": 0.009696560399606823, + "grad_norm": 0.0950896218419075, + "learning_rate": 3.8172617207853864e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27950 + }, + { + "epoch": 8.135001454757056, + "flow_matching_loss": 0.01106153316795826, + "grad_norm": 0.09621112793684006, + "learning_rate": 3.7802858101330773e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27960 + }, + { + "epoch": 8.1379109688682, + "flow_matching_loss": 0.009573643282055854, + "grad_norm": 0.1005440428853035, + "learning_rate": 3.743487570221121e-07, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27970 + }, + { + "epoch": 8.140820482979342, + "flow_matching_loss": 0.010107404040172695, + "grad_norm": 0.06171919405460358, + "learning_rate": 3.7068670457628517e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27980 + }, + { + "epoch": 8.143729997090485, + "flow_matching_loss": 0.011997874826192856, + "grad_norm": 0.08978815376758575, + "learning_rate": 3.6704242812556576e-07, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 27990 + }, + { + "epoch": 8.146639511201629, + "flow_matching_loss": 0.011705222027376293, + "grad_norm": 0.07639376074075699, + "learning_rate": 3.634159320980951e-07, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28000 + }, + { + "epoch": 8.149549025312773, + "flow_matching_loss": 0.012150097079575062, + "grad_norm": 0.06837945431470871, + "learning_rate": 3.5980722090040663e-07, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28010 + }, + { + "epoch": 8.152458539423916, + "flow_matching_loss": 0.01057239193469286, + "grad_norm": 0.10159637778997421, + "learning_rate": 3.5621629891742447e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28020 + }, + { + "epoch": 8.15536805353506, + "flow_matching_loss": 0.009391739731654525, + "grad_norm": 0.08452659100294113, + "learning_rate": 3.526431705124583e-07, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28030 + }, + { + "epoch": 8.158277567646204, + "flow_matching_loss": 0.010773222614079713, + "grad_norm": 0.12043188512325287, + "learning_rate": 3.4908784002719517e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28040 + }, + { + "epoch": 8.161187081757346, + "flow_matching_loss": 0.010779569344595074, + "grad_norm": 0.060289837419986725, + "learning_rate": 3.4555031178169773e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28050 + }, + { + "epoch": 8.16409659586849, + "flow_matching_loss": 0.011454324331134557, + "grad_norm": 0.10694359987974167, + "learning_rate": 3.420305900743942e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28060 + }, + { + "epoch": 8.167006109979633, + "flow_matching_loss": 0.009252378344535827, + "grad_norm": 0.05445902422070503, + "learning_rate": 3.385286791820802e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28070 + }, + { + "epoch": 8.169915624090777, + "flow_matching_loss": 0.011738212266936898, + "grad_norm": 0.08530642837285995, + "learning_rate": 3.350445833599086e-07, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28080 + }, + { + "epoch": 8.17282513820192, + "flow_matching_loss": 0.011856965394690633, + "grad_norm": 0.13441705703735352, + "learning_rate": 3.3157830684138303e-07, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28090 + }, + { + "epoch": 8.175734652313064, + "flow_matching_loss": 0.009792759828269482, + "grad_norm": 0.06322513520717621, + "learning_rate": 3.281298538383559e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28100 + }, + { + "epoch": 8.178644166424208, + "flow_matching_loss": 0.013183649396523833, + "grad_norm": 0.08261953294277191, + "learning_rate": 3.2469922854102387e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28110 + }, + { + "epoch": 8.18155368053535, + "flow_matching_loss": 0.010620574513450266, + "grad_norm": 0.07975419610738754, + "learning_rate": 3.21286435117919e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28120 + }, + { + "epoch": 8.184463194646494, + "flow_matching_loss": 0.011031136987730861, + "grad_norm": 0.07444912940263748, + "learning_rate": 3.1789147771590754e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28130 + }, + { + "epoch": 8.187372708757637, + "flow_matching_loss": 0.01078668124973774, + "grad_norm": 0.0568251833319664, + "learning_rate": 3.14514360460183e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28140 + }, + { + "epoch": 8.190282222868781, + "flow_matching_loss": 0.011410860158503056, + "grad_norm": 0.08981698006391525, + "learning_rate": 3.1115508745426293e-07, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28150 + }, + { + "epoch": 8.193191736979925, + "flow_matching_loss": 0.010629099886864423, + "grad_norm": 0.11483251303434372, + "learning_rate": 3.0781366277997716e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28160 + }, + { + "epoch": 8.196101251091068, + "flow_matching_loss": 0.010580757539719344, + "grad_norm": 0.06416536867618561, + "learning_rate": 3.044900904974762e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28170 + }, + { + "epoch": 8.19901076520221, + "flow_matching_loss": 0.010434604925103485, + "grad_norm": 0.0955556109547615, + "learning_rate": 3.011843746452081e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28180 + }, + { + "epoch": 8.201920279313354, + "flow_matching_loss": 0.010779674956575036, + "grad_norm": 0.09049782902002335, + "learning_rate": 2.9789651923993464e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28190 + }, + { + "epoch": 8.204829793424498, + "flow_matching_loss": 0.007989714108407497, + "grad_norm": 0.07718587666749954, + "learning_rate": 2.9462652827670855e-07, + "loss": 0.008, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28200 + }, + { + "epoch": 8.207739307535642, + "flow_matching_loss": 0.009445662377402186, + "grad_norm": 0.06012016534805298, + "learning_rate": 2.913744057288764e-07, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28210 + }, + { + "epoch": 8.210648821646785, + "flow_matching_loss": 0.008905262593179942, + "grad_norm": 0.055852197110652924, + "learning_rate": 2.8814015554807396e-07, + "loss": 0.0089, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28220 + }, + { + "epoch": 8.213558335757929, + "flow_matching_loss": 0.00865123481489718, + "grad_norm": 0.0791793093085289, + "learning_rate": 2.849237816642192e-07, + "loss": 0.0087, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28230 + }, + { + "epoch": 8.216467849869073, + "flow_matching_loss": 0.010624009044840932, + "grad_norm": 0.07965897768735886, + "learning_rate": 2.817252879855109e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28240 + }, + { + "epoch": 8.219377363980215, + "flow_matching_loss": 0.0111398842651397, + "grad_norm": 0.06957941502332687, + "learning_rate": 2.785446783984219e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28250 + }, + { + "epoch": 8.222286878091358, + "flow_matching_loss": 0.011707489425316454, + "grad_norm": 0.07231409847736359, + "learning_rate": 2.7538195676769076e-07, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28260 + }, + { + "epoch": 8.225196392202502, + "flow_matching_loss": 0.01154366321861744, + "grad_norm": 0.08683012425899506, + "learning_rate": 2.722371269363216e-07, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28270 + }, + { + "epoch": 8.228105906313646, + "flow_matching_loss": 0.010234089242294431, + "grad_norm": 0.04945572465658188, + "learning_rate": 2.6911019272558125e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28280 + }, + { + "epoch": 8.23101542042479, + "flow_matching_loss": 0.010154168913140893, + "grad_norm": 0.07337765395641327, + "learning_rate": 2.6600115793498857e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28290 + }, + { + "epoch": 8.233924934535933, + "flow_matching_loss": 0.01045829481445253, + "grad_norm": 0.08917877823114395, + "learning_rate": 2.629100263423151e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28300 + }, + { + "epoch": 8.236834448647077, + "flow_matching_loss": 0.012895954214036465, + "grad_norm": 0.08288819342851639, + "learning_rate": 2.598368017035763e-07, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28310 + }, + { + "epoch": 8.239743962758219, + "flow_matching_loss": 0.00957826217636466, + "grad_norm": 0.05947915464639664, + "learning_rate": 2.5678148775303e-07, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28320 + }, + { + "epoch": 8.242653476869362, + "flow_matching_loss": 0.00902412785217166, + "grad_norm": 0.07898776233196259, + "learning_rate": 2.537440882031683e-07, + "loss": 0.009, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28330 + }, + { + "epoch": 8.245562990980506, + "flow_matching_loss": 0.011376124480739236, + "grad_norm": 0.11981292814016342, + "learning_rate": 2.5072460674472385e-07, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28340 + }, + { + "epoch": 8.24847250509165, + "flow_matching_loss": 0.009686765354126691, + "grad_norm": 0.09410183131694794, + "learning_rate": 2.4772304704664683e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28350 + }, + { + "epoch": 8.251382019202794, + "flow_matching_loss": 0.011176220141351223, + "grad_norm": 0.08903844654560089, + "learning_rate": 2.447394127561181e-07, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28360 + }, + { + "epoch": 8.254291533313937, + "flow_matching_loss": 0.010126390028744936, + "grad_norm": 0.0975920632481575, + "learning_rate": 2.41773707498531e-07, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28370 + }, + { + "epoch": 8.25720104742508, + "flow_matching_loss": 0.011182994302362203, + "grad_norm": 0.07793319970369339, + "learning_rate": 2.388259348774996e-07, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28380 + }, + { + "epoch": 8.260110561536223, + "flow_matching_loss": 0.01047974512912333, + "grad_norm": 0.07351244240999222, + "learning_rate": 2.358960984748454e-07, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28390 + }, + { + "epoch": 8.263020075647367, + "flow_matching_loss": 0.009279131377115845, + "grad_norm": 0.07612539082765579, + "learning_rate": 2.3298420185059565e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28400 + }, + { + "epoch": 8.26592958975851, + "flow_matching_loss": 0.01032433365471661, + "grad_norm": 0.09854380041360855, + "learning_rate": 2.3009024854297844e-07, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28410 + }, + { + "epoch": 8.268839103869654, + "flow_matching_loss": 0.009183858521282673, + "grad_norm": 0.12800656259059906, + "learning_rate": 2.272142420684209e-07, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28420 + }, + { + "epoch": 8.271748617980798, + "flow_matching_loss": 0.009699017135426402, + "grad_norm": 0.05776737630367279, + "learning_rate": 2.243561859215426e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28430 + }, + { + "epoch": 8.274658132091941, + "flow_matching_loss": 0.009256695304065943, + "grad_norm": 0.11102170497179031, + "learning_rate": 2.2151608357514897e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28440 + }, + { + "epoch": 8.277567646203083, + "flow_matching_loss": 0.010002419725060463, + "grad_norm": 0.10910266637802124, + "learning_rate": 2.186939384802361e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28450 + }, + { + "epoch": 8.280477160314227, + "flow_matching_loss": 0.009546378068625927, + "grad_norm": 0.08542653173208237, + "learning_rate": 2.1588975406597266e-07, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28460 + }, + { + "epoch": 8.28338667442537, + "flow_matching_loss": 0.011040151212364435, + "grad_norm": 0.0754520371556282, + "learning_rate": 2.131035337397097e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28470 + }, + { + "epoch": 8.286296188536515, + "flow_matching_loss": 0.011136380629613996, + "grad_norm": 0.08447588235139847, + "learning_rate": 2.1033528088696575e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28480 + }, + { + "epoch": 8.289205702647658, + "flow_matching_loss": 0.008963496936485172, + "grad_norm": 0.09167563170194626, + "learning_rate": 2.0758499887143012e-07, + "loss": 0.009, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28490 + }, + { + "epoch": 8.292115216758802, + "flow_matching_loss": 0.012649535341188312, + "grad_norm": 0.10338184982538223, + "learning_rate": 2.0485269103495462e-07, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28500 + }, + { + "epoch": 8.295024730869944, + "flow_matching_loss": 0.010362182836979627, + "grad_norm": 0.06721214205026627, + "learning_rate": 2.021383606975502e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28510 + }, + { + "epoch": 8.297934244981088, + "flow_matching_loss": 0.009375488013029098, + "grad_norm": 0.05638929456472397, + "learning_rate": 1.9944201115738524e-07, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28520 + }, + { + "epoch": 8.300843759092231, + "flow_matching_loss": 0.00917379017919302, + "grad_norm": 0.07493069767951965, + "learning_rate": 1.9676364569077732e-07, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28530 + }, + { + "epoch": 8.303753273203375, + "flow_matching_loss": 0.010781296528875828, + "grad_norm": 0.09643234312534332, + "learning_rate": 1.9410326755219477e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28540 + }, + { + "epoch": 8.306662787314519, + "flow_matching_loss": 0.009464219212532043, + "grad_norm": 0.10713868588209152, + "learning_rate": 1.9146087997424677e-07, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28550 + }, + { + "epoch": 8.309572301425662, + "flow_matching_loss": 0.009640657762065529, + "grad_norm": 0.08537644147872925, + "learning_rate": 1.8883648616768335e-07, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28560 + }, + { + "epoch": 8.312481815536806, + "flow_matching_loss": 0.011625664355233312, + "grad_norm": 0.05447768419981003, + "learning_rate": 1.862300893213903e-07, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28570 + }, + { + "epoch": 8.315391329647948, + "flow_matching_loss": 0.012100516678765416, + "grad_norm": 0.08653946220874786, + "learning_rate": 1.8364169260238595e-07, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28580 + }, + { + "epoch": 8.318300843759092, + "flow_matching_loss": 0.009980141837149858, + "grad_norm": 0.14622712135314941, + "learning_rate": 1.8107129915581777e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28590 + }, + { + "epoch": 8.321210357870235, + "flow_matching_loss": 0.010838162526488304, + "grad_norm": 0.0761353000998497, + "learning_rate": 1.785189121049541e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28600 + }, + { + "epoch": 8.32411987198138, + "flow_matching_loss": 0.009777587838470936, + "grad_norm": 0.1016928106546402, + "learning_rate": 1.7598453455118567e-07, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28610 + }, + { + "epoch": 8.327029386092523, + "flow_matching_loss": 0.010390116833150387, + "grad_norm": 0.0805063247680664, + "learning_rate": 1.7346816957402256e-07, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28620 + }, + { + "epoch": 8.329938900203667, + "flow_matching_loss": 0.0110835253726691, + "grad_norm": 0.08442959189414978, + "learning_rate": 1.7096982023108389e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28630 + }, + { + "epoch": 8.33284841431481, + "flow_matching_loss": 0.01113104703836143, + "grad_norm": 0.09329508990049362, + "learning_rate": 1.6848948955809963e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28640 + }, + { + "epoch": 8.335757928425952, + "flow_matching_loss": 0.009743303200230003, + "grad_norm": 0.07889767736196518, + "learning_rate": 1.66027180568904e-07, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28650 + }, + { + "epoch": 8.338667442537096, + "flow_matching_loss": 0.010296969581395388, + "grad_norm": 0.10030130296945572, + "learning_rate": 1.6358289625543865e-07, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28660 + }, + { + "epoch": 8.34157695664824, + "flow_matching_loss": 0.01136378301307559, + "grad_norm": 0.08552517741918564, + "learning_rate": 1.6115663958773618e-07, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28670 + }, + { + "epoch": 8.344486470759383, + "flow_matching_loss": 0.008635021978989244, + "grad_norm": 0.059713274240493774, + "learning_rate": 1.5874841351392832e-07, + "loss": 0.0086, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28680 + }, + { + "epoch": 8.347395984870527, + "flow_matching_loss": 0.011437764251604676, + "grad_norm": 0.09333069622516632, + "learning_rate": 1.56358220960236e-07, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28690 + }, + { + "epoch": 8.35030549898167, + "flow_matching_loss": 0.010248766746371984, + "grad_norm": 0.07715767621994019, + "learning_rate": 1.5398606483096932e-07, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28700 + }, + { + "epoch": 8.353215013092813, + "flow_matching_loss": 0.009886850509792567, + "grad_norm": 0.06643490493297577, + "learning_rate": 1.5163194800852265e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28710 + }, + { + "epoch": 8.356124527203956, + "flow_matching_loss": 0.010935871908441187, + "grad_norm": 0.075045645236969, + "learning_rate": 1.4929587335336614e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28720 + }, + { + "epoch": 8.3590340413151, + "flow_matching_loss": 0.009271859377622604, + "grad_norm": 0.07377341389656067, + "learning_rate": 1.4697784370405587e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28730 + }, + { + "epoch": 8.361943555426244, + "flow_matching_loss": 0.009859417844563723, + "grad_norm": 0.059782885015010834, + "learning_rate": 1.4467786187721376e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28740 + }, + { + "epoch": 8.364853069537387, + "flow_matching_loss": 0.011019919998943806, + "grad_norm": 0.08579306304454803, + "learning_rate": 1.4239593066753265e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28750 + }, + { + "epoch": 8.367762583648531, + "flow_matching_loss": 0.011912084138020872, + "grad_norm": 0.06305287033319473, + "learning_rate": 1.4013205284777953e-07, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28760 + }, + { + "epoch": 8.370672097759675, + "flow_matching_loss": 0.010008790763095021, + "grad_norm": 0.09728995710611343, + "learning_rate": 1.3788623116877397e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28770 + }, + { + "epoch": 8.373581611870817, + "flow_matching_loss": 0.01106464839540422, + "grad_norm": 0.07048656791448593, + "learning_rate": 1.3565846835940477e-07, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28780 + }, + { + "epoch": 8.37649112598196, + "flow_matching_loss": 0.009995214128866791, + "grad_norm": 0.10492663085460663, + "learning_rate": 1.334487671266116e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28790 + }, + { + "epoch": 8.379400640093104, + "flow_matching_loss": 0.009561385167762637, + "grad_norm": 0.05927266925573349, + "learning_rate": 1.3125713015538998e-07, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28800 + }, + { + "epoch": 8.382310154204248, + "flow_matching_loss": 0.010885322466492653, + "grad_norm": 0.0904870331287384, + "learning_rate": 1.290835601087864e-07, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28810 + }, + { + "epoch": 8.385219668315392, + "flow_matching_loss": 0.011777248838916421, + "grad_norm": 0.08718689531087875, + "learning_rate": 1.2692805962789323e-07, + "loss": 0.0118, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28820 + }, + { + "epoch": 8.388129182426535, + "flow_matching_loss": 0.010987060982733965, + "grad_norm": 0.09973598271608353, + "learning_rate": 1.2479063133184698e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28830 + }, + { + "epoch": 8.391038696537677, + "flow_matching_loss": 0.009972097724676133, + "grad_norm": 0.10554683953523636, + "learning_rate": 1.2267127781782516e-07, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28840 + }, + { + "epoch": 8.393948210648821, + "flow_matching_loss": 0.011035341443493963, + "grad_norm": 0.05533985421061516, + "learning_rate": 1.205700016610395e-07, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28850 + }, + { + "epoch": 8.396857724759965, + "flow_matching_loss": 0.010610326658934355, + "grad_norm": 0.07396028935909271, + "learning_rate": 1.1848680541474088e-07, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28860 + }, + { + "epoch": 8.399767238871108, + "flow_matching_loss": 0.013905890053138137, + "grad_norm": 0.12011277675628662, + "learning_rate": 1.1642169161020955e-07, + "loss": 0.0139, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28870 + }, + { + "epoch": 8.402676752982252, + "flow_matching_loss": 0.010792952310293914, + "grad_norm": 0.109613336622715, + "learning_rate": 1.1437466275675156e-07, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28880 + }, + { + "epoch": 8.405586267093396, + "flow_matching_loss": 0.009333637170493602, + "grad_norm": 0.0750109925866127, + "learning_rate": 1.1234572134170229e-07, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28890 + }, + { + "epoch": 8.40849578120454, + "flow_matching_loss": 0.011271337792277337, + "grad_norm": 0.0863298550248146, + "learning_rate": 1.1033486983041463e-07, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28900 + }, + { + "epoch": 8.411405295315681, + "flow_matching_loss": 0.012342607975006104, + "grad_norm": 0.08782031387090683, + "learning_rate": 1.0834211066626409e-07, + "loss": 0.0123, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28910 + }, + { + "epoch": 8.414314809426825, + "flow_matching_loss": 0.009444311261177063, + "grad_norm": 0.09721724689006805, + "learning_rate": 1.0636744627064044e-07, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28920 + }, + { + "epoch": 8.417224323537969, + "flow_matching_loss": 0.011298698466271162, + "grad_norm": 0.17689548432826996, + "learning_rate": 1.0441087904294766e-07, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28930 + }, + { + "epoch": 8.420133837649113, + "flow_matching_loss": 0.009923211811110378, + "grad_norm": 0.07013892382383347, + "learning_rate": 1.0247241136059904e-07, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28940 + }, + { + "epoch": 8.423043351760256, + "flow_matching_loss": 0.01315754447132349, + "grad_norm": 0.05485199764370918, + "learning_rate": 1.0055204557901709e-07, + "loss": 0.0132, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28950 + }, + { + "epoch": 8.4259528658714, + "flow_matching_loss": 0.01214060210622847, + "grad_norm": 0.08484098315238953, + "learning_rate": 9.864978403162361e-08, + "loss": 0.0121, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28960 + }, + { + "epoch": 8.428862379982544, + "flow_matching_loss": 0.010441107302904129, + "grad_norm": 0.09005416184663773, + "learning_rate": 9.676562902984965e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28970 + }, + { + "epoch": 8.431771894093686, + "flow_matching_loss": 0.010367839876562358, + "grad_norm": 0.10602077841758728, + "learning_rate": 9.489958286311883e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28980 + }, + { + "epoch": 8.43468140820483, + "flow_matching_loss": 0.009569370513781905, + "grad_norm": 0.07421784847974777, + "learning_rate": 9.30516477988541e-08, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 28990 + }, + { + "epoch": 8.437590922315973, + "flow_matching_loss": 0.009691590769216418, + "grad_norm": 0.061040159314870834, + "learning_rate": 9.122182608247098e-08, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29000 + }, + { + "epoch": 8.440500436427117, + "flow_matching_loss": 0.01071985810995102, + "grad_norm": 0.14782527089118958, + "learning_rate": 8.94101199373759e-08, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29010 + }, + { + "epoch": 8.44340995053826, + "flow_matching_loss": 0.01103644361719489, + "grad_norm": 0.08035648614168167, + "learning_rate": 8.761653156495964e-08, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29020 + }, + { + "epoch": 8.446319464649404, + "flow_matching_loss": 0.010407956084236503, + "grad_norm": 0.08304741978645325, + "learning_rate": 8.584106314460549e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29030 + }, + { + "epoch": 8.449228978760548, + "flow_matching_loss": 0.010256064403802157, + "grad_norm": 0.089810810983181, + "learning_rate": 8.408371683367111e-08, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29040 + }, + { + "epoch": 8.45213849287169, + "flow_matching_loss": 0.011446538986638189, + "grad_norm": 0.06323792785406113, + "learning_rate": 8.234449476750172e-08, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29050 + }, + { + "epoch": 8.455048006982834, + "flow_matching_loss": 0.01163863455876708, + "grad_norm": 0.07413078099489212, + "learning_rate": 8.062339905941351e-08, + "loss": 0.0116, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29060 + }, + { + "epoch": 8.457957521093977, + "flow_matching_loss": 0.011160244466736913, + "grad_norm": 0.10310979187488556, + "learning_rate": 7.89204318007003e-08, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29070 + }, + { + "epoch": 8.460867035205121, + "flow_matching_loss": 0.009954991843551397, + "grad_norm": 0.10598742961883545, + "learning_rate": 7.723559506062849e-08, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29080 + }, + { + "epoch": 8.463776549316265, + "flow_matching_loss": 0.009268459351733326, + "grad_norm": 0.07848119735717773, + "learning_rate": 7.556889088643381e-08, + "loss": 0.0093, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29090 + }, + { + "epoch": 8.466686063427408, + "flow_matching_loss": 0.01019671866670251, + "grad_norm": 0.05986141040921211, + "learning_rate": 7.392032130331793e-08, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29100 + }, + { + "epoch": 8.46959557753855, + "flow_matching_loss": 0.01146859573200345, + "grad_norm": 0.12083681672811508, + "learning_rate": 7.228988831445015e-08, + "loss": 0.0115, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29110 + }, + { + "epoch": 8.472505091649694, + "flow_matching_loss": 0.012204935494810342, + "grad_norm": 0.10574588924646378, + "learning_rate": 7.06775939009574e-08, + "loss": 0.0122, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29120 + }, + { + "epoch": 8.475414605760838, + "flow_matching_loss": 0.01081278482452035, + "grad_norm": 0.06652515381574631, + "learning_rate": 6.908344002193256e-08, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29130 + }, + { + "epoch": 8.478324119871981, + "flow_matching_loss": 0.011095272051170469, + "grad_norm": 0.07037835568189621, + "learning_rate": 6.750742861442116e-08, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29140 + }, + { + "epoch": 8.481233633983125, + "flow_matching_loss": 0.010936016775667667, + "grad_norm": 0.07672052085399628, + "learning_rate": 6.594956159342636e-08, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29150 + }, + { + "epoch": 8.484143148094269, + "flow_matching_loss": 0.011157416133210063, + "grad_norm": 0.095799021422863, + "learning_rate": 6.440984085190394e-08, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29160 + }, + { + "epoch": 8.487052662205413, + "flow_matching_loss": 0.010699177347123622, + "grad_norm": 0.0722029060125351, + "learning_rate": 6.288826826075733e-08, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29170 + }, + { + "epoch": 8.489962176316554, + "flow_matching_loss": 0.01122671258635819, + "grad_norm": 0.061905715614557266, + "learning_rate": 6.138484566884261e-08, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29180 + }, + { + "epoch": 8.492871690427698, + "flow_matching_loss": 0.010171972215175629, + "grad_norm": 0.07632776349782944, + "learning_rate": 5.989957490296183e-08, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29190 + }, + { + "epoch": 8.495781204538842, + "flow_matching_loss": 0.008832163456827403, + "grad_norm": 0.08586814254522324, + "learning_rate": 5.843245776785466e-08, + "loss": 0.0088, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29200 + }, + { + "epoch": 8.498690718649986, + "flow_matching_loss": 0.01017975532449782, + "grad_norm": 0.13610270619392395, + "learning_rate": 5.6983496046210115e-08, + "loss": 0.0102, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29210 + }, + { + "epoch": 8.50160023276113, + "flow_matching_loss": 0.009962591901421547, + "grad_norm": 0.08385904878377914, + "learning_rate": 5.5552691498653165e-08, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29220 + }, + { + "epoch": 8.504509746872273, + "flow_matching_loss": 0.010374657809734344, + "grad_norm": 0.08716492354869843, + "learning_rate": 5.4140045863743106e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29230 + }, + { + "epoch": 8.507419260983415, + "flow_matching_loss": 0.011009647324681283, + "grad_norm": 0.06843648105859756, + "learning_rate": 5.274556085798188e-08, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29240 + }, + { + "epoch": 8.510328775094559, + "flow_matching_loss": 0.009750726446509362, + "grad_norm": 0.09712669998407364, + "learning_rate": 5.136923817579742e-08, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29250 + }, + { + "epoch": 8.513238289205702, + "flow_matching_loss": 0.011395205231383442, + "grad_norm": 0.12549637258052826, + "learning_rate": 5.001107948955197e-08, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29260 + }, + { + "epoch": 8.516147803316846, + "flow_matching_loss": 0.01107947682030499, + "grad_norm": 0.0928596630692482, + "learning_rate": 4.867108644953711e-08, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29270 + }, + { + "epoch": 8.51905731742799, + "flow_matching_loss": 0.011992256063967944, + "grad_norm": 0.12148679047822952, + "learning_rate": 4.734926068397038e-08, + "loss": 0.012, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29280 + }, + { + "epoch": 8.521966831539133, + "flow_matching_loss": 0.010956129245460033, + "grad_norm": 0.09872225672006607, + "learning_rate": 4.604560379899536e-08, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29290 + }, + { + "epoch": 8.524876345650277, + "flow_matching_loss": 0.009974208008497954, + "grad_norm": 0.09959685802459717, + "learning_rate": 4.476011737867658e-08, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29300 + }, + { + "epoch": 8.52778585976142, + "flow_matching_loss": 0.009888873947784305, + "grad_norm": 0.06658578664064407, + "learning_rate": 4.349280298500291e-08, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29310 + }, + { + "epoch": 8.530695373872563, + "flow_matching_loss": 0.011872372636571527, + "grad_norm": 0.09960304200649261, + "learning_rate": 4.224366215787923e-08, + "loss": 0.0119, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29320 + }, + { + "epoch": 8.533604887983707, + "flow_matching_loss": 0.00963175529614091, + "grad_norm": 0.07988251000642776, + "learning_rate": 4.101269641513139e-08, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29330 + }, + { + "epoch": 8.53651440209485, + "flow_matching_loss": 0.011304049333557487, + "grad_norm": 0.0870433822274208, + "learning_rate": 3.979990725249627e-08, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29340 + }, + { + "epoch": 8.539423916205994, + "flow_matching_loss": 0.011657510697841645, + "grad_norm": 0.07461696118116379, + "learning_rate": 3.860529614363006e-08, + "loss": 0.0117, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29350 + }, + { + "epoch": 8.542333430317138, + "flow_matching_loss": 0.010719942394644022, + "grad_norm": 0.06670594960451126, + "learning_rate": 3.742886454009664e-08, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29360 + }, + { + "epoch": 8.545242944428281, + "flow_matching_loss": 0.010355560248717666, + "grad_norm": 0.0987950786948204, + "learning_rate": 3.627061387137087e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29370 + }, + { + "epoch": 8.548152458539423, + "flow_matching_loss": 0.009661255311220885, + "grad_norm": 0.09710411727428436, + "learning_rate": 3.5130545544835305e-08, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29380 + }, + { + "epoch": 8.551061972650567, + "flow_matching_loss": 0.010851487703621387, + "grad_norm": 0.09530377388000488, + "learning_rate": 3.400866094578348e-08, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29390 + }, + { + "epoch": 8.55397148676171, + "flow_matching_loss": 0.0103685331530869, + "grad_norm": 0.0942530557513237, + "learning_rate": 3.290496143740829e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29400 + }, + { + "epoch": 8.556881000872854, + "flow_matching_loss": 0.009797549853101373, + "grad_norm": 0.05902817100286484, + "learning_rate": 3.18194483608103e-08, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29410 + }, + { + "epoch": 8.559790514983998, + "flow_matching_loss": 0.010632897261530161, + "grad_norm": 0.10369475930929184, + "learning_rate": 3.075212303498942e-08, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29420 + }, + { + "epoch": 8.562700029095142, + "flow_matching_loss": 0.01400181851349771, + "grad_norm": 0.12277210503816605, + "learning_rate": 2.9702986756846574e-08, + "loss": 0.014, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29430 + }, + { + "epoch": 8.565609543206284, + "flow_matching_loss": 0.007555888034403324, + "grad_norm": 0.06173617020249367, + "learning_rate": 2.867204080118202e-08, + "loss": 0.0076, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29440 + }, + { + "epoch": 8.568519057317427, + "flow_matching_loss": 0.009011116996407508, + "grad_norm": 0.10804957151412964, + "learning_rate": 2.7659286420693708e-08, + "loss": 0.009, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29450 + }, + { + "epoch": 8.571428571428571, + "flow_matching_loss": 0.012583113834261894, + "grad_norm": 0.1597001701593399, + "learning_rate": 2.6664724845968934e-08, + "loss": 0.0126, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29460 + }, + { + "epoch": 8.574338085539715, + "flow_matching_loss": 0.010372208384796976, + "grad_norm": 0.05611683800816536, + "learning_rate": 2.5688357285499343e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29470 + }, + { + "epoch": 8.577247599650859, + "flow_matching_loss": 0.01034458433277905, + "grad_norm": 0.06938855350017548, + "learning_rate": 2.473018492565926e-08, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29480 + }, + { + "epoch": 8.580157113762002, + "flow_matching_loss": 0.010910525359213353, + "grad_norm": 0.07317733764648438, + "learning_rate": 2.3790208930720702e-08, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29490 + }, + { + "epoch": 8.583066627873146, + "flow_matching_loss": 0.01089434982277453, + "grad_norm": 0.08457018435001373, + "learning_rate": 2.2868430442843368e-08, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29500 + }, + { + "epoch": 8.585976141984288, + "flow_matching_loss": 0.010043733194470406, + "grad_norm": 0.0968342050909996, + "learning_rate": 2.196485058207298e-08, + "loss": 0.01, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29510 + }, + { + "epoch": 8.588885656095432, + "flow_matching_loss": 0.010373715870082378, + "grad_norm": 0.061755407601594925, + "learning_rate": 2.1079470446346282e-08, + "loss": 0.0104, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29520 + }, + { + "epoch": 8.591795170206575, + "flow_matching_loss": 0.009879330778494478, + "grad_norm": 0.12694159150123596, + "learning_rate": 2.0212291111482707e-08, + "loss": 0.0099, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29530 + }, + { + "epoch": 8.594704684317719, + "flow_matching_loss": 0.011068852571770548, + "grad_norm": 0.0803522989153862, + "learning_rate": 1.9363313631187707e-08, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29540 + }, + { + "epoch": 8.597614198428863, + "flow_matching_loss": 0.009479541378095747, + "grad_norm": 0.0754641517996788, + "learning_rate": 1.853253903704777e-08, + "loss": 0.0095, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29550 + }, + { + "epoch": 8.600523712540006, + "flow_matching_loss": 0.011333701759576797, + "grad_norm": 0.07052159309387207, + "learning_rate": 1.7719968338533733e-08, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29560 + }, + { + "epoch": 8.603433226651148, + "flow_matching_loss": 0.009730620682239533, + "grad_norm": 0.09077068418264389, + "learning_rate": 1.6925602522992467e-08, + "loss": 0.0097, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29570 + }, + { + "epoch": 8.606342740762292, + "flow_matching_loss": 0.01241006813943386, + "grad_norm": 0.0749494880437851, + "learning_rate": 1.6149442555658533e-08, + "loss": 0.0124, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29580 + }, + { + "epoch": 8.609252254873436, + "flow_matching_loss": 0.010071695223450661, + "grad_norm": 0.07900556921958923, + "learning_rate": 1.5391489379635858e-08, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29590 + }, + { + "epoch": 8.61216176898458, + "flow_matching_loss": 0.010672840801998974, + "grad_norm": 0.08105219900608063, + "learning_rate": 1.4651743915909399e-08, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29600 + }, + { + "epoch": 8.615071283095723, + "flow_matching_loss": 0.010311632743105292, + "grad_norm": 0.09860556572675705, + "learning_rate": 1.3930207063340139e-08, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29610 + }, + { + "epoch": 8.617980797206867, + "flow_matching_loss": 0.01075206850655377, + "grad_norm": 0.07867202907800674, + "learning_rate": 1.322687969866343e-08, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29620 + }, + { + "epoch": 8.62089031131801, + "flow_matching_loss": 0.01094251531176269, + "grad_norm": 0.08317834138870239, + "learning_rate": 1.2541762676488989e-08, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29630 + }, + { + "epoch": 8.623799825429153, + "flow_matching_loss": 0.011324017960578203, + "grad_norm": 0.08078702539205551, + "learning_rate": 1.1874856829297564e-08, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29640 + }, + { + "epoch": 8.626709339540296, + "flow_matching_loss": 0.010346961067989468, + "grad_norm": 0.1020401269197464, + "learning_rate": 1.1226162967442611e-08, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29650 + }, + { + "epoch": 8.62961885365144, + "flow_matching_loss": 0.009429942816495895, + "grad_norm": 0.07180755585432053, + "learning_rate": 1.059568187914861e-08, + "loss": 0.0094, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29660 + }, + { + "epoch": 8.632528367762584, + "flow_matching_loss": 0.008931871177628637, + "grad_norm": 0.09014908224344254, + "learning_rate": 9.983414330511087e-09, + "loss": 0.0089, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29670 + }, + { + "epoch": 8.635437881873727, + "flow_matching_loss": 0.010726378671824932, + "grad_norm": 0.08092813193798065, + "learning_rate": 9.389361065489932e-09, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29680 + }, + { + "epoch": 8.638347395984871, + "flow_matching_loss": 0.011013855878263711, + "grad_norm": 0.09948878735303879, + "learning_rate": 8.81352280591774e-09, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29690 + }, + { + "epoch": 8.641256910096015, + "flow_matching_loss": 0.011444931384176016, + "grad_norm": 0.10025478899478912, + "learning_rate": 8.255900251491478e-09, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29700 + }, + { + "epoch": 8.644166424207157, + "flow_matching_loss": 0.010118968784809113, + "grad_norm": 0.09610414505004883, + "learning_rate": 7.716494079775816e-09, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29710 + }, + { + "epoch": 8.6470759383183, + "flow_matching_loss": 0.009623241191729904, + "grad_norm": 0.06755433976650238, + "learning_rate": 7.195304946199799e-09, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29720 + }, + { + "epoch": 8.649985452429444, + "flow_matching_loss": 0.010109672555699944, + "grad_norm": 0.08099759370088577, + "learning_rate": 6.692333484056845e-09, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29730 + }, + { + "epoch": 8.652894966540588, + "flow_matching_loss": 0.00879377224482596, + "grad_norm": 0.09022429585456848, + "learning_rate": 6.207580304506411e-09, + "loss": 0.0088, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29740 + }, + { + "epoch": 8.655804480651732, + "flow_matching_loss": 0.011306880740448833, + "grad_norm": 0.08098825067281723, + "learning_rate": 5.741045996567329e-09, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29750 + }, + { + "epoch": 8.658713994762875, + "flow_matching_loss": 0.010796928405761718, + "grad_norm": 0.08697812259197235, + "learning_rate": 5.2927311271244725e-09, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29760 + }, + { + "epoch": 8.661623508874017, + "flow_matching_loss": 0.010477891191840172, + "grad_norm": 0.07113132625818253, + "learning_rate": 4.8626362409204265e-09, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29770 + }, + { + "epoch": 8.664533022985161, + "flow_matching_loss": 0.011199368769302965, + "grad_norm": 0.07691290229558945, + "learning_rate": 4.4507618605638126e-09, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29780 + }, + { + "epoch": 8.667442537096305, + "flow_matching_loss": 0.010278470907360315, + "grad_norm": 0.06751096993684769, + "learning_rate": 4.057108486519301e-09, + "loss": 0.0103, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29790 + }, + { + "epoch": 8.670352051207448, + "flow_matching_loss": 0.010746479965746403, + "grad_norm": 0.06402996927499771, + "learning_rate": 3.6816765971126043e-09, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29800 + }, + { + "epoch": 8.673261565318592, + "flow_matching_loss": 0.011309425206854939, + "grad_norm": 0.09865808486938477, + "learning_rate": 3.324466648528812e-09, + "loss": 0.0113, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29810 + }, + { + "epoch": 8.676171079429736, + "flow_matching_loss": 0.010103942407295109, + "grad_norm": 0.09705726057291031, + "learning_rate": 2.9854790748123917e-09, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29820 + }, + { + "epoch": 8.67908059354088, + "flow_matching_loss": 0.010478224698454141, + "grad_norm": 0.07273107767105103, + "learning_rate": 2.664714287865522e-09, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29830 + }, + { + "epoch": 8.681990107652021, + "flow_matching_loss": 0.010599719919264316, + "grad_norm": 0.08008455485105515, + "learning_rate": 2.362172677446428e-09, + "loss": 0.0106, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29840 + }, + { + "epoch": 8.684899621763165, + "flow_matching_loss": 0.010715257516130805, + "grad_norm": 0.07293089479207993, + "learning_rate": 2.0778546111727137e-09, + "loss": 0.0107, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29850 + }, + { + "epoch": 8.687809135874309, + "flow_matching_loss": 0.011380226211622357, + "grad_norm": 0.06920681148767471, + "learning_rate": 1.811760434516363e-09, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29860 + }, + { + "epoch": 8.690718649985453, + "flow_matching_loss": 0.009553426923230291, + "grad_norm": 0.06733477860689163, + "learning_rate": 1.5638904708087377e-09, + "loss": 0.0096, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29870 + }, + { + "epoch": 8.693628164096596, + "flow_matching_loss": 0.011371547123417258, + "grad_norm": 0.09074565023183823, + "learning_rate": 1.3342450212355805e-09, + "loss": 0.0114, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29880 + }, + { + "epoch": 8.69653767820774, + "flow_matching_loss": 0.011214715940877796, + "grad_norm": 0.08736872673034668, + "learning_rate": 1.122824364835351e-09, + "loss": 0.0112, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29890 + }, + { + "epoch": 8.699447192318882, + "flow_matching_loss": 0.010829030396416783, + "grad_norm": 0.06778644025325775, + "learning_rate": 9.296287585042196e-10, + "loss": 0.0108, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29900 + }, + { + "epoch": 8.702356706430026, + "flow_matching_loss": 0.010124659119173884, + "grad_norm": 0.06922424584627151, + "learning_rate": 7.546584369960697e-10, + "loss": 0.0101, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29910 + }, + { + "epoch": 8.70526622054117, + "flow_matching_loss": 0.011148883448913693, + "grad_norm": 0.08066488057374954, + "learning_rate": 5.97913612912504e-10, + "loss": 0.0111, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29920 + }, + { + "epoch": 8.708175734652313, + "flow_matching_loss": 0.012861263286322356, + "grad_norm": 0.09222516417503357, + "learning_rate": 4.593944767161684e-10, + "loss": 0.0129, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29930 + }, + { + "epoch": 8.711085248763457, + "flow_matching_loss": 0.010982274264097213, + "grad_norm": 0.06135239452123642, + "learning_rate": 3.391011967207591e-10, + "loss": 0.011, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29940 + }, + { + "epoch": 8.7139947628746, + "flow_matching_loss": 0.010946502350270748, + "grad_norm": 0.08148743212223053, + "learning_rate": 2.370339190910231e-10, + "loss": 0.0109, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29950 + }, + { + "epoch": 8.716904276985744, + "flow_matching_loss": 0.00978581360541284, + "grad_norm": 0.08739304542541504, + "learning_rate": 1.531927678510847e-10, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29960 + }, + { + "epoch": 8.719813791096886, + "flow_matching_loss": 0.010512025281786918, + "grad_norm": 0.10385002940893173, + "learning_rate": 8.757784487611886e-11, + "loss": 0.0105, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29970 + }, + { + "epoch": 8.72272330520803, + "flow_matching_loss": 0.009765402460470796, + "grad_norm": 0.07492012530565262, + "learning_rate": 4.018922989235119e-11, + "loss": 0.0098, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29980 + }, + { + "epoch": 8.725632819319173, + "flow_matching_loss": 0.009229168621823191, + "grad_norm": 0.09967584162950516, + "learning_rate": 1.1026980482053972e-11, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 29990 + }, + { + "epoch": 8.728542333430317, + "flow_matching_loss": 0.009153351467102767, + "grad_norm": 0.0790950283408165, + "learning_rate": 9.113208188082922e-14, + "loss": 0.0092, + "rkd_action_temp": 0.10000000149011612, + "rkd_fm_loss_weight": 1.0, + "rkd_loss": 0.0, + "rkd_loss_weight": 0.0, + "rkd_relation_mode_id": 0.0, + "rkd_vlm_temp": 0.10000000149011612, + "step": 30000 + }, + { + "epoch": 8.728542333430317, + "step": 30000, + "total_flos": 0.0, + "train_loss": 0.015052889400472244, + "train_runtime": 56618.3263, + "train_samples_per_second": 67.823, + "train_steps_per_second": 0.53 + } + ], + "logging_steps": 10, + "max_steps": 30000, + "num_input_tokens_seen": 0, + "num_train_epochs": 9, + "save_steps": 1, + "stateful_callbacks": { + "TrainerControl": { + "args": { + "should_epoch_stop": false, + "should_evaluate": false, + "should_log": false, + "should_save": false, + "should_training_stop": false + }, + "attributes": {} + } + }, + "total_flos": 0.0, + "train_batch_size": 64, + "trial_name": null, + "trial_params": null +} diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/training_args.bin b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/training_args.bin new file mode 100644 index 0000000000000000000000000000000000000000..17962d75b6a79cb8d635160c0cb9a9758ca8fb16 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/phase3/training_args.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:111a19aee680b87b6459bd60d45c02bbf010fdad0b51f6130aa8c9b5ca13a53f +size 5969 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/resolved_config.yaml b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c8b08d8256b6153a3ce9886350f712abf7b79db6 --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/resolved_config.yaml @@ -0,0 +1,34 @@ +experiment_name: rkd_phase3_fm_only +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_0.1/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - fm_only + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_only + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: 0.1 + rkd_vlm_temp: 0.1 + rkd_relation_mode: token_pair_mean +resolved_sweep: + loss_strategy: fm_only + rkd_temp: 0.1 diff --git a/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/rkd_phase3_fm_only.yaml b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/rkd_phase3_fm_only.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba2baa2b5cd5422f3a074de5972708bd70ac762e --- /dev/null +++ b/processing_line_only/loss_strategy_ablation/rkd/loss_strategy_fm_only__rkd_temp_0.1/rkd_phase3_fm_only.yaml @@ -0,0 +1,31 @@ +experiment_name: rkd_phase3_fm_only +policy_type: groot_rkd +base_model_path: ${HOME}/groot_robocasa/robocasa_v2/RKD_Processing_line_Only/rkd_temp_${sweep.rkd_temp}/phase2 +output_root: ${HOME}/groot_robocasa/robocasa_v2/processing_line_only/loss_strategy_ablation/rkd +sweep: + loss_strategy: + - fm_only + rkd_temp: + - 0.1 +dataset: + dataset_soup: my_atomic26_human +training: + num_gpus: 2 + batch_size: 64 +model: null +phases: +- name: phase3_fm_only + max_steps: 30000 + save_steps: 0 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true + losses: + rkd_enabled: false + rkd_fm_loss_weight: 1.0 + rkd_loss_weight: 0.0 + rkd_action_temp: ${sweep.rkd_temp} + rkd_vlm_temp: ${sweep.rkd_temp} + rkd_relation_mode: token_pair_mean